*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/secure" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Dock" *n code=0012 name="Config/Sample" *n code=0013 name="Config/workSite" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Estimation" *n code=0016 name="Config/Servo" *n code=0017 name="Config/Simulator" *n code=0018 name="Config/Derivation" *n code=0019 name="Config/logger" *n code=001A name="Config/vehicle" *n code=001B name="Config/Navigation" *n code=001C name="Config/BIT" *n code=001D name="Config/Science" *n code=001E name="Config/Control" *n code=001F name="Config/Battery" *n code=0020 name="VerticalControl" *n code=0021 name="HorizontalControl" *n code=0022 name="SpeedControl" *n code=0023 name="LoopControl" *n code=0024 name="DepthRateCalculator" *n code=0025 name="PitchRateCalculator" *n code=0026 name="SpeedCalculator" *n code=0027 name="YawRateCalculator" *n code=0028 name="ElevatorOffsetCalculator" *n code=0029 name="AHRS_M2" *n code=002A name="BackseatComponent" *n code=002B name="BackseatComponent ThreadHandler" *n code=002C name="LcmUniversalReporter" *n code=002D name="BPC1" *n code=002E name="DAT" *n code=002F name="DAT ThreadHandler" *n code=0030 name="DataOverHttps" *n code=0031 name="DataOverHttps ThreadHandler" *n code=0032 name="Depth_Keller" *n code=0033 name="DropWeight" *n code=0034 name="NAL9602" *n code=0035 name="Onboard" *n code=0036 name="Onboard ThreadHandler" *n code=0037 name="Power24vConverter" *n code=0038 name="Radio_Surface" *n code=0039 name="Radio_Surface ThreadHandler" *n code=003A name="RDI_Pathfinder" *n code=003B name="Sonardyne_Nano" *n code=003C name="TrnDataBridge" *n code=003D name="TrnDataBridge ThreadHandler" *n code=003E name="DeadReckonUsingMultipleVelocitySources" *n code=003F name="NavChart" *n code=0040 name="UniversalFixResidualReporter" *n code=0041 name="SBIT" *n code=0042 name="IBIT" *n code=0043 name="CBIT" *n code=0044 name="BuoyancyServo" *n code=0045 name="ElevatorServo" *n code=0046 name="DockingStepper" *n code=0047 name="MassServo" *n code=0048 name="RudderServo" *n code=0049 name="ThrusterServo" *n code=004A name="CTD_Seabird" *n code=004B name="CTD_Seabird ThreadHandler" *n code=004C name="PAR_Licor" *n code=004D name="WetLabsBB2FL" *n code=004E name="WetLabsBB2FL ThreadHandler" *n code=004F name="WetLabsUBAT" *n code=0050 name="WetLabsUBAT ThreadHandler" *n code=0051 name="MissionManager" *n code=0052 name="Reporter" *n code=0053 name="NavChartDb" *n code=0054 name="NavChartDb ThreadHandler" *n code=0055 name="DefaultWithUndock" *n code=0056 name="DefaultWithUndock:A.Wait" *n code=0057 name="DefaultWithUndock:LeaveDock" *n code=0058 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=005A name="DefaultWithUndock:LeaveDock:A." *n code=005B name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005C name="DefaultWithUndock:SurfaceDefault" *n code=005D name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0067 name="DefaultWithUndock:D" *n code=0068 name="DefaultWithUndock:E.Execute" *n code=0069 name="keepstation" *n code=006A name="keepstation:NeedComms" *n code=006B name="keepstation:NeedComms:A" *n code=006C name="keepstation:NeedComms:B.GoToSurface" *n code=006D name="keepstation:NeedComms:C" *n code=006E name="keepstation:NeedComms:C:A_Timeout" *n code=006F name="keepstation:NeedComms:C:A_Timeout:A" *n code=0070 name="keepstation:NeedComms:D" *n code=0071 name="keepstation:NeedComms:D:A_Timeout" *n code=0072 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0073 name="keepstation:NeedComms:E" *n code=0074 name="keepstation:NeedComms:E:A_Timeout" *n code=0075 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0076 name="keepstation:B" *n code=0077 name="keepstation:StandardEnvelopes" *n code=0078 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0079 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=007A name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=007B name="keepstation:D" *n code=007C name="keepstation:E" *n code=007D name="keepstation:BackseatDriver" *n code=007E name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007F name="keepstation:PowerOnly" *n code=0080 name="keepstation:PowerOnly:A" *n code=0081 name="keepstation:PowerOnly:B" *n code=0082 name="keepstation:PowerOnly:C" *n code=0083 name="keepstation:PowerOnly:D" *n code=0084 name="keepstation:PowerOnly:E.Wait" *n code=0085 name="keepstation:H.Pitch" *n code=0086 name="keepstation:StartingMission" *n code=0087 name="keepstation:TransitToStation" *n code=0088 name="keepstation:TransitToStation:A.Buoyancy" *n code=0089 name="keepstation:TransitToStation:B.Pitch" *n code=008A name="keepstation:TransitToStation:C.SetSpeed" *n code=008B name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=008C name="keepstation:OnStation" *n code=008D name="keepstation:KeepStation" *n code=008E name="keepstation:KeepStation:A" *n code=008F name="keepstation:KeepStation:B.Pitch" *n code=0090 name="keepstation:KeepStation:C.KeepStation" *n code=0091 name="keepstation:KeepStation:D.Wait" *n code=0092 name="lineCaptureHoming" *n code=0093 name="lineCaptureHoming:Science" *n code=0094 name="lineCaptureHoming:Science:A" *n code=0095 name="lineCaptureHoming:Science:B" *n code=0096 name="lineCaptureHoming:Science:C" *n code=0097 name="lineCaptureHoming:Science:D" *n code=0098 name="lineCaptureHoming:Science:E" *n code=0099 name="lineCaptureHoming:Science:F" *n code=009A name="lineCaptureHoming:Science:Read_Oil" *n code=009B name="lineCaptureHoming:Science:OceanCurrent" *n code=009C name="lineCaptureHoming:Science:OceanCurrent:A." *n code=009D name="lineCaptureHoming:Science:PeakDetectChl" *n code=009E name="lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=009F name="lineCaptureHoming:Science:PeakDetectChl:B" *n code=00A0 name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=00A1 name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=00A4 name="lineCaptureHoming:Science:PeakDetectNO3:B" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00A6 name="lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:PeakDetectOil:B" *n code=00A8 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00A9 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00AA name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00AB name="lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectFDOM:B" *n code=00AD name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00AE name="lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=00AF name="lineCaptureHoming:Science:PeakDetectSalinity:B" *n code=00B0 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00B1 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00B6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=00B7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=00B8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00B9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=00BA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B" *n code=00BB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00BC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=00BD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BF name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00C0 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00C1 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes" *n code=00C3 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C4 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C5 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C6 name="lineCaptureHoming:C" *n code=00C7 name="lineCaptureHoming:D" *n code=00C8 name="lineCaptureHoming:E" *n code=00C9 name="lineCaptureHoming:NeedComms" *n code=00CA name="lineCaptureHoming:NeedComms:A" *n code=00CB name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00CC name="lineCaptureHoming:NeedComms:C" *n code=00CD name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:D" *n code=00D0 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:NeedComms:E" *n code=00D3 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D4 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D5 name="lineCaptureHoming:G" *n code=00D6 name="lineCaptureHoming:H" *n code=00D7 name="lineCaptureHoming:MicromodemComms" *n code=00D8 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D9 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00DA name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00DB name="lineCaptureHoming:J" *n code=00DC name="lineCaptureHoming:LineCapture" *n code=00DD name="lineCaptureHoming:LineCapture:A" *n code=00DE name="lineCaptureHoming:LineCapture:B" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00E0 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00E1 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00E2 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E3 name="lineCaptureHoming:LineCapture:D" *n code=00E4 name="lineCaptureHoming:LineCapture:E" *n code=00E5 name="lineCaptureHoming:LineCapture:F" *n code=00E6 name="lineCaptureHoming:LineCapture:G" *n code=00E7 name="lineCaptureHoming:LineCapture:H" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00EA name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00EB name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00EC name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0115 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0116 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0117 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0118 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0119 name="lineCaptureHoming:LineCapture:M" *n code=011A name="lineCaptureHoming:L" *n code=011B name="lineCaptureHoming:M" *n code=011C name="lineCaptureHoming:N" *n code=011D name="lineCaptureHoming:O" *n code=011E name="lineCaptureHoming:P" *n code=011F name="lineCaptureHoming:Q" *n code=0120 name="lineCaptureHoming:U" *n code=0121 name="lineCaptureHoming:TrackAC." *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0124 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0125 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0126 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0130 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0131 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0139 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=013A name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=013B name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=013C name="lineCaptureHoming:restartDHCP" *n code=013D name="lineCaptureHoming:restartDHCP:A" *n code=013E name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013F name="lineCaptureHoming:StartingMission" *n code=0140 name="lineCaptureHoming:Z" *n code=0141 name="lineCaptureHoming:BA.Execute" *n code=0142 name="lineCaptureHoming:InitialDive" *n code=0143 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0144 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0146 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0147 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0148 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0149 name="lineCaptureHoming:RepeatHack" *n code=014A name="lineCaptureHoming:RepeatHack:A" *n code=014B name="lineCaptureHoming:Lap" *n code=014C name="lineCaptureHoming:Lap:A" *n code=014D name="lineCaptureHoming:Lap:B" *n code=014E name="lineCaptureHoming:Lap:C" *n code=014F name="lineCaptureHoming:Lap:D" *n code=0150 name="lineCaptureHoming:Lap:E" *n code=0151 name="lineCaptureHoming:Lap:Docked" *n code=0152 name="lineCaptureHoming:Lap:Docked:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0154 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0155 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0156 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0157 name="lineCaptureHoming:Lap:Docked:C" *n code=0158 name="lineCaptureHoming:Lap:Docked:D" *n code=0159 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015D name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015E name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015F name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0161 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0162 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0163 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0166 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0167 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0168 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0169 name="lineCaptureHoming:Lap:Docked:Drift" *n code=016A name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=016B name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=016C name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=016D name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=016E name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=016F name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0170 name="OnDock" *n code=0171 name="OnDock:StandardEnvelopes" *n code=0172 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=0173 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=0174 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=0175 name="OnDock:B" *n code=0176 name="OnDock:C" *n code=0177 name="OnDock:D" *n code=0178 name="OnDock:E" *n code=0179 name="OnDock:BackseatDriver" *n code=017A name="OnDock:BackseatDriver:A.BackseatDriver" *n code=017B name="OnDock:PowerOnly" *n code=017C name="OnDock:PowerOnly:A" *n code=017D name="OnDock:PowerOnly:B" *n code=017E name="OnDock:PowerOnly:C" *n code=017F name="OnDock:PowerOnly:D" *n code=0180 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fl=04 *a code=10A6 owner=01DF element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A7 owner=01DF element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10A8 owner=01DF element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10A9 owner=01DF element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10AA owner=01DF element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10AB owner=01DF element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10AC owner=01DF element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=10AD owner=01DF element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10AE owner=01DF element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=10AF owner=01E0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10B0 owner=01E0 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B1 owner=01E0 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10B2 owner=01E0 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B3 owner=01E0 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B4 owner=01E0 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B5 owner=01E0 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=10B6 owner=01E0 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10B7 owner=01E1 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10B8 owner=01E1 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10B9 owner=01E1 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=10BA owner=01E2 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BB owner=01E2 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BC owner=01E2 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BD owner=01E2 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10BE owner=01E2 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10BF owner=01E2 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=10C0 owner=01E2 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=10C1 owner=01CF element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10C2 owner=0121 element=07EF universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10C3 owner=0121 element=07F0 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10C4 owner=0121 element=07F1 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10C5 owner=0121 element=07F2 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10C6 owner=01E3 element=0975 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10C7 owner=01E3 element=0975 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10C8 owner=01E3 element=0976 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10C9 owner=01E3 element=0976 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10CA owner=01E3 element=0977 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10CB owner=01E3 element=0977 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10CC owner=01E3 element=0978 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10CD owner=01E3 element=0978 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10CE owner=01E3 element=0979 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10CF owner=01E3 element=0979 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D0 owner=01E3 element=097A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D1 owner=01E3 element=097A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D2 owner=01E3 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D3 owner=01E3 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D4 owner=01E3 element=097C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10D5 owner=01E3 element=097C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10D6 owner=01E3 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D7 owner=01E3 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D8 owner=01E3 element=097E universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=10D9 owner=01E3 element=097E universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=10DA owner=01E3 element=097F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10DB owner=01E3 element=097F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10DC owner=01E3 element=0980 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10DD owner=01E3 element=0980 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10DE owner=01E3 element=0981 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10DF owner=01E3 element=0981 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10E0 owner=01E4 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=10E1 owner=01E4 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=10E2 owner=01E4 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10E3 owner=01E4 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10E4 owner=01E4 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10E5 owner=01E4 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10E6 owner=01E4 element=0985 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10E7 owner=01E4 element=0985 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10E8 owner=01E4 element=0986 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10E9 owner=01E4 element=0986 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10EA owner=01E4 element=0987 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=10EB owner=01E4 element=0987 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=10EC owner=01E4 element=0988 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10ED owner=01E4 element=0988 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10EE owner=01E4 element=0989 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10EF owner=01E4 element=0989 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10F0 owner=01E4 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F1 owner=01E4 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F2 owner=01E5 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F3 owner=01E6 element=07FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10F4 owner=01E6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F5 owner=01E6 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F6 owner=01E6 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F7 owner=01E6 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10F8 owner=01E6 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10F9 owner=01E6 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10FA owner=01E6 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10FB owner=01E6 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10FC owner=01E6 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10FD owner=01E6 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10FE owner=01E6 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10FF owner=01E6 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1100 owner=01E6 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1101 owner=01E6 element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1102 owner=01E6 element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=1103 owner=01E6 element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1104 owner=01E6 element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1105 owner=01F0 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=1106 owner=01F1 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=1107 owner=01F2 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1108 owner=01F2 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1109 owner=01F2 element=098B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110A owner=01F2 element=098B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110B owner=01F2 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110C owner=01F2 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110D owner=01F2 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110E owner=01F2 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110F owner=01F3 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1110 owner=01F3 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1111 owner=01F3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1112 owner=01F3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1113 owner=01F3 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1114 owner=01F3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1115 owner=01F3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1116 owner=01F3 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1117 owner=01F3 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1118 owner=01F3 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1119 owner=01F3 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=111A owner=01F3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=111B owner=01F3 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=111C owner=01F4 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=111D owner=01F4 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=111E owner=01F4 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=111F owner=01F4 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1120 owner=01F4 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1121 owner=01F4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1122 owner=01F4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1123 owner=01F4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1124 owner=01F4 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1125 owner=01F4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1126 owner=01F4 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1127 owner=01F4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1128 owner=01F4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1129 owner=01F4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=112A owner=01F4 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=112B owner=01F4 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=112C owner=01F5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=112D owner=01F5 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=112E owner=01F5 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=112F owner=01F5 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1130 owner=01F5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1131 owner=01F5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1132 owner=01F5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1133 owner=01F5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1134 owner=01F5 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1135 owner=01F5 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1136 owner=01F5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1137 owner=01F5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1138 owner=01F5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1139 owner=01F6 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113A owner=01F7 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113B owner=01F8 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113C owner=01F9 element=098E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=113D owner=01F9 element=098E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=113E owner=01FA element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=113F owner=01FA element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1140 owner=01FA element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1141 owner=01FA element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1142 owner=01FB element=098F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1143 owner=01FB element=098F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1144 owner=01FB element=0990 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1145 owner=01FB element=0990 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1146 owner=01FB element=0991 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1147 owner=01FB element=0991 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1148 owner=01FB element=0992 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1149 owner=01FB element=0992 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=114A owner=01FB element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=114B owner=01FB element=0993 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=114C owner=01FB element=0993 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=114D owner=0201 element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=114E owner=0201 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=114F owner=0201 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1150 owner=0201 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1151 owner=0202 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1152 owner=0202 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1153 owner=0202 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1154 owner=0202 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1155 owner=0202 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1156 owner=0202 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1157 owner=0202 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1158 owner=0202 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1159 owner=0202 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=115A owner=0204 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=115B owner=0204 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=115C owner=0204 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=115D owner=0204 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=115E owner=0204 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=115F owner=0204 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1160 owner=0204 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1161 owner=0204 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1162 owner=0205 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1163 owner=0205 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1164 owner=0205 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=1165 owner=0206 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1166 owner=0206 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1167 owner=0206 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1168 owner=0206 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1169 owner=0206 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=116A owner=0206 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116B owner=0206 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116C owner=01E7 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116D owner=01EA element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116E owner=01ED element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 iU)A]x%?e:e(.e@UoKEU;U;U_5i m@iZjFNOT Ignoring new targets: 161.40 m.Bjy<Jjy< ProNav: ac range: 161.399994 m, nav range: 42.534138 m, bearing: 35.346450 deg, approach rate: -0.183601 m/s, LOS rate: 0.871103 deg/s, cmd heading: 338.187473 deg, new cmd heading: 339.320283 deg. 2ju=HeadingCmd: 5.922256 target range: 161.399994 and range: 161.40 m. j@jjjihhhh΄BffJUJUJU0JQJUk:JU>:JUـ3JQJU"<JU"<JUʕ;JU˕;frfabf6@ɛBp > ?I }K]=ɚiI=I˸i i 9) @) EEpA*F?2F:FBFJF Ih]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271401G G >G >G B O >ѓyw,+蕿A6@Y6@6͈<96t>y6H?Ű? 1j?`5˿ S?@?ɨ6@6D7;6CyBEBBa&IIRIRm?3٢Z:= nf=9r;Q r>tt vG٣tyze!= z> Nusing accuracyPremultiplier from config =_59 DS?=_5Y s~ i AAE{*E@ sKE ; ;  _5UkB U[@}ϹEZjFNOT Ignoring new targets: 161.40 m.Bjc<Jjc< ProNav: ac range: 161.399994 m, nav range: 42.468700 m, bearing: 35.647200 deg, approach rate: -0.172939 m/s, LOS rate: 0.796050 deg/s, cmd heading: 339.320274 deg, new cmd heading: 340.223834 deg. 2j= HeadingCmd: 5.938026 target range: 161.399994 and range: 161.40 m. j O@j j j i1h1h9h9h9f9fAfArfAbfE@ɛB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523232 隽S?I  a=ɚiI%=Iii)O@)*F?2F:FBF_0JFGeGB1OMR> % $?I) u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780297r{w,AynAA EG٣AyE M>HYIY I]&II]BIY&IY.IY6I]<:I]? F uNusing accuracyPremultiplier from configI_59MS?_5YM# iMA?:3@MwKEM;MR;M _5zKBHKh9KKRK @ZjFNOT Ignoring new targets: 161.40 m.Bji<Jji<5 ProNav: ac range: 161.399994 m, nav range: 42.402367 m, bearing: 36.008215 deg, approach rate: -0.149835 m/s, LOS rate: 0.816733 deg/s, cmd heading: 340.223826 deg, new cmd heading: 341.308429 deg. 2j5! ==HeadingCmd: 5.956956 target range: 161.399994 and range: 161.40 m. j=b@j9j9j9i9hAhAhAhE˄BfIfIfirfibfu @ɛB> 4?I |e=ɚiIZ=IiiO )b@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:38:15.0274 TRx dataTimestamp_ set to:1736375896.221989checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029575G { G B O >Ow,A6@Y6@6'<96[/|>y6H??@r޿y$? ̿2?@;?ɨ6@6{ ;4yNBBR^&IIZ"IZq3 `I`٢r = rc=9vtt vG٣zBNGyz֧= z>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279220 -Nusing accuracyPremultiplier from config)5_59-S?5_5Y-ۆ i-jA15 ,]@-{KE-;->;-._5i m@m̹EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.40 m.Bji<Jji< ProNav: ac range: 161.399994 m, nav range: 42.342430 m, bearing: 36.303709 deg, approach rate: -0.165615 m/s, LOS rate: 0.817656 deg/s, cmd heading: 341.308432 deg, new cmd heading: 342.196095 deg. 2jI =HeadingCmd: 5.972448 target range: 161.399994 and range: 161.40 m. jL@jjjih!h!h!h!f)f)f)rf)bf- @ɛBy> ?I "i=ɚiI=Iii%5)%L@)!*F2F:FBFo0JFG\GABIOmV>Will construct direction to contact in vehicle frame from tetrahedron phase data. c~G Y y B DAT read: 22:38:15.0274 LVL= 14832, 29041, 18066, 29171, AGC= 62, IDX= 432,-0.44,-1.962, 2.757, 2.903,-2.875, PHS= 1.002,-0.604,-0.508, RAW= 93.0, 1.4, CAL= 101.3, -1.7, ROT= 48.7, 1.7  Ygot valid direction response: 22:38:15.0274 LVL= 14832, 29041, 18066, 29171, AGC= 62, IDX= 432,-0.44,-1.962, 2.757, 2.903,-2.875, PHS= 1.002,-0.604,-0.508, RAW= 93.0, 1.4, CAL= 101.3, -1.7, ROT= 48.7, 1.7  PDAT read: Bearing 48.7, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 48.7, 1.7 (Local) % DAT read: Range 10 to 50 : 160.7 m (Round-trip 214.3 ms) speed 0.1 m/s E R#Rx 1: Read range and direction messages.M ^direction in FSK: [-0.117130,0.056035,0.991534]U Fpublishing direction and range info9hxi:]?J|?y C9qq F)qI>iA?J ?+< oN?)IY?i<~ d? ܿ{\S?)wI(̼i,@e T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.%Ќw,5AJJJ/JJ:J;:J(N3Ja@a@a@a@yQQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam_59eS?m_5Ye ie%Aiqu@eKEe :eX:e_5 @k PJ?k 5dx k  k ?t.A:k CBk CZk >n@" ^V2Dz"@Jc@ hxi:]?J|?Jk ,@Rk e* c7 eBDAT read: Tx time:22:38:16.2589 m$Ping request sent.u QU?IY ]n=ɚYiYI]=Iii#)@)*F2F:FBFg0JFZHYRH]AAHaIa Ie&IIe}BIa&Ia.Ia6Ie^<:Ie FzK K 9K K SK  B|zvqlggfddd`^\[YWWWURRMMNOLJHGIKHFCAG% > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:38:16.2582  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245681G B O >ඓw,BOARh@YR@Rͷ<9RY>yRHԂ?`Bm?@!Bݿ ?Ϳ8?@?ɨRh@R;RCyZFBZc&Ii^=I^< b=b%=Mb@Mb@Mb@ )Yx?rh|~jtyK?DQA d@)Iyz@II2٢Mc>= U;=9P;Q > G٣yp= > Nusing accuracyPremultiplier from config_59S?_5YM i҂A?:&@KE;I;_5lB S@ɹEZj9=FNOT Ignoring new targets: 160.70 m.BjE =JjE =u ProNav: ac range: 160.699997 m, nav range: 16.754095 m, bearing: 73.601726 deg, approach rate: 0.216798 m/s, LOS rate: 1.982839 deg/s, cmd heading: 343.243097 deg, new cmd heading: 345.807265 deg. 2ju=}HeadingCmd: 6.035475 target range: 160.699997 and range: 160.70 m. j}"@jyjyjyihhhhBfffrfbfk?ɛB#> ?I ]r=ɚiIY=I-tfi)i5Y")5"@)1*F?2F:FBF1JF $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496317G [FG B O >[w,FyiANTj@YNy@NDz<9NL}>yNHٹ? ~?`}*ܿ?˭Ͽ`X?`?ɨNTj@NM ;NCy~HB~e&IIIb1٢E< E]=9EܺQ E>II MG٣MCNGyU(= U> ]Nusing accuracyPremultiplier from configYe_59]OT?e_5Y] i]Aam3"m@]KE]:]*:]_5jB  @˹EZjFNOT Ignoring new targets: 160.70 m.Bj=Jj= ProNav: ac range: 160.699997 m, nav range: 16.828732 m, bearing: 74.292055 deg, approach rate: 0.207387 m/s, LOS rate: 1.909613 deg/s, cmd heading: 345.807259 deg, new cmd heading: 347.868122 deg. 2jѣ=%HeadingCmd: 6.071444 target range: 160.699997 and range: 160.70 m. j%EI@j!j!j!i!h!h)h)h)fIfQfQrfQbfU??Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748037ɛB3> u?I  v=ɚiIZ=I[iiA)EI@)E*F?2F:FBF5JFGrA GrAJ9J9JEJEJE0JAJE:JE@0:JEـ3JAGJ<Gi B I O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002408͠w,^A6 @Y6@6<96,>y6H`?? h9ۿ?`8п??ɨ6 @6!;6CyJEBJb&IMb@Mb@Mb@ )YI +?M¿~jty9?nA 7@)@IK@yf@II٢RHI I&IIxBI&I.I6IS<:I F  @=9i:Q > G٣y>= > %Nusing accuracyPremultiplier from config!M_59%PT?M_5Y% i%8AU+?]:]#']@%KE%;%!;%_5ekB eU@eȹEZjFNOT Ignoring new targets: 160.70 m.Bj=Jj=zKNKh9KKTK?@@?>;877761230/112//21.-+,)#   ProNav: ac range: 160.699997 m, nav range: 16.924303 m, bearing: 75.091126 deg, approach rate: 0.219659 m/s, LOS rate: 1.826134 deg/s, cmd heading: 347.868119 deg, new cmd heading: 350.250343 deg. 2j=HeadingCmd: 6.113022 target range: 160.699997 and range: 160.70 m. j@jjjihhh!h%BfAfIfIrfIbfMz?ɛ„B> 隝?I z=ɚiIy=I9iiU\L)@)*F]?2FY:FYBF]v0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251973G5&G=rAG=rAG BO5q>w,x(A 2$?I0> g@Y>v@><9>iu>y>Hw%??9-`Vaڿ?$пޖ@?N?ɨ> g@>n;>CyNHBNe&IIXIX٢rr< v]=9vj9Q v>xx zG٣xyz"= ~>~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504053 Nusing accuracyPremultiplier from config _59 -T?_5Y " i A9Ef#E@ KE ; 7; !_5I M(@IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.70 m.Bj=Jj= ProNav: ac range: 160.699997 m, nav range: 17.005568 m, bearing: 75.770350 deg, approach rate: 0.223835 m/s, LOS rate: 1.861873 deg/s, cmd heading: 350.250352 deg, new cmd heading: 352.277393 deg. 2j=HeadingCmd: 6.148400 target range: 160.699997 and range: 160.70 m. j@jjjihhhh f f f rf bf?ɛ}ńB> 隅?I .c~=ɚiIr=I ii+h)@)*F-?2F):F)BF-Y0JF)G H<GBO5P>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755899w,A6W@Y6@6<96v>y6H4]?`0?ѵFdٿ9?@Dп ??ɨ6W@6;6CyNLBNj&IJcKkـ3 Kk.KcKc"KcJrJrJpJpJrk:Jro5:JpJpIZIZ3٢%< %G=9%:;Q %>)) -G٣-DNGy5(= 5> =Nusing accuracyPremultiplier from config9E_59=>T?E_5Y=؝ i=AIMM@=KE=\:=~:=a%_5Q U@uŹEZjFNOT Ignoring new targets: 160.70 m.BjD=JjD= ProNav: ac range: 160.699997 m, nav range: 17.095240 m, bearing: 76.525483 deg, approach rate: 0.219202 m/s, LOS rate: 1.836177 deg/s, cmd heading: 352.277388 deg, new cmd heading: 354.529679 deg. 2j=HeadingCmd: 6.187710 target range: 160.699997 and range: 160.70 m. j@jjjihhh h f f frfbf5ä@ɛȄB> 隕?I KA=ɚiI =Iڽii;+o)@)EqAE iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.iA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012717*Fu?2Fq:FqBF}^0JFy"Gi>GN>H>I III&I.I6IH<:I FBIǘCJIǘCRIZIbIjIǝ4G4<zKm MKm 9Ki Km UKm BK} pA:K} qAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260009uw,ЖA2G@Y2@2<92>y2Hb??`mTJؿ l? ͌пC??ɨ2G@2s;2CyRSBRs&IMb@Mb@Mb@ )Y&1?T㥛 ףp= y?Q8A M@)@I5@y @II?13٢< 5<=95;Q =>99 =G٣9yE*.= E> Nusing accuracyPremultiplier from config_59PT?_5Y iIA?:@KE;j;G)_5lB @¹EZj FNOT Ignoring new targets: 160.70 m.Bj=Jj=% ProNav: ac range: 160.699997 m, nav range: 17.183714 m, bearing: 77.329452 deg, approach rate: 0.199643 m/s, LOS rate: 1.804761 deg/s, cmd heading: 354.529684 deg, new cmd heading: 356.927693 deg. 2j-Қ=MHeadingCmd: 6.229563 target range: 160.699997 and range: 160.70 m. jUX@jQjQjQiQhQhQhYh]*BfYfYfarfabfe@/@ɛ˄B> ?I ۑ=ɚiI =I[ii )X@)*F?2F:FBF_0JF e$?IiG}+EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512483G9BYO{>1w,HꖿAFc)@YF8@F@<9Feߍ>yFH`F??ౝ"׿`$?qп\v??ɨFc)@F;FCy^WB^x&Iibp>Ib=IjIj2٢eܧ< eV=9eh:Q e>ii mG٣iyuR= u> Nusing accuracyPremultiplier from configy_59}_T?_5Y} i}A@}KE}:}7:},_5 J@ZjFNOT Ignoring new targets: 160.70 m.Bj<Jj <= ProNav: ac range: 160.699997 m, nav range: 17.255831 m, bearing: 77.996274 deg, approach rate: 0.192919 m/s, LOS rate: 1.776310 deg/s, cmd heading: 356.927682 deg, new cmd heading: 358.918940 deg. 2j=b=EHeadingCmd: 6.264317 target range: 160.699997 and range: 160.70 m. jEIu@jAjAjAiAhAhIhIuWill construct direction to contact in vehicle frame from tetrahedron phase data.u?u4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764268hIfyffrfbf@1@ɛτB i > ?I =ɚiI.X =I/ݼii)Iu@)*F?2F:FBF~0JFG} bG9BAOeV>J%J%J!J!J%;:J%H:J!J! Q IQ 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019638w,A2ٶ@Y2.@2E<92Y>y2H5?@h?տx?cGѿ` ?i?ɨ2ٶ@23B;2CyRXBRy&IHI I&II}BI&I.I6IC<:I FMb@Mb@Mb@ )Yn?!rh ףp= yV?l罹A 7@)Ib@yQ@I I 3٢]1j; ]<=9]09Q ]>aa eG٣eENGympJ= m> uNusing accuracyPremultiplier from configq}_59uqT?}_5Yu iuA}?:"@uKEu;u;uQ0_5 E@EZjFNOT Ignoring new targets: 160.70 m.Bja<Jja<5 ProNav: ac range: 160.699997 m, nav range: 17.332102 m, bearing: 78.765794 deg, approach rate: 0.175040 m/s, LOS rate: 1.758200 deg/s, cmd heading: 358.918928 deg, new cmd heading: 1.216029 deg. 2j5Ԗ==HeadingCmd: 0.021224 target range: 160.699997 and range: 160.70 m. j=Wݭ<j9j9j9i9h9hAzKmk3IKm9KiKmVKmRK}?JK} ?hyh}CBfffrfbfƸ @ɛ҄B> [?I ˇ=ɚiI=IXݭ = $?I9 Aw,oA2@Y2@2<92>y2H`K? S ? JԿ:?`;ѿ<Q3?`*?ɨ2@2g;2Cy>YBB{&IIJIJF3٢f&< fh=9jQ j>hh jG٣lrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519987y~gw= ~>  Nusing accuracyPremultiplier from config _59T? _5YB itA@KE@:@:p3_5! %+@!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.70 m.Bj-<Jj-< ProNav: ac range: 160.699997 m, nav range: 17.392794 m, bearing: 79.397347 deg, approach rate: 0.164244 m/s, LOS rate: 1.703108 deg/s, cmd heading: 1.216029 deg, new cmd heading: 3.103354 deg. 2j=HeadingCmd: 0.054164 target range: 160.699997 and range: 160.70 m. j]=jjj ihhhIhIfIfQfQrfQbfUZ@ɛքB> 隥?I 3҉=ɚiIL=I&6=ii)]=)*FE?2FA:FIBFM_5JFIG=nGBO-p>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:38:18.8762 LVL= 20464, 32753, 24818, 32755, AGC= 65, IDX= 435, 0.37,-0.161,-1.835,-1.411,-0.987, PHS= 0.914,-0.800,-0.426, RAW= 102.0, 4.0, CAL= 112.4, 2.0, ROT= 37.6, -2.0 Ygot valid direction response: 22:38:18.8762 LVL= 20464, 32753, 24818, 32755, AGC= 65, IDX= 435, 0.37,-0.161,-1.835,-1.411,-0.987, PHS= 0.914,-0.800,-0.426, RAW= 102.0, 4.0, CAL= 112.4, 2.0, ROT= 37.6, -2.0 PDAT read: Bearing 37.6, -2.0 (Local) ~Local bearing/azimuth received: Bearing 37.6, -2.0 (Local) DAT read: Range 10 to 50 : 159.8 m (Round-trip 213.1 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.179772,-0.097605,0.978854]Fpublishing direction and range infoؑ9ؕY,;ǿ.ۥ_R?yؕCؑؕOؕ ٕ`)ٕIٕAiٕi?ٕLٕھٕ?ٕ5= ڕ?)ڕ5=Iڕ'?iڕ5ڑڑەu͘Z?a]ӿ ǯ ?)ە]Iە+|iە]:)ە0ۑۑ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.kw,ZK8A2R@Y2b@2<92Η>y2H։??ϝӿ%?@Jҿ DИ? =?ɨ2R@2 ;2CyBcBB&I)P PXXIjIj 3٢E7= MC=9U9Q > G٣yYl= > Nusing accuracyPremultiplier from config_59T?_5Y# i%A@KE:":,7_5JJJJJ[:JC:JJmB @Eks$F?kR k kAa0A:kCBkCZk&@"ʔmA %BDAT read: Tx time:22:38:20.2589 -$Ping request sent.5 9?I A=ɚiI=I4;=ii)4;=)HI I&IIBI2 =&I.I6I<:I? F*F?2F:FBF2JFzK BoHK 9K K WK BK qA:K  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:38:20.2582  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247158G 4G B O >w,G8SAZ@YZX$@Z <9Z>yZH?:?Q3@ѿ@~N?`ҿ` }??ɨZ@ZC;ZCyf^Bf&IPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )YK7A`? ףp= rhy ?QC A )@Iy@I]I]m?3٢ 0=95Q > G٣FNGyR= > Nusing accuracyPremultiplier from config_59ԥT?_5Yί iA, ?:վ@KE;{;);_5 @ZjYeFNOT Ignoring new targets: 159.80 m.BjEԻJjEԻ ProNav: ac range: 159.800003 m, nav range: 11.572506 m, bearing: 163.801010 deg, approach rate: 0.551562 m/s, LOS rate: -0.371161 deg/s, cmd heading: 5.266043 deg, new cmd heading: 4.766802 deg. 2j~HeadingCmd: 0.083196 target range: 159.800003 and range: 159.80 m. jb=jjjihhhhEBfffrfbfi?ɛބB-$> 6?IA Ej)=ɚAiAIE:=IMe =iIiI)Mb=)Q IIMh*F?2F:FBF4JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497198G Ga Bi O >ew,mA:ݹ@Y:Z@:취<9:>y:H ?^o?jп@Kr?3ӿ/?Px?ɨ:ݹ@:H;:CyVbBV&I)  NG5tAA !Y5tAyUBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749952I~I~?1٢< S=9%ǻQ %>!! -G٣)y-H= -> ]Nusing accuracyPremultiplier from configYe_59]TT?e_5Y] i]TAamȾm@]KE]X:]X:]>_5lB @EZjFNOT Ignoring new targets: 159.80 m.BjƣJjƣ ProNav: ac range: 159.800003 m, nav range: 11.783186 m, bearing: 163.688180 deg, approach rate: 0.544441 m/s, LOS rate: -0.286363 deg/s, cmd heading: 4.766802 deg, new cmd heading: 4.434368 deg. 2jDHeadingCmd: 0.077394 target range: 159.800003 and range: 159.80 m. jꀞ=jjj!i!h!h!h!h)f)ffrfbf`Q&?ɛB@b!> !%?I! %:=ɚ!iAIMj=IM=iQiQ)Uꀞ=)Y 5$?I9E; Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007559*FM ?2FQ :FQ BFU P5JFY H I  I &II BI &I .I 6I u<:I . FGIG BO5>tw,⌗AB>@YB@B<9B%M>yBH`8)?9N?`FR(Ϳ\?ӿ𲒿 ? k?ɨB>@B?;BCyJeBN&IiRC=IRl> R=R=zKTKVh9KTKVXKVMb@Mb@Mb@ )Yoʡ?bX9ȶ~jty ?E A @)C@I@y@II)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254226٢-Y< -$=9-4Q ->11 5G٣1y=P= => ENusing accuracyPremultiplier from config9u_59=T?}_5Y=} i=~A7?:@=KE=e<=Si<=B_5 i@Zj9]FNOT Ignoring new targets: 159.80 m.BjeiXJjeiXu ProNav: ac range: 159.800003 m, nav range: 12.056558 m, bearing: 163.589492 deg, approach rate: 0.536254 m/s, LOS rate: -0.189200 deg/s, cmd heading: 4.434368 deg, new cmd heading: 4.145019 deg. 2ju}HeadingCmd: 0.072344 target range: 159.800003 and range: 159.80 m. j}6)=jjjihhhhzBfffrfbf@?ɛUBU> y}?Iy }ϒ=ɚyiyI}~yrH҄??k(ƿ@?6ӿ2?`!a?ɨrx@r;rCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756442y-kB-&II=I=٢< =9OQ > G٣GNGyK= > Nusing accuracyPremultiplier from config_59^T?_5Yɶ i!~A@KE":C:uG_5 % @%E=B*** querying acoustic contact ***j9j9ZjquFNOT Ignoring new targets: 159.80 m.Bj}PJj}P ProNav: ac range: 159.800003 m, nav range: 12.347822 m, bearing: 163.565666 deg, approach rate: 0.570672 m/s, LOS rate: -0.045581 deg/s, cmd heading: 4.145019 deg, new cmd heading: 4.075227 deg. 2j@HeadingCmd: 0.071126 target range: 159.800003 and range: 159.80 m. j=jjjihhhhfffrfbf@ɛ5B5W> 15?I1 =n]=ɚ9i9I]i)m=)iEqEq*Eq"Eq =$?I9*F 2F :F  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010970BF 0JF G- qA G- pAG j>~G B O >w,ƗAHpIp Ir&IIrBIp&Ip.Ip6Ir*<:Ir Fy~gB&IMb@Mb@Mb@ )YFx?V-YY ]G٣Yye e> Nusing accuracyPremultiplier from configi_59mT?_5Ymn im}A@ ?:@mKEm;mI;mK_5mB b@EzK BHK +9K K YK ZjY]FNOT Ignoring new targets: 159.80 m.Bje9Jje9 ProNav: ac range: 159.800003 m, nav range: 12.577396 m, bearing: 163.577612 deg, approach rate: 0.530750 m/s, LOS rate: 0.027114 deg/s, cmd heading: 4.075227 deg, new cmd heading: 4.110412 deg. 2jݔ:HeadingCmd: 0.071740 target range: 159.800003 and range: 159.80 m. j=jjjihhhhBfffrfbf U@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260427ɛ]B],> ?I =ɚiIJI JI JM 0JI JI JI JM ـ3JI JI JI JI JI % $?I) w,A2A@Y21Q@2_<92>y2H?`ؽ?`}⽿#3?`ӿ๋ ?l?ɨ2A@2i;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512865yblBb&I)d dhjAInIn2٢%F< %v=9%A;Q %?)) -G٣)y-+> U? ]Nusing accuracyPremultiplier from configYe_59]-U?e_5Y]~ i]U}Aaeeae@]KE]:]:]N_5 @ZjFNOT Ignoring new targets: 159.80 m.Bj9@;Jj9@;U ProNav: ac range: 159.800003 m, nav range: 12.761721 m, bearing: 163.632733 deg, approach rate: 0.570213 m/s, LOS rate: 0.168056 deg/s, cmd heading: 4.110412 deg, new cmd heading: 4.273386 deg. 2jU;]HeadingCmd: 0.074585 target range: 159.800003 and range: 159.80 m. j]ؿ=jYjYjYiYhahahahafffrfbf`h@ɛ]B]z,> ae?Ia N=ɚiIFw,A6"@Y6t2@6m<96Н>y6H?L?* J⶿cZ?`kqӿi?z|?ɨ6"@6p';6CJ~@AJ~@Ay dB &II]I]V83٢u E=9/;Q > G٣HNGy= > Nusing accuracyPremultiplier from config I_59U?_5Y i|AE@KEl;;Q_5 @EZj1=FNOT Ignoring new targets: 159.80 m.Bj=9z;Jj=9z;M ProNav: ac range: 159.800003 m, nav range: 12.987689 m, bearing: 163.725081 deg, approach rate: 0.544776 m/s, LOS rate: 0.218762 deg/s, cmd heading: 4.273386 deg, new cmd heading: 4.545606 deg. 2jM"<}HeadingCmd: 0.079336 target range: 159.800003 and range: 159.80 m. j}z=jyjjihhhhfffrfbfi @ɛ%B%$> !%?I! -,E=ɚ)iIIMGu>G=eHI III1 =&I.I6IH<:I FBIJIRIZI2 =bI2 =jIwT4GBO=q>zKe BoHKe s9Ka Ke ZKe RKm >JKm ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2701170w,{A^@Y^@^լ<9^@>y^H`??zV?w?b'ӿ@R=?@?ɨ^@^7;^Cyn]Bn&I}Mb@Mb@Mb@yyy y)yY}Dl?J + rhy}O ?}H}C } A }@)}-@Iyyy}@I I(2٢M 7=9;Q >  G٣ y>t= > %Nusing accuracyPremultiplier from config_59,U?_5Y} ix|A"?:@KE;x<Qw<U_5 @J J J J J :J A:J J J *<J *<J z;J {;ZjIMFNOT Ignoring new targets: 159.80 m.BjU;JjU; ProNav: ac range: 159.800003 m, nav range: 13.233795 m, bearing: 163.891564 deg, approach rate: 0.521242 m/s, LOS rate: 0.346046 deg/s, cmd heading: 4.545606 deg, new cmd heading: 5.035754 deg. 2j}m<HeadingCmd: 0.087890 target range: 159.800003 and range: 159.80 m. j=jjjihhhhrBf $?Iffrfbfv @ɛBa> '?I =̌=ɚ9i9IE w,Z.Ayz_B~&II I (1٢%[H< %i=9-Q ->1Q uG٣qyu }> Nusing accuracyPremultiplier from config_59 ;k@)Q =I>iQ +1?Sr!?)ӼI/Ki2 ^]mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Bj;Jj; ProNav: ac range: 159.800003 m, nav range: 13.425623 m, bearing: 164.017047 deg, approach rate: 0.588209 m/s, LOS rate: 0.379276 deg/s, cmd heading: 5.035755 deg, new cmd heading: 5.406820 deg. 2j%<HeadingCmd: 0.094367 target range: 159.800003 and range: 159.80 m. jcC=jjjihhhhfffrfc@bfI?ɛBbw*> 隕?I ?=ɚiIn $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A ,DAT read: user:2746>  BDAT read: Tx time:22:38:24.2589  $Ping request sent. y6H`?I?`Ė?@ʇ`w?@zҿ]t??ɨ61@6L/;4ZH@RH@HDID IDIDID&ID.ID6ID:IDyn^Bn&IMb@Mb@Mb@ )YFx?+Mby ?@3A  @)@Ix@yQ@I- I-2٢f 2=9H G٣INGy<= > Nusing accuracyPremultiplier from config _59 QU?_5Y  i {A% ?%:%%@ KE 6; 55; \_5I U@UEk-sG?k-"" k) k-+m2A:k-fCBk-LCZk- @"-\LE< MumqwIa@-JK}ѿË׿xYZ?Jk-2 Rk-^]*-ٞ\ܡD5Ï3X 1]@-ȥ+п>㎎?"k-*k-%k-KG?k-\U" 2k-:Ck-WˣJ?k-R| k)k-wBk-g@ addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 4.031977 s, deltaX: -1.400009 m, approachRate: -0.347226 m/s, rangeRepo size: 4 zK-&~JK-9K)K-[K-%# BK1:K1 Added new target pos. range: 158.399994 m, bearing: 246.913487 deg, lat: 36.902983 deg, lon: -122.120120 deg, deltaT: 4.031977 s, deltaX: -1.400009 m, approachRate: -0.347226 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 158.40 m.BjJj ProNav: ac range: 158.399994 m, nav range: 36.617176 m, bearing: 207.629703 deg, approach rate: 0.000000 m/s, LOS rate: 0.379276 deg/s, cmd heading: 5.406820 deg, new cmd heading: 5.942992 deg. 2jHeadingCmd: 0.103725 target range: 158.399994 and range: 158.40 m. jm=jjjihhhhJBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:38:24.2582 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251513ɛEBM> QU+?IQ }=ɚiI w,_dARL@YR<<R<9RB>yRH?JK ?V??uѿ @w? P?ɨRL@RC;RCynRBrq&IIzIz#٢= ER=9Ep;Q E>II MG٣IyM[= U> Nusing accuracyPremultiplier from config_59cU?_5Y i{AWֽ@KE;;`_5 Ʊ@%B*** querying acoustic contact ***j!j!ZjquFNOT Ignoring new targets: 158.40 m.Bj}Jj} ProNav: ac range: 158.399994 m, nav range: 36.798733 m, bearing: 207.441904 deg, approach rate: 0.465153 m/s, LOS rate: -0.478771 deg/s, cmd heading: 5.942992 deg, new cmd heading: 5.382393 deg. 2jIHeadingCmd: 0.093940 target range: 158.399994 and range: 158.40 m. jc=jjjihhhhfffrfIbfMm?ɛ- B-'> )-?I) 5J=ɚ1i1I5Oj ] $?IY w,D~A2T@Y2<2 =92r>y2H@?W঩?)8? ?`Mп`a`\??ɨ2T@2;2CyZOBZn&I)` `IfIfi٢]; ]H=9e5aa mG٣iy]G= > Nusing accuracyPremultiplier from config_59vU? _5Y iyzA  J@KE`*<*<c_5oB @EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006499ZjFNOT Ignoring new targets: 158.40 m.BjJj ProNav: ac range: 158.399994 m, nav range: 36.987831 m, bearing: 207.256190 deg, approach rate: 0.464601 m/s, LOS rate: -0.453953 deg/s, cmd heading: 5.382393 deg, new cmd heading: 4.828117 deg. 2jśHeadingCmd: 0.084267 target range: 158.399994 and range: 158.40 m. j=jQjYjYihhhahafifqf)HaIa Ie&IIeBIa&Ia.Ia6Ie<:IeA Frfbf@T?ɛ=B=t> 9=4?I9 Eጥ=ɚAiAIE) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258503b%w, A2Y@Y2yP=2A=92%>y2H? q??^?`Ͽ`<%?$?ɨ2Y@24;2Cy>FBBc&IMb@Mb@Mb@ )YB`"?㥛 ˡEy?' )@Ib@y\@I I b٢=* ===9E AI MG٣MJNGyMN= M> Nusing accuracyPremultiplier from config I_59U?_5Yl iyAr? : k @KE`<]<{g_51 5@1Zjy}FNOT Ignoring new targets: 158.40 m.Bj!Jj! ProNav: ac range: 158.399994 m, nav range: 37.197491 m, bearing: 207.065730 deg, approach rate: 0.482244 m/s, LOS rate: -0.435612 deg/s, cmd heading: 4.828117 deg, new cmd heading: 4.259979 deg. 2jzHeadingCmd: 0.074351 target range: 158.399994 and range: 158.40 m. j'E=jjjihhhh"Bfffrfbf`w?ɛEBmm)> im ?Ii u=ɚqiqIul c~G vA A  aY vAy uB3+w,豘A2 7@Y2@=22=92ob{>y2H?\ꬿ2?  G٣yzM= => ENusing accuracyPremultiplier from configAM_59EțU?M_5YE iEuyAIM#U@EKEE:E<:Ej_5y }Ӳ@EZjFNOT Ignoring new targets: 158.40 m.BjJj󻝊% ProNav: ac range: 158.399994 m, nav range: 37.370571 m, bearing: 206.916562 deg, approach rate: 0.496581 m/s, LOS rate: -0.425994 deg/s, cmd heading: 4.259978 deg, new cmd heading: 3.814554 deg. 2j%--HeadingCmd: 0.066577 target range: 158.399994 and range: 158.40 m. j-GY=j)j)j)iQhQhYhYhYfYfafarfabfeQ@ɛEBE84%> AE?IA =ɚiI%uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015859jH] <bH] <He >Ia  Ie &IIe }BIe 2 =&Ia .Ia 6Ie T<:Ie  F2w,˘A6ά@Y6=6M=96@Vt>y6H`2?jzt?V?9?`ϠͿ7? ?ɨ6ά@6ؓ;6Cy> G٣y = > Nusing accuracyPremultiplier from config_59mU?_5Y ixA?:'@KE;;En_5  6@ Zjq}FNOT Ignoring new targets: 158.40 m.Bj}YJj}Y軝 ProNav: ac range: 158.399994 m, nav range: 37.574318 m, bearing: 206.742690 deg, approach rate: 0.478676 m/s, LOS rate: -0.406272 deg/s, cmd heading: 3.814554 deg, new cmd heading: 3.295784 deg. 2jiHeadingCmd: 0.057522 target range: 158.399994 and range: 158.40 m. j{k=jjjihhhhBfffrfbf@ɛ5B5!> 9=?I9 =w=ɚ9i9I= $?I} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518592,8w,嘿A2@Y2W=2Ad=92+k>y2H?峿@:?`?` ?eq̿|`*? s?ɨ2@2ʓ;2CyR1BRI&IIZ"IZq3٢vp\ vX=9vrxx zG٣zKNGy~< => MNusing accuracyPremultiplier from configIU_59MlU?U_5YM iM1xAQUNU@MKEMW;M;Mq_5pB @EB*** querying acoustic contact ***jjZjIMFNOT Ignoring new targets: 158.40 m.BjuݻJj}ݻ ProNav: ac range: 158.399994 m, nav range: 37.762062 m, bearing: 206.587446 deg, approach rate: 0.471645 m/s, LOS rate: -0.388060 deg/s, cmd heading: 3.295784 deg, new cmd heading: 2.832378 deg. 2j)5HeadingCmd: 0.049434 target range: 158.399994 and range: 158.40 m. j5{J=j1j9j9i9hAhAhAhIfififqrfqbfu@jL@ɛBR> ?I G=ɚiIY I J% J% J! J! J% ;:J% ?:J! J! "?w,{AB5@YB@X=BA=9BMb>yBH` ? φ?N??`#˿@Aޯ ?C)?ɨB5@BA;BCyN3BNK&IIZ!IZi3٢@; H=9 ؄   G٣y < 5> ENusing accuracyPremultiplier from config9E_59=-U?M_5Y=8 i=wAIMټM@=KE=v:=@:=,u_5y }ӳ@}EZjFNOT Ignoring new targets: 158.40 m.BjVJjV軝 ProNav: ac range: 158.399994 m, nav range: 37.958572 m, bearing: 206.429146 deg, approach rate: 0.506931 m/s, LOS rate: -0.406248 deg/s, cmd heading: 2.832378 deg, new cmd heading: 2.359947 deg. 2jfHeadingCmd: 0.041189 target range: 158.399994 and range: 158.40 m. j(=jjji h h h 5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A=BDAT read: Rx Time:22:38:26.8718 ETRx dataTimestamp_ set to:1736375908.065214Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042hIfIfIfqrfqbfuPE @ɛ5!B5"> 9=q?I9 ==ɚ9i9I=I)*Fe?2Fi:FiBFu0JFq I-&II-iBI)&I).I)6I-s<:I-- FG J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274573zK% jIK! K! K% ^K% Ga Bi O > Fw,F]A:)B@Y:p=:n=9:V>y:Ht?ҵw??0?ɿR?:?ɨ:)B@:;:CyF*BF@&I)H HMb@Mb@Mb@ )YV-?B`"۹:vyνT@ )I@y3@I$I<3 U$?IQ٢ 4=9b G٣yY; > Nusing accuracyPremultiplier from config _59(U?_5Y ivA?:l@KE)<<y_5I M_@QZjFNOT Ignoring new targets: 158.40 m.Bj!Jj!㻝 ProNav: ac range: 158.399994 m, nav range: 38.175316 m, bearing: 206.243455 deg, approach rate: 0.466209 m/s, LOS rate: -0.397147 deg/s, cmd heading: 2.359947 deg, new cmd heading: 1.806056 deg. MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:38:26.8718 LVL= 21360, 32753, 22898, 31795, AGC= 64, IDX= 421, 0.03,-0.532,-2.151,-1.164,-1.078, PHS= 0.634,-1.026,-0.089, RAW= 124.2, 6.7, CAL= 132.3, 1.9, ROT= 17.7, -1.9 Ygot valid direction response: 22:38:26.8718 LVL= 21360, 32753, 22898, 31795, AGC= 64, IDX= 421, 0.03,-0.532,-2.151,-1.164,-1.078, PHS= 0.634,-1.026,-0.089, RAW= 124.2, 6.7, CAL= 132.3, 1.9, ROT= 17.7, -1.9 PDAT read: Bearing 17.7, -1.9 (Local) ~Local bearing/azimuth received: Bearing 17.7, -1.9 (Local) DAT read: Range 10 to 50 : 156.4 m (Round-trip 208.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.251886,-0.470358,0.845764]Fpublishing direction and range infoQ9U3п3CW޿{D-?yUfCQUpSQ UrY)U3|IU@iUM"?USUEU @U|= U@)U=IU2+>iUQQUH%?R޲?>?)U&=IUS|iU@UQQ%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.2j5G=HeadingCmd: 0.031522 target range: 158.399994 and range: 158.40 m. j==j9j9jAiAhAhAhIhMĄBfIfIfIrfǓc@bfU ?ɛ&B> ?I =ɚiI .8Lw,C3ANWill construct direction to contact in vehicle frame from tetrahedron phase data.V,DAT read: user:2747> ZBDAT read: Tx time:22:38:28.0590 ^$Ping request sent.^yvH`?[?P&?`C?`XǿL@?@J?ɨv I@v;vCy%)B%?&IIU-IU3٢ \=9 G٣LNGy; > Nusing accuracyPremultiplier from config_59U?_5Y ivA  Cp @KEB;;h|_5qB w@Ek}kPO?k}: # ky k}|$A:k}fCBk}PCZk}g@"}+VCwdRF:w`@}3п3CW޿{D-?Jk}@Rk}*}Bb4F&=,Y'mP{]@}}p脾3Ӳ ?"k}a*k}k} EO?k}# 2k}9Ckyk}G k}bUCk}qBk}b@ addTargetRange:: Added new target pos. range: 156.399994 m, deltaT: 3.782193 s, deltaX: -2.000000 m, approachRate: -0.528794 m/s, rangeRepo size: 4  Added new target pos. range: 156.399994 m, bearing: 258.555763 deg, lat: 36.902983 deg, lon: -122.120488 deg, deltaT: 3.782193 s, deltaX: -2.000000 m, approachRate: -0.528794 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 156.40 m.BjJj5 ProNav: ac range: 156.399994 m, nav range: 60.427937 m, bearing: 235.243935 deg, approach rate: 0.000000 m/s, LOS rate: -0.397147 deg/s, cmd heading: 1.806056 deg, new cmd heading: 1.359092 deg. 2j1=HeadingCmd: 0.023721 target range: 156.399994 and range: 156.40 m. j=Q<j9j9j9i9hahihihqfqfqfqrfybf} ?ɛ)BP+> ?I R=ɚ i I `EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:38:28.0583 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249083ZH RH H! I!  I% t&II% UBI! &I! .I! 6I% m<:I% ) FBIJIRIZIbIjI5Sw,MA:4@Y:@!=:§=9:,<>y:H?[@+?6?Y?&>ƿO`O?[?ɨ:4@:;8yN%BR:&IMb@Mb@Mb@ )Y/$?)\({Gzy ?Gό#@ z@)Z@I@y@IIm?٢9 7=9am G٣yM> U> eNusing accuracyPremultiplier from configa_59eV?_5Yez ieOuA3?:@eKEe;e*;e__5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500287zK BHK @9K K _K   '4DZxurvBK:KZjIMFNOT Ignoring new targets: 156.40 m.BjUUJjUUe ProNav: ac range: 156.399994 m, nav range: 60.552628 m, bearing: 235.039578 deg, approach rate: 0.274398 m/s, LOS rate: -0.448788 deg/s, cmd heading: 1.359092 deg, new cmd heading: 0.747306 deg. 2jeHeadingCmd: 0.013043 target range: 156.399994 and range: 156.40 m. jU<jjjihhhhÄBfffrfbf`?ɛ -B J> |?I E]=ɚAiIIMRSEYw,qfAZ"@YZ@=Z=9Zϑ%>yZH ?@|!0?`?y?`nÿ N ?gv?ɨZ"@Z€;ZCyr(Bv>&II~!I~i3٢}r< }j=9 s G٣yʻ > Nusing accuracyPremultiplier from config_59V?_5Y itAF@KEw<;o_5  @5EuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 156.40 m.BjJj ProNav: ac range: 156.399994 m, nav range: 60.648869 m, bearing: 234.881594 deg, approach rate: 0.278826 m/s, LOS rate: -0.456978 deg/s, cmd heading: 0.747306 deg, new cmd heading: 0.274118 deg. 2jϜHeadingCmd: 0.004784 target range: 156.399994 and range: 156.40 m. jNŜ;jjjihhhhfffrfbf'?ɛm0Bm%> quQ|?Iq u=ɚqiqIu E $?IA JSK[3 K[.KSKS"KSJ J J 1J J :J ,J:J 3J Y1`w,΀A2 @Y2=2~]=92'_>y2Hd?a?C5?ҍ? ⷿ೥?{?ɨ2 @2̑;2CyJ,BJC&IIRIR(*٢5u< 5J=9=c99 EG٣EMNGyE| E> uNusing accuracyPremultiplier from configIu_59M1V?}_5YMt iMtAy}v}@MKEM;M;M׆_5rB [@EZjFNOT Ignoring new targets: 156.40 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2565605 ProNav: ac range: 156.399994 m, nav range: 60.755390 m, bearing: 234.706384 deg, approach rate: 0.274982 m/s, LOS rate: -0.451505 deg/s, cmd heading: 0.274118 deg, new cmd heading: 359.749426 deg. 2j5=HeadingCmd: 6.278812 target range: 156.399994 and range: 156.40 m. j=@j9jAjAiAhAhAhihififqfqrfqbfu\?ɛ3BT"> |?I =ɚiIYfw,࡚AyU+BUB&I IMb@Mb@Mb@ )YFx?MbS㥛y ?/ݼh@ @)I@y@IE"IEq3٢eh e9=9mQ m>qy }G٣yy > Nusing accuracyPremultiplier from config_59>FV?_5Y iisA?:@KE;5;_5 g@ZjFNOT Ignoring new targets: 156.40 m.BjJj ProNav: ac range: 156.399994 m, nav range: 60.882236 m, bearing: 234.511195 deg, approach rate: 0.293950 m/s, LOS rate: -0.451381 deg/s, cmd heading: 359.749424 deg, new cmd heading: 359.165098 deg. 2j㚼HeadingCmd: 6.268613 target range: 156.399994 and range: 156.40 m. j{@jjjihhhhBfffrfbf?ɛ56B5y > 9=z?I9 E+·=ɚIiIIM4lw,qA:@Y:=:|&=9:=y:H@?N?X8?@j?`Yֻ`? ?ɨ:@:;:CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012106y^/BbF&IIjIj?13٢v< vg=9vW3=Q v>xx zG٣xyz4 ~> Nusing accuracyPremultiplier from config _59pVV? _5YT irA  氽 @KEU:a:΍_5 9@EZjAEFNOT Ignoring new targets: 156.40 m.BjMJjUe ProNav: ac range: 156.399994 m, nav range: 60.980495 m, bearing: 234.355073 deg, approach rate: 0.278690 m/s, LOS rate: -0.442093 deg/s, cmd heading: 359.165088 deg, new cmd heading: 358.697487 deg. 2jemHeadingCmd: 6.260452 target range: 156.399994 and range: 156.40 m. jmU@jijijiiihqhqhqhyfyfyfrfbf "c@ɛ9BS'> D<隵z?I ,=ɚiI_jH <bH H I  I U&II ;BI &I .I 6I X<:I  Fhsw,LΙA2?*@Y2@v=2=92#=y2H`ص?'Z? `-?@?ظ9Ľ ?@_?ɨ2?*@2;2CyR1BRI&IeMb@Mb@Mb@aaa a)aYe?/$Qye ?eeue@ e@)e@IaayeG@IyIy٢D< @=9C G٣NNGy- > Nusing accuracyPremultiplier from config_59jV?_5Y iDrA|?:@LEwX;IW;_5 @ZjFNOT Ignoring new targets: 156.40 m.BjJj ProNav: ac range: 156.399994 m, nav range: 61.100788 m, bearing: 234.167428 deg, approach rate: 0.282720 m/s, LOS rate: -0.440146 deg/s, cmd heading: 358.697493 deg, new cmd heading: 358.135685 deg. 2j  HeadingCmd: 6.250647 target range: 156.399994 and range: 156.40 m. j M@jjjihhhhBff!f!rf!bf% @ɛ5 9=yz?I9 E=ɚAiAIE̾2yw,)虿AB@YBf=B+=9Bf=yBH`M? h?`ݕ??By #?@?ɨB@B;BCyTTIf%If)39vxx zG٣xy~G > Nusing accuracyPremultiplier from config _59 {V?%_5Y [ i qA!%m-@ LE 7_; x; _55sB =@=EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 156.40 m.BjJj𻝊- ProNav: ac range: 156.399994 m, nav range: 61.208267 m, bearing: 233.996712 deg, approach rate: 0.265615 m/s, LOS rate: -0.421151 deg/s, cmd heading: 358.135696 deg, new cmd heading: 357.624462 deg. 2j-HeadingCmd: 6.241724 target range: 156.399994 and range: 156.40 m. j5@jjjihhhhfffrfbf: @) NG1 eHYayepBɛ@BD9> 隭x?I ÷=ɚiIؽ {w, A>`@Y>K0=>7>9>=y>H5?@d/?Qץ? ?`ֳ@q? ?ɨ>`@>֌;>CyJ.BJE&I N=LIR7IR3٢Ze  Z<9^(`` bG٣`yb f> jNusing accuracyPremultiplier from configdj_59fV?n_5Yf ifqAlnܽn@fLEf;fF;fW_5t vN@tZjFNOT Ignoring new targets: 156.40 m.BjJj%- ProNav: ac range: 156.399994 m, nav range: 61.316589 m, bearing: 233.820630 deg, approach rate: 0.287990 m/s, LOS rate: -0.467312 deg/s, cmd heading: 357.624470 deg, new cmd heading: 357.097172 deg. 2j5[5HeadingCmd: 6.232522 target range: 156.399994 and range: 156.40 m. j=p@j9j9j9i9h9hAhAhAfAfIfIrfIbfM@: @ɛBBr+,> 隅u?I N=ɚiI%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272898HiIi IiIiIi&Ii.Ii6Im2<:Im FE9*FU?2FQ:FYBF]82JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:38:30.6696 LVL= 18304, 32753, 23858, 32755, AGC= 67, IDX= 415,-0.36,-0.361,-1.981,-1.129,-0.849, PHS= 0.576,-1.084,-0.283, RAW= 118.9, 11.0, CAL= 127.0, 7.3, ROT= 23.0, -7.3 zK :KK 9K K bK RK ?JK > Ygot valid direction response: 22:38:30.6696 LVL= 18304, 32753, 23858, 32755, AGC= 67, IDX= 415,-0.36,-0.361,-1.981,-1.129,-0.849, PHS= 0.576,-1.084,-0.283, RAW= 118.9, 11.0, CAL= 127.0, 7.3, ROT= 23.0, -7.3  PDAT read: Bearing 23.0, -7.3 (Local)  ~Local bearing/azimuth received: Bearing 23.0, -7.3 (Local) G% 뜮=e DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.4 ms) speed 0.4 m/s e R#Rx 1: Read range and direction messages.m `direction in FSK: [-0.327210,-0.371802,0.868733]u Fpublishing direction and range infoع 9ؽ +Կ ׿C?yؽ Cع ؽ Gع ٽ 2])ٽ Iٽ CG B O- >iٽ t?ٽ ٽ `吾ٽ @ٽ D> ڽ A @)ڽ w>Iڽ >iڽ wڹ ڹ ۽ S&g?̇EϮo?)۽ ;I۽ Di۽ #۽ ܼ۹ ۹ E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.ӥw,AJ@YJG<J >9Jd=yJH? ᔿ?? ?@ ٲ??ɨJ@J~;JCy -B D&I E$?IAJJJ1JJ:J@:J3JJ4<J4<J;J;Mb@Mb@Mb@ )YV-?~jt{Gzty ?ף@ @)@Ij@y@I &I 3٢n )=9%[]!! %G٣-ONGyUѼ U> ]Nusing accuracyPremultiplier from configYe_59]xV?e_5Y]= i]vpAe ?e:e m@] LE]t;]-;]_5 `@Ek#yEL?kQ k kkA:kCBkCZkfs@"9e?ySI`XL9e,[`@+Կ ׿C?Jk#Rkܼ*GH>HWgQA!`@8l ɿPa!-Bܿ7D?"k*kDkcL?k{  2k#KCkk{  k#KCkBk{@ addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 3.780234 s, deltaX: -1.599991 m, approachRate: -0.423252 m/s, rangeRepo size: 4  Added new target pos. range: 154.800003 m, bearing: 246.104672 deg, lat: 36.902983 deg, lon: -122.120701 deg, deltaT: 3.780234 s, deltaX: -1.599991 m, approachRate: -0.423252 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 154.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2748> BDAT read: Tx time:22:38:31.9090 $Ping request sent. s?I =ɚ i I ďw,8AVb@YV<V>9V>=yVH@?U`???Jc¿`7? ?ɨVb@V;VCy53B5K&IIM IMb3٢uJ< M=9c G٣y > Nusing accuracyPremultiplier from config_59V?_5Y ioAM@LE;>;_5tB @EZjFNOT Ignoring new targets: 154.80 m.BjJj廝 ProNav: ac range: 154.800003 m, nav range: 77.564194 m, bearing: 241.777667 deg, approach rate: 0.257107 m/s, LOS rate: -0.402059 deg/s, cmd heading: 356.363590 deg, new cmd heading: 355.928867 deg. 2jHeadingCmd: 6.212131 target range: 154.800003 and range: 154.80 m. j@j j j i h hhhfffrfbf o?ɛUHBUք+> Y]Nu?IY ]n=ɚYiYIe w,N SAy]0B]H&I)i iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756Mb@Mb@Mb@ )Y/$?/$MbPy ? @)Q@Iy@II٢-gO -==9-Q ->11 5G٣1y= => MNusing accuracyPremultiplier from configAM_59ESV?U_5YE iE[oAU" ?U:UU@ELEEJ0;E:EУ_5Y ];@aZjFNOT Ignoring new targets: 154.80 m.Bj0ʻJj0ʻ ProNav: ac range: 154.800003 m, nav range: 77.670265 m, bearing: 241.624938 deg, approach rate: 0.245868 m/s, LOS rate: -0.353533 deg/s, cmd heading: 355.928862 deg, new cmd heading: 355.471311 deg. 2jrHeadingCmd: 6.204145 target range: 154.800003 and range: 154.80 m. j[@jjjihhhhBfffrfbf?zK=K=59K9K=cK= L(oI4! ɛKB!> 隝kr?I ,=ɚiI} Will construct direction to contact in vehicle frame from tetrahedron phase data.} >} "@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006978w,lAy~(B>&III٢%) %^=9!Q %>)) -G٣-PNGy1 5> ENusing accuracyPremultiplier from config9E_59=V?M_5Y= i=nAIIM@=LE=p/;=:=_5Q U@]E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 154.80 m.BjʻJjʻ ProNav: ac range: 154.800003 m, nav range: 77.761589 m, bearing: 241.494423 deg, approach rate: 0.248639 m/s, LOS rate: -0.354924 deg/s, cmd heading: 355.471321 deg, new cmd heading: 355.080242 deg. 2jsHeadingCmd: 6.197320 target range: 154.800003 and range: 154.80 m. jqP@jjjihhhhfffrfbf@~?ɛMB;)> em?I }d~=ɚyiI2J% AAJ! ėw,KA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511299Va@YVsq@VJ$>9V"~=yVH??@RO?@*?``ЁĿ 0g?`?ɨVa@VS;VCyb#Bb8&IIjIj<٢rfѼ rN=9v,=Q v>tt vG٣xyz½ z> Nusing accuracyPremultiplier from config|_59~*V?_5Y~ i~NnA  m @~LE~E:~:~_5 @ZjIUFNOT Ignoring new targets: 154.80 m.BjUnͻJj]nͻe ProNav: ac range: 154.800003 m, nav range: 77.853157 m, bearing: 241.351457 deg, approach rate: 0.230334 m/s, LOS rate: -0.359200 deg/s, cmd heading: 355.080252 deg, new cmd heading: 354.651866 deg. 2jmvmHeadingCmd: 6.189843 target range: 154.800003 and range: 154.80 m. ju1@jqjqjqiqhyhyhyhyfffrfbf@?He>Ia IeB&IIe,BIa&Ia.Ia6IeH<:Ie FBI1JI1RI1ZI1bI1jI5J4ɛPB"K#> Ko<隭i?I I =ɚiI<zK NK h9K K dK  ] $?IY w,{A2@Y2&@2X)>92p=y2H}?@У??Ü \?&xſx??ɨ2@2";;0yRBR*&IJtJvJtJtJtJvD:JtJtJtJtJv*;Jv*;Mb@Mb@Mb@ )YK7?y&1|?Mb`?yI ?`;;@ 5@)@I@y@I5I3٢E ;=94 G٣ym >  Nusing accuracyPremultiplier from config _59W?_5Y. imAuL ?u:ul}@LE#v<v<R_5uB ɵ@EZj%FNOT Ignoring new targets: 154.80 m.Bj%ֽJj%ֽUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952e ProNav: ac range: 154.800003 m, nav range: 77.963493 m, bearing: 241.197683 deg, approach rate: 0.238512 m/s, LOS rate: -0.331940 deg/s, cmd heading: 354.651863 deg, new cmd heading: 354.191204 deg. 2jecHeadingCmd: 6.181803 target range: 154.800003 and range: 154.80 m. jT@jjjihhhhBfffrfbfK5@ɛSB> b?I =ɚiIxw,EbAb^@Yb@bA->9b'=ybH??F?Zh?{ſǎ?uz?ɨb^@b;`yjBn&IIv/Iv3٢~  ~Z=9j0    G٣y > %Nusing accuracyPremultiplier from config%_59,W?-_5YO i&mA)- ¼-@ LEf::_59 =@=EZjaeFNOT Ignoring new targets: 154.80 m.BjmػJjmػ} ProNav: ac range: 154.800003 m, nav range: 78.057167 m, bearing: 241.065582 deg, approach rate: 0.269052 m/s, LOS rate: -0.378969 deg/s, cmd heading: 354.191207 deg, new cmd heading: 353.795386 deg. 2j HeadingCmd: 6.174894 target range: 154.800003 and range: 154.80 m. j@jjjihhhhfffrfbf@ $?IɛMUBm%> iuY?Iq u@=ɚqiqIu{]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518932jHIbHIHQIQ IU/&IIUBIU1 =&IQ.IQ6IU<:IU9 Fдw,]2ԚA2&@Y2@21>925+z=y2H3}??֙? G ?@`ƿɮ?`v?ɨ2&@2ى;2CyBBB&I Mb@Mb@Mb@    ) Y K7??Mbpy  ? <  @ @) 3@I  y @I%6I%m3٢5J 5G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710139x;Q > G٣QNGy > Nusing accuracyPremultiplier from config_59C%W?_5YM ilA ?::@#LE;_;U_5 @Zj!%FNOT Ignoring new targets: 154.80 m.Bj-Jj-= ProNav: ac range: 154.800003 m, nav range: 78.167297 m, bearing: 240.920365 deg, approach rate: 0.257366 m/s, LOS rate: -0.338879 deg/s, cmd heading: 353.795384 deg, new cmd heading: 353.360359 deg. 2j=hEHeadingCmd: 6.167302 target range: 154.800003 and range: 154.80 m. jEZ@jAjIjIiIhIhIhQhUBfQfQfYrfYbf]@3V@ɛWBkJ> 隕R?I Q=ɚiI5Ӝw,A6>@Y6IN@6 3>96W{=y6H`u?W?t?@զt? _ƿ`9?r?ɨ6>@6Y,;6CyB݆BB%IbA`Ij>Ij3٢np r<=9rC;Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|_59~7W?_5Y~W i~kAqﻑ@~'LE~s:~:~_5vB @E5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 154.80 m.BjE»JjM»] ProNav: ac range: 154.800003 m, nav range: 78.273399 m, bearing: 240.778598 deg, approach rate: 0.254898 m/s, LOS rate: -0.340118 deg/s, cmd heading: 353.360356 deg, new cmd heading: 352.935638 deg. 2j]kieHeadingCmd: 6.159889 target range: 154.800003 and range: 154.80 m. je@jajajaiahahihihifqfqfqrfqbfu x @ɛYB6> 隭A?I =ɚiI@߼ $?IJJJ/JJ:JB:J(N3Ja@a@a@a@5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527194w, AHlIl In&IInBIn2 =&Il.Il6Inx<:In1 F@YL@č6>9~=yHSn?Ҳ? ?co?ǸӲƿS?@n?ɨ@2;騡yˆB%II=<I=3٢uˎ u(=9;Q > G٣RNGy > Nusing accuracyPremultiplier from config_59NW?_5Yr ikADw@+LE;|;O_5  @ZjFNOT Ignoring new targets: 154.80 m.BjJj ProNav: ac range: 154.800003 m, nav range: 78.398666 m, bearing: 240.609440 deg, approach rate: 0.241311 m/s, LOS rate: -0.325340 deg/s, cmd heading: 352.935627 deg, new cmd heading: 352.428979 deg. 2jG_HeadingCmd: 6.151046 target range: 154.800003 and range: 154.80 m. j_@jjjihhhhfffrfbf@ɛ5\B5 > 157?I1 ="=ɚ9i9I=iڕԇ=ڑڑەkD?Ů9w5^x?)ەgIە1iەDەۑۑUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.zKBoHKKKfKRK?JK?EE }< I *F ?2F :F BF 0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.],DAT read: user:2749> mBDAT read: Tx time:22:38:35.8590 m$Ping request sent.m9~$u=y~Hh?`?82?@DZ`?jZƿү?l?ɨ~@~;|yB%IG|uA %Y%|uAy%zBMb@Mb@Mb@ )Y(\?/$?:vy?<T;@ @)v@I@y @I ?I T3٢2 =9%(;Q %>!! %G٣)y-y -> =Nusing accuracyPremultiplier from config1=_595dW?=_5Y5 i52jAE?E:Ej뼑E@5/LE5;5G:5_5Q U?@]}Ek3V?k] k kvRA:kCBkCZk•@"5m6;IRa@HpÿnS&տ2T&?JkDRk*W[%RJN!ka@0 ;,FWٿ;?a?"kRr*kkz:V?kab 2kOCkcL?kkkUBk0@ addTargetRange:: Added new target pos. range: 153.000000 m, deltaT: 4.029693 s, deltaX: -1.800003 m, approachRate: -0.446685 m/s, rangeRepo size: 4  Added new target pos. range: 153.000000 m, bearing: 268.147112 deg, lat: 36.903039 deg, lon: -122.120701 deg, deltaT: 4.029693 s, deltaX: -1.800003 m, approachRate: -0.446685 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 75.666740 m, bearing: 244.508523 deg, approach rate: 0.000000 m/s, LOS rate: -0.325340 deg/s, cmd heading: 352.428991 deg, new cmd heading: 351.939801 deg. 2jHeadingCmd: 6.142509 target range: 153.000000 and range: 153.00 m. jn@jjjaiahihihihmBfqfqfqrfu c@bf} ?ɛ_B> !?I  =ɚiIe-p G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config_59{W?_5Y iLiA+::@4LEE;?_5wB @zEZjFNOT Ignoring new targets: 153.00 m.BjλJjλ  ProNav: ac range: 153.000000 m, nav range: 75.778664 m, bearing: 244.317776 deg, approach rate: 0.212262 m/s, LOS rate: -0.361218 deg/s, cmd heading: 351.939813 deg, new cmd heading: 351.368436 deg. 2jwHeadingCmd: 6.132536 target range: 153.000000 and range: 153.00 m. j=@jjjihhhhfffrfbf@?ɛaB= > ~^ =?Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751805I! -3=ɚ)i)I-9zw,jgARWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005975yޕYBޝ?%II]I]b٢M ^=9Q > G٣SNGy > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config_59%W?_5Y ihA ::@7LE&;f?_5 @ZjFNOT Ignoring new targets: 153.00 m.BjBͻJjBͻ  ProNav: ac range: 153.000000 m, nav range: 75.856987 m, bearing: 244.185468 deg, approach rate: 0.212684 m/s, LOS rate: -0.358905 deg/s, cmd heading: 351.368427 deg, new cmd heading: 350.971921 deg. 2jPvHeadingCmd: 6.125616 target range: 153.000000 and range: 153.00 m. j @jjjihhh!h!f!f!f)rf)bf-0?ɛ]bB]% > YeK>Ia e`=ɚaiaIeVEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255428 I \w,+A2=@Y2%@2H6>928B=y2H ]?6??궿?oNƿɠ?l?ɨ2=@2_K;0yR=BR%II^I^(*2٢ g=9OQ > G٣y%l %> 5bBottom track data is 1.3 s old, using for 20.0 s.JEJEJAJAJE:JE#:JAJA UNusing accuracyPremultiplier from config)]_59-W?]_5Y-> i-hA]9Y]T:e9Ie@-:LE-;-M?-[_5i m@mwEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 153.00 m.Bj̻Jj̻ ProNav: ac range: 153.000000 m, nav range: 75.929016 m, bearing: 244.057760 deg, approach rate: 0.201470 m/s, LOS rate: -0.356869 deg/s, cmd heading: 350.971921 deg, new cmd heading: 350.589167 deg. 2jtHeadingCmd: 6.118935 target range: 153.000000 and range: 153.00 m. jQ@jjjihhh h f f f rfbf?ɛdB > >I  =ɚiI:IQ IUn%IIUBIQ&IQ.IQ6IQ:IQGt=G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760146w,\A:۾@Y:@:G6>9:BI=y:H W??4?ƶ Q?$5ƿ? .l?ɨ:۾@:$;8y=B=$I)A AMAMA IzK1K59K1K5hK5 M M MM MM  M M MMb@Mb@Mb@III I)IYMm?~jty&1yM?MDM`M@ MC@)MAIM@IyM@IeLIe4٢u6 u6=9}Q }>y G٣y > Nusing accuracyPremultiplier from config_59W?_5Yj i%gAT:L?:3;@>LE;$;H_5 @ZjFNOT Ignoring new targets: 153.00 m.BjJj仝 ProNav: ac range: 153.000000 m, nav range: 75.994637 m, bearing: 243.879963 deg, approach rate: 0.147797 m/s, LOS rate: -0.400106 deg/s, cmd heading: 350.589157 deg, new cmd heading: 350.056242 deg. 2jKHeadingCmd: 6.109634 target range: 153.000000 and range: 153.00 m. j@jjjihhhh܄Bfffrfbf *@ɛ-fB5]Z> 153>I1 5=ɚ1i9I=ow,amA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263600N[@YNhk@N,4>9Ni=yNHML?Q?hO?` ?fƿ@\$?m?ɨN[@N ֈ;NCyVBZ$IIb\Ib#4٢j jD=9jRQ n>ll nG٣nTNGyrV r> UNusing accuracyPremultiplier from configt]_59vW?]_5Yv ivJfAY]K]@vALEvaxIq u=2=ɚqiyI}90jH9 bH= 4<HA IA  IE %IIE .BIA &IA .IE 1D6IE n<:IE + FBIJIRIZI1 =bI1 =jI{4w,a3ӛAyڅB$I}Mb@Mb@Mb@yyy y)yY}oʡ?Zd;OL7A`堿y} ?}j}+}@ }@)}AI}K@yy}\@IIId4٢  1=9Q > G٣y > Nusing accuracyPremultiplier from config_59W?_5Yj iIeAB?:@ELEB;;_5 @qEZjFNOT Ignoring new targets: 153.00 m.Bj Jj  ProNav: ac range: 153.000000 m, nav range: 76.097862 m, bearing: 243.528816 deg, approach rate: 0.106485 m/s, LOS rate: -0.438249 deg/s, cmd heading: 349.561186 deg, new cmd heading: 349.003548 deg. 2jb%HeadingCmd: 6.091261 target range: 153.000000 and range: 153.00 m. j%@j!j!j!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767585i!h1h9h9h=Bf9fAfArfAbfE6@ɛ}iB}= 隅a>I {=ɚiI < BDAT read: Rx Time:22:38:38.4987  TRx dataTimestamp_ set to:1736375919.658262 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022709G G B O >ow,A2ӽ@Y2u@2B1>92II=y2H@@? ?L?}i?`4 ;ƿ"?r?ɨ2ӽ@2@5;0y>B>x$IiB0>I@IJVIJn4٢RS5 RU=9R Q R>TT VG٣TyZ]2 Z> ^Nusing accuracyPremultiplier from config\b_59^W?b_5Y^ i^wdA`ff@^ILE^:^ ;^P_5h j@hZjFNOT Ignoring new targets: 153.00 m.BjyJjy滝 ProNav: ac range: 153.000000 m, nav range: 76.132599 m, bearing: 243.373977 deg, approach rate: 0.090448 m/s, LOS rate: -0.402988 deg/s, cmd heading: 349.003542 deg, new cmd heading: 348.539246 deg. 2jHHeadingCmd: 6.083158 target range: 153.000000 and range: 153.00 m. j:@jjjihhhhfffrfbfn @ɛ-jB-\ = )->I) 5=ɚ1i1I5V $?IJ J AAJ- J- J- 0J) J- :J- &:J- ـ3J) Rw, A"Will construct direction to contact in vehicle frame from tetrahedron phase data..8DAT read: $Error in header 2*Received a bad headernDDAT read: 6.0 CCERR:006 Mod:MFSK nbunknown deviceResponse_: 6.0 CCERR:006 Mod:MFSK rDAT read: rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.544421@Y@.>9=yH:??3?`PH? ?@,ܾſ?nv?ɨ@!;騅CHI I$IIBI&I.I6Id<:I$ FyBW$IINI@ 4٢  %5=9%»Q %>)) -G٣MUNGyU U> eNusing accuracyPremultiplier from configYm_59]W?_5Y] i]cA@]MLE]*)<]O)<]M_5yB @nEB*** querying acoustic contact ***jjZj!EFNOT Ignoring new targets: 153.00 m.BjM߻JjM߻e ProNav: ac range: 153.000000 m, nav range: 76.172523 m, bearing: 243.189569 deg, approach rate: 0.084487 m/s, LOS rate: -0.390031 deg/s, cmd heading: 348.539253 deg, new cmd heading: 347.986337 deg. 2jeօHeadingCmd: 6.073507 target range: 153.000000 and range: 153.00 m. j,Z@jjjihhhhfffrfbf20@ɛMlBM}I= y}=I =ɚiISGM }ܒ=G9 Ba O} > w, &A>?@Y>N@>(,>9>(Љ=y>H 3?``S?c?W¿ͅ?Y%kſ`?7z?ɨ>?@>ם;=9ŻQ > G٣yׯ > Nusing accuracyPremultiplier from config_59X? _5Y[ ibA j? :m@QLEh;}f; _5%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028641=xB =@EpEZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.196075 m, bearing: 243.004962 deg, approach rate: 0.055921 m/s, LOS rate: -0.438187 deg/s, cmd heading: 347.986336 deg, new cmd heading: 347.432705 deg. 2j\HeadingCmd: 6.063845 target range: 153.000000 and range: 153.00 m. j @jjjihhQhYh]|BfYfYfarfabfe@L@ɛmBC4=  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279604 $?I 1w,?A:@Y:@:(>9:=y:H+?`o?F]?ÿ Oy?ſ`߰?~?ɨ:@:vˆ;:CyJeBJ$IIRQIR4٢Z Z^=9^: Q ^>`` bG٣`ybDڼ b> jNusing accuracyPremultiplier from configdj_59fyX?n_5Yfl ifaAlnZľn@fTLEfq ;f ;f9_5p v0@vmEZj%FNOT Ignoring new targets: 153.00 m.Bj%JJj%J5 ProNav: ac range: 153.000000 m, nav range: 76.214722 m, bearing: 242.847865 deg, approach rate: 0.052373 m/s, LOS rate: -0.441137 deg/s, cmd heading: 347.432708 deg, new cmd heading: 346.961544 deg. 2j5_=HeadingCmd: 6.055621 target range: 153.000000 and range: 153.00 m. j=@jAjAjAiAhAhAhIhIfIfIfIrfQbfU ^@ɛ}nB}~_= 隅pI =ɚiI[ow,YA6㧼@Y6X@6t%>96B=y6HV$? ?? `ſ l?߷Ŀ ?`y?ɨ6㧼@6$;6Cy>ZBB$IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.783610Mb@Mb@Mb@ )Yx?㥛 ¿:vyK?Լ`@ @)AI@yz@I@I3٢S :=9LQ > G٣VNGyw > Nusing accuracyPremultiplier from config_593X?_5Y, i`A?:Ҿ@XLE]Z;Y; _5yB @jEZj!-FNOT Ignoring new targets: 153.00 m.Bj-Jj5E ProNav: ac range: 153.000000 m, nav range: 76.231499 m, bearing: 242.652124 deg, approach rate: 0.038320 m/s, LOS rate: -0.446993 deg/s, cmd heading: 346.961534 deg, new cmd heading: 346.374461 deg. 2jEbMHeadingCmd: 6.045375 target range: 153.000000 and range: 153.00 m. jMs@jIjIjIiIhIhQhQh]BfYfYfYrfYbfe;c@ }$?I}hɛ=oB=a= AE*IA Ej=ɚAiAIE8= c~GU vAi G Y vAy BBw,lsA6QY@Y6h@6k">96P=y6H??^?5ƿ_?`<Ŀ ??ɨ6QY@6hn;4y>?BN#IIV_IVb(4٢z  zY=9=cQ =>AA EG٣IyUʼ U> ]Nusing accuracyPremultiplier from configYe_59]]EX?e_5Y] i]`Aaei׾m@]\LE]3:]:]o_5q u@qZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.244881 m, bearing: 242.479145 deg, approach rate: 0.034325 m/s, LOS rate: -0.443616 deg/s, cmd heading: 346.374466 deg, new cmd heading: 345.855634 deg. 2j9HeadingCmd: 6.036320 target range: 153.000000 and range: 153.00 m. j)@jjjihhh h f f frfbf5@ɛpB= TýI #=ɚiI-Z] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539491H >I C I $II YBI / =&I .I 2D6I <:I J FoK#w,эAZ@YZn$@Z$>9ZTC=yZH?@X?A?`Bǿ R?b`ÿ@[а?@?ɨZ@Z;ZCyf8Bf#IIrXIr4٢~  ~F=9~VQ ~> G٣y v  > Nusing accuracyPremultiplier from config_59WX?_5YI iF_A۾%@`LE ; ;_5) -@-gEMB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.257599 m, bearing: 242.298937 deg, approach rate: 0.031824 m/s, LOS rate: -0.450842 deg/s, cmd heading: 345.855644 deg, new cmd heading: 345.315127 deg. 2jHeadingCmd: 6.026886 target range: 153.000000 and range: 153.00 m. j@@jjjihhhhf f f rf bf=@ɛqB= I ڛ=ɚiIOrJ J J J J :J :J J J ;J ;J nN;J nN;4})w,̧AV ɻ@YV@V>9VO|=yVH?%?{?@3kȿD?ÿ-?ʎ?ɨV ɻ@Vy;VCyj,Bn#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044103Mb@Mb@Mb@ )YS?SÿQy?uv@ @)`AI@yf@I5RI5W4٢MU U6=9UϻQ U>YY ]G٣]WNGye~ e> mNusing accuracyPremultiplier from configiu_59mlX?u_5Ymb imo^Aum?u:}⾑}@mdLEm;m;m_5 @ZjFNOT Ignoring new targets: 153.00 m.BjpJjp ProNav: ac range: 153.000000 m, nav range: 76.269661 m, bearing: 242.092209 deg, approach rate: 0.026824 m/s, LOS rate: -0.459646 deg/s, cmd heading: 345.315131 deg, new cmd heading: 344.695072 deg. 2jHeadingCmd: 6.016064 target range: 153.000000 and range: 153.00 m. j@jjjihhhhyBf9fAfIrfIbfUf@ɛrBϯ= \ I ]=ɚiI%[0w,A:v@Y:@:>9:@=y:H?`$?`?"]ɿ 7??\#ÿ`ܰ?`?ɨ:v@:͉;:CyFBF#IINOIN 4٢V  Vk=9Z Q Z?\\ ^G٣`yb b? jNusing accuracyPremultiplier from configdj_59f|X?n_5Yf if]Alr徑r@fhLEfZ4;fk4;f_5vzB v@vdEZjFNOT Ignoring new targets: 153.00 m.Bj%Jj%5 ProNav: ac range: 153.000000 m, nav range: 76.278130 m, bearing: 241.931941 deg, approach rate: 0.024237 m/s, LOS rate: -0.458633 deg/s, cmd heading: 344.695059 deg, new cmd heading: 344.214320 deg. 2j5`=HeadingCmd: 6.007673 target range: 153.000000 and range: 153.00 m. j=>@jAjAjAiAhAhAhIhIfIfIfIrfQbfU @ɛy}Hj= 隅D'I $=ɚiIqs@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551935jHbH<H>I I#II0BI&I.I6IJ<:I FG5[=GBO>6w,XۜA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799581 $?I]F@Y]#V@]>9]1=y]H@? ?dž?9jʿ`(? Ÿ,¿ 2$?`?ɨ]F@]6;]CyB#I) AzK]BHK]9KYK]mK]JJJJJJ+:JJJJJƄ;JƄ;Mb@Mb@Mb@ )YQ?K7Mby(?I hA $@)vAIZ@y@ISI4٢, =9앻Q > G٣y5c > Nusing accuracyPremultiplier from config _59X? _5Y i\A ?:ݾ@nLE|n;^;<_5%{B -@-aEZjimFNOT Ignoring new targets: 153.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051481BjJj5 ProNav: ac range: 153.000000 m, nav range: 76.300285 m, bearing: 241.651846 deg, approach rate: 0.036241 m/s, LOS rate: -0.458027 deg/s, cmd heading: 344.214323 deg, new cmd heading: 343.374343 deg. 2j5+=HeadingCmd: 5.993013 target range: 153.000000 and range: 153.00 m. j=ƿ@j9j9j9iAhAhAhAhEBfIfIfIrfqbfu-K@ɛsB= 3I =ɚiIuw,{A R$?IPrκ@Yr@r>9rC=yrH ?5?Cs?5?̿ ?@@ |)¿ 7?_?ɨrκ@r{;rCy~ B~#II EI 3٢%꼽 %k=9%jQ %?)) -G٣-XNGyu]) }> Nusing accuracyPremultiplier from configy_59}X?_5Y}p i}+\A徑@}qLE}m(;}i@;}S_5 @ZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.310905 m, bearing: 241.488412 deg, approach rate: 0.030433 m/s, LOS rate: -0.468267 deg/s, cmd heading: 343.374346 deg, new cmd heading: 342.884125 deg. 2jHeadingCmd: 5.984457 target range: 153.000000 and range: 153.00 m. j@jjjihhhhfffrfbf"@ɛ15v= 9=TI9 =i=ɚ9i9I=z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555506H>I I#IIBI. =&I.I6I'<:I FBIǙCJIǙCRIZI/ =bI/ =jIl5Ew,WAF@Y@~8>9=yH?7?ۤ?:6Ϳ;?`@"3? N?ɨF@B;騕CyޥBޭ#I]Mb@Mb@Mb@YYY Y)YY]Zd;O?EԸy]j?]ƽmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.807665]]A ]Q@)] AI]@Yy](@IIId4٢b 5=9Q > G٣yÎ > Nusing accuracyPremultiplier from config`59>X?`5Y+ i[A_?:fȾ@uLE;;3`5 R@^EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 153.00 m.BjJj% ProNav: ac range: 153.000000 m, nav range: 76.340164 m, bearing: 241.285786 deg, approach rate: 0.065721 m/s, LOS rate: -0.454960 deg/s, cmd heading: 342.884130 deg, new cmd heading: 342.276509 deg. 2j%-HeadingCmd: 5.973852 target range: 153.000000 and range: 153.00 m. j-)@j)j)j)i)h1h1h1h5Bf9f9f9rf9bf=^. @ $?Iɛ tB ̳=  [I =ɚiIpKw,Z/1A6x^@Y6m@6 >96( =y6H?@lT??Ϳ?@U(#4?ɟ?ɨ6x^@6Ӧ;6Cy>B>#IIFAIFk3٢N`ټ Rq=9RӻQ R?PT VG٣TyV> V? ^Nusing accuracyPremultiplier from configX^`59ZXX?b`5YZH iZ[A`bl˾b@ZyLEZU:Zv:Z(`5d j@1Zjq}FNOT Ignoring new targets: 153.00 m.Bj}Jj ProNav: ac range: 153.000000 m, nav range: 76.361923 m, bearing: 241.131147 deg, approach rate: 0.061758 m/s, LOS rate: -0.438779 deg/s, cmd heading: 342.276516 deg, new cmd heading: 341.812742 deg. 2jHeadingCmd: 5.965758 target range: 153.000000 and range: 153.00 m. j}@jjjihhhhfffrfbf @ɛ = )-eI) 5=ɚ1i1I5ǫ Rw,JA6]@Y6,@6 >96ۈ=y6H`ڿ? |#?u=?ο ? C`9?`?ɨ6]@6};6CyBBB#IIJLIJ4٢Rن RJ=9VQ V>TX ZG٣ZYNGyZG Z>rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.563646 eNusing accuracyPremultiplier from configam`59ewX?m`5Ye iemZAimwϾm@e}LEeX:e:e`5}|B @[EZHRHAAH>I I#IIBI&I.I6I&<:IZjFNOT Ignoring new targets: 153.00 m.BjJj  ProNav: ac range: 153.000000 m, nav range: 76.387947 m, bearing: 240.937233 deg, approach rate: 0.062825 m/s, LOS rate: -0.467971 deg/s, cmd heading: 341.812746 deg, new cmd heading: 341.231224 deg. 2j HeadingCmd: 5.955608 target range: 153.000000 and range: 153.00 m. jX@jjj1i1h9h9h9h9fAfAfIrfIbfM!@ɛ= 隥lI HK=ɚiIP Xw,dA6/@Y6@6?>>96ݘ=y6H6?m?Ɩ?ϿI?Ÿ??ɨ6/@6ш;6CyBBB#IzK~JK~9K|K~oK~%Mb@Mb@Mb@!!! !)!Y%/$?Zd;~jthy%?%y%D%A %@)% AI%@!y%@I=RI=W4٢M3) M@=9UQ U>QQ ]G٣Yye" e> mNusing accuracyPremultiplier from configiu`59mX?u`5Ym: imYAs?:ᴾ@mLEmD Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323549 Y Ia ^w,~A2;@Y2@2N>92^u=y2H?@??[п?9׸@? $?ɨ2;@2K;2Cy>B>t#I)@ BAIJ@IJ3٢Ng RU=9RQ R>PT VG٣TyV Z> ^Nusing accuracyPremultiplier from configX^`59Z] Y?b`5YZe iZRYA`bb@ZLEZj:Z:Z`5h jv@hZjFNOT Ignoring new targets: 153.00 m.BjJj  ProNav: ac range: 153.000000 m, nav range: 76.461342 m, bearing: 240.581616 deg, approach rate: 0.092442 m/s, LOS rate: -0.454094 deg/s, cmd heading: 340.682978 deg, new cmd heading: 340.164905 deg. 2j қHeadingCmd: 5.936997 target range: 153.000000 and range: 153.00 m. j@jjjihhhhff!f!rf!bf-`W#@ɛQU= QUҐIQ ][m=ɚYiYI]I I#IIBI&I.I6I_<:I) FGen=G9 BI Oe >ew,Aeav@Yeׅ@e$>9e܈=yeH [?~^? 3? gпܹ?@Y(`x?`?ɨeav@ee;eCyBo#ImWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.827614}Mb@Mb@Mb@yyy y)yY}On? G٣ZNGyS > Nusing accuracyPremultiplier from config`59Y?`5Y iXA?:@LEU;;`5 $?I|B @WEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.513412 m, bearing: 240.376558 deg, approach rate: 0.109795 m/s, LOS rate: -0.432084 deg/s, cmd heading: 340.164895 deg, new cmd heading: 339.550166 deg. 2jD=HeadingCmd: 5.926269 target range: 153.000000 and range: 153.00 m. j=@j9jAjAiAhAhAhIhMBfIfIfIrfQbfUJ$@ɛ= _I =ɚiI- Will construct direction to contact in vehicle frame from tetrahedron phase data.= U YY y] Aalw,A?@Y]O@*f>9v=yH?`?_?~%ѿ?&KA ?_?ɨ?@;yMӄBM_#IIeTIe4٢uz u`=9uژQ u>yy }G٣yyU > Nusing accuracyPremultiplier from config`59 1Y?`5Y i9XA@LEm;1h;`5 @TEZj1=FNOT Ignoring new targets: 153.00 m.BjE5JjM5 ProNav: ac range: 153.000000 m, nav range: 76.553612 m, bearing: 240.215305 deg, approach rate: 0.114445 m/s, LOS rate: -0.458839 deg/s, cmd heading: 339.550178 deg, new cmd heading: 339.066684 deg. 2jrHeadingCmd: 5.917830 target range: 153.000000 and range: 153.00 m. j^@jjjihhhh f f f rf bf f%@ɛ=tBEɞ= AEFIA Ed=ɚAiAIMB uGBOj>J J J J J ,:J :J J rw,1@̝A6@Y6N@6>96=y6H`ۀ?^7??ѿ௚?)@IҰ??ɨ6@6u;4yNBRI#IIZArWill construct direction to contact in vehicle frame from tetrahedron phase data.rIEC IE#IIEBIE- =&IA.IA6IEy<:IE= FIZk3٢ư I=9ʏQ > G٣y > Nusing accuracyPremultiplier from config`591DY?`5Y iWAƮ@LE);[;`5! %@!ZjiFNOT Ignoring new targets: 153.00 m.BjzJjz ProNav: ac range: 153.000000 m, nav range: 76.596794 m, bearing: 240.037773 deg, approach rate: 0.105739 m/s, LOS rate: -0.434471 deg/s, cmd heading: 339.066682 deg, new cmd heading: 338.534402 deg. 2jHeadingCmd: 5.908540 target range: 153.000000 and range: 153.00 m. j@jjjihhhhff f rf bfm %@ɛœ= I =ɚ i I  BDAT read: Tx time:22:38:46.8091 $Ping request sent.yw,V,板ABǸ@YB?׿@B=9Bv=yBH q?k?}?` ҿ?@J4(gʰ?I?ɨBǸ@B99 =G٣=[NGyEh E> ]Nusing accuracyPremultiplier from configYe`59]WY?m`5Y] i]WAu?u:uu@]LE]z;]y;]U`5}B @QEZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.641312 m, bearing: 239.856421 deg, approach rate: 0.107610 m/s, LOS rate: -0.438118 deg/s, cmd heading: 338.534392 deg, new cmd heading: 337.990670 deg. 2jVHeadingCmd: 5.899050 target range: 153.000000 and range: 153.00 m. jż@jjjihhhh߄BfffArfIbfM`̥&@ɛ= IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:38:46.8083 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065 0=ɚiIF+w,÷A6}@Y6@6q=96)=y6HD_?`h1?{?ҿ Kt?PL`ݰ?ޱ?ɨ6}@6 ;6Cy>B>+#IIJ IJV2٢Riɽ R`=9V.Q V>TT VG٣XyZ˼ Z> ^Nusing accuracyPremultiplier from config\b`59^hY?b`5Y^ i^VAdf9f@^LE^` ;^ ;^~ `5h jD@hZj%FNOT Ignoring new targets: 153.00 m.Bj% Jj% 5 ProNav: ac range: 153.000000 m, nav range: 76.678444 m, bearing: 239.699902 deg, approach rate: 0.102531 m/s, LOS rate: -0.431978 deg/s, cmd heading: 337.990682 deg, new cmd heading: 337.521363 deg. 2j5;HeadingCmd: 5.890859 target range: 153.000000 and range: 153.00 m. j끼@jjjihhhhfffrfbf`qc'@ɛRԐ= 隥˾I o=ɚiIyI Ia#IIԄBI, =&I.I6II<:I FG=GGGq By O >NKw,MfA9@YI@=9~=yH`L?@J?`F?ӿOc?S;?`ֵ?ɨ9@<ȇ;騕CyB#IA IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007854%Mb@Mb@Mb@!!! !)!Y%l?l:vy%?%%T%`A %3@)% AI%h@!y%AI=cI=y/4٢Ma M'=9U}mQ U>QY ]G٣Yy]> ]> mNusing accuracyPremultiplier from configiu`59m)Y?u`5Ym imUAu?u:u򻾑u@mLEm;m;m$`5 I@NEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 153.00 m.BjtJjt ProNav: ac range: 153.000000 m, nav range: 76.725189 m, bearing: 239.488339 deg, approach rate: 0.096047 m/s, LOS rate: -0.434430 deg/s, cmd heading: 337.521366 deg, new cmd heading: 336.887091 deg. 2jHeadingCmd: 5.879789 target range: 153.000000 and range: 153.00 m. j;'@jjjihhhhфBfffrfbf`ˌw,ƨ5A5X@Y5@5=95c}=y5H @??@-?|}ӿHT?@:Y㽿#x?a?ɨ5X@5CӇ;1yUBU#IIe&Ie3٢u﬽ uM=9uϻQ }> G٣\NGy$| > Nusing accuracyPremultiplier from config`59Y?`5Y ilUA@LE ;e ;?(`5~B f@KEZjFNOT Ignoring new targets: 153.00 m.BjJj ProNav: ac range: 153.000000 m, nav range: 76.762642 m, bearing: 239.316002 deg, approach rate: 0.094193 m/s, LOS rate: -0.433214 deg/s, cmd heading: 336.887087 deg, new cmd heading: 336.370343 deg. 2jHeadingCmd: 5.870770 target range: 153.000000 and range: 153.00 m. jYݻ@jjjihhhhf f f rf bf )@ɛ9== 9=I9 E =ɚAiAIE% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762290w,SOAZH0RH2?AH6>I4 I6;#II6BI4&I4.I63D6I6W<:I6) FBIUCJIUCRIQZIU- =bIU- =jIU35yzB"II-6I-m3٢EÓ Ma=9MQ M>QQ UG٣QyU }> Nusing accuracyPremultiplier from config`59eY?`5Y iTA@LE::r+`5 <@Zj FNOT Ignoring new targets: 153.00 m.Bj Jj 񻝊E ProNav: ac range: 153.000000 m, nav range: 76.797707 m, bearing: 239.157592 deg, approach rate: 0.093634 m/s, LOS rate: -0.422813 deg/s, cmd heading: 336.370342 deg, new cmd heading: 335.895340 deg. 2jEMHeadingCmd: 5.862480 target range: 153.000000 and range: 153.00 m. jMo@jIjQjQiqhqhyhyhyfyffrfbf )@ɛrBcڃ= I G=ɚiI3"әw,;5iAzKRBHKR9KPKRsKR z@Yz@z(L=9z}}=yzH ? ??pԿC+?@}@/t?@~?ɨz@z5;zCyjB"Ii%]>I%=Mb@Mb@Mb@ )Yl?I +y&1y94`evA `@)\ AI@yAIOI 4٢ٛ B=92Q > G٣y > Nusing accuracyPremultiplier from config`59lY?`5Yp i\TA?:&;@LEc;5;/`5}B 4@HEZj!-FNOT Ignoring new targets: 153.00 m.Bj-Jj5E ProNav: ac range: 153.000000 m, nav range: 76.831734 m, bearing: 238.976432 deg, approach rate: 0.083292 m/s, LOS rate: -0.443249 deg/s, cmd heading: 335.895344 deg, new cmd heading: 335.352120 deg. 2jEMHeadingCmd: 5.852999 target range: 153.000000 and range: 153.00 m. jMK@jIjIjIiIhhhh˄BffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267016f rf bf -*@ɛeqBeפ= 隍I c=ɚiI M $?II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5180459w,EA2?@Y2mO@2Ȯ=92L{=y2H?|?9?#Կ_?@~`6ej/? ?ɨ2?@2k;2CyBZBB"IIJVIJn4٢^% ^]=9b Q b>`` fG٣f]NGyf f> jNusing accuracyPremultiplier from confighn`59j0Y?n`5Yj ijSAprѾr@jLEj ;j ;jQ2`5t v4@xZj%FNOT Ignoring new targets: 153.00 m.Bj%Jj%5 ProNav: ac range: 153.000000 m, nav range: 76.860611 m, bearing: 238.816175 deg, approach rate: 0.078033 m/s, LOS rate: -0.432885 deg/s, cmd heading: 335.352125 deg, new cmd heading: 334.871547 deg. 2j==HeadingCmd: 5.844611 target range: 153.000000 and range: 153.00 m. j=@jAjAjAiAhAhAhIhIfIfIfIrfQbfU k+@ɛH7h= pU2=隅k I Ơ=ɚiIYImC Im#IImBIm* =&Ii.Ii6Im<:Im FG=GBO>iw,rA xIzh]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025058yލJBލ"IMb@Mb@Mb@ )Y~jt?p= ףMby? A QA) AI@yAIMSIM4٢e: e&=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy`59}Y?`5Y}  i}(SA?:2⾑@}LE}< ;};}6`5~B =@EEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 153.00 m.BjIJjI ProNav: ac range: 153.000000 m, nav range: 76.891632 m, bearing: 238.595541 deg, approach rate: 0.063104 m/s, LOS rate: -0.448634 deg/s, cmd heading: 334.871553 deg, new cmd heading: 334.209949 deg. 2j򙼝HeadingCmd: 5.833064 target range: 153.000000 and range: 153.00 m. jv@jjjihhhhńBfffrfbfSh,@ɛoB^}= 隭I n=ɚiI.Aw,A6s@Y6駽@6=96en=y6H???X0ֿ@3?@@V??ɨ6s@6u=;6CyB9BB"I)D DIJKIJ4٢Rν R{=9VְQ V ?TT ZG٣Xy Tx ? Nusing accuracyPremultiplier from config%`59FY?%`5Yw iRA!%쾑%@LE::9`51 5J@1ZjaeFNOT Ignoring new targets: 153.00 m.BjmDJjmD} ProNav: ac range: 153.000000 m, nav range: 76.909409 m, bearing: 238.443881 deg, approach rate: 0.052589 m/s, LOS rate: -0.448561 deg/s, cmd heading: 334.209953 deg, new cmd heading: 333.755090 deg. 2j}뙼HeadingCmd: 5.825125 target range: 153.000000 and range: 153.00 m. jmg@jjjihhhhfffrfbf`-@ɛK= I =ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:38:49.4085 LVL= 15312, 21409, 17362, 22307, AGC= 62, IDX= 27,-0.24,-2.829, 1.418, 1.937, 2.366, PHS= 1.176,-0.901,-0.432, RAW= 102.4, 1.7, CAL= 112.9, -1.4, ROT= 37.1, 1.4  Ygot valid direction response: 22:38:49.4085 LVL= 15312, 21409, 17362, 22307, AGC= 62, IDX= 27,-0.24,-2.829, 1.418, 1.937, 2.366, PHS= 1.176,-0.901,-0.432, RAW= 102.4, 1.7, CAL= 112.9, -1.4, ROT= 37.1, 1.4 jH <bH H >I  I "II oBI ) =&I .I 4D6I .<:I  F DAT read: Range 10 to 50 : 146.4 m (Round-trip 195.2 ms) speed 0.3 m/s % ,DAT read: user:2752> - BDAT read: Tx time:22:38:50.5092 - $Ping request sent.- iٵ +?ٵ fٵ /ݾٵ ?ٵ < ڵ 8?)ڵ +ȼ$w,(aўAI%?i+<X~?SEOӿL?)Ii˹r:publishing transmit ping timeavFpublishing direction and range info9~OYƻj?y )Ii )IiX~?SEOӿL?)Iiy'B"IIaI+4٢ 7=9Q  >    G٣ ^NGy }> Nusing accuracyPremultiplier from config`59Z?`5Y i RA@LE<<=`5M}B Uf@UDEkh&V?k7-D k kОA:kfCBkcCZk@"=*3:/$b@~OYƻj?JkRk˹*E'{D5Z"Р b@_ƽ[5¿PE@J?"k*k<kAV?kYH 2khRCk EO?kkk.Bk@e addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 14.871859 s, deltaX: -6.600006 m, approachRate: -0.443792 m/s, rangeRepo size: 4  Added new target pos. range: 146.399994 m, bearing: 241.265548 deg, lat: 36.903110 deg, lon: -122.120701 deg, deltaT: 14.871859 s, deltaX: -6.600006 m, approachRate: -0.443792 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 146.40 m.BjJj ProNav: ac range: 146.399994 m, nav range: 73.091537 m, bearing: 243.504838 deg, approach rate: 0.000000 m/s, LOS rate: -0.448561 deg/s, cmd heading: 333.755090 deg, new cmd heading: 333.082384 deg. 2jHeadingCmd: 5.813384 target range: 146.399994 and range: 146.40 m. j>@jjjihh h9hAfQ $?IffrfLb@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:38:50.5084 bf5`N?ɛmBt= 1#I =ɚiI)/@)E] =J J J J J L:J :J J J O;J P;J 9P;J 9P;zK JK 59K K uK *F ?2F :F BF P5JF "G =G =Will construct direction to contact in vehicle frame from tetrahedron phase data.) SCuG5tAA Y5tAy BG>=G ?GGBO?qw,2AF}@YF@Fy-=9F;R=yFH:l??`E?@)ؿ }~?1ζ, ?`?ɨF}@Fl;FCyRBR~"IiVaa mG٣iymb m> }Nusing accuracyPremultiplier from configy`59}Z?`5Y} i}KQA?:S@}LE};}<;}B`5~B "@AEZjFNOT Ignoring new targets: 146.40 m.BjJj ProNav: ac range: 146.399994 m, nav range: 73.078819 m, bearing: 243.231662 deg, approach rate: -0.023713 m/s, LOS rate: -0.509422 deg/s, cmd heading: 333.082371 deg, new cmd heading: 332.262761 deg. 2jή IHeadingCmd: 5.799079 target range: 146.399994 and range: 146.40 m. j@jjjihhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbfw?ɛlB]I_= (I =ɚi1I5KI} C I} "II} FBI} ( =&Iy .Iy 6I} 1<:I}  FG!=GyBO?9-w,!AyBa"II%!I%i3٢5 5!=9=Q =>AI UG٣Qye m> }Nusing accuracyPremultiplier from configy`59}-1Z?`5Y} i}PA@}LE}:};}G`5 @?EZjFNOT Ignoring new targets: 146.40 m.BjJj ProNav: ac range: 146.399994 m, nav range: 73.069061 m, bearing: 242.992504 deg, approach rate: -0.019083 m/s, LOS rate: -0.467767 deg/s, cmd heading: 332.262748 deg, new cmd heading: 331.545218 deg. 2j %HeadingCmd: 5.786556 target range: 146.399994 and range: 146.40 m. j%w+@j1j1j9i9hAhIha $?IPExceeded connect timeout, disconnecting.]Will construct direction to contact in vehicle frame from tetrahedron phase data.hafyffrfbfnd?ɛ]jBeYGT= ae2Ia eb>=ɚaiiIm7Rw,3A2ڴ@Y2u@2=92pL=y2H*???iٿ`l;?v`Nn?D?ɨ2ڴ@27;2CyNBRL"IEMb@Mb@Mb@AAA A)AYEzG?㥛 ~jtxyE ?EEĻE A EA)EAIE`@AyE\AI4IV3٢ȝ @=9wQ > G٣_NGy?M > Nusing accuracyPremultiplier from config `59(CZ? `5YF i%PA3?:@LE;;J`5 @!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 146.40 m.BjUJjUe ProNav: ac range: 146.399994 m, nav range: 73.053917 m, bearing: 242.798468 deg, approach rate: -0.036004 m/s, LOS rate: -0.461400 deg/s, cmd heading: 331.545223 deg, new cmd heading: 330.963016 deg. 2jeSmHeadingCmd: 5.776394 target range: 146.399994 and range: 146.40 m. jm9ظ@jijijiiihihqhyh}ńBfffrfbf>?ɛiB,= 隝:I =ɚiI9w, MA:ΐ@Y:D@:=9:L=y:H@ ?^??@ٿE?@ܶW?@B?ɨ:ΐ@:;:CyRBR6"IIZEIZ3٢bd b_=9b?y9Q f>dd fG٣dyjʼ j> =Nusing accuracyPremultiplier from configlE`59nRZ?E`5Yn7  inOAIM M@nLEnlI I"II(BI' =&IGD.I6IY<:I5 Fhhfffrfbf@\.@ɛ%gB-= )-BI) -=ɚ)i)I5bExfw,vmgAy]փB]'"I=Mb@Mb@Mb@999 9)9Y=7A`?ʡEMby=?===E A =A)=AAI=v@9y=zAIUGIU3٢e5U e2=9eQ e>J}J}JyJyJ}L:J}:JyJyJ}O;J}P;J}nN;J}oN;i G٣y > Nusing accuracyPremultiplier from config`59JfZ?`5Y# i*OA?: @LE;F;R`5 @ZjFNOT Ignoring new targets: 146.40 m.BjKJjK ProNav: ac range: 146.399994 m, nav range: 73.020218 m, bearing: 242.416415 deg, approach rate: -0.042713 m/s, LOS rate: -0.473136 deg/s, cmd heading: 330.456273 deg, new cmd heading: 329.816629 deg. 2jZHeadingCmd: 5.756386 target range: 146.399994 and range: 146.40 m. jQ4@jjjihhhh˄Bfffrfbf@zK4OKs9KKwK wbB%~pc]URQMKGA??;:74.*+((&%"!#BKpA:KɛfB:-= !%HI! -=ɚ)i)I-E I Kw,%>AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757450Zt@YZ @Zu=9ZcS=yZH`?@=n??Pڿ@?p!:? ?ɨZt@Z;ZCyvBv"II~]I~$4٢-z -a=9-⚻Q 5>11 5G٣5`NGy=KP => ENusing accuracyPremultiplier from configAM`59EEuZ?U`5YE& iENAY]]@ELEEX;EY;E$U`5a e@m9EZjFNOT Ignoring new targets: 146.40 m.BjIJjI ProNav: ac range: 146.399994 m, nav range: 73.002182 m, bearing: 242.251450 deg, approach rate: -0.050183 m/s, LOS rate: -0.459114 deg/s, cmd heading: 329.816639 deg, new cmd heading: 329.321635 deg. 2jHeadingCmd: 5.747747 target range: 146.399994 and range: 146.40 m. j@jjjihhhhfffrfbf@ɛ5dBU*< quQIq },Y=ɚyiyI}H&>I I`"IIBI&I.I6I<:I FBIǜCWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:38:53.1070 TRx dataTimestamp_ set to:1736375934.276607checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010442JIǜCRIZI( =bI) =jI5vw,CA6@Y6%@6I=96|GY=y6H ? ?`xIR=IZMIZ{4٢fjT fQ=9fbQ f>hh jG٣hyn*ɼ n> rNusing accuracyPremultiplier from configpv`59rZ?v`5YrG* irGNAtzz@rLErv:r:rX`5| ~@|Zj!%FNOT Ignoring new targets: 146.40 m.Bj-Jj5 ProNav: ac range: 146.399994 m, nav range: 72.980965 m, bearing: 242.071247 deg, approach rate: -0.054303 m/s, LOS rate: -0.461342 deg/s, cmd heading: 329.321642 deg, new cmd heading: 328.780892 deg. 2jNHeadingCmd: 5.738309 target range: 146.399994 and range: 146.40 m. j:@jjjihhhhfffrfbf @ U$?IYɛcB = UIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264798 G=ɚaiaIeqkw,˴Abh@Ybix@b=9bb=ybH@?w?kz?ܿ ?]Zv`4??ɨbh@bh*;bCyjBj!IMb@Mb@Mb@ )Y`"?bX9ȶ G٣yڛ > Nusing accuracyPremultiplier from configM`59tZ?M`5Y&. iMAU?U:UU@LESi<h<[\`5]B ]@]6E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 146.40 m.BjJj ProNav: ac range: 146.399994 m, nav range: 72.951096 m, bearing: 241.869689 deg, approach rate: -0.066241 m/s, LOS rate: -0.447182 deg/s, cmd heading: 328.780882 deg, new cmd heading: 328.175985 deg. 2jrHeadingCmd: 5.727751 target range: 146.399994 and range: 146.40 m. jI@jjjihhhhBf!f)f)rf1bf5k @ɛaB= 隵_I _=ɚiI=I0iizó=)I@) ]$?Ieh*Fu?2Fy:FyBF} 2JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:38:53.1070 LVL= 19120, 32753, 31922, 32755, AGC= 60, IDX= 427,-0.37, 0.970,-1.140,-0.831,-0.285, PHS= 1.343,-0.808,-0.549, RAW= 96.3, 0.1, CAL= 105.2, -4.0, ROT= 44.8, 4.0 Ygot valid direction response: 22:38:53.1070 LVL= 19120, 32753, 31922, 32755, AGC= 60, IDX= 427,-0.37, 0.970,-1.140,-0.831,-0.285, PHS= 1.343,-0.808,-0.549, RAW= 96.3, 0.1, CAL= 105.2, -4.0, ROT= 44.8, 4.0 PDAT read: Bearing 44.8, 4.0 (Local) ~Local bearing/azimuth received: Bearing 44.8, 4.0 (Local) DAT read: Range 10 to 50 : 145.2 m (Round-trip 193.6 ms) speed 0.4 m/s ,DAT read: user:2753> BDAT read: Tx time:22:38:54.2092 $Ping request sent.ٿZ?t5c?)UӾIU<}iUTGUiQQu:publishing transmit ping time}Fpublishing direction and range infoQ9U]veCeAi?yQQQQ Q)QIQiQQGBO>QQQ Q)QIQiQQQUXN?9:>ٿZ?t5c?)QIQiQQQQJ J J /J J :J :J (N3J a @a @a @a @xw,ŏΟA6Z@Y6#@6=96=c=y6HLo? ? o߰?ܿ`Ku?{b  *>??ɨ6Z@6 ;6CyBBB!IINgIN64٢V V`=9VQ V>XX ZG٣ZaNGy^ ^> bNusing accuracyPremultiplier from config`f`59bkZ?f`5Ybu1 ibRMAdfj@bLEb:b:b_`5nB n$@r8EkY?k k kŸA:k3CBk2CZkB1@"OQ,+ؿ=b@]veCeAi?JkTGRki*G ݊ic,b@ȖIڏh'9?"k*kNk4Y?k< 2kRCkAV?kab kOCkhBk'@5 addTargetRange:: Added new target pos. range: 145.199997 m, deltaT: 3.780313 s, deltaX: -1.199997 m, approachRate: -0.317433 m/s, rangeRepo size: 4 M Added new target pos. range: 145.199997 m, bearing: 247.432565 deg, lat: 36.903297 deg, lon: -122.120614 deg, deltaT: 3.780313 s, deltaX: -1.199997 m, approachRate: -0.317433 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 145.20 m.BjUJjQe ProNav: ac range: 145.199997 m, nav range: 58.138489 m, bearing: 256.317495 deg, approach rate: 0.000000 m/s, LOS rate: -0.447182 deg/s, cmd heading: 328.175973 deg, new cmd heading: 327.700598 deg. 2jamHeadingCmd: 5.719454 target range: 145.199997 and range: 145.20 m. jm@jijqjqiqhqhqjH}<bHyH(>IC I5"IWill construct direction to contact in vehicle frame from tetrahedron phase data.IBI& =&I.I6Ik<:IF Fhhfffrf`f&b@bf?ɛ-_B-J< 1U-iIy }t =ɚyiyI}d=IPii.=)@)*F ?2F :F BF 5JF G뜮=GrAG qIqGB) } Will construct direction to contact in vehicle frame from tetrahedron phase data.O >Ңw,j蟿A6c@Y6Ĺ@6y0=96t=y6H`eF?@?@=?IJݿF?@9e[ r?%?ɨ6c@6;6CyJzBJ!I)P PMb@Mb@Mb@ )YzG?~jt~jty ?DrA A)+AIhAyp AI>I3٢ 8=9ϻQ > G٣yռ >  Nusing accuracyPremultiplier from config `59 Z?`5Y g5 i LAQ?:@ LE ; l; rc`5%B %S@%5EZjIUFNOT Ignoring new targets: 145.20 m.BjUJjUe ProNav: ac range: 145.199997 m, nav range: 58.044643 m, bearing: 256.075011 deg, approach rate: -0.212968 m/s, LOS rate: -0.551169 deg/s, cmd heading: 327.700592 deg, new cmd heading: 326.972005 deg. 2jm!mHeadingCmd: 5.706738 target range: 145.199997 and range: 145.20 m. jm@jqjjihhhhBfffrfbf`G?ɛ]B< \qI Gg=ɚiIf=IU iQiU=)U@)QzK-:LK-S9K)K-yK- 2  5 U VSu nPWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF GM C=G! B9 OU > e $?Ia w,EKAWill construct direction to contact in vehicle frame from tetrahedron phase data.>U@Y>%e@>:=9>n=y>Hy?]?@ȭ?[ݿ?ոNݸ.?k?ɨ>U@>;99 =G٣9yE E> MNusing accuracyPremultiplier from configIe`59MZ?e`5YM8 iMVLAaee@MLEMl;Mm;Mf`5i uV@qZjFNOT Ignoring new targets: 145.20 m.BjJj ProNav: ac range: 145.199997 m, nav range: 57.963017 m, bearing: 255.868601 deg, approach rate: -0.214076 m/s, LOS rate: -0.542098 deg/s, cmd heading: 326.972002 deg, new cmd heading: 326.351924 deg. 2jHeadingCmd: 5.695916 target range: 145.199997 and range: 145.20 m. jD@jjjihhhhfffrfbf8?ɛ[BTV< xI  =ɚ i I =IJWiij=)D@)*F?2F:FBF]0JFJJJ0JJL:J:Jـ3JH*>I I"IIBI&I.I5D6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.G=GBO>tw,TAB?@YB @Bۀ=9Bll=yBHA? ?YS?޿ ?q F`x?@p?ɨB?@BX;;BCyJUBJ!IIVIV<2٢bsٽ fR=9fQ f>hh jG٣jbNGyj n> rNusing accuracyPremultiplier from configpv`59rZ?v`5Yrd< irKAxz z@rLEr;r;r-j`5| ~@~2EZj!%FNOT Ignoring new targets: 145.20 m.Bj-Jj-M ProNav: ac range: 145.199997 m, nav range: 57.877617 m, bearing: 255.656814 deg, approach rate: -0.219743 m/s, LOS rate: -0.545754 deg/s, cmd heading: 326.351930 deg, new cmd heading: 325.715660 deg. 2jMEUHeadingCmd: 5.684811 target range: 145.199997 and range: 145.20 m. jU@jQjQjQiYhYhYhahafafafarfibfm??ɛYB4< 隝 I (I=ɚiI=I/iii=)@)E $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFm_0JFiGޯ=G?G>GBO>Q u vAzK PK s9K K zK [7zuqlf`[XVPLJFC>94-$ A Will construct direction to contact in vehicle frame from tetrahedron phase data. Y vAy Bn w,5Af@YflŸ@fR=9f#Zj=yfH@?q?@?`b ߿?@2:%??ɨf@f2;fCyr?Bro!Iiv=Iv4>uMb@Mb@Mb@qqq q)qYuS?ʡE~jtyu?u-uu A uA)uAAIuAqyu= AI\I#4٢Mý 9=9UQ > G٣y > Nusing accuracyPremultiplier from config `59 Z?`5Y @ i PKAK?:&%@ LE 4; ;  n`5) - @)EB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 145.20 m.Bj]Jj]} ProNav: ac range: 145.199997 m, nav range: 57.773693 m, bearing: 255.412469 deg, approach rate: -0.234617 m/s, LOS rate: -0.552621 deg/s, cmd heading: 325.715657 deg, new cmd heading: 324.981345 deg. 2jHeadingCmd: 5.671995 target range: 145.199997 and range: 145.20 m. j@jjjihhhhmBfffrfbf_c?ɛWB|< مI _=ɚiI=IviiV=)@)*F2F:FBFJF I EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G =G B O >J J J J J J :J J w,OAy~(B~R!IIVIn4ZHRHH%,>I! I%!II%BI!&I!.I!6I%9<:I%$ F٢En EV=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configYe`59]4Z?m`5Y][D i]JAiim@]LE]:]X:]`q`5}B }@}/EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254568ZjFNOT Ignoring new targets: 145.20 m.Bj1Jj1 ProNav: ac range: 145.199997 m, nav range: 57.684822 m, bearing: 255.200817 deg, approach rate: -0.231931 m/s, LOS rate: -0.553206 deg/s, cmd heading: 324.981357 deg, new cmd heading: 324.345452 deg. 2jԽHeadingCmd: 5.660896 target range: 145.199997 and range: 145.20 m. j&@jjjihhhhfffrfbf@M8@ɛUB< %_=%I! %=ɚ!i!I%p=I-aNi)i-ҕ=)-&@)*FM?2FI:FIBFM0JFI $?IGm"==GQ By  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528222O5 >w,iAV 1@YV@@V =9Vl=yVH?@[+?E? ߿?z̷`v??ɨV 1@Vj;TyjBj:!IeMb@Mb@Mb@aaa a)aYe)\(?:vZd;OyeG!?eԽejeA a)aIaaye AI}[I}K!4٢5 E=9Q > G٣cNGy^ > Nusing accuracyPremultiplier from config`59= [?`5YH i=JA#?:0@LEY@;>;t`5 @ZjFNOT Ignoring new targets: 145.20 m.Bj0$Jj0$  ProNav: ac range: 145.199997 m, nav range: 57.576290 m, bearing: 254.964048 deg, approach rate: -0.262703 m/s, LOS rate: -0.574182 deg/s, cmd heading: 324.345439 deg, new cmd heading: 323.633830 deg. 2j żHeadingCmd: 5.648476 target range: 145.199997 and range: 145.20 m. jQ@jjjihhhhRBff!f!rf!bf%`^@ɛRB<< [I =ɚiIK=IN|"iiU=)Q@)zKNK9KK{K      Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766457*F?2F:FBF~0JFG qA G G:I=GqAGGBO> I  w,mA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:22:38:56.8053 &TRx dataTimestamp_ set to:1736375938.064809*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019590 @Y @ =9 l=y Hk?k?F?;g?-u_??ɨ @ /; CyB%#!I)) )I5hI5V84٢E EO=9M~_Q M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYe`59]`[?m`5Y]L i]IAimy2m@]LE]:]:]ox`5y }@},EZjFNOT Ignoring new targets: 145.20 m.Bj$Jj$ ProNav: ac range: 145.199997 m, nav range: 57.471546 m, bearing: 254.738218 deg, approach rate: -0.266759 m/s, LOS rate: -0.576184 deg/s, cmd heading: 323.633843 deg, new cmd heading: 322.955152 deg. 2jżHeadingCmd: 5.636631 target range: 145.199997 and range: 145.20 m. jG_@jjjihhhhfffrfbf@5@ɛPB{8 隭I =ɚiIve =I%ii.=)G_@) *F?2F:FBFS5JFJuJqJqJqJul:JqJqJqH%.>I! I%!II%\BI%$ =&I!.I!6I%-<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270393Gm >=GA BI Om >'w,ytA $?Iܜ@YR@@D=9l=yH QG?,?=?@Yz3B?r 9p?@?ɨܜ@;騉yB !II\I#4٢ ܣ  >=9EQ > G٣y% %> -Nusing accuracyPremultiplier from config)5`59-+[?5`5Y-Q i-IA1=4=@-LE-;-B;-2|`5EB E@E.E]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjYFNOT Ignoring new targets: 145.20 m.BjJjeDAT read: 22:38:56.8053 LVL= 17728, 27505, 21458, 27059, AGC= 58, IDX= 426,-0.29, 1.440,-0.511,-0.418, 0.256, PHS= 1.272,-0.719,-0.677, RAW= 91.1, 1.3, CAL= 98.7, -2.0, ROT= 51.3, 2.0 mYgot valid direction response: 22:38:56.8053 LVL= 17728, 27505, 21458, 27059, AGC= 58, IDX= 426,-0.29, 1.440,-0.511,-0.418, 0.256, PHS= 1.272,-0.719,-0.677, RAW= 91.1, 1.3, CAL= 98.7, -2.0, ROT= 51.3, 2.0 uPDAT read: Bearing 51.3, 2.0 (Local) u~Local bearing/azimuth received: Bearing 51.3, 2.0 (Local) } ProNav: ac range: 145.199997 m, nav range: 57.356075 m, bearing: 254.491839 deg, approach rate: -0.233895 m/s, LOS rate: -0.500065 deg/s, cmd heading: 322.955140 deg, new cmd heading: 322.214557 deg. 2j}HeadingCmd: 5.623705 target range: 145.199997 and range: 145.20 m. jd@jjjihhhhffDAT read: Range 10 to 50 : 143.9 m (Round-trip 191.9 ms) speed 0.2 m/s frfbf{ @},DAT read: user:2754> BDAT read: Tx time:22:38:57.9092 $Ping request sent.i]cF@]᧶YYU:publishing transmit ping time؉UFpublishing direction and range infoY9]Mvm|/?{s?yYYYY Y)YIYiYYYYY Y)YIYiYYY]/m]?@}޿Xǖ?)YIYiYYYɛuLBuW< q}IY t0=ɚiI6 =I(ii=)d@)zK w'MK 9K K |K  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:38:57.9084 E 31=*F ?2F :F BF _0JF "G =G = IhG7=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO?.1w,ĠA^e@Y^@^K=9^jh=y^H?A:?0? ?'@AB5? ?ɨ^e@^@;\yjڂBj Iin=Inp G٣dNGyf > Nusing accuracyPremultiplier from config`59?D[?`5YX iAHA(?:<@ME3;o;r`5B m@+Ek lQ*[?k W k  k :zA:k CBk CZk 寧?" P~M/)s *@ /Ea@ Mvm|/?{s?Jk cF@Rk ᧶* Y3ӿTt|'@+a@ jPa&@|?ڒg?"k ;@*k k f#*[?k r 2k 3QCk z:V?k YH k 3QCk HAk ԟ@ addTargetRange:: Added new target pos. range: 143.899994 m, deltaT: 3.537755 s, deltaX: -1.300003 m, approachRate: -0.367466 m/s, rangeRepo size: 4  Added new target pos. range: 143.899994 m, bearing: 92.937158 deg, lat: 36.903314 deg, lon: -122.120207 deg, deltaT: 3.537755 s, deltaX: -1.300003 m, approachRate: -0.367466 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 143.90 m.BjJjM ProNav: ac range: 143.899994 m, nav range: 23.285542 m, bearing: 233.881951 deg, approach rate: 0.000000 m/s, LOS rate: -0.500065 deg/s, cmd heading: 322.214557 deg, new cmd heading: 321.363309 deg. 2jIUHeadingCmd: 5.608848 target range: 143.899994 and range: 143.90 m. jU{@jQjQjQiQhYhYhyh1Bfffrfa@bf`?ɛIBi; I %=ɚ!i!I%P( =I-e,i)i-g=)-{@)1EBa=H/>IC IT!II*BI&I.I6I<:I FBIUƝCJIUƝCRIQZIU& =bIU% =jIUj5*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս%=Սp=G !=Gi Bq O >Q7w,GޠAJ$@YJ@J=9J*T=yJH@?|?%?T ?䶿,? ?ɨJ$@JdT;JCyVBV IIbtIbM4٢fL fX=9jE߻Q j>hl nG٣lynټ r> vNusing accuracyPremultiplier from configpv`59rmS[?z`5Yr\ irGAxz0?z@rMErv:r:r`5  9@ (E %$?I!5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 143.90 m.BjMJjMe ProNav: ac range: 143.899994 m, nav range: 23.258297 m, bearing: 233.281299 deg, approach rate: -0.077563 m/s, LOS rate: -1.711985 deg/s, cmd heading: 321.363296 deg, new cmd heading: 319.559858 deg. 2jeݒmHeadingCmd: 5.577372 target range: 143.899994 and range: 143.90 m. jmy@jijijiiihihqhqhqfyffrfbf*?ɛGBp 隽,I =ɚiI2A =IĪ2ii=)y@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JFJJJJJ:J :JJJ;a-J;a-JS;a5JS;a5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.154264zK% &~JK% 59K! K% }K% G ,A=G B O5 >=w,&qA> E@Y>T@>=9>JR=y>H ??? CH?@deB0?@P?ɨ> E@>;>CyFBF IeMb@Mb@Mb@aaa a)aYeMbX?MbS㥛ye*?ee/ݼeA e`A)eXAIe3Aayez AI}CI}3٢ 2=9Q > G٣yW > Nusing accuracyPremultiplier from config`59f[?`5Yb iGA.?:)F@ ME;N;`5 6@Zj FNOT Ignoring new targets: 143.90 m.BjJj뼝- ProNav: ac range: 143.899994 m, nav range: 23.219311 m, bearing: 232.526274 deg, approach rate: -0.085066 m/s, LOS rate: -1.650150 deg/s, cmd heading: 319.559853 deg, new cmd heading: 317.292227 deg. 2j-5HeadingCmd: 5.537794 target range: 143.899994 and range: 143.90 m. j55@j1j1j1i1h9h9h9h=$BfAfAfArfbf? 5$?I9ɛUCBU Y]EIY ]W=ɚyiIr=I>ii>)5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.407385*FQ2FQ:FQBF]v4JFYGerA GaG5B=G BO=q>H 1>I  I !II BI &I .I 6I 4<:I & FdDw,1ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.658427yeBe I)y yIvI&Q4٢ K=9Q > G٣eNGy > Nusing accuracyPremultiplier from config`59hv[?`5Yg iFA@MEu;-;D`5B @%EZj!-FNOT Ignoring new targets: 143.90 m.Bj5Jj=꼝] ProNav: ac range: 143.899994 m, nav range: 23.188334 m, bearing: 231.859480 deg, approach rate: -0.076246 m/s, LOS rate: -1.643378 deg/s, cmd heading: 317.292230 deg, new cmd heading: 315.290036 deg. 2j]mHeadingCmd: 5.502849 target range: 143.899994 and range: 143.90 m. jmW@jqjqjqiyhyhyhhfffrfbf J?ɛ@BaL 隕ʧI *=ɚiI=IaCii>)W@)*FE?2FA:FABFE75JFA !I!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.911381G m=G B O >Jw,s.A6嚮@Y6[@6=96_E=y6H q8?`N?w? , j3?@g`Lγ?@?ɨ6嚮@6,;4yBBB IJ~@AJ~@AJJJJJ,:J :JJJ;J;JcW;JdW;5Mb@Mb@Mb@111 1)1Y5|?5^?x&y5-?57 5̼5A 5A)5AI11y1IMlIMm?4٢ # B=9Q > G٣y%J %> -Nusing accuracyPremultiplier from config)5`59-Z[?5`5Y-m i-EA5J1?5:=L=@-ME-;-};-`5A E@AZjiuFNOT Ignoring new targets: 143.90 m.Bj}0Jj}0 ProNav: ac range: 143.899994 m, nav range: 23.151352 m, bearing: 231.151437 deg, approach rate: -0.089429 m/s, LOS rate: -1.714883 deg/s, cmd heading: 315.290029 deg, new cmd heading: 313.163539 deg. 2jHeadingCmd: 5.465735 target range: 143.899994 and range: 143.90 m. jM@jjjihhhhBfffrfbfA@ɛ=B( ;I *=ɚiI&=ILii1H(>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.162341)M@)zK-BoHK-s9K)K-~K-RKE?JKE?*F!2F!:F!BF%P0JF!G=GBOn>  $?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.414251Qw,%GAbA@Yb^Q@b9ҙ=9b4YA=ybH?6?@bR?yvM?@b5j? ?ɨbA@bDՈ;`yB II~IT_4٢%˽ %[=9%.ͻQ %>)) -G٣)y5 => ENusing accuracyPremultiplier from configAM`59EH[?M`5YEq iEyEAIMOM@EMEE:E:E4`5Y ]@]$EZjFNOT Ignoring new targets: 143.90 m.BjPJjP򼝊 ProNav: ac range: 143.899994 m, nav range: 23.118610 m, bearing: 230.519444 deg, approach rate: -0.087679 m/s, LOS rate: -1.694787 deg/s, cmd heading: 313.163545 deg, new cmd heading: 311.265612 deg. 2jcHeadingCmd: 5.432610 target range: 143.899994 and range: 143.90 m. j׭@jjjihhhhfffrfbf`@ɛe:Be im=Ii mr=ɚiiiIu'8=IXYiiL>)׭@)*F2F:FBF[0JFG >ZHiRHiHu3>Iq Iu IIuӂBIq&Iq.Iq6Iu3<:Iu' FGBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.669616  I Xw,+aAB֭@YBb@B=9BT4=yBH@?`??%W?zq`y??ɨB֭@Bx;BCyNBN IiV>IV<IZuIZaO4٢b bO=9bQ f>dd fG٣ffNGyj j> nNusing accuracyPremultiplier from configlr`59nΥ[?r`5Yn=w inDAtvSv@nMEn;n;n`5| ~A|%B*** querying acoustic contact ***j!j!ZjIMFNOT Ignoring new targets: 143.90 m.BjU~JjU~m ProNav: ac range: 143.899994 m, nav range: 23.083605 m, bearing: 229.852175 deg, approach rate: -0.087378 m/s, LOS rate: -1.668066 deg/s, cmd heading: 311.265599 deg, new cmd heading: 309.261620 deg. 2jmuHeadingCmd: 5.397634 target range: 143.899994 and range: 143.90 m. juj@jqjqjqiqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.921121hyh9hQhyfffrfbfj@ɛ57B5hW 9=I9 =\=ɚAiAIE=Im4biqiuiY>)uj@)y*Fi2Fi:FiBFmW0JFiJ J J J J L:J :J J J P;J Q;J I;J I;)I IG %Y!y%B Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:39:00.5041  TRx dataTimestamp_ set to:1736375941.844615 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.172029zK ĂKK K K K G (1>Ga Bq O >:^w,{ARc@YR|r@R=9R =yRH |?E?A-?`,@?@z`Y ?`)?ɨRc@R9h;RCyryBv{ ImMb@Mb@Mb@iii i)iYm&1?PnZd;Oym0?mmjm+A m A)mnAImIAiymG AI_Ib(4٢] ==9Q > G٣y > Nusing accuracyPremultiplier from config`59[?`5Y } irDA 4?: T@"ME;<;p`5 JA!EZjFNOT Ignoring new targets: 143.90 m.Bj%sJj%s5 ProNav: ac range: 143.899994 m, nav range: 23.046967 m, bearing: 229.104077 deg, approach rate: -0.085656 m/s, LOS rate: -1.751693 deg/s, cmd heading: 309.261622 deg, new cmd heading: 307.014977 deg. 2j5EEHeadingCmd: 5.358422 target range: 143.899994 and range: 143.90 m. jE2x@jA $?IhjIjihhhhBfffrfbf @ɛ%4B%ɼ IMIQ ]G=ɚYiYI]=IIliiq>)2x@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423701*F=?2F9:F9BF=_0JFAG%J!>G!BIO}>H] 4>IY  I] II] BIY &IY .I] 6D6I] D<:I] 5 FGew,wA2Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 22:39:00.5042 LVL= 13728, 27409, 19922, 27091, AGC= 59, IDX= 430,-0.19, 1.766, 0.156,-0.127, 0.851, PHS= 1.003,-0.648,-0.981, RAW= 81.0, 6.9, CAL= 86.0, 7.9, ROT= 64.0, -7.9 RYgot valid direction response: 22:39:00.5042 LVL= 13728, 27409, 19922, 27091, AGC= 59, IDX= 430,-0.19, 1.766, 0.156,-0.127, 0.851, PHS= 1.003,-0.648,-0.981, RAW= 81.0, 6.9, CAL= 86.0, 7.9, ROT= 64.0, -7.9 VPDAT read: Bearing 64.0, -7.9 (Local) V~Local bearing/azimuth received: Bearing 64.0, -7.9 (Local) ^DAT read: Range 10 to 50 : 143.1 m (Round-trip 190.8 ms) speed 0.0 m/s ^,DAT read: user:2755> bBDAT read: Tx time:22:39:01.6093 b$Ping request sent.bI25?i20 002q1d?"CG?)2TS.I2q"i2 @2005:publishing transmit ping time`5Fpublishing direction and range info092.w;TɿCu?-F5?y0000 0)0I0i00000 0)0I0i0002q1d?"CG?)0I0i0000yޝsBޝs IIvI&Q4٢ K=9 Q > G٣y+ > }Nusing accuracyPremultiplier from configq}`59u[?`5Yu tIiuCAlX@u&MEuz;un;u`5 {Ak2㧄]?k2 k0 k2EA:k2CBk2CZk2T?"2P+Q)&@ I)*F=?2F9:F9BF9JFAGA GA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:39:01.6085 GIL>G=rAG9G1 Ba O > Jkw,YA:I@Y:JY@:o=9: G٣gNGy" > Nusing accuracyPremultiplier from config`59[? `5YՈ iCA a4?:&\@+ME|;;ˡ`5B }AEZjaWill construct direction to contact in vehicle frame from tetrahedron phase data.eFNOT Ignoring new targets: 143.10 m.BjJj ProNav: ac range: 143.100006 m, nav range: 8.175429 m, bearing: 213.030411 deg, approach rate: 0.088755 m/s, LOS rate: -5.344112 deg/s, cmd heading: 304.655288 deg, new cmd heading: 298.258848 deg. 2j9eHeadingCmd: 5.205599 target range: 143.100006 and range: 143.10 m. jD@jjjihhhhBffzKeBoHKe9KaKeKeQvN3fqrfqbf}5?ɛ-BT WI bw=ɚiI?=I}iiб>)D@)*F?2F:FBF{0JF u$?IqG = Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AG B O >0rw,Q-ɡA2@Y2@2s=92;y2H s?`ڙ?? u|?`p@vt?`?ɨ2@2\;0y>vB>w IIFvIF&Q4٢nBt< np=9r3Q r?pt vG٣tyvw v? zNusing accuracyPremultiplier from configx`59z[?`5Yz izKCA{a@z/MEz;z;zĤ`5  hAZjAEFNOT Ignoring new targets: 143.10 m.BjM#JjM#] ProNav: ac range: 143.100006 m, nav range: 8.205976 m, bearing: 211.370326 deg, approach rate: 0.091541 m/s, LOS rate: -4.955748 deg/s, cmd heading: 298.258843 deg, new cmd heading: 293.310164 deg. 2j]TeHeadingCmd: 5.119228 target range: 143.100006 and range: 143.10 m. jeУ@jajajaiihihihihifqfqfqrfqbf}?ɛ*B 隭 I }ˑ=ɚiI=Iii >)У@)*Fu?2Fq:FqBFu5JFqGMZ>G BjH=<bH=p<H]6>IY I] II]BI]# =&IY.IY6I]\<:I]H FO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia [xw, 㡿A2w@Y2@2Bg=921)y2H ?G? 0?? v{e ?ɨ2w@2a;2CyB}BB IIJ)IJW3٢R = RN=9VPQ V>TT ZG٣XyZ0X Z> bNusing accuracyPremultiplier from config\b`59^6[?f`5Y^w i^BAdfff@^3ME^C:^:^<`5h j0AnE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 143.10 m.BjJj% ProNav: ac range: 143.100006 m, nav range: 8.244464 m, bearing: 209.444281 deg, approach rate: 0.096974 m/s, LOS rate: -4.829256 deg/s, cmd heading: 293.310152 deg, new cmd heading: 287.579261 deg. 2j%$O-HeadingCmd: 5.019205 target range: 143.100006 and range: 143.10 m. j-T@j)j)j)i)h1h1h1h1f9f9f9rfAbfEW?ɛ&B` mI f=ɚiIF =Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I%Pri)iY)]T@)i*F=?2F9:F9BF=3JF9"GE>GE=Gp|>G%?G%8?GBOI>JK K .KK"KJJJ1JJ,:J:J3JJ;J;JJ;JJ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503972zK LK K K K Ä~w,;A:rF@Y:U@:?[=9:.,y:H@ѐ?Ϙ?`?P?q/|`}?ɨ:rF@:9;:Cy~xB~y Ii =I Mb@Mb@Mb@ )YMbX?rh|y*?A E A)AIy AIkI=4٢Դ 9=9лQ > G٣hNGyE > $?I1 uNusing accuracyPremultiplier from config}`59v\?}`5YǙ iBA}-?}:l@8ME;;`5 XAZj  FNOT Ignoring new targets: 143.10 m.Bj5ӛJj5ӛE ProNav: ac range: 143.100006 m, nav range: 8.289589 m, bearing: 207.386564 deg, approach rate: 0.096146 m/s, LOS rate: -4.359474 deg/s, cmd heading: 287.579268 deg, new cmd heading: 281.464365 deg. 2jE:MHeadingCmd: 4.912480 target range: 143.100006 and range: 143.10 m. jM 3@jIjjihhhhfffrfbf?ɛ}"B}(=Iii) 3@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756103*F?2F:FBF4JFG m>H- 8>I- C I) I) I) &I) .I) 6I- -<:I- & FBIʞCJIʞCRIZI$ =bI$ =jI}5G B O >lw,8A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007785:ꀩ@Y:a@:Y=9:y:H` ?!%??$>?ݖ`30?ɨ:ꀩ@::;:CyF|BF IIRsIRK4٢V< Z_=9ZMǺQ Z>AA EG٣AyM~ M> UNusing accuracyPremultiplier from configQ}`59U;\?}`5YUV iUBAyr@U 9IEhGBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260303w,0A2v@Y2@2V=92Sy2H`q? ? ?@ `? y Ϊ !~?ɨ2v@2;2CyB~BB IMb@Mb@Mb@ )Y?zGếy&1|?yf&? ׽`;A A)XAI AyAI]wI]R4٢m9$< m?=9u=Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config`59q\?`5Y$ iaBA(?:s@AMESh;%g; `5 (AEZjFNOT Ignoring new targets: 143.10 m.BjJj ProNav: ac range: 143.100006 m, nav range: 8.381422 m, bearing: 203.796880 deg, approach rate: 0.126278 m/s, LOS rate: -4.534983 deg/s, cmd heading: 276.200938 deg, new cmd heading: 270.787317 deg. 2jBHeadingCmd: 4.726130 target range: 143.100006 and range: 143.10 m. ju<@jjjihhhhABf f f rf bfr@ɛEBE*м AE1IA M=ɚIiIIM=IUiQiQ)Uu<@)YEeqAEauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512898*F2F:FBF_0JFGqA GzKKs9KKK =$?I9GqGI BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763950Zw,JAy=B= I)A AIMkIM=4٢eI< eI=9mQ m>ii mG٣uiNGyu u> Nusing accuracyPremultiplier from config`59)\?`5Y i9BA@EME;5;`5 @ZjFNOT Ignoring new targets: 143.10 m.Bj Jj  ProNav: ac range: 143.100006 m, nav range: 8.440558 m, bearing: 201.988561 deg, approach rate: 0.142918 m/s, LOS rate: -4.338927 deg/s, cmd heading: 270.787303 deg, new cmd heading: 265.417027 deg. 2j:%HeadingCmd: 4.632401 target range: 143.100006 and range: 143.10 m. j%<@j!j!j!i!h)h)h)h)f1f1f1rf9bf="@ɛeBm8a imIi m=ɚqiqIu#!=I}C1iyiy)}<@)JJJ0JJL:J:Jـ3Ja@a@a@a@*F2F:FBFn0JFH9>I I IIBI" =&I.I6ID<:I9 FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:39:04.2038 uTRx dataTimestamp_ set to:1736375945.377657}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019004G<>GBO> I hbw,/PdA>Ʀ@Y>e֭@>wR=9>;*y>H?? ?|`_"?MyR?ɨ>Ʀ@>0;\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj`59f4\?j`5Yfk ifBAhjUn@fIMEfn ;f+;f`5p vl@vEB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 143.10 m.Bj曽Jj曽- ProNav: ac range: 143.100006 m, nav range: 8.486781 m, bearing: 200.368221 deg, approach rate: 0.125119 m/s, LOS rate: -4.361571 deg/s, cmd heading: 265.417026 deg, new cmd heading: 260.594547 deg. 2j-;5HeadingCmd: 4.548233 target range: 143.100006 and range: 143.10 m. j5 @j1j1j9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271363i9hh h h f ffrfbf=U @ɛB ݶ 1=I9 Eϟ=ɚIiI' =ITƿii) @)*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 142.7 m (Round-trip 190.3 ms) speed 0.0 m/s  ,DAT read: user:2756> - X#Rx 1: Read range message, but no direction.؉ y؍ C؉  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G J>G B O% >zK= BHK= }9K9 K= K= Ҟw,w,~A:ҥ@Y:@:LR=9:)7y:HX? ?|,?g?MF `"?ɨ:ҥ@:$;8yFBF IUMb@Mb@Mb@QQQ Q)QYUףp= ?RQ{Gz?yU?U½U# G٣y2 > Nusing accuracyPremultiplier from config`595A\?`5Y iAA ?:@NME;3;`5 @m addTargetRange:: Added new target pos. range: 142.699997 m, deltaT: 3.532208 s, deltaX: -0.400009 m, approachRate: -0.113246 m/s, rangeRepo size: 4 ZjiFNOT Ignoring new targets: 143.10 m.BjJj ProNav: ac range: 143.100006 m, nav range: 8.544458 m, bearing: 198.452612 deg, approach rate: 0.122246 m/s, LOS rate: -4.031945 deg/s, cmd heading: 260.594557 deg, new cmd heading: 254.906347 deg. 2j,HeadingCmd: 4.448955 target range: 143.100006 and range: 142.70 m. j]@jjjihhhhhBfffrf`fa@bf`H?Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Tx time:22:39:05.3093 $Ping request sent.G%>J J J J J :J :J J H ;>I  I II ĂBI &I .I 6I <:I  FG= 2>G B! OE >Աw,◢A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251087>m@Y>@>U=9>ry>H L? 9?"ܧ?6`?@_x8璿x?ɨ>m@>;>CyFBF IiJ=IJ= N=Np=IR@IR3٢Z= ^]=9^;Q ^>\` bG٣bjNGybƠ b> UNusing accuracyPremultiplier from configIU`59MzJ\?]`5YM+ iMAAY]͇]@MQMEM:MC:M`5a e@iZjFNOT Ignoring new targets: 143.10 m.BjJj ProNav: ac range: 143.100006 m, nav range: 8.589376 m, bearing: 196.975774 deg, approach rate: 0.125516 m/s, LOS rate: -4.104732 deg/s, cmd heading: 254.906348 deg, new cmd heading: 250.508151 deg. 2j0HeadingCmd: 4.372192 target range: 143.100006 and range: 142.70 m. j@jjjihhhhf ffrfbf)?ɛe BeM aeIa m=ɚiiiImB =Iu]ۿiqiq)u@)y $?I*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502945GM :>G9 B O > w,A~G&5tA.A JsYN5tAyN>Bvz@Yv@vT=9vzDyvH?@??@\[? ɜJh?ɨvz@vy҉;vCyEBM IMb@Mb@Mb@ )YtV?㥛 I +?y?94<A )AI AyQAIFI%3٢ 5=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-`59%T\?-`5Y% i%AA-?5:55@%UME%h;%;%`5=B =@=EZjaeFNOT Ignoring new targets: 143.10 m.BjmJjm ProNav: ac range: 143.100006 m, nav range: 8.644444 m, bearing: 195.347900 deg, approach rate: 0.129089 m/s, LOS rate: -3.791277 deg/s, cmd heading: 250.508143 deg, new cmd heading: 245.667831 deg. 2j"HeadingCmd: 4.287713 target range: 143.100006 and range: 142.70 m. j4@jjjihhh!h%Bf)f)f)rf)bf5o?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755266ɛB 隍I |=ɚiI !=I^oii)4@)zK!K%9K!K%K%RK5?JK5 ?*F]?2FY:FYBF]4JFY IG Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007104w,ˢA @V@YVV@V`=9Vv~tx zG٣xyz z>  Nusing accuracyPremultiplier from config `59\\? `5Y iAAi@XME:.: `5 %S@!ZjAMFNOT Ignoring new targets: 143.10 m.BjMJjM ProNav: ac range: 143.100006 m, nav range: 8.689669 m, bearing: 193.996657 deg, approach rate: 0.124777 m/s, LOS rate: -3.708356 deg/s, cmd heading: 245.667834 deg, new cmd heading: 241.642213 deg. 2jHeadingCmd: 4.217452 target range: 143.100006 and range: 142.70 m. j^@jjjihhhhfffrfbfr?ɛ%B% )-I) -~y=ɚ)i)I-"=Iuiyi)^@)JJJJJJ:JJ*Fa2Fi:FiBFmP0JFijH<bH<H<>I I IIӂBI! =&I.I6I<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259205GIGUqAGUmAG) B1 OU > $?I ,w,W墿A2@Y2p@2>li=92Y bM=9f;Q f>dd fG٣jkNGyj瞽 j> rNusing accuracyPremultiplier from configlv`59ne\?v`5YnX inoAAtzbz@n\MEnJ0;nl0;n`5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 143.10 m.BjzJjzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512583 ProNav: ac range: 143.100006 m, nav range: 8.737954 m, bearing: 192.517400 deg, approach rate: 0.115059 m/s, LOS rate: -3.505034 deg/s, cmd heading: 241.642203 deg, new cmd heading: 237.238140 deg. 2jW HeadingCmd: 4.140587 target range: 143.100006 and range: 142.70 m. j @j j j i hhhh!f!f!f)rf)bf-c?ɛBR 隽ɘI u.u=ɚyiyI#=IYii)@) *F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763700G 2>G B zK BoIK 59K K K BK :K nAO >w,1AybBb I AIIMb@Mb@Mb@ )YZd;O?T㥛 {Gzt?y~ ?ף;+A A)AI AyGAII1h4٢< ;=9Q > G٣y   > Nusing accuracyPremultiplier from config`59=n\?`5Y? i;`5B :@EZjFNOT Ignoring new targets: 143.10 m.Bj)Jj) ProNav: ac range: 143.100006 m, nav range: 8.799384 m, bearing: 190.938877 deg, approach rate: 0.140535 m/s, LOS rate: -3.585573 deg/s, cmd heading: 237.238151 deg, new cmd heading: 232.546751 deg. 2jHeadingCmd: 4.058706 target range: 143.100006 and range: 142.70 m. j@jjjihh hhBfff!rf!bf%`@ɛMBM% QUIQ U Hq=ɚQiQI]/$=I]&IiYia)e@)a*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016504Gm B>J J J J J ,:J :J J GA BI H I  I II ݂BI &I .I 7D6I 0<:I - FO >w,0 A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050B\@YB)@BVS=9B$dd fG٣dyj$ j> nNusing accuracyPremultiplier from configlr`59ngt\?r`5Yn inAAtvwv@ncMEn-;n;n`5x z@zEZj%FNOT Ignoring new targets: 143.10 m.Bj-CuJj-Cu ProNav: ac range: 143.100006 m, nav range: 8.839897 m, bearing: 189.732935 deg, approach rate: 0.115795 m/s, LOS rate: -3.430799 deg/s, cmd heading: 232.546740 deg, new cmd heading: 228.950490 deg. 2j(HeadingCmd: 3.995940 target range: 143.100006 and range: 142.70 m. j{@jjjihhhhfffrfbf @ɛeBe m =m'Ii mm=ɚiiiImT%=I}Niyiy)}{@)yEE 1I=h*F=?2F9:F9BF=z0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520112GU:>G] ?G]>G) B9 Ou >k$w,2Ay~B~ Ii ]>I p; p=Mb@Mb@Mb@ )Yp= ף?y&1Mbpy?`eA +A)AI AyAIIkf4٢% 8=9Q > G٣lNGy  > Nusing accuracyPremultiplier from config%`59|\?%`5Y~ i@A%?%:-Z-@gME;;z`59 =6@9ZjaeFNOT Ignoring new targets: 143.10 m.BjmhJjmh} ProNav: ac range: 143.100006 m, nav range: 8.896651 m, bearing: 188.277589 deg, approach rate: 0.127383 m/s, LOS rate: -3.245306 deg/s, cmd heading: 228.950495 deg, new cmd heading: 224.621033 deg. 2j}3 HeadingCmd: 3.920377 target range: 143.100006 and range: 142.70 m. jsz@jjjihhhhBfffrfbf@ɛBz&ɼ lI i=ɚiI$&=I ii)sz@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783674*F?2F:FBF0JFzKK9KKK IG*>G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:22:39:07.9039 u TRx dataTimestamp_ set to:1736375949.169878u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037302)w,AEMAeKo@Ye~@e=ק=9eS;yeH@z??@ʟ?~?@hZj?`v?ɨeKo@e6;eCyޝBޭ IIkI=4٢ 8=9=Q > G٣y@ >  Nusing accuracyPremultiplier from config `59 6\?`5Y A i t@A @ kME U"; "; X`5! % A)ZjQUFNOT Ignoring new targets: 143.10 m.Bj]iJj]im ProNav: ac range: 143.100006 m, nav range: 8.939851 m, bearing: 186.823729 deg, approach rate: 0.097602 m/s, LOS rate: -3.268519 deg/s, cmd heading: 224.621030 deg, new cmd heading: 220.289264 deg. JuAAJq2jm2 }HeadingCmd: 3.844773 target range: 143.100006 and range: 142.70 m. j}v@jyjyjyiyhhhhfffrfbf`6 @ɛBȼ 蚿I 0e=ɚiI+(=Iii)v@)HI I II؂BI&I.I6I'<:I& FBIßCJIßCRIZI! =bI! =jIA4*F?2F :F BF 1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288890 $?I GE :>G! B1 OM >}Tw, "gAyoBn II%I%i4٢=ܽ =k=9EQ E?II UG٣QyU ]> mNusing accuracyPremultiplier from configiu`59m\?}`5Ym im1@A@mnMEmJj;mY;mh`5 AB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.4 ms) speed 0.0 m/s ,DAT read: user:2757>  BDAT read: Tx time:22:39:09.0093 $Ping request sent.^BBZ I)D DjWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YNbX9?T㥛 y&1y?`e )IyIpIF4٢m =9 G٣mNGy|ǽ > Nusing accuracyPremultiplier from config`592\?`5Y= i?A ? :  @rME$;;F`5 +AZj9=FNOT Ignoring new targets: 143.10 m.BjE9pJjE9pU ProNav: ac range: 143.100006 m, nav range: 9.027314 m, bearing: 183.856978 deg, approach rate: 0.091043 m/s, LOS rate: -3.360291 deg/s, cmd heading: 216.881401 deg, new cmd heading: 211.454890 deg. 2jU"]HeadingCmd: 3.690584 target range: 143.100006 and range: 142.80 m. j]2l@jYjYjaiahahahihmxBfqfqfqrfqbfu`T?ɛB 隭I j[=ɚiI~+=Iii)2l@)ES=*F?2F:FBF0JFHI I IIBI&I.I6II<:I? F}Will construct direction to contact in vehicle frame from tetrahedron phase data.GU 2>G1 B9 O] > I mw,~WAB˚@YB ۡ@B=9B=V G٣y~  > Nusing accuracyPremultiplier from config `59 ڐ\?`5Y ; i >?A%A%@ uME ,; o; `5) -A-EZjQ]FNOT Ignoring new targets: 143.10 m.Bj]2hJje2hm ProNav: ac range: 143.100006 m, nav range: 9.059885 m, bearing: 182.642729 deg, approach rate: 0.087445 m/s, LOS rate: -3.248018 deg/s, cmd heading: 211.454884 deg, new cmd heading: 207.830349 deg. 2juQ }HeadingCmd: 3.627324 target range: 143.100006 and range: 142.80 m. j}&h@jyjyjyiyhhhhfffrfbf?ɛB!a% P=隽=I W=ɚiI4-=I#ii)&h@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E_=*F?2F:FBFJFJJJ0JJ|:J:Jـ3JJ;J;J@;J@; Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >w,@A6;ݙ@Y6@6p=96`w2BB$ I ^@^ ^@^ ^@^  ^@^ IbKIb4٢j4 nD=9nylp rG٣pyr1 r> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configt]`59vi\?]`5Yv iv>A]+:Ye:ee@vyMEv^tvy`5q uAqzKBoHK@9KKKZjFNOT Ignoring new targets: 143.10 m.Bj]Jj] Ih ProNav: ac range: 143.100006 m, nav range: 9.094802 m, bearing: 181.290324 deg, approach rate: 0.080457 m/s, LOS rate: -3.104003 deg/s, cmd heading: 207.830348 deg, new cmd heading: 203.795767 deg. 2j$HeadingCmd: 3.556907 target range: 143.100006 and range: 142.80 m. j^c@jjjihhhhf f)f)rf)bf5m?ɛu݄B}0 隅I #S=ɚiI 6/=I)ii)^c@)ED=*F?2F:FBF5JF"G%>G%>uWill construct direction to contact in vehicle frame from tetrahedron phase data.G= :>GE ?GE >G B! O= >H] >>I] C I] II] BIY &IY .IY 6I] ,<:I] + Fw,OأAJ@YJ@J=9J:iIbIb҅4٢j> jK=9n=lp rG٣rnNGyr r> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~`59vc\?~`5YvK ivX>A ::m@v|MEvZ8;vWR?v`5  WA Zj1=FNOT Ignoring new targets: 143.10 m.BjEpJjEpU ProNav: ac range: 143.100006 m, nav range: 9.127809 m, bearing: 179.986549 deg, approach rate: 0.085531 m/s, LOS rate: -3.365989 deg/s, cmd heading: 203.795769 deg, new cmd heading: 199.904916 deg. 2jU`]HeadingCmd: 3.488999 target range: 143.100006 and range: 142.80 m. j]K_@jYjYjYiYhahahahafififirfibfm?ɛلB &IWill construct direction to contact in vehicle frame from tetrahedron phase data. uIq }N=ɚyiyI}*1=IJ-ii)K_@) IEܝ=*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.)y CG <>- H~GE vAe A Y vAy BG B J5J1J1J1J5:J1J1J1J5;J5;J1J1u@uBO}>w,lAJw3@YJB@JX=9J]Yhh jG٣hyn6Z n> zbBottom track data is 1.3 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz`59v_\?~`5Yv iv=A~9|~V:~~@vMEvy);v?v`5  A B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 143.10 m.Bj_Jj_ ProNav: ac range: 143.100006 m, nav range: 9.166558 m, bearing: 178.456229 deg, approach rate: 0.079512 m/s, LOS rate: -3.126463 deg/s, cmd heading: 199.904911 deg, new cmd heading: 195.343564 deg. 2jHeadingCmd: 3.409388 target range: 143.100006 and range: 142.80 m. jk3Z@jjjihhhhfffrfbf`@ɛeԄBe" amIi m+I=ɚqiqIu3=Iu.4iyi)k3Z@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IzKKK9KKKBK:KpA*F?2F:FBFJFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513839G F>G B O >8w,OA6Y@Y6h@6]=96\ށB>IIFIF4٢R RB=9R;Q V>TT VG٣TyZ Z> bbBottom track data is 1.7 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f`59^\?f`5Y^w  i^O=Af9df-:ff@^ME^P';^?^`5l n*AlZjFNOT Ignoring new targets: 143.10 m.Bj kJj k ProNav: ac range: 143.100006 m, nav range: 9.200488 m, bearing: 177.107786 deg, approach rate: 0.083356 m/s, LOS rate: -3.300225 deg/s, cmd heading: 195.343561 deg, new cmd heading: 191.320147 deg. 2j HeadingCmd: 3.339166 target range: 143.100006 and range: 142.80 m. jU@jjjihhhhfffrfbfwN@ɛ-ЄBH5@>I1 I5S II5YBI5 =&I1.I16I5Y<:I5N Fm{V mA =mrIi uD=ɚqiqIu5=I}>`8iyiy)}U@)ErAE*FA2FA:FABFEP0JFAGMqA GIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765999 IG<>G B O >a w,n+A6}@Y6@6=967d`d fG٣foNGyfƆ f> nbBottom track data is 2.1 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr`59j"\?r`5Yj ij=ɚiIuM8=I#>ii)\Q@J%J%J!J!J% :J%:J!J!J%;J%;J%C;J%C;)Y*F2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:39:11.6046 =TRx dataTimestamp_ set to:1736375952.949776Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272479 I zKy K} 9Ky K} K} R10 CmK2 @:RK ?JK ?G G B O >zw,bFAyEBMI-]only read 2 of 4 data items for bottom velocity. Device response is::BS, -82, +57,A ImImF4٢ '=9Q > G٣y > bBottom track data is 2.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.537465U`59\?U`5Y i<I IIIBI =&I.I6I#<:I) F*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:39:11.6046 LVL= 14096, 15281, 17554, 20611, AGC= 58, IDX= 450, 0.08,-1.727,-2.107, 2.252,-2.567, PHS= 0.928, 0.507,-1.467, RAW= 39.5, 0.3, CAL= 39.0, -1.3, ROT= 111.0, 1.3 = Ygot valid direction response: 22:39:11.6046 LVL= 14096, 15281, 17554, 20611, AGC= 58, IDX= 450, 0.08,-1.727,-2.107, 2.252,-2.567, PHS= 0.928, 0.507,-1.467, RAW= 39.5, 0.3, CAL= 39.0, -1.3, ROT= 111.0, 1.3 E PDAT read: Bearing 111.0, 1.3 (Local) E ~Local bearing/azimuth received: Bearing 111.0, 1.3 (Local) ] DAT read: Range 10 to 50 : 143.4 m (Round-trip 191.2 ms) speed -0.4 m/s e ,DAT read: user:2758> e BDAT read: Tx time:22:39:12.7093 m $Ping request sent.m G B O>w,2tdA%Γ@Y%ݚ@%=9%'Au G٣yY6 %> ebBottom track data is 3.1 s old, using for 20.0 s. eNusing accuracyPremultiplier from config1m`5953\?m`5Y5B i5;AmB9iu9uCȿu@5ME5<5F@5`5 Akm1Ž?kmk ki kmo]A:kmfCBkmkCZkm="mɢV?BV=4]@"}T@m(Pȅ?jq,?J?JkmS?RkmW*m٢r]@4%&@׭ U@mH\?hb΢? ?"km4q@*kmBkmNт?kmf 2kmCkmf#*[?kmf kikmV@km@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:39:12.7085  addTargetRange:: Added new target pos. range: 143.399994 m, deltaT: 3.794988 s, deltaX: 0.599991 m, approachRate: 0.158101 m/s, rangeRepo size: 4  Added new target pos. range: 143.399994 m, bearing: 1.860416 deg, lat: 36.903435 deg, lon: -122.120037 deg, deltaT: 11.119978 s, deltaX: 0.299988 m, approachRate: 0.026977 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 143.40 m.BjJj ProNav: ac range: 143.399994 m, nav range: 5.823106 m, bearing: 139.667772 deg, approach rate: 0.000000 m/s, LOS rate: -3.128165 deg/s, cmd heading: 182.795683 deg, new cmd heading: 178.256175 deg. 2j%HeadingCmd: 3.111157 target range: 143.399994 and range: 143.40 m. j%3G@j!j!j!i!h!h)h)h)f)fQfQrfUa@bfUO?ɛÄBv ̿I =42=ɚAiAIE==I}_ I@ii)3G@)EQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _5JF "G >G > !I!zKu5OKuŷ9KqKuKu'.IdK;/;7k]# G7>G ?G"?GBO?f"w,A2bג@Y2@2=92>6`Wy?@9@@r̷??ɨ2bג@28;2Cy:rB:7Ii>=I>= - - -- --  - - 5Mb@Mb@Mb@111 1)1Y5 rh?ʡE&1y5C+?5-5P5A 5A)5AI11y5AIEIEb4٢aֽ =9Q %>-Will construct direction to contact in vehicle frame from tetrahedron phase data.!) 5G٣5pNGy5R[ 5> =Nusing accuracyPremultiplier from config9M`59=)\?M`5Y=& i=:AMT:M2-?U:UWͿU@=ME=b6;=4;=`5Y ]AY}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 143.40 m.BjJjE ProNav: ac range: 143.399994 m, nav range: 6.059588 m, bearing: 136.929661 deg, approach rate: 0.447631 m/s, LOS rate: -4.978726 deg/s, cmd heading: 178.256176 deg, new cmd heading: 170.414749 deg. 2jEUMHeadingCmd: 2.974298 target range: 143.399994 and range: 143.40 m. jMZ>@jIjIjIiIhIhQhQhUBfQfYfYrfYbf}?ɛB!s 隭ӿI ++=ɚiIߧ@=I`B@ii)Z>@)E=H%B>I! I%II%ˁBI!&I!.I!6I%<:I% FBIŠCJIŠCRIZI =bI =jI-c5*FI2FQ:FQBFU)4JFQJJJJJ:J:JJJ7;J8;JA;JA; Will construct direction to contact in vehicle frame from tetrahedron phase data. > @ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Gu A>G1 B9 Oe > q Iq 7(w,uͣA6ޑ@Y6 @6=967WYBBIIJ\IJ#4٢Vr  Zf=9ZyQ Z>\\ ^G٣\ybt b> fNusing accuracyPremultiplier from configdj`59f\?j`5Yf.- if9Ahj4ѿj@fMEfz:fe:f`5p rL ApZjFNOT Ignoring new targets: 143.40 m.BjbJjb ProNav: ac range: 143.399994 m, nav range: 6.211843 m, bearing: 135.251150 deg, approach rate: 0.414694 m/s, LOS rate: -4.459037 deg/s, cmd heading: 170.414750 deg, new cmd heading: 165.515320 deg. 2jC?HeadingCmd: 2.888787 target range: 143.399994 and range: 143.40 m. j8@jjjihhhhfffrfbf@w?ɛB囦 ]=]RؿIY e%=ɚaiaIeC=IY`>@ii)8@)EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250578*F 2F! :F! BF- 5JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502850Gu <>G} qAG} pAGIBY qIqO>0w,{äAvA@Yv@v=9v@) G٣qNGy\e > Nusing accuracyPremultiplier from config`59V\? `5YC7 i8A |=? : 6ӿ @ME;K;`5B  AEZj9EFNOT Ignoring new targets: 143.40 m.BjEYJjMY] ProNav: ac range: 143.399994 m, nav range: 6.466298 m, bearing: 132.652429 deg, approach rate: 0.497330 m/s, LOS rate: -4.877647 deg/s, cmd heading: 165.515318 deg, new cmd heading: 158.070686 deg. 2j]7QeHeadingCmd: 2.758854 target range: 143.399994 and range: 143.40 m. je0@jajajaiahahihihuǃBfqfqfyrfybf}`?ɛB8Ґ 隭ۿI) 50=ɚ1i1I=YE=Iu7@ii)0@)*F=?2FA:FABFEQ0JFAGMrA GIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755397jH <bH <H D>I C I YII BI  =&I .I 6I $<:I - FG F>JKm3 KS}-KK"KJ J J J J |:J :J J J ;J ;J @;J @;G B O >6w,{ܤA6 @Y6@6,=968Y;y6H &?@?j@OG?rvpq? 7?ɨ6 @6lݎ;6CyF7BFIININy4٢V Vc=9ZQ Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fa59b\?fa5Yb> ib7Ahjֿj@bMEb:bU:ba5l nW ApZj  FNOT Ignoring new targets: 143.40 m.BjգJjգ% ProNav: ac range: 143.399994 m, nav range: 6.641313 m, bearing: 130.957297 deg, approach rate: 0.486107 m/s, LOS rate: -4.583525 deg/s, cmd heading: 158.070685 deg, new cmd heading: 153.132290 deg. 2j%D-HeadingCmd: 2.672663 target range: 143.399994 and range: 143.40 m. j- +@j)j)j1i1h1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006469h1hAfIfIfIrfIbfU&-@ɛBL 隝޿I  =ɚiIUH=IjP3@ii) +@) Ih*F?2F:FBF%_0JF!GqGIBaO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258289=w,ėAVJ @YV/@VxM=9Vg;yVH@&fu?`pp |zWM`?@?ɨVJ @VՍ;VCyn5BrImMb@Mb@Mb@iii i)iYm%C?L7A`尿v/ymZD?m+mximA m?A)mx!AIm Aiym=AII4٢l! <=9cQ > G٣yI > Nusing accuracyPremultiplier from configa59 \?a5YF i6AE?:ֿ@ME;;{a5 i AZjFNOT Ignoring new targets: 143.40 m.BjܟJjܟ ProNav: ac range: 143.399994 m, nav range: 6.870692 m, bearing: 128.941603 deg, approach rate: 0.526624 m/s, LOS rate: -4.472346 deg/s, cmd heading: 153.132295 deg, new cmd heading: 147.308443 deg. 2j?HeadingCmd: 2.571017 target range: 143.399994 and range: 143.40 m. j$@jjjihhh!h%Bf!f)f)rf)bf-@@ɛ%B%4 )-$޿I) -x=ɚ)i)I-^"K=I51-@i1i9)=$@)9MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512814*F2F:FBF`0JF yIyzKBoHKKKKGG ?G >G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763048Cw,XA2.@Y2R>@2=92PH;y2HQ/?ۀ O(@%Rdh? -?ɨ2.@2|;2Cy:1B:IiB=IBp<II#4٢-` -R=95ڻQ 5>11 =G٣]rNGy]S ]> mNusing accuracyPremultiplier from configama59e\?ua5YeN ie5Aqubڿu@eMEe :e;ea5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 143.40 m.BjXJjX% ProNav: ac range: 143.399994 m, nav range: 7.078981 m, bearing: 127.181332 deg, approach rate: 0.519698 m/s, LOS rate: -4.262103 deg/s, cmd heading: 147.308438 deg, new cmd heading: 142.197413 deg. 2j%6-HeadingCmd: 2.481813 target range: 143.399994 and range: 143.40 m. j-@j)j)j)i)h)h1hQhYfYfYfYrfYbfeC@ɛBv# ޿IH]F>IY I]!II]`BI] =&IY.IY6I]!<:IY  =ɚiI M=IY'@ii)@)JJJJJ\:J9JJJj;Jl;J<;J<;]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:39:15.3066 mTRx dataTimestamp_ set to:1736375956.497402mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016153E7B=EE yI}h*F ?2F :F BF [0JF "G >G >G A>GiByO>4Kw,.A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266440R?@YRzN@R=9R tt vG٣xyz> z> ~Nusing accuracyPremultiplier from config|5~G  EYAyMBa59~݌\?a5Y~W i~4A⿑@~ME~rR=~R=~ a5B  AEZjFNOT Ignoring new targets: 143.40 m.BjJj ProNav: ac range: 143.399994 m, nav range: 7.318631 m, bearing: 125.111937 deg, approach rate: 0.444152 m/s, LOS rate: -3.708902 deg/s, cmd heading: 142.197408 deg, new cmd heading: 136.215643 deg. 2jHeadingCmd: 2.377411 target range: 143.399994 and range: 143.40 m. j'@jjjihh h1h1f1f1f1rf9bf= @ɛB^ ޿I =ɚiIP=I 8 @ii)'@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:39:15.3065 LVL= 14448, 21057, 19954, 27619, AGC= 59, IDX= 453, 0.02, 1.866, 2.834, 0.329, 1.675, PHS= 0.280, 1.206,-1.349, RAW= 9.0, -1.2, CAL= 8.9, -3.0, ROT= 141.1, 3.0 Ygot valid direction response: 22:39:15.3065 LVL= 14448, 21057, 19954, 27619, AGC= 59, IDX= 453, 0.02, 1.866, 2.834, 0.329, 1.675, PHS= 0.280, 1.206,-1.349, RAW= 9.0, -1.2, CAL= 8.9, -3.0, ROT= 141.1, 3.0 PDAT read: Bearing 141.1, 3.0 (Local) ~Local bearing/azimuth received: Bearing 141.1, 3.0 (Local) DAT read: Range 10 to 50 : 144.7 m (Round-trip 193.0 ms) speed -0.4 m/s  I % ,DAT read: user:2759> % BDAT read: Tx time:22:39:16.4093 - $Ping request sent.- 55^?55| >5 5>)5PwVI57@i5PwV=115:\ֿ"!t̎Y ")5I5JK >GQWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:39:16.4085 GIBQOm ?'Tw,;nQA @-yI@Y-X@- =9-> G٣yO > Nusing accuracyPremultiplier from configa59E\?a5Ydc i3AF?:忑@ME;;)a5  AZH)RH)H1I1 I5II5GBI1&I1.I16I5<<:I5A FkM?kM4 kI kM'@A:kMCBkMCZkM%@"Mm/ս+@Zma@~:O0@Mx3?Tҥ?H;Pۼ?JkM?RkMaX*MPUoka@ .(AED0@Ms?F:2$ϿeE?"kM *kM_ CkMd?kMY 2kMDBkM]?kIkMKCkM(@kMP? addTargetRange:: Added new target pos. range: 144.699997 m, deltaT: 3.534401 s, deltaX: 1.300003 m, approachRate: 0.367814 m/s, rangeRepo size: 4 JJJJJJ9JJJJJ8;J8; Added new target pos. range: 144.699997 m, bearing: 345.824179 deg, lat: 36.903499 deg, lon: -122.120037 deg, deltaT: 3.534401 s, deltaX: 1.300003 m, approachRate: 0.367814 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 144.70 m.BjJj- ProNav: ac range: 144.699997 m, nav range: 7.129909 m, bearing: 64.414586 deg, approach rate: 0.000000 m/s, LOS rate: -3.708902 deg/s, cmd heading: 136.215637 deg, new cmd heading: 130.355944 deg. 2j15HeadingCmd: 2.275141 target range: 144.699997 and range: 144.70 m. j5@j9j9j9i9h9hYhaheBfafifirfm`fb@bfm ?ɛB֚ 隽(ܿI G<ɚiI-S=I3l@ii)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F ?2F :F BF% v2JF! GEF>Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe?[w,5qA6D@Y6 T@6ۀ=96`2B>IIJ}IJ]4٢R< R9=9VQ V>TT ZG٣ZsNGyZ ^> bNusing accuracyPremultiplier from config\fa59^|\?fa5Y^ l i^3Adf꿑f@^ME^;^r<^a5Q ]x AYZjYeFNOT Ignoring new targets: 144.70 m.BjD<JjD< ProNav: ac range: 144.699997 m, nav range: 7.463979 m, bearing: 64.905040 deg, approach rate: 0.714510 m/s, LOS rate: 1.002020 deg/s, cmd heading: 130.355950 deg, new cmd heading: 131.761158 deg. 2j+=]HeadingCmd: 2.299666 target range: 144.699997 and range: 144.70 m. j]-@jjjihhhhfffrfbf ?ɛB ٿI eo<ɚiiiIuBqV=I@ii)-@)*F5?2F1:F9BF=T0JF9GA GAWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG] A>zK BoHK 59K K K BK% qA:K! G1 BA O] >bw,ABE7@YBF@B=9B_ G٣yޖ > Nusing accuracyPremultiplier from config a59u\? a5Yt il2AEA?:@MEI;6;a5-B - A- E]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjaeFNOT Ignoring new targets: 144.70 m.Bjmcy<Jjmcy<} ProNav: ac range: 144.699997 m, nav range: 7.794688 m, bearing: 65.276550 deg, approach rate: 0.810748 m/s, LOS rate: 0.872126 deg/s, cmd heading: 131.761152 deg, new cmd heading: 132.828265 deg. 2j}=HeadingCmd: 2.318290 target range: 144.699997 and range: 144.70 m. j^@jjjihhhhBfffrfbf rA?ɛBMG տI \<ɚiI&X=I@ii)^@)*F2F:FBF_0JFH H>I  I I I  =&I .I 8D6I <:I  FG F> Will construct direction to contact in vehicle frame from tetrahedron phase data. I hG B O >hw,AyrKBrIiv=Iv< z=z=I~JI~)4٢= X=9Q > G٣!y% %> -Nusing accuracyPremultiplier from config)5a59-Gn\?5a5Y-{ i-1A19=@-ME-%;-;-:a5I M AM#EmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 144.70 m.BjW<JjW< ProNav: ac range: 144.699997 m, nav range: 8.075325 m, bearing: 65.567696 deg, approach rate: 0.751115 m/s, LOS rate: 0.752159 deg/s, cmd heading: 132.828260 deg, new cmd heading: 133.671280 deg. 2j =HeadingCmd: 2.333004 target range: 144.699997 and range: 144.70 m. jO@jjjihhhhfffrfbf;?ɛB纽 ѿI <ɚi I Z=Im@ii)O@)!*FM?2FI:FIBFM}0JFIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.GA>G J J J J J ̝:J 9J J a @a @a @a @B OU > ow,sA6m;@Y6J@6=96Y   G٣ tNGy E  > Nusing accuracyPremultiplier from config%a59e\?%a5Y9 iq1A%?4?%:%-@MEQ:;9;!a59 =0 A9ZjaeFNOT Ignoring new targets: 144.70 m.Bjm;Jjm; ProNav: ac range: 144.699997 m, nav range: 8.378965 m, bearing: 65.741835 deg, approach rate: 0.699440 m/s, LOS rate: 0.386593 deg/s, cmd heading: 133.671283 deg, new cmd heading: 134.174752 deg. 2j<%HeadingCmd: 2.341791 target range: 144.699997 and range: 144.70 m. j%@j!j!j!i!h)h)hyh}EBfffrfbf@ɛEBmb뜽 im:̿Ii m 2<ɚiiqIuH]=Iu@iyiy)}@)yzKk3IKK9KKKRK?JK?*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235974GE F>GA BQ Om >jH bH <H I>I  I II VBI  =&I .I 6I #<:I 1 FBIˡCJIˡCRIZI =bI =jID5h vw,KZ٥A6>G@Y6V@6$ޛ=96vG@6#;6Cy _B  III 4٢-+< -X=959Q 5>99 =G٣9y=n => MNusing accuracyPremultiplier from configAMa59E]\?Ua5YE iE1AQUU@EMEEK ;E ;ER$a5Y e AaZjFNOT Ignoring new targets: 144.70 m.Bj;Jj; ProNav: ac range: 144.699997 m, nav range: 8.643692 m, bearing: 65.831147 deg, approach rate: 0.701019 m/s, LOS rate: 0.229263 deg/s, cmd heading: 134.174750 deg, new cmd heading: 134.434478 deg. 2jW<HeadingCmd: 2.346324 target range: 144.699997 and range: 144.70 m. j-*@jjjihhhhfffrfbfE@ɛBdȽ ɿI <ɚiI&_=I@ii)-*@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487703*F?2F:F BF O5JF  9I9G-A>G5pAG5rAG B OU >} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738603QE|w,wANK@YN[@NOR=9N tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|a59~ET\?%a5Y~ i~0A)-5@~ME~;~U;~'a5=B =_A=%EZjimFNOT Ignoring new targets: 144.70 m.BjU:JjU:} ProNav: ac range: 144.699997 m, nav range: 8.923362 m, bearing: 65.864536 deg, approach rate: 0.692981 m/s, LOS rate: 0.080140 deg/s, cmd heading: 134.434474 deg, new cmd heading: 134.531502 deg. 2j[;HeadingCmd: 2.348018 target range: 144.699997 and range: 144.70 m. jE@jjjihh)h9h9JmJmJiJiJm:Jm9JiJifffrfbfc@ɛ%B- )-ÿI) -Ⱥ<ɚ)i1I5 ua=I5E@i9i9)=E@)9*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991308 $?IG F>G B O >zK K 9K K K  !  BK% pA:K% qAw, Ay}BEIMb@Mb@Mb@ )Y#~j?MbX9y%?ʡ$A )x!AIAyAI~IT_4٢)5= ==9Q >5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:39:19.0091 ETRx dataTimestamp_ set to:1736375960.276488Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.243252y }G٣}uNGy > Nusing accuracyPremultiplier from configa59VI\?a5Y ia0A'?:2@ME;Y;+a55~B 5 A5(EZjFNOT Ignoring new targets: 144.70 m.BjJj溝 ProNav: ac range: 144.699997 m, nav range: 9.222907 m, bearing: 65.814888 deg, approach rate: 0.628580 m/s, LOS rate: -0.100799 deg/s, cmd heading: 134.531504 deg, new cmd heading: 134.387399 deg. 2jZHeadingCmd: 2.345503 target range: 144.699997 and range: 144.70 m. j@j1j1j1i1h9h9hihmxBfqfqfyrfbfz @ɛ}Bw I S<ɚiIc=I @i i ) @)HK>IC I@IIzBI&I.I6I<:I F*F?2F:FBF5JFGqA G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495839 ) I- hG A>G B O >Dw,&AF#V@YFe@FB-=9FS`ސ6ؿ`k@??ɨF#V@FU{;DynBr[IIzwIzR4٢5= Z=9 dQ  >   G٣y/ > -Nusing accuracyPremultiplier from config!5a59%@\?5a5Y%֜ i%$0A9EE@%ME%Q;%Vo;%.a5Q U|AQB*** querying acoustic contact ***jjZjyFNOT Ignoring new targets: 144.70 m.Bj!Jj! ProNav: ac range: 144.699997 m, nav range: 9.448726 m, bearing: 65.695539 deg, approach rate: 0.624081 m/s, LOS rate: -0.321955 deg/s, cmd heading: 134.387401 deg, new cmd heading: 134.037914 deg. 2j\HeadingCmd: 2.339403 target range: 144.699997 and range: 144.70 m. jǸ@j j1j1i1h9h9h9hAfAfAfArfAbfM@| @ɛyB, 隽I ©<ɚiIHbe=I@ii)Ǹ@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: Range 10 to 50 : 146.7 m (Round-trip 195.6 ms) speed -0.5 m/s e,DAT read: user:2760> mBDAT read: Tx time:22:39:20.1094 m$Ping request sent.u6w,@A2 ^@Y2m@2Nmx=92B>]IFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJDAT read: TxSync time:22:39:20.1086 iB=IB%= N=N= XIX-ronly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 96.85, 95.32, 100.24  r@r r@r r@r  r@r IzIzd4٢^<  I=9 Q  > G٣yr > %bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config-a594\?-a5YѢ i/A5+:15:5 5@MEF;A>1a59 =lAAm addTargetRange:: Added new target pos. range: 146.699997 m, deltaT: 3.778124 s, deltaX: 2.000000 m, approachRate: 0.529363 m/s, rangeRepo size: 4 ZjquFNOT Ignoring new targets: 144.70 m.Bj}hJj}hm ProNav: ac range: 144.699997 m, nav range: 9.711600 m, bearing: 65.516243 deg, approach rate: 0.708320 m/s, LOS rate: -0.470039 deg/s, cmd heading: 134.037914 deg, new cmd heading: 133.514600 deg. 2jmJuHeadingCmd: 2.330269 target range: 144.699997 and range: 146.70 m. ju"#@jqjqjqiyhyhhhfffrf`fVb@bf]?ɛuB= I i<ɚiI6g=I%@i!i))-"#@))*F2F:FBF]0JFzK- MK-@9K)K-K-MWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O5 >ZH RH ?AH M>I  I lII BI  =&I .I 6I <:I F Ww,ZAJ"@AJ"?AR"_@YRn@R-g=9R8;yRH@ۿ?@ۿ@ᬿ x??ɨR"_@RE;RCynBngIIzvIz&Q4٢ 6=  K=9 +Q > G٣vNGyx > -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5a59%(\?5a5Y% i%/A5 :15U:5 =@%ME%f9;%O?% 4a5A E*AE+EZjiuFNOT Ignoring new targets: 144.70 m.Bj}Jj} ProNav: ac range: 144.699997 m, nav range: 9.971128 m, bearing: 65.301464 deg, approach rate: 0.645962 m/s, LOS rate: -0.520665 deg/s, cmd heading: 133.514598 deg, new cmd heading: 132.887060 deg. 2jHeadingCmd: 2.319317 target range: 144.699997 and range: 146.70 m. jo@jjjihhhhfffrfbf ?ɛqB 隝@I <ɚiIXh=Io@ii)o@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFMa0JFIGqGI Ba O} >)I I  Will construct direction to contact in vehicle frame from tetrahedron phase data. ~G tA w,ttA ZYbtAyfB];M@Y]\@]ZN=9]0y]HإݿY?n3Pݿة bf`?ɨ];M@];]CyޡޥfIINI@ 4٢r ?=9+cQ > G٣y > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configa59F\?a5Y il/A9,:, @ME>;? 6a5 %+A!ZjFNOT Ignoring new targets: 144.70 m.JmJmJm1JiJm<:Jm9Jm3JiBj%Jj%M ProNav: ac range: 144.699997 m, nav range: 10.246614 m, bearing: 65.032834 deg, approach rate: 0.610925 m/s, LOS rate: -0.579705 deg/s, cmd heading: 132.887054 deg, new cmd heading: 132.102881 deg. 2jMƼUHeadingCmd: 2.305630 target range: 144.699997 and range: 146.70 m. jUr@jQjQjQiQhYhYhahafififirfqbfu ?ɛmB 檲= I  W<ɚ i I j=I&@ii)r@) I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.>X?G <>G rAG G B zK XKK ŷ9K K K O >hw,KAyBjI)   A A - - -- 55  5 5 5Mb@Mb@Mb@111 1)1Y5m?y&1ii mG٣qyu u> }Nusing accuracyPremultiplier from configya59}\?a5Y} i}K/AT:v?:@}ME} ;};}9a5}B A0EZj%FNOT Ignoring new targets: 144.70 m.Bj% XJj- X= ProNav: ac range: 144.699997 m, nav range: 10.479994 m, bearing: 64.713992 deg, approach rate: 0.565598 m/s, LOS rate: -0.755503 deg/s, cmd heading: 132.102880 deg, new cmd heading: 131.167742 deg. 2jEEHeadingCmd: 2.289309 target range: 144.699997 and range: 146.70 m. jE @jIjIjIiIhIhQhQhUԄBfQfYfYrfYbf]`8?ɛiB SI Iҁ<ɚiIҕl=I  @i i )  @)H]N>IY I]II]BIY&IY.IY6I]ۯ<:I] F*F2F:FBF0JF $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GE F>G B) OE >w,/A6|@Y6{g@6Wa-=96W;y6H``b?`K`A]_ &j? ?ɨ6|@6h;4yJBJ`IIZIZv}4٢fG jh=9vBQ >   G٣wNGy@. > -Nusing accuracyPremultiplier from config!5a59%\?=a5Y% i%5/A9EE@%ME%j;%';%z@Y>@>_#=9>R;y>HF?՘K@Jj@Yj? q?ɨ>z@>;>CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271250yfBfQI-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.36, 97.36, 93.79  @ @ @  @ I%I%4٢-f 5D=95Q 5>1 G٣y= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configa59[?a5Y1 i/A+::@ME;>?a5! %A)ZjiFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 10.906729 m, bearing: 63.983722 deg, approach rate: 0.558643 m/s, LOS rate: -0.958149 deg/s, cmd heading: 130.209497 deg, new cmd heading: 129.020833 deg. 2jd$HeadingCmd: 2.251838 target range: 144.699997 and range: 146.70 m. j@jjjihhhhfffrfbf@@ɛmbBu quIq ue_<ɚqiyI}o=I@ii)@))zKk3IK9KKKEm2=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523853*F- ?2F) :F) BF- 0JF) jHA bHE 4<HU P>IQ  IU IIU ЁBIQ &IQ .IU 9D6IU <:IU  FG)G5?G5?GBO->w,ᦿA ,I,Npw@YNǂ@Nȕ =9Nv;yNH?͚;`q@-r??ɨNpw@N1Ê;NCyZ~BZFIi^C>I^C= ba=ba=IfIf<4٢n n(=9nuCQ n>pp rG٣pyr v>zWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775306  bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|a59~'[?a5Y~ i~/A :u:E@~ME~;~f?~Ba5-|B -A-3EZjQUFNOT Ignoring new targets: 144.70 m.Bj]Jj]m ProNav: ac range: 144.699997 m, nav range: 11.155163 m, bearing: 63.489655 deg, approach rate: 0.538281 m/s, LOS rate: -1.046639 deg/s, cmd heading: 129.020839 deg, new cmd heading: 127.571976 deg. 2jm3uHeadingCmd: 2.226551 target range: 144.699997 and range: 146.70 m. ju@jqjqjqiqhyhyhyhyfffrfbfd@ɛ^B 隽췿I xI<ɚiIq=I@ii)@)El=EPExceeded connect timeout, disconnecting.*F]?2Fa:FaBFe 5JFaGyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028730GY Ba O >R:w,Au@Y@<9 I G٣xNGy2u >  Nusing accuracyPremultiplier from config a59 [?a5Y A i .AT:?:v@ NE  ; r; Fa5! %A) M$?IQZjY]FNOT Ignoring new targets: 144.70 m.BjeJje} ProNav: ac range: 144.699997 m, nav range: 11.394506 m, bearing: 62.920749 deg, approach rate: 0.509473 m/s, LOS rate: -1.185530 deg/s, cmd heading: 127.571978 deg, new cmd heading: 125.901612 deg. 2j}gKHeadingCmd: 2.197398 target range: 144.699997 and range: 146.70 m. j* @jjjihhhhBfffrfbf ' @ɛYBAĬ I p$3<ɚiI+[s=I* @ii)* @)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:39:22.7458 -TRx dataTimestamp_ set to:1736375964.068407=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285251EqAE*F ?2F :F BF 1JF "G >G >zKm BoHKm 9Ki Km Km  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532954G A>G B O >w,AHNQ>INC ILILIN =&IL.IL6INb<:INe FBIMCJIMCRIIZIM =bIM =jIM5JJJ1JJM:J*9J3JJ;aJ ;aJ(;aJ(;a%s@YP@+<9   G٣ y u  > Nusing accuracyPremultiplier from configa59>[?%a5YJ i.A!E6 M@NEQ;!;Ja5U{B U AU6EZjFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 11.625432 m, bearing: 62.358398 deg, approach rate: 0.497229 m/s, LOS rate: -1.186785 deg/s, cmd heading: 125.901615 deg, new cmd heading: 124.248556 deg. 2j%K%HeadingCmd: 2.168546 target range: 144.699997 and range: 146.70 m. j-w @j)j)j)i)h)h)h1h1f1f1f9rf9 $?Ibf=q @}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:39:22.7458 LVL= 19920, 18897, 20978, 32755, AGC= 64, IDX= 294,-0.50, 0.560, 2.211, 0.253, 0.051, PHS= 0.596, 2.207, 0.198, RAW= 340.8, -29.9, CAL= 346.6, -43.1, ROT= 163.4, 43.1 Ygot valid direction response: 22:39:22.7458 LVL= 19920, 18897, 20978, 32755, AGC= 64, IDX= 294,-0.50, 0.560, 2.211, 0.253, 0.051, PHS= 0.596, 2.207, 0.198, RAW= 340.8, -29.9, CAL= 346.6, -43.1, ROT= 163.4, 43.1 PDAT read: Bearing 163.4, 43.1 (Local) ~Local bearing/azimuth received: Bearing 163.4, 43.1 (Local) DAT read: Range 10 to 50 : 174.1 m (Round-trip 232.2 ms) speed -0.8 m/s ,DAT read: user:2761> BDAT read: Tx time:22:39:23.8610 $Ping request sent.}V@}0 }@)}@I}6@i}@?yy}Њhu俿b})um߿)}I}?i}9]?}#>yyM:publishing transmit ping timeMFpublishing direction and range infoyI]w @iYia)ew @)a9} ?AzSq?r(Rѿyyyyy y)yIyiyyyyy y)yIyiyyy}Њhu俿b})um߿)yIyiyyyy nManaging dock network, ignoring radio surface power off*F5?2F1:F1BF=Q5JF9GM F>G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:22:39:23.8602 OE >̐w,94Arr@Yrl@r`<9rQY ]G٣Yy] e> mNusing accuracyPremultiplier from configama59e[?ua5Ye ieN.Aqu"u@eNEe;e;eNa5 U Ak8d?k (+ k ku[$A:k.CBk,CZkW@"\27[@н_@%_zG ?AzSq?r(RѿJk9]?Rk#>*v;@I|AdY H_=;?KVべѿ"k %*k'Ak{|d?kdR+ 2k Ak{|d?kkCkiAk-V>=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 174.100006 m, deltaT: 3.787574 s, deltaX: 27.400009 m, approachRate: 7.234185 m/s, rangeRepo size: 4ZjAEFNOT Ignoring new targets: 144.70 m.BjEJjM} ProNav: ac range: 144.699997 m, nav range: 11.815280 m, bearing: 61.882168 deg, approach rate: 0.504456 m/s, LOS rate: -1.245071 deg/s, cmd heading: 124.248559 deg, new cmd heading: 122.843123 deg. 2j}UHeadingCmd: 2.144017 target range: 144.699997 and range: 146.70 m. j7 @jjjihhhhfffrf@3e@bfV?ɛRBD NȿI %E<ɚ!i!I%Wv=IU7 @iYiY)]7 @)Y*F?2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G% A>G B O% >$zw,NA> p@Y>+~@>p<9>CHl?\aʚ"cభ?`?ɨ> p@>*J;>CzKNBJKN9KLKNKN!#%*.+,..+($$!!  RKV ?JKTyrBrImMb@Mb@Mb@iii i)iYm"~? G٣yNGy蛽 > Nusing accuracyPremultiplier from configa59¡[?a5Y; i-A?:!@ NE;;Qa5zB  A;EeB*** querying acoustic contact ***jajaZjiFNOT Ignoring new targets: 144.70 m.BjhJjhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 144.699997 m, nav range: 12.033983 m, bearing: 61.364379 deg, approach rate: 0.515752 m/s, LOS rate: -1.198856 deg/s, cmd heading: 122.843124 deg, new cmd heading: 121.318370 deg. 2jMHeadingCmd: 2.117405 target range: 144.699997 and range: 146.70 m. j@jjjih!h!hihmiBfqfqfqrfqbfu)?ɛOBVѽ ͿI |;ɚiIx=I @i i ) @)ZHRHHS>I IIIBI&I.I6I<:I+ F*F?2F:FBFJFJJJ0JJ:J9Jـ3JJ;J;J;%;J<%; $?I G F>G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994692G B O >Zw,lhA>)Wn@Y>v|@>9Ř<9>ZH8^?ޚN%:*C^:?-?ɨ>)Wn@>V};>CyBII%I%1h4٢= EP=9E*һQ M>IQ UG٣Qy] ]> mNusing accuracyPremultiplier from configi}a59ml[?a5Ym im-A=#@mNEm,m;md;mUa5  AZjFNOT Ignoring new targets: 144.70 m.BjxJjx ProNav: ac range: 144.699997 m, nav range: 12.241508 m, bearing: 60.859814 deg, approach rate: 0.545664 m/s, LOS rate: -1.304196 deg/s, cmd heading: 121.318366 deg, new cmd heading: 119.830685 deg. 2j_HeadingCmd: 2.091440 target range: 144.699997 and range: 146.70 m. j'@jjjihhhhfffrfbf?ɛLB ҿI %;ɚ!i!I%7z=I-'@i)i))-'@)1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247583GGBO>Xw,ADA IBl@YBz@Bgw<9B`y G٣yꋽ > Nusing accuracyPremultiplier from configa59[?a5Y iH-A ?:H@NE$;";Xa5  A>EZjFNOT Ignoring new targets: 144.70 m.BjYJjY ProNav: ac range: 144.699997 m, nav range: 12.476764 m, bearing: 60.411680 deg, approach rate: 0.577626 m/s, LOS rate: -1.079548 deg/s, cmd heading: 119.830683 deg, new cmd heading: 118.511877 deg. 2j89HeadingCmd: 2.068423 target range: 144.699997 and range: 146.70 m. j a@jjjihhhh1Bfffrfbf`?ɛUHBU6߽ Y]'ٿIY e;ɚaiaIe1{=Im a@ii) a@)*FQ2FY:FaBFiJFizK1wMK}9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752595G A>G B O >H T>I  I GII BI  =&I .I 6I 6<:I H F͸w,1AJj@YJx@Jd<9JEpyy }G٣}zNGy뉽 > Nusing accuracyPremultiplier from configa59o[?a5Y i,A @NE;;0\a5yB  AAEZj FNOT Ignoring new targets: 144.70 m.BjJj% ProNav: ac range: 144.699997 m, nav range: 12.707954 m, bearing: 59.955563 deg, approach rate: 0.565659 m/s, LOS rate: -1.095679 deg/s, cmd heading: 118.511883 deg, new cmd heading: 117.168684 deg. 2j%;MHeadingCmd: 2.044979 target range: 144.699997 and range: 146.70 m. jM@jQjQjQiQhQhQhYhYfYfYfarfabfe 3?ɛFB63 9I ==;ɚiI}=I@ii)@) $?IheWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003722*F}?2Fy:FyBF}0JFyGGpAGpAG B O > G- vAA u Yu vAy} B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254844xw,AZxh@YZfw@Z#N<9Ztt zG٣xyz z> Nusing accuracyPremultiplier from config a59_[? a5Yi i,A  ! @NEi:&:_a5! -uA)ZjIUFNOT Ignoring new targets: 144.70 m.BjUJjUm ProNav: ac range: 144.699997 m, nav range: 12.926040 m, bearing: 59.507485 deg, approach rate: 0.569934 m/s, LOS rate: -1.151218 deg/s, cmd heading: 117.168685 deg, new cmd heading: 115.847378 deg. 2jmEuHeadingCmd: 2.021918 target range: 144.699997 and range: 146.70 m. jug@jqjqjqiqhqhhhfffrfbf@ɛCB5  =3==I9 =ڌ:ɚ9i9I=E\=IEg@iAiA)Mg@)I*FU?2FQ:FYBF]_5JFa %$?I!}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506917G G B O- >*w,ϧAy~B~$I)  A AzKQJK9KKKMb@Mb@Mb@ )Yoʡ?Mbp?y-?;LA )AIAyAII4٢ٽ :=9Q > G٣y >  Nusing accuracyPremultiplier from config a59 [L[?a5Y  i %,A-?:%@  NE 4; x1; bca5) -/A-DEEB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 144.70 m.Bj]}Jj]}m ProNav: ac range: 144.699997 m, nav range: 13.208030 m, bearing: 59.111646 deg, approach rate: 0.644100 m/s, LOS rate: -0.884834 deg/s, cmd heading: 115.847385 deg, new cmd heading: 114.685390 deg. 2jmuHeadingCmd: 2.001638 target range: 144.699997 and range: 146.70 m. ju@jyjyjyiyhyhyhhBfffrfbf@ɛ@BQ 隽9I `=aɚiI=I@ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758838*F?2F:FBF@5JFH1I1 I5II5BBI1&I1.I16I5@<:I5P FJuJuJqJqJum:Ju9JqJqJu;Ju;Ju!;Ju!;  I G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010993pw,駿ARd@YR s@R<9R99 =G٣={NGy=' E> MNusing accuracyPremultiplier from configAMa59EW;[?Ua5YE iE+AY]]@E$NEEhL;EL;Efa5i mAiZjFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 13.447440 m, bearing: 58.718367 deg, approach rate: 0.631270 m/s, LOS rate: -1.018515 deg/s, cmd heading: 114.685392 deg, new cmd heading: 113.526729 deg. 2j.HeadingCmd: 1.981415 target range: 144.699997 and range: 146.70 m. j?jjjihhhhfffrfbf" @ɛ=Bq =I ºɚiI$=I?i i ) ?)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:39:26.5335 TRx dataTimestamp_ set to:1736375967.844681checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264782GF>GG?GiByO> $?I w,A>Xb@Y>Fq@>,;9>ЭH y? @`?0`k? ?ɨ>Xb@>孎; ]G=9e!Q e>aa mG٣iym m> }Nusing accuracyPremultiplier from configqa59u1)[?a5Yu iu|+A6?:@u(NEu"A;uQ;uFja5xB BAGEZjFNOT Ignoring new targets: 144.70 m.BjiJji ProNav: ac range: 144.699997 m, nav range: 13.727366 m, bearing: 58.375798 deg, approach rate: 0.682007 m/s, LOS rate: -0.817604 deg/s, cmd heading: 113.526726 deg, new cmd heading: 112.520085 deg. 2jG HeadingCmd: 1.963846 target range: 144.699997 and range: 146.70 m. jN_?jjjihhhhBfffrfbfL @ɛ-9B-8 QU[IQ USOɚQiQIUa=I]N_?iYiY)eN_?)aEuAg=zKBoHKж9KKK . Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:39:26.5335 LVL= 17376, 14225, 16130, 23411, AGC= 63, IDX= 281,-0.18, 0.834, 2.627, 0.878, 0.597, PHS= 0.325, 2.076, 0.278, RAW= 331.3, -28.1, CAL= 334.8, -41.4, ROT= 175.2, 41.4 - Ygot valid direction response: 22:39:26.5335 LVL= 17376, 14225, 16130, 23411, AGC= 63, IDX= 281,-0.18, 0.834, 2.627, 0.878, 0.597, PHS= 0.325, 2.076, 0.278, RAW= 331.3, -28.1, CAL= 334.8, -41.4, ROT= 175.2, 41.4 5 PDAT read: Bearing 175.2, 41.4 (Local) = ~Local bearing/azimuth received: Bearing 175.2, 41.4 (Local) E DAT read: Range 10 to 50 : 201.3 m (Round-trip 268.4 ms) speed -0.1 m/s *Fm ?2Fi :Fq BFu P5JFq  ,DAT read: user:2762>  BDAT read: Tx time:22:39:27.6594  $Ping request sent. /@V>g@ @)8IEC@i8?甂QXݿ(X k!޿)w&I>iIX?fc> :publishing transmit ping timeع  Fpublishing direction and range info9s_?m?L@ڿy )Ii )Ii甂QXݿ(X k!޿)IiH) I)  I- II- BI) &I) .I) 6I- ۯ<:I-  FG A>GiByO>#w,W$"A ,I.hy eB Ii=I= =I%I%h4٢Q. (=9Q > G٣ Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:39:27.6586 y- -> MNusing accuracyPremultiplier from configAUa59E[?Ua5YEM iE+AQQU@E.NEEs;E;Ena5]wB eAIEk/gwU?k#vC- k kgDA:kLICBkGCZk+ѓ@"1w^@b9)a@f 8Ts_?m?L@ڿJkIX?Rkfc>*o[&1|z+{f&$TuϵpD2Vٿ"k7*k4kٿmU?kY,- 2kkkY kDBk6'Bků@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.300003 m, deltaT: 7.567417 s, deltaX: 54.600006 m, approachRate: 7.215144 m/s, rangeRepo size: 4Zj9EFNOT Ignoring new targets: 144.70 m.BjE ZJjE ZU ProNav: ac range: 144.699997 m, nav range: 14.073290 m, bearing: 57.972043 deg, approach rate: 0.669783 m/s, LOS rate: -0.762535 deg/s, cmd heading: 112.520086 deg, new cmd heading: 111.338772 deg. 2jUHeadingCmd: 1.943228 target range: 144.699997 and range: 146.70 m. j?jjjihhhhfffrf)i@bf?ɛ55B5` Y]IY eɚaiaIe=I?ii)?)E}K= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 1JF J J J J J M:J =9J J a%@a%@a%@a%@GIGBI $?IO?w,CA-p\@Y-j@-;9-*]/ݼA A)IAyAII4٢ >?  =9 )Q  > %G٣%|NGy%E %> -Nusing accuracyPremultiplier from config)5a59->Z?=a5Y- i-*A=HC?=:=yE@-4NE-e;-Sd;-7sa5Q UAULEZjy}FNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 14.449838 m, bearing: 57.485999 deg, approach rate: 0.743215 m/s, LOS rate: -0.934325 deg/s, cmd heading: 111.338770 deg, new cmd heading: 109.918943 deg. 2jN HeadingCmd: 1.918447 target range: 144.699997 and range: 146.70 m. j?jjjihhhhwBfffrfQbfU`?ɛ1Bx 隝I PɚiI=I?ii)?)EE*E"EzKLKŷ9KKK  $&#*F ?2F :F BF 1JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.HI II  IM fIIM ȀBII &II .II 6IM <:IM 6 FBI ˣCJI ˣCRI ZI  =bI  =jI ˄4Gu F>G rAG qAGyBO>.w,YQbA 0I0:$.Z@Y:Mh@::9:LXX ZG٣Xy^y ^> bNusing accuracyPremultiplier from config`ja59b7Z?ja5YbY ib*Ahnn@b:NEbE;bE;bwa5rvB rArOEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 144.70 m.Bj Jj % ProNav: ac range: 144.699997 m, nav range: 14.762335 m, bearing: 57.054964 deg, approach rate: 0.720298 m/s, LOS rate: -0.972484 deg/s, cmd heading: 109.918945 deg, new cmd heading: 108.653431 deg. 2j%&-HeadingCmd: 1.896360 target range: 144.699997 and range: 146.70 m. j-?j)j1j1i1h1h1h9h9f9f9fArfAbfE?ɛ-B- I Hɚi!I%8=I%?i)i))-?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Z?5%@=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.)I*F ?2F :F BF<3JFG GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485775Vw,y$|A6W@Y6f@6j96xx zG٣xyzf z> Nusing accuracyPremultiplier from config| a59~Z? a5Y~1 i~*A    @~?NE~ :~:~za5 AREZjIMFNOT Ignoring new targets: 144.70 m.BjUÒJjUÒe ProNav: ac range: 144.699997 m, nav range: 15.055236 m, bearing: 56.624083 deg, approach rate: 0.711628 m/s, LOS rate: -1.026485 deg/s, cmd heading: 108.653434 deg, new cmd heading: 107.386158 deg. 2je0mHeadingCmd: 1.874242 target range: 144.699997 and range: 146.70 m. ju*?jyjjihJJJJJ:J9JJhh!h)fYfafirfbf |? u$?Iyɛ-)B5. 15uI1 5+ɚ9i9I=ֲ=IE*?iaia)e*?)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739695*F?2F:FBF% 4JF!GE A>G B! OE >zKU LKU 9KQ KU KU  'qvAe]>uW9 kYPC:0PC%w, ABK:KpA6iU@Y6Xc@6196!hB>IJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.989772Mb@Mb@Mb@ )YT㥛 ?jt?MbpyA? >A )IAyGAII4٢ = 8=9:Q >!I MG٣M}NGyM M> ]Nusing accuracyPremultiplier from configQ]a59U&Z?ea5YU  iQe*E?e:e&!HU>I IFIIBI =&I.I6I<:I& F@UDNEUqG5 ?G5 *?G B O >i+w,/ޯABaS@YBPa@B+R9B탭`` fG٣dyfý f> jNusing accuracyPremultiplier from confighna59jZ?ra5Yj ihprN#r@jINEj` ;j ;ja5vuB vAzTEZjFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 15.631009 m, bearing: 55.784701 deg, approach rate: 0.707871 m/s, LOS rate: -1.048990 deg/s, cmd heading: 106.036884 deg, new cmd heading: 104.915821 deg. 2j3HeadingCmd: 1.831126 target range: 144.699997 and range: 146.70 m. jZb?jjjihhhhfffrfbf @ɛ"B3  I %!Yɚ!i!I%:|=I-Zb?i)i))-Zb?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493961*F?2F:FBF_0JFGJJJ/JJJ9J(N3JGB9 m $?Im hOu >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745649yO2w,ѰɨAFkQ@YF_@FH;9FO!) -G٣)y- -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1Ea595(Z?Ea5Y5 i5*AM+:IM_:Mp%M@5NNE5:;5h>5a5UtB UgAUZEZjFNOT Ignoring new targets: 144.70 m.BjWJjW5 ProNav: ac range: 144.699997 m, nav range: 15.924419 m, bearing: 55.317838 deg, approach rate: 0.709075 m/s, LOS rate: -1.107454 deg/s, cmd heading: 104.915817 deg, new cmd heading: 103.541311 deg. 2j5>=HeadingCmd: 1.807137 target range: 144.699997 and range: 146.70 m. j=BP?j9j9jAiAhAhAhAhIfIfIfIrfIbfU@ɛB 隥I qɚiIm=IBP?ii)BP?)EE*F2F:FBF`0JFzKƀOKŷ9KKK%Q%   )0/2;@BA@=;951-*'%! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997705HV>I ILIIBI&I.I6I<:I7 FGA>G B O >J AAJ AA Y IY 8w,¥㨿A>HoO@Y>7]@>*`9>1;y>H_ ,%?`H )%Կu_ Av? P? ~Tv??ɨ>HoO@>kF;>CyZB^7IIfIf4٢n> nN=9n8CQ n>pp rG٣r~NGyv, v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxa59zuZ?a5Yz iz*A :  4: m' @zSNEzS*;zP?z׆a5 A5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 144.70 m.BjMJjM] ProNav: ac range: 144.699997 m, nav range: 16.201963 m, bearing: 54.856693 deg, approach rate: 0.726675 m/s, LOS rate: -1.186688 deg/s, cmd heading: 103.541310 deg, new cmd heading: 102.181845 deg. 2j]KeHeadingCmd: 1.783410 target range: 144.699997 and range: 146.70 m. jeF?jajijiiihihihqhqfqfqfyrfybf}@ @ɛB 隥 ޿I ŽɚiII=IF?ii)F?) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:39:30.3324 TRx dataTimestamp_ set to:1736375971.624738checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250885*FY2FY:FaBFe0JFa)9 9c~G u&YqyuBGF>GqAGrAGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501736>w,xA=V`M@Y=E[@=֢9=8;y=Hzv.??`k.ҿ j`Sp?ZT?o?`?ɨ=V`M@=2;=Cy]B]NIImIm 4٢}^= }A=9Q > G٣y@ > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configJJJ0JJݒ:J9Jـ3Ja59]Z?a5Y i*A9:|)@XNE#=?ψa5 $?I=sB M AM\EZjFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 16.494980 m, bearing: 54.348374 deg, approach rate: 0.574913 m/s, LOS rate: -0.979619 deg/s, cmd heading: 102.181843 deg, new cmd heading: 100.684334 deg. 2j(HeadingCmd: 1.757273 target range: 144.699997 and range: 146.70 m. jT?jjjihhhhfffrfbf0@5Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 201.5 m (Round-trip 268.7 ms) speed -0.4 m/s U,DAT read: user:2763> eBDAT read: Tx time:22:39:31.4095 e$Ping request sent.eEw,AfEpK@Yf4Y@fe9fg";yfH`T@P?w4Pп%$y{? LW?>z??ɨfEpK@f†;dy ՀB vI) HIC IrIIҀBI =&I.I6I<:I9 F = = == ==  = E EMb@Mb@Mb@AAA A)AYE ףp= ?S㥻?Zd;O?yEQ8?E/=Ej m2=9mCQ m>qq uG٣qyu2 u> Nusing accuracyPremultiplier from configya59}CZ?a5Y} i}*AT:y:?: /@}]NE};};}όa5  A_E addTargetRange:: Added new target pos. range: 201.500000 m, deltaT: 11.351344 s, deltaX: 54.800003 m, approachRate: 4.827622 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 144.70 m.BjG޼JjG޼  ProNav: ac range: 144.699997 m, nav range: 16.781286 m, bearing: 53.761426 deg, approach rate: 0.771522 m/s, LOS rate: -1.554660 deg/s, cmd heading: 100.684338 deg, new cmd heading: 98.954094 deg. 2j ^HeadingCmd: 1.727075 target range: 144.699997 and range: 201.50 m. j?jjjihhhhBff!f!rf%0i@bf% ?ɛMBUp QUϿIQ UCɚYiYI]$!=Ie?iaia)e?)i*F?2F!:F!BF%S5JF! IIQmWill construct direction to contact in vehicle frame from tetrahedron phase data.Gy GQ Bi O >Lw,2A6OfI@Y6=W@696N Zl=9Zs8Q Z?\\ ^G٣^NGyb6 b? fNusing accuracyPremultiplier from configdja59f/Z?ja5Yf  if*Aln1n@faNEf ;fh;f׏a5rrB r ArbEZj  FNOT Ignoring new targets: 144.70 m.BjFJjF5 ProNav: ac range: 144.699997 m, nav range: 16.995134 m, bearing: 53.306634 deg, approach rate: 0.617091 m/s, LOS rate: -1.295846 deg/s, cmd heading: 98.954094 deg, new cmd heading: 97.607147 deg. 2j5T^=HeadingCmd: 1.703566 target range: 144.699997 and range: 201.50 m. j=t?j9jAjAiAhAhAhIhIfIfIfIrfQbfU y?ɛBf ǿI tͤɚiI=I A?i i ) t?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF$4JFGA>G?G? ]$?IYGB) O > Will construct direction to contact in vehicle frame from tetrahedron phase data.eRw,LA2 yG@Y2U@2>92Iqq }G٣yy}֏ }> Nusing accuracyPremultiplier from configa59ZZ?a5Y" i +A3?:9@fNE ;;a5 W AZjFNOT Ignoring new targets: 144.70 m.BjμJjμ ProNav: ac range: 144.699997 m, nav range: 17.230646 m, bearing: 52.675188 deg, approach rate: 0.547213 m/s, LOS rate: -1.447086 deg/s, cmd heading: 97.607146 deg, new cmd heading: 95.739400 deg. 2jGxHeadingCmd: 1.670968 target range: 144.699997 and range: 201.50 m. jF?jjjihhhh@Bff frfbf _?ɛ B I JɚiIÍ=I-F?i)i))-F?)1*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.izKOKKKKypicZPJMRNLJ?:74.)($#"! (8ADA=<96;@GNTSLHD>==HqIuC IuIIuBIu =&Iq.Iq6Iu@<:IuR FGG B O >J% J% J! J! J% M:J% 9J! J! J% ;a= J% ;a= J! a= J! aE M $?II %Yw,]fA:YE@Y:xS@:I9:ԝhh jG٣hyn n> zNusing accuracyPremultiplier from configtza59vEZ?~a5Yvx$ iv?+A|~6;@vjNEv";v;va5   A eE-B*** querying acoustic contact ***j)j)Zj1=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.=FNOT Ignoring new targets: 144.70 m.Bj]UҼJjeUҼ} ProNav: ac range: 144.699997 m, nav range: 17.436224 m, bearing: 52.105178 deg, approach rate: 0.536901 m/s, LOS rate: -1.471101 deg/s, cmd heading: 95.739404 deg, new cmd heading: 94.050053 deg. 2jf|HeadingCmd: 1.641483 target range: 144.699997 and range: 201.50 m. j?jjjihhhhfffrfbf[?ɛB 隍I pɚiI͇=Iɰ?ii)?)*Fi2Fi:FiBFmS0JFiGF>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755798Gi Bq O >k `w,G8A6FC@Y6eQ@6\z 962hh jG٣jNGyjd j> rNusing accuracyPremultiplier from configpva59rY?va5Yr% irs+AxzJ=z@roNEr:r\:rua5qB  AhE $?IZjyFNOT Ignoring new targets: 144.70 m.BjRJjR ProNav: ac range: 144.699997 m, nav range: 17.648979 m, bearing: 51.495537 deg, approach rate: 0.477630 m/s, LOS rate: -1.352107 deg/s, cmd heading: 94.050052 deg, new cmd heading: 92.243807 deg. 2jgMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007944uHeadingCmd: 1.609958 target range: 144.699997 and range: 201.50 m. ju?jqjqjqiqhqhyhyhyfyfyfrfbf'@ɛBeS 隵I üɚiIk=I?ii)?)!*F2F:FBFP0JFG G G oAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260973zK5 7NK5 ŷ9K1 K5 K5 :42.)&$ 7fw,A2BpA@Y20O@2ꮺ92K5I! I%II%QBI% =&I!.I!6I%Z<:I%c FBIJIRIZI =bIjI#5 Mb@Mb@Mb@    ) Y  rh? rhy&1?y ,? C `< A A) AI A y AI%I%a4٢uK= u5=9}:Q }>yy }G٣yy, > Nusing accuracyPremultiplier from configa59Y?a5Y?& i+A,?:E@tNE_<^<ua5pB Q AkEZjiuFNOT Ignoring new targets: 144.70 m.Bj}Jj}󼝊 ProNav: ac range: 144.699997 m, nav range: 17.854919 m, bearing: 50.751591 deg, approach rate: 0.477915 m/s, LOS rate: -1.706475 deg/s, cmd heading: 92.243808 deg, new cmd heading: 90.038865 deg. 2jdHeadingCmd: 1.571475 target range: 144.699997 and range: 201.50 m. j&?jjjihhhhBfffrfbf0@JJJJJݒ:J:JJJ;J;JA;JA;ɛ}B} y}I ̼ɚ $?IiIW2=I&?ii)&?)EE*F2F:FBF\0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512735G K>G B O >alw,A6ƛ?@Y6M@6Z96[`BB!I)D DHJAILIL٢V> Vg=9V:Q Z?XX ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`fa59b%Y?fa5Ybb& ib+AhjGj@bxNEbC:b :b{a5l nApZj FNOT Ignoring new targets: 144.70 m.BjJj򼝊% ProNav: ac range: 144.699997 m, nav range: 18.007391 m, bearing: 50.186964 deg, approach rate: 0.462735 m/s, LOS rate: -1.699045 deg/s, cmd heading: 90.038866 deg, new cmd heading: 88.359835 deg. 2j--HeadingCmd: 1.542170 target range: 144.699997 and range: 201.50 m. j-e?j1j1j1i1h1h1hhfffrfbf@ɛB I yӼɚiIݐ=I&?i!i!)%e?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764046*F ?2F :F BF 0JF  IG5A>G B9 O >u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:39:34.0220  TRx dataTimestamp_ set to:1736375975.157091 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023149Isw,ͩA6C=@Y62 L@6# 96+|yy }G٣}NGygz > Nusing accuracyPremultiplier from configa59Y?a5Y% i+A+?:zD@@|NE4;=3;;a5 AnEZjFNOT Ignoring new targets: 144.70 m.BjJj򼝊 ProNav: ac range: 144.699997 m, nav range: 18.176966 m, bearing: 49.449929 deg, approach rate: 0.394211 m/s, LOS rate: -1.697357 deg/s, cmd heading: 88.359835 deg, new cmd heading: 86.170485 deg. 2jHeadingCmd: 1.503959 target range: 144.699997 and range: 201.50 m. j?jjjihhhhӄBf f f rf bf  4 @ɛeBea aeIi m78ܼɚiiiImp=I U?ii)?)*F?2F:FBF81JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267783zKk(MK 9KKKjH<bH<H%S>I! I%YII%BI!&I!.I!6I%N<:I%X FG) G5 ?G5 ?G J J J J J J 9J J J J J !;J !;B) OE > $?I uyw,Ŭ穿Ay~wB~>I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520808IIk4٢E`= ML=9UQ U>YY ]G٣Yye e> uNusing accuracyPremultiplier from configqa59uTY?a5YuU% iu+A@uNEuY;u]Z;ua5oB AqEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 144.70 m.Bj"ܼJj"ܼ ProNav: ac range: 144.699997 m, nav range: 18.338072 m, bearing: 48.773711 deg, approach rate: 0.370072 m/s, LOS rate: -1.539639 deg/s, cmd heading: 86.170486 deg, new cmd heading: 84.160526 deg. 2jHeadingCmd: 1.468878 target range: 144.699997 and range: 201.50 m. j4?jjjih h)h)h1f1f1f1rf1bf= @ɛB JI Y=ɚiIq=I3?ii)4?)*F}?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 156.2 m (Round-trip 208.3 ms) speed -0.5 m/s ,DAT read: user:2764> BDAT read: Tx time:22:39:35.1095 $Ping request sent.G B O >\w,,AyxBi =I = = = E$?IAIuIaO4٢U,; UI=9YQ ]>Ya eG٣aya e> mNusing accuracyPremultiplier from configiua59mvY?}a5Ym$ im+Ayy}@mNEmK ;m%;mBa5 AaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 156.199997 m, deltaT: 3.776032 s, deltaX: -45.300003 m, approachRate: -11.996721 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 144.70 m.BjJj  ProNav: ac range: 144.699997 m, nav range: 18.502508 m, bearing: 48.106098 deg, approach rate: 0.437646 m/s, LOS rate: -1.761018 deg/s, cmd heading: 84.160525 deg, new cmd heading: 82.176322 deg. 2j HeadingCmd: 1.434247 target range: 144.699997 and range: 201.50 m. jk?jjjihhh!h!f!f!f!rf-`fc@bf-M?ɛBrd 隵hI 3ɚiI/==Will construct direction to contact in vehicle frame from tetrahedron phase data.ImY1?iiii)mk?)q*F?2F:FBF@5JFG! G B O!  Will construct direction to contact in vehicle frame from tetrahedron phase data.aw,^AzK.JK.ŷ9K,K.K.BK6rA:K6qAF8@YFF@FZ99FI` IbIIbBIb =&I`.I`6Ib9<:IbH FyqB6IMb@Mb@Mb@ )Y/$?S㥻{Gzty1(?/ݽףA )AIyIiI:4٢Q 4=9:Q > G٣NGy5 > Nusing accuracyPremultiplier from configa59]Y?a5YB# i+A t*? : v<@ @NEB;%;G rAG qAG B O > ~G tA  &Y tAy oBYw,85A>q6@Y>_E@> 9>A=y>H ."qi?.'??!?,??ɨ>q6@>2F;>CyFlBJ0IIR^IR&4٢Z Zv=9Z?Q Z?\\ ^G٣\yb b? fNusing accuracyPremultiplier from configdja59fhKY?ja5Yf! if+Ahj:@n@fNEfGi B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U ?U Y?w,#OA6X4@Y6F C@6 p:96,<=y6H`( j?4?` ?S?@H?ɨ6X4@65;6Cy>fBB(I)D DDD-Mb@Mb@Mb@))) )))Y-sh|??J +S㥛y-)?-Ƚ-/ݼ-hA -A)-hAI-A)y-QAIOI 4٢Z ;=9B;Q > G٣y > Nusing accuracyPremultiplier from configa59q3Y?a5Y"  i+A+?:9@@NEiD;C;a5 BAZjFNOT Ignoring new targets: 144.70 m.BjXJjX- ProNav: ac range: 144.699997 m, nav range: 18.915676 m, bearing: 45.948722 deg, approach rate: 0.351430 m/s, LOS rate: -1.837299 deg/s, cmd heading: 78.049432 deg, new cmd heading: 75.755862 deg. 2j-=HeadingCmd: 1.322189 target range: 144.699997 and range: 201.50 m. j==?j9j9j9i9hAhAhAhEքBfIfIfIrfIbfM@q?ɛ}B? 隅I ɚiI =I=?ii)=?)*F-?2F):F)BF-_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.HQ>I IIIЁBI&I.I6I+<:I< FzKBoIK}9KKK GGBO% >  $?I ęw,UhA~Will construct direction to contact in vehicle frame from tetrahedron phase data.z}J1@Yzki?@z#>;9z=yzH` #:ÿ g?`&:?j?@g`??ɨz}J1@zl;xy%QB%IIMIMd4٢]ν ]O=9]C;Q e>aa eG٣eNGym4 m> uNusing accuracyPremultiplier from configq}a59u Y?}a5Yu iut+A#6@@uNEue:uC:uda5mB AzEZjFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 19.037622 m, bearing: 45.240340 deg, approach rate: 0.310042 m/s, LOS rate: -1.789439 deg/s, cmd heading: 75.755862 deg, new cmd heading: 73.645339 deg. 2jHeadingCmd: 1.285354 target range: 144.699997 and range: 201.50 m. jx?jjjihhhhfffrfbf ?ɛ%B- )-I) 6ɚiIlS=I,?ii)x?)*Fe?2Fa:FaBFea0JFaGIGU?GU?Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >w,?ǂA V$?ITJKm3 KL.KK"KJZJZJXJXJZ:JZO9JXJXab@ab@ab@af@jc/@YjQ=@jF];9j=yjH`ƿh?@?`y`y?֨kv?@?ɨjc/@jGC;hyvFBvII~I~#4٢ _  P=9:Q > %G٣!y%8 %> -Nusing accuracyPremultiplier from config)5a59-Y?5a5Y- i-@+A9=j4@=@-NE-!;-3";-սa5I M4 AM}EeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 144.70 m.Bj}Jj} ProNav: ac range: 144.699997 m, nav range: 19.156141 m, bearing: 44.531176 deg, approach rate: 0.300664 m/s, LOS rate: -1.787865 deg/s, cmd heading: 73.645340 deg, new cmd heading: 71.532024 deg. 2j_HeadingCmd: 1.248469 target range: 144.699997 and range: 201.50 m. j͟?jjjihhhhfffrfbf0@ɛB/ r=0I " ɚiI.)=I ?ii)͟?)ErAEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fy:FyBF}0JFGA>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516550צw,SAH2P>I2C I2II2ƁBI2 =&I0.I06I26<:I2C FzKBKKB9K@KBKB4se-9=@DEo@)6),a  k4"eG0)  N7-@YN%<@NIq;9Nn6=yNH@tWɿl? ?@@R`'?Inp< rp=rp=Mb@Mb@Mb@ )Yw/?T㥛 {Gzy&?#A )AI$Ay\AII҅4٢j <=9=:Q > G٣yr >  Nusing accuracyPremultiplier from configa59(X?a5Y i*A(?:6@@NEc;;a5! % A!ZjAMFNOT Ignoring new targets: 144.70 m.BjUJjU󼝊e ProNav: ac range: 144.699997 m, nav range: 19.292725 m, bearing: 43.790883 deg, approach rate: 0.315959 m/s, LOS rate: -1.700352 deg/s, cmd heading: 71.532025 deg, new cmd heading: 69.328017 deg. 2jeݑeHeadingCmd: 1.210002 target range: 144.699997 and range: 201.50 m. jmZ?jijijiiihihqhqh}Bfffrfbf@ɛmBm0 quIq u.ɚqiqIu=I}Z?iyi)Z? $?I)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769099G F>G B O >Gw,A:\g,@Y:J:@: x;9:dd fG٣fNGyn n> rNusing accuracyPremultiplier from configpva59rX?va5Yr ir*Atzz4@z@rNEr:r ;ra5~lB { AEZj!-FNOT Ignoring new targets: 144.70 m.Bj-Jj-򼝊= ProNav: ac range: 144.699997 m, nav range: 19.405760 m, bearing: 43.163934 deg, approach rate: 0.308142 m/s, LOS rate: -1.699119 deg/s, cmd heading: 69.328018 deg, new cmd heading: 67.458828 deg. 2jE‘EHeadingCmd: 1.177379 target range: 144.699997 and range: 201.50 m. jEX?jIjIjIiIhIhIhYhYfYfYfYrfabfe@ɛރB 隕7I  ɚiI=I=h?ii)X?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:39:37.7246 TRx dataTimestamp_ set to:1736375978.934051checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795*F?2F:FBF4JF yIyJJJ0JJ:J9Jـ3JGuK>G}qAGyGIBQOm>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276693w,XЪA2*@Y29@2{;92A G٣y\ > Nusing accuracyPremultiplier from configa594X?a5Y iT*A#?:9@@NE;;a5  AEZj!%FNOT Ignoring new targets: 144.70 m.Bj-ݼJj-ݼ= ProNav: ac range: 144.699997 m, nav range: 19.559698 m, bearing: 42.483732 deg, approach rate: 0.353445 m/s, LOS rate: -1.549428 deg/s, cmd heading: 67.458828 deg, new cmd heading: 65.435169 deg. 2jE넽MHeadingCmd: 1.142059 target range: 144.699997 and range: 201.50 m. jM.?jIjIjIiIhQhQhYh][BfYfYfYrfabfef @ɛۃB  隕nI ɚiI=I.?ii).?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 158.1 m (Round-trip 210.9 ms) speed -0.4 m/s ,DAT read: user:2765> BDAT read: Tx time:22:39:38.8095 $Ping request sent.Ii ImyIImBIm =&Ii.Ii6Imh<:Imh FBI!JI!RI!ZI% =bI% =jI%5E6=zK AQK ж9K K K  *F?2F:FBF1JF $?I G A>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:22:39:38.8087 G B O >Ϻw,\YA68T)@Y6&s7@6?jj;96OQ E>II MG٣IyMg U> }Nusing accuracyPremultiplier from configya59}[X?a5Y} i})A[8@@}NE}:}u:}xa5  AaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 158.100006 m, deltaT: 7.304242 s, deltaX: -43.399994 m, approachRate: -5.941752 m/s, rangeRepo size: 4Zj FNOT Ignoring new targets: 144.70 m.Bj~ۼJj~ۼ% ProNav: ac range: 144.699997 m, nav range: 19.712151 m, bearing: 41.796224 deg, approach rate: 0.343079 m/s, LOS rate: -1.535164 deg/s, cmd heading: 65.435173 deg, new cmd heading: 63.389519 deg. 2j%MHeadingCmd: 1.106356 target range: 144.699997 and range: 201.50 m. jM?jQjQjQiQhQhQhYhYfYfYfarfe@3c@bfe j?ɛ5؃B= 9=\I9 =ɚ9iAIE=Im?iiii)m?)iEEo==*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G K>G B O > $?I J] J] JY JY J] m:J] b9JY JY ϶w,0AFņ'@YF5@F=:9F+xx zG٣zNGy~ϒ ~> Nusing accuracyPremultiplier from config a59VX?a5Y: i)A6@@NEU=;=;a5%kB %V A%EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 144.70 m.BjeJje༝ ProNav: ac range: 144.699997 m, nav range: 19.843313 m, bearing: 41.186998 deg, approach rate: 0.340616 m/s, LOS rate: -1.571611 deg/s, cmd heading: 63.389517 deg, new cmd heading: 61.574560 deg. 2j҆HeadingCmd: 1.074679 target range: 144.699997 and range: 201.50 m. j?jj}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jihhhh!fIfQfYrfYbfP?ɛփB WI #ɚiI=I?ii) ?) EE*E"E*FE ?2FA :FA BFM P5JFI G} rA G} rA% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005419H R>I C I @II zBI  =&I .I 6I <:I FzK LK 9K K K G F>G ?G $? I GBO> w,%AB%@YB3@B>:9Bo G٣yB\ > =Nusing accuracyPremultiplier from config1Ea595pX?Ea5Y5 i5\)Am ?u:u<@u@5NE5<5 <5ga5jB  AEZjFNOT Ignoring new targets: 144.70 m.BjüJjü-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257259M ProNav: ac range: 144.699997 m, nav range: 20.042038 m, bearing: 40.444924 deg, approach rate: 0.368946 m/s, LOS rate: -1.364010 deg/s, cmd heading: 61.574558 deg, new cmd heading: 59.371559 deg. 2jUjUHeadingCmd: 1.036229 target range: 144.699997 and range: 201.50 m. jU(?jYjYjYiYhYhYhahBfffrfbfZ?ɛ%ӃB-A )5iI1 5)ɚ1i1I5=I=(?iaia)e(?)a*F2F:FBFP0JFG A> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509087G B O >>3w, ?A~#@Y~2@~ ܁9~(z??ɨ~#@~b;~Cy5B5UIi==I=4? E=AIM^IM&4٢]( ]L=9]"Q e>aa eG٣aym m> Nusing accuracyPremultiplier from configa59nX?a5Y i")A=:@@NE&::a5  AEZj9=FNOT Ignoring new targets: 144.70 m.BjEKͼJjEKͼ U$?IYu ProNav: ac range: 144.699997 m, nav range: 20.183392 m, bearing: 39.901871 deg, approach rate: 0.376387 m/s, LOS rate: -1.435856 deg/s, cmd heading: 59.371556 deg, new cmd heading: 57.754261 deg. 2juZv}HeadingCmd: 1.008002 target range: 144.699997 and range: 201.50 m. j}6?jyjyjyiyhhhhfffrfbfA`?JJJJJJ9JJɛуB =ſI .ɚiiImu=Iu6?iqiq)u6?)y*F2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764086G P>G B O! xw,YAynBr@IuMb@Mb@Mb@qqq q)qYu333333?Q?Mbyu?u\>uuA q)uAIuAqyuAIIW4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012689٢ F=9Q > G٣NGy > Nusing accuracyPremultiplier from configa59YX?a5Y3 i(A?:@@@NEn;;Sa5 AZjZH1RH5@AHET>IA IEIIEGBIE =&IA.IA6IE <:IE7 FFNOT Ignoring new targets: 144.70 m.BjϻJjϻ  ProNav: ac range: 144.699997 m, nav range: 20.357250 m, bearing: 39.374372 deg, approach rate: 0.436678 m/s, LOS rate: -1.313577 deg/s, cmd heading: 57.754263 deg, new cmd heading: 56.185696 deg. 2j _a5HeadingCmd: 0.980625 target range: 144.699997 and range: 201.50 m. j5D {?j1j1j1i1h9h9h9h=̓BfAfAfArfAbfEˏ@ɛσB 隽OɿI 4ɚiI#=zKKK9KKKID {?ii)D {?) III*FI2FI:FQBFU_0JFQ"G] >G]>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264837Ge F>Gi Gm pAGI BQ Om >)A A Ew,ysA2iGNvAX z?YzvAyzTBy޵B޵;III̍4٢+ G=9Q > G٣y > Nusing accuracyPremultiplier from configa59DX?a5YX  i(A@NE;u:a5 )A EZjFNOT Ignoring new targets: 144.70 m.BjUJjU ProNav: ac range: 144.699997 m, nav range: 20.531176 m, bearing: 38.860594 deg, approach rate: 0.409136 m/s, LOS rate: -1.198339 deg/s, cmd heading: 56.185696 deg, new cmd heading: 54.657803 deg. 2jMHeadingCmd: 0.953959 target range: 144.699997 and range: 201.50 m. j6t?jjjihhhhfffrfbfϴ@ɛ̓B! ʿI 9ɚiIC=I%6t?i!i!)%6t?))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517255*F?2F:FBFk0JF 5$?I5hG K>G B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771839Cw,AyEBE/I)I IIMAMb@Mb@Mb@ )YI +?K7A`?t SA)AIyI I 4٢* %5=9!Q %>!) -G٣)y) -> =Nusing accuracyPremultiplier from config1=a595-X?Ea5Y5  i5(AEU?E:ED@E@5NE5;5;5a5MiB UqAUEmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 144.70 m.BjJj ProNav: ac range: 144.699997 m, nav range: 20.730093 m, bearing: 38.344236 deg, approach rate: 0.456280 m/s, LOS rate: -1.173049 deg/s, cmd heading: 54.657803 deg, new cmd heading: 53.123981 deg. 2jCIHeadingCmd: 0.927188 target range: 144.699997 and range: 201.50 m. j8\m?jjjihhhhBfffrfbf@@@ɛ˃B| ˿I ?ɚiI)=I8\m?ii)8\m?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020650H!I! I%II%BI!&I!.I!6I%<:I% FE==zK K }9K K K BK pA:K *F5 ?2F1 :F1 BF5 U0JF1 I J J J 1J J ݒ:J b9J 3J J a J a% J a- J a- GuF>G}?G}>]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:39:41.4273 mTRx dataTimestamp_ set to:1736375982.718861uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280115GyBO?_w,xAy]B],II}I}:4٢ =9Q > G٣NGy   > Nusing accuracyPremultiplier from configa59PX?%a5Y  i(A!!%@NEG;(4;a51 =A9ZjYeFNOT Ignoring new targets: 144.70 m.BjeJje񝼝 ProNav: ac range: 144.699997 m, nav range: 20.970125 m, bearing: 37.739696 deg, approach rate: 0.443698 m/s, LOS rate: -1.104677 deg/s, cmd heading: 53.123982 deg, new cmd heading: 51.331738 deg. 2j=HeadingCmd: 0.895908 target range: 144.699997 and range: 201.50 m. j7Ze?jjjihh!h!h!f!f!f)rf1bf5@ @ɛ]ȃB]y Y]˿Ia evFɚaiaIeKm=Im7Ze?iiii)u7Ze?)qE=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525886*F=?2FA:FABFE\0JFA $?I GE A>GY Ba O >w,%ʫAF@YF%@Fބ:9F-et? 0X@Y??ɨF@F3;FCyRBR1III)4٢%< %j=9%;Q %>)) -G٣)y5, 5> =Nusing accuracyPremultiplier from config9Ea59=5X?Ea5Y=  i=p(AAM7@M@=NE=0;=;=a5Y ][AeEWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:39:41.4273 LVL= 22048, 21969, 14466, 26163, AGC= 58, IDX= 455,-0.18,-0.044, 2.190, 2.283, 1.573, PHS=-1.529, 0.664, 0.707, RAW= 269.0, 1.4, CAL= 271.2, 1.5, ROT= 238.8, -1.5 Zjq}FNOT Ignoring new targets: 144.70 m.Ygot valid direction response: 22:39:41.4273 LVL= 22048, 21969, 14466, 26163, AGC= 58, IDX= 455,-0.18,-0.044, 2.190, 2.283, 1.573, PHS=-1.529, 0.664, 0.707, RAW= 269.0, 1.4, CAL= 271.2, 1.5, ROT= 238.8, -1.5 PDAT read: Bearing 238.8, -1.5 (Local) ~Local bearing/azimuth received: Bearing 238.8, -1.5 (Local) DAT read: Range 10 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.4 m/s Bj,Jj, ProNav: ac range: 144.699997 m, nav range: 21.096828 m, bearing: 37.281239 deg, approach rate: 0.307593 m/s, LOS rate: -1.106282 deg/s, cmd heading: 51.331737 deg, new cmd heading: 49.964900 deg. 2j=HeadingCmd: 0.872052 target range: 144.699997 and range: 201.50 m. j>_?,DAT read: user:2766> jj!j!i!h!h)h)h)f)f1f1rf1bf5`~@eBDAT read: Tx time:22:39:42.5096 e$Ping request sent.m_?:publishing transmit ping timeaFpublishing direction and range info؉9؍? Yn@y؍ C؉؍ V؍U ٍ8)ٍ3fIٍ:iٍFÿٍ)?ٍ4?ٍ<@ٍ+< ڍww@)ڍPw_?)E E *E "E y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ"`n|]u?B5љ?)ۉIۉiۉۉۉۉ% Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH p<H V>I  I II BI &I .I 6I 7<:I J F*F ?2F :F! BF% R0JF! ' TFailed to parse incomplete device message. U $?IY Jm Jm Jm 0Ji Jm m:Jm 9Jm ـ3Ji Jm ;Jm ;Jm ;Jm ;GAGMrAGMrAG!BQOu? Pw,)A뫿AN@YN#@N/H,9NhEtA E$A)AIEAAyA]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ie~IeT_4٢᲼ =9XQ > G٣NGyKm > uNusing accuracyPremultiplier from configua59W?}a5YU ic(A}?}:}'7@}@NE<j;9a5hB AEkD  I a7w,A2l@Y2Z!@2)1z92^Ďy2H.fMh? f?".@c Fo?@1?ɨ2l@2*;0yNBR?IIZIZy4٢b= bW=9bQ b>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlra59nW?ra5Yn inX(Apr25@v@nNEn;:n.:nza5x z AxZj!-FNOT Ignoring new targets: 160.10 m.Bj-:;Jj-:;E ProNav: ac range: 160.100006 m, nav range: 48.811909 m, bearing: 323.532958 deg, approach rate: 0.617539 m/s, LOS rate: 0.245196 deg/s, cmd heading: 48.329937 deg, new cmd heading: 48.582618 deg. 2jEF(G) BA Ou >E Will construct direction to contact in vehicle frame from tetrahedron phase data.`w,AHU>I IIIBI =&I.I6I<:I FBIiJIiRIiZIibIijIm1q5z@Yzn@z9z:yzH1wk{?1?š 8f n|?;^?@?ɨz@zg;zCy B EIMb@Mb@Mb@ )YʡE? r?Mb`y-?C> SA)$AISAyIgI64٢< ;=9Q > G٣yǏ > Nusing accuracyPremultiplier from configa59W?a5YY i](A#?:4@@NE:;49;Ka5  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.10 m.Bjo;Jjo; $?IzKK@9KKK ProNav: ac range: 160.100006 m, nav range: 49.061848 m, bearing: 323.628367 deg, approach rate: 0.552329 m/s, LOS rate: 0.209766 deg/s, cmd heading: 48.582616 deg, new cmd heading: 48.867383 deg. 2j<HeadingCmd: 0.852897 target range: 160.100006 and range: 160.10 m. jqWZ?jjjihhhhуBfffrfbf ?ɛB 隭ſI u[ɚiIX=IqWZ?ii)qWZ?)JJJJJ<:J9JJJ;J;J;%;J<%;E5qAE5mA*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝x?՝{?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G F>G B O > w,8A:@Y:@:/9:Щ;y:H`\ ??$Zu?9u??ɨ:@:;:CyFÀBJ_I)L LNALIRIRq4٢Zd= Z]=9^ﳻQ ^>`` fG٣dyf- f> jNusing accuracyPremultiplier from confighna59jW?ra5YjQ ijc(Aprv2@r@jNEj;jy;ja5vgB z" AzEZjFNOT Ignoring new targets: 160.10 m.Bjh;Jj%h;- ProNav: ac range: 160.100006 m, nav range: 49.276249 m, bearing: 323.700505 deg, approach rate: 0.607314 m/s, LOS rate: 0.203448 deg/s, cmd heading: 48.867384 deg, new cmd heading: 49.082854 deg. 2j5 <5HeadingCmd: 0.856657 target range: 160.100006 and range: 160.10 m. j5M[?j1j9j9i9h9h9hAhAfIfIfIrfQbfU d?ɛ}B}, 隅mI _ɚiI=IM[?ii)M[?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673242*F 2F :F BF 4JF  $?IG1GB1Ou> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924007Kuw,RA5O @Y5=@5L.95]?#<$A )IyAIIb4٢-< 54=95nQ 5>99 =G٣=NGy= E> MNusing accuracyPremultiplier from configAUa59EW?Ua5YE iE(AU?U:U+@]@ENEE;E5;E{a5a e AaZjFNOT Ignoring new targets: 160.10 m.Bj4;Jj4; ProNav: ac range: 160.100006 m, nav range: 49.550232 m, bearing: 323.757425 deg, approach rate: 0.605988 m/s, LOS rate: 0.125198 deg/s, cmd heading: 49.082853 deg, new cmd heading: 49.252668 deg. 2jث;HeadingCmd: 0.859621 target range: 160.100006 and range: 160.10 m. j#\?jjjihhhhBfffrfbf R@ɛB!& 隕̽I eɚiI=I#\?ii)#\?)*FE?2FA:FABFE4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176957ZHRHH-V>I) I-II-BI- =&I).I)6I-<:I- F $?IzK K 9K K K $"*;CDCB?<;:Ga G! B) JM JM JI JI JM m:JM 9JI JI JM ;JM ;JM ;JM ;O >w,lAB;\ @YB){@BJ9Bx`` bG٣`yb] f> rNusing accuracyPremultiplier from configlzb59nW?zb5Yn_ in(A|~)@~@nNEn;nς;nb5fB I AEeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.428788ZjFNOT Ignoring new targets: 160.10 m.Bj:Jj:] ProNav: ac range: 160.100006 m, nav range: 49.767487 m, bearing: 323.793526 deg, approach rate: 0.570603 m/s, LOS rate: 0.094402 deg/s, cmd heading: 49.252668 deg, new cmd heading: 49.360498 deg. 2j];mHeadingCmd: 0.861503 target range: 160.100006 and range: 160.10 m. jmy\?jijjihhhhfffrfbf@ɛ-B-W# 15I1 5,jɚ1i1I= =I=y\?iAiA)Ey\?)A*FE?2FA:FABFEP0JFA"GM>GM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680566G G B O > I !w,F^A>b @Y>@>mu9>H@k]0)?]_?f?@ⱎ?ܒ??ɨ>b @>Q;>CyJBJIiN,>IN= R=R=IVzIV=X4٢Ze< ^J=9^*ԻQ ^>`` bG٣`yfo f> jNusing accuracyPremultiplier from confighnb59jmwW?nb5Yj  ij(Alr'@r@jNEjd;j;jb5x z AxZj!%FNOT Ignoring new targets: 160.10 m.Bj-t:Jj-t:= ProNav: ac range: 160.100006 m, nav range: 50.013912 m, bearing: 323.825226 deg, approach rate: 0.646975 m/s, LOS rate: 0.082816 deg/s, cmd heading: 49.360496 deg, new cmd heading: 49.455128 deg. 2j=Xc;EHeadingCmd: 0.863155 target range: 160.100006 and range: 160.10 m. jE\?jAjAjAiIhIhIhIhQfQfQfQrfQbf]f@ɛBb' 隕OI k\nɚiI=I\?ii)\?)*FU?2FQ:FQBFU^0JFQmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.932843GGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:39:45.1291 - TRx dataTimestamp_ set to:1736375986.497398- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185912HA IA  IE IIE BIE  ='w,8A&Iq.Iq6Iu<:Iu Fj;m@Yj)@j99j( `e< A A) I A y AI5pI5F4٢E?= E4=9E{ȻQ M>IQ UG٣UNGy] ]> eNusing accuracyPremultiplier from configamb59e#cW?mb5Ye ie(Am:#?u:u/#@u@eNEem(;e?';eb5y R AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.10 m.Bj:Jj: ProNav: ac range: 160.100006 m, nav range: 50.303806 m, bearing: 323.838298 deg, approach rate: 0.638567 m/s, LOS rate: 0.028630 deg/s, cmd heading: 49.455129 deg, new cmd heading: 49.494120 deg. 2j/:HeadingCmd: 0.863835 target range: 160.100006 and range: 160.10 m. jP$]?jjjihhhh>Bfffrfbf @zKM3MKM9KIKMKM50.*'#   BKY:K]pAɛBjh 隝I $ysɚiI瀫=IP$]?ii)P$]?)!JJJ1JJ:J9J3JJl;Jm;J;J;*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436508G A> c~G9 I } HYy y} !BG B O >-w,sA6@Y6@6s965d B>IIF|IF[4٢N<= Nj=9RSQ R>TT VG٣XyZ* Z> bNusing accuracyPremultiplier from config\bb59^SW?fb5Y^s i^")Adff!@f@^NE^;^^;^' b5h j AlZj|FNOT Ignoring new targets: 160.10 m.Bj9Jj9 ProNav: ac range: 160.100006 m, nav range: 50.526791 m, bearing: 323.841186 deg, approach rate: 0.638367 m/s, LOS rate: 0.008230 deg/s, cmd heading: 49.494119 deg, new cmd heading: 49.502743 deg. 2j9HeadingCmd: 0.863986 target range: 160.100006 and range: 160.10 m. j%-.]?j!j!j!i!h!h!h1h1f1f1f1rf9bf=G @ɛkZ" eI ywɚiI0S=I-.]?ii)-.]?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:39:45.1291 LVL= 23504, 20657, 13554, 28387, AGC= 59, IDX= 457, 0.28,-1.993,-0.623, 0.659,-0.635, PHS=-1.270, 0.059, 1.291, RAW= 241.2, -0.7, CAL= 243.7, -1.1, ROT= 266.3, 1.1 Ygot valid direction response: 22:39:45.1291 LVL= 23504, 20657, 13554, 28387, AGC= 59, IDX= 457, 0.28,-1.993,-0.623, 0.659,-0.635, PHS=-1.270, 0.059, 1.291, RAW= 241.2, -0.7, CAL= 243.7, -1.1, ROT= 266.3, 1.1 PDAT read: Bearing 266.3, 1.1 (Local) ~Local bearing/azimuth received: Bearing 266.3, 1.1 (Local) *F?2F:FBF0JFG GDAT read: Range 10 to 50 : 161.4 m (Round-trip 215.3 ms) speed -0.1 m/s ,DAT read: user:2767> BDAT read: Tx time:22:39:46.2096 %$Ping request sent.%GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,ԬA TT-@Y-@-ɼ9-5Dai mG٣iym< m> }Nusing accuracyPremultiplier from configq}b59uk@W?b5Yuc iuW)An&?:@@uNEu5;u;u1b5 Z AEk _ k?k j/ k  k $A:k f!CBk M CZk S?" " J@DY]VJ` yjf:?._Q῟LvAvJk -Rk 0@y?* ?-BN@6ȐzP@Q\D` ֆm ?M7R(#?^G"k ԃB*k rBk W,k?k # 2k k k k k NKBk ڴ@m addTargetRange:: Added new target pos. range: 161.399994 m, deltaT: 3.783906 s, deltaX: 1.299988 m, approachRate: 0.343557 m/s, rangeRepo size: 4 } Added new target pos. range: 161.399994 m, bearing: 47.441852 deg, lat: 36.903697 deg, lon: -122.120505 deg, deltaT: 3.783906 s, deltaX: 1.299988 m, approachRate: 0.343557 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 161.40 m.BjJj ProNav: ac range: 161.399994 m, nav range: 50.826233 m, bearing: 323.819610 deg, approach rate: 0.000000 m/s, LOS rate: 0.008230 deg/s, cmd heading: 49.502742 deg, new cmd heading: 49.514582 deg. 2jHeadingCmd: 0.864192 target range: 161.399994 and range: 161.40 m. j;]?jjjihhhhXBfffrf,d@bf W#?ɛBʴ 隥ɧI |ɚiIwG=I;]?ii);]?)jHbH=Will construct direction to contact in vehicle frame from tetrahedron phase data.HW>I IIIBBI&I.I6I<:I$ F*F?2F:FBFn0JF IzK 8MK 9K K K G G B O >0:w,A2@Y2@27m92;y2HF"@?@?L%`֓?@st? u?ɨ2@2q;2Cy>.BBIIZoIZD4٢bR= bb=9bHQ b>dd fG٣fNGyf j>EWill construct direction to contact in vehicle frame from tetrahedron phase data. }Nusing accuracyPremultiplier from confighb59j2W?b5Yjm ij)A@@jNEj%;j;j?b5  AZjIuFNOT Ignoring new targets: 161.40 m.BjJj ProNav: ac range: 161.399994 m, nav range: 51.052414 m, bearing: 323.796320 deg, approach rate: 0.608413 m/s, LOS rate: -0.062371 deg/s, cmd heading: 49.514582 deg, new cmd heading: 49.445022 deg. 2j7+HeadingCmd: 0.862978 target range: 161.399994 and range: 161.40 m. j(\?jjjihhhhfffrfbf`?ɛB # I TIɚiI; =I(\?ii)(\?)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GA I hG B) OE >Aw,@A6C@Y6xb@6 96;y6Ht d02?b?xw(>@?w1u? =?ɨ6C@6t<;6CyB;BBIIJ8IJ3٢V= VL=9V@Q V>XX ZG٣Xy^j ^> bNusing accuracyPremultiplier from config`fb59b"W?fb5Yb ib)Ahj@j@bNEb3;b94;JrJrJr0JpJrM:Jr9Jrـ3Jpav@az@az@az@bb5~eB ~R A~EZj!%FNOT Ignoring new targets: 161.40 m.Bj- պJj- պ= ProNav: ac range: 161.399994 m, nav range: 51.310879 m, bearing: 323.762127 deg, approach rate: 0.707491 m/s, LOS rate: -0.093126 deg/s, cmd heading: 49.445023 deg, new cmd heading: 49.342959 deg. 2j=EHeadingCmd: 0.861197 target range: 161.399994 and range: 161.40 m. jEjw\?jAjAjAiIhIhIhIhIfQfYfYrfabfe—?ɛB S  WI  &ɚiIvĮ=I=jw\?i9i9)=jw\?)AEIEI*F?2F:FBF4JF"GG=]Will construct direction to contact in vehicle frame from tetrahedron phase data.GA>GBO>H U>I  I 4II pBI &I .I 6I #<:I ; F Will construct direction to contact in vehicle frame from tetrahedron phase data. i AGw,!A:; ?Y: @:9:  G٣y| > Nusing accuracyPremultiplier from configb59W?b5Y i)AC-?:@@OE!; ;b5  AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 161.40 m.Bj5Jj ProNav: ac range: 161.399994 m, nav range: 51.604687 m, bearing: 323.705931 deg, approach rate: 0.671168 m/s, LOS rate: -0.127641 deg/s, cmd heading: 49.342960 deg, new cmd heading: 49.175334 deg. 2j2HeadingCmd: 0.858271 target range: 161.399994 and range: 161.40 m. j[?jjjihhhh}Bfffrfbf?ɛ)-k 15I1 =Sɚ9i9IE=IU[?iQiQ)U[?)YzKuJKu59KqKuKu*F?2F:FBF1JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.GF>G B O >(Nw,c;A6S?Y6 @67$96=;XX ZG٣ZNGy^( ^> bNusing accuracyPremultiplier from config`fb59b{W?fb5YbD ib9*Ahj@j@bOEb7:b:bb5l nAnEZjFNOT Ignoring new targets: 161.40 m.Bj /(Jj/(% ProNav: ac range: 161.399994 m, nav range: 51.848175 m, bearing: 323.651736 deg, approach rate: 0.663736 m/s, LOS rate: -0.147039 deg/s, cmd heading: 49.175333 deg, new cmd heading: 49.013512 deg. 2j%ɻ-HeadingCmd: 0.855447 target range: 161.399994 and range: 161.40 m. j-Z?j)j)j)i1h1h1h9h9f9f9f9rfAbfE\v?ɛmBm quIq uyɚyiyI}5=I}Z?ii)Z?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975046*F2F:FBFZ0JF u$?IqJK 3 K .KK"KJJJ1JJ:J=9J3JGK>GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225998Uw,LUA?Yh@w/9wqq uG٣yy}- }> Nusing accuracyPremultiplier from configb59V?b5Y iq*A *?:@@ OE#;v"; b5 vAZjAMFNOT Ignoring new targets: 161.40 m.BjMK@JjMK@] ProNav: ac range: 161.399994 m, nav range: 52.145885 m, bearing: 323.570774 deg, approach rate: 0.621734 m/s, LOS rate: -0.168115 deg/s, cmd heading: 49.013513 deg, new cmd heading: 48.772014 deg. 2j]滝HeadingCmd: 0.851232 target range: 161.399994 and range: 161.40 m. j[Y?jjjihhhhBfffrfbf$@ɛ N  *I  dɚiI=I[Y?ii)[Y?)AZHaRHeAAHmT>Ii ImlIImBIm =&Ii.Ii6Im<:Im$ FBI)JI)RI)ZI- =bI- =jI-A5*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478061GqA G QIUhzK k3IK }9K K K G F>G B O >9[w,IoA:?Y:@:`E<9:$:GqAGqAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:39:48.8300 TRx dataTimestamp_ set to:1736375990.025436checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985301Gi Bq O > M $?II bw,숭A6?Y6n,@6ջG96fUtt zG٣zNGyzߓ z> Nusing accuracyPremultiplier from config|b59~dV? b5Y~ i~*A  3 @ @~OE~ :~L:~w'b5 \AZjFNOT Ignoring new targets: 161.40 m.BjvkJjvk ProNav: ac range: 161.399994 m, nav range: 52.627701 m, bearing: 323.416602 deg, approach rate: 0.618061 m/s, LOS rate: -0.205857 deg/s, cmd heading: 48.571859 deg, new cmd heading: 48.311645 deg. 2jG HeadingCmd: 0.843197 target range: 161.399994 and range: 161.40 m. jW?jjj i h h h hff1f1rf9bfE3 @ɛ,7 5I ɚiIN=IW?ii)W?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234911*F2F:FBFo0JFGF>G B O >He Q>Ia  Ie IIe BIe  =&Ia .Ia 6Ie <:Ie / F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 162.2 m (Round-trip 216.3 ms) speed 0.0 m/s  ,DAT read: user:2768>  BDAT read: Tx time:22:39:49.9096  $Ping request sent.  G٣y > MNusing accuracyPremultiplier from configIUb59MV?Ub5YM^ iM+A]1'?]:][ @]@MOEM;M;M+b5edB AEB*** querying acoustic contact ***jj  addTargetRange:: Added new target pos. range: 162.199997 m, deltaT: 3.525590 s, deltaX: 0.800003 m, approachRate: 0.226913 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 161.40 m.Bj^uJj^uM ProNav: ac range: 161.399994 m, nav range: 52.945827 m, bearing: 323.306349 deg, approach rate: 0.622724 m/s, LOS rate: -0.214519 deg/s, cmd heading: 48.311646 deg, new cmd heading: 47.982881 deg. 2jM8UHeadingCmd: 0.837459 target range: 161.399994 and range: 162.20 m. jUcV?jQjQjQiQhQhYhYh]Bfffrf`fFd@bf#?ɛ  I 넎ɚiIY=IEcV?iIiQ)UcV?)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:39:49.9088 ]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF_0JF"GG >G9 GE ?GE >G B O= >nw,A6S?Y6p@67\96NhBB+IiF=IF=IJ,IJ3٢RQ= Rt=9VQ V ?TX ZG٣XyZ7 ^ ? bNusing accuracyPremultiplier from config\bb59^V?fb5Y^ü i^?+Adf@f@^OE^L:^:^.b5l nAlZj|FNOT Ignoring new targets: 161.40 m.BjBJj B ProNav: ac range: 161.399994 m, nav range: 53.139076 m, bearing: 323.226407 deg, approach rate: 0.641690 m/s, LOS rate: -0.264485 deg/s, cmd heading: 47.982881 deg, new cmd heading: 47.743929 deg. 2j%5%HeadingCmd: 0.833289 target range: 161.399994 and range: 162.20 m. j-iRU?j)j)j)i)h)h)h1h1f1f9f9rf9bf=jJ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500376ɛ7& `I  Zɚ)i)I-ᡳ=I5iRU?i1i1)=iRU?)9 $?I *F?2F:FBFO5JFJJJJJ:Ju9JJG!G B O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752216uw,[حAv ?Yv]?v,i9v˃ G٣NGy9| >  Nusing accuracyPremultiplier from config b59 V?b5Y R i n+Aq"?:`@@ "OE ; Q; 2b5! %A)ZjQUFNOT Ignoring new targets: 161.40 m.Bj]Jj]m ProNav: ac range: 161.399994 m, nav range: 53.399979 m, bearing: 323.108052 deg, approach rate: 0.583438 m/s, LOS rate: -0.263376 deg/s, cmd heading: 47.743927 deg, new cmd heading: 47.390602 deg. 2jm4uHeadingCmd: 0.827122 target range: 161.399994 and range: 162.20 m. juES?jqjqjqiqhyhyhyh}{Bfffrfbf?ɛQU Q]kIY ]ɚYiYI]J=IeES?iiii)mES?)ijH-<bH-<H=O>I=C I=II=ځBI= =&I9.I=8D6I=<:I= FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005313*F2F:FBFJF IG zK k3IK K9K K K G B O% >;{w,#AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256302>?Y>Z?>Kq9>H@ؿ@~?v?kؿ3?@.? $?ɨ>?>>;>CyR`BR"IIZ2IZ?3)d d]NG}tA YtAy(B٢Aa J=9Q > G٣y @  > Nusing accuracyPremultiplier from configb59DV?b5Yh i+A@@&OE[<x;#6b5 AEZj)MFNOT Ignoring new targets: 161.40 m.Bj+Jj+ ProNav: ac range: 161.399994 m, nav range: 53.633152 m, bearing: 322.995205 deg, approach rate: 0.541292 m/s, LOS rate: -0.260826 deg/s, cmd heading: 47.390602 deg, new cmd heading: 47.053536 deg. 2j3HeadingCmd: 0.821239 target range: 161.399994 and range: 162.20 m. j܂w, A6@?Y6~?6~w{96⪒ G٣ym > %Nusing accuracyPremultiplier from config!-b59%!V?-b5Y%ܪ i%+A15@5@%*OE%:%:%g9b59 =AEEZjimFNOT Ignoring new targets: 161.40 m.BjuJju񳻝 ProNav: ac range: 161.399994 m, nav range: 53.846607 m, bearing: 322.885609 deg, approach rate: 0.615240 m/s, LOS rate: -0.314638 deg/s, cmd heading: 47.053535 deg, new cmd heading: 46.726052 deg. 2jWHeadingCmd: 0.815523 target range: 161.399994 and range: 162.20 m. j%P?jjjihhhhfffrfbf@h?ɛ& ےI ɚiIz=I%P?ii)%P?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761831*Fi2Fq:FqBFuU0JFqGK>GQBYO}>H- N>I)  I- II- BI-  =&I) .I) 6I- <:I-  F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012244 $?I Bw,%AyhB+IMb@Mb@Mb@ )Y +? G٣NGy > Nusing accuracyPremultiplier from configb59eV?b5Y i+A?:@@.OE=;~ ;]=b5 AJJJ1JJJJ3JJQ;aJR;aJ/;aJ/;aZjFNOT Ignoring new targets: 161.40 m.BjJj- ProNav: ac range: 161.399994 m, nav range: 54.091461 m, bearing: 322.766647 deg, approach rate: 0.534615 m/s, LOS rate: -0.258564 deg/s, cmd heading: 46.726052 deg, new cmd heading: 46.370788 deg. 2j-s1=HeadingCmd: 0.809323 target range: 161.399994 and range: 162.20 m. j=/O?j9j9j9i9hAhAhAhEcBfIfIzKMRLKM@9KIKMKMBK]pA:K]qAfarfabfed@ɛ  I 㗽ɚiIR'=I/O?i!i!)%/O?)!*F2F:FBFS0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264289G% A>G B O% >%3w,?A:f?Y:?:9:G?G>GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772238#w,YA-j?Y-?-9-ߩIu;-Mb@Mb@Mb@))) )))Y-&1?Dl?/$y-?-O=)) -A)-AI-9A)y-(AIEkIE=4٢U*= U2=9UպQ ]>aa eG٣aym m> uNusing accuracyPremultiplier from configi}b59mV?}b5Ym] im,A?:F?@m5OEm&;m$;mbDb5eB AZjFNOT Ignoring new targets: 161.40 m.BjJj ProNav: ac range: 161.399994 m, nav range: 54.499420 m, bearing: 322.528658 deg, approach rate: 0.497350 m/s, LOS rate: -0.297272 deg/s, cmd heading: 46.068297 deg, new cmd heading: 45.659558 deg. 2jLHeadingCmd: 0.796910 target range: 161.399994 and range: 162.20 m. jEL?jjjihhhhWBfffrfbf`@ɛB 隝ʒI ɚiIh[=IEL?ii)EL?)ZHRH@AHL>I IIIBI =&I.I6I<:I$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025284 QIQ*F?2F:FBFJFJ J J 0J J J 9J ـ3J J J J %7;J %7;G F>zK m$JK K K K Gi Bq O >Bw,lsAWill construct direction to contact in vehicle frame from tetrahedron phase data.=<BDAT read: Rx Time:22:39:52.5303 TRx dataTimestamp_ set to:1736375993.808960checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277592>p?Y>?>9>4H!<Ͽs? ?7pϿ` `Lm?|??ɨ>p?>݉;>CyFaBF#IIRIR_v4٢Zrj Zk=9Z$Q Z?\\ ^G٣^NGybL b? fNusing accuracyPremultiplier from configdjb59f~V?jb5Yf if6,AhnI?r@f9OEfF;fG;fkGb5x ~AZjIMFNOT Ignoring new targets: 161.40 m.BjUtJjUte ProNav: ac range: 161.399994 m, nav range: 54.668503 m, bearing: 322.420601 deg, approach rate: 0.476040 m/s, LOS rate: -0.303288 deg/s, cmd heading: 45.659558 deg, new cmd heading: 45.336391 deg. 2je$PmHeadingCmd: 0.791269 target range: 161.399994 and range: 162.20 m. jmJ?jijqjqiqhqhqhQhQfYfYfYrfYbfe@ @ɛ# sI rɚiI=IJ?ii)J?)!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528252 YIYGG B O >-w,UAG?Y? 90???ɨG?Ɋ;Cy]^B]IImkIm=4٢}| }>=9 Q > G٣y > Nusing accuracyPremultiplier from configb59\xV?b5YR iT,A?@=OE3;j;/Kb5 ;AEZjFNOT Ignoring new targets: 161.40 m.BjŻJjŻ ProNav: ac range: 161.399994 m, nav range: 54.870228 m, bearing: 322.273592 deg, approach rate: 0.475641 m/s, LOS rate: -0.345352 deg/s, cmd heading: 45.336391 deg, new cmd heading: 44.896996 deg. 2jmHeadingCmd: 0.783600 target range: 161.399994 and range: 162.20 m. j H?jjji h h hhfffrfbf @ɛUBU߶$ QUoIQ ]qVɚYiYI]┸=Ie H?iaia)e H?)i5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:39:52.5304 LVL= 20800, 27505, 10530, 26995, AGC= 59, IDX= 438,-0.32, 2.460, 3.067,-1.485,-2.864, PHS=-0.872,-0.305, 1.375, RAW= 224.0, -2.0, CAL= 223.0, -7.8, ROT= 287.0, 7.8 Ygot valid direction response: 22:39:52.5304 LVL= 20800, 27505, 10530, 26995, AGC= 59, IDX= 438,-0.32, 2.460, 3.067,-1.485,-2.864, PHS=-0.872,-0.305, 1.375, RAW= 224.0, -2.0, CAL= 223.0, -7.8, ROT= 287.0, 7.8 PDAT read: Bearing 287.0, 7.8 (Local) ~Local bearing/azimuth received: Bearing 287.0, 7.8 (Local) DAT read: Range 10 to 50 : 162.4 m (Round-trip 216.6 ms) speed 0.0 m/s ,DAT read: user:2769> BDAT read: Tx time:22:39:53.6097 $Ping request sent.1159 ϿF?)1)5m?I5 =i5yÿ50?11:publishing transmit ping timeFpublishing direction and range info195na?`ctFs_y1111 1)1I1i11111 1)1I1i11159 ϿF?)1)1I1i1111*F?2F:FBFR5JFGrA GrAGA>GGrAGi B O >H J>I C I II BI &I .I 6I U<:I T FBIɢCJIɢCRIZI =bI =jIs5 Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  JDAT read: TxSync time:22:39:53.6089 = $?IE h"Ww,#-AyndBn&I)p pMb@Mb@Mb@ JJJJJ̝:J9JJJ;J;J3;J3;)YˡE?{Gz?/$y?ף= )+AIAyAIZI4٢< -4=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAmb59EqV?mb5YE1 iEp,Au ?u:u?u@E@OEEE;E;E0Ob5y }Aykeꭁ^}?kep zKBoIKKKK +;HT^gv}ztqjgc^[XTka ke:A:kef"CBkeJ!CZkeY>"eWIO~@]cG_iGYena?`ctFs_JkeyÿRke0?*ec46]@`b>A@ޭ:Ze)v?J,e.?9e"ke B*ke!Bke}?keG 2ke kakep ke ke7Bke׀>M addTargetRange:: Added new target pos. range: 162.399994 m, deltaT: 3.785037 s, deltaX: 0.199997 m, approachRate: 0.052839 m/s, rangeRepo size: 4 ] Added new target pos. range: 162.399994 m, bearing: 16.153650 deg, lat: 36.903697 deg, lon: -122.119960 deg, deltaT: 7.310627 s, deltaX: 1.000000 m, approachRate: 0.136787 m/s, posRepo size: 4 ZjYFNOT Ignoring new targets: 162.40 m.BjJj ProNav: ac range: 162.399994 m, nav range: 45.884647 m, bearing: 18.632685 deg, approach rate: 0.000000 m/s, LOS rate: -0.345352 deg/s, cmd heading: 44.896995 deg, new cmd heading: 44.397779 deg. 2jHeadingCmd: 0.774887 target range: 162.399994 and range: 162.40 m. j_F?jjjihhhh'BfffrfLd@bfN?PExceeded connect timeout, disconnecting.ɛaeHz amIi mkɚiiiIm;K=Iu_F?iqiq)u_F?)yEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFU2JFG] K>G1 BA Oe >Dw, AZ㔼?YZ?ZȈ9ZG B! OE >-jw,ڮAyfB(I}Mb@Mb@Mb@yyy y)yY}Mb?l? rhy}?}=}C}A }A)}AIyyy}=AI,I3٢ 2=9Q > G٣y > Nusing accuracyPremultiplier from configb598hV?b5Y} i,A?:M?@GOEU;8;Vb5 AZj FNOT Ignoring new targets: 162.40 m.Bj $8Jj $8 ProNav: ac range: 162.399994 m, nav range: 45.863640 m, bearing: 18.114079 deg, approach rate: -0.026428 m/s, LOS rate: -0.643951 deg/s, cmd heading: 43.727831 deg, new cmd heading: 42.841704 deg. 2jܼ-HeadingCmd: 0.747729 target range: 162.399994 and range: 162.40 m. j-(k??j)j)j)i)h)h1h1h5Bf1f9f9rf9bf= Ti?jHm<bHiHqIq IqIqIq&Iq.Iq6Iu(<:Iu3 FɛB! 隝I MɚiI.}=I(k??ii)(k??)EqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240219 I*F=?2FA:FABFAJFA"GM>GM>JJJJJ<:JJJJ;J;JJGa zK= `NK= K9K9 K= K= LIIFDC;<85430/-*)))(%"##    GA BQ Ou >  nManaging dock network, ignoring radio surface power off] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491734)w,Af!c?Yf?fM艽9fIvx>Iz6Izm3٢o#= h=9 ˺Q  >  G٣y9 > Nusing accuracyPremultiplier from config%b59eV?-b5Yx i,A)-?5@JOE?;VT;.Yb5I MAIZjyFNOT Ignoring new targets: 162.40 m.Bj66Jj66 ProNav: ac range: 162.399994 m, nav range: 45.843475 m, bearing: 17.887517 deg, approach rate: -0.056688 m/s, LOS rate: -0.637205 deg/s, cmd heading: 42.841706 deg, new cmd heading: 42.161753 deg. 2jڼHeadingCmd: 0.735861 target range: 162.399994 and range: 162.40 m. jjaww,A:ׯ?Y:?: R9:%t`` bG٣bNGyf f> jNusing accuracyPremultiplier from confighnb59jCbV?nb5Yjs ij,Apr?r@jMOEj ;j;j\b5t vAtZj!-FNOT Ignoring new targets: 162.40 m.Bj-8Jj-8= ProNav: ac range: 162.399994 m, nav range: 45.814762 m, bearing: 17.636714 deg, approach rate: -0.073668 m/s, LOS rate: -0.643872 deg/s, cmd heading: 42.161754 deg, new cmd heading: 41.408921 deg. 2jEܼEHeadingCmd: 0.722722 target range: 162.399994 and range: 162.40 m. jEO9?jIjIjIiIhIhIhQhQfQfQfYrfYbf]:W?ɛV' 隍)I SƨɚiI,=IO9?ii)O9?)*F?2F:FBFo0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003284GQG1BAO]>Hq Iq  Iq Iq Iq &Iq .Iq 6Iu ><:Iu C F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255392w,/k(ARZr?YR3?R׃9Rf G٣y1 > Nusing accuracyPremultiplier from config b59 v_V?b5Y m i  -A?:?%@ QOE ; (; }`b5) -A-EZjIUFNOT Ignoring new targets: 162.40 m.Bj]V8Jj]V8m ProNav: ac range: 162.399994 m, nav range: 45.777809 m, bearing: 17.351740 deg, approach rate: -0.083525 m/s, LOS rate: -0.644646 deg/s, cmd heading: 41.408920 deg, new cmd heading: 40.553373 deg. 2jm5ݼuHeadingCmd: 0.707790 target range: 162.399994 and range: 162.40 m. ju15?jqjyjyiyhhhh Bfffrfbf9@ɛBA" 摿I ٪ɚiI`=I15?ii)15?)zKMbMKM9KIKMKM !&'&((($#"!"! !"!!!*F?2F:FBF~0JFGqA Gc~G%vAAmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>mR=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509091 bYvAyWBGGI BQ O >Gw,CBA661?Y6o?6a96$BBMI)@ @FADIJ[IJK!4٢R= Rb=9V;Q V>TT VG٣XyZм Z> bNusing accuracyPremultiplier from config\bb59^]V?bb5Y^h i^--AdfM?f@^TOE^:^:^cb5l n Ap~B*** querying acoustic contact *** aIehj|j|ZjFNOT Ignoring new targets: 162.40 m.BjQ,JjQ,Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759377 ProNav: ac range: 162.399994 m, nav range: 45.742558 m, bearing: 17.121738 deg, approach rate: -0.092289 m/s, LOS rate: -0.602608 deg/s, cmd heading: 40.553374 deg, new cmd heading: 39.862873 deg. 2jμHeadingCmd: 0.695738 target range: 162.399994 and range: 162.40 m. j2?jjjihhhhfffrf bf O@ɛuBu#' y}lIy }GɚyiyI}}=I2?ii)2?)*FY2Fa:FaBFe1JFaJJJ1JJ|:J9J3Ja@a@a@a@GA>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011721G B O >Vw,3\Aw?YO?ɀ9; G٣NGy > Nusing accuracyPremultiplier from configb59[V?b5Yvb i\-A?:(?@XOE;h;gb5 AZjZH RH HI>I IIIBI =&I.I6I<:I FFNOT Ignoring new targets: 162.40 m.Bjz=Jjz= ProNav: ac range: 162.399994 m, nav range: 45.696285 m, bearing: 16.826508 deg, approach rate: -0.103750 m/s, LOS rate: -0.662619 deg/s, cmd heading: 39.862873 deg, new cmd heading: 38.976361 deg. 2j_㼝HeadingCmd: 0.680266 target range: 162.399994 and range: 162.40 m. j%.?jjjihhhhBfffrfbfR @ IIIɛmBmy im"Iq uCɚqiqIu =I}%.?ii)%.?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:39:56.2299 TRx dataTimestamp_ set to:1736375997.599332checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266834*F12F9:F9BF=X1JF9G] F>zK MK 9K K K  G1 B9 O} >qw,uAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516988mÞ?Ym?m}9m. G٣y > %Nusing accuracyPremultiplier from config%b59^ZV?-b5Y\ i-A)- ?-@[OE ;: ;akb59 =A9ZjYeFNOT Ignoring new targets: 162.40 m.Bjm4Jjm4 ProNav: ac range: 162.399994 m, nav range: 45.648880 m, bearing: 16.561992 deg, approach rate: -0.113229 m/s, LOS rate: -0.632460 deg/s, cmd heading: 38.976362 deg, new cmd heading: 38.182042 deg. 2jټHeadingCmd: 0.666402 target range: 162.399994 and range: 162.40 m. jX*?jjjihhh)h)f1f1f1rf1bf5`X @ɛ}B% 隅I ɚiIHd=IX*?ii)X*?)*F}?2Fy:FyBFW5JF"G >G> AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 22:39:56.2299 LVL= 24000, 28465, 11570, 28915, AGC= 60, IDX= 433, 0.06, 3.005, 2.882,-1.451,-2.671, PHS=-0.519,-0.684, 1.216, RAW= 205.5, -0.1, CAL= 205.0, -7.1, ROT= 305.0, 7.1 5Ygot valid direction response: 22:39:56.2299 LVL= 24000, 28465, 11570, 28915, AGC= 60, IDX= 433, 0.06, 3.005, 2.882,-1.451,-2.671, PHS=-0.519,-0.684, 1.216, RAW= 205.5, -0.1, CAL= 205.0, -7.1, ROT= 305.0, 7.1 =PDAT read: Bearing 305.0, 7.1 (Local) E~Local bearing/azimuth received: Bearing 305.0, 7.1 (Local) MDAT read: Range 10 to 50 : 162.0 m (Round-trip 216.1 ms) speed 0.1 m/s U,DAT read: user:2770> ]BDAT read: Tx time:22:39:57.3097 ]$Ping request sent.]?a3(?Qd)?I8%;inο>:publishing transmit ping timeYFpublishing direction and range info9gݣ[3 ,<ؿy )Ii )Ii;>?a3(?Qd)IiG A>GI BQ Ou >J J J 0J J ̝:J 9J ـ3J w,sۏA6h?Y6@Ƕ?6k~96e jv=9j:Q j?|| ~G٣|y0ɽ ?  Nusing accuracyPremultiplier from config b59 YV?b5Y 9X i -A9=?=@ ^OE ; ; Rnb5A EAAk@FH?k E k kA:k"CBk CZk@"/%$bهYNgݣ[3 ,<ؿJknοRk>*diSb@47^7yA4P2t3?'ϰv¿MN:ٿ"k*kCk?k]ܿ 2km<kW,k?kkkBk' M> addTargetRange:: Added new target pos. range: 162.000000 m, deltaT: 3.788679 s, deltaX: -0.399994 m, approachRate: -0.105576 m/s, rangeRepo size: 4 - Added new target pos. range: 162.000000 m, bearing: 350.944068 deg, lat: 36.903872 deg, lon: -122.119960 deg, deltaT: 3.788679 s, deltaX: -0.399994 m, approachRate: -0.105576 m/s, posRepo size: 4 Zj)UFNOT Ignoring new targets: 162.00 m.BjUJjQe ProNav: ac range: 162.000000 m, nav range: 64.549477 m, bearing: 11.473002 deg, approach rate: 0.000000 m/s, LOS rate: -0.632460 deg/s, cmd heading: 38.182042 deg, new cmd heading: 37.511381 deg. 2jamHeadingCmd: 0.654697 target range: 162.000000 and range: 162.00 m. jm;'?jijijihhhhfffrf@d@bf?ɛƒB JU( I +ɚiI_=I;'?ii);'?)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFGH H>I  I II BI  =&I .I 6I <:I FG B O > - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,xAR?YR,?R9R_֬ G٣y > Nusing accuracyPremultiplier from configb59{YV?b5Y&R i-A?:P?@bOEv&;H%;rb5 A Zj)5FNOT Ignoring new targets: 162.00 m.Bj5 Jj= E ProNav: ac range: 162.000000 m, nav range: 64.507996 m, bearing: 11.271600 deg, approach rate: -0.099760 m/s, LOS rate: -0.484672 deg/s, cmd heading: 37.511382 deg, new cmd heading: 36.906809 deg. 2jMPMHeadingCmd: 0.644145 target range: 162.000000 and range: 162.00 m. jU$?jQjQjQiQhQhYhahe$Bfififirfibfu +?ɛÃB$ 隥I ɚiI=IU$?iQiQ)U$?)YzK9LK9KKKBKqA:K*F?2F :F BF JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.G% F>GA BY O} >w, ïAF+Ւ?YF?F}9FSpp rG٣rNGyr v> zNusing accuracyPremultiplier from configtzb59vYV?~b5YvL iv.A|~7?~@veOEv};v;vXub5 fB kA E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 162.00 m.Bj=JjEM ProNav: ac range: 162.000000 m, nav range: 64.466751 m, bearing: 11.099355 deg, approach rate: -0.110996 m/s, LOS rate: -0.463835 deg/s, cmd heading: 36.906808 deg, new cmd heading: 36.389756 deg. 2jU)UHeadingCmd: 0.635121 target range: 162.000000 and range: 162.00 m. jUK"?jYjYjYiYhYhahahafafifirfibfm@?ɛŃBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.& 隽I HɚiI6=IK"?ii)K"?)*F?2F:FBF_0JFJJJJJ:J:JJGGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243308w,tݯAI I IIBI =&I.I7D6I<:I) FBI}¡CJI}¡CRIyZI} =bI} =jI}[ 5Mb@Mb@Mb@ )Y!rh?ʡE?yl?=?A A) AISAyAI/I3٢ t=  +=9 ~fQ > G٣y > -Nusing accuracyPremultiplier from config)5b59-ZV?5b5Y-F i-c.A= ?=:= ?=@-iOE-;-;-yb5A EAIZjiuFNOT Ignoring new targets: 162.00 m.BjuJju ProNav: ac range: 162.000000 m, nav range: 64.413498 m, bearing: 10.874523 deg, approach rate: -0.111484 m/s, LOS rate: -0.471065 deg/s, cmd heading: 36.389756 deg, new cmd heading: 35.714735 deg. 2jHeadingCmd: 0.623340 target range: 162.000000 and range: 162.00 m. j1?jjjihhhh)Bff Ihf)rf)bf5`?ɛuǃB}F y}IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496296 SɚiI=I1?ii)1?)*F?2F:FBFJFG zK LK 9K K K   Gq B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U ?U o?] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7474854w,aA2k?Y2é?2}92qq }G٣yy}ʽ }> Nusing accuracyPremultiplier from configb59ZV?b5Y!A i.A?@lOE ;C ;|b5 hAZjFNOT Ignoring new targets: 162.00 m.BjJj ProNav: ac range: 162.000000 m, nav range: 64.368584 m, bearing: 10.710505 deg, approach rate: -0.128063 m/s, LOS rate: -0.467986 deg/s, cmd heading: 35.714735 deg, new cmd heading: 35.222351 deg. 2jHeadingCmd: 0.614746 target range: 162.000000 and range: 162.00 m. j_?jjjihhhhfffrfbf`??ɛEȃBMaC( IMxwII M;ɚIiQIU~=IU_?iYiY)]_?)Y*F2F:FBF0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999328G<>G B O >JKm3 KL.KK"KJ J J /J J |:J 9J (N3J $w,_^AB1?YBo?BYy9Bg'`` bG٣fNGyfa f> jNusing accuracyPremultiplier from confighnb59jV\V?nb5Yj; ij.AprY?r@joOEj;j;jb5t vAtZjFNOT Ignoring new targets: 162.00 m.BjJj%- ProNav: ac range: 162.000000 m, nav range: 64.313461 m, bearing: 10.532515 deg, approach rate: -0.143640 m/s, LOS rate: -0.464211 deg/s, cmd heading: 35.222350 deg, new cmd heading: 34.687938 deg. 2j5J5HeadingCmd: 0.605419 target range: 162.000000 and range: 162.00 m. j5?j9j9j9i9hAhAhIhIfIfIfQrfQbfUݳ@ɛʃBj# sI >!ɚiI=I ?i i)?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252711*F?2F:FBF_5JF"G>G >GF>G?G ?HF>I I( II6BI =&I.I6I<:I FG) B1 OU > q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503722NA w,S+A>?Y>\?>2w9>jH ? >,hO.?G??2+?@?ɨ>?>;>Cy^BbIif=If=mMb@Mb@Mb@iii i)iYmL7A`?S㥛?{Gztym+?m$>mףmnA i)m AImAiym AI\I#4٢+< .=9:Q > G٣y > Nusing accuracyPremultiplier from configb59C^V?b5Y5 i/AE ?:?@sOE%;;b5  AZj)-FNOT Ignoring new targets: 162.00 m.Bj5kJj5kU ProNav: ac range: 162.000000 m, nav range: 64.245087 m, bearing: 10.313861 deg, approach rate: -0.145748 m/s, LOS rate: -0.466578 deg/s, cmd heading: 34.687939 deg, new cmd heading: 34.031310 deg. 2jU]HeadingCmd: 0.593958 target range: 162.000000 and range: 162.00 m. j] ?jYjYjYiYhYhahahe,Bfififirfibfu@v@ɛ̃BG 隝sI ɚiI=I ?ii) ?)zK$7LKŷ9KKK "&/6975*F]?2Fa:FaBFeS5JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756715G Ga By O >&w,_DA IhBs{?YB/?B2.u9B5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259532Rw,,^A%js?Y% 0?%ps9%UI]C I]S II]YBI]! =&IY.IY6I]<:I] FQ > G٣NGy > Nusing accuracyPremultiplier from configb59kcV?b5Y) ib/A`?@zOE< < )I) b5]gB eHAeEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:39:59.9290 LVL= 28848, 32753, 17058, 32755, AGC= 61, IDX= 439,-0.38,-2.822, 2.674,-1.557,-2.471, PHS=-0.262,-1.091, 0.911, RAW= 185.7, 5.1, CAL= 185.7, -3.6, ROT= 324.3, 3.6 %Ygot valid direction response: 22:39:59.9290 LVL= 28848, 32753, 17058, 32755, AGC= 61, IDX= 439,-0.38,-2.822, 2.674,-1.557,-2.471, PHS=-0.262,-1.091, 0.911, RAW= 185.7, 5.1, CAL= 185.7, -3.6, ROT= 324.3, 3.6 5PDAT read: Bearing 324.3, 3.6 (Local) 5~Local bearing/azimuth received: Bearing 324.3, 3.6 (Local) ZjAEFNOT Ignoring new targets: 162.00 m.BjMLJjMLDAT read: Range 10 to 50 : 161.3 m (Round-trip 215.1 ms) speed 0.3 m/s  ProNav: ac range: 162.000000 m, nav range: 64.108932 m, bearing: 9.943961 deg, approach rate: -0.151841 m/s, LOS rate: -0.397440 deg/s, cmd heading: 33.564011 deg, new cmd heading: 32.920433 deg. 2jaHeadingCmd: 0.574570 target range: 162.000000 and range: 162.00 m. j?jj,DAT read: user:2771> BDAT read: Tx time:22:40:01.0097 $Ping request sent.G rAG qAGQ By O >)!w,xC{AzOk?Yz ?zDq9zWĻA +A)AIyAIZI4٢M< M'=9}&:Q }>yy G٣y1 > Nusing accuracyPremultiplier from configb59'gV?b5Y# i/AY ?:?@~OE;x;,b5 Ak??kԵk# k kShA:kL!CBk2 CZk{յ@"TChۗ&<";cd ]#<"Vƿ;̶BEsOF Jk߿Rk v=*O`@!jV @,`J?Cl?⿔#Kj"k*kCka?k|# 2kJBk}?kkk[Bkg= addTargetRange:: Added new target pos. range: 161.300003 m, deltaT: 3.528558 s, deltaX: -0.699997 m, approachRate: -0.198380 m/s, rangeRepo size: 4 I Added new target pos. range: 161.300003 m, bearing: 325.572369 deg, lat: 36.904376 deg, lon: -122.119960 deg, deltaT: 3.528558 s, deltaX: -0.699997 m, approachRate: -0.198380 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 161.30 m.BjJj% ProNav: ac range: 161.300003 m, nav range: 119.679474 m, bearing: 5.186912 deg, approach rate: 0.000000 m/s, LOS rate: -0.397440 deg/s, cmd heading: 32.920433 deg, new cmd heading: 32.408993 deg. 2j!-HeadingCmd: 0.565644 target range: 161.300003 and range: 161.30 m. jm?jijijiiqhqhqhqh}=Bfyfyfyrfybf:q?ɛӃBB gI IɚiI=I?ii)?MWill construct direction to contact in vehicle frame from tetrahedron phase data.)Q*F?2F:FBF!5JFGE A>G B) OE >%w,ABQc?YB6?Bt9B&hh nG٣lyn n? rNusing accuracyPremultiplier from configpvb59r_jV?vb5Yr- ir/Axz֮?z@rOErg;r;r6b5| AZj)-FNOT Ignoring new targets: 161.30 m.Bj5̚Jj5̚E ProNav: ac range: 161.300003 m, nav range: 119.624985 m, bearing: 5.100925 deg, approach rate: -0.171445 m/s, LOS rate: -0.270673 deg/s, cmd heading: 32.408995 deg, new cmd heading: 32.150918 deg. 2jE9MHeadingCmd: 0.561139 target range: 161.300003 and range: 161.30 m. jMԦ?jIjIjQiQhYhYhYhYfafafarfabfeu?ɛԃB9, 隥fI ½ɚiIFf=IԦ?ii)Ԧ?)*Fm?2Fq:FqBFu_0JFHC>I Is IIsBI&I.I6I<:I F ImWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>G B O >+w,ٰAJJJJJL:J:JJJP;JQ;JnN;JoN;Z\?YZ`?Zyt9ZU`eQ UA)U AIQQyUfAIu8Iu3٢\< ?=9#>9Q > G٣NGyV > Nusing accuracyPremultiplier from configb59nV?b5YM i/A ?:s?@OEY;;b5 AZjFNOT Ignoring new targets: 161.30 m.BjUJjU  ProNav: ac range: 161.300003 m, nav range: 119.551201 m, bearing: 4.996798 deg, approach rate: -0.172528 m/s, LOS rate: -0.243628 deg/s, cmd heading: 32.150916 deg, new cmd heading: 31.838347 deg. 2j 3'HeadingCmd: 0.555684 target range: 161.300003 and range: 161.30 m. jNA?jjjihhhh@Bfffrfbfل?ɛ׃B eI IýɚiI=I NA?i i))-NA?)1E9E9zKm-LKm9KiKmKmBKy:K}mAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG) I G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.c2w,ʰA6\[U?Y6?6y96LB>IIFIF[3٢R= RZ=9RfQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXbb59ZpsV?bb5YZ3 iZ/A`b?b@ZOEZ ;ZT ;Z5b5h jAjEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 161.30 m.Bj ;Jj ; ProNav: ac range: 161.300003 m, nav range: 119.481476 m, bearing: 4.906487 deg, approach rate: -0.186497 m/s, LOS rate: -0.241700 deg/s, cmd heading: 31.838346 deg, new cmd heading: 31.567257 deg. 2j%HeadingCmd: 0.550953 target range: 161.300003 and range: 161.30 m. j: ?jjjihhhhfffrfbf{?ɛ=كB=# AEbIA EŽɚAiAIE=IM: ?iIiI)U: ?)*FM?2FI:FIBFMl0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GGI BQ Ou >jH) bH- <HE B>IA  IE IIE B8w,䰿AIQ&IQ.IQ6IU<:IU F $I*hyYYMb@Mb@Mb@ )Y\(\?B`"۹?/$y>=A ZA)IAypAILI4uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9839689MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYeb59]yV?mb5Y]  i]0Am0?m:m?m@]OE];];]b5uhB }A}EZjFNOT Ignoring new targets: 161.30 m.Bj ~Jj ~ ProNav: ac range: 161.300003 m, nav range: 119.385445 m, bearing: 4.796774 deg, approach rate: -0.194245 m/s, LOS rate: -0.222098 deg/s, cmd heading: 31.567256 deg, new cmd heading: 31.237856 deg. 2jlEHeadingCmd: 0.545203 target range: 161.300003 and range: 161.30 m. jMt ?jIjIjIiIhIhIhQhU(BfQfQfYrfYbf]@ɛ܃Bْ ~dI 4ƽɚiIv=It ?ii)t ?) J%J%J!J!J%:J%9J!J!J%;J%;J%:;J%:;*F?2F:FBF_0JFzK K ŷ9K K K  RK ?JK ?% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234760G A>G B O >f>w,A:ƁD?Y:t|?:m9:ݟvJjE>ve ProNav: ac range: 161.300003 m, nav range: 119.312958 m, bearing: 4.726845 deg, approach rate: -0.223020 m/s, LOS rate: -0.215283 deg/s, cmd heading: 31.237857 deg, new cmd heading: 31.027941 deg. 2jeuHeadingCmd: 0.541540 target range: 161.300003 and range: 161.30 m. j}Y ?jyjyjyiyhyhyhhfffrfbf 4@ɛރB^- >aI ǽɚiI=IY ?ii)Y ?) =$?IA*Fm?2Fi:FqBFuT5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486772GqGIBYOu>Ew,mAnWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739494yBII-KI-4٢=R߼ =D=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]b59UlV?eb5YU iU10Aiim@UOEUB;U94;Ub5q }AyZjFNOT Ignoring new targets: 161.30 m.BjuJjuu ProNav: ac range: 161.300003 m, nav range: 119.220467 m, bearing: 4.637237 deg, approach rate: -0.221760 m/s, LOS rate: -0.215014 deg/s, cmd heading: 31.027941 deg, new cmd heading: 30.758911 deg. 2j}}HeadingCmd: 0.536844 target range: 161.300003 and range: 161.30 m. j}n ?jjjihhhhfffrfbf@ɛB%e! !%8fI! %Bɽɚ!i)I-=In ?ii)n ?)HC>I I IIBI&I.I6I < 1I1*F1:I FBImŠC2F:FBF3JFJImŠCRIiZIm! =bIm! =jImŚ+5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991367G F>G B O >J= J= J9 J9 J= |:J= :J9 J9 J= ;J= ;J= A;J= A;tLw,k2AV3?YVsl?Vg9VsC=/ݼ+A +A)E AInAyAIQI4٢*= A=9};Q > G٣yh > Nusing accuracyPremultiplier from configb59kV?Ub5YT i20AU}>U:U ?]@OEm<Rm<b5q uAqZjFNOT Ignoring new targets: 161.30 m.BjNJjN ProNav: ac range: 161.300003 m, nav range: 119.111992 m, bearing: 4.557689 deg, approach rate: -0.246180 m/s, LOS rate: -0.180695 deg/s, cmd heading: 30.758910 deg, new cmd heading: 30.520052 deg. 2jHeadingCmd: 0.532675 target range: 161.300003 and range: 161.30 m. jj]?jjjihhh1h=%Bf9f9fArfAbfE" @zKmUKKm9KiKmKmBKupA:KurAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:03.6595 TRx dataTimestamp_ set to:1736376004.916748checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243981ɛBg" Y_I ˽ɚiIr=I-j]?i)i))-j]?)9*F?2F:FBF@5JF  I GA G B! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494787Rw,@LA6+?Y6rCd?6Иd96uB> IIFHIF<3٢N?+ N`=9R:Q V>TT VG٣VNGyZx Z> ^Nusing accuracyPremultiplier from config\bb59^V?bb5Y^s i\df?f@^OE^;^:^b5jiB j[AjEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 161.30 m.BjTJjT ProNav: ac range: 161.300003 m, nav range: 119.014046 m, bearing: 4.490390 deg, approach rate: -0.269653 m/s, LOS rate: -0.185432 deg/s, cmd heading: 30.520051 deg, new cmd heading: 30.317988 deg. 2jHeadingCmd: 0.529149 target range: 161.300003 and range: 161.30 m. jJv?jjjihhhhfffrfbf @ɛ%B-<* )-{dI1 5b̽ɚQiQIU=I]Jv?iYiY)]Jv?)aE}]=EWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:40:03.6595 LVL= 24816, 32753, 15138, 32755, AGC= 64, IDX= 240,-0.08,-0.132,-0.959, 0.900,-0.019, PHS=-0.025,-0.893, 0.916, RAW= 181.3, 0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 ]Ygot valid direction response: 22:40:03.6595 LVL= 24816, 32753, 15138, 32755, AGC= 64, IDX= 240,-0.08,-0.132,-0.959, 0.900,-0.019, PHS=-0.025,-0.893, 0.916, RAW= 181.3, 0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 mPDAT read: Bearing 328.3, 7.8 (Local) m~Local bearing/azimuth received: Bearing 328.3, 7.8 (Local) DAT read: Range 10 to 50 : 184.2 m (Round-trip 245.7 ms) speed 0.4 m/s ,DAT read: user:2772> BDAT read: Tx time:22:40:04.7597 $Ping request sent. J@)'g Ix[@i'g >I?`?t[a=?)?IiԿ𨨼u:publishing transmit ping timeuFpublishing direction and range info9q5?+ᅩl?y )Ii )IiI?`?t[a=?)IiZH RH AAH B>I  I I  I! I BI &I G9 GU ?GU >.I 6I <:I FG1 B9 OU >lYw,>hAbJ#?Yb[?bIib9b G٣y[ > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configb59V?%b5Yp i%+:!%:%?%@OE;>Mb5Q UAQk-?k-q' k) k-ZA:k-38CBk-6CZk-@"-hP/Tf=V@-q5?+ᅩl?Jk-ԿRk-𨨼*-/[6`@E}`@&-y7U?wXdq濤anr"k-*k-Ck-\?k-nB' 2k-xBk-\?k-]ܿ k-m<k-bCk-Ak@UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.199997 m, deltaT: 3.790085 s, deltaX: 22.899994 m, approachRate: 6.042079 m/s, rangeRepo size: 4ZjQ]FNOT Ignoring new targets: 161.30 m.Bj]nHJj]nH ProNav: ac range: 161.300003 m, nav range: 118.879028 m, bearing: 4.403560 deg, approach rate: -0.272170 m/s, LOS rate: -0.175232 deg/s, cmd heading: 30.317987 deg, new cmd heading: 30.057203 deg. 2j𻝊HeadingCmd: 0.524597 target range: 161.300003 and range: 161.30 m. jL?jjjihhhhfffrf`fg@bf~Q?ɛ=BE? AE_IA E-νɚAiIIM =IML?iQiQ)UL?)QE%>*F?2F:FBFO0JFzKk3IKKKK Will construct direction to contact in vehicle frame from tetrahedron phase data. = %=G G B O >|`w,t A>?Y>S?>"a9>ޥH?`ۖ`?`? ?@~??ɨ>?>;>CyF(BJ IIRFIR%3٢Z a=9/Z:Q >!! %G٣!y%V -> 5bBottom track data is 0.9 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)Eb59-+V?Ub5Y- i)e :am:m3y?m@-OE-;-\?-rb5q uAqZjFNOT Ignoring new targets: 161.30 m.BjXJjX $?I ProNav: ac range: 161.300003 m, nav range: 118.769936 m, bearing: 4.337660 deg, approach rate: -0.313614 m/s, LOS rate: -0.189620 deg/s, cmd heading: 30.057204 deg, new cmd heading: 29.859323 deg. 2j"HeadingCmd: 0.521143 target range: 161.300003 and range: 161.30 m. ji?jjjihhhh fffrf!bf%&?ɛBn+ bI mϽɚiIv=Ii?i)i?)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJa%@a%@a%@a%@*FM?2FI:FIBFMP0JFQ- Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >bgw,A:h ?Y:C?::f9:XX ZG٣ZNGy^ ^> fbBottom track data is 1.3 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`fb59bȱV?jb5Yb^ ib40Aj9hjq:nh?r@bOEb~;b?b{b5vjB vAzEZjFNOT Ignoring new targets: 161.30 m.Bj!AJj!A- ProNav: ac range: 161.300003 m, nav range: 118.632217 m, bearing: 4.264338 deg, approach rate: -0.316773 m/s, LOS rate: -0.168847 deg/s, cmd heading: 29.859323 deg, new cmd heading: 29.639104 deg. 2j-绝HeadingCmd: 0.517300 target range: 161.300003 and range: 161.30 m. jm?jjjihhhhff!f)rf9bfE1?HI I IIBI&I.I6I< IIUh:I# Fɛ5B5> 9= aI9 =+Gѽɚ9i9I=$d=Iem?ie)mm?)iE}rAE}pAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFU0JFG GnAG->GIBYOu> G |uA  Y |uAy 7Bmw,˸A6k?Y6L:?6_i96`廹eWill construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KKKA A)/ AIAy3AI I  3٢=y; E3=9EjQ E>II MG٣IyM U> }Nusing accuracyPremultiplier from configyb59}vV?b5Y} i})0AT:>:6?@}OE};};}b5 AZjFNOT Ignoring new targets: 161.30 m.Bj% Jj% ] ProNav: ac range: 161.300003 m, nav range: 118.472549 m, bearing: 4.206979 deg, approach rate: -0.339768 m/s, LOS rate: -0.122222 deg/s, cmd heading: 29.639104 deg, new cmd heading: 29.466796 deg. 2je§HeadingCmd: 0.514293 target range: 161.300003 and range: 161.30 m. j?jjjihhhhBfffrfbf @?ɛ5B5\[( 15aI1 =ҽɚ9i9I==IE?iE*)E?)i*F?2F:FBF_0JF AIA Will construct direction to contact in vehicle frame from tetrahedron phase data.GE W>G B) OU >Hrtw,LұAJ6J6J4J4J6,:J6:J4J4B>YB(1?BSi9B Bc;BCy^>Bb2 IIjUIj4٢r.= rd=9rCVQ r>tt vG٣tyzν z> ~Nusing accuracyPremultiplier from config|b59~V?b5Y~g i~"0A .-? @~OE~;~-;~b5 aAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 118.346024 m, bearing: 4.164785 deg, approach rate: -0.347452 m/s, LOS rate: -0.115994 deg/s, cmd heading: 29.466795 deg, new cmd heading: 29.340076 deg. 2j%6%HeadingCmd: 0.512081 target range: 161.300003 and range: 161.30 m. j%?j)j)j)i)hhhhfffrfbfVP?ɛB X* \I ԽɚiI=I?iK)?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JFG2x>GqBO>jH<bH<HI I IIBI M $?IQ &I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242159yzw,}챿Ay-GB-= IMb@Mb@Mb@ )Y~jt?ˡEy&1y>'`  A) AIyAII٢&= ;=9Q > G٣NGy > Nusing accuracyPremultiplier from config b59V? b5Y i0A>:?@OE^;v\;lb5kB !A%EZjAMFNOT Ignoring new targets: 161.30 m.BjMPJjMP] ProNav: ac range: 161.300003 m, nav range: 118.182304 m, bearing: 4.118819 deg, approach rate: -0.392307 m/s, LOS rate: -0.110295 deg/s, cmd heading: 29.340075 deg, new cmd heading: 29.201988 deg. 2j]ceHeadingCmd: 0.509671 target range: 161.300003 and range: 161.30 m. jey?jajijii h h hhBfffrfbf G@ɛBQi& 隕>YI xսɚiIy=Iy?iY)y?) *F?2F:FBF0JF"G>G=GuL>GIBYuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.494200O{>zK5BoHK5 9K1K5K5 9 I9 фw,^A:Mf>Y:.?:|!p9:㛏:U;:CyB[BFU IiJ=IJ4<INNIN@ 4٢VO= Va=9ZߊQ Z>`d fG٣hyjzB n> Nusing accuracyPremultiplier from configxb59z\V?b5Yz{ iz0A!%#?%@zOEzӹ;z;zb5) -A)ZjQUFNOT Ignoring new targets: 161.30 m.Bj]ѺJjeѺu ProNav: ac range: 161.300003 m, nav range: 118.039032 m, bearing: 4.084706 deg, approach rate: -0.385015 m/s, LOS rate: -0.091784 deg/s, cmd heading: 29.201989 deg, new cmd heading: 29.099525 deg. 2ju{}HeadingCmd: 0.507883 target range: 161.300003 and range: 161.30 m. j}?jyjyjyihhhhfffrfbf&@ɛB) 隽pPI  ֽɚiI`=I?iߔ!GBO%,>JJJ1JJ:J:J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001246Rw,? A6>Y6M?6u96u6;6Cy^gB^e IIjCIj3٢rt= vF=9vTUQ v>xx zG٣xyz^ ~> Nusing accuracyPremultiplier from config b59VV? b5YG i0A  > @OE;;2b5 AZjAMFNOT Ignoring new targets: 161.30 m.BjU|ȺJjU|Ⱥe ProNav: ac range: 161.300003 m, nav range: 117.879494 m, bearing: 4.049500 deg, approach rate: -0.396602 m/s, LOS rate: -0.087639 deg/s, cmd heading: 29.099526 deg, new cmd heading: 28.993764 deg. 2jepHeadingCmd: 0.506037 target range: 161.300003 and range: 161.30 m. j?jjjih9h9 $?IHI I IIBI" =&I.I6I<:I FhIh1f9fAfyrfbf`? @ɛBf 隽KI s?ؽɚiI.=I?ig$G B O >؍w,:A6,>Y6?6|96=y6HQ?@_ ??@a@{?_ ?@w?ɨ6,>6J;4yjBj I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.502199uMb@Mb@Mb@qqq q)qYu'1Z?:vMbyu>uTuurA uE A)u AIuAAqyup AILI4٢= @=9}oQ > G٣NGy > Nusing accuracyPremultiplier from configb59V?b5Y i 0A>:>@OEU;;b5 @EZj FNOT Ignoring new targets: 161.30 m.Bj Jj zKBHKK9KKKrp? BK%qA:K!5 ProNav: ac range: 161.300003 m, nav range: 117.701904 m, bearing: 4.015360 deg, approach rate: -0.414600 m/s, LOS rate: -0.079824 deg/s, cmd heading: 28.993764 deg, new cmd heading: 28.891188 deg. 2j5![HeadingCmd: 0.504246 target range: 161.300003 and range: 161.30 m. jJ?jjjihhhhBfffrfbf` @ɛuB}$ y},AIy }+dٽɚyiIw=IJ?i%GyBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 22:40:07.4067 LVL= 21008, 23057, 16194, 23379, AGC= 62, IDX= 94,-0.09,-2.345, 2.722,-1.932,-2.585, PHS= 0.328,-0.930, 0.650, RAW= 161.1, -0.7, CAL= 163.4, -9.1, ROT= 346.6, 9.1 e Ygot valid direction response: 22:40:07.4067 LVL= 21008, 23057, 16194, 23379, AGC= 62, IDX= 94,-0.09,-2.345, 2.722,-1.932,-2.585, PHS= 0.328,-0.930, 0.650, RAW= 161.1, -0.7, CAL= 163.4, -9.1, ROT= 346.6, 9.1 e 8DAT read: $Error in header  *Received a bad headere X#Rx 1: Read direction message, but no range.m `direction in FSK: [-0.099357,-0.923946,0.369394]9{uoM&?RZ B?)S[I>i>{nff&?P3@+H 6@)"I@i">`U? ?* !)7?I.B@YV ?V)9VZf=yVH`w?aEVK?}v?@/R?!? ?ɨV'0>V3;VCynBr IIzMIz{4٢= T=9Q >   G٣y > %Nusing accuracyPremultiplier from config!-b59% W?-b5Y%D i%10A)->-@%OE%:%:%Jb51 =@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 161.30 m.BjmJjm} ProNav: ac range: 161.300003 m, nav range: 117.541061 m, bearing: 3.986737 deg, approach rate: -0.419412 m/s, LOS rate: -0.074737 deg/s, cmd heading: 28.891188 deg, new cmd heading: 28.805204 deg. 2j}*MHeadingCmd: 0.502746 target range: 161.300003 and range: 161.30 m. j?jjjihhhhfffrfbf @ɛB`>% ;I pڽɚiI=I?i&G)B1OM1>ZH?ARH?AHA>I I IIӂBI! =&I.I6IT<:IJ FBIYJIYRIYZIYbIYjI]Y4 I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJw,KmA2ԓ>Y2e?2W92,0=y2Ho?|V߿#?`?ر?v??ɨ2ԓ>2;2CyBBB IMb@Mb@Mb@ )Y(\? rhMb`y>C   A)AIy AI7I3٢= ==9Q > G٣yHt > %Nusing accuracyPremultiplier from config!-b59%W?-b5Y% i%a0A->5:U}>U@%OE%;%5;%b5]lB ]@]EZjFNOT Ignoring new targets: 161.30 m.BjOJjO ProNav: ac range: 161.300003 m, nav range: 117.351120 m, bearing: 3.951092 deg, approach rate: -0.426298 m/s, LOS rate: -0.080131 deg/s, cmd heading: 28.805203 deg, new cmd heading: 28.698094 deg. 2j[HeadingCmd: 0.500876 target range: 161.300003 and range: 161.30 m. jm9?jjj ihhhh)Bfffrfbf% ؖ@ɛB 隵3I ۽ɚiI=Im9?ix&GB!O=r>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsezKmNKm 9KiKmKm~iK4$  $?I ӡw,ߦAB>YB=>B|9BxD=yBHB2p;BCybBb IIjRIjW4٢r> v\=9vMQ v>tx zG٣zNGyz, z> Nusing accuracyPremultiplier from config|b59~&W? b5Y~2 i~0A  6> @~OE~:~v:~Pb5 D@ZjyFNOT Ignoring new targets: 161.30 m.BjnJjn ProNav: ac range: 161.300003 m, nav range: 117.190483 m, bearing: 3.922993 deg, approach rate: -0.440294 m/s, LOS rate: -0.077123 deg/s, cmd heading: 28.698095 deg, new cmd heading: 28.613682 deg. 2jSHeadingCmd: 0.499403 target range: 161.300003 and range: 161.30 m. j>jjjihhhhfffrfbf@ɛBh F(I QܽɚiI20=I>iu&)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF{0JFG&=GaBqO9>JJJJJ,:J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsew,˄Ay҂B Ii%=I%p; %=%a=)-AAI=CI=3٢MH= MD=9UQ U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configamb59e5W?mb5Ye% ie0Aqqu@eOEe:eC ;eb5}mB }@EZjFNOT Ignoring new targets: 161.30 m.BjJjH!I! I%!II%BI%" =&I!.I!6I%<:I% F }$?I ProNav: ac range: 161.300003 m, nav range: 117.007736 m, bearing: 3.890926 deg, approach rate: -0.445310 m/s, LOS rate: -0.078261 deg/s, cmd heading: 28.613682 deg, new cmd heading: 28.517332 deg. 2jVMHeadingCmd: 0.497721 target range: 161.300003 and range: 161.30 m. jMU>jQjQjYiYhahhhfffrfbf +@ɛ% B- )-I) -ݽɚ)i1I5p=I5U>i=9 &)AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF`0JFG :=G B O >q'w,]A6Lqj>Y60>61969y=y6H`!?2ܿΥM?@?@2`n?@??ɨ6Lqj>6b6;6CyBBB!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse]Mb@Mb@Mb@YYY Y)YY]tV?y&1?y&1|?y]>]`e<]`;]A ]vA)]`AI]AYy] AIuAIuk3٢/= G=9Q > G٣y > Nusing accuracyPremultiplier from configb59CDW?b5Y i1A>:>@OE;^;b5 @ZjFNOT Ignoring new targets: 161.30 m.BjӺJjӺ ProNav: ac range: 161.300003 m, nav range: 116.829597 m, bearing: 3.852913 deg, approach rate: -0.432673 m/s, LOS rate: -0.092469 deg/s, cmd heading: 28.517332 deg, new cmd heading: 28.403119 deg. 2j}HeadingCmd: 0.495728 target range: 161.300003 and range: 161.30 m. j>jj j i h h hhqBfff!rf!bf%N@zK5MK59K1K5K5  BKA:KEqAɛ B1 xI! %޽ɚ!i!I%3?=I->i-%)1*F?2F:FBFR2JF qIqGI=GYBiO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse|w,9ղA2\>Y2;r>2929=y2H ?`FOۿ-? ?@L` ?A?7?ɨ2\>2w;2CyNBN!IIVNIV@ 4٢v= vT=9zeQ z>|| ~G٣~NGy >  Nusing accuracyPremultiplier from config b59 QW?b5Y  i Q1A>@ OE ; `; b5! %@%EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 161.30 m.BjUͺJj]ͺm ProNav: ac range: 161.300003 m, nav range: 116.662201 m, bearing: 3.818364 deg, approach rate: -0.434936 m/s, LOS rate: -0.089895 deg/s, cmd heading: 28.403120 deg, new cmd heading: 28.299325 deg. 2jmvuHeadingCmd: 0.493916 target range: 161.300003 and range: 161.30 m. ju>jjjihhhhfffrf bf `9@ɛB 8II U›߽ɚQiQI]U=I>iz#)MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*F?2F:FBF_5JFG"<GBO>jH<bH<H@> QIYI IZ!II/BI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse8w,ﲿA6zQ>Y6k>6]96=y6H ?ڿaSL?0?G?L? u?ɨ6zQ>6D;6Cy-B-8!I5A5AMb@Mb@Mb@ )Yjt?X9v? rh?y?}=C<AA `A)IAIAy AIHI<3٢= ;=9LXQ > G٣yҼ >  Nusing accuracyPremultiplier from config b59 aW?b5Y  i 1A?: ?@ OE ԕ< < b5nB @E) CJK KS}-KK"KJ5J5J1J1J5:J5 :J1J1J56;aMJ58;aUJ5U;aUJ5U;aUvA yYvAyMAm @m7BZjquFNOT Ignoring new targets: 161.30 m.Bj}Jj}庝 ProNav: ac range: 161.300003 m, nav range: 116.467575 m, bearing: 3.768560 deg, approach rate: -0.391486 m/s, LOS rate: -0.100348 deg/s, cmd heading: 28.299325 deg, new cmd heading: 28.149662 deg. 2jHeadingCmd: 0.491304 target range: 161.300003 and range: 161.30 m. j<>jjjihhhhBfffrfbf@ɛ5B=r =<==|I9 =ɚaiaIe=Im<>iuq!)q*F?2F:FBFR5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseGt:zKLK9KKK RK?JK?GBO > E $?IA w w,A2>H>Y2>2½92#ć=y2H"? u/ڿ@?e?RS???ɨ2>H>2>;2CyF*BFT!IIV'IV@3٢v5= v]=9v蜼Q v>xx zG٣xy~Ǽ ~> Nusing accuracyPremultiplier from config b595oW? b5Y" i.2A   ?@OE:@:b5 A@Zj%FNOT Ignoring new targets: 161.30 m.Bj% Jj% 5 ProNav: ac range: 161.300003 m, nav range: 116.301842 m, bearing: 3.726912 deg, approach rate: -0.491714 m/s, LOS rate: -0.123740 deg/s, cmd heading: 28.149662 deg, new cmd heading: 28.024541 deg. 2j5שEHeadingCmd: 0.489121 target range: 161.300003 and range: 161.30 m. jEn>jAjAjAiIhIhIhIhIfQfQfQrfYbf].@ɛB 隅~I w3ɚiIX=In>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*FU?2FQ:FQBFUP0JFQG?:Gi Bq O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapsejKw,>"A: +C>Y:>:Rҽ9:.=y:H`_-?Uٿ=!`r?G-?@LLF?`/+?2?ɨ: +C>:k;:Cyb?Bfo!IIz4IzV3٢ `=  H=9 Q %>!) -G٣-NGy5qE 5> MNusing accuracyPremultiplier from configA]b59E=~W?]b5YE] iE2AaeR?m@EOEEi;EΡ;Eb5}oB }@EH?>IC I!IIqBI# =&I.I6I<:I F $?IhZjy}FNOT Ignoring new targets: 161.30 m.BjaJja ProNav: ac range: 161.300003 m, nav range: 116.117043 m, bearing: 3.680876 deg, approach rate: -0.443909 m/s, LOS rate: -0.110761 deg/s, cmd heading: 28.024541 deg, new cmd heading: 27.886212 deg. 2j%eHeadingCmd: 0.486706 target range: 161.300003 and range: 161.30 m. jm1>jjjihhhhfffrfIbfU@ɛB!d !ؾI E ɚAiIIM0=IM1>iU)QWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBFJFGJiGBO>JU JU JU 1JQ JU ,:JU :JU 3JQ JU ;JU ;JU yE;JU zE;*uw,ϣY2>2Y927=y2H1?}ٿ@Ʒ8?2?@(`l?P? :?ɨ2?>2=;2CyBHBBz!IiFt<A A)AIAy AI5/I53٢ED'= MG=9MaQ M>QQ UG٣QyU& => ENusing accuracyPremultiplier from configAMb59EՍW?Mb5YE iEA3AU= ?U:U$?U@EOEE;E;Ebb5Y ef@azKFKK+9KKKZjY]FNOT Ignoring new targets: 161.30 m.Bje%Jje% ProNav: ac range: 161.300003 m, nav range: 115.923546 m, bearing: 3.618367 deg, approach rate: -0.447661 m/s, LOS rate: -0.144858 deg/s, cmd heading: 27.886213 deg, new cmd heading: 27.698373 deg. 2jƻHeadingCmd: 0.483428 target range: 161.300003 and range: 161.30 m. jڃ>jjjihhhhȄBfffrfbf`C@ɛB ҾI pɚi!I%=IEڃ>iM)I IEω>EEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F% ?2F) :F) BF- 2JF) G5 rA G1 G PIG B O >_w,MVA6&'@>Y6 >6g96C}=y6H&(?ٿ59?(?R̾`þ?$? ?ɨ6&'@>6;4y>UBB!IIJ#IJ%x3٢R= RU=9RļQ V>TT VG٣TyZH: Z> bNusing accuracyPremultiplier from config\bb59^vW?bb5Y^ i^3Adf$?f@^OE^:^a:^{b5l n@nE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 161.30 m.Bj [1Jj [1 ProNav: ac range: 161.300003 m, nav range: 115.766930 m, bearing: 3.567523 deg, approach rate: -0.476990 m/s, LOS rate: -0.155058 deg/s, cmd heading: 27.698374 deg, new cmd heading: 27.545638 deg. 2jԻ%HeadingCmd: 0.480762 target range: 161.300003 and range: 161.30 m. j%r&>j!j)j)i)h)h)h1h1f1f1f9rf9bf=@@ɛB1= ǾI g3ɚiI"=Ir&>io)E+=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*F?2F:FBFo0JF IZH@ARH@AH>>I I!IIBI&I.I6I6<:I/ FGG B O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsew,YpA6A>Y6\>6l96=y6H x?`ڿ-T@J?? ???ɨ6A>6VL;4y]eB]!IMb@Mb@Mb@ )YHzG?w/?Q?y= ?&>u< )AIAy( AII٢ = 5=9e箼Q e>ii mG٣mNGyu3o; u> }Nusing accuracyPremultiplier from configyb59}W?b5Y}c i}4As?:?4?@}OE};};}b5 @ZjFNOT Ignoring new targets: 161.30 m.Bj9Jj 9JJJ0JJl:J:Jـ3JJ;J;JA;JA;5 ProNav: ac range: 161.300003 m, nav range: 115.562172 m, bearing: 3.491615 deg, approach rate: -0.437350 m/s, LOS rate: -0.162422 deg/s, cmd heading: 27.545637 deg, new cmd heading: 27.317512 deg. 2j=޻=HeadingCmd: 0.476781 target range: 161.300003 and range: 161.30 m. j=>jAjAjAiAhIhIhQhUфBfQfYfYrfYbf] @ɛ B] ";=隕yI ɚiIa=I>i)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseE=zK- BHK- 9K) K- K- *Fe ?2Fa :Fa BFe V0JFa $?I GDWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGBO?w,/A6F>Y6i>6|96y=y6H`?!}ڿ- ?@?`¿@?@R?x?ɨ6F>6 ;6CyBlBB!IIJ,IJ3٢R < R/=9V8Q V>TT VG٣XyZ/< Z> ^Nusing accuracyPremultiplier from config\bb59^ W?bb5Y^  i^F5Adf5?f@^OE^j:^:^}b5UpB U5@]EZjFNOT Ignoring new targets: 161.30 m.Bj^9Jj^9 ProNav: ac range: 161.300003 m, nav range: 115.360817 m, bearing: 3.415855 deg, approach rate: -0.429969 m/s, LOS rate: -0.162060 deg/s, cmd heading: 27.317512 deg, new cmd heading: 27.089835 deg. 2jp޻HeadingCmd: 0.472807 target range: 161.300003 and range: 161.30 m. j>jjji h hhhfffrfbf@!@ɛ#B 隭I ɚiI#=I>iF)E&=*F}?2Fy:FyBF}`0JFyGUw:Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG)BYO}z> A IA Hi Ii  Im ;"IIm BIi &Ii .Ii 6Im T<:Im D FBI%ʟCJI!RI!ZI%# =bI%# =jI%;5Ew,A oL>Y J/> E9 t=y H\? ڿ@T@?@z?ſ6?@ʼ? n?ɨ oL> F; CyjB!IMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )YK7?ףp= ?{Gzt?yI ?>ף;A A)QAIAy AI"Iq3٢ =9Q > G٣y%+< %> -Nusing accuracyPremultiplier from config)5b59-W?5b5Y-' i-#6A5?5:=2?=@-OE-O;-N;-b5I M[@IZjquFNOT Ignoring new targets: 161.30 m.Bj}EJj}E ProNav: ac range: 161.300003 m, nav range: 115.128563 m, bearing: 3.330059 deg, approach rate: -0.467322 m/s, LOS rate: -0.172980 deg/s, cmd heading: 27.089835 deg, new cmd heading: 26.831929 deg. 2jnHeadingCmd: 0.468305 target range: 161.300003 and range: 161.30 m. j>jj!j!i!h)h1hYh]BfafafirfibfmL"@JJJJJ,:J :JJJ;J;JU;JU;ɛ'B %~I! %`ɚ!i!I%=Im>im)qEyEy*Ey"Ey Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE *F ?2F :F BF Q0JF G  G zKM KM +9KI KM KM  - $?I) G2GGGBO?ew,γARWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseZ9 [>YZ{}>ZG.9Z >yZHD?` ܿ +?9p?Hȿ? N?K=?ɨZ9 [>Z-M;ZCyfhBf!IihIj=InInT3٢z[ z1=9~?-Q ~>| G٣NGy< >  Nusing accuracyPremultiplier from config b59 W?b5Y ı i 7Ag6?@ OE < < b5 @EZj15FNOT Ignoring new targets: 161.30 m.Bj56Jj=6E ProNav: ac range: 161.300003 m, nav range: 114.926544 m, bearing: 3.252755 deg, approach rate: -0.416288 m/s, LOS rate: -0.159574 deg/s, cmd heading: 26.831929 deg, new cmd heading: 26.599612 deg. 2jMۻmHeadingCmd: 0.464251 target range: 161.300003 and range: 161.30 m. juH>jqjyjyiyhyhyhhfffrfbf#@ɛ+B4 Q=[þI ɚiI%=IeH>im@)i*F]?2FY:FYBF]_0JFYGUw!G)B9OUu>MWill construct direction to contact in vehicle frame from tetrahedron phase data.MI  I m"II BI &I .I 6I <:I  Fw, 賿AN@b>YN`>N79N>yNH@w? ܿYw?FD?@ʿ`?%U?@h&?ɨN@b>N;Ly^`B^!IIn(In̍3٢z ~K=9wQ >    G٣ yc< > -Nusing accuracyPremultiplier from config!5c59%CW?5c5Y%ڭ i%7A9=G8?E@%OE%v;%;%c5mqB m @uEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 161.30 m.Bj-9JjU9Will construct direction to contact in vehicle frame from tetrahedron phase data.jjjihhhh!f!f!f!rf!bfM@$@ɛ/B3F ξI /ɚiI4=I->i-*))*F?2F:FBF`0JFG= fm Will construct direction to contact in vehicle frame from tetrahedron phase data.m w,oA6h>Y6W>6:@96>y6H@V?_ݿ6ɹ@X;??˿@G?? `?ɨ6h>65;6Cy>aB>!IMMb@Mb@Mb@III I)IYM/$?Pn?MbyM ?M>MMA MhA)MI@IMAIyM AzKeKKe59KaKeKeRKu?JKu?I}I}F3٢.: B=9Q > G٣yw< > Nusing accuracyPremultiplier from configc59QW?c5Y i8A?:/?@OE/;^;3c5rB @|EZjFNOT Ignoring new targets: 161.30 m.BjRJjR ProNav: ac range: 161.300003 m, nav range: 114.562584 m, bearing: 3.115708 deg, approach rate: -0.505573 m/s, LOS rate: -0.184114 deg/s, cmd heading: 26.391421 deg, new cmd heading: 26.187818 deg. 2j $?I HeadingCmd: 0.457064 target range: 161.300003 and range: 161.30 m. j?>jjjihhhhDŽBf!f!f!rf!bf%2`%@ɛM2BU QUоIQ U/dɚQiYI]=I?>i)!*F2F:FBF1JFGa.ʼGWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2774> -J] J] JY JY J] :J] :JY JY ae @ae @ae @ae @w,A @y~YB~!I) I)IW3٢%  %S=9%Q %>)) -G٣-NGy- 5> ENusing accuracyPremultiplier from configAMc59ES X?Mc5YEr iEI9AQQU@EOEEn:E:E c5Y ]@aZjFNOT Ignoring new targets: 161.30 m.Bj8Jj8 ProNav: ac range: 161.300003 m, nav range: 114.389313 m, bearing: 3.052460 deg, approach rate: -0.441828 m/s, LOS rate: -0.161520 deg/s, cmd heading: 26.187818 deg, new cmd heading: 25.997789 deg. 2jݻHeadingCmd: 0.453747 target range: 161.300003 and range: 161.30 m. jQ>jjjihhhhfffrfbf(&@ɛ%5B% )-۾I) -ɚ)i)I-.==Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Tx time:22:40:15.7098 E$Ping request sent.EiX) $?I hHm8>Ii Im"IIm#BIm$ =&Ii.Im6D6Im<:Im FEDc=*F2F:FBF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253127m c~G Y y #AG TG BO5> w,9AyPB !IMb@Mb@Mb@ )YZd;O?l?Zd;Oy~ ?=jA v@)@IjAy AIIV٢  (=9Q > G٣y > Nusing accuracyPremultiplier from configc59X?c5Y i9A ?:.?@OE;%; c5 @yEZj!%FNOT Ignoring new targets: 161.30 m.Bj-Jj-= ProNav: ac range: 161.300003 m, nav range: 114.164650 m, bearing: 2.985268 deg, approach rate: -0.465703 m/s, LOS rate: -0.139558 deg/s, cmd heading: 25.997790 deg, new cmd heading: 25.795816 deg. 2j=EHeadingCmd: 0.450222 target range: 161.300003 and range: 161.30 m. jE}>jAjIjIiIhIhQhQhUBfQfYfYrfYbf]u'@ɛ9B%P )-I) -Qɚ)i)I-ZY=I5}>i5@)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896EE=*F?2F:FBFP5JFzKBHK9KKKBK :K pA )I)G :GBO%> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547196w,>SA6Tv>Y6!>6iX96^>y6H ?ݿfɾ?@x?̿ ? n?`a?ɨ6Tv>6;4yBJBB{!IIJIJ3٢zN  zY=9zQ ~>|| G٣y= >  Nusing accuracyPremultiplier from config c59 )X?c5Y  i :A?@ OE  ;  ;  c5! %@!ZjQUFNOT Ignoring new targets: 161.30 m.Bj]!Jj]!m ProNav: ac range: 161.300003 m, nav range: 113.992989 m, bearing: 2.932092 deg, approach rate: -0.456364 m/s, LOS rate: -0.141581 deg/s, cmd heading: 25.795816 deg, new cmd heading: 25.636049 deg. 2jmT»uHeadingCmd: 0.447433 target range: 161.300003 and range: 161.30 m. ju>jqjqjqiqhyhyhhfffrfbf'@ɛi)EE*E"EJ]J]JYJYJ] :J]:JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010788*F?2F:FBFO5JF  I ZH RH H 6>I C I "II (BI % =&I .I 6I F<:I 4 FG @;G ?G >G B O >w,EmA^{>Y^)>^_9^>y^H@?jK޿?`}? ̿ [?2? ?ɨ^{>^;^Cy FBw!II]I](*٢ @=9؇Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261216y G٣NGyRE< > Nusing accuracyPremultiplier from configc59:X?c5Yޛ i^;A(?@OE:p;$c5sB @vEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 161.30 m.Bj]Jje ProNav: ac range: 161.300003 m, nav range: 113.784103 m, bearing: 2.866297 deg, approach rate: -0.442944 m/s, LOS rate: -0.139775 deg/s, cmd heading: 25.636050 deg, new cmd heading: 25.438304 deg. 2jڿHeadingCmd: 0.443982 target range: 161.300003 and range: 161.30 m. jQ>jjjihhhhfffrfbf(@ɛAB, PI ðɚiI`=IQ>is)*F?2F:FBF3JFGmzQ<GIBQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ /?Յ @? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511004 $?I !w,0fAzK,K,K,K.K.:~|>Y:6>:qe9:>y:H`?aW޿Q`?`?"̿ c???ɨ:~|>:Iۉ;:CynABnq!ImMb@Mb@Mb@iii i)iYm~jt?{Gzt?Zd;Oym?mף;mj G٣yq: > Nusing accuracyPremultiplier from configc59HX?c5Y i;A"?:>@OE;;\c5 @ZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 113.612419 m, bearing: 2.825576 deg, approach rate: -0.482377 m/s, LOS rate: -0.114586 deg/s, cmd heading: 25.438304 deg, new cmd heading: 25.315956 deg. 2jGHeadingCmd: 0.441847 target range: 161.300003 and range: 161.30 m. j9>jjjihhhhLBf ffrf!bf- )@ɛEBĒ I ~ɚiI=I9>ir)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764159*F?2F:FBFP0JFJuJuJqJqJu|:Ju :JqJqGE b<G! B) OE >'w,=A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804nz>Yn>n2i9n7>ynH ?_3޿`!??8̿?_=??ɨnz>nݳ;nCy~=B~l!II $I <3٢Ǵ R=9%+Q %>!! -G٣)y-ǻ -> 5Nusing accuracyPremultiplier from config1=c595WX?Ec5Y5  i5?E@5PE5;5k;5c5I Ud@UsEZjFNOT Ignoring new targets: 161.30 m.BjpJjp ProNav: ac range: 161.300003 m, nav range: 113.431000 m, bearing: 2.782707 deg, approach rate: -0.464404 m/s, LOS rate: -0.109912 deg/s, cmd heading: 25.315956 deg, new cmd heading: 25.187144 deg. 2jݖHeadingCmd: 0.439599 target range: 161.300003 and range: 161.30 m. j>jjjihhhhfffrfbfO*@ɛHBnv ;I 9ɚiI= $?II>i)H=4>I9 I9I9I9&I9.I96I= <:I= F*F5?2F1:F1BF5_0JF1G<G pAG pAGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270184.w,A6Xw>Y6ң>6?m96^ >y6H?| ޿o¿ ?@l?@O̿:d??@y?ɨ6Xw>6bv;4yfDBft!IIr)IrW3٢v= vM=9z"Q z>x| ~G٣~NGyڻ >  Nusing accuracyPremultiplier from config c59 fX?c5Y  i @ PE u ;  ; >c5! %@!ZjQ]FNOT Ignoring new targets: 161.30 m.Bj]Jjem ProNav: ac range: 161.300003 m, nav range: 113.244972 m, bearing: 2.738939 deg, approach rate: -0.467097 m/s, LOS rate: -0.110079 deg/s, cmd heading: 25.187144 deg, new cmd heading: 25.055623 deg. 2ju}HeadingCmd: 0.437303 target range: 161.300003 and range: 161.30 m. j}2>jyjyjyiyhyhhhfffrfbfr+@ɛKBYx I jɚiI=I2>i)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519055 IhE =zK}BoHK}h9KyK}K} #*1<ISVb*F?2F:FBF]0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770766G N<G B O >sQ5w,UNִA^Gq>Y^>^q9^>y^H? ݿ@eÿ`p??|˿`-??g?ɨ^Gq>^di;\yjTBj!IIr4IrV3٢~= ~?=9"Q > G٣ y ;S  > Nusing accuracyPremultiplier from configc59dwX?c5Y iA=A!%>%@ PEv::"c5-tB -@-pEZjQ]FNOT Ignoring new targets: 161.30 m.Bj]Jj]m ProNav: ac range: 161.300003 m, nav range: 113.045647 m, bearing: 2.692599 deg, approach rate: -0.468849 m/s, LOS rate: -0.109191 deg/s, cmd heading: 25.055623 deg, new cmd heading: 24.916360 deg. 2jmߕHeadingCmd: 0.434873 target range: 161.300003 and range: 161.30 m. j>jjjihhhhJJJ1JJ :J:J3Jfffrfbf@+@ɛOB #I yɚiI|`=I>i!F)E=*Fe?2Fi:FqBFu0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:18.3508 TRx dataTimestamp_ set to:1736376019.536778checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963 $?IjHbH<H1>I I"II#BI& =&I.I5D6I<:I FBIUȞCJIUȞCRIQZIU% =bIU$ =jIUȐ5G<G B O >:w;w,<A-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277197uk>Yu>u+u9u=yuH`?[ݿ`HDĿ?k-?@D˿Z? ?'?ɨuk>u;uCy`B!IMb@Mb@Mb@ )Y?x&A`"y?7YA @)@IAyfAIIF3٢== $=9Q >YY ]G٣Yye7 e> uNusing accuracyPremultiplier from configq}c59uX?}c5Yu iu=A}?}:}ũ>@u PEu;uI;us'c5uB I@nEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 112.797676 m, bearing: 2.655751 deg, approach rate: -0.480117 m/s, LOS rate: -0.071501 deg/s, cmd heading: 24.916361 deg, new cmd heading: 24.805575 deg. 2jHDHeadingCmd: 0.432939 target range: 161.300003 and range: 161.30 m. j->jjjihhhhBfff rf bf `,@ɛ=SB=m 9=I9 =ɚAiAIE"=IM->iMi)QEYEY*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:40:18.3508 LVL= 23680, 32753, 20898, 32755, AGC= 63, IDX= 37,-0.14, 0.584,-1.050, 0.473,-0.164, PHS= 0.836,-0.839, 0.634, RAW= 143.7, -8.0, CAL= 150.0, -17.1, ROT= 360.0, 17.1  Ygot valid direction response: 22:40:18.3508 LVL= 23680, 32753, 20898, 32755, AGC= 63, IDX= 37,-0.14, 0.584,-1.050, 0.473,-0.164, PHS= 0.836,-0.839, 0.634, RAW= 143.7, -8.0, CAL= 150.0, -17.1, ROT= 360.0, 17.1  8DAT read: $Error in header  *Received a bad headerM X#Rx 1: Read direction message, but no range.U ^direction in FSK: [0.033722,-0.762361,0.646272]9YC?uCe迀hC?\ Q)I?iV?VM"? @5 6'@)ΘI@iΘ>/T'?ƒgAn?3o?)i>ImN>i^gÿu3 T****** received valid address query ****** R****** received valid ping request ****** I  received new query, but waiting for acoustic response period to elapse*F= ?2FA :FA BFE ]0JFA zK l,MK +9K K K lomh_UNHC>;63.+)#  GE<GM?GM>G!B)Oe ?fDw,SuAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseV\>YV:>V{9V9=yVH"?wܿ@ſ ^7?Gp?[ʿ;"?`u??ɨV\>Vuۉ;VCy^qB^!Iib=Ib<IfIfM3٢rb= r:=9riQ r>tt vG٣vNGyvj z> ~Nusing accuracyPremultiplier from config|c59~ X?c5Y~ i~+>A  > @~PE~5k;~;~&+c5) 5K@kEZj1=FNOT Ignoring new targets: 161.30 m.Bj=2Jj=2u ProNav: ac range: 161.300003 m, nav range: 112.592270 m, bearing: 2.626913 deg, approach rate: -0.454371 m/s, LOS rate: -0.063908 deg/s, cmd heading: 24.805575 deg, new cmd heading: 24.718904 deg. 2juo/}HeadingCmd: 0.431426 target range: 161.300003 and range: 161.30 m. j}>jyjyjyiyhhhhfffrfbfx-@ɛWBJ I ɚ!i!I-=I->i5B)1*F?2F:FBFw0JFGE<GBOa>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse $?I H 0>I C I "II -BI ' =&I .I 6I <:I  FJw,RC,A:T>Y:^Y>:ٚ}9:p=y:H I8?ܿ`wƿ?`? ɿ@`? ‡? ?ɨ:T>:?;:CyZBZ!IIf Ifb3٢n=> nK=9nQ r>pp rG٣pyvA v> zNusing accuracyPremultiplier from configx~c59zNX?~c5YzN iz>A|l>@zPEz ;z& ;z.c5  @ Zj9EFNOT Ignoring new targets: 161.30 m.BjEJjEU ProNav: ac range: 161.300003 m, nav range: 112.396805 m, bearing: 2.600232 deg, approach rate: -0.526005 m/s, LOS rate: -0.071926 deg/s, cmd heading: 24.718904 deg, new cmd heading: 24.638720 deg. 2jUrE]HeadingCmd: 0.430027 target range: 161.300003 and range: 161.30 m. j]y,>jajajaiahahihhfffrfbf.@ɛYB0   =̾I  ]ɚiIP;=Iy,>i)EWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*F-?2F):F)BF-w2JF)JJJ0JJ:J:Jـ3JJ6;aJ7;aJC;aJC;aGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsevQw,l$FA 0I0Z_L>YZj>Z9Z>=yZHM?ۿ ǿ2T?k?@Mxɿ?κ?p?ɨZ_L>ZD;ZCyrBr!IMb@Mb@Mb@ )YGz?/$ƿ:vy>&1T A p@)@IAyfAI I2٢Z.> <=9Q > G٣y5 > Nusing accuracyPremultiplier from configc59X?c5YՋ i>A?:¨=@PE;0;t2c5vB .@hEZj!-FNOT Ignoring new targets: 161.30 m.Bj--Jj--E ProNav: ac range: 161.300003 m, nav range: 112.179596 m, bearing: 2.596124 deg, approach rate: -0.500560 m/s, LOS rate: -0.009486 deg/s, cmd heading: 24.638721 deg, new cmd heading: 24.626371 deg. 2jEUйMHeadingCmd: 0.429811 target range: 161.300003 and range: 161.30 m. jM9>jIjIzKUJMKU9KQKUKU) #;DA=;952/,('&# #BKY:K]qAjIiahahahihmBfififqrfqbfu`/@ɛ]BHU 隥I ɚiIt=I9>i)*Fm?2Fq:FqBFuO5JFqGEck<GB O%M>=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsefWw,_A @2F>Y2>2d92u=y2H@Sa?%ۿnǿ?`6?~.ɿ@U?`>g?@?ɨ2F>2';2CyVփBV("I)X XIbIb#3٢j;> j[=9j:Q j>ll nG٣nNGyr r> zNusing accuracyPremultiplier from configx~c59zUX?c5Yzv iz5?Ab=@zPEz;z;z5c5  @Zj1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 161.30 m.Bj Jj  ProNav: ac range: 161.300003 m, nav range: 111.991959 m, bearing: 2.593236 deg, approach rate: -0.503343 m/s, LOS rate: -0.007759 deg/s, cmd heading: 24.626372 deg, new cmd heading: 24.617694 deg. 2jfHeadingCmd: 0.429660 target range: 161.300003 and range: 161.30 m. j_>jjjihhhhfffrf bf L%0@ɛ`Bp gI aɚiI=I_>i M) ]$?IaZH1RH5AAH=.>I9 I="II=PBI=& =&I9.I96I=<:I=v F*F?2F:FBF4JFGM O <m Will construct direction to contact in vehicle frame from tetrahedron phase data.i im A} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse)y } CG  NGA q B jY y BO >]w,yAJFJFJDJDJF :JF:JDJDJF;JF;JFA;JFA;ZE?>YZ,>Z ݀9Z=yZH vt?@qڿ ǿ??ȿ w?2??ɨZE?>ZA;ZCyvBvX"IMb@Mb@Mb@ )YS?w/Ŀ&t`A @)@I&AyAII٢-,> -6=95Q 5>19 =G٣9y=_p => MNusing accuracyPremultiplier from configAUc59EX?]c5YE iE?A]>]:]=]@EPEEV;ET;E9c5mwB m@meEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 111.772156 m, bearing: 2.589365 deg, approach rate: -0.476235 m/s, LOS rate: -0.008404 deg/s, cmd heading: 24.617694 deg, new cmd heading: 24.606057 deg. 2jHeadingCmd: 0.429457 target range: 161.300003 and range: 161.30 m. j>jjjihh!h!h%Bf!f)f)rfIbfMY0@ɛcBa 隥KI ɚiI=I>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse E$?IAE-=zKMKh9KKK1B0 }wqmgaZSMIHE@<:530,,,)(((%# !RK ?JK ?*F ?2F :F BF (2JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseG-]UG BO=>g&fw,˙A6:>Y6F>6v-96@=y6HT?vڿ yǿC?@? ȿ? ? ?ɨ6:>6';6CyB/BB"IIJ IJV2٢Ra> V6=9VҲQ V>XX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config\fc59^_X?fc5Y^ jtIi^$@Ahj\=j@^"PE^'<;^<;^=c5p r|@rbEZj  FNOT Ignoring new targets: 161.30 m.Bj1 Jj1 % ProNav: ac range: 161.300003 m, nav range: 111.551315 m, bearing: 2.586051 deg, approach rate: -0.505940 m/s, LOS rate: -0.007606 deg/s, cmd heading: 24.606057 deg, new cmd heading: 24.596097 deg. 2j%-HeadingCmd: 0.429283 target range: 161.300003 and range: 161.30 m. j->j)j)j)i)h1h1h1h1f9f9f9rfAbfE1@ɛufBuQ quLٽIq }ɚyiI=I>i") EO=*Fm?2Fi:FiBFmP0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG]>u AIIGIBQOuX>-%EpFailed to parse device response: 66.79,10.07448,9035.81 Flw,}A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*T****** received valid address query ******.R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapseyefBe"IimA @)K@IXAyz@II 2٢M> =9Q > G٣NGy > Nusing accuracyPremultiplier from configc59 Y?c5Y{ i@A?:">@&PEN;;3Bc5 @Zj FNOT Ignoring new targets: 161.30 m.BjJj% ProNav: ac range: 161.300003 m, nav range: 111.286530 m, bearing: 2.570958 deg, approach rate: -0.496608 m/s, LOS rate: -0.028376 deg/s, cmd heading: 24.596097 deg, new cmd heading: 24.550707 deg. 2j-˛-HeadingCmd: 0.428491 target range: 161.300003 and range: 161.30 m. j5!c>j1j1j1i1h1h9h9h=BfAfAfArfAbfE1@ɛuiBu }L=}ݻIy }IɚyiyI}=I!c>i )Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse M $?IQ Ee x=*F ?2F :F BF ?1JF zKM 9NKM s9KI KM KM      BKY :K] rAGZWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGBO?*uw,յAVt1>YVܱ>V恾9V=yVH_?bڿ ;ȿ`E?`_ ?@ȿ`i?x??ɨVt1>VTh;VCyrBr:#III٢%U> %G=9-aQ ->)1 5G٣1y袼 > Nusing accuracyPremultiplier from configc598Y?c5Y iAA>@)PE<<Ec5xB /@_EZjaeFNOT Ignoring new targets: 161.30 m.BjmJj깝 ProNav: ac range: 161.300003 m, nav range: 111.075676 m, bearing: 2.559795 deg, approach rate: -0.483445 m/s, LOS rate: -0.025641 deg/s, cmd heading: 24.550707 deg, new cmd heading: 24.517157 deg. 2jnjHeadingCmd: 0.427905 target range: 161.300003 and range: 161.30 m. ja>jjjihhhhfffrfbf2@ɛUlBUr޽ QUP>IQ ]ȮɚYiYI]=Iea>ie)E=*F2F:FBF05JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse IjH bH <G K7G H >I C I $II hBI + =&I HD.I 4D6I D<:I  FB O >({w,BA>.>Y>o>>$9>=y>H@?lٿ !ȿ`??@Dɿ_?b?`?ɨ>.>>U; ZS=9Z!Q Z>\\ ^G٣bNGybԻ b> fNusing accuracyPremultiplier from configdjc59f+Y?jc5Yf if-BAlnf>n@f,PEf;f;f-Ic5p r @tZjFNOT Ignoring new targets: 161.30 m.Bj%Jj%5 ProNav: ac range: 161.300003 m, nav range: 110.887733 m, bearing: 2.550028 deg, approach rate: -0.521715 m/s, LOS rate: -0.027160 deg/s, cmd heading: 24.517157 deg, new cmd heading: 24.487805 deg. 2j5=HeadingCmd: 0.427393 target range: 161.300003 and range: 161.30 m. j=;>j9j9j9iAhAhAhAhIfIfIfIrfIbfU Z2@ɛ}nB~̽ 隅tq>I  ZɚiI=I;>i2)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJUJUJU1JQJU|:JU 9JU3JQJU;aeJU;amJUO>;amJUO>;am*F?2F:FBF34JFGD&GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse $?I w,Ay%B#I)! !Mb@Mb@Mb@ )Y#~j?Q~jthy?uDA @)@IAyQ@I- I-̍2٢=> =4=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQec59U>Y?ec5YUG iUCAm?m:m>m@U0PEU(j;UJ;U%Mc5q u1@}\EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.BjϊJjϊzKLKKKK   ProNav: ac range: 161.300003 m, nav range: 110.661469 m, bearing: 2.522483 deg, approach rate: -0.497429 m/s, LOS rate: -0.060678 deg/s, cmd heading: 24.487804 deg, new cmd heading: 24.405002 deg. 2j&HeadingCmd: 0.425948 target range: 161.300003 and range: 161.30 m. j>jjjihhhhBf f f rfbf@2@ɛ=qB= 9=->IA EɚAiAIE=IM>iM$()Q*F2F:FBF^0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG圼G B O >;w,ƅ"A6 ->Y6s>6?96Y=y6H3?ٿǿ@ԏ?" ?Mɿ ??t?ɨ6 ->6Ĉ;6CyB_BB $IIJIJ٢n> nd=9r;Q r>pp vG٣tyv} v> zNusing accuracyPremultiplier from configx~c59zMY?c5Yz izCAc>@z3PEz;z;zIPc5  @%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseZjIMFNOT Ignoring new targets: 161.30 m.BjUJjUe ProNav: ac range: 161.300003 m, nav range: 110.482185 m, bearing: 2.500697 deg, approach rate: -0.497852 m/s, LOS rate: -0.060596 deg/s, cmd heading: 24.405002 deg, new cmd heading: 24.339537 deg. 2jeX&mHeadingCmd: 0.424805 target range: 161.300003 and range: 161.30 m. jm >jijijiiihqhqhqhqfyfyfyrfybf +3@ɛsB睊 b]=隭>I EɚiI=I >iSZ) $?I!*Fa2Fa:FaBFe`0JFiH>I I$IIBI, =&I.I6I<:IY FG~GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseOe >ew, `Y6$W>6396=y6H`?ڿ`gǿ?^?/rʿ@|?@??ɨ6.>6#;6CyRBRD$IMb@Mb@Mb@ )YZd;O?~jth?I +?y~ ?D;94<A -@)@IAy@II<٢O>  9=9 :Q  > G٣NGy'2; > -Nusing accuracyPremultiplier from config!-c59%_Y?5c5Y% i%DA= ?=:=>=@%7PE%^7;%5;%(Tc5EwB E@MYEZjFNOT Ignoring new targets: 161.30 m.BjӺJjӺ ProNav: ac range: 161.300003 m, nav range: 110.265358 m, bearing: 2.459463 deg, approach rate: -0.486027 m/s, LOS rate: -0.092609 deg/s, cmd heading: 24.339538 deg, new cmd heading: 24.215593 deg. 2j:~HeadingCmd: 0.422642 target range: 161.300003 and range: 161.30 m. jd>jjjihhhhńBfffrfbf}3@ɛvB*  ?I ɚiId=I d>i zo)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse I*F?2F:FBFJFzK ZLK +9K K K Gm [SGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseNw,JCVAB1>YBy>BHh9BX>yBH@/?`-1ڿ@ƿ ?e?ʿ0?=?`}?ɨB1>B;BCyJŅBJ$IIVIV#٢Zۙ> bb=9f;Q j>pp rG٣pyv; v> Nusing accuracyPremultiplier from configxc59znY?c5Yz izEA >@z:PEzjjjihhhhfffrfbf64@ɛ=xBEc AE"&?IA EYJuJuJu0JqJu:Ju:Juـ3Jqa}@a}@a}@a}@ɚIiI-=Ix>iZ)*FE?2FA:FABFE0JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse $?IG- {ZHY RHY G! B1 OM >H} >I} C I} [%II} pBIy &Iy .I} 3D6I} v<:I} < FBIEʛCJIEʜCRIEʔCZIE+ =bIE* =jIE96xw,XpA6n3>Y6z>6ˤ96n>y6H`]?Qڿšƿ?`?3˿???ɨ6n3>6;6CyBBB$IIJIJm?٢RIH> RL=9V;;Q V>TT VG٣TyZ{; Z> bNusing accuracyPremultiplier from config\bc59^~Y?fc5Y^~ i^FAdf>f@^=PE^;^;^Zc5nxB r@rVEZj FNOT Ignoring new targets: 161.30 m.Bj Jj ﺝ% ProNav: ac range: 161.300003 m, nav range: 109.892799 m, bearing: 2.387523 deg, approach rate: -0.538799 m/s, LOS rate: -0.104698 deg/s, cmd heading: 24.112475 deg, new cmd heading: 23.999405 deg. 2j%-HeadingCmd: 0.418869 target range: 161.300003 and range: 161.30 m. j-u>j)j)j)i)h)h1h1h1f9f9f9rf9bfE@;_4@ɛm{Bm$Qz qu!9?Iq }DɚyiyI}x=Iu>i *)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsePExceeded connect timeout, disconnecting.E8=JyJy*F?2F:FBF0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse I G] KG9 BI O} >rtw,KARl6>YR>R\0~9R>yRH@?@'ڿSƿm?@?U˿`r??i?ɨRl6>R/w;RCy^B^$IMb@Mb@Mb@ )Y㥛 ?T㥛 ?~jt?y?=<@ @)@I Ay@II<٢a> 7=9P;Q > G٣yq; > Nusing accuracyPremultiplier from configc59Y?c5Y_{ iGAs?:^?@APE;N;^c5yB @TE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 161.30 m.Bj5iJj5iE ProNav: ac range: 161.300003 m, nav range: 109.668327 m, bearing: 2.328867 deg, approach rate: -0.502204 m/s, LOS rate: -0.131498 deg/s, cmd heading: 23.999405 deg, new cmd heading: 23.823076 deg. 2jM~MHeadingCmd: 0.415791 target range: 161.300003 and range: 161.30 m. jU>jQjQjQiQhQhQhYh]BfYfYfarfabfe4@zKBHKh9KKKRK>JK?ɛ-~B5^} 15P?I1 52\ɚ1i9I===I=>ie )iEEJc=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFR5JFJe Je Je 1Ja Je |:Je :Je 3Ja G G B O >Lw,A2Q9>Y2>2p|92E>y2H?ƨڿ/ƿ???od˿ 2;2Cy:KB:.%IIFIF?1٢Nr> R`=9R8;Q R>TT VG٣VNGyV< Z> ^Nusing accuracyPremultiplier from configrWill construct direction to contact in vehicle frame from tetrahedron phase data.rj)j)j1i1hQhQhYhYfYfYfYrfabfe@85@ɛB5ZR =u7==e?I9 =/ɚAiAIEm=IU>iU7R )aH>I I%IIBI. =&I.I6I<:I FEH\=Will construct direction to contact in vehicle frame from tetrahedron phase data.jݰw,öA:E?>Y:G>:jew9:6i>y:H@?Xڿ<ſ?`?i˿?@@D??ɨ:E?>:D+;:CyFxBFe%I-fonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 78.62, 62.87, 85.63  f@f f@f f@j  j@=Will construct direction to contact in vehicle frame from tetrahedron phase data.===4== =9: G٣y 7< M> UbBottom track data is 0.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ]c59UͶY?ec5YUt iU5JAe+:ae:e?e@UIPEU%);U ?Uec5 @QEZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 109.211418 m, bearing: 2.206728 deg, approach rate: -0.515097 m/s, LOS rate: -0.139092 deg/s, cmd heading: 23.677510 deg, new cmd heading: 23.455865 deg. 2j꾻HeadingCmd: 0.409382 target range: 161.300003 and range: 161.30 m. j>jjjihh!hAhIfIfIfIrfIbfU5@ɛBX 隝z?I ɚiI>ֽ=I>iA )*E="E=EK-7=*Fu?2Fq:FqBFuP5JFqzKBoHK9KKKBK:KGM >GIBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received  *response not received ,DAT read: user:2776>  BDAT read: Tx time:22:40:26.6599  $Ping request sent. Y2N>2]t92>y2H?`ۿ@Ŀ@#?i?(Y˿A?`3Q? ?ɨ2qA>2;2CJBJBJB0J@JB:JB:JBـ3J@yJBJ%IIVIV٢5> 5Y=95v99 =G٣=NGyE; E> MbBottom track data is 0.9 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIUc59MY?]c5YM r iM.KA] :Y]m:]?e@MMPEM6;Mj?Mgc5i m@iZjFNOT Ignoring new targets: 161.30 m.BjJj ProNav: ac range: 161.300003 m, nav range: 109.026474 m, bearing: 2.156424 deg, approach rate: -0.512824 m/s, LOS rate: -0.139723 deg/s, cmd heading: 23.455865 deg, new cmd heading: 23.304697 deg. 2jǿHeadingCmd: 0.406744 target range: 161.300003 and range: 161.30 m. j@>jjjihhhhfffrfbf 6@ɛB ?I KɚiI=I @>i Q ) EE*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:40:26.6591 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248292 $?IhjH!bH%<H%>I%C*F=?2F9:F9BF=5JF9 I%&II%_BI!&I!.I!6I%4<:I% FG 'HG% rAG% rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500004B OM >,w,BAB &C>YBh>Bp9B1U>yBH?%ۿo`Ŀ9??`&˿@?H?`?ɨB &C>B;BCyjdžBn%III ٢-^= U;=9e y G٣yt; > bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configc59Y?c5Yn iYLA9@:?@QPE(;?ic5{B :@LEZj%FNOT Ignoring new targets: 161.30 m.Bj%Jj%U ProNav: ac range: 161.300003 m, nav range: 108.800850 m, bearing: 2.094558 deg, approach rate: -0.496082 m/s, LOS rate: -0.136308 deg/s, cmd heading: 23.304698 deg, new cmd heading: 23.118715 deg. 2j]]HeadingCmd: 0.403498 target range: 161.300003 and range: 161.30 m. j]@>jajajaiahahahihifqfqfqrfqbfui6@ɛBڂ :?I -"ɚ)i)I-$=I5@>i59 )9*F?2F:FBFP0JF"G=G>G;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752246 }$?IGBO>w,!A64F>Y6>6r|l96>y6H .?NDۿÿ?`%?@ʿ@wL? ?g?ɨ64F>6;6Cy>BB%IzK^BoJK^9K\K^K^RK~?JK~? ] ] ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]RQ?S㥻? rh?y]"?]/=]C<]@ ]@)]@I]AYy]@IuIum٢4> V=9* G٣yJ< > Nusing accuracyPremultiplier from configc59Y?c5Yik iaMAT:$?:?@TPE;;0mc5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.BjEJjE ProNav: ac range: 161.300003 m, nav range: 108.605934 m, bearing: 2.031823 deg, approach rate: -0.535692 m/s, LOS rate: -0.172725 deg/s, cmd heading: 23.118715 deg, new cmd heading: 22.930174 deg. 2jHeadingCmd: 0.400207 target range: 161.300003 and range: 161.30 m. j>jjjih h h h "Bfffrfbf k6@ɛEBE AE5?IA MtɚIiIIMO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005571I>i ) *F2F:FBF_0JFJJJJJl:J#:JJG2<G B O > i Ii u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256838@w,+AH>>I< I>&II>BI>0 =&I<.I<6I><:I> FNxI>YN>Ng9NG>yNH]?ChۿtÿG??Syʿ`\?˿??ɨNxI>NQ;NCynBn&IIvIv٢ > R=98 G٣y%&< %> -Nusing accuracyPremultiplier from config)5c59-Y?5c5Y-g i-tNA15V?=@-XPE- ;- ;-pc5A MI@MIEZjiuFNOT Ignoring new targets: 161.30 m.Bj}DJj}D ProNav: ac range: 161.300003 m, nav range: 108.400238 m, bearing: 1.964873 deg, approach rate: -0.527988 m/s, LOS rate: -0.172176 deg/s, cmd heading: 22.930174 deg, new cmd heading: 22.728944 deg. 2jS컝HeadingCmd: 0.396695 target range: 161.300003 and range: 161.30 m. j>jjjihhhhfffrfbf,N7@ɛUB]ż Y]?IY ]gɚYiaIe =Ie>iml)*F!2F):F)BF-o0JF)G{<G  ?G (?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509877GBOI>&w,IDA6H>Y6>u>6fa96>y6H?@Qۿ¿ jJ?Ы?ɿ`?h??ɨ6H>6%ֈ;6CyVBV-&I)X X\^A IWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760150]Mb@Mb@Mb@YYY Y)YY]{Gz?MbX?y&1|?y]#?]=]`;]@ ]@)]d@I]QAYy]f@Iu Iu2٢ = C=9{ G٣NGyi > Nusing accuracyPremultiplier from configc59R Z?c5Y"d iOA%?:?@\PE^7;0U;?tc5 @ZjFNOT Ignoring new targets: 161.30 m.BjJCJjJC ProNav: ac range: 161.300003 m, nav range: 108.174644 m, bearing: 1.893504 deg, approach rate: -0.538566 m/s, LOS rate: -0.170735 deg/s, cmd heading: 22.728943 deg, new cmd heading: 22.514393 deg. 2jY껝HeadingCmd: 0.392950 target range: 161.300003 and range: 161.30 m. j 0>j j j i h h hhBfffrfbf 7@ɛBp ס?I 7޽ɚiI<=I0>iI)*F?2F:FBF0JFzK5BHK5ͼ9K1K5K5BKEpA:KEnAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014859G<G B O >Sw,^AH>Y:V>;Cy-3B-L&II=I=̍٢M= MN=9U_QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configamc59e Z?mc5Ye` JuJuJqJqJu:JuZ:JqJqiePAv?@e`PEe;eՔ;ewc5|B @FEZjFNOT Ignoring new targets: 161.30 m.BjCJjC ProNav: ac range: 161.300003 m, nav range: 107.960167 m, bearing: 1.825395 deg, approach rate: -0.537513 m/s, LOS rate: -0.171031 deg/s, cmd heading: 22.514392 deg, new cmd heading: 22.309659 deg. 2j껝HeadingCmd: 0.389377 target range: 161.300003 and range: 161.30 m. jl\>jjjihhhhfffrfbf8@ɛ%B%x}_ !%'?I! -Q0ܽɚ)i)I-B=I5l\>i5!)9 $?I*F?2F:FBFT5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263668G<GBZHRH?AOA>HI I<'IIBI1 =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515203B{w,xAFhF>YFQ>FS9F~t=yFH? ۿר)Fb;FCyjIBjf&IIEIE<٢W= 7=9t G٣NGyG > Nusing accuracyPremultiplier from configc59C2Z?c5Y\ iQA?@ePE;;{c5 %;@%CEZjiFNOT Ignoring new targets: 161.30 m.Bj^BJj^B ProNav: ac range: 161.300003 m, nav range: 107.715469 m, bearing: 1.747681 deg, approach rate: -0.533841 m/s, LOS rate: -0.169929 deg/s, cmd heading: 22.309659 deg, new cmd heading: 22.075988 deg. 2j=黝HeadingCmd: 0.385299 target range: 161.300003 and range: 161.30 m. jE>jjjihhhhfffrfbf*8@ɛuB}|ߤ y}|?Iy }ٽɚiIr=IE>i)*F?2F:FBF_5JF $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767286G <G qAG G B O >bw,dA:gC>Y:>:BM9:=y:H?`1ڿ^1?,?xǿ@?6?#?ɨ:gC>:;:CyF\BF~&IiJ=IJ4< N=N=zKn:IKn9KlKnKn5Mb@Mb@Mb@111 1)1Y5MbX9?~jt?{Gzty5!?5=5ף5@ 5/@)5M@I5@1y5@IIII٢U= ]b=9]+aa eG٣ayma m> uNusing accuracyPremultiplier from configq}c59u[BZ?}c5YuY iuSRA}"?}:?@uhPEu-;u;u~c5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 161.30 m.Bj;Jj; ProNav: ac range: 161.300003 m, nav range: 107.521164 m, bearing: 1.690611 deg, approach rate: -0.557212 m/s, LOS rate: -0.163955 deg/s, cmd heading: 22.075988 deg, new cmd heading: 21.904470 deg. 2j ờUHeadingCmd: 0.382305 target range: 161.300003 and range: 161.30 m. j]>jYjYjYiYhYhYhahe܄Bfafafirfibfm08@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019461ɛ%B% )隍?I ׽ɚiIa=I>ii)*Fe?2Fa:FiBFm4JFiG 3;= I M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:40:29.2601 ] TRx dataTimestamp_ set to:1736376030.625991m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274960Gq B O >H9 I9  I= n'II= BI= 2 =&I9 .I9 6I= ů<:I= FBI=̙CJI=̙CRI=̓CZI=0 =bI=0 =jI=̕5w,@A2?>Y2(>2ٮF92 =y2H?@уڿ`?J?!ǿ ?M?`1?ɨ2?>2;2CyBcBB&IIJIJ(٢f+= fT=9fyhh jG٣hynD$ z> ~Nusing accuracyPremultiplier from config|c59~SZ?c5Y~NV i~SA? @~lPE~ ;~2:~.c5}B @@EZjFNOT Ignoring new targets: 161.30 m.BjZ.JjZ. ProNav: ac range: 161.300003 m, nav range: 107.308418 m, bearing: 1.628450 deg, approach rate: -0.520660 m/s, LOS rate: -0.152432 deg/s, cmd heading: 21.904470 deg, new cmd heading: 21.717616 deg. 2j9ѻHeadingCmd: 0.379044 target range: 161.300003 and range: 161.30 m. j >j!j!j!i!h!h!h)h)fqfqfyrfybf}@&Z9@ɛB" ?I JսɚiI'=I >i#%)!*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523948J J J J J J C:J J J '9ww,%ƷA 2$?I0~Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:40:29.2602 LVL= 26656, 30545, 18162, 22083, AGC= 67, IDX= 19, 0.29,-2.092, 2.514,-2.297,-2.882, PHS= 0.878,-0.840, 0.582, RAW= 140.7, -7.8, CAL= 147.0, -17.5, ROT= 3.0, 17.5 =Ygot valid direction response: 22:40:29.2602 LVL= 26656, 30545, 18162, 22083, AGC= 67, IDX= 19, 0.29,-2.092, 2.514,-2.297,-2.882, PHS= 0.878,-0.840, 0.582, RAW= 140.7, -7.8, CAL= 147.0, -17.5, ROT= 3.0, 17.5 EPDAT read: Bearing 3.0, 17.5 (Local) E~Local bearing/azimuth received: Bearing 3.0, 17.5 (Local) UDAT read: Range 10 to 50 : 147.0 m (Round-trip 196.0 ms) speed 0.4 m/s ],DAT read: user:2777> ]BDAT read: Tx time:22:40:30.3600 ]$Ping request sent.e||~>?98p?S`y)~g7>I~8 >i~5ÿ~A||:publishing transmit ping timeYFpublishing direction and range info|9~.S?@ @F-x?y|||| |)|I|i||||| |)|I|i|||~>?98p?S`y)|I|i||||y5vB5&IMb@Mb@Mb@ )YV-?L7A`?:vy?+=T@ @)@I@y@IMIMb٢Uo= ]=9]Q ]>Y G٣NGy > Nusing accuracyPremultiplier from configc59kZ?c5YR iTA0?:>@qPE;;c5 h@k~e?k~Ԃ$ k| k~-ȷA:k~CBk~CZk~)h@"~yi@%tZt9Y@~.S?@ @F-x?Jk~5ÿRk~A*~CBA@ XaA\[ U@~[z?_t迺djjjihhhhBfffrf`b@bf ?ɛ-B-ء )'5TFailed to parse incomplete device message.-H?IQ e?(ҽɚiiiIm~=Iܿ>iW)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:30.3592 *F ?2F :F BF 4JF G <BK- qA:K- rAG B O >t^w,㷿A 26>Y2E[>2992=y2H??`"ٿ瀿v?)?øſ q?vT?I?ɨ26>2̉;2CyZB^&IIfIf³٢]N= ]f=9e=Q e>ai mG٣iymͼ m> Nusing accuracyPremultiplier from configc59|Z?c5YP iTAL>@uPE: $?I*:ډc5 @=EZj)mFNOT Ignoring new targets: 147.00 m.BjueJjueWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 147.000000 m, nav range: 153.028671 m, bearing: 319.767626 deg, approach rate: -0.265154 m/s, LOS rate: -0.226256 deg/s, cmd heading: 21.470597 deg, new cmd heading: 21.249045 deg. 2jFHeadingCmd: 0.370866 target range: 147.000000 and range: 147.00 m. j>jjjihhhhfffrfbf{Z?ɛB< 隕@?I v>нɚiI=jHbHI%>i%))He>Ia Ie'IIe>BIa&Ia.Ia6Ie<:Ie F*F?2F:FBFY0JFG=GBO>)  u NG |uA {Y |uAy .B= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A2>Y8p>c496A=yH ?˜ٿ@G᾿ D?$?Ŀn?Q?U?ɨ2>⢉;騍CyޭBޭ&IJJJJJ:JD:JJJ?%<J?%<J*;J*;uMb@Mb@Mb@qqq q)qYu$C?~jtx~jtyu?uĻuļuj@ ud@)u@IuK@qyuz@II٢= 8=9@ G٣!yE E> UNusing accuracyPremultiplier from configIUc59MwZ?]c5YMVM iM2UAe=?e:ex>e@MyPEM ^;M\;Mލc5uB u@u8EZjFNOT Ignoring new targets: 147.00 m.BjgJjg ProNav: ac range: 147.000000 m, nav range: 152.902328 m, bearing: 319.676335 deg, approach rate: -0.279900 m/s, LOS rate: -0.202412 deg/s, cmd heading: 21.249045 deg, new cmd heading: 20.974949 deg. 2j HeadingCmd: 0.366082 target range: 147.000000 and range: 147.00 m. jo>jjjihhhhCBfffrfbfb?ɛB@ r?I Pͽɚ i I X=Io>i;) $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG =G B O >zKM RIKM +9KI KM KM rw,EA2C.>Y2*>2Q.92,`=y2H`X(?Jٿ*ཿ?6?|ĿU?@\?]?ɨ2C.>2P;2Cy>B>&IDF@AIFIFk٢N%= Nq=9R/b@Z|PEZ:ZH:Zc5d j2@hvB*** querying acoustic contact ***jtjtzWill construct direction to contact in vehicle frame from tetrahedron phase data.~T****** received valid address query ******~R****** received valid ping request ******~Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 147.00 m.Bj%`Jj%`5 ProNav: ac range: 147.000000 m, nav range: 152.814011 m, bearing: 319.612973 deg, approach rate: -0.273738 m/s, LOS rate: -0.196504 deg/s, cmd heading: 20.974949 deg, new cmd heading: 20.784752 deg. 2j5=HeadingCmd: 0.362762 target range: 147.000000 and range: 147.00 m. j=>j9j9jAiAhAhAhAhIfIfIfQrfQbfU`BZ?ɛeBE< 隍?I +˽ɚiIU=I>ig)*F=?2FA:FABFE0JFA"GU=GU= IGl=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501064G B O >H I  I 'II XBI &I .I 6I <:I F| w,V0A>/*>Y>A>>n(9>3=y>H`F/*>>;>CyJBJ&IIVIVF٢Zp= ^I=9^,w`` bG٣bNGyf f> jNusing accuracyPremultiplier from confighnc59jWZ?nc5YjI ijVAln>r@jPEj* ;j ;j4c5vB vx@v5EZjFNOT Ignoring new targets: 147.00 m.Bj%eJj%e5 ProNav: ac range: 147.000000 m, nav range: 152.701065 m, bearing: 319.532440 deg, approach rate: -0.281400 m/s, LOS rate: -0.200794 deg/s, cmd heading: 20.784752 deg, new cmd heading: 20.542976 deg. 2j5 =HeadingCmd: 0.358543 target range: 147.000000 and range: 147.00 m. j=䒷>j9j9jAiAhAhAhAhIfIfIfIrfIbfU?ɛUB]в; Y]?IY ]1ɽɚYiaIeJ5=Ie䒷>imb")iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753183*F5?2F1:F1BF52JF1JJJJJ:JB:JJJX-<JX-<J`;J`;Gm:^<G) B9 OU > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. ]? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084~w,xJAy=B=&IMb@Mb@Mb@ )Y +?Zd;OS㥛y?j</ݼ@  @)l@I@y@II٢V< 8=9Q > G٣y   > Nusing accuracyPremultiplier from configc59QZ?c5YF iVA%f?%:%>%@PE;<;c5) -!@)ZjFNOT Ignoring new targets: 147.00 m.Bj@Jj@E ProNav: ac range: 147.000000 m, nav range: 152.564240 m, bearing: 319.448692 deg, approach rate: -0.274830 m/s, LOS rate: -0.168369 deg/s, cmd heading: 20.542976 deg, new cmd heading: 20.291508 deg. 2jM绝MHeadingCmd: 0.354154 target range: 147.000000 and range: 147.00 m. jUS>jQjQjQiQhQhQhYh]BfYfafrfbf*@ɛB@y b?I "ƽɚiI=IS>i[8)zKEBHKEh9KAKEKERKU ?JKU ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255702*FU?2FQ:FQBFU0JFYG} $3=GQ Ba O >w,4dA6&>Y6tٿ>6964=y6H@sp?K4ؿ _'?@9t?¿@L?@lL?y?ɨ6&>6qA;6CyBBB&IIJIJ(*2٢R= R^=9Rt=Q V>XX ZG٣Xy^( ^> bNusing accuracyPremultiplier from config`fc59bZ?fc5YbAE ibVAdjY>j@bPEb6;b;bNc5l n+@n2EZj $?IFNOT Ignoring new targets: 147.00 m.BjJzJjJz5 ProNav: ac range: 147.000000 m, nav range: 152.449142 m, bearing: 319.379868 deg, approach rate: -0.365667 m/s, LOS rate: -0.218821 deg/s, cmd heading: 20.291508 deg, new cmd heading: 20.084881 deg. 2j5,=HeadingCmd: 0.350547 target range: 147.000000 and range: 147.00 m. j=z>j9j9j9i9h9hAhAhAfIfIfIrfIbfU`M@ɛ}B}@< y隅?I! %QĽɚ!i!I-=I5z>i=KEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508481)ZHaRHeAAHiIi Im'IImlBIm1 =&Ii.Ii6Im<:Im F*F2F :FBFc4JFGAC =GBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759704w,it~AJK KKK"KJJJJJJ"I:JJJJY-<J;J;yuЇBu 'I)y yMb@Mb@Mb@ )YQ?Q뱿Mby\?\@ ݸ@)V@I5@y@II<٢-= 5(=95Q 5>99 =G٣=NGy= E> MNusing accuracyPremultiplier from configAUc59EZ?Uc5YEnC iE=WAU?]:]Q>]@EPEE $;E;Ec5a e@a I ZjQ]FNOT Ignoring new targets: 147.00 m.Bj]B=Jj]B= ProNav: ac range: 147.000000 m, nav range: 152.294022 m, bearing: 319.295451 deg, approach rate: -0.303741 m/s, LOS rate: -0.165463 deg/s, cmd heading: 20.084882 deg, new cmd heading: 19.831377 deg. 2j㻝HeadingCmd: 0.346123 target range: 147.000000 and range: 147.00 m. j7>jjjihhhhBfffrfbf @ɛBm : ?I EɚAiAIEV=IM7>iM)QeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:40:32.9573 mTRx dataTimestamp_ set to:1736376034.152742uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012820*Fu?2Fq:FqBFu05JFqG =G B O >T%w,?AzKm$JK+9K KKBK:KpA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263686yׇB'II%I%V٢5#= 5h=99Q =>99 EG٣AyA E> MNusing accuracyPremultiplier from configI=c59M [?Ec5YMB iMWAAIM@MPEM=M=Mc5UB U@]/EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 147.00 m.BjBJjB ProNav: ac range: 147.000000 m, nav range: 152.181549 m, bearing: 319.234022 deg, approach rate: -0.311868 m/s, LOS rate: -0.170459 deg/s, cmd heading: 19.831377 deg, new cmd heading: 19.646954 deg. 2j黝HeadingCmd: 0.342904 target range: 147.000000 and range: 147.00 m. j>jjjihihihqhqfqfqfqrfybf}  @ɛmBul5< qu?Iq u&ɚqiyI}խ=I>i"t)*F?2F:FBFP0JF $?I-Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:40:32.9573 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 406, 0.19, 0.344,-1.398, 0.013,-0.495, PHS= 0.927,-0.856, 0.505, RAW= 136.9, -7.2, CAL= 142.8, -17.7, ROT= 7.2, 17.7 Ygot valid direction response: 22:40:32.9573 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 406, 0.19, 0.344,-1.398, 0.013,-0.495, PHS= 0.927,-0.856, 0.505, RAW= 136.9, -7.2, CAL= 142.8, -17.7, ROT= 7.2, 17.7 PDAT read: Bearing 7.2, 17.7 (Local) ~Local bearing/azimuth received: Bearing 7.2, 17.7 (Local) DAT read: Range 10 to 50 : 144.8 m (Round-trip 193.1 ms) speed 0.4 m/s ,DAT read: user:2778> BDAT read: Tx time:22:40:34.0600 $Ping request sent.i52+>115 `?x?s<-)5!>I5‡>i5ſ5mS11:publishing transmit ping timeFpublishing direction and range info1H I  I 'II BI 2 =&I .I 6I į<:I F95l ?w;c髊?y1111 1)1I1i11111 1)1I1i1115 `?x?s<-)1I1i1111G 3;=G B O% >}&,w,UAj >YjY>j 9j=yjH0? Jֿ`,?'?KW??`?ɨj >ju;jCyvBv+'IIIF٢-ذ= -K=951=Q u>qy }G٣yy}8 }> Nusing accuracyPremultiplier from configc59([?c5Y@ iWAs>@PEX<X<5c5 @,Eke&d?ke [# ka keBA:keCBkeCZke@"eHt@@,+X?Z@el ?w;c髊?JkeſRkemS*ewH;@@7Z[E.W@eBV?̉?S-翄Ʋ2?"ke*keAkeX6d?keb $ 2ke#Ckakeb $ kexBkeCkeAh@ addTargetRange:: Added new target pos. range: 144.800003 m, deltaT: 3.532558 s, deltaX: -2.199997 m, approachRate: -0.622777 m/s, rangeRepo size: 4 - Added new target pos. range: 144.800003 m, bearing: 284.825946 deg, lat: 36.904467 deg, lon: -122.121164 deg, deltaT: 3.532558 s, deltaX: -2.199997 m, approachRate: -0.622777 m/s, posRepo size: 4 Zj1MFNOT Ignoring new targets: 144.80 m.BjMJjI] ProNav: ac range: 144.800003 m, nav range: 155.661285 m, bearing: 317.646445 deg, approach rate: 0.000000 m/s, LOS rate: -0.170459 deg/s, cmd heading: 19.646954 deg, new cmd heading: 19.435070 deg. 2jYmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:40:34.0592 uHeadingCmd: 0.339206 target range: 144.800003 and range: 144.80 m. j}g>jyjyjyiyhyhyhhfffrfb@bfMc?ɛBx)< ?I <ɚiI%ت=I-g>i-)1*F?2F:F BF U0JF  I GE =G B! = Will construct direction to contact in vehicle frame from tetrahedron phase data.OM > 3w,̸A:*>Y:>:p9:=y:H ?@ֿ@=??bb? '?z?ɨ:*>:J';:CyFBF:'IiJ=IJ%=Mb@Mb@Mb@ )YHzG?MbX9Mby= ?ʡ=@ l@)(@I@y\@I5I5W٢E:x= EI=9E<_II MG٣MNGyU]a U> eNusing accuracyPremultiplier from configYmc59] %[?uc5Y]v? i]WAu ?u:u Y>u@]PE]OJ;]dI;]c5 @ZjFNOT Ignoring new targets: 144.80 m.BjONJjON ProNav: ac range: 144.800003 m, nav range: 155.535355 m, bearing: 317.581359 deg, approach rate: -0.348698 m/s, LOS rate: -0.180369 deg/s, cmd heading: 19.435069 deg, new cmd heading: 19.239652 deg. 2jHeadingCmd: 0.335795 target range: 144.800003 and range: 144.80 m. j\>jjjihhhhуBfffrfbf ?ɛB\< ??I ߐɚi!I%=I%\>i-D@)q*F?2F:FBF_0JF G7<zK]K]h9KYK]K]RKu?JKu?Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOf>J} J} Jy Jy J} :J} A:Jy Jy a @a @a @a @59w,A渿A 6$?I4F=YFh>FK9Fc=yFH?K2ֿ`_r??`M?b?)?ɨF=F;FCyNBRN'IIZIZ<٢bq= bS=9bdh jG٣hyj j> rNusing accuracyPremultiplier from configpvc59r}6[?vc5YrS> irXAtvR>v@rPEr:r:rc5~B ~ç@~)EZj!%FNOT Ignoring new targets: 144.80 m.Bj-W;Jj-W;= ProNav: ac range: 144.800003 m, nav range: 155.411606 m, bearing: 317.518125 deg, approach rate: -0.320281 m/s, LOS rate: -0.163788 deg/s, cmd heading: 19.239653 deg, new cmd heading: 19.049802 deg. 2jEໝMHeadingCmd: 0.332482 target range: 144.800003 and range: 144.80 m. jM ;>jQjQjQiQhQhQhahafafifirfibfuث?ɛ„Bd< ?I c%ɚiIPΤ=Will construct direction to contact in vehicle frame from tetrahedron phase data.I] ;>ie)ajHbHH>I I(IIBI&I.I2D6I<:I FBIJIRIZI2 =bI2 =jI±|4*F ?2F :F BF 0JFG5<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data."@w,ޑA=Y_>yc9=yH@? ֿ@!O??4 2پ? J?`?ɨ=;騝CyBe'IMb@Mb@Mb@ )YL7A`?ktMby+? @ V@)@I=@yz@II ٢= ,=9 G٣y > Nusing accuracyPremultiplier from configc59K[? c5Y= iJXA 1 ? : i?> @PE;u;7c5 @ M$?IIZjQ]FNOT Ignoring new targets: 144.80 m.Bj]4Jj]4m ProNav: ac range: 144.800003 m, nav range: 155.259460 m, bearing: 317.443023 deg, approach rate: -0.318504 m/s, LOS rate: -0.157374 deg/s, cmd heading: 19.049802 deg, new cmd heading: 18.824276 deg. 2jmػuHeadingCmd: 0.328546 target range: 144.800003 and range: 144.80 m. ju!7>jqjyjyiyhyhyhhƃBfffrfbf n?ɛńB < ?I  ɚiI=I!7>i3)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG )ş<G B O- >GFw,~TA @zK"BoHK"ػ9K K"K"2Will construct direction to contact in vehicle frame from tetrahedron phase data.fJ=Yf%J>f9f=yfH`?\տwڳ8??lн?J*?l?ɨfJ=fU;fCy-B'II-I-V٢=X= =k=9E_?>e@UPEU>;U;UBc5i mU@u&EZjFNOT Ignoring new targets: 144.80 m.Bj6Jj6 ProNav: ac range: 144.800003 m, nav range: 155.147842 m, bearing: 317.387910 deg, approach rate: -0.323358 m/s, LOS rate: -0.159778 deg/s, cmd heading: 18.824276 deg, new cmd heading: 18.658819 deg. 2jNۻHeadingCmd: 0.325658 target range: 144.800003 and range: 144.80 m. j>jjjihhhhfffrfbf@#m?ɛDŽB=  ?I  Iɚ)i1I5rƢ=I5>i=R)9J=J=J9J9J=:J=H:J9J9*F?2F:FBF\5JF"G=G= AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.H>I I#(IIBI&I.I3D6I<:I FG <G G pAG B O= >rqLw,04A>=Y>>>\9>=y>H? ڤտ@NB?T? Mj=>;`` bG٣`yb? f> jNusing accuracyPremultiplier from configdjc59f&l[?nc5Yf0; uGvAifXA9>@fPEfjjjihhhhfffrfbf@ɛɄB= o?I _sɚ!i!I%С=I%v>i-)QEYE]qAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF5JFG Fթ< = $?I9 G B O% >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499339N[Sw,/NAyrGBr'IMb@Mb@Mb@ )Y r?Zd;O:vy?jԼ@ @)@I@yG@II(٢e= :=9Q > G٣y > Nusing accuracyPremultiplier from configc59<[?c5Y3: iXA?:(>@PE5;;zc5B @#EZj!%FNOT Ignoring new targets: 144.80 m.Bj->Jj->= ProNav: ac range: 144.800003 m, nav range: 154.882309 m, bearing: 317.259725 deg, approach rate: -0.350110 m/s, LOS rate: -0.166666 deg/s, cmd heading: 18.475153 deg, new cmd heading: 18.273933 deg. 2j=仝EHeadingCmd: 0.318940 target range: 144.800003 and range: 144.80 m. jE$L>jAjAjAiIhIhIhQh]ƒBfYfYfYrfYbfe@ɛ%˄BM6 = IM?II UɚQiQIUSӠ=I]$L>ie!)*FE?2FA:FABFEP0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750675zK/KK9KKKRK?JK>G% <G B JE JE JA JA JE :JE S:JA JA OU > ) I1 Yw,gA> +=Y>(>>9ͽ9>@=y>H)?տv@g? ? Q4?q?H?ɨ> +=> ; f\=9rAxx zG٣zNGy~@Ӽ > Nusing accuracyPremultiplier from config c59 [?%c5Y e9 i XA!%>-@ PE Ly; y; žc59 =ȡ@9ZjyFNOT Ignoring new targets: 144.80 m.Bj*Jj* ProNav: ac range: 144.800003 m, nav range: 154.760223 m, bearing: 317.202588 deg, approach rate: -0.319062 m/s, LOS rate: -0.149440 deg/s, cmd heading: 18.273932 deg, new cmd heading: 18.102388 deg. 2jͻHeadingCmd: 0.315946 target range: 144.800003 and range: 144.80 m. já>jjjihhhhfffrfbf -@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003059ZHYRH]?AHe>Ia IeU(IIe܈BIa&Ia.Ia6Ie<:Ie Fɛ̈́B6m4= l?I ɚiI=I á>i e)*Fe?2Fa:FaBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:40:36.6546  TRx dataTimestamp_ set to:1736376037.936685 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255876G \<G ?G >G B O >o`w,сAymyBu'I $?I%Mb@Mb@Mb@!!! !)!Y%x&1?KQy%?%^%%@ %@)%׫@I%@!y%f@I=I=٢M= M(=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYmc59]<[?mc5Y]c8 i]XAm?m:m>u@]PE];](;]c5}B }@} EZjFNOT Ignoring new targets: 144.80 m.Bj7-Jj7- ProNav: ac range: 144.800003 m, nav range: 154.606888 m, bearing: 317.130582 deg, approach rate: -0.322163 m/s, LOS rate: -0.151438 deg/s, cmd heading: 18.102388 deg, new cmd heading: 17.886156 deg. 2jϻHeadingCmd: 0.312172 target range: 144.800003 and range: 144.80 m. j ՟>jjjihhhhƃBfffrfbf @ɛτBx!= 隕?I (ɚiIZמ=I ՟>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507404*F2F:FBF[0JFG<GBO>fw,A*Will construct direction to contact in vehicle frame from tetrahedron phase data.,i,NDAT read: 22:40:36.6546 LVL= 30816, 32753, 31058, 32755, AGC= 64, IDX= 411,-0.08,-0.359,-2.144,-0.811,-1.167, PHS= 0.895,-0.931, 0.352, RAW= 133.2, -3.9, CAL= 138.7, -14.2, ROT= 11.3, 14.2 RYgot valid direction response: 22:40:36.6546 LVL= 30816, 32753, 31058, 32755, AGC= 64, IDX= 411,-0.08,-0.359,-2.144,-0.811,-1.167, PHS= 0.895,-0.931, 0.352, RAW= 133.2, -3.9, CAL= 138.7, -14.2, ROT= 11.3, 14.2 VPDAT read: Bearing 11.3, 14.2 (Local) V~Local bearing/azimuth received: Bearing 11.3, 14.2 (Local) ^DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.5 ms) speed 0.4 m/s b,DAT read: user:2779> bBDAT read: Tx time:22:40:37.7600 f$Ping request sent.f2,@2'g 2@)2}I2I>i2}>002B?'{?k)2e[k>I2=i2ҿ2d00v:publishing transmit ping timedzFpublishing direction and range info092Z!ޝV.`|?y0000 0)0I0zK=BoHK=9K9K=K=i00000 0)0I0i0002B?'{?k)0I0i0000}=Y}͗>}ͳ9}Y=y}H6W?ԿS?@2?59Tr?*˺? H?ɨ}=}߉;}CyB'II%I%٢] > ][=9m=Q m> G٣yV > 5Nusing accuracyPremultiplier from config=c59[?=c5Y7 iXAAM>m@PE<<]c5q u@}Ek2u`?k2Cx# JJJJJ];J_:JJk0 k2eA:k2CBk2 CZk2ʛ@"2#&B'RIVe [@2Z!ޝV.`|?Jk2ҿRk2d*2jN/@:WY]XY@2:P?ǢX|e>}?"k2*k2|Ak2Y`?k23# 2k2(Ck2gQe?k0k2Ck2lBk2@ addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 3.783409 s, deltaX: -2.000000 m, approachRate: -0.528624 m/s, rangeRepo size: 4 - Added new target pos. range: 142.800003 m, bearing: 278.944771 deg, lat: 36.903729 deg, lon: -122.121164 deg, deltaT: 3.783409 s, deltaX: -2.000000 m, approachRate: -0.528624 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 142.80 m.Bj5Jj1e ProNav: ac range: 142.800003 m, nav range: 109.712112 m, bearing: 286.465543 deg, approach rate: 0.000000 m/s, LOS rate: -0.151438 deg/s, cmd heading: 17.886157 deg, new cmd heading: 17.686818 deg. 2jamHeadingCmd: 0.308693 target range: 142.800003 and range: 142.80 m. jm >jijijqiqhqhqhyhyfyfyfrfa@bf ? $?IɛEфBEdr7= AE?IA MɚIiIIM۝=IU >iU)yWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:37.7592 *F2F:F BF X0JF H]>I]C I](II]BI]3 =&IY.IY6I] <:I] FG ~<G B O >mw,ٶAF==YF>F쮽9F:=yFH Ee?`ӿ`t i@???}2ֵ? ?C?ɨF==FjQ;FCy=BE (IIMAIuIu٢by= M=9;Q > G٣NGy$S > Nusing accuracyPremultiplier from configUc59[?Uc5Y6 iXAY] >]@PE<+<c5 G@Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 142.80 m.Bj֢Jj֢  ProNav: ac range: 142.800003 m, nav range: 109.682266 m, bearing: 286.362505 deg, approach rate: -0.082451 m/s, LOS rate: -0.284723 deg/s, cmd heading: 17.686818 deg, new cmd heading: 17.377622 deg. 2j gCHeadingCmd: 0.303297 target range: 142.800003 and range: 142.80 m. jI>jjjihhhhAfAfAfIrfIbfM?ɛ҄B= 隕h?I ɚiI]=II>i{)*F}?2F:FBFc0JF"G=G=GzQ<GiBqO}> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.sw,ԛйA:FS=Y:7>:٨9:e=y:H`Ln?ӿ౞? L?پ???ɨ:FS=:;:Cy^B^+(IUMb@Mb@Mb@QQQ Q)QYUNbX9?MbX9/$yU?UʡUUd@ Q)U@IU7@QyU(@ImIm٢}K= }L=9}>;Q }> G٣y > Nusing accuracyPremultiplier from configc59[?c5Y6 iYAB?:H">@PE_N;BM;5c5B @EZjFNOT Ignoring new targets: 142.80 m.BjJj ProNav: ac range: 142.800003 m, nav range: 109.655952 m, bearing: 286.254120 deg, approach rate: -0.070924 m/s, LOS rate: -0.292201 deg/s, cmd heading: 17.377622 deg, new cmd heading: 17.052394 deg. 2jHHeadingCmd: 0.297620 target range: 142.800003 and range: 142.80 m. ja>jjjihhhhBfffrfbf@.?ɛӄB/= W?I ɚ i I #=I5a>i5")9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991776zKK59KKKG- ܸ<<G B O- >  $?I #zw,깿AJ=YJr>Jʔ9Jv.=yJH`o??ӿC`2?I?$Ԭ? ?࠸?ɨJ=JI;HyVՈBVM(IIrIr٢z> ~S=9~;Q > G٣y b  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243471 %Nusing accuracyPremultiplier from config-c59[?-c5Y55 iYA)-M">-@PE:n:c59 =@9HYIY I](II]2BIY&IY.IY6I]<:I] FZjFNOT Ignoring new targets: 142.80 m.BjJj ProNav: ac range: 142.800003 m, nav range: 109.630516 m, bearing: 286.147710 deg, approach rate: -0.064570 m/s, LOS rate: -0.270183 deg/s, cmd heading: 17.052394 deg, new cmd heading: 16.733091 deg. 2jl9HeadingCmd: 0.292048 target range: 142.800003 and range: 142.80 m. jA>jjjihhhhfffrfbfii) *F?2F:FBF@5JFGl o<GYBaO}8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495363w,lAJ&J&J$J$J&;J& e:J$J$J&cLJ&dLJ&;aBJ&;aF I-Q=Y-˚>-z9-I=y-H u?tӿ{ ? I?r*Oʳ?@? l?ɨ-Q=-ca;)yEBEi(IMb@Mb@Mb@ )YHzG?Zd;~jty= ?y @ f@)@I @yG@II٢= -=9;Q >    G٣ NGyk0 > Nusing accuracyPremultiplier from config%c59<[?%c5Y3 i8YA%4 ?-:-G>-@PE1;;c51 5@5EZjYeFNOT Ignoring new targets: 142.80 m.Bjm#Jjm#} ProNav: ac range: 142.800003 m, nav range: 109.608437 m, bearing: 286.014332 deg, approach rate: -0.047501 m/s, LOS rate: -0.286999 deg/s, cmd heading: 16.733091 deg, new cmd heading: 16.332885 deg. 2j}DHeadingCmd: 0.285063 target range: 142.800003 and range: 142.80 m. j>jjjihhhhBfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747459ɛmքBmt= im@Ii uɚqiqIuU =I>i)*F5?2F1:F1BF5Q5JF1G=qA G=pAGU y<G1 B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9995081w,|,AzK@KB+9K@KBKB^Ǟ=Y^Y>^9^5=y^H`?@p/ӿd?4S?+@?9$?ȷ?ɨ^Ǟ=^|b;^CyrBr(II~I~̍٢ (>  r=9 4#-@%PE%:%':%c59 =֗@9ZjaeFNOT Ignoring new targets: 142.80 m.BjmJjm} ProNav: ac range: 142.800003 m, nav range: 109.592224 m, bearing: 285.918697 deg, approach rate: -0.048019 m/s, LOS rate: -0.283301 deg/s, cmd heading: 16.332885 deg, new cmd heading: 16.045939 deg. 2j}mBHeadingCmd: 0.280054 target range: 142.800003 and range: 142.80 m. jLc>jjjihhhhfffrfbf@@ɛׄB== = @I !ɚiI:=ILc>i_V)yEqAEpA*FM?2FI:FIBFMP0JFI $?IG%d<GBO5O>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251342HaIa Ie(IIeeBIe4 =&Ia.Ia6Ie<:Ie FBI%ǘCJI%ǘCRI!ZI%3 =bI%3 =jI%G55]w, 8A:=Y:/>:h9:q=y:H? ҿ֡`?X?a.??ࣷ?ɨ:=:';:CyNBR(IIZIZ ٢b= bO=9b~;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrc59n9\?rc5Yn1 inaYApr@>v@nPEn:n:n c5zB z@zEZj%FNOT Ignoring new targets: 142.80 m.Bj-ݡJj-ݡ= ProNav: ac range: 142.800003 m, nav range: 109.573044 m, bearing: 285.806790 deg, approach rate: -0.048500 m/s, LOS rate: -0.283024 deg/s, cmd heading: 16.045938 deg, new cmd heading: 15.710162 deg. 2j=jAjAjAiIhIhIhIhIfQfQfYrfYbf]@ɛلBO= 隍@I `ɚiI@=I*c>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503523*F?2F:FBF_0JFJ}J} JyJyJ};J}Yk:JyJyJ}WH<J}WH<J}N;J}O; $?IG<GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756121Fw,=QA2 =Y2z>2P92=y2HW?`ҿ A?ge?@]9?޼?`5?ɨ2 =2l;0y>/BB(I Mb@Mb@Mb@    ) Y ?ˡE{Gzy  ? ' #  @ O@) I @ y Q@I%I%0٢== =C=9=;Q =>AA EG٣ENGyExN M> UNusing accuracyPremultiplier from configI]c59M>1\?]c5YM0 iMYA]6 ?]:]M_>e@MPEM;M;Mc5i mr@mEB*** querying acoustic contact ***jjZjq}FNOT Ignoring new targets: 142.80 m.BjәJjә ProNav: ac range: 142.800003 m, nav range: 109.559929 m, bearing: 285.686089 deg, approach rate: -0.029222 m/s, LOS rate: -0.268967 deg/s, cmd heading: 15.710163 deg, new cmd heading: 15.348023 deg. 2j8HeadingCmd: 0.267874 target range: 142.800003 and range: 142.80 m. j&>jjjihhhhBfffrfbf`x@ɛڄB<= 隕 @I ЍɚiI+=I&>i)*F}?2Fy:FyBF}]0JFy"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:40.3522 TRx dataTimestamp_ set to:1736376041.466238checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010030zKBoHK9KKKG Ⱦ< I G B O >;ow,kAHI II)IIBI3 =&I.I6Iί<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263093y%HB%(II=I=<٢\= F=9Q > G٣y > Nusing accuracyPremultiplier from configc59C\?c5YQ/ iYA@PE::fc5B @EZjFNOT Ignoring new targets: 142.80 m.BjDJjD ProNav: ac range: 142.800003 m, nav range: 109.547493 m, bearing: 285.567170 deg, approach rate: -0.032410 m/s, LOS rate: -0.309957 deg/s, cmd heading: 15.348022 deg, new cmd heading: 14.991227 deg. 2jTHeadingCmd: 0.261646 target range: 142.800003 and range: 142.80 m. j>jjjih h h h f!f!f!rf!bf%<{ @ɛۄB[=  @I 7ɚiI3.=I>iH ))) 5C YyBE]K@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515581*F?2F:FBFP0JFJ J J J J 1J G %<J ;J bl:J 3J J Q<J Q<J 4;J 4; $?I G B O>sw,HANip}=YNr>N79Nc=yNH`ݪ? ,ҿ@۞?{x?{%?Yͼ?Ϻ?ɨNip}=NS;NCyZeBZ(ImMb@Mb@Mb@iii i)iYmʡE? G٣y > Nusing accuracyPremultiplier from configc59Y\?c5Y- iYA?:Ҁ>@PE{;;c5B 4@ EWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:40:40.3522 LVL= 26848, 32545, 29922, 32755, AGC= 63, IDX= 418,-0.14,-1.565, 2.878,-2.081,-2.334, PHS= 0.858,-1.024, 0.250, RAW= 131.5, -1.0, CAL= 137.3, -10.1, ROT= 12.7, 10.1 5Ygot valid direction response: 22:40:40.3522 LVL= 26848, 32545, 29922, 32755, AGC= 63, IDX= 418,-0.14,-1.565, 2.878,-2.081,-2.334, PHS= 0.858,-1.024, 0.250, RAW= 131.5, -1.0, CAL= 137.3, -10.1, ROT= 12.7, 10.1 =PDAT read: Bearing 12.7, 10.1 (Local) =~Local bearing/azimuth received: Bearing 12.7, 10.1 (Local) MDAT read: Range 10 to 50 : 141.0 m (Round-trip 188.0 ms) speed 0.4 m/s U,DAT read: user:2780> ]BDAT read: Tx time:22:40:41.4600 ]$Ping request sent.] @5 ]@)J4Ib>iJ4>d4X?1SX? A4:G)`N>I;j1j1j1i1h1h1h9h=ABf9f9fArfEa@bfe'?ɛ܄B3W= 隕@I jɚiI=I0>ia3!)E=*F5?2F1:F1BF5_0JF9G3;=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:40:41.4592 zK K s9K K K w,A2m=Y2>2 92=y2H@? QѿQ?[?%`?@@?@?ɨ2m=2;2CyByBB)IIZIZ<٢U[= UP=9U5;Q U>YY ]G٣]NGye% e> mNusing accuracyPremultiplier from configiuc59mk\?uc5Ym!, imZAq}}>}@mPEm` ;m ;mc5 @k-.|d^?k-l7# k) k-XA:k- CBk- CZk-@"-iMq-DNUd-J\@-%j*P+r!㿻7fm?Jk-b߿Rk- k*-dX@BXc:Y@-oo?cO#?"k-*k-@k-|h^?k-hI# 2k-)Ck-X6d?k)k-#Ck-Bk-Cٝ@ZjFNOT Ignoring new targets: 142.80 m.Bj<Jj< ProNav: ac range: 142.800003 m, nav range: 109.537865 m, bearing: 285.311113 deg, approach rate: -0.012008 m/s, LOS rate: -0.304660 deg/s, cmd heading: 14.569128 deg, new cmd heading: 14.223037 deg. 2jQHeadingCmd: 0.248239 target range: 142.800003 and range: 141.00 m. jQ2~>jjjihhhhf f f rf  -$?I1bf ?ɛ݄B= y@I ӭ}ɚiI=IQ2~>iO!)!E1E1*E1"E1HI I)IIՉBI4 =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFqJFqG}rA G}rA Will construct direction to contact in vehicle frame from tetrahedron phase data.ս Aiս AG z =G B O >eAw,IA-U=Y->-.|9-t=y-H?@ѿ@Kc96?`F?"???ɨ-U=-3É;)y=B=6)IIUIU٢]= e4=9e+7;Q e>i G٣y-I > Nusing accuracyPremultiplier from config c59G\? c5Y}* iLZAxw>@PEq&<~&<c51 =m@= EJJ J0JJ;Jun:Jـ3JJY<JY<J;J; $?IhZj1]FNOT Ignoring new targets: 142.80 m.BjeْJjeْu ProNav: ac range: 142.800003 m, nav range: 109.531509 m, bearing: 285.174854 deg, approach rate: -0.011975 m/s, LOS rate: -0.256768 deg/s, cmd heading: 14.223037 deg, new cmd heading: 13.814242 deg. 2j}70HeadingCmd: 0.241104 target range: 142.800003 and range: 141.00 m. jv>jjjihhhhfff!rf!bf%@?ɛmބBm7Ũ= quy@Iq 2MsɚiIm=Iv>i#)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFG H=G B O >쩶w,(ۺA65L=Y6"~>6a{t96=y6H?@_ѿu?`?@ 9 NJ?? K?ɨ65L=64ۋ;6Cy>B>J)IMb@Mb@Mb@ )Y-?{Gz{Gzt?y??#ף;@ @)I@yf@I-I-)٢== =E=9=^;Q =>AA EG٣AyM⻻ M>uWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configc59\?c5Y( iZAF?:Q>@PE;Y;c55B 5s@5EuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 142.80 m.Bj˻Jj˻ ProNav: ac range: 142.800003 m, nav range: 109.528748 m, bearing: 285.045086 deg, approach rate: -0.007585 m/s, LOS rate: -0.356386 deg/s, cmd heading: 13.814242 deg, new cmd heading: 13.424935 deg. 2jtHeadingCmd: 0.234309 target range: 142.800003 and range: 141.00 m. jo>jjjihhhhoBfffrfbf?zK%BoHK%]9K!K%K%  !#&*.-.,.)$RK5?JK5?ɛZ= 隕l@I 'MlɚiI=Io>ii$"=)o>)*F?2F:FBF0JF AIAjH<bHHI I)IIBI&I.I6I<:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.G} =GQ BY O} >μw,A6bE=Y6>6W:g96@=y6H@0?q@ѿL??1]?4?/?ɨ6bE=6o;6Cy>B>c)IIfIf<٢jJ= nR=9npp rG٣rNGyv⋻ v> zNusing accuracyPremultiplier from configx~c59z\?~c5Yzs' izZA|v>@zPEz ;z? ;z c5  )@ Zj15FNOT Ignoring new targets: 142.80 m.BjEmJjEmU ProNav: ac range: 142.800003 m, nav range: 109.526451 m, bearing: 284.932707 deg, approach rate: -0.006375 m/s, LOS rate: -0.311985 deg/s, cmd heading: 13.424935 deg, new cmd heading: 13.087796 deg. 2jUVUHeadingCmd: 0.228425 target range: 142.800003 and range: 141.00 m. j]Gi>jYjajaiahahahihifififirfqbfu?ɛ߄B=> <隥@I eɚiIi=IGi>i#)*FU?2FQ:FQBFU05JFQG-=G5 ?G5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750953GBO--> M $?II = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002743sw,Ab,B=Yb=>bX9b=ybH`j?j/ѿ@'??SG???ɨb,B=b;bCyjljBnw)ImMb@Mb@Mb@iii i)iYmK?I +?ym^?m94 G٣yY > Nusing accuracyPremultiplier from configc59\?c5Y% i[Ad?:>@PEA;?;c5B )@EZjFNOT Ignoring new targets: 142.80 m.BjJj ProNav: ac range: 142.800003 m, nav range: 109.533363 m, bearing: 284.797648 deg, approach rate: 0.015356 m/s, LOS rate: -0.300024 deg/s, cmd heading: 13.087796 deg, new cmd heading: 12.682652 deg. 2jMHeadingCmd: 0.221354 target range: 142.800003 and range: 141.00 m. jb>jjjihhh)h5kBf1f1f1rf9bf= @ɛ5B5= 9=@I9 =[ɚ9i9I=q`=Ib>i-|%)E E qA*F?2F:FBFZ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խAiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257384zK ;MK 9K K K  *BVbmt{|xpjd^YNG@93/)# Gu zc =JE JE JA JA JE e ;JE q:JA JA ae @am @am @am @G B O > A IA Rw,)An.<=Yn {>nK9nv=ynH?ѿ{`?^?`x`p???ɨn.<=n&;lyzωBz)III%x٢-K(= -M=9599 =G٣9yE"s M> UNusing accuracyPremultiplier from configQc59Uh\?c5YU# iU5[Aɑ>@UPEUMWHIII IM)IIM5BII&II.II6IM<:IM Fjyjyjihhhhfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506932ɛ> @I M[TɚiIiN=I[>iiV=)[>)*Fe?2Fa:FaBFei3JFaG=;X7=GB!B%'JOEs>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759264w,cCA:.=Y:ݷ>:Z=9: =y:H?`yп`n۠?@?@ ;.??` ?ɨ:.=:*;:Cy^ۉBb)I fa=fa=IhIh٢rco= rO=9ritt vG٣vNGyzP z> ~Nusing accuracyPremultiplier from config|c59~\?c5Y~" i~c[A  > @~PE~L:~n:~c5 @EZjamFNOT Ignoring new targets: 142.80 m.BjmƶJjmƶ ProNav: ac range: 142.800003 m, nav range: 109.546227 m, bearing: 284.548014 deg, approach rate: 0.016078 m/s, LOS rate: -0.319585 deg/s, cmd heading: 12.305042 deg, new cmd heading: 11.933806 deg. 2jT[HeadingCmd: 0.208284 target range: 142.800003 and range: 141.00 m. jtHU>jjjihhhhfffrfbf@ $?IɛY]= a隕_@I  LɚiIX-=ItHU>i5 ')Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:44.0495 TRx dataTimestamp_ set to:1736376045.249319checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012526EUNw =*F ?2F :F BF W5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265722G-@A=G1G5qAGBO->Rw,&cAzKJNKJ9KHKJKJ R P I^HcbV=YV?>VI#9V.=yVHi?@2п弌?`(?` @g???ɨV=V;Ty^Bb)I--only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00, 20.00,2939.11  -@- -@- -@-  -@- I5I5٢E< E =9MsLIQ UG٣QyU U> ebBottom track data is 0.5 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYmd59]\?md5Y] i][Au+:qu:u>u@]PE]k8;]O?]Sd5}B }@}EB*** querying acoustic contact ***jjZjJcKkm3 KkS}-KcKc"KcJJJJJ-;JJJmFNOT Ignoring new targets: 142.80 m.Bj}Jj} ProNav: ac range: 142.800003 m, nav range: 109.552040 m, bearing: 284.387273 deg, approach rate: 0.011491 m/s, LOS rate: -0.317697 deg/s, cmd heading: 11.933806 deg, new cmd heading: 11.451620 deg. 2jZ $?IHeadingCmd: 0.199868 target range: 142.800003 and range: 141.00 m. jRL>jjjihhhh!f!f)f)rf1bf5 @ɛB2"= B @I MAɚiI=IRL>i()Eu<ZHaRHeAAH>I I*IIOBI&I.I6I*<:I FBI!JI!Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU4JFQRI!ZI%4 =bI%4 =jI%œ4DAT read: 22:40:44.0495 LVL= 23008, 32753, 30290, 32755, AGC= 64, IDX= 405,-0.01, 2.919, 1.155, 2.420, 2.254, PHS= 0.753,-1.052, 0.164, RAW= 131.3, 1.7, CAL= 137.3, -6.2, ROT= 12.7, 6.2 Ygot valid direction response: 22:40:44.0495 LVL= 23008, 32753, 30290, 32755, AGC= 64, IDX= 405,-0.01, 2.919, 1.155, 2.420, 2.254, PHS= 0.753,-1.052, 0.164, RAW= 131.3, 1.7, CAL= 137.3, -6.2, ROT= 12.7, 6.2 %PDAT read: Bearing 12.7, 6.2 (Local) %~Local bearing/azimuth received: Bearing 12.7, 6.2 (Local) Ge<]=DAT read: Range 10 to 50 : 138.9 m (Round-trip 185.2 ms) speed 0.6 m/s ,DAT read: user:2781> BDAT read: Tx time:22:40:45.1601 $Ping request sent.`direction in FSK: [-0.158682,-0.590375,0.791377]]:publishing transmit ping time]Fpublishing direction and range info 9 8GOĿҨZ(BR?y  C  Y  Rv) I @i @? 𧆿 '> ܩ@ < ) kݽI i k=   Tv\?uӉ(?#_Qw?) J>I -i 꿉 'i  :publishing transmit ping timeFpublishing direction and range info 9 8GOĿҨZ(BR?y     ) I i      ) I i    Tv\?uӉ(?#_Qw?) I i    w,"l}A6696=y6H@?̎Ͽt@>?@G??`&?@?ɨ6<6;6CyBBB)IIJIJƲ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:22:40:45.1593 ٢}J= G=9_ G٣y > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configd59]?d5Y i[A :f:>@PE0;Om?d5 @kMvB\?kM" kI kMPpA:kM CBkM CZkM@"M0"z 63TP矪{[@M8GOĿҨZ(BR?JkMRkM'i*Mͼ֡aWFd+Y@MWqu$ T!2?"kMO*kMkM"A\?kM/" 2kIkMY`?kM3# kM(CkMBkMw@e addTargetRange:: Added new target pos. range: 138.899994 m, deltaT: 3.530758 s, deltaX: -2.100006 m, approachRate: -0.594775 m/s, rangeRepo size: 4  Added new target pos. range: 138.899994 m, bearing: 268.530404 deg, lat: 36.903591 deg, lon: -122.121110 deg, deltaT: 7.311202 s, deltaX: -3.900009 m, approachRate: -0.533429 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 138.90 m.BjJj ProNav: ac range: 138.899994 m, nav range: 101.981972 m, bearing: 276.575117 deg, approach rate: 0.000000 m/s, LOS rate: -0.317697 deg/s, cmd heading: 11.451620 deg, new cmd heading: 11.045724 deg. 2jHeadingCmd: 0.192784 target range: 138.899994 and range: 138.90 m. jjjjihhh)h)f1f1f1rf5\a@bf=`?ɛ> 隅1!@I h 9ɚiIԊ=Iiiր[=))EE*E"E $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 5JF G5 l^=G B)OU>Ow,Ay-B-)I)1 1        Mb@Mb@Mb@ )Y+?ˡE?~jth?yv?'=D;l@ @)G@I@y@II٢W< )=9Q > G٣NGy >eWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configd59(]?d5Y i[AT:?:ٟ>@PE;6; d5 @EZj FNOT Ignoring new targets: 138.90 m.Bj#ƻJj#ƻE ProNav: ac range: 138.899994 m, nav range: 102.043236 m, bearing: 276.404444 deg, approach rate: 0.124435 m/s, LOS rate: -0.346448 deg/s, cmd heading: 11.045724 deg, new cmd heading: 10.534028 deg. 2jMmMHeadingCmd: 0.183853 target range: 138.899994 and range: 138.90 m. jMD<>jQjQjQiQhQhQhyh}vBfyffrfbfE?ɛ=Q?= 9="@I9 E/ɚAiAIEꙉ=IMD<>iIiM|=)MD<>)QEYzK$PK]9KKKJw9*F?2F:FBFP0JF"G=G>JJJJJ];J3g:JJ IHy I} C I} **II} YBI} 3 =&Iy .Iy 6I} ><:I}  F Will construct direction to contact in vehicle frame from tetrahedron phase data.% =% p=G- `hZ=G) B9 O] >w, 7A2&a292=y2H@?Ϳ"?`?@d70?7? >?ɨ2&a<2z%;2CyNBR)IIZIZ ٢j* r`=9~5c~G) =GM|uA٣9yUN > Y|uAyB Nusing accuracyPremultiplier from configd59;]?d5Y i"\A>@PE`F;F;_ d5 B (@ EZj1=FNOT Ignoring new targets: 138.90 m.BjEsŻJjEsŻU ProNav: ac range: 138.899994 m, nav range: 102.087311 m, bearing: 276.275295 deg, approach rate: 0.117875 m/s, LOS rate: -0.345248 deg/s, cmd heading: 10.534027 deg, new cmd heading: 10.146755 deg. 2jUl]HeadingCmd: 0.177094 target range: 138.899994 and range: 138.90 m. j]5X5>jYjYjYiYhahahahafififirfibfmc~?ɛ> 隥!@I  'ɚiIi=I5X5>ii5c=)5X5>)*Fm?2Fi:FiBFm_0JFiGU q=Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOeV>  $?I w,EϻA:߀%:5Mм9:=y:HP$?MoͿzwC??Z? ?w?ɨ:߀%<:6;8yRBR)IrWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=K?:v?I +y=^?=<=94=V@ =ן@)=^@I=@9y=G@IMIMk٢eS< eA=9exii mG٣iyuX u> }Nusing accuracyPremultiplier from configyd59}N]?d5Y} i},\A?:>@}QE};}^;}d5 @ZjFNOT Ignoring new targets: 138.90 m.Bj?Jj?u ProNav: ac range: 138.899994 m, nav range: 102.126381 m, bearing: 276.145056 deg, approach rate: 0.100355 m/s, LOS rate: -0.334403 deg/s, cmd heading: 10.146756 deg, new cmd heading: 9.756193 deg. 2j}e}HeadingCmd: 0.170278 target range: 138.899994 and range: 138.90 m. jG].>jjjihhhhgBfffrfbf@?ɛr > s!@I ɚiI|=I5G].>i5~q*)9*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G{=GGpAG B O >zK= MK= 9K9 K= K= J= J= J9 J9 J= ;J= bl:J9 J9 w,c軿AFL_;YFIh>Fl9Fݪ=yFH,?g̿oH&?H?`(@(?/T??ɨFL_;F:h;D TIXyu߉Bu)III<٢ G=9U G٣NGyn > Nusing accuracyPremultiplier from configd59b]?d5Y[ i2\A>@QE ; ;]d5B ׊@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 138.90 m.Bj澻Jj澻  ProNav: ac range: 138.899994 m, nav range: 102.167122 m, bearing: 276.008024 deg, approach rate: 0.099281 m/s, LOS rate: -0.333797 deg/s, cmd heading: 9.756194 deg, new cmd heading: 9.345269 deg. 2j eHeadingCmd: 0.163106 target range: 138.899994 and range: 138.90 m. j/'>jjjihhhhf!f!f!rf!bf% E?ɛBKj> @I HɚiI6y=I/'>ii5}=)/'>)ErAEpAjH%<bH%<H5>I5C I1I1I1&I1.I16I5-<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFGqA GpAGap=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203775w,A:{:Y:b>: s9:=y:H6?@0̿m?\\ ^G٣\ybPe b> fNusing accuracyPremultiplier from configdjd59f#u]?jd5Yf idhj6>n@f QEfj:fj;fd5p prEZjFNOT Ignoring new targets: 138.90 m.BjOJjO ProNav: ac range: 138.899994 m, nav range: 102.203682 m, bearing: 275.882805 deg, approach rate: 0.093617 m/s, LOS rate: -0.320527 deg/s, cmd heading: 9.345269 deg, new cmd heading: 8.969750 deg. 2j[HeadingCmd: 0.156552 target range: 138.899994 and range: 138.90 m. jO >jjjihhhhfffrfbf~@ɛim2 > im@Iq 8ɚiI6s=IO >i.,) $?I*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Y?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456304G{=G B O >w,A2@Y2@[>292-ʥ=y2H`C?ZE˿"? C?@u(?`_=?>??ɨ2@2X;2Cy>ωBR)I5Mb@Mb@Mb@111 1)1Y5Q?~jt?~jty5?5<5D5@ 1)5t@I5@1y5@IMIM(٢] ]@=9eSaa eG٣aym m> uNusing accuracyPremultiplier from configqd59us]?d5Yu iu*\A?:>@uQEurB;uA;u\d5 ݋@ZjFNOT Ignoring new targets: 138.90 m.BjJj ProNav: ac range: 138.899994 m, nav range: 102.242332 m, bearing: 275.744801 deg, approach rate: 0.094057 m/s, LOS rate: -0.335707 deg/s, cmd heading: 8.969750 deg, new cmd heading: 8.555904 deg. 2jdfHeadingCmd: 0.149329 target range: 138.899994 and range: 138.90 m. j>jjjihhhh6Bfffrfbf@n @UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707727ɛ > @I SɚiIt=I>iiW=)>)*F?2F:FBFB5JFzKMBoIKMs9KIKMKM $?IGŠ}=H >I C I *II EBI &I .I 6I h<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959700 w,6A @F@YF R>F9F;=yFHR?a%ʿ? N.?@B9?`/s?`}+?q?ɨF@Ft;DynƉBrv)IttxzAAIzIz٢: O=9 D    G٣ NGyJ > Nusing accuracyPremultiplier from config%d59H]?%d5Y i\A)-q~>-@QE@::d55B 5z@=EZjaeFNOT Ignoring new targets: 138.90 m.BjmJjm} ProNav: ac range: 138.899994 m, nav range: 102.276642 m, bearing: 275.617047 deg, approach rate: 0.087255 m/s, LOS rate: -0.324791 deg/s, cmd heading: 8.555904 deg, new cmd heading: 8.172777 deg. 2j}^HeadingCmd: 0.142642 target range: 138.899994 and range: 138.90 m. j>jjjihhhhfffrfbf`2 @ɛ߄Bn> @I 'ɚiIQ=I>ii y=)>)*Fm?2Fi:FiBFuP0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:47.7466 TRx dataTimestamp_ set to:1736376049.032328checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216549GQG BO5>J J J J J ;J e:J J J F6-=996O=y6HX_?&%ɿ@_?9?G?{:? :?ɨ6sY@6h;6CyBBBm)InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.467970Mb@Mb@Mb@ )Y&1?I +~jty?9@ )^@It@y @I5I5٢M MF=9UI G٣yЎ > %Nusing accuracyPremultiplier from config!-d59%ް]?-d5Y% i%[A-?5:5#&>5@%QE%-;%;%"d5A E@EEZjimFNOT Ignoring new targets: 138.90 m.Bj}Jj} ProNav: ac range: 138.899994 m, nav range: 102.292816 m, bearing: 275.478693 deg, approach rate: 0.036990 m/s, LOS rate: -0.316366 deg/s, cmd heading: 8.172777 deg, new cmd heading: 7.757786 deg. 2jYHeadingCmd: 0.135399 target range: 138.899994 and range: 138.90 m. j >jjjihhhhBfffrfbf~ @ɛ)7 > @I ɚiID=I >i-) *F}?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:40:47.7466 LVL= 27968, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.22, 1.156,-0.276, 0.639, 0.692, PHS= 0.553,-0.921,-0.056, RAW= 125.7, 6.7, CAL= 133.4, 1.6, ROT= 16.6, -1.6 Ygot valid direction response: 22:40:47.7466 LVL= 27968, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.22, 1.156,-0.276, 0.639, 0.692, PHS= 0.553,-0.921,-0.056, RAW= 125.7, 6.7, CAL= 133.4, 1.6, ROT= 16.6, -1.6 PDAT read: Bearing 16.6, -1.6 (Local) ~Local bearing/azimuth received: Bearing 16.6, -1.6 (Local) DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.1 m/s ,DAT read: user:2782> BDAT read: Tx time:22:40:48.8601 $Ping request sent.iڕڑڑە ?#{^?;g?)ە=IەR9iەە{ۑۑ :publishing transmit ping time% Fpublishing direction and range infoؑ9ؕ2(пP߿[m?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە ?#{^?;g?)ۑIۑiۑۑۑۑG vpx=G B O >zK BoHK 9K K K  & !"RK ?JK ?rw,^KjA "$?I r/@Yr@A>rs;9r:=yrH@[m?ǿݓ??V?鲿@(uq?@?ɨr/@r'^;py=BE])III ٢ D=9/9 G٣y > Nusing accuracyPremultiplier from config d59]? d5Y i[A>@QE;;&d5B ׍@EkvW?k#/W! k k8NbA:kCBkCZkt@"},Y2AvP7vy\@2(пP߿[m?JkRk{*28z@TJB 5&[@/lwI I)II&BI2 =&I.I6I1<:I F  addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.781102 s, deltaX: -2.099991 m, approachRate: -0.555391 m/s, rangeRepo size: 4  Added new target pos. range: 136.800003 m, bearing: 256.856012 deg, lat: 36.903523 deg, lon: -122.121082 deg, deltaT: 3.781102 s, deltaX: -2.099991 m, approachRate: -0.555391 m/s, posRepo size: 4 ZjEFNOT Ignoring new targets: 136.80 m.BjEJjIU ProNav: ac range: 136.800003 m, nav range: 99.397659 m, bearing: 271.125133 deg, approach rate: 0.000000 m/s, LOS rate: -0.316366 deg/s, cmd heading: 7.757786 deg, new cmd heading: 7.366209 deg. 2jY]HeadingCmd: 0.128565 target range: 136.800003 and range: 136.80 m. j]p>jjjihhhhfffrfa@bf`?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:48.8593 ɛ5ބB5> 9=p@I ڼɚiI?=Ip>i/)*F?2F:FBFJFG x=G rAG rAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O > w,A2@Y2):>22<92 =y2Hx?ƿ@T?1$?b? Ƚ4ׂy|??ɨ2@2;2CyBBBM)IININ?٢fΊ fZ=9f3hh jG٣jNGyn > %Nusing accuracyPremultiplier from config!-d59%s]?-d5Y% i%[A15>5@%QE%:%:%d)d5]B ]@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.80 m.Bj(Jj( ProNav: ac range: 136.800003 m, nav range: 99.424812 m, bearing: 271.002628 deg, approach rate: 0.073330 m/s, LOS rate: -0.330747 deg/s, cmd heading: 7.366209 deg, new cmd heading: 6.998800 deg. 2j b HeadingCmd: 0.122152 target range: 136.800003 and range: 136.80 m. j *=jj1j1i1h1h9h9h9f9fAfArfAbfE@r@?ɛ '> 隽@I *ͼɚiÌ=I*=ii>o=)*=)JJJ1JJk:JwR:J3JJ$8<J%8<JϦ;JϦ;E E$?IA*F?2F:FBF_0JFGrA GrAG q=GBOf>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode."'w,|A6@Y6@(2>6FX<96=y6H?ſ|?'?xp? @@? ?ɨ6@6ԉ;6CyNBRF)I5Mb@Mb@Mb@111 1)1Y5(\?~jtZd;Oy5?5D5j5@ 5@)5t@I5^@1y5f@UPBattery below minimum, enabling chargingip?ImIm0٢3ּ ==9 G٣y > Nusing accuracyPremultiplier from configd59e]?d5YH io[A?:=@ QEa';&;-d5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003311ZjFNOT Ignoring new targets: 136.80 m.BjJj ProNav: ac range: 136.800003 m, nav range: 99.442513 m, bearing: 270.866046 deg, approach rate: 0.040267 m/s, LOS rate: -0.310662 deg/s, cmd heading: 6.998800 deg, new cmd heading: 6.589134 deg. 2j4U5HeadingCmd: 0.115002 target range: 136.800003 and range: 136.80 m. j57=j1j9j9i9h9hAhAhMBfifqfqrfqbf}ӷ?ɛ݄BQ> IMF@II UzɚQiQIU=I]7=ie1IC I)IIBI&I.I6I,<:I FBIușCJIușCRIqZIu3 =bIu3 =jIu5M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255886Ga Ge ?Ge ?G9 BI O >K-w,ŷA6f@Y6,>6H<96}=y6H ?>DſƝ?{?v?E-2o*??ɨ6f@6;6CyBBB8)IiiININʳ٢ru rX=9rtt vG٣tyzh z> ~Nusing accuracyPremultiplier from config|d59~]?d5Y~  i~8[A  \= @~$QE~:~L:~f0d5 я@EZj9=FNOT Ignoring new targets: 136.80 m.BjMJjM] ProNav: ac range: 136.800003 m, nav range: 99.457436 m, bearing: 270.746108 deg, approach rate: 0.042141 m/s, LOS rate: -0.338641 deg/s, cmd heading: 6.589134 deg, new cmd heading: 6.229380 deg. 2j]hhuHeadingCmd: 0.108723 target range: 136.800003 and range: 136.80 m. juC=jqjjihhhhfffrfbf`>?ɛ܄B +#> @I ɚiIKB~=I-C=i1i5q=)5C=)*Fi2Fi:FiBFm1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507034GQJ J  I J 0J J ;J _:J ـ3J J >@<J >@<J t;J t;G) B9 OU >74w,ѼA2@Y2#>2<92oǛ=y2H@?|Ŀd?`%]?[?dUr?n?ɨ2@2;2Cy>BB0)I~Will construct direction to contact in vehicle frame from tetrahedron phase data.~4?~d?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759280%Mb@Mb@Mb@!!! !)!Y% rh?I +{Gzy% ?%9%ף! %ן@)!I%1@!y%@I=I=٢M MC=9MA7 G٣NGy) > Nusing accuracyPremultiplier from config d59q^? d5Y  iZA5n?5:5z;5@(QE;;<4d59 =7@9ZjFNOT Ignoring new targets: 136.80 m.Bj{Jj{ ProNav: ac range: 136.800003 m, nav range: 99.455490 m, bearing: 270.605806 deg, approach rate: -0.004352 m/s, LOS rate: -0.313829 deg/s, cmd heading: 6.229380 deg, new cmd heading: 5.808474 deg. 2j`WHeadingCmd: 0.101377 target range: 136.800003 and range: 136.80 m. j=jjjihhhhՃBfffrfbf*f?ɛmۄBuT > qu?@Iq uRɚqiyI}|=I}=iO3  $?I zK5 k3IK5 9K1 K5 K5 RKE ?JKE >^:w,E뼿AJ@YJ`>J)<9J=yJHi?@¿=?>M?`_? T1b$m?|?ɨJ@Jzn;JCyRBV")II^I^٢fk fS=9fCUhh jG٣hyns n> rNusing accuracyPremultiplier from configpvd59r ^?vd5Yr  irZAtz?z@r+QErQ:r:rp7d5~B ~@~EZj!%FNOT Ignoring new targets: 136.80 m.Bj-Jj-= ProNav: ac range: 136.800003 m, nav range: 99.452614 m, bearing: 270.488643 deg, approach rate: -0.008028 m/s, LOS rate: -0.327021 deg/s, cmd heading: 5.808474 deg, new cmd heading: 5.456979 deg. 2j=n`EHeadingCmd: 0.095242 target range: 136.800003 and range: 136.80 m. jE^=jAjIjIiIhIhIhQhQfQfQfYrfYbf]B@ɛڄB!> 隕@I ,ɚiI{=I^=iiNc=)^=)jHQbHQHaIa Ie)IIeBIa&Ia.Ia6IeI<:Ie F*FU?2FQ:FQBFUS3JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264173) NG%vA1 YvAy!BG5nm=G=qAG9GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515638FAw,mYA6Y@Y6>>6Y/=96tۜ=y6H?` c?5? ?u@?? ?ɨ6Y@6I;6CyBBB%)IIJIJ٢j=< jJ=9jAll nG٣lyr v> zNusing accuracyPremultiplier from configxzd59z3^?~d5Yz  izmZA|~%Y@z/QEz;z;z:d5  ڐ@ ݸEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.80 m.BjJj ProNav: ac range: 136.800003 m, nav range: 99.447968 m, bearing: 270.359066 deg, approach rate: -0.011007 m/s, LOS rate: -0.306984 deg/s, cmd heading: 5.456979 deg, new cmd heading: 5.068236 deg. 2j RUHeadingCmd: 0.088457 target range: 136.800003 and range: 136.80 m. jU')=jQjQjQiYhYhYhYhYfafafarfabfm@ $?IJJJJJ:JwR:JJJ1<<J1<<JϦ;JϦ;ɛلB > I=隵d@I "|ɚiIH~y=I')=i4oGw,1AyryBr)Iiv4>Iv;}Mb@Mb@Mb@yyy y)yY}ʡE?y&1~jty}?}`役}y }@)}@Iyyy} @II(٢cA >=9Q > G٣NGy > Nusing accuracyPremultiplier from configd59$H^?d5Y8 iZA?:3S@2QEI8;4;>d5 @uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:40:51.4441 TRx dataTimestamp_ set to:1736376052.568599checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019991ZjFNOT Ignoring new targets: 136.80 m.BjWJjW ProNav: ac range: 136.800003 m, nav range: 99.434120 m, bearing: 270.218231 deg, approach rate: -0.031344 m/s, LOS rate: -0.318831 deg/s, cmd heading: 5.068236 deg, new cmd heading: 4.645680 deg. 2jZHeadingCmd: 0.081082 target range: 136.800003 and range: 136.80 m. j=jjjihhhhЃBfffrfbfӢ@ɛeׄBe@> imA@Ii u[ɚqiqIuw=I=io6- R=- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271154G '\=G B O > Mw, 9A6@Y6=6'=96V=y6H`#?@?Sֿ??G"@? ?ɨ6@6;6Cy>B> )IIJIJF٢R'= R\=9V̨XX ZG٣XyZXF ^> bNusing accuracyPremultiplier from config`fd59bZ^?fd5Yb ibYAdfώf@b6QEbj:b:bAd5nB n @nڸEZjFNOT Ignoring new targets: 136.80 m.Bj (˻Jj (˻ ProNav: ac range: 136.800003 m, nav range: 99.418724 m, bearing: 270.096066 deg, approach rate: -0.044762 m/s, LOS rate: -0.355230 deg/s, cmd heading: 4.645680 deg, new cmd heading: 4.279133 deg. 2js%HeadingCmd: 0.074685 target range: 136.800003 and range: 136.80 m. j%n=j)j)j)i1h1h1h1h1f9f9f9rfAbfEI+ @ɛ քB ٖ,>  5@I  4BɚiI^v=In=iirK=)n=)!*F2F:FBF_0JFGCf=GaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523103O:> u$?IyJ J J J J :J J J J =<J =<J J ՆTw,~RANN@YN=N-=9N=yNH_?@?g? ?`M.@l???ɨNN@Nh;LyV~BV)IjWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:40:51.4441 LVL= 25792, 32753, 32434, 32755, AGC= 66, IDX= 414, 0.48,-1.716, 3.119,-2.380,-2.228, PHS= 0.600,-0.888,-0.155, RAW= 119.5, 6.9, CAL= 128.7, 2.9, ROT= 21.3, -2.9 =Ygot valid direction response: 22:40:51.4441 LVL= 25792, 32753, 32434, 32755, AGC= 66, IDX= 414, 0.48,-1.716, 3.119,-2.380,-2.228, PHS= 0.600,-0.888,-0.155, RAW= 119.5, 6.9, CAL= 128.7, 2.9, ROT= 21.3, -2.9 EPDAT read: Bearing 21.3, -2.9 (Local) E~Local bearing/azimuth received: Bearing 21.3, -2.9 (Local) UDAT read: Range 10 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.2 m/s U,DAT read: user:2783> ]BDAT read: Tx time:22:40:52.5601 ]$Ping request sent.]in4QOllnդ?wzoZM) {?)n Inin3 nNJllE:publishing transmit ping timeYEFpublishing direction and range infol9nH,пϺ.ٿXX:I?yllll l)lIlilllll l)lIlilllnդ?wzoZM) {?)lIlillllMb@Mb@Mb@ )YK7A`?Zd;:vy ?T@ )@I@yIEIEF2٢U U%=9];Q ]>Ya G٣yӚ > Nusing accuracyPremultiplier from configd59q^?d5Ya itYA?:Խ@:QE;^;gFd5 B I@׸Ekn?LW?kn@ kl knTA:knCBknCZknh@"n;A]>aJ"]@nH,пϺ.ٿXX:I?Jkn3 RknNJ*nXc56֜,;P[$]@n{'.ĿW0M!޿a?T?"knف*knӮknT@W?kn&ֽ 2kn8Ckn"A\?kn/" klknBkn@] addTargetRange:: Added new target pos. range: 134.800003 m, deltaT: 3.787872 s, deltaX: -2.000000 m, approachRate: -0.528001 m/s, rangeRepo size: 4 m Added new target pos. range: 134.800003 m, bearing: 251.397190 deg, lat: 36.903464 deg, lon: -122.121046 deg, deltaT: 3.787872 s, deltaX: -2.000000 m, approachRate: -0.528001 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 134.80 m.BjJj ProNav: ac range: 134.800003 m, nav range: 96.444321 m, bearing: 266.045801 deg, approach rate: 0.000000 m/s, LOS rate: -0.355230 deg/s, cmd heading: 4.279133 deg, new cmd heading: 3.714226 deg. 2j HeadingCmd: 0.064825 target range: 134.800003 and range: 134.80 m. j 9Ä=j jjQiQhQhQhYh]ՃBfYfYfYrfe`@bfep 3@I  ɚiIvt=I9Ä=iiR=)9Ä=)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:52.5593 E F< a Ia zKM BoHKM 9KI KM KM *F ?2F :F BF E5JF "G =G p=ZHIRHIHYI]C I]o)II]BIY&IY.IY6I]x<:I]- F=Will construct direction to contact in vehicle frame from tetrahedron phase data.G}{=GIBYOu?A]w,FwAn*@Yn@=nA=9n]9=ynH?B"`q?A??a<nY??ɨn*@n};nCyz}Bz)I)| |||II@ ٢} $=9#!! %G٣%NGy%b -> 5Nusing accuracyPremultiplier from config)=d59- ^?=d5Y-: i-YA9==@-?QE-:-:-Jd5MB MO@MڸEZjy}FNOT Ignoring new targets: 134.80 m.BjŻJjŻ ProNav: ac range: 134.800003 m, nav range: 96.430984 m, bearing: 265.885971 deg, approach rate: -0.028873 m/s, LOS rate: -0.346079 deg/s, cmd heading: 3.714227 deg, new cmd heading: 3.234682 deg. 2jmHeadingCmd: 0.056456 target range: 134.800003 and range: 134.80 m. j>>g=jjjihhhhfffrfbf /?ɛӄB> <@I ɚiI_s=I>>g=ii+6=)>>g=)E =*Fi2Fq:FqBFuS0JFqG=ck=GBOL>}Will construct direction to contact in vehicle frame from tetrahedron phase data. - $?I) 'dw,rnAWill construct direction to contact in vehicle frame from tetrahedron phase data.@Y=M=9f=yH@ ? e?-??`!`޵??ɨ@EΊ;yB )IMb@Mb@Mb@ )YʡE?X9vy&1|y?` ן@)Ϋ@I1@y\@II۳٢%t< %.=9-;Q ->)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9Md59=^?Md5Y= i=XAM?U:UqU@=CQE=8;=7;=Nd5Y ]@]׸E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 134.80 m.BjJj ProNav: ac range: 134.800003 m, nav range: 96.419182 m, bearing: 265.726124 deg, approach rate: -0.025029 m/s, LOS rate: -0.339016 deg/s, cmd heading: 3.234682 deg, new cmd heading: 2.755095 deg. 2jhHeadingCmd: 0.048085 target range: 134.800003 and range: 134.80 m. jGD=jjjihhhh݃Bfffrfbf!?ɛфB&> @I ɚiI!r=IGD=i"8Ӫ@_??ɨ6Վ@6Ћ;4y^B^6)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503422I%I%٢5W= =-=9=};Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configI]d59M0^?]d5YM iMaXAY]]@MGQEM:M\:MRd5mB m@mԸEZjFNOT Ignoring new targets: 134.80 m.BjNJjN ProNav: ac range: 134.800003 m, nav range: 96.405121 m, bearing: 265.565635 deg, approach rate: -0.029609 m/s, LOS rate: -0.338004 deg/s, cmd heading: 2.755095 deg, new cmd heading: 2.273569 deg. 2jgHeadingCmd: 0.039681 target range: 134.800003 and range: 134.80 m. jՈ"=jjjihhhhfffrfbfH?ɛτBv> P@I  <ɚiIp=I%Ո"=i!i%%0=)%Ո"=))E1E1*E1"E1*F2F:FBF@4JFGe9=Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756147GA BQ Ou > I :sw,vͽA:=@Y:^=:Gb=9:=y:Hw?ֲZ??[?`гKE@Ѵ?R?ɨ:=@:S;8yRBRD)IiV=IVN>IZIZb2٢bn= fR=9fW;Q f>hh jG٣jNGyjGм n> rNusing accuracyPremultiplier from configpvd59r^?vd5Yr irXAtvR v@rKQEr<:r:rKVd5x ~[@|ZjIMFNOT Ignoring new targets: 134.80 m.BjU JjU e ProNav: ac range: 134.800003 m, nav range: 96.391907 m, bearing: 265.433735 deg, approach rate: -0.033812 m/s, LOS rate: -0.337554 deg/s, cmd heading: 2.273570 deg, new cmd heading: 1.877820 deg. 2jegmHeadingCmd: 0.032774 target range: 134.800003 and range: 134.80 m. jm/>=jijijiiqhqhqhh!f!f)f9rfAbfMOe?ɛ̈́BN"> @I BɚiIn=I/>=iC9=)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007443*F2F:FBFY0JFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259284>dyw,d罿Af;@Yfk~=f/l=9f=yfH?@lW?@?? cǁ N??ɨf;@fC ;fCyrBvB)I $?IMb@Mb@Mb@ )YCl?RQ~jtxy?½ĻV@ @)@IG@y@I-I-٢= =5=9El;Q E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQed59UC^?ed5YUz iUWAe?e:eֽe@UOQEU ;U;U=Zd5uB u@}ѸEJJJ1JJ:JdP:J3JZjFNOT Ignoring new targets: 134.80 m.BjJj ProNav: ac range: 134.800003 m, nav range: 96.385880 m, bearing: 265.281159 deg, approach rate: -0.013376 m/s, LOS rate: -0.338614 deg/s, cmd heading: 1.877820 deg, new cmd heading: 1.420076 deg. 2jchHeadingCmd: 0.024785 target range: 134.800003 and range: 134.80 m. j <jjjihhhh!Bfffrfbf@@ɛ%˄B%,.> !%@I! -j:ɚ)i)I-m=I5 jHbHHI Iu)IIƉBI1 =&I.I6I9<:I FBIJIRIZI2 =bI2 =jI4*F?2F:FBF_0JFGs*=GBOe>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513516Nw,0JA @6@Y6b=64q=96=y6H5?Rߩ$? [F?^?5(4 ??ɨ6@6;6CyrBvP)II~I~2٢ .~=  `=9 t;Q  > G٣y > %Nusing accuracyPremultiplier from config!-d59%^?-d5Y% i%{WA)-㽑5@%RQE%:%:%n]d59 =Ȏ@9ZjiuFNOT Ignoring new targets: 134.80 m.Bju»Jj}» ProNav: ac range: 134.800003 m, nav range: 96.380104 m, bearing: 265.157930 deg, approach rate: -0.015944 m/s, LOS rate: -0.340223 deg/s, cmd heading: 1.420076 deg, new cmd heading: 1.050370 deg. 2j~iHeadingCmd: 0.018332 target range: 134.800003 and range: 134.80 m. j-<jjjihhhhfffrfbf-@ɛʄBm:> @I [?;ɚiIl=I-U Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:40:55.1416 u TRx dataTimestamp_ set to:1736376056.360860 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022731uw,*A>@Y>N=>x=9>sp=y>H@y? yO}?ɩ?`"?Y@>`0??ɨ>@> ;>CyRBRQ)I)T T=Mb@Mb@Mb@999 9)9Y=i|?5?MbX9~jthy=?=ʡ=D9 =@)=?@I99y=@IUIU٢e*w; eE=9e;Q m>ii mG٣mNGyuq@ u> }Nusing accuracyPremultiplier from configyd59}_?d5Y} i}1WA?:=@}VQE}#;}^;} ad5 Ď@θEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 134.80 m.Bj»Jj»e ProNav: ac range: 134.800003 m, nav range: 96.379799 m, bearing: 265.016725 deg, approach rate: -0.000735 m/s, LOS rate: -0.340278 deg/s, cmd heading: 1.050370 deg, new cmd heading: 0.626762 deg. 2jeimHeadingCmd: 0.010939 target range: 134.800003 and range: 134.80 m. jm93<jijijiiihihihh7Bfffrfbfyz @ɛDŽBX+>  @I &;ɚiIj=I93H I C I )II ՉBI 2 =&I .I 6I ~<:I 1 Fw,!5Ajs@Yj9=j '}=9jt=yjH@?ɖP?}+??`y쳿`??ɨjs@jР;jCvWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:40:55.1416 LVL= 21600, 32753, 30482, 32755, AGC= 65, IDX= 420, 0.19,-1.573, 3.116,-2.433,-2.195, PHS= 0.709,-0.925,-0.241, RAW= 114.6, 6.5, CAL= 124.5, 3.1, ROT= 25.5, -3.1 Ygot valid direction response: 22:40:55.1416 LVL= 21600, 32753, 30482, 32755, AGC= 65, IDX= 420, 0.19,-1.573, 3.116,-2.433,-2.195, PHS= 0.709,-0.925,-0.241, RAW= 114.6, 6.5, CAL= 124.5, 3.1, ROT= 25.5, -3.1 }G) eHYaye+ByrBm^)I}PDAT read: Bearing 25.5, -3.1 (Local) ~Local bearing/azimuth received: Bearing 25.5, -3.1 (Local) DAT read: Range 10 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.4 m/s ,DAT read: user:2784> BDAT read: Tx time:22:40:56.2602 $Ping request sent.ivk]I} ttv)bxܧ?Vx4Fͷm5z]?)v쿽IvivovL!ttE:publishing transmit ping timeؙEFpublishing direction and range infot9vn)ɛο Կjf?ytttt t)tItittttt t)tItitI}2ttv)bxܧ?Vx4Fͷm5z]?)tItitttt٢,= *=90;Q > G٣y, > Nusing accuracyPremultiplier from configd59_?d5YM iVA@[QE::Ked5B '@˸EkvW?kv>yo kt kv 7A:kvCBkvCZkv@"vTP#<-?lwD{^@vn)ɛο Կjf?JkvoRkvL!*v 763M7Q1JV^@v}s:fſ.:ٿ "?"kvQ*kvkv8̕W?kv-iy 2kv QU@IQ ]!;ɚYiYI]?h=Ie:iaie>>=)e:)iEq*F2F:FBF0JFG rA G qAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:56.2594 Q IQ G 1=G B O >w,hPA%X@Y%J,=%7=9%l=y%Hw?Q?@|??<$a??ɨ%X@%;!yEBMb)III<٢]< ]U=9[;Q > G٣y1 >]Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configd59-_?d5Y iVA`ý@^QEL: :hd5 @ZjeFNOT Ignoring new targets: 132.90 m.BjeJjmờu ProNav: ac range: 132.899994 m, nav range: 83.839340 m, bearing: 254.464801 deg, approach rate: 0.101827 m/s, LOS rate: -0.394955 deg/s, cmd heading: 0.111844 deg, new cmd heading: 359.632107 deg. 2j}HeadingCmd: 6.276764 target range: 132.899994 and range: 132.90 m. jA@jjjihhhhfffrfbf?ɛ%ÄB%Y<> -S<-m@I) -b<ɚ)i)I-Rg=I5gһi1i5/P=)5A@)Y*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G )==G B O5 >w,jA 2$?I4rK/@Yrs=r=9r=yrHH?̰?@??pB?~?ɨrK/@r;pyBi)Ii-=I-=Mb@Mb@Mb@ )Y/$?Mb`y&?L@ 1@)V@Iyz@I5I5̍٢M<JJJJJK:JHM:JJ M=9UQ > G٣NGyP > Nusing accuracyPremultiplier from configd59?_?d5Y/ iJVA?:3O@bQEC&;$;:ld5 @ȸEZjiuFNOT Ignoring new targets: 132.90 m.BjuػJjuػzK KK9KKKL;,_{'RK ?JK> ProNav: ac range: 132.899994 m, nav range: 83.886635 m, bearing: 254.321522 deg, approach rate: 0.125213 m/s, LOS rate: -0.379121 deg/s, cmd heading: 359.632109 deg, new cmd heading: 359.202521 deg. 2jH>I I)IIBI3 =&I.I6I<:IR FEHeadingCmd: 6.269267 target range: 132.899994 and range: 132.90 m. jE՝@jAjAjIiIhIhIhQhUjBfQfQfQrfYbf]?ɛB;B> _@I ,;<ɚ i I e=I diiǦV=)՝@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF35JFG P= ] nManaging dock network, ignoring radio surface power offG B O >w,-̓AF=@YFl =F-x=9F4=yFH`?%?؃??6̲S `Q?{?ɨF=@F6V;DyRBRk)II^I^㔳٢f5< fg=9fʷQ f?hh jG٣hyn n? rNusing accuracyPremultiplier from configpvd59r P_?vd5Yrt irVAtzZz@reQEra:r :r-od5~B ~@~ŸEZj)5FNOT Ignoring new targets: 132.90 m.Bj=ݻJj=ݻM ProNav: ac range: 132.899994 m, nav range: 83.928696 m, bearing: 254.193913 deg, approach rate: 0.127733 m/s, LOS rate: -0.387333 deg/s, cmd heading: 359.202517 deg, new cmd heading: 358.819890 deg. 2jM鄼UHeadingCmd: 6.262589 target range: 132.899994 and range: 132.90 m. jU g@jQjQjQiQhYhYhYhafafafarfabfm@?ɛB/[> 隕@I lT<ɚiI0;d=I-iike=) g@Will construct direction to contact in vehicle frame from tetrahedron phase data.)1 e$?Ia*F?2F:FBFW0JFGU=G  ?G !?GBI  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >w,A2@Y22=2B=92ˆ=y2H?&뛿[?^}?`?㯿`!??ɨ2@2;2CyBBBi)IMb@Mb@Mb@ )Y> ףp=?Q롿~jth?y?\D; )?@I^@yI5I5٢E  EB=9MaQ M>II MG٣IyUo U> ]Nusing accuracyPremultiplier from configYed59]:d_?ed5Y] i]UAm2?m:mm@]iQE]:]\:]rd5 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 132.90 m.BjMͻJjMͻ} ProNav: ac range: 132.899994 m, nav range: 83.987495 m, bearing: 254.035346 deg, approach rate: 0.133657 m/s, LOS rate: -0.360185 deg/s, cmd heading: 358.819890 deg, new cmd heading: 358.344533 deg. 2j}1wHeadingCmd: 6.254292 target range: 132.899994 and range: 132.90 m. j)#@jjjihhhhfffrfbf ?ɛmBm%6> qu@Iq u6 z<ɚqiqI}{b=I}ϱiiy=))#@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IIIE+=*F% ?2F) :F) BF- 3JF) H I  I )II BI 1 =&I .I 6I 2<:I FzK rNK +9K K K "Gix|lT1a:d{ria\VTR Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962349G }xd=GiBqO>]w,|BA2@Y2=2 ف=92<=y2Hn?TѰ?$2?$?GX8´??ɨ2@2;2CyBBBa)I)L LIbIb0٢ziۼ ~/=9;Q > G٣NGyퟺ > %Nusing accuracyPremultiplier from config!5d59%z_?5d5Y% i%UA9==@%mQE%LZ;%Z;%vd5EB E@E¸EZjFNOT Ignoring new targets: 132.90 m.BjػJjػ% ProNav: ac range: 132.899994 m, nav range: 84.053780 m, bearing: 253.858466 deg, approach rate: 0.142114 m/s, LOS rate: -0.378933 deg/s, cmd heading: 358.344536 deg, new cmd heading: 357.814329 deg. 2j%5HeadingCmd: 6.245038 target range: 132.899994 and range: 132.90 m. j5Z@j1j1j1i1h9h9h9h9fffrfbf&P@ɛB?4> 隕@I V<ɚiI˯`=I8@iig=)Z@)Euh<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215197*F ?2F :F BF U0JF $?IGqv=GBO >JJJJJJQN:JJJq599 =G٣9yE E> MNusing accuracyPremultiplier from configIUd59M9_?Ud5YM iMDUAU%?U:UA<]@MqQEM;M:M{d5a ez@eEZjFNOT Ignoring new targets: 132.90 m.BjػJjػ ProNav: ac range: 132.899994 m, nav range: 84.132309 m, bearing: 253.685052 deg, approach rate: 0.171951 m/s, LOS rate: -0.379357 deg/s, cmd heading: 357.814322 deg, new cmd heading: 357.294583 deg. 2j,HeadingCmd: 6.235967 target range: 132.899994 and range: 132.90 m. j @jjji9h9h9hAhE|BfAfAfIrfIbfM@ɛB>> 隽-@I â<ɚiI^=IhAii絚=) @)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717267 I *F ?2F :F BF P0JF jH <bH H >I  I )II BI 2 =&I .I 6I C<:I  FzKTOKKKKIGR]jqb^YPGHSRNIC=:5.+)%" Gvpx=GpAGqAGBO?Qw,AN@YN<N=9Nᔧ=yNH0?`@q?k? ?@?@Z?ɨN@N)ӈ;NCy^BbQ)IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970556IzIz 2٢~m  9=9    G٣ y > Nusing accuracyPremultiplier from config%d59_?%d5Y iTA!-i;-@uQEu ; ;~d51 5@1ZjY]FNOT Ignoring new targets: 132.90 m.BjsѻJjsѻ ProNav: ac range: 132.899994 m, nav range: 84.203125 m, bearing: 253.523349 deg, approach rate: 0.160521 m/s, LOS rate: -0.366229 deg/s, cmd heading: 357.294572 deg, new cmd heading: 356.809881 deg. 2jW{%HeadingCmd: 6.227507 target range: 132.899994 and range: 132.90 m. j%G@j!j!j)i)h)h)h)h1f1f1f1rf1bf= ^@ɛB=a;> 9=@I9 E<ɚAiIIM (]=IUdiyi}6 =)}G@)*Fu?2Fq:FqBFuX0JFqGEb=G BO5q>}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:40:58.8396 TRx dataTimestamp_ set to:1736376060.136595checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222317 } $?Iy J J J J J +:J 5K:J J J 2<J 2<J ;J ;w,A6yj@Y6*T<6t=96=y6H?Y~?u?[?`\-M??ɨ6yj@6S;6CyRBRB)IiVV>IV%=IZIZ1٢bto fO=9fv;Q f>hh jG٣jNGyj n> rNusing accuracyPremultiplier from configpvd59rø_?vd5Yr irTAtvy3v@ryQErQ:r:red5zB ~@EZjFNOT Ignoring new targets: 132.90 m.BjȻJjȻ ProNav: ac range: 132.899994 m, nav range: 84.265587 m, bearing: 253.378908 deg, approach rate: 0.151733 m/s, LOS rate: -0.350617 deg/s, cmd heading: 356.809875 deg, new cmd heading: 356.376881 deg. 2jpHeadingCmd: 6.219950 target range: 132.899994 and range: 132.90 m. j @jjjihhhhf!f)f)rf)bf- @ɛBTJ> u@I s<ɚiIUz[=I%iQi]r=)] @)qWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475883*F?2F:FBF_0JFG :=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:40:58.8396 LVL= 20448, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.943, 1.684, 2.460, 2.737, PHS= 0.691,-1.006,-0.281, RAW= 115.2, 8.1, CAL= 124.6, 4.8, ROT= 25.4, -4.8  Ygot valid direction response: 22:40:58.8396 LVL= 20448, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.943, 1.684, 2.460, 2.737, PHS= 0.691,-1.006,-0.281, RAW= 115.2, 8.1, CAL= 124.6, 4.8, ROT= 25.4, -4.8  PDAT read: Bearing 25.4, -4.8 (Local)  ~Local bearing/azimuth received: Bearing 25.4, -4.8 (Local)  DAT read: Range 10 to 50 : 131.4 m (Round-trip 175.2 ms) speed 0.4 m/s  ,DAT read: user:2785> % BDAT read: Tx time:22:40:59.9602 % $Ping request sent.% - @)=I>i7w@)?@8V?)InRiúE:publishing transmit ping timeQEFpublishing direction and range info9ȋ7`ѿ2:%=*kԿLNm?y )Ii )Ii7w@)?@8V?)Iiy-B-;)IHI I)IIډBI&I.I6IQ<:I FBIØCJIØCRIZIbIjI4Mb@Mb@Mb@ )zKzMK9KKKBK:KY/$?~jthy&?D@ ^@)@IyIIb2٢ E=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYd59]_?d5Y] i]]TA'?:'[<@]~QE];];]4d5 '@EkyV?k4` k k(A:kfCBk}CZkX@"IKA{Dp]@ȋ7`ѿ2:%=*kԿLNm?JkRkú*qP;~+XI=/l]@ kʿ42ٿk?"kN*kkzV?kt)i 2k~:CkkW?k&ֽ k8CkŠBk@M addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.779837 s, deltaX: -1.500000 m, approachRate: -0.396843 m/s, rangeRepo size: 4 } Added new target pos. range: 131.399994 m, bearing: 242.336795 deg, lat: 36.903336 deg, lon: -122.120694 deg, deltaT: 3.779837 s, deltaX: -1.500000 m, approachRate: -0.396843 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 131.40 m.BjJj ProNav: ac range: 131.399994 m, nav range: 69.379028 m, bearing: 248.722804 deg, approach rate: 0.000000 m/s, LOS rate: -0.350617 deg/s, cmd heading: 356.376868 deg, new cmd heading: 355.793755 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:40:59.9594 HeadingCmd: 6.209773 target range: 131.399994 and range: 131.40 m. ju@jjjih!h!h)h-cBfYfYfYrf]l`@bfe?ɛB 0> 隭7@I ]<ɚiIY=I~Yii=)u@)*F ?2F :F BF U0JF "G =G =G Z=GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>Yw,IA @ 8I8Z@YZf@Z5=9Z4=yZH?u?!?[fg`?N@ 6?`a?ɨZ@Z&;ZCyvB#)II5I5k٢e[׽ ea=9msl;Q m>iq uG٣qyu1 u> Nusing accuracyPremultiplier from configyd59}W_?d5Y} i}TA}!@}QE};}%;}cd5 `@B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 131.40 m.Bj-Jj-= ProNav: ac range: 131.399994 m, nav range: 69.453514 m, bearing: 248.564412 deg, approach rate: 0.212086 m/s, LOS rate: -0.450511 deg/s, cmd heading: 355.793761 deg, new cmd heading: 355.319105 deg. 2j=eHeadingCmd: 6.201488 target range: 131.399994 and range: 131.40 m. jer@jajajaiahihihihifqfqfqrfqbf} +?ɛB}\> \<@I )<ɚiIW=IPiiϕ=)r@)9JJJ1JJ :J"I:J3JJ 0<J 0<J;J;*F?2F:FBFl0JFG:=GBO k>uWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yw,cAyuB)I)! !Mb@Mb@Mb@ )Y/$?:vMbyT@ t@)Ʒ@I@y@II٢r B=9Q > G٣NGy > mNusing accuracyPremultiplier from configiud59m_?ud5Ym imSAu4?}:}ʼ}@mQEm;md;m(d5B 7@EZjFNOT Ignoring new targets: 131.40 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992348 ProNav: ac range: 131.399994 m, nav range: 69.537415 m, bearing: 248.375527 deg, approach rate: 0.198068 m/s, LOS rate: -0.445371 deg/s, cmd heading: 355.319117 deg, new cmd heading: 354.753166 deg. 2jӘHeadingCmd: 6.191611 target range: 131.399994 and range: 131.40 m. j!@jjji h hhhWBfff!rf!bf%@gK? }$?IyɛBlF> im@Ii u%<ɚqiqIu=V=I}Niyi}G=)}!@)*F2F:FBFo0JFHyI}C I}h)II}BIy&Iy.Iy6I}:<:I} FzKKK9KKK uS   RK ?JK?)  tA9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246515 Y tAy BG X=G B O] >w,-{}A^*b@Y^q@^2،=9^c=y^H`?@ ? 6?뺓?򾱿yw^??ɨ^*b@^e;^Cyj`Bv(IIIʴ٢ M %X=9%Q ->)) -G٣1y50 5> =Nusing accuracyPremultiplier from config9Ed59=W `?Ed5Y= i=SAIM+)M@=QE=:=:=\d5Q U@YZjFNOT Ignoring new targets: 131.40 m.BjJj  ProNav: ac range: 131.399994 m, nav range: 69.606041 m, bearing: 248.214487 deg, approach rate: 0.182524 m/s, LOS rate: -0.427890 deg/s, cmd heading: 354.753168 deg, new cmd heading: 354.270537 deg. 2jԒ%HeadingCmd: 6.183187 target range: 131.399994 and range: 131.40 m. j%@j!j)j)i)h1h1h9h9fAfQfQrfYbfe@^?ɛBO> 隥@I RB=ɚiIJT=I̽iitV=)@)*F}?2Fy:FyBF}1JFyG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495559 ]$?IYJ J J 0J J J ,J:J ـ3J J J J ;J ;G =G B O >.w,MAVw"@YV1@Vvʐ=9V=yVH?6?@?`E?@EMrư?`?ɨVw"@VY;Ty~VB(IEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750803I}I}٢=8 =9=9Mi;Q U>Ya eG٣ayul }> Nusing accuracyPremultiplier from configd59`?d5YY i'SA/I@QE?C<@<Od55B 5:@5EZjFNOT Ignoring new targets: 131.40 m.BjJj ProNav: ac range: 131.399994 m, nav range: 69.689491 m, bearing: 248.015909 deg, approach rate: 0.180993 m/s, LOS rate: -0.430173 deg/s, cmd heading: 354.270547 deg, new cmd heading: 353.675548 deg. 2jHeadingCmd: 6.172803 target range: 131.399994 and range: 131.40 m. j@jjjihhhhfffrfbf௻?ɛuBu @> q}@Iy }a7 =ɚyiyI}LR=Iiis=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000822E% < Y Ia *F ?2F :F BF _0JF Hq Iq  Iu =)IIu BIu 1 =&Iq .Iq 6Iu <:Iu FzKJiOK9KKKP 7 -s1Be)W/oL.xmbTJ=,G :=GBO?w,A2.@Y2@2=92=y2H,?3? -9?բ?ިܲ`ݯ? ?ɨ2.@2w;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251523y^?B^(Iin!>In>Mb@Mb@Mb@ )YCl?Mb~jty?DƷ@ @)Iy@II1٢-3 -=95;Q 5>99 =G٣ENGyMt U> mNusing accuracyPremultiplier from configaud59e/8`?ud5Ye ieRA}#?}:}}@eQEe7;e#;eՙd5 @EZjFNOT Ignoring new targets: 131.40 m.BjoJjo ProNav: ac range: 131.399994 m, nav range: 69.773331 m, bearing: 247.787654 deg, approach rate: 0.167744 m/s, LOS rate: -0.456137 deg/s, cmd heading: 353.675555 deg, new cmd heading: 352.991648 deg. 2jHeadingCmd: 6.160866 target range: 131.399994 and range: 131.40 m. j%@jjjihhhh5Bfffrfbf@ɛB?S:> 隝n@I ۸=ɚiI"Q=Iiiţ=)%@)E<*FU?2FY:FYBF]0JFY-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503424 $?IG} =Ga Bq O >w,ҿAb1@Yb@@bz=9b_u=ybH ~?M?`/:?@٬?w) 眮? ?ɨb1@bň;bCyn+Bn(III(*3٢5ӽ =\=9E]`AI MG٣Iy]X ]> mNusing accuracyPremultiplier from configa}d59eI`?}d5Ye ieYRA潑@eQEe;e;ed5 @B*** querying acoustic contact ***jjZjq}FNOT Ignoring new targets: 131.40 m.Bj}EJj}E컝 ProNav: ac range: 131.399994 m, nav range: 69.830025 m, bearing: 247.623815 deg, approach rate: 0.143073 m/s, LOS rate: -0.413128 deg/s, cmd heading: 352.991635 deg, new cmd heading: 352.500529 deg. 2jÍHeadingCmd: 6.152295 target range: 131.399994 and range: 131.40 m. j@jjjihhhhff frf!bf%@"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759065ɛB3XD> s@I {=ɚiIgO=I7ii2=)@)!E)E)*E1"E1*Fa 2Fa :Fa BFe i0JFa "Gi Gm =E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:41:02.5368 M TRx dataTimestamp_ set to:1736376063.665402U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009562 $?I Ge6=JJJJJK:JdP:JJa@a%@a%@a%@GaBiO?Gw,wAHI I)IIjBI&I.I6I8<:I FyeBe(I)i izK>PK59KKK~zwsomiee``^\ZXXYSQOLIJIIJHGGDC Mb@Mb@Mb@    ) Y V-?S㥫y&1y h? /] `e @ Ϋ@) ݸ@I @ y =@II(*2٢5٬ 5=95Q 5>99 =G٣=NGy= E> MNusing accuracyPremultiplier from configIUd59Mb`?Ud5YM iMQAU?U:UU@MQEM;MA;Mšd5eB ej@eEZj FNOT Ignoring new targets: 131.40 m.Bj Jj  ProNav: ac range: 131.399994 m, nav range: 69.903297 m, bearing: 247.380850 deg, approach rate: 0.138865 m/s, LOS rate: -0.459977 deg/s, cmd heading: 352.500517 deg, new cmd heading: 351.772428 deg. 2j֝-HeadingCmd: 6.139587 target range: 131.399994 and range: 131.40 m. j-w@j)j)j)i1h1h1h1h5Bf9f9f9rf9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259503bfE + @ɛB=>  @I k'=ɚiIXM=Ik i!i-=)-w@)1*F?2F:FBF]1JFG=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511658 9 I9 <w, A@Yv@M=9o=yH?@δ?(D?@?Lڭ? ?ɨ@(;騅Cy޽B޽(II$I<3٢ؽ  K=9 \W G٣yxK %> -Nusing accuracyPremultiplier from config!5d59%u`?5d5Y% i%fQA15o.=@%QE%;%d;%Kd5A EЙ@EEZjiJm@AJm?AuFNOT Ignoring new targets: 131.40 m.Bj}Jj} ProNav: ac range: 131.399994 m, nav range: 69.954544 m, bearing: 247.198261 deg, approach rate: 0.132333 m/s, LOS rate: -0.471151 deg/s, cmd heading: 351.772419 deg, new cmd heading: 351.225070 deg. 2jHeadingCmd: 6.130034 target range: 131.399994 and range: 131.40 m. j=)@jjjihhhhfffrfbf@_H @ɛBGN>  @I .=ɚiI1GL=IiiG=)=)@)*F?2F:FBF5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:41:02.5368 LVL= 21680, 32753, 32754, 32755, AGC= 65, IDX= 419,-0.40, 0.981,-0.782, 0.013, 0.353, PHS= 0.716,-1.088,-0.343, RAW= 114.3, 9.2, CAL= 123.5, 6.0, ROT= 26.5, -6.0 Ygot valid direction response: 22:41:02.5368 LVL= 21680, 32753, 32754, 32755, AGC= 65, IDX= 419,-0.40, 0.981,-0.782, 0.013, 0.353, PHS= 0.716,-1.088,-0.343, RAW= 114.3, 9.2, CAL= 123.5, 6.0, ROT= 26.5, -6.0 PDAT read: Bearing 26.5, -6.0 (Local) ~Local bearing/azimuth received: Bearing 26.5, -6.0 (Local) DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.4 ms) speed 0.4 m/s ,DAT read: user:2786> BDAT read: Tx time:22:41:03.6602 $Ping request sent. ui @)uPw=Iuh>iuPwֽqqu1ͭRo?(EyTeiX?)uͽIut#iuu쑿qqu :publishing transmit ping timeu Fpublishing direction and range infoq9u[ҿ~W4Dӿ ^ߨ?yqqqq q)qIqiqqqqG B O >q q)qIqiqqqu1ͭRo?(EyTeiX?)qIqiqqqqU w,&'A:-8@Y:G@:˱=9:m=y:H@S?y?ȴ?%? ݻ Q2?`?ɨ:-8@:;:CyNBNj(I $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5/$?V-Mby5&?5h51 5@)5@I11y53@IMIM 2٢} }E=9;Q > G٣yͼ > Nusing accuracyPremultiplier from configd59`?d5Y4 iPAL?:AX@QE;;d5 @k[YV?ka"Є k kA:kLCBkgCZkƂ@"BzLvCxnB_]@[ҿ~W4Dӿ ^ߨ?JkRk쑿*H)?,E!u]@ο'Zտs)?"k,*kOkltGV?k, 2kM:CkT@W?k-iy kM:CkmBk@ addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 3.782942 s, deltaX: -2.099991 m, approachRate: -0.555121 m/s, rangeRepo size: 4  Added new target pos. range: 129.300003 m, bearing: 234.155058 deg, lat: 36.903328 deg, lon: -122.120556 deg, deltaT: 3.782942 s, deltaX: -2.099991 m, approachRate: -0.555121 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 129.30 m.BjJj ProNav: ac range: 129.300003 m, nav range: 59.269520 m, bearing: 241.573718 deg, approach rate: 0.000000 m/s, LOS rate: -0.471151 deg/s, cmd heading: 351.225075 deg, new cmd heading: 350.610134 deg. 2jHeadingCmd: 6.119301 target range: 129.300003 and range: 129.30 m. jQ@jjjihh!h)h-Bf)f)f1rf5)`@bf5G?ɛ}B}A> y隅 @I 6=ɚiIJ=I3'ii5=)Q@)JJJ/JJk:J>L:J(N3JH)I) I-(II-7BI-2 =&I).I)6I-]<:I- F*FM?2FI:FQBFU5JFQG]qA GYzKNK9KKKAA@>=<578533653/,,+'  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% =G) G- ?G B O ><w,2@AB@YBI@B=9BD=yBH@ͺ? ?M?b?`󔴿@` r??ɨB@B;@yRوBRR(IiV%=IV%=IZIZ?1٢ ҽ  e=9)t;Q > }G٣}NGyCü > Nusing accuracyPremultiplier from configd59`?d5Yk iPAa@QE{;;1d5B -@EZj9EFNOT Ignoring new targets: 129.30 m.BjEJjE} ProNav: ac range: 129.300003 m, nav range: 59.327473 m, bearing: 241.377577 deg, approach rate: 0.159797 m/s, LOS rate: -0.540303 deg/s, cmd heading: 350.610139 deg, new cmd heading: 350.022313 deg. 2j}gHeadingCmd: 6.109042 target range: 129.300003 and range: 129.30 m. jE}@jjjihhhhfffrfbf?ɛ B  S> )- @I1 5 ==ɚ1i1I5IdI=I=R2i9i=y6=)=E}@)A $?I*F?2F:FBFR0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G B O >mw,ZA.Will construct direction to contact in vehicle frame from tetrahedron phase data.@Y@=9 =yH?? ? Cế? x(` J?d?ɨ@;Cy-ЈB-G(IMb@Mb@Mb@ )Yd;O?&1{Gzy?н# @ (@)7@IΫ@y@IIF٢  /=9";Q > G٣yƱ >  Nusing accuracyPremultiplier from config d59 4`?d5Y S i PA?:Ў@ QE ; A; d5! %͜@%EEB*** querying acoustic contact ***jAjAZjYFNOT Ignoring new targets: 129.30 m.BjJj ProNav: ac range: 129.300003 m, nav range: 59.385559 m, bearing: 241.130075 deg, approach rate: 0.131301 m/s, LOS rate: -0.558915 deg/s, cmd heading: 350.022306 deg, new cmd heading: 349.280570 deg. 2jʿ=HeadingCmd: 6.096096 target range: 129.300003 and range: 129.30 m. j=8@j9j9jAiAhAhAhAhMBfIfIfIrfQbfe`D?ɛBL@> k @I f1E=ɚiIuG=Ie[?iiimd=)m8@)*FU?2FQ:FQBF]P0JFY $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G &=J J J 0J J K:J ,J:J ـ3J ZH RH @AH >I  I (II BI 1 =&I .I 6I ү<:I FBI˙CJI˙CRIZI1 =bI1 =jIS3GI BQ Ou >Nw,h#uAfB@Yf;R@f=9fAo=yfHq?j?N?`@M?j˙ֶ?d?ɨfB@f;fCynBn4(IIzIzM٢-ͱ -i=95;Q 5>11 5G٣1y= => eNusing accuracyPremultiplier from configamd59e`?md5Ye  ieOAquu@eQEe:e:e6d5y }ǝ@ZjFNOT Ignoring new targets: 129.30 m.BjJj% ProNav: ac range: 129.300003 m, nav range: 59.429951 m, bearing: 240.934294 deg, approach rate: 0.122806 m/s, LOS rate: -0.541206 deg/s, cmd heading: 349.280575 deg, new cmd heading: 348.693693 deg. 2j%-HeadingCmd: 6.085853 target range: 129.300003 and range: 129.30 m. j-O@j)j)j)i)h1h1h1h1f9f9zK=~MK=+9K9K=K=\Q4}w+OgGvpngb\Wf9rfYbfe ?ɛBX> 隭@I 6K=ɚiIF=IoJiiH=)O@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.431871*Fu?2Fq:FqBFu_0JFq"GyG}=GM=GQGUrAG BO=P> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683654̇#w,ΎAF@YFq@F=9F =yFH@?3? !?>?`*@??ɨF@F݌;FCyvBv$(I)| |I I T3٢x M=9 !! %G٣%NGy- -> 5Nusing accuracyPremultiplier from config1=d595`?=d5Y5" i5AOA9EQE@5QE5;5 ;5d5MB M@MEZjquFNOT Ignoring new targets: 129.30 m.BjY!JjY! ProNav: ac range: 129.300003 m, nav range: 59.477615 m, bearing: 240.716422 deg, approach rate: 0.123543 m/s, LOS rate: -0.564254 deg/s, cmd heading: 348.693697 deg, new cmd heading: 348.040634 deg. 2jHeadingCmd: 6.074455 target range: 129.300003 and range: 129.30 m. ja@jjjihhhhfffrfbf?ɛ}B5NP> 隽@I Q=ɚiImGE=IUiix=)a@)*F?2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.eO?e<echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.935975GB=Gi Bq O >/)w,Ay%B%(I M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187787 Mb@Mb@Mb@    ) Y "~?"~j:vy ? S㽹 T  @ ) @I @ y @I%&I%3٢-:p -:=95Q =>AI MG٣Iy] e> Nusing accuracyPremultiplier from configyd59}o`?d5Y}$ i}NA?:g@}QE};}{;}d5 j@ZjFNOT Ignoring new targets: 129.30 m.BjJj ProNav: ac range: 129.300003 m, nav range: 59.528362 m, bearing: 240.470374 deg, approach rate: 0.106043 m/s, LOS rate: -0.513714 deg/s, cmd heading: 348.040622 deg, new cmd heading: 347.303151 deg. 2jGHeadingCmd: 6.061584 target range: 129.300003 and range: 129.30 m. j~@jjjihhhhBfffrfbf|@JuJuJqJqJu :JuHM:JqJqɛxB=> U<隍@I Y=ɚiI C=Ibii!=)~@HIC I\(IIBI2 =&I.I2D6I<:I F)*F]?2FY:FYBF]m0JFYvA 5!Y5vAy=pBzKOK9KKKRLMPQNEA<;9864111/-.(''&'&!!   BKpA:Km Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439816G =Gq B O >0w,iARiI@YRX@R=9R=yRH|? ?w?3¿ ̎?Gq4G?@L?ɨRiI@R`,;RCy^B^(IIfIf(*3٢n n]=9npp rG٣pyvY v> zNusing accuracyPremultiplier from configx~d59zF`?~d5Yz& izANA|@zQEz3:z:zd5 B J@ EZj15FNOT Ignoring new targets: 129.30 m.Bj=7-JjE7-u ProNav: ac range: 129.300003 m, nav range: 59.566322 m, bearing: 240.269901 deg, approach rate: 0.114773 m/s, LOS rate: -0.605748 deg/s, cmd heading: 347.303153 deg, new cmd heading: 346.702140 deg. 2j}ϼHeadingCmd: 6.051094 target range: 129.300003 and range: 129.30 m. j@jjjihhhhfffrfbfw@ɛuBX> 隕@I  _=ɚiICB=IKmiiv=)@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693107*F?2F:FBF_5JFGrA GG6=GBO`>= Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:41:06.2347 ] TRx dataTimestamp_ set to:1736376067.4524856w,-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.949979M @YM@M=9MH;=yMHjo?Ѻ? w?@hÿ@ă?mպGܯ??ɨM @Mr];IyޅBޅ'Ii=I; p=Mb@Mb@Mb@ )Yx?v/II UG٣UNGyU☼ U> ]Nusing accuracyPremultiplier from configYed59]Fa?ed5Y]I) i]MAm?m:mɱm@]QE];]l;]d5q u@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.30 m.Bj=!Jj=! ProNav: ac range: 129.300003 m, nav range: 59.616581 m, bearing: 239.995044 deg, approach rate: 0.103192 m/s, LOS rate: -0.563864 deg/s, cmd heading: 346.702151 deg, new cmd heading: 345.878336 deg. 2j|HeadingCmd: 6.036716 target range: 129.300003 and range: 129.30 m. j,@jjjihhhhBfffrfbfF @ɛpB ]D> 隍@I g=ɚiI'PA=Ib|ii =),@)*F}?2Fy:FBFQ5JF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195962G =HI II  IM 0(IIM BII &II .II 6IM <:IM D FGy B O >=w,;Av@Yv.@vy=9v{=yvH Ib?@?݀?1Ŀ@x?` E?1?ɨv@vN;vCy5BE'II&I3zK]KMK]}9KYK]K]  RK ?JK?٢I V=9 ;Q > G٣y > Nusing accuracyPremultiplier from configd5Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:41:06.2347 LVL= 14480, 32753, 29426, 32755, AGC= 64, IDX= 412,-0.14,-1.358, 3.125,-2.376,-2.043, PHS= 0.773,-1.067,-0.336, RAW= 113.3, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 Ygot valid direction response: 22:41:06.2347 LVL= 14480, 32753, 29426, 32755, AGC= 64, IDX= 412,-0.14,-1.358, 3.125,-2.376,-2.043, PHS= 0.773,-1.067,-0.336, RAW= 113.3, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 PDAT read: Bearing 27.1, -4.8 (Local) ~Local bearing/azimuth received: Bearing 27.1, -4.8 (Local) -DAT read: Range 10 to 50 : 127.7 m (Round-trip 170.3 ms) speed 0.3 m/s 5,DAT read: user:2787> 5BDAT read: Tx time:22:41:07.3103 =$Ping request sent.= G @)=I*>i؊y?ݽ3qkA?)I< iZL]:publishing transmit ping time9eFpublishing direction and range info9C%vп96Uҿ~eu?y )Ii94"a?md5Y^+ i*MAquu@QE<<Md5y }0@yk@W?ky"8 k kA )Ii؊y?ݽ3qkA?)Ii:kfBBkBZk@"0&@X{JB΋c]@C%vп96Uҿ~eu?JkZRkL*G|7<}/C_]@rPDH̿6Fӿ/ߕ?"k*kkWW?k? 2kV:Ckkt)i kV:CklBko@ addTargetRange:: Added new target pos. range: 127.699997 m, deltaT: 3.529176 s, deltaX: -1.600006 m, approachRate: -0.453365 m/s, rangeRepo size: 4  Added new target pos. range: 127.699997 m, bearing: 234.559035 deg, lat: 36.903328 deg, lon: -122.120549 deg, deltaT: 3.529176 s, deltaX: -1.600006 m, approachRate: -0.453365 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 127.70 m.BjJj  ProNav: ac range: 127.699997 m, nav range: 59.138889 m, bearing: 239.488472 deg, approach rate: 0.000000 m/s, LOS rate: -0.563864 deg/s, cmd heading: 345.878348 deg, new cmd heading: 345.158789 deg. 2j HeadingCmd: 6.024158 target range: 127.699997 and range: 127.70 m. j@jjjihhh9h9fAfAfArfE_@bfM ݼ?ɛjBA> @I Wo=ɚiI@=IJii-=)@)  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:41:07.3095 E= ]<*F ?2F :F BF `0JF "G =G =JKـ3 K .KK"KJ5J5J1J1J5{:J5C:J1J1J5.tx zG٣xyzH z> Nusing accuracyPremultiplier from config|d59~:a?d5Y~d. i~zLA@~QE~O<~<~d5B @-EZjamFNOT Ignoring new targets: 127.70 m.BjmxJjux ProNav: ac range: 127.699997 m, nav range: 59.189629 m, bearing: 239.187684 deg, approach rate: 0.091793 m/s, LOS rate: -0.543687 deg/s, cmd heading: 345.158801 deg, new cmd heading: 344.257290 deg. 2jHeadingCmd: 6.008423 target range: 127.699997 and range: 127.70 m. jE@jjjihhhhfffrfbf ?ɛ-eB5 C> 15,@IY ],ax=ɚYiYI]>=Ieiaieخ=)mE@)i 1I5hUWill construct direction to contact in vehicle frame from tetrahedron phase data.YiYE<*Fu ?2Fq :Fq BFu _0JFq H >I  I (II BI 1 =&I .I 6I <:I L FG] =Ge ?Ge>G1BAO]?iNw,Pst?ǿX? ᳿ż`=X??RWill construct direction to contact in vehicle frame from tetrahedron phase data.zKVFLKV9KTKVKVBKh:KjmAɨF@Fԕ;FCyzyBz'IUMb@Mb@Mb@QQQ Q)QYU ףp= ?V- G٣NGy#. >  Nusing accuracyPremultiplier from config d59 Ua?d5Y 1 i KA4?:>þ@ QE j; ; d5! %Z@EEZjFNOT Ignoring new targets: 127.70 m.Bj+8Jj+8 ProNav: ac range: 127.699997 m, nav range: 59.243942 m, bearing: 238.860580 deg, approach rate: 0.107040 m/s, LOS rate: -0.644056 deg/s, cmd heading: 344.257298 deg, new cmd heading: 343.276985 deg. 2jݼHeadingCmd: 5.991313 target range: 127.699997 and range: 127.70 m. j׸@jjjihh h h Bf ffrfbf`~?ɛ}`B}d@> 隍/@I =ɚiIbj==I>pii/E=)׸@)EE*E"E  $?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF9 JF9 GA  GA J J J J J :J <:J J J ?%<J ?%<J ;J ;G̈=GWill construct direction to contact in vehicle frame from tetrahedron phase data.B O-?SIe=Mb@Mb@Mb@ )YA`"?MbX~jtxy?ʽĻ@ Ʒ@)=@I?@yp@IIV٢q =9-9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config)=d59-na?Ed5Y-4 i- KAE-?E:E빾E@-QE-XD;-B;-d5Q U@QuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 127.70 m.BjP JjP = ProNav: ac range: 127.699997 m, nav range: 59.302418 m, bearing: 238.555203 deg, approach rate: 0.107460 m/s, LOS rate: -0.560631 deg/s, cmd heading: 343.276975 deg, new cmd heading: 342.361830 deg. 2jE`EHeadingCmd: 5.975341 target range: 127.699997 and range: 127.70 m. jM5@jIjIjIiIhIhIhYh]1BfYfYfYrfabfeS?ɛZB!B> .@I =ɚ i I a<=Iuiqi}=)}5@) 5 $?I9*F%?2F!:F!BF!JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gom=GBO >H I  I 'II BI &I .I 6I װ<:I s Fc[]w,xA:jg@Y:v@:v=9:*d=y:H? v??yʿ`O;? @~`Q?`ռ?ɨ:jg@:W;:CybsBb'IIjIj?13٢r rx=9v Yex@Ia e/=ɚaiaIen:=ImBiiim=)mv@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008018zKKK]9KKK  2Ju,|RK ?JK"?*F?2F:FBF_5JFGU%=GaGa 1 I1 GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259795Idw,A2&@Y2-@2m=92#]=y2H ?@?@io?""˿k,?곿@o?>?ɨ2&@2Y;2CyBkBF'IININ(*3٢V VM=9V;Q V>XX ZG٣ZNGy^ ^> bNusing accuracyPremultiplier from config`fd59b:a?fd5Yb8 ibJAdj¾j@bQEb ;b ;bd5nB nG@nEZjFNOT Ignoring new targets: 127.70 m.Bj+Jj+- ProNav: ac range: 127.699997 m, nav range: 59.379169 m, bearing: 238.139996 deg, approach rate: 0.109678 m/s, LOS rate: -0.601207 deg/s, cmd heading: 341.798567 deg, new cmd heading: 341.117087 deg. 2j-Mμ5HeadingCmd: 5.953616 target range: 127.699997 and range: 127.70 m. j5@j1j1j1i1h9h9h9h9f9fAfArfAbfEP@ɛuSBu\> qu@Iq }=ɚyiyIg9=JJJJJK:J7:JJa@a@a@a@I Liil=)@)*F?2F:FBF5JF"G=G=G!=GBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511873  $?I mjw,#Ay`B'I)! %A]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763824-Mb@Mb@Mb@))) )))Y- +?ʡE{Gzty-?---ף-@ ))-@I-l@)y-@IMIM3٢]0N ]2=9]Q e>aa eG٣aym u> Nusing accuracyPremultiplier from configyd59}a?d5Y}; i}IAl?:@}QE};}_;}d5 @ZjFNOT Ignoring new targets: 127.70 m.Bj Jj  ProNav: ac range: 127.699997 m, nav range: 59.431957 m, bearing: 237.883434 deg, approach rate: 0.115235 m/s, LOS rate: -0.559569 deg/s, cmd heading: 341.117078 deg, new cmd heading: 340.348124 deg. 2jHeadingCmd: 5.940196 target range: 127.699997 and range: 127.70 m. j@jjjihhhhABfffrfbf@@ɛ5OB5[K> 15@I1 ==ɚ9i9I=k8=IEViAiEʚ=)E@)iHI I'II{BI&I.I6Ip<:I) FBI}ĘCJI}ĘCRIyZIybIyjI}+3*F]?2Fa:FaBFeO5JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. > % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017606zKM NKM h9KI KM KM @drH|V2 rW?*xkYI<2  {~~|uBKQ :KU qAGA G! B9 Ou >sUqw,$AB2@YB@BU=9BAO=yBH ? ,e?+? rͿ` ?̳ gh?@ ?ɨB2@B;BCyNXBN'IIVIV#3٢^1 ^i=9bl,`` fG٣dyfc[ f> jNusing accuracyPremultiplier from confighnd59ja?rd5Yj= ijIApr:þr@jQEj7 ;j ;jd5t v@zEZj-FNOT Ignoring new targets: 127.70 m.Bj5XJj5X ProNav: ac range: 127.699997 m, nav range: 59.469036 m, bearing: 237.688096 deg, approach rate: 0.105840 m/s, LOS rate: -0.557235 deg/s, cmd heading: 340.348135 deg, new cmd heading: 339.762509 deg. 2j6HeadingCmd: 5.929975 target range: 127.699997 and range: 127.70 m. jZ½@jjjihhhhfffrfbf @ $?IɛKBb> @I =ɚiIB7=Iشii*=)Z½@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:41:09.8828 TRx dataTimestamp_ set to:1736376071.234865checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271888*F?2F:FBFP0JFGea=GaBqOZ>JJJJJk:JC:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519734ww,ڒA>T3@Y>B@>v=9>eG=y>H?@Z? f? ©ο ?^k??ɨ>T3@>J;>Cy%VB-'IMb@Mb@Mb@ )Y㥛 ?ʡE~jtxy?Ļ  @)@IV@y@I"Iq3٢E? E=9M;Q M>IQ UG٣UNGyU > Nusing accuracyPremultiplier from configd59fa?d5Y@ i`HA?:>@QEfX;V;d5 @EB*** querying acoustic contact ***jAjAZjamFNOT Ignoring new targets: 127.70 m.BjuJju ProNav: ac range: 127.699997 m, nav range: 59.528831 m, bearing: 237.390402 deg, approach rate: 0.109634 m/s, LOS rate: -0.545267 deg/s, cmd heading: 339.762515 deg, new cmd heading: 338.870405 deg. $?I2jHeadingCmd: 5.914404 target range: 127.699997 and range: 127.70 m. jB@jjjihhhhLBfffrfbf` @ɛFB&F> @I !=ɚiI%Q5=mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:41:09.8828 LVL= 15056, 29233, 24194, 32755, AGC= 60, IDX= 424, 0.01,-0.131,-2.103,-1.460,-1.070, PHS= 1.027,-0.985,-0.393, RAW= 106.6, 4.0, CAL= 117.7, 1.4, ROT= 32.3, -1.4 Ygot valid direction response: 22:41:09.8828 LVL= 15056, 29233, 24194, 32755, AGC= 60, IDX= 424, 0.01,-0.131,-2.103,-1.460,-1.070, PHS= 1.027,-0.985,-0.393, RAW= 106.6, 4.0, CAL= 117.7, 1.4, ROT= 32.3, -1.4 PDAT read: Bearing 32.3, -1.4 (Local) ~Local bearing/azimuth received: Bearing 32.3, -1.4 (Local) DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.3 m/s ,DAT read: user:2788> BDAT read: Tx time:22:41:10.9603 $Ping request sent.~w,$AWill construct direction to contact in vehicle frame from tetrahedron phase data.*JDAT read: TxSync time:22:41:10.9595 'fTFailed to parse incomplete device message. @Y @ =9 F>4=y H? ?E˻? п -?;@K濿X?H?ɨ @ OD; CyGB%'IiM=IM< M=M=IUIU3٢+ O=9;Q > G٣y^ > Nusing accuracyPremultiplier from configd59a?d5YB iGA˾@QE;W;d5B @Ek \?k t k  k A:k fBBk BZk _@" 3<@7-;66}^@ Xoǿ8ƿHk?Jk ٢Rk Oħ* 5"(.a8>*^@ ͖>}'BBɿU#?"k >*k Eqk L\?k )  2k >Ck 8̕W?k , k ~:Ck NBk @ addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 3.784136 s, deltaX: -1.500000 m, approachRate: -0.396392 m/s, rangeRepo size: 4 5 Added new target pos. range: 126.199997 m, bearing: 238.806702 deg, lat: 36.903342 deg, lon: -122.120455 deg, deltaT: 3.784136 s, deltaX: -1.500000 m, approachRate: -0.396392 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 126.20 m.Bj=JjYm ProNav: ac range: 126.199997 m, nav range: 51.731922 m, bearing: 233.660080 deg, approach rate: 0.000000 m/s, LOS rate: -0.545267 deg/s, cmd heading: 338.870410 deg, new cmd heading: 338.204249 deg. 2jiuHeadingCmd: 5.902778 target range: 126.199997 and range: 126.20 m. ju@jqjqjqiyhhhhfffrf̌_@bf9^?ɛ=CB=E^> AE@IA ED=ɚAiAIM4=IM¾iQiU=)U@)q *F?2F:FBFO0JF!I Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu e=G1 BQ Ju AAJu @AO >܅w,¿AV.@YV=@Vy=9V'=yVH.? ѯ?+?Hѿy?@ @꿿 ^?ĺ?ɨV.@Vݶ;VCybABb'IIj Ij(2٢v zS=9~79Q ~>|| G٣yؼ >  Nusing accuracyPremultiplier from config d59 a?d5Y ,E i `GAо%@ QE *; *; `d5-B -@-EZjIUFNOT Ignoring new targets: 126.20 m.Bj]BJj]B} ProNav: ac range: 126.199997 m, nav range: 51.782162 m, bearing: 233.421221 deg, approach rate: 0.143432 m/s, LOS rate: -0.681270 deg/s, cmd heading: 338.204248 deg, new cmd heading: 337.488406 deg. 2j}鼝HeadingCmd: 5.890284 target range: 126.199997 and range: 126.20 m. j5}@jjjihhhhfffrfbfg?ɛ@BRg> )@I F=ɚiI3=I^*ɾiiE=)5}@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGq'=GBOf> - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,we2¿A:o@Y:@:=9:=y:Hx?B?@ ?ѿN?@H߿~С?`A?ɨ:o@:;:CyR7BR'IuMb@Mb@Mb@qqq q)qYugfffff?T㥛 Mb`yu3?uuu/@ uz@)u@Iu@qyu(@IIi٢;G @=9͹Q > G٣NGy϶ >HI I'IIXBI&I.I6I><:I F Nusing accuracyPremultiplier from configd59b?d5YG iFA?:Bʾ@QE~ <;d5 @Zj)-FNOT Ignoring new targets: 126.20 m.Bj5%-Jj5%-J=J=J=/J9J=:J==:J=(N3J9J=# 15?I1 =Q=ɚ9i9I=\2=IE(оiAiE =)EL @)iEuqAEuqA*F?2F:FBFJF"G =G =mWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK+9KKK   Y=r| 'hbPB"CEkwhH( yR- G% =G B O- > ! I! w,eL¿Ajx@Yj@jv>9j =yjH]?@?h? Mҿݍ?6 -@h5?`?ɨjx@j;hyr%Bvu'I)x zAxzAI~I~T٢ P=9;Q %>!! %G٣!y-Qۼ -> 5Nusing accuracyPremultiplier from config1=d595Ob?=d5Y5I i5aFAAEϾE@5QE5q ;5 ;5d5I Mק@MEZjqWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙFNOT Ignoring new targets: 126.20 m.Bj2Jj2- ProNav: ac range: 126.199997 m, nav range: 51.894695 m, bearing: 232.918851 deg, approach rate: 0.138385 m/s, LOS rate: -0.625352 deg/s, cmd heading: 336.705704 deg, new cmd heading: 335.983025 deg. 2jMּUHeadingCmd: 5.864010 target range: 126.199997 and range: 126.20 m. jU@jYjYjYiYhYhYhahafafafarfibfm,?ɛ9Be> ?I ==ɚiI;51=I2־iiv=)@))*F2F:FBF~0JFGI=GqBO]>U Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,vf¿Ay-B5j'IMb@Mb@Mb@ )Y@5^I ?Zd;MbPyb?y=@ @)5@IƷ@y@I]I]#3٢} }6=9}Q > $?I G٣y > Nusing accuracyPremultiplier from configd59*b?d5YL iEA9?:ξ@QE; ;vd5 a@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.20 m.Bj+Jj+ ProNav: ac range: 126.199997 m, nav range: 51.956444 m, bearing: 232.646761 deg, approach rate: 0.135925 m/s, LOS rate: -0.598229 deg/s, cmd heading: 335.983016 deg, new cmd heading: 335.167776 deg. 2jGͼHeadingCmd: 5.849781 target range: 126.199997 and range: 126.20 m. jh1@jjjihh!h)h-nBf)f)f)rf1bf5?ɛ]6B]W[> Ye?Ia e圦=ɚaiaIeM/=Iu,ݾiqi}{=)}h1@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFZHRH?AHI I'II>BI&I.I6I<:I FJ-J-J-0J)J-:J-(:J-ـ3J)J-<J-<J-;J-;G w=G G G B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254828w,.S¿A6ڷ@Y6s@6(>96=y6H$?=4?m#?mӿX?h@ϸ`?i?ɨ6ڷ@6^E;6Cyn BrT'IzKzmPKz9KxKzKzSZ?)|vrnlhf`]cy_g}|fXOD;62+)II[3٢ƽ d=9C G٣NGy%wv %> -Nusing accuracyPremultiplier from config)5d59-\9b?5d5Y-N i-gEA9=پ=@-QE- ;- ;-d5EB E@EEZjimFNOT Ignoring new targets: 126.20 m.Bju-Jju- ProNav: ac range: 126.199997 m, nav range: 52.001698 m, bearing: 232.431914 deg, approach rate: 0.127935 m/s, LOS rate: -0.606854 deg/s, cmd heading: 335.167764 deg, new cmd heading: 334.523813 deg. 2j=мHeadingCmd: 5.838542 target range: 126.199997 and range: 126.20 m. jVպ@jjjihhhhfffrfbf@@ɛ3BTg> ?I  }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5068847w,¿A6z@Y6y@6~W>96=y6HD??I+? }Կ9?첿VgԠ??ɨ6z@6;6CyBBB?'IiF)>IFp;IJIJ(*3٢f fP=9f@;Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpvd59r=Jb?vd5YrBQ irDAtzྑz@rQEr:rU:rd5B @EZjFNOT Ignoring new targets: 126.20 m.BjN"JjN" ProNav: ac range: 126.199997 m, nav range: 52.049995 m, bearing: 232.194284 deg, approach rate: 0.115469 m/s, LOS rate: -0.567589 deg/s, cmd heading: 334.523814 deg, new cmd heading: 333.811622 deg. 2j¼HeadingCmd: 5.826112 target range: 126.199997 and range: 126.20 m. jo@j j j i h h hhfffrfbf@ɛ]0B]Z> ael?Ia eR=ɚaiaIm'-=Imiiiu;=)uo@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759750*F?2F:FBF\2JFG= qIuhGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  BDAT read: Rx Time:22:41:13.5312  TRx dataTimestamp_ set to:1736376074.760946 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012239/bw,¿AV@YVV*@V>9V=yVH@?۠?\??8/տ@Y?`[`[͠??ɨV@V#;VCybBb('IHE>IA IEh'IIEBIA&IA.IA6IEt<:IE- FMb@Mb@Mb@ )Y?~jthy ?LD@ @)@I@y@I'I@3٢z 9=9!8;Q >JJJJJ:J:JJJ <J <JBr;JBr;  G٣yռ > -Nusing accuracyPremultiplier from config!-e59%\b?5e5Y%S i%]DAEa ?E:EݾE@%RE%;%;%e5UB Uū@UEZjy}FNOT Ignoring new targets: 126.20 m.Bj 0Jj 0 ProNav: ac range: 126.199997 m, nav range: 52.105572 m, bearing: 231.933439 deg, approach rate: 0.131317 m/s, LOS rate: -0.615670 deg/s, cmd heading: 333.811617 deg, new cmd heading: 333.029968 deg. 2jCӼHeadingCmd: 5.812469 target range: 126.199997 and range: 126.20 m. j@jjjihhh1h5fBf1f1f1rf9bf=r @ɛ,B %W> 隅}?I =ɚiI%,=Iii/=)@)*FE?2FA:FABFEO0JFAG=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268468GB!OEr>zKU$OKU+9KQKUKU$,#&5B<531.,%#"  RKe ?JKe> u $?Iy Lw,¿A(@Y@x >9;=yH? f?`?Pտn?})@? ?ɨ(@@];CyӇB'I))I-7I-3٢=ʽ EU=9E9;Q E>II MG٣MNGyM" U> ]Nusing accuracyPremultiplier from configYee59]lb?ee5Y]JV i]CAae㾑e@]RE]';]{;]4e5y }@yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:41:13.5312 LVL= 14736, 24721, 21586, 28723, AGC= 59, IDX= 424,-0.10, 0.891,-1.279,-0.947,-0.452, PHS= 1.431,-0.780,-0.498, RAW= 96.7, -1.5, CAL= 105.2, -7.2, ROT= 44.8, 7.2 Ygot valid direction response: 22:41:13.5312 LVL= 14736, 24721, 21586, 28723, AGC= 59, IDX= 424,-0.10, 0.891,-1.279,-0.947,-0.452, PHS= 1.431,-0.780,-0.498, RAW= 96.7, -1.5, CAL= 105.2, -7.2, ROT= 44.8, 7.2 PDAT read: Bearing 44.8, 7.2 (Local) ~Local bearing/azimuth received: Bearing 44.8, 7.2 (Local) DAT read: Range 10 to 50 : 125.0 m (Round-trip 166.7 ms) speed 0.3 m/s ,DAT read: user:2789> BDAT read: Tx time:22:41:14.6103 $Ping request sent.ڙڙ۝۝>_ۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝ B(kO-i ?yؙؙؙؙ ٙ ProNav: ac range: 126.199997 m, nav range: 52.150986 m, bearing: 231.711705 deg, approach rate: 0.115669 m/s, LOS rate: -0.564262 deg/s, cmd heading: 333.029970 deg, new cmd heading: 332.365379 deg. 2jHeadingCmd: 5.800870 target range: 126.199997 and range: 126.20 m. j@jjjihh hhfffrf@_@bf?Q?)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝ 隝_?I =ɚiI+=Iii=)@)*F%?2F!:F!BF%P0JF!GM =GM rAGI u Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:22:41:14.6095 G! BI Oe >:w,¿A HJ@eK@Yen[@e >9e8 G٣yܼ > Nusing accuracyPremultiplier from confige59b?e5YzY iFCA0?:@RE ;;. e5 h@Ekd?k󢶘' k k%¿A:kBBkCBZk@"ᓪĸ `?|T.-_@ B(kO-i ?JkU>Rk>_*@dj|jv&_@(݉t?VX"b)?"k*k@kJ:d?k ) 2kx@CkWW?k? kkRGBk{.@u addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 3.531848 s, deltaX: -1.199997 m, approachRate: -0.339765 m/s, rangeRepo size: 4  Added new target pos. range: 125.000000 m, bearing: 307.866992 deg, lat: 36.903344 deg, lon: -122.120422 deg, deltaT: 3.531848 s, deltaX: -1.199997 m, approachRate: -0.339765 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 125.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjJj ProNav: ac range: 125.000000 m, nav range: 49.830791 m, bearing: 229.508200 deg, approach rate: 0.000000 m/s, LOS rate: -0.564262 deg/s, cmd heading: 332.365392 deg, new cmd heading: 331.558129 deg. 2jHeadingCmd: 5.786781 target range: 125.000000 and range: 125.00 m. jO-@jjjihhhhaBfffrf)bf-?ɛu&Bu-R> y}?Iy }ӄ=ɚyiyI*=I(ii=)O-@)jH!bH!H->I) I-0'II-BI-0 =&I).I)6I):I)BIJIRIZIbIjIƔ4*FU?2FQ:FQBF]T0JFYJ J J J J :J J J J <J <J J G% t=G B O% >C\w,ÿAWill construct direction to contact in vehicle frame from tetrahedron phase data.:˵@Y:]ۼ@:J >9: A<,?I =ɚiI6)=I i i f=) Zи@)*F?2F:FBFo0JFG= $?I GBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.w,ZÿA2a@Y2jq@2- >92tt vG٣vNGyz z> ~Nusing accuracyPremultiplier from config|e59~b?e5Y~^ i~FBA  @~RE~;~:~e5B 5@|EZjAEFNOT Ignoring new targets: 125.00 m.BjM<2JjM<2] ProNav: ac range: 125.000000 m, nav range: 49.904819 m, bearing: 229.046620 deg, approach rate: 0.097722 m/s, LOS rate: -0.623308 deg/s, cmd heading: 330.907967 deg, new cmd heading: 330.174482 deg. 2j]ռeHeadingCmd: 5.762632 target range: 125.000000 and range: 125.00 m. je{g@jajajaiahihihihifqfqfqrfqbf O?ɛ"B:Y> ?I @[=ɚiIG(=IBii =){g@)EErA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252544*FU?2FQ:FQBFUY1JFQG] = IG9BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503330w,vl5ÿAF@YF@F1O >9FHlIl In&IInBIl&Il.Il6Il:Il !J=J=J9J9J=|:J=9:J9J9J=<J=<J=X`;J=X`; mYiym[B5Mb@Mb@Mb@111 1)1Y5kt?Zd;O{Gzy5 ?5j5#5@ 5=@)5@I5M@1y5f@IUIU٢e m'=9u;Q u>yy }G٣yy > Nusing accuracyPremultiplier from confige59]b?e5Yb iAA?:U@RE;;e5B _@yEZj -FNOT Ignoring new targets: 125.00 m.Bj5?4Jj5?4E ProNav: ac range: 125.000000 m, nav range: 49.945076 m, bearing: 228.732197 deg, approach rate: 0.080769 m/s, LOS rate: -0.630333 deg/s, cmd heading: 330.174486 deg, new cmd heading: 329.232066 deg. 2jEKؼmHeadingCmd: 5.746183 target range: 125.000000 and range: 125.00 m. jm@jqjqjqiqhyhyhyh}KBfffrfbfo?ɛBJ> <?I ܾ=ɚiI4'=I%x i!ie=)e@)i-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756410*F?2F!:F!BF%}0JF!zK^LK9KKK  &8% MRK>JK? $?I GE =G B) OE >.w,J$OÿAy~\B~}&IIm#Im%x3٢}L }q=9Q ? G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007489y ? Nusing accuracyPremultiplier from confige59b?e5Ye iAA@RE;;e5 @ZjFNOT Ignoring new targets: 125.00 m.BjO:JjO:  ProNav: ac range: 125.000000 m, nav range: 49.973804 m, bearing: 228.514979 deg, approach rate: 0.086219 m/s, LOS rate: -0.651535 deg/s, cmd heading: 329.232057 deg, new cmd heading: 328.580807 deg. 2j ߼HeadingCmd: 5.734817 target range: 125.000000 and range: 125.00 m. j@jjjihhhhf!f!f!rf!bf%@O@ɛ]B]1b> ae?Ia ev=ɚaiaIm[&=Iua iqiuW>)u@)yE}<*F?2F:FBF0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260245G j=Gi By O >jw,%kÿA I: -@Y:<@:L>9: G٣NGyW > Nusing accuracyPremultiplier from confige59b?e5Yi if@Ah?:@RE;);e5 @Zj!%FNOT Ignoring new targets: 125.00 m.Bj-;Jj-;= ProNav: ac range: 125.000000 m, nav range: 50.000591 m, bearing: 228.218075 deg, approach rate: 0.059238 m/s, LOS rate: -0.656238 deg/s, cmd heading: 328.580812 deg, new cmd heading: 327.690653 deg. 2j=/ἝEHeadingCmd: 5.719281 target range: 125.000000 and range: 125.00 m. jEY@jAjAjAiIhIhIhIhM7BfQfQfQrfQbf]@X@ɛ B J>  ?I   =ɚiI%=I=\i9i=9T=)=Y@)AEIEI*EI"EI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511406ZHRHAAHI I&II}BI&I.I6I<:ID F*Fu?2Fq:FyBF}0JFyGU C=Gm pAGm qAGQ BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763328uEw,UÿAzKRIMKRs9KPKRKR}nigikkh^YTMA6,$ f0@Yfʺ@fo>9fJ   G٣y > %Nusing accuracyPremultiplier from config%e59ub?-e5Yl i?A)-4#-@RE*: :0e51 5·@=vEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 125.00 m.Bjm0<Jjm0< ProNav: ac range: 125.000000 m, nav range: 50.020939 m, bearing: 227.970428 deg, approach rate: 0.054095 m/s, LOS rate: -0.658109 deg/s, cmd heading: 327.690647 deg, new cmd heading: 326.948054 deg. 2jἝHeadingCmd: 5.706320 target range: 125.000000 and range: 125.00 m. j,@jjjihhhhfffrfbf@@ɛmBS> 隝]?I 4o=ɚiI5$=Iuiig=) ,@) U$?IQ*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016050G =J J J J J l:J :J J a @a @a @a @G B O- >pw,1ÿA6vW@Y6f@6_8>96 G٣y% %> -Nusing accuracyPremultiplier from config)5e59-b?5e5Y-p i-1?A15Q&=@- RE- ;- ;-!e5EB E@ExEZjiuFNOT Ignoring new targets: 125.00 m.Bju;Jj; ProNav: ac range: 125.000000 m, nav range: 50.041035 m, bearing: 227.704091 deg, approach rate: 0.049521 m/s, LOS rate: -0.656049 deg/s, cmd heading: 326.948042 deg, new cmd heading: 326.149406 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:41:17.1800 TRx dataTimestamp_ set to:1736376078.549230checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268992HeadingCmd: 5.692381 target range: 125.000000 and range: 125.00 m. j'@jjjihhhhfffrfbfH @ɛ-B-NP> 15?I9 =o=ɚ9i9I=$=IE>iAiE\=)E'@)I*F?2F:FBF[0JFG}=GB1 e$?IaOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519446H >I  I [&II @BI &I .I 6I D<:I Fvw,GÿA27@Y2@2c>923 G٣NGy > Nusing accuracyPremultiplier from confige59b?e5Yu i|>A?:1@%RE;l;q%e5B @uEZj FNOT Ignoring new targets: 125.00 m.Bj aFJj aF ProNav: ac range: 125.000000 m, nav range: 50.052746 m, bearing: 227.409694 deg, approach rate: 0.027604 m/s, LOS rate: -0.693743 deg/s, cmd heading: 326.149401 deg, new cmd heading: 325.266489 deg. 2jHeadingCmd: 5.676971 target range: 125.000000 and range: 125.00 m. j@jjjihhhh"Bfffrfbfҷ @ɛMBMI> QU?IQ Up=ɚQiQIU3I#=I]0iYie8=)e@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.*FY2Fa:FaBFe]0JFaUDAT read: 22:41:17.1800 LVL= 17392, 32753, 22306, 32755, AGC= 59, IDX= 428,-0.29, 2.716, 0.716, 0.798, 1.557, PHS= 1.247,-0.794,-0.763, RAW= 90.8, 3.1, CAL= 98.3, 1.0, ROT= 51.7, -1.0 Ygot valid direction response: 22:41:17.1800 LVL= 17392, 32753, 22306, 32755, AGC= 59, IDX= 428,-0.29, 2.716, 0.716, 0.798, 1.557, PHS= 1.247,-0.794,-0.763, RAW= 90.8, 3.1, CAL= 98.3, 1.0, ROT= 51.7, -1.0 PDAT read: Bearing 51.7, -1.0 (Local) ~Local bearing/azimuth received: Bearing 51.7, -1.0 (Local) DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed 0.2 m/s ,DAT read: user:2790> BDAT read: Tx time:22:41:18.2604 $Ping request sent.G9 BI O >w,0ÿAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ainq@Yn鏹@n>9n ? ?O?ݿ @?t[ ?h?ɨnq@n;lyzB~%II%%I%)3٢Uڽ UR=9] :Q ]>YY eG٣ayeh e> mNusing accuracyPremultiplier from configie59mc?e5Ym#y im=AC5@m(REm&CkAk@ addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.785340 s, deltaX: -0.800003 m, approachRate: -0.211342 m/s, rangeRepo size: 4  Added new target pos. range: 124.199997 m, bearing: 66.616426 deg, lat: 36.903482 deg, lon: -122.120266 deg, deltaT: 3.785340 s, deltaX: -0.800003 m, approachRate: -0.211342 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 124.20 m.BjJj ProNav: ac range: 124.199997 m, nav range: 29.493713 m, bearing: 230.768053 deg, approach rate: 0.000000 m/s, LOS rate: -0.693743 deg/s, cmd heading: 325.266476 deg, new cmd heading: 324.395595 deg. 2jHeadingCmd: 5.661771 target range: 124.199997 and range: 124.20 m. j;-@jjjihhhhfff)rf- _@bf--?ɛuBuJ> y}Ҵ?Iy }v=ɚyiyI}<"=JsK{|3 K{S}-KsKs"KsJJJJJܫ:J :JJIiigO=);-@)*F]?2FY:FYBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G !=G B O > 9 IA mw,ÿAB@YB"@B>9B6 G٣y > Nusing accuracyPremultiplier from confige59c?e5Y} i=A"?:J?@,RE;F;v,e5B 7@rEZjFNOT Ignoring new targets: 124.20 m.Bj˸Jj˸ ProNav: ac range: 124.199997 m, nav range: 29.478817 m, bearing: 230.270975 deg, approach rate: -0.038714 m/s, LOS rate: -1.292486 deg/s, cmd heading: 324.395600 deg, new cmd heading: 322.903969 deg. 2j]HeadingCmd: 5.635737 target range: 124.199997 and range: 124.20 m. jW@jjjihhhhBfffrfbf@f?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-BU2K> Y]Ͱ?IY ]=ɚYiYIe!=Ie!%iaim^>)mW@)jHAbHE<HIIMC IM&IIMBIM/ =&II.II6IMC<:II*Fe?2Fa:FaBFmo0JFiG =Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,sĿAJ@YJ@J>9JP?^?ɨJ@Jx;JCyVBV%IIbIb0٢n nV=9nsQ r>pp rG٣rNGyvi v> zNusing accuracyPremultiplier from configx~e59zf,c?~e5Yz izw AE%?IA EJ!=ɚIiIIM>!=IMN+iqiuI>)u@)y $?I*F ?2F :F BF  3JF "G=G=G/>GqAGrAGBOE>]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.J J J J J :J &:J J bw,z ĿA2 4@Y2C@2r>92Xxx zG٣xy~| >  Nusing accuracyPremultiplier from confige59;c?e5Y i;AE@4RE*::X3e59 =@EoEZjamFNOT Ignoring new targets: 124.20 m.BjmԬJjmԬ ProNav: ac range: 124.199997 m, nav range: 29.447584 m, bearing: 229.317294 deg, approach rate: -0.041117 m/s, LOS rate: -1.208795 deg/s, cmd heading: 321.519872 deg, new cmd heading: 320.042045 deg. 2jeOHeadingCmd: 5.585787 target range: 124.199997 and range: 124.20 m. jž@jjjihhhhfffrfbfc#?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475513ɛ BH> ?I @==ɚiIE =I2ii>)ž@)*F?2F:FBF05JF $?IG>GQBYO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727642HE >IA  IE %IIE ˆBIA &IA .IA 6IE <:IE H FBI!JI%˙CRI!ZI%0 =bI%0 =jI%F*5R w,U:ĿAy=B=%IMb@Mb@Mb@ )YCl?'1ZĿ{Gzy;?"ף@ @)@I@y@I:I3٢: -=9Q > G٣y  > 5Nusing accuracyPremultiplier from config1=e595Mc?=e5Y5@ i5:A=n$?=:E+GE@59RE5;5;5~7e5I M@ZjIUFNOT Ignoring new targets: 124.20 m.BjU=JjU= ProNav: ac range: 124.199997 m, nav range: 29.428701 m, bearing: 228.733522 deg, approach rate: -0.037812 m/s, LOS rate: -1.169705 deg/s, cmd heading: 320.042037 deg, new cmd heading: 318.290174 deg. 2jHHeadingCmd: 5.555212 target range: 124.199997 and range: 124.20 m. jKı@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983555hhBfffrfbf +@ɛE BM7;> IM1?II M2=ɚIiIIU,=IU\:iQi]4>)Kı@)*FU?2FQ:FQBFUt1JFQzKuBHKu9KqKuKuRK?JK ? IGM +>G! B1 O] >w,6TĿAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231378nk@Ynz@n>9nQ&;-GD;-q:e5Y ]@]nEZjFNOT Ignoring new targets: 124.20 m.BjuJju ProNav: ac range: 124.199997 m, nav range: 29.411892 m, bearing: 228.318738 deg, approach rate: -0.051688 m/s, LOS rate: -1.276148 deg/s, cmd heading: 318.290176 deg, new cmd heading: 317.045320 deg. 2jZHeadingCmd: 5.533485 target range: 124.199997 and range: 124.20 m. jO@jjjihhhhfffrfbf@'@ɛB^P> x?I! %|=ɚ!i!I%=IM]?iIiM/>)MO@)QJJJ/JJ:J:J(N3J*F?2F:F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483354GM $>GM ?GM ?G1 BI O > $?I w,nĿAFP@YF@Fa:>9F3 G٣y > Nusing accuracyPremultiplier from confige59jjc?e5Y i9A)?:M@ARE;b;">e5 @ZjFNOT Ignoring new targets: 124.20 m.Bj)Jj) ProNav: ac range: 124.199997 m, nav range: 29.392378 m, bearing: 227.782615 deg, approach rate: -0.047870 m/s, LOS rate: -1.316019 deg/s, cmd heading: 317.045333 deg, new cmd heading: 315.436343 deg. 2ja%HeadingCmd: 5.505403 target range: 124.199997 and range: 124.20 m. j%B,@j!j!j!i!h)h)h)h5 Bf1f1f1rf1bf= M@ɛmBm'G> iuʜ?Iq uӎ=ɚqiqIuW3=I}Giyi}q<>)}B,@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736321*F?2F:FBF ]0JF ZHRH?AH>I I%IIBI. =&I.I6IW<)  :I FqGm&/ > YyBGBO k> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:41:20.8290  TRx dataTimestamp_ set to:1736376082.076539 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988319{!w,ĿA:a}@Y:ٌ@:M>9:i?ɨ:a}@: ;:CybgBbQ%IIj2Ij?3٢׿ U=9 d:Q  >    G٣ y > %Nusing accuracyPremultiplier from config%e59xc?-e5YW i8A)-DQ-@ERE:a:}Ae5=B =@EkE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 124.20 m.Bjm}Jju} ProNav: ac range: 124.199997 m, nav range: 29.373255 m, bearing: 227.295282 deg, approach rate: -0.049778 m/s, LOS rate: -1.269364 deg/s, cmd heading: 315.436331 deg, new cmd heading: 313.973718 deg. 2jYHeadingCmd: 5.479875 target range: 124.199997 and range: 124.20 m. j#[@jjjihhhhfffrfbf  @ɛB0!E> ?I q=ɚiIw=IMiiIE>)#[@)E zKUBoHKUs9KQKU KUBKepA:Ka yI}h*F2F:FBF_0JF"G=G==Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239605GA=/>GBO>:(w,0֡ĿA^N@Y^@^Q>9^3H| G٣NGy$ > Nusing accuracyPremultiplier from confige59·c?e5Y} i%8A!%tU%@IRE7::Ee5) -@1ZjQ]FNOT Ignoring new targets: 124.20 m.Bj]6Jj]6} ProNav: ac range: 124.199997 m, nav range: 29.351118 m, bearing: 226.782197 deg, approach rate: -0.054943 m/s, LOS rate: -1.274419 deg/s, cmd heading: 313.973715 deg, new cmd heading: 312.433688 deg. 2j}ZHeadingCmd: 5.452997 target range: 124.199997 and range: 124.20 m. j~@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:41:20.8290 LVL= 12432, 25633, 18562, 24643, AGC= 57, IDX= 432, 0.20, 1.878, 0.292,-0.030, 0.967, PHS= 0.999,-0.628,-1.001, RAW= 79.9, 6.9, CAL= 84.6, 8.1, ROT= 65.4, -8.1 Ygot valid direction response: 22:41:20.8290 LVL= 12432, 25633, 18562, 24643, AGC= 57, IDX= 432, 0.20, 1.878, 0.292,-0.030, 0.967, PHS= 0.999,-0.628,-1.001, RAW= 79.9, 6.9, CAL= 84.6, 8.1, ROT= 65.4, -8.1 PDAT read: Bearing 65.4, -8.1 (Local) ~Local bearing/azimuth received: Bearing 65.4, -8.1 (Local) DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.4 ms) speed 0.0 m/s ,DAT read: user:2791> BDAT read: Tx time:22:41:21.9104 $Ping request sent.Iڝ?iڝڙڙ۝ML?ymv{v/A?)۝*3I۝3ri۝n @۝P-ۙۙ:publishing transmit ping timeEFpublishing direction and range infoؙ9؝۬a?'ɿsF? !y ?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝ML?ymv{v/A?)ۙIۙiۙۙۙۙɛeBmg>> imՕ?Ii m;=ɚiiiIu4=Iu)}~@)y $?I*F12F:FBFJFGu;>GGGBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:41:21.9096 H >I  I a%II uBI &I .I 6I <:I F 8.w,rĿAJJJ&J&J&0J$J&:J&:J&ـ3J$J&;a*J&;a*J&L;a*J&L;a.Jr@YJ>@J>9J.s!! %G٣!y% %> UNusing accuracyPremultiplier from config)Ue59-˗c?]e5Y-8 i-b7A]*?]:]|Z]@-NRE-1;-;-He5a m@mhEkg?kGs k k*ĿA:kBBkBZk.?"U(;8h^A@7\@۬a?'ɿsF? !y ?Jkn @RkP-*l%Ȕ)@)-C?@7x]@ͺ?qlN:?]?"kA*kNAkg?kcym 2k9Ck26d?k ) kk @kK@ addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.527466 s, deltaX: -0.899994 m, approachRate: -0.255139 m/s, rangeRepo size: 4  Added new target pos. range: 123.300003 m, bearing: 67.563451 deg, lat: 36.903682 deg, lon: -122.120084 deg, deltaT: 3.527466 s, deltaX: -0.899994 m, approachRate: -0.255139 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 123.30 m.BjJj ProNav: ac range: 123.300003 m, nav range: 5.344907 m, bearing: 290.591111 deg, approach rate: 0.000000 m/s, LOS rate: -1.274419 deg/s, cmd heading: 312.433698 deg, new cmd heading: 310.674487 deg. 2jHeadingCmd: 5.422293 target range: 123.300003 and range: 123.30 m. jl@jjjihhhhBfffrf@3^@bf`?ɛ-B5ҭ@> 15H?I1 5ث=ɚ1i9I=J=I=qc\iAiE@Z>)El@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JF IzKBHK9KK KRK?JK ?G {C>G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.)5w,;ĿA2j٭@Y2@2h>92JKB>.%IIV(IV̍3٢^h ba=9fQ f>dh jG٣hyjR n> rNusing accuracyPremultiplier from configlue59nc?}e5Yn  in6Ay}H_}@nRREn qu?Iy }6P=ɚyiyI}T=IMhiir>)C@)*Fm?2Fi:FiBFm)1JFiGurA GurAGE+L>GB)OUu>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I hL;w,sdĿAb7@Yb G@b>9bybH@9? $S?OO?'@8?` F¿\pѫ?ɨb7@bA;bCynDBn%%IMb@Mb@Mb@ )YRQ?M¿~jty"?nDC@ @)@Ij@y@II 2٢  ;=91:Q > G٣NGy~9 > Nusing accuracyPremultiplier from confige59c?e5Y i 6A&?:_@VRE(;;Oe5B =@eEZj)5FNOT Ignoring new targets: 123.30 m.Bj=RJj=RM ProNav: ac range: 123.300003 m, nav range: 4.857892 m, bearing: 288.557132 deg, approach rate: -0.640910 m/s, LOS rate: -2.946600 deg/s, cmd heading: 307.889710 deg, new cmd heading: 304.277408 deg. 2jUUHeadingCmd: 5.310643 target range: 123.300003 and range: 123.30 m. jU@jYjYjYiYhYhYhahe5Bfafafirfibfm?ɛBUB> 隝?I &3=ɚiI=Ixii >)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<H>IC I<%IIWBI- =&I.I3D6Ir<:I5 F*F=?2F9:F9BFEP5JFAJ]J]JYJYJ],:J]:JYJYJ];J];J]yE;J]yE;G] X>G9 BA Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.!1Bw,1 ſA69@Y6@6f>96"y6H8?`ݼ?3?ȑ/?৵E¿j҂?ɨ69@6;6Cy>7B>%IiB=IB4< Fp=Fa=IJIJ(٢V V`=9VʸQ V>XX ZG٣Xy^V9 ^> %Nusing accuracyPremultiplier from config!-e59%c?-e5Y% i%o5A15c5@%ZRE%n:%:%%Se5mB m @mgEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.30 m.BjHJjH ProNav: ac range: 123.300003 m, nav range: 4.630836 m, bearing: 287.507362 deg, approach rate: -0.578636 m/s, LOS rate: -2.806281 deg/s, cmd heading: 304.277414 deg, new cmd heading: 300.977530 deg. 2j𽝊 HeadingCmd: 5.253049 target range: 123.300003 and range: 123.30 m. j @j j j ih1h1h9h9f9f9f9rfAbfE.? YIYzKBoHKKK K;P"ɛMBM@> QU?IQ Ue=ɚQiQIUp=Ieiii)@)*F?2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.G]a>G9BIOew>ZHw, #ſA2r"@Y21@22>92 4y2H@S?)?b?@Zs?$q¿YU ?ɨ2r"@2m;2CyN+BR%IIZCIZ3٢bh bI=9b8[;Q b>dd fG٣dyj8. j> nNusing accuracyPremultiplier from configlre59nc?re5Yn in4Aprfhv@n^REn%;n;nVe5x z@xZj!-FNOT Ignoring new targets: 123.30 m.Bj-dJj-d= ProNav: ac range: 123.300003 m, nav range: 4.394404 m, bearing: 286.351647 deg, approach rate: -0.620884 m/s, LOS rate: -3.198047 deg/s, cmd heading: 300.977531 deg, new cmd heading: 297.329031 deg. 2jE, EHeadingCmd: 5.189371 target range: 123.300003 and range: 123.30 m. jMS@jIjIjIiIhIhIhQhQfQfQfYrfYbf]x@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004225ɛBB> 隥@?I ,=ɚiI=I%ii)S@)*F?2F:FBFP0JF"G>G)> m$?IiG>GBO}{>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362H >I  I %II =BI , =&I .I 6I a<:I + F1Nw,<ſAJJJJJ:J :JJJh;Ji;J9P;J9P;Rˍ@YRC@R->9RWyRH .?`@??m [{?@␵@¿MZ?ɨRˍ@RkI;Pyv)Bv%IMb@Mb@Mb@ )YGz?X9v{Gztyp?ףp@ -@)@I@y@ITI4٢ <=9;Q > G٣NGyF+ > Nusing accuracyPremultiplier from confige59c?e5Yy i%4A] ?:e@bRE;<;aZe5B @dEZjFNOT Ignoring new targets: 123.30 m.BjDkJjDk ProNav: ac range: 123.300003 m, nav range: 4.147057 m, bearing: 284.937529 deg, approach rate: -0.543288 m/s, LOS rate: -3.290971 deg/s, cmd heading: 297.329036 deg, new cmd heading: 292.843293 deg. 2j) HeadingCmd: 5.111080 target range: 123.300003 and range: 123.30 m. j@jjjihhhhMBfff rf bf @ɛUB]J3@> Y]?IY ]j=ɚYiaIeG=Iii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508711*Fa2Fa:FaBFe^0JFa QIQzK% MK% 59K! K% K% RK5 ?JK5 ?G K>G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759289lUw,@VſABЪ@YB߱@B >9BWkyBH@~?%?T?@ ?Z¿@9 ?ɨBЪ@B;BCyJBN$I)P PTVAIZDIZ3٢P  U=9,r;Q >99 =G٣AyEs M> UNusing accuracyPremultiplier from configQ}e59Uyc?}e5YU iU3Ak@UfREU;U;U]e5 @Zj FNOT Ignoring new targets: 123.30 m.BjU]Jj]] ProNav: ac range: 123.300003 m, nav range: 3.925063 m, bearing: 283.591251 deg, approach rate: -0.582355 m/s, LOS rate: -3.731096 deg/s, cmd heading: 292.843295 deg, new cmd heading: 288.584286 deg. 2j HeadingCmd: 5.036746 target range: 123.300003 and range: 123.30 m. j-@jjjihhhhfffrfbf`M@ɛEBM8B> iuɈ?Iq u%=ɚqiqIu=I}iyiy)}-@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014020Gm F>GA BQ O} > ] $?IY 6[w,pſAzn@Yz@zh>9zjCƼyzH k+?? 4? +@7?@b!ÿ`@?ɨzn@zO;zCy#B $IMb@Mb@Mb@ )Y333333?B`"۹y?ν p@)`@I@yf@I 4I V3٢-< 58=95;Q 5>99 =G٣9y=e E> MNusing accuracyPremultiplier from configAUe59Ec?Ue5YE iE2AU?U:UjU@EjREEF;E;Eae5eB eS@eaEZjFNOT Ignoring new targets: 123.30 m.BjʔJjʔ ProNav: ac range: 123.300003 m, nav range: 3.686395 m, bearing: 281.941893 deg, approach rate: -0.565806 m/s, LOS rate: -4.162675 deg/s, cmd heading: 288.584290 deg, new cmd heading: 283.331358 deg. 2j2HeadingCmd: 4.945065 target range: 123.300003 and range: 123.30 m. j=@jjjihhhhpBfffrfbfP) @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:41:24.4786 5TRx dataTimestamp_ set to:1736376085.864747=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272503ɛuBuB> y}?Iy } P=ɚyiyI}0=IУii)=@)ZHIRHIH]>IY I] %II].BI]+ =&IY.IY6I]b<:I]- FBIĚCJIĚCRIZI- =bI- =jI5*F92FA:FABFEf0JFAGMqA GIJ=J=J9J9J=:J=:J9J9J=;J=;J=DG;J=DG;Ga G9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523639>~bw,tſA20(@Y27@2t>924y2HU?O? s?0*?@f[ÿ❿@?ɨ20(@2q;0yVBV$II^AI^k3٢rɽ rc=9v;Q v>tt vG٣xyzƚ z> Nusing accuracyPremultiplier from confige59d?%e5Y ir2A)5q=@nRE;};de5A Ev@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 123.30 m.Bju Jj}  ProNav: ac range: 123.300003 m, nav range: 3.488735 m, bearing: 280.493668 deg, approach rate: -0.538638 m/s, LOS rate: -4.169666 deg/s, cmd heading: 283.331355 deg, new cmd heading: 278.750799 deg. 2j2HeadingCmd: 4.865119 target range: 123.300003 and range: 123.30 m. j@jjjihhhhfffrfbf @ɛUG> ?I =ɚiI=I](ii)@) IhzKuJKqKqKu Ku*F ?2F :F BF _1JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 123.0 m (Round-trip 164.0 ms) speed 0.0 m/s U,DAT read: user:2792> ]BDAT read: Tx time:22:41:25.5604 ]$Ping request sent.]hw,VſA2"S@Y2b@2>92y2H??*?S? 3ZÿQ?ɨ2"S@2;2CyRBR$I V=V=IZJIZ)4٢jj rK=9v;Q z>xx zG٣zNGy~_ ~> Nusing accuracyPremultiplier from config e59? d? e5Y i1Ax@rRE:X:Ihe5B )@cEM addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.787144 s, deltaX: -0.300003 m, approachRate: -0.079216 m/s, rangeRepo size: 4 ZjIUFNOT Ignoring new targets: 123.30 m.BjUJj]m ProNav: ac range: 123.300003 m, nav range: 3.267375 m, bearing: 278.763735 deg, approach rate: -0.554973 m/s, LOS rate: -4.630270 deg/s, cmd heading: 278.750812 deg, new cmd heading: 273.227428 deg. 2jmFuHeadingCmd: 4.768718 target range: 123.300003 and range: 123.00 m. j}W@jyjyjyiyhyhyhhfffrf^@bf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}B}2?> 隅ς?I =ɚiI==Iii)W@)*F?2F:FBFP5JF !$?I GA> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B 9 HM >II  IM $IIM BII &II .II 6IM <:IM o Fm tA 7!Y tAy 1BO] >nw,1ſA2j@Y2:z@20C>92iży2HGQ??I?WX`?ÿ c`Ś?ɨ2j@2i;2Cyhj$IMb@Mb@Mb@ )YQ?bX9ȶMb`?y?E;Z@ @)QAI@y@II2٢- :=9_;Q > G٣ y- > %Nusing accuracyPremultiplier from config!e59%Kd?e5Y% i%A1A{?:{@%vRE%'<%/<%#le5B <@`EZjFNOT Ignoring new targets: 123.30 m.Bj6Jj6 ProNav: ac range: 123.300003 m, nav range: 3.035411 m, bearing: 276.713922 deg, approach rate: -0.503667 m/s, LOS rate: -4.789889 deg/s, cmd heading: 273.227429 deg, new cmd heading: 266.638662 deg. 2jtMHeadingCmd: 4.653723 target range: 123.300003 and range: 123.00 m. j%L@j!j!j!i!h!h!h)h-Bf1f1f1rf1bf5B?ɛae~?> imʂ?Ii u:h=ɚqiqIu =I}0¿iyiy)}L@)yEEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF 15JF "G>G> IG% F>zK BoIK }9K K K G B O- >_uw, ſA.Will construct direction to contact in vehicle frame from tetrahedron phase data.N}@YN@N">9N(;yNH?@?W?L1?EĿd??ɨN}@N;NCyZBZ$IIrIr#3٢zh̽ z\=9z || G٣y.% >  Nusing accuracyPremultiplier from config e59 o!d?e5Y  i 0Ay}}@ yRE bu< C{< [oe5 l@ZjFNOT Ignoring new targets: 123.30 m.BjJj% ProNav: ac range: 123.300003 m, nav range: 2.839184 m, bearing: 274.979077 deg, approach rate: -0.528527 m/s, LOS rate: -4.994904 deg/s, cmd heading: 266.638673 deg, new cmd heading: 261.092671 deg. 2j-?V-HeadingCmd: 4.556927 target range: 123.300003 and range: 123.00 m. j-Xґ@j1j1j1i1h1h9h9h9f9fAfArfAbfE'N?JJJJJܫ:J:JJa%@a%@a%@a%@ɛUBUSA> QUD|?IQ U=ɚYiYI]h=Ie>̿iaia)eXґ@)a*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O > I {w,ſAy޵B޵$IeMb@Mb@Mb@aaa a)aYeGz?/$Mb`ye?eee@ a)eAIe5@aye@I}I}2٢ 2 2=9Q > G٣NGy > Nusing accuracyPremultiplier from confige59t,d?e5Yc i 0A;?:@~RE;;\se5 @ZjFNOT Ignoring new targets: 123.30 m.BjٽJjٽ  ProNav: ac range: 123.300003 m, nav range: 2.608234 m, bearing: 272.540428 deg, approach rate: -0.530215 m/s, LOS rate: -6.092539 deg/s, cmd heading: 261.092669 deg, new cmd heading: 253.181975 deg. 2j HeadingCmd: 4.418859 target range: 123.300003 and range: 123.00 m. jKg@jjjihhhhBf!f!f!rf)bf-OA?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛY].>>jH<bH<H>IC I$IIBI&I.I6IM<:I F a]Sw?Ia eO=ɚaiaIeQ =Imؿiiii)mKg@)q*Fq2Fq:FqBFqJFqG  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B  PExceeded connect timeout, disconnecting.OE >ǂw,Ҩ ƿANWӣ@YN@N՛+>9NJ7 隍"s?I ?=ɚiI=Iii)@)zKiJKKKK*Fu?2Fq:FqBFu_0JFqGy G}pAmWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAmT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G:>JI JM JM 1JI JI JM :JM 3JI G B O >nw,mT%ƿAy%ЅB%$II5BI53٢Ee EE=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYee59]=d?ee5Y]d i].Aiqu@]RE]3;]4;]ye5y }@yZjFNOT Ignoring new targets: 123.30 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274369] ProNav: ac range: 123.300003 m, nav range: 2.227477 m, bearing: 267.913020 deg, approach rate: -0.520783 m/s, LOS rate: -7.472150 deg/s, cmd heading: 247.043926 deg, new cmd heading: 238.232545 deg. 2je@mHeadingCmd: 4.157942 target range: 123.300003 and range: 123.00 m. jm @jijjihhhhfffrfbf`Az@ɛA<>  k?I '=ɚiI=Iii) @)! I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525435G H5 >I1  I5 $II5 ݅BI5 * =&I1 .I5 4D6I5 <:I5 R FG B O >JY JY Ww,p??ƿA63@Y6\C@6K4>969R G٣NGyf > Nusing accuracyPremultiplier from confige59Dd?e5Y i&.A6?:Ԓ@RE;;}e5 @_EZjFNOT Ignoring new targets: 123.30 m.BjBJjB  ProNav: ac range: 123.300003 m, nav range: 2.026112 m, bearing: 265.054380 deg, approach rate: -0.485110 m/s, LOS rate: -7.568098 deg/s, cmd heading: 238.232545 deg, new cmd heading: 228.891859 deg. 2j OHeadingCmd: 3.994917 target range: 123.300003 and range: 123.00 m. j@jjjihhhh%Bf!f!f!rf!bf-C@ɛ]B]K=> ]v=];_?IY ew=ɚaiaIe=p=ImQiiii)m@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776814*F?2F:F!BF%p0JF! enManaging dock network, ignoring radio surface power off qIuhGm B>zK K 9K K K RK5 ?JK5 ?G9 BI Oe >Kw,YƿA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*BDAT read: Rx Time:22:41:28.1288 *TRx dataTimestamp_ set to:1736376089.402104.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031222ymBmc$II}GI}3٢ K=9Q > G٣y > Nusing accuracyPremultiplier from confige59Ld?e5Y, it-A@RE ;;$e5 )@ZjFNOT Ignoring new targets: 123.30 m.Bj%Jj% ProNav: ac range: 123.300003 m, nav range: 1.836107 m, bearing: 261.680246 deg, approach rate: -0.472856 m/s, LOS rate: -9.260638 deg/s, cmd heading: 228.891865 deg, new cmd heading: 217.866555 deg. 2jƾ%HeadingCmd: 3.802489 target range: 123.300003 and range: 123.00 m. j%[s@j!j!j!i!h)h)h)h)fffrfbf ?@J%J%J%0J!J%:J%&:J%ـ3J!ɛuBuN8> quV?Iq u~=ɚyiyI}d=I}‹ii)[s@)*F?2F:FBF0JF"G >G!>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281047G :> i Ii G B O% >w&w,9/4ii uG٣qyu u> }Nusing accuracyPremultiplier from configye59}^Sd?e5Y} i},A ?:@}RE}g5;}Z4;}e5 j@\EZjFNOT Ignoring new targets: 123.30 m.Bj5Jj5 ProNav: ac range: 123.300003 m, nav range: 1.634311 m, bearing: 257.772019 deg, approach rate: -0.466073 m/s, LOS rate: -10.133240 deg/s, cmd heading: 217.866560 deg, new cmd heading: 204.928862 deg. 2jRپHeadingCmd: 3.576683 target range: 123.300003 and range: 123.00 m. jad@jjjihhhhBMWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiMA]DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed -0.2 m/s e,DAT read: user:2793> mBDAT read: Tx time:22:41:29.2104 m$Ping request sent.mI Im$IIBI&I.I6I<:I Ffffrf`f^@bf?ɛ9=4> 9=L?I9 e7=ɚaiaIe=Im^^iiii)mad@)q*F%?2F!:F!BF%J2JF!G9  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:41:29.2096 G B! OE >F w,ČƿAybtBb%$IhjAInVInn4٢v5, zf=9zQ z> #$?I|   G٣ NGy   > Nusing accuracyPremultiplier from config%e59Xd?%e5Y i+A!)-@RE+;},; e51 5S@1UB*** querying acoustic contact ***jQjQm addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 3.536478 s, deltaX: 0.099998 m, approachRate: 0.028276 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 123.30 m.Bju^Jj}^}ProNav REINIT: LOS rate is -12.461559 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. j.?jjjihhhhfffrfbf;?ɛ :> =?I =ɚiIF=Ic ii).?)zK-BoIK-}9K)K-K-PBK5qA:K1EF<eWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF4JFJKـ3 K .KK"KJ5 J5 J1 J1 J5 :J5 :J1 J1 G 2>Gq B O >_w,PƿA6=Ξ@Y6ݥ@63PB>96K;y6H(?@j?,? @`m?`ſ`$ȿ/~?l?ɨ6=Ξ@6;6Cy[B $II-?I-T3٢M M@=9UIYY ]G٣YmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753566y}4 > Nusing accuracyPremultiplier from confige59^d?e5Y  i+A@REz_;"`;͋e5 @Zj FNOT Ignoring new targets: 123.30 m.Bj^Jj^ProNav REINIT: LOS rate is -14.924628 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.%HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf=?ɛ9='/> AE#1?IA E^)=ɚAiAIE=IM`iIiI)Q)Q IE]=*F?2F:FBF4JFGrA GrA Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005027H] ">IY  I] "$II] rBI] ) =&IY .IY 6I] E<:I] FBIEɛCJIEɛCRIAZIE* =bIE* =jIE6X5GM :>G) B9 OU >+=w,ƿA2]@Y2 @2E>926BR#I5Mb@Mb@Mb@111 1)1Y5aa eG٣aye= m> Nusing accuracyPremultiplier from confige59cd?e5Y i(*AH?:  @RE/;j;ke51 5@9ZjFNOT Ignoring new targets: 123.30 m.Bj3Jj3ProNav REINIT: LOS rate is -20.277564 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jjjjihhhhBfffrfbfd?ɛae+> aeq"?Ia e%>ɚiiIj'=I Xii))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256914 I*F?2F:FBF5JFzK pMK 9K K K  ~zxpjgc^ZXTPKHA<82-,('&#$##"#!= Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiE AU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736G1 G BO=>d[w,ƿAF8@YF)H@F=H>9Fz|| ~G٣~NGyV >  Nusing accuracyPremultiplier from config e59 thd?e5Y  i ')A@ RE : : ;e5! %M@-^EZj FNOT Ignoring new targets: 123.30 m.BjJjEᆳEProNav REINIT: LOS rate is -26.813493 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.MHeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jIjIjIjIiQhQhQhQhQfYfYfrfbf?ɛB4(> W7=?I >ɚiI=IpHii))*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761246 IhGG B O >!{w,ƿA)$ (ZGvA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012588jH=<bH=4<HE%>IEC IE#IIE+BIA&IA.IA6IE[<:IE4 F }|"Y}vAy}5B t@Y@hK>98( G٣y%P %> -Nusing accuracyPremultiplier from config)=e59-Ymd?=e5Y-< i-'A=q?=:=g=@-RE-D;-C;-Xe5I M@IZjy}FNOT Ignoring new targets: 123.30 m.Bj}:Jj:ProNav REINIT: LOS rate is -41.837647 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jjjjihhhhBfffrfbf@JJJJJܫ:J :JJJ;aJ;a JS;a JS;a ɛuBu%> y}?Iy }&>ɚyiI$=Is#ii))*FY2FY:FYBFYJFa"Gm>Gm8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264335Gi I G9 BI Oe >bw,dǿA6@Y6 @6sO>96:';4yB܄BBj#IIJ`IJ(*4٢R R|=9R " i^'A|~u@^RE^<^y<^-e5 @[EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.30 m.Bj?Jj?ProNav REINIT: LOS rate is -42.881318 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jjjjihhhhfffrfbf@ɛ O#>  >I  ,v>ɚ iI=I'ii))!zKNK9KKK   *F?2F:FBFp0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517438GJ>GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7696766w,A,ǿA6CӚ@Y6@6-!Q>96q AIAII MG٣MNGyU{ U> Nusing accuracyPremultiplier from confige59sd?e5Y ) i%A𴿑@REl;;e5 @ZjAEFNOT Ignoring new targets: 123.30 m.BjMVJjMVMProNav REINIT: LOS rate is -47.911476 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.UHeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jYjYjYjYiYhYhYhahafafafirfibfmk@ɛBz> 隝Q>I >ɚiIO=If-ii))Ed=EWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:41:31.7798 UTRx dataTimestamp_ set to:1736376092.931228]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024070Hm(>ImC Imm#IIm߄BIm' =&ImGD.Im5D6Imc<:Im= F*F?2F:FBF_0JFGqA GqAJ J J J J J :J J J J ;J J;J J;G :>G B O >5w,ADIǿAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273696y-B-)#IMb@Mb@Mb@ )Y{Gz?i|?5:vy#?T@ @)AI@yf@IVIn4٢- =9Q > G٣ Iy > Nusing accuracyPremultiplier from confige59wd?e5Y0 iv$A!'?:@REc;);>e5B @^EZjFNOT Ignoring new targets: 123.30 m.Bj (Jj (ProNav REINIT: LOS rate is -37.715758 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jjj!j)i)h)h)h)h5sBf1f1f1rf1bf= @ɛmBm> imé>Ii u$>ɚqiqIu+1=I}3iyiy)y)yEI6=*Fu?2Fq:FqBFuf0JFqzKJK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527636Gy GQ BY O >JZw,cǿAV*@YV9@V*TT>9V11 5G٣1y=5 => ENusing accuracyPremultiplier from configAMe59Eyd?Me5YE6 iEj#AIUpU@EREE:E*:EVe5Y ]x@YZjFNOT Ignoring new targets: 123.30 m.BjJjProNav REINIT: LOS rate is -29.038855 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg.HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. jjjjihhhhfffrfbfঘ @ɛB> e>I V>ɚiI=I98ii))EE*E"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 22:41:31.7798 LVL= 15328, 15841, 15074, 24915, AGC= 58, IDX= 441, 0.20,-0.405,-0.966,-2.746,-1.393, PHS= 1.077, 0.475,-1.355, RAW= 43.8, -1.8, CAL= 44.5, -4.6, ROT= 105.5, 4.6 mYgot valid direction response: 22:41:31.7798 LVL= 15328, 15841, 15074, 24915, AGC= 58, IDX= 441, 0.20,-0.405,-0.966,-2.746,-1.393, PHS= 1.077, 0.475,-1.355, RAW= 43.8, -1.8, CAL= 44.5, -4.6, ROT= 105.5, 4.6 uPDAT read: Bearing 105.5, 4.6 (Local) }~Local bearing/azimuth received: Bearing 105.5, 4.6 (Local) DAT read: Range 10 to 50 : 123.9 m (Round-trip 165.3 ms) speed 0.0 m/s ,DAT read: user:2794> BDAT read: Tx time:22:41:32.8604 $Ping request sent.-p-EC?- -F?)-lI-s?i-l=))-g? I  I #II BI % =&I .I 6I Y<:I 9 FGy B O >Nw,~}ǿA>NK@Y>Z@>T>9>aH?-??3d?ɿcʿડ?;O?ɨ>NK@>;>CyFnBZ"IMb@Mb@Mb@ )YFx?X9vv/y+?xiJUJUJQJQJU :JU:JQJQJU;JU;JUL;JUL;A v@)+AI@yzAI+In3٢ݽ /=9/:Q > G٣NGyn > Nusing accuracyPremultiplier from config e59{d? e5Y> i!A J/?:@RE-;3;je5 -@)kE?k3D k kkǿA:kBBkBZk>=".n)@ -W@t1S@5 x?=Ɵ?Wyf?Jk?Rkw0* X@W-@GܳBfS@TDaw?\k+2?Jn ?"k@*kBk=]>?kԋs 2kCkJ:d?kԋs kkƏ@k? addTargetRange:: Added new target pos. range: 123.900002 m, deltaT: 3.779645 s, deltaX: 0.800003 m, approachRate: 0.211661 m/s, rangeRepo size: 4 = Added new target pos. range: 123.900002 m, bearing: 2.665626 deg, lat: 36.903690 deg, lon: -122.120043 deg, deltaT: 11.103267 s, deltaX: 0.599998 m, approachRate: 0.054038 m/s, posRepo size: 4 Zj9]FNOT Ignoring new targets: 123.90 m.BjeJjamProNav REINIT: LOS rate is -29.038855 deg/s. Setting heading cmd to target acoustic bearing of 2.665626 deg.mHeadingCmd: 0.046524 target range: 123.900002 and range: 123.90 m. jm>=jqjqjqiqhqhqhhdBfffrf^@bf Z?ɛBP> {_=^>I %E>ɚ!i!I%=Iu7F=iyiy)}>=)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%L1JF!"G5>G5> IIMhGQ GI BY Ou >9w,ǿA6U@Y6Ne@6fR>96d9422Zj!-FNOT Ignoring new targets: 123.90 m.Bj[<Jj[< ProNav: ac range: 123.900002 m, nav range: 4.714660 m, bearing: 89.063418 deg, approach rate: 0.699523 m/s, LOS rate: 0.553787 deg/s, cmd heading: 2.665626 deg, new cmd heading: 3.191993 deg. 2j<HeadingCmd: 0.055711 target range: 123.900002 and range: 123.90 m. j1d=jjjihhhhfffrfbf?ɛEBE6>MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIMT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. iml>Ii m\>ɚiiiIu=IuN?iqiy)}1d=)y*F2F:FBF4JFG% 2>G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990069B O5 >  I w,\ǿA:f@Y:>v@:rQ>9:XX ^G٣\y^] b> jNusing accuracyPremultiplier from configdje59f-}d?je5YfK ifAlnƿn@fREf;f;fe5p v@tZj FNOT Ignoring new targets: 123.90 m.Bj;Jj;M ProNav: ac range: 123.900002 m, nav range: 4.979730 m, bearing: 89.173669 deg, approach rate: 0.664008 m/s, LOS rate: 0.261481 deg/s, cmd heading: 3.191993 deg, new cmd heading: 3.505137 deg. 2jMs3 隝4=I >ɚiIԓ=I҅@ii)z=)*F?2F:FBFQ0JFH5->I1 I5"II5KBI1&I1.I16I1:I5; FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.240333G:>GrAGqAJ]J]JYJYJ]\:J] 9JYJYJ]j;J]k;J]O>;J]O>;GBO>w,<ǿAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492140yMBM"I IhMb@Mb@Mb@ )YI +?|?5^T㥛 y94?ҽzA @)XAIZ@yAI II d4٢Lؽ 5=9%Q %>)) -G٣-NGy5 => ENusing accuracyPremultiplier from config9Ee59=~d?Me5Y=S i=(AM6?M:MM@=RE=f;=;=سe5Y ]*@]`EZjFNOT Ignoring new targets: 123.90 m.Bj<Jj pQ=I >ɚiI=I@ii)U=)zKOK 9KKK1/+)$!  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747447E п8=*F ?2F :F BF P5JF G  G pAGR>GBO ?w,ǿA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996223>ݓ@Y>D@>{N>9>|ӆH`$?ݓ@>B;>CyJBJ`"IIRlIRm?4٢Zҽ ^*=9^Q ^>`` bG٣`yb) b> jNusing accuracyPremultiplier from configdje59f#~d?ne5Yfa\ ifApr˿r@fREf ;f ;fe5 xI|| ~@|Zj!%FNOT Ignoring new targets: 123.90 m.Bj-/Jj-/= ProNav: ac range: 123.900002 m, nav range: 5.615389 m, bearing: 89.383522 deg, approach rate: 0.681543 m/s, LOS rate: -0.067399 deg/s, cmd heading: 4.195193 deg, new cmd heading: 4.097995 deg. 2j=9EHeadingCmd: 0.071524 target range: 123.900002 and range: 123.90 m. jEz=jAjAjAiAhAhIhhfffrfbf@ɛ=B=̷> AEIA eL>ɚiiiIm=Iu|=iqiq)uz=)qEez^=*F?2F:FBF%P0JF!jHibHmp<Hu/>IuC Ium"IIuBIu# =&Iq.Iq6IuJ<:Iu3 FBIMǝCJIMǝCRIIZIM% =bIM& =jIMs5Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248561G] #>G9 BY O >Jm Jm Ji Ji Jm :Jm 9Ji Ji Jm ;Jm ;Jm <;Jm <;w,ȿANe@YN @NRM>9Nsqqq uG٣qyuB }> Nusing accuracyPremultiplier from confige59d}d?e5Y'd i/A9?:̿@RE;;e5 @ZjFNOT Ignoring new targets: 123.90 m.Bjc Jjc  ProNav: ac range: 123.900002 m, nav range: 5.910414 m, bearing: 89.328478 deg, approach rate: 0.697346 m/s, LOS rate: -0.123612 deg/s, cmd heading: 4.097995 deg, new cmd heading: 3.941107 deg. 2jHeadingCmd: 0.068785 target range: 123.900002 and range: 123.90 m. jNߌ=jjjihhhhBBfffrfbf @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500383ɛ=BEP= AEX(IA E">ɚAiIIM=I:ii)Nߌ=)EE*E"E I*F?2F:FBF4JFzK% -MK% K9K! K% K% BK5 oA:K5 pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755869GU A>GIBaO>w,|'%ȿA2@Y2 @2J>92*]ՃB>'"I B=B=IFyIFxV4٢N N5=9RQ R>PT VG٣VNGyV V> =Nusing accuracyPremultiplier from config9Ee59={d?Ee5Y=l i=AAEпM@=RE=:=:=Կe5Q U@YB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.90 m.BjnJjn ProNav: ac range: 123.900002 m, nav range: 6.235406 m, bearing: 89.187771 deg, approach rate: 0.687809 m/s, LOS rate: -0.282271 deg/s, cmd heading: 3.941107 deg, new cmd heading: 3.540992 deg. 2jA%HeadingCmd: 0.061802 target range: 123.900002 and range: 123.90 m. j%$}=j)jIjIiIhQhQhYhYfYfafarfabf@ɛB= ƽI >ɚiI!=I%|t4i!i!)E$}=)I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:41:35.4316 TRx dataTimestamp_ set to:1736376096.714076%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007437 I*F?2F:FBFX0JFGJ>G B ~G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258624H] 0>IY  I] ("II] փBIY &IY .IY 6I] <:I]  F1 'Y y %!BO >]w, >ȿA6(@Y6H8@61G>96d G٣yф > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from confige59yd?e5YTt iLA+:m:-Կ@RE5;$>e5B @bEZjFNOT Ignoring new targets: 123.90 m.Bj3Jj3  ProNav: ac range: 123.900002 m, nav range: 6.525098 m, bearing: 89.002646 deg, approach rate: 0.699227 m/s, LOS rate: -0.426995 deg/s, cmd heading: 3.540992 deg, new cmd heading: 3.010290 deg. 2j HeadingCmd: 0.052539 target range: 123.900002 and range: 123.90 m. j3W=jjjihhh!h!f!f!f)rf)bf-`u @ɛ B5@= 1=I9 E>ɚAiII]"=I?.ii)3W=)*F?2F :F BF ^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:41:35.4316 LVL= 15136, 19217, 17330, 25203, AGC= 57, IDX= 458, 0.22,-0.686, 0.041,-2.379,-1.062, PHS= 0.464, 1.150,-1.320, RAW= 14.4, -2.7, CAL= 14.1, -5.1, ROT= 135.9, 5.1 ]Ygot valid direction response: 22:41:35.4316 LVL= 15136, 19217, 17330, 25203, AGC= 57, IDX= 458, 0.22,-0.686, 0.041,-2.379,-1.062, PHS= 0.464, 1.150,-1.320, RAW= 14.4, -2.7, CAL= 14.1, -5.1, ROT= 135.9, 5.1 ePDAT read: Bearing 135.9, 5.1 (Local) e~Local bearing/azimuth received: Bearing 135.9, 5.1 (Local) mDAT read: Range 10 to 50 : 125.1 m (Round-trip 166.9 ms) speed -0.4 m/s u,DAT read: user:2795> }BDAT read: Tx time:22:41:36.5105 }$Ping request sent.}33?>A d{>)KI@@iK=$2ѿGyIm)I@=ij6?rR:publishing transmit ping timeyFpublishing direction and range info9 N3?ea?V@?y )Ii )Ii$2ѿGyIm)IiG b>G B O >&w,XȿA6;@Y6DK@6D>96mh?ɨ6;@6'ӏ;6CybBb"II~pI~F4٢ ؽ  S=9Q >9 =G٣9yEX E> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configQe59Uwd?e5YU|{ iU A :@:׿@UREU? kI kMxMȿA:kM3BBkMzBZkM@zK5:IK59K1K5K5_'+mWA+RKE ?JKE?"M"vRY,@Jr:i^@gw9@M N3?ea?V@?JkMj6?RkMrR*MH|b^@ʂ=1fF8@M2$?s@eME,?"kM*kMBkMRCy?kMA 2kMBkMg?kIkM9CkMDAkMA?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:41:36.5097  addTargetRange:: Added new target pos. range: 125.099998 m, deltaT: 3.531968 s, deltaX: 1.199997 m, approachRate: 0.339753 m/s, rangeRepo size: 4  Added new target pos. range: 125.099998 m, bearing: 351.926495 deg, lat: 36.903781 deg, lon: -122.120043 deg, deltaT: 3.531968 s, deltaX: 1.199997 m, approachRate: 0.339753 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 125.10 m.BjJj ProNav: ac range: 125.099998 m, nav range: 12.306912 m, bearing: 33.516888 deg, approach rate: 0.000000 m/s, LOS rate: -0.426995 deg/s, cmd heading: 3.010290 deg, new cmd heading: 2.474021 deg. 2jHeadingCmd: 0.043180 target range: 125.099998 and range: 125.10 m. jR0=jjjihh hhfffrf`fF_@bfx?ɛe Be 4= ae!Ii m>ɚiIf)#=Ihp)ii)R0=)JmJmJiJiJm:Jm:JiJia@a@a@a@*F?2F:FBF_0JFG 2>% Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >w,rȿAyB%!II=SI=4٢Mk MG=9UQ U>QQ UG٣UNGy] ]> mbBottom track data is 1.2 s old, using for 20.0 s. mNusing accuracyPremultiplier from configaue59e@td?ue5Ye ieAu9qu:y}@eREeU9;e?ee5 Y@ZjFNOT Ignoring new targets: 125.10 m.BjW8=JjW8= ProNav: ac range: 125.099998 m, nav range: 12.491214 m, bearing: 34.509211 deg, approach rate: 0.486118 m/s, LOS rate: 2.578629 deg/s, cmd heading: 2.474021 deg, new cmd heading: 5.404363 deg. 2j6=HeadingCmd: 0.094324 target range: 125.099998 and range: 125.10 m. j,=jjjihhhhfffrfbf@a?ɛ BZHRHH3>I I!IIBI&I.I6D6I1<:I$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.= FI @>ɚiI2I$=I"ii),=)*Fu?2Fq:FqBFyJFyG <>G B O >1#w,fȿA:J@Y:WZ@:<>9:%C J!@ ^#$?I\        Mb@Mb@Mb@ )Yx?Zd;A`"yyYA A)=AI@yAI9I3٢"Ӽ :=9 G٣yy >  Nusing accuracyPremultiplier from config e59 pd?e5Y  i pAT:u8?:ٿ@ RE ; ; e5 @ZjAEFNOT Ignoring new targets: 125.10 m.BjM=JjM= ProNav: ac range: 125.099998 m, nav range: 12.698357 m, bearing: 35.534257 deg, approach rate: 0.445125 m/s, LOS rate: 2.166651 deg/s, cmd heading: 5.404363 deg, new cmd heading: 8.426370 deg. 2j޹=HeadingCmd: 0.147068 target range: 125.099998 and range: 125.10 m. j>jjjihhhh[Bfffrfbf y?ɛUB}= y}UIy }>ɚiI1A%=I[ii)>)*F?2F:FBF~0JFzK%NK%9K!K%K%pW@1-*&% )~uB" iL( i3BK-pA:K)EWill construct direction to contact in vehicle frame from tetrahedron phase data.G A>J J J J J :J &:J J G B O >T)w,"ȿA6P@Y6b`@6q8>96OIf3٢z9j z]=96Q >    G٣y᧽ %> Nusing accuracyPremultiplier from confige59md?e5Y  iJAݿ@REWL;L;6e5B P@gEEB*** querying acoustic contact ***jAjAZjqFNOT Ignoring new targets: 125.10 m.Bj =Jj = ProNav: ac range: 125.099998 m, nav range: 12.894174 m, bearing: 36.402983 deg, approach rate: 0.514521 m/s, LOS rate: 2.247881 deg/s, cmd heading: 8.426369 deg, new cmd heading: 10.991158 deg. 2j=HeadingCmd: 0.191832 target range: 125.099998 and range: 125.10 m. joD>jjjihhhhfffrfbfv?ɛeBe = ae$oIa mT>ɚiiI&= IhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Iii)oD>)*Fe?2Fa:FaBFe]5JFaG F>Ga H 5>I C I !II BI " =&I .I 6I ï<:I FB Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763425<0w,XȿA:i@Y:Xy@:L6>9:`aa eG٣eNGym_ m> }Nusing accuracyPremultiplier from configye59}2id?e5Y} i}FAc-?:,࿑@}RE};};}e5 @ZjFNOT Ignoring new targets: 125.10 m.Bj=Jj= ProNav: ac range: 125.099998 m, nav range: 13.083163 m, bearing: 37.176717 deg, approach rate: 0.495622 m/s, LOS rate: 1.999732 deg/s, cmd heading: 10.991157 deg, new cmd heading: 13.277545 deg. 2j=HeadingCmd: 0.231737 target range: 125.099998 and range: 125.10 m. jnLm>jjjihhhhrBfffrfbf|*?ɛBV= I >ɚiI&=Iii)%nLm>)!*F?2F:FBF4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011754GA>G B O >^n6w,]ȿAb@Yb@bQ4>9bca?@Q?ɨb@b r;bCyvBz!IIIkf4٢쀽 N=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5e59-dd?5e5Y-r i-AA9=㿑=@-RE-:-z:-e5A E@IZjquFNOT Ignoring new targets: 125.10 m.Bj}=Jj}=  ProNav: ac range: 125.099998 m, nav range: 13.281384 m, bearing: 37.911729 deg, approach rate: 0.501025 m/s, LOS rate: 1.830043 deg/s, cmd heading: 13.277545 deg, new cmd heading: 15.448570 deg. 2j =HeadingCmd: 0.269628 target range: 125.099998 and range: 125.10 m. j >jjjihhhhff!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263832zK5OK59K1K5K5LTuk^RC5+&  RK=?JK=>f!rfIbfM >@ɛBV}= 隝I y>ɚiI'=IElQiAiA)E >)I*F?2F:FBFP0JFJJJJJ:J:JJGF> I G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515772O i96,8}B>!IIFzIF=X4٢N NS=9R̻Q R>PT VG٣TyV V> ^Nusing accuracyPremultiplier from config\be59^_d?be5Y^ i^EA`f翑f@^RE^;^;^{e5h j@hZjqFNOT Ignoring new targets: 125.10 m.Bj<Jj< ProNav: ac range: 125.099998 m, nav range: 13.482059 m, bearing: 38.585173 deg, approach rate: 0.498622 m/s, LOS rate: 1.648380 deg/s, cmd heading: 15.448570 deg, new cmd heading: 17.437986 deg. 2jh=HeadingCmd: 0.304350 target range: 125.099998 and range: 125.10 m. jӛ>jjjihhhhfffrfbfVS@ɛBy= ΘI ^=>ɚiI(=I w i i ) ӛ>) E*F?2F:FBF^0JFjHIbHM<Hm6>Ii Im!IImBIm! =&Ii.Ii6Im<:Im FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768585GM<>G]qAGYG) B9 OU >]xCw,ɿA I:@Y:%@:./>9:;y:H@ǿ\j?䣿Vȿ;ſſ@vp{?@:?ɨ:@:P;:CyFyBF!I)L NARWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:22:41:39.0838 VTRx dataTimestamp_ set to:1736376100.248728Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020850 Mb@Mb@Mb@    ) Y MbX?L7A`堿y *? L +  A `A) I ~@ y  AI-I-a4٢= E3=9E槻Q E>AI MG٣MNGyM M> ]Nusing accuracyPremultiplier from configQee59UXd?ee5YU iU2Aep+?e:e)뿑e@UREU;U;Uye5q uF@qZjFNOT Ignoring new targets: 125.10 m.Bj<Jj<% ProNav: ac range: 125.099998 m, nav range: 13.724410 m, bearing: 39.320915 deg, approach rate: 0.548563 m/s, LOS rate: 1.635905 deg/s, cmd heading: 17.437985 deg, new cmd heading: 19.605140 deg. 2j%V=-HeadingCmd: 0.342174 target range: 125.099998 and range: 125.10 m. j-v1>j)j1j1i1h1h1h9h=Bf9f9fArfAbfE M@ɛB= 隵I >ɚiI)=IMiik>)v1>)*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271919zKqNK}9KKK  BK:KqAG A>Ga B O >J J J J J |:J J J Iw,k(ɿAFN@YFŏ@F,>9FM yy }G٣y > Nusing accuracyPremultiplier from confige59Rd?e5Yڳ tIiPA@RE1;;e5 @iEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.10 m.Bj <Jj <  ProNav: ac range: 125.099998 m, nav range: 13.932441 m, bearing: 39.890495 deg, approach rate: 0.544721 m/s, LOS rate: 1.469133 deg/s, cmd heading: 19.605139 deg, new cmd heading: 21.287854 deg. 2j |=HeadingCmd: 0.371543 target range: 125.099998 and range: 125.10 m. j:>jjjih!h!h!h!f!f)f)rf)bf- f @ɛ]B]= Y]IIa e>ɚaiaIeن*=Imiiimy>)m:>)q )I1Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed -0.5 m/s ,DAT read: user:2796> BDAT read: Tx time:22:41:40.1605 $Ping request sent.GBOE>HE 7>IA  IE !IIE qBIA &IA .IA 6IE ><:IE 2 FBIʟCJIʞCRIZI" =bI" =jIʐj5m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:41:40.1597 Pw,JBɿA2rŇ@Y2Ԏ@2*>92/ G٣y > Nusing accuracyPremultiplier from confige59Kd?e5Y i AE!?:@SE" ; ;]e5B @lE addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.536682 s, deltaX: 1.800003 m, approachRate: 0.508952 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 125.10 m.Bj<Jj<- ProNav: ac range: 125.099998 m, nav range: 14.149911 m, bearing: 40.407442 deg, approach rate: 0.533664 m/s, LOS rate: 1.249056 deg/s, cmd heading: 21.287854 deg, new cmd heading: 22.814478 deg. 2j-MV=5HeadingCmd: 0.398188 target range: 125.099998 and range: 126.90 m. j=D>j9j9j9i9h9h9hAhEBfAfAfIrfM_@bfM%?ɛBץ= 隍I h>ɚ)i)I-Ne+=I5hi1i5&GN=)5D>)9EAEA*F?2F:FBF0JF"G>G> -"$?I-hG%@n>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Vw,%\ɿA6{Ȇ@Y6׍@6@'>96].Mhl nG٣nNGyn r> vNusing accuracyPremultiplier from configpve59rDd?ze5Yrο ir Axzz@rSErU:r9;re5 @ Zj)-FNOT Ignoring new targets: 125.10 m.Bj5<Jj=jYjYjYiYhahahahafififirfibfuz?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%B%W= !%xI! -#>ɚ)i)I-H,,=I5vi1i5)5x>)AzK!LK9KKKW0 *2*yU*F?2F:FBFP5JFG"l>GBO>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,YuɿA6ׅ@Y6q@6#>96?\BB!IIJHIJ<3٢VY VM=9V Q Z>XX ZG٣Xy^Ė ^> bNusing accuracyPremultiplier from config`fe59bcj)j)j)i1h1h1h1h1fffrfbf@l?ɛ-"B5˹=)A A 1隽žIGtA =ɚ!i! Ms#YMtAyMTBI%7-=I%ۿH:>I I!IIbBI&I.I6I&<:I" FiA=Will construct direction to contact in vehicle frame from tetrahedron phase data.iE )<>)*F=?2FA:FABFE1JFAJK K KK"KJJJJJ̝:J:JJJ;aJ;aJ@;a J@;a G5~Y>G B O5 >  I cw,׏ɿA:@Y:@: >BWill construct direction to contact in vehicle frame from tetrahedron phase data.9:vV^YY ]G٣YyeɆ e> mNusing accuracyPremultiplier from configiue59mc2d?ue5Ym im@ Au:?}:}@mSEmc;mg;me5 @ZjFNOT Ignoring new targets: 125.10 m.BjGp<JjGp< ProNav: ac range: 125.099998 m, nav range: 14.818467 m, bearing: 41.637543 deg, approach rate: 0.564656 m/s, LOS rate: 0.840273 deg/s, cmd heading: 25.372561 deg, new cmd heading: 26.448066 deg. 2j+=HeadingCmd: 0.461606 target range: 125.099998 and range: 126.90 m. jW>jjjihhhhBfffrfbf?ɛ%B= 隭վI =ɚiIe-=IG=ѿii(Kb)W>)*F?2F:FBFP0JFGes5>GmpAGmoAG9BAO]U>5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK >aOK @9K K K `L7 |slfc_ZXVRPNJGCCCB@?:61./-,*)'%#!#iw,ɿAJZ*@YJ9@J_+>9JO9A EG٣ENGyE^y E> UNusing accuracyPremultiplier from configIUe59M(d?]e5YMy iM AY]]@MSEM;M2;M]e5eB ml@mqEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.10 m.BjX[<JjX[< ProNav: ac range: 125.099998 m, nav range: 15.048524 m, bearing: 41.949623 deg, approach rate: 0.574240 m/s, LOS rate: 0.767063 deg/s, cmd heading: 26.448067 deg, new cmd heading: 27.369908 deg. 2j=HeadingCmd: 0.477695 target range: 125.099998 and range: 126.90 m. jq>jjjihhhhfffrfbf`u?ɛU(BU= YeEIa ea-=ɚaiiIm.=Iuƿiqiu )uq>)y !$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս?Ս?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFX0JFG"q>GBOD>H =>I C I !II RBI =&I .I 7D6I d<:I R FE Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262636qw,v5ɿA2m@Y2%}@2>92A    G٣ yV > Nusing accuracyPremultiplier from configEe595d?Ee5YN i AM>?M:M`M@SE;;4e5Q Uy@QZjFNOT Ignoring new targets: 125.10 m.Bj0<Jj0< ProNav: ac range: 125.099998 m, nav range: 15.296387 m, bearing: 42.230704 deg, approach rate: 0.554399 m/s, LOS rate: 0.618509 deg/s, cmd heading: 27.369908 deg, new cmd heading: 28.199427 deg. 2j=<HeadingCmd: 0.492173 target range: 125.099998 and range: 126.90 m. j>jjjih h h h ȄBfffrfbf O@ɛ+BӞ= QI D=ɚiI/=I[ii)>)E! YIa*F?2F:FBFY0JF"G>G,>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512911G>=GBO>ww,gɿA6~˂@Y6ډ@6n>967%B>O!IIF}IF]4٢R Rh=9RQ V?TT VG٣TyZh Z? ^Nusing accuracyPremultiplier from config\be59^d?be5Y^ i^/ Adff@^SE^;^G:^@e5h jY@hZjy}FNOT Ignoring new targets: 125.10 m.BjL <JjL < ProNav: ac range: 125.099998 m, nav range: 15.494391 m, bearing: 42.433096 deg, approach rate: 0.555517 m/s, LOS rate: 0.560569 deg/s, cmd heading: 28.199428 deg, new cmd heading: 28.798822 deg. 2j[<HeadingCmd: 0.502634 target range: 125.099998 and range: 126.90 m. j?jjjihhhhfffrfbf3 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764212ɛe-Be}= aeIa m=ɚiiiImyb0=IuXii)?)zK NK9KKK RK?JK>*F?2F:FBF`0JFGe\=G9BYOY> Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016024 /}w,KɿA2F@Y2SV@2}>924=y2H@<ٿ?~ڿ^a-ÿQ??ɨ2F@2 ;0yNBN=!IIVIVk4٢vE vE=9vOQ z>xx ~G٣~NGy >  Nusing accuracyPremultiplier from config e59 d?e5Y D i xA @ SE ; F; e5%B %2@%tEZjIMFNOT Ignoring new targets: 125.10 m.BjU<JjU>Iq Iuf!IIu9BIu =&Iq.Iq6Iu=<:Iu7 FGMWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:22:41:42.7366 =TRx dataTimestamp_ set to:1736376104.034040}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281979GBO J>JJJJJJ :JJJJJ9P;J:P; } $?I w,!ʿA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2%=2a=6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520884F@YF@Fo>9F=yFH`ڿ "?`\ѽ`2Kۿ`JZ¿`yޯ??ɨF@F^ޒ;FCyrBr#!IMb@Mb@Mb@ )YbX9?q= ףp{GzyE?뽹ףA E A)AIhAyAImI3A4٢vǽ ==9ػQ > G٣yۼ > Nusing accuracyPremultiplier from confige59c?e5Y iA6?: @"SE ;8;e5  @ZjFNOT Ignoring new targets: 125.10 m.Bj);Jj); ProNav: ac range: 125.099998 m, nav range: 15.980846 m, bearing: 42.834904 deg, approach rate: 0.551209 m/s, LOS rate: 0.393701 deg/s, cmd heading: 29.450925 deg, new cmd heading: 29.985746 deg. 2j <5HeadingCmd: 0.523350 target range: 125.099998 and range: 126.90 m. j5D?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE' @ɛ4B%4= !隥I y=ɚiI72=I)vii)D?)EE*Fy2Fy:FyBF}p0JFyGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 128.9 m (Round-trip 171.9 ms) speed -0.5 m/s %,DAT read: user:2797> -BDAT read: Tx time:22:41:43.8105 -$Ping request sent.-d@w,~*ʿAN@YN ň@N>9N$=yNH_ڿ?@ ;ۿ vO¿ ?W?ɨN@N;NCyVBV!IIz{IzZ4٢" Y=9,Q > G٣y%5 %> =Nusing accuracyPremultiplier from config1Ef595c?Ef5Y5q i5AIU U@5&SE5Z;5I;5f5Y ]@a}B*** querying acoustic contact ***jyjy addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 3.779227 s, deltaX: 1.999992 m, approachRate: 0.529207 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 125.10 m.Bj;Jj; ProNav: ac range: 125.099998 m, nav range: 16.200045 m, bearing: 42.985006 deg, approach rate: 0.604503 m/s, LOS rate: 0.408349 deg/s, cmd heading: 29.985746 deg, new cmd heading: 30.429950 deg. 2j<HeadingCmd: 0.531103 target range: 125.099998 and range: 128.90 m. j[?jjjihhhhfffrf`@bf:V?ɛ7BS= j%I =ɚiI#3=Ivii)[?)  )I5huWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:41:43.8097 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF@5JFGw!GBOB>H @>I  I 4!II BI  =&I .I 6I <:I  F% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503390-w, DʿAy΂B IJuJuJqJqJu\:Ju9JqJqJuj;Jul;Ju%7;Ju%7;Mb@Mb@Mb@ )YQ?1Zd+y(?"۽A  A)AIAyAI9I3٢ ;=9Q > G٣NGy > 5Nusing accuracyPremultiplier from config!=f59%;c?=f5Y%& i%A=?=:E E@%*SE%H;% ;%f5MB M@MyEZjFNOT Ignoring new targets: 125.10 m.Bj;Jj;  ProNav: ac range: 125.099998 m, nav range: 16.458551 m, bearing: 43.177149 deg, approach rate: 0.577448 m/s, LOS rate: 0.422462 deg/s, cmd heading: 30.429951 deg, new cmd heading: 30.997305 deg. 2j%<-HeadingCmd: 0.541005 target range: 125.099998 and range: 128.90 m. j-N ?j)j1j1i1h1h1h9h=Bf9f9fArfAbfE ?ɛ:B= 隕6I F=ɚiI4=I.ii)N ?) -$?I1*FU?2FQ:FQBFU45JFYG5ᣥuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753224G BO=r>Uw,;^ʿA2$@Y2@2>92"[=y2H(ۿ@p?@9ĿI ܿ I{ y??ɨ2$@2.};0y>B> IIJEIJ3٢R Rc=9RQ V>TT VG٣TyZ3 Z> ^Nusing accuracyPremultiplier from config\bf59^c?bf5Y^ i^QAdf f@^-SE^:^:^ f5l n]@lZj  FNOT Ignoring new targets: 125.10 m.Bj ;Jj ;% ProNav: ac range: 125.099998 m, nav range: 16.670921 m, bearing: 43.329940 deg, approach rate: 0.615524 m/s, LOS rate: 0.437201 deg/s, cmd heading: 30.997304 deg, new cmd heading: 31.449828 deg. 2j%<-HeadingCmd: 0.548903 target range: 125.099998 and range: 128.90 m. j- ?j)j)j)i1h1h1h9h9f9f9fArfAbfE ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008612ɛ==BE" = AEDIA E.#=ɚAiAI\4=I*uii) ?)zKeBIKe9KaKe Ke &a}qk`VJC<6/*$*F?2F:FBFP0JFG5G)B9OUu> 1I1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257066{w,xʿA2@Y2@2w=92j=y2H@ۿ?ƶĿ @ۿe쭿e@@?ԅ?ɨ2@2(;0yNBR IIVJIV)4٢z ~F=9~Q ~> G٣y ;  > Nusing accuracyPremultiplier from configf59c?f5YD i|Ad %@1SE;!; f5) -A-|EZjQUFNOT Ignoring new targets: 125.10 m.Bj];Jj];m ProNav: ac range: 125.099998 m, nav range: 16.916859 m, bearing: 43.505092 deg, approach rate: 0.597028 m/s, LOS rate: 0.419012 deg/s, cmd heading: 31.449828 deg, new cmd heading: 31.967632 deg. 2juȏ<}HeadingCmd: 0.557940 target range: 125.099998 and range: 128.90 m. j}/?jyjyjyiyhhhhfffrfbfo?ɛABy= UI =ɚiI5=Iaii)/?)ZHRHH!I! I% II%؂BI!&I!.I!6I%a<:I%T FBI CJI CRIZI =bI =jI5*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512436Gk*GB1O]U> ! I) xcw,+hʿA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761633:@Y: @:=9:t>y:H v}ڿ ġ?uſ`UQۿ@?$?ɨ:@: ;8y-zB-| IMb@Mb@Mb@ )YPn?(\µ~jty$?DA A)AIAyAIzI=X4٢w :=9 TQ  >  G٣NGy#< > %Nusing accuracyPremultiplier from config%f59Wc?-f5Y iA-%?-:--@6SE;;[f59 =wA9ZjFNOT Ignoring new targets: 125.10 m.Bj <Jj< ProNav: ac range: 125.099998 m, nav range: 17.186262 m, bearing: 43.742572 deg, approach rate: 0.590749 m/s, LOS rate: 0.512583 deg/s, cmd heading: 31.967631 deg, new cmd heading: 32.668867 deg. 2j%<%HeadingCmd: 0.570179 target range: 125.099998 and range: 128.90 m. j%E?j)j)j)i)hihhhzBf)f)f)rf)bf5G?ɛEB@I= 隝teI =ɚiIPy6=IrFii)E?)*F}?2Fy:FyBF}^0JFyGUibWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013998G)B9OU>zKE 9NKE 9KA KE !KE ! BKQ :KQ J J J J J ̝:J 9J J a @a @a @a @0w,AʿARj@YR>z@RI=9R>yRHFٿ?@^ƿ@@(ڿR?v?ɨRj@Rvi;RCy^RB^J IIfIf 4٢nZ n_=9r쿼Q r>pp vG٣tyv = v> Nusing accuracyPremultiplier from config %f59 >c?%f5Y  i A)--@ 9SE v; W; f51 5A1uB*** querying acoustic contact ***jqjq $?IZjFNOT Ignoring new targets: 125.10 m.Bj}<Jj}<% ProNav: ac range: 125.099998 m, nav range: 17.411982 m, bearing: 43.947870 deg, approach rate: 0.609601 m/s, LOS rate: 0.547260 deg/s, cmd heading: 32.668867 deg, new cmd heading: 33.276752 deg. 2j%ʻ<-HeadingCmd: 0.580789 target range: 125.099998 and range: 128.90 m. j-?j)j)j)i)h)h1hQhQfYfYfYrfYbf]$@ɛGB4= 隭zI @=ɚiI,7=I24ii)?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267309*FM?2FQ:FQBFUl0JFQG%k~G)G-rAGBO J>eG}|uA $Y|uAyBH C>I C I II BI &I .I 6I <:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520133Z{w,7ʿA!@YЊ@x=9H>yH`?Q׿7?(;˿`/ o׿ng`7?(D?ɨ!@Ҙ;y-5B5' IMb@Mb@Mb@ )YʡE?Qy&1y/?u`eA A)"AI`Ay=AII<4٢ :=93Q > G٣y= > Nusing accuracyPremultiplier from config f59wc?f5Y  iA0?:@>SE;;9;ef5B %A%EZjFNOT Ignoring new targets: 125.10 m.BjX<JjX< ProNav: ac range: 125.099998 m, nav range: 17.690451 m, bearing: 44.285639 deg, approach rate: 0.634258 m/s, LOS rate: 0.757207 deg/s, cmd heading: 33.276753 deg, new cmd heading: 34.274001 deg. 2j=%HeadingCmd: 0.598194 target range: 125.099998 and range: 128.90 m. j%A#?j)j)j)i)h)h)h1h5cBf1f1f9rf9bf=`]@ɛKBTbB= I =ɚiIݾ7=IUii)A#?) I*F?2F:FBFp0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769336G 4Gq B O > w,ʿARa@YRږ@R=9R*d>yRHտ` ?Ϳ@# nֿ*\w?.3? ?ɨRa@R;RCy^ BbI)d dIjIj4٢%?T %Y=9%tQ ->)) -G٣-NGy5~= 5> =Nusing accuracyPremultiplier from config9Ef59=c?Ef5Y=  i=1AIMM@=BSE=:=P:=f5Q UAUEZjFNOT Ignoring new targets: 125.10 m.Bjp<Jjp< ProNav: ac range: 125.099998 m, nav range: 17.929028 m, bearing: 44.589631 deg, approach rate: 0.667609 m/s, LOS rate: 0.839339 deg/s, cmd heading: 34.274002 deg, new cmd heading: 35.173767 deg. 2j=HeadingCmd: 0.613898 target range: 125.099998 and range: 128.90 m. jl(?jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:41:46.3901 TRx dataTimestamp_ set to:1736376107.556787checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022084ffrfbf6@ɛMBD}= 1I  $=ɚ i I @8=IS< ii)l(?)E!E%qA*F?2F:FBFQ5JFJ}JyJyJyJ}:JyJyJyzK$7LKKK"K  IhGGBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274258Ƚw,[ʿAFQ@YF`@F׃=9F'a|>yFHmԿ`=?Bп`A Կc? x`*??ɨFQ@Fc%;FCybBbIIr}Ir]4٢vN vN=9zkQ z>x| ~G٣|y~}= >  Nusing accuracyPremultiplier from config f59c?f5Y iyA@GSE:*:)f5! %mA!ZjIUFNOT Ignoring new targets: 125.10 m.Bj]I IM IITBI =&I.I8D6IQ<:IP F*FU?2FQ:FQBFU4JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.U8DAT read: $Error in header ]*Received a bad headerMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.573353GyG?G!?GQBYO}> $?I Jw,˿A: @Y:j0@:V=9:>y:HҿY?!ѿӆӿ̻?;Ϫ'? 3?ɨ: @:];:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.792773yVBVIEMb@Mb@Mb@AAA A)AYE1Zd?ˡEV-yE";?E'EmE/'A EzA)EAIE AAyEAI]I]b4٢m mC=9mQ u>qq uG٣yyw= > Nusing accuracyPremultiplier from configf59c?f5YB" i@zK KK 9K K #K J J J J J <:J O9J J w,-˿AZk@YZ@Z"=9Z#)>yZH Zѿ@*y?ѿ o [ѿ_ ?/^`??ɨZk@ZVr;XyfɁBfIij=Ij;IrIr<4٢zC zR=9zQ z> !I!QQ UG٣UNGy]= ]> eNusing accuracyPremultiplier from configamf59e+c?mf5Ye) ieN@imMu@ePSEe:ez:eR&f5}B }A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.10 m.Bj<Jj< ProNav: ac range: 125.099998 m, nav range: 18.712978 m, bearing: 45.743963 deg, approach rate: 0.649020 m/s, LOS rate: 1.000836 deg/s, cmd heading: 37.389043 deg, new cmd heading: 38.587106 deg. 2j+=HeadingCmd: 0.673472 target range: 125.099998 and range: 128.90 m. jh,?jjjihhhhfffrfbf@ɛ-VB-ճ< 15XI1 5 =ɚ1i9I=%9=I=ꑾiAiA)Eh,?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.ս<ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299944*F2F:FBFP0JFGGHN>IC III BI =&I.I9D6I<:I) FBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.552145w,{G˿AJ1J1yBIMb@Mb@Mb@ )Y(\?I +ˡEyG?94'(0A A)hAIAy\AIrIJ4٢v /=9Q > G٣y > Nusing accuracyPremultiplier from configf59c?f5Y2 i<@G?:쿑@VSEU9;6;L*f5 AEZj)5FNOT Ignoring new targets: 125.10 m.Bj5<Jj5iIiI)M 3?)I*F2F:FBFJFG! G!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802215G9 GE qAGA G B! O= >w,)Aa˿A6m@Y6敏@6<96 >y6H̿`?@oҿ/˿`T?@#??ɨ6m@6>;6Cy>B>rIIFIFr4٢Nʽ Rw=9RQ R?PT VG٣TyV> V? ^Nusing accuracyPremultiplier from configXbf59ZM~c?bf5YZ(9 iZ@`b忑b@ZZSEZ_;Z;Z1-f5h j'AlZj|FNOT Ignoring new targets: 125.10 m.Bj<Jj< ProNav: ac range: 125.099998 m, nav range: 19.246195 m, bearing: 46.649018 deg, approach rate: 0.669674 m/s, LOS rate: 1.179993 deg/s, cmd heading: 40.091028 deg, new cmd heading: 41.263033 deg. 2jtJ=HeadingCmd: 0.720176 target range: 125.099998 and range: 128.90 m. jq]8?jjjihhhhfff%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054385rfbf5=<@ɛ\BR< -=隽{I =ɚiIe9=Iii)q]8?)JUJUJU/JQJU:JU*9JU(N3JQ*F2F:FBF_0JFzKBoIK9KK$K IG,Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.307043w,h {˿A:TD@Y:S@:/;9:>y:HEɿ?@ ӿY@ȿ`?`"sq@Wb?#?ɨ:TD@:fό;:CyBBBiI)D DININ%x4٢V VI=9ZQ Z>\\ ^G٣\ybbi= b> fNusing accuracyPremultiplier from configdjf59fxc?jf5YfYA if@hj⿑n@f_SEf ;f;f0f5p rbApZj  FNOT Ignoring new targets: 125.10 m.Bj<Jj<% ProNav: ac range: 125.099998 m, nav range: 19.516241 m, bearing: 47.141380 deg, approach rate: 0.665583 m/s, LOS rate: 1.196718 deg/s, cmd heading: 41.263034 deg, new cmd heading: 42.719350 deg. 2j%SM=-HeadingCmd: 0.745593 target range: 125.099998 and range: 128.90 m. j-4>?j)j)j)i1h9h9h9h9fAfAfArfAbfE@ɻ@ɛm^Bu@< qu鰿Iq }t=ɚyiyI}aW9=Iii)4>?)HeP>IeC IeIIe߁BIe =&Ia.Ia6Ie<:Ie F*F2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.560172G<GBO> $?I w,E˿A6 @Y65@6Lϻ96H>y6H@ƿ$?@ҿ~ Wſ`l?y? 3Z?V?ɨ6 @6d;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.808922yJBJ_I-Mb@Mb@Mb@))) )))Y-|?5^?MbZd;Oy-M?--j-"9A -v@)-$AI-A)y-AIEzIE=X4٢MI U@=9Uy̼Q U>YY ]G٣]NGyeAk= e> mNusing accuracyPremultiplier from configiuf59msc?uf5Ym/J im@uM?u:u߿@meSEmjE?jijqjqihhhhBfffrfbfw@ɛaBҊ< ijI %m=ɚ!i!I%8=I-t=i)i))->E?)Q*F2F:FBF0JF"G>G>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.064506G4G?G?G B O >zK K 59K K %K c)w,Ю˿A2_Ċ@Y2ӑ@2\92:>y2Hÿ .?ҿ`A;¿@??R9?s?ɨ2_Ċ@2;2C \I\y B YII-I-%x4٢=< =K=9EuۼQ E>AA EG٣IyMe= M> UNusing accuracyPremultiplier from configQ]f59Uoc?]f5YUR iU@ae ݿe@UjSEU2 ;U ;U7f5mB mAmEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.10 m.Bjٹ<Jjٹ< ProNav: ac range: 125.099998 m, nav range: 20.074516 m, bearing: 48.179907 deg, approach rate: 0.702733 m/s, LOS rate: 1.299865 deg/s, cmd heading: 44.290437 deg, new cmd heading: 45.790483 deg. 2j_=HeadingCmd: 0.799195 target range: 125.099998 and range: 128.90 m. jL?jjjihhhhfffrfbft@ɛdB =; I h=ɚiIQ8=I  >ii)L?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313020E}S^=*F2F:FBFo0JFH]Q>IY I]II]ˁBIY&IY.IY6I]<:I]4 FBI%ȢCJI%ȢCRI%ȔCZI% =bI% =jI%r36U Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570469G ,G B J J J 0J J :J b9J ـ3J J ;a J ;a J 0.;a J 1.;a O >w,˿Ar&@Yr@rDGۼ9rR2>yrH`S?ǚҿ!x?h?K?}?ɨr&@rvc;rCyB\Ii%99 =G٣=NGyEG= E> QIQ ]Nusing accuracyPremultiplier from configQ]f59U,jc?ef5YU\ iU@eBN?e:e޿e@UpSEU?;U+?;U,ii!)%EAT?))E%31=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.818371*F2F:FBF2JFG 4G B O >w,v˿AJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.068849yBqII%wI%R4٢5= 5[=9=Q =>99 EG٣AyE E> UNusing accuracyPremultiplier from configIUf59Mec?]f5YMqd iM@Yae@MuSEM ;M!;Mi?f5i m'AiZj9=FNOT Ignoring new targets: 125.10 m.BjMÜ<JjMÜ< ProNav: ac range: 125.099998 m, nav range: 20.659679 m, bearing: 49.195094 deg, approach rate: 0.652440 m/s, LOS rate: 1.096412 deg/s, cmd heading: 47.505130 deg, new cmd heading: 48.790996 deg. 2j<=HeadingCmd: 0.851564 target range: 125.099998 and range: 128.90 m. jZ?jjjihhhhfff rf bf  x@ɛUjBU#< Q]EIY ]8=ɚqiqIu7=I)>ii)Z?)zKk3IK9KK&KRK>JK> 9I=hE,=UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.324077*F ?2F :F BF 0JF )a a Y y BH P>I  I II ՁBI &I .I 6I <:I ) FG <G G qAGBO>5w,ۣ̿A2 @Y2@2}492E>y2HN?@@ҿV?፦???ɨ2 @25 ;0yNBNwIIVYIV4٢b< b-=9fQ f>dd fG٣hyj= j> rNusing accuracyPremultiplier from configlrf59nbc?rf5Ynfn in@tvؿv@n{SEnn:n:nCf5x ~A|%Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.592666ZjFNOT Ignoring new targets: 125.10 m.JUJUJQJQJU:JUu9JQJQJU8;JU:;JU/;JU/;Bjea<Jjeai1i1)5a?)9*E="E=Ey= Ih*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824796G G B O >Hw,i̿A6#Ս@Y6@6VR96>y6H@e?ҿ`?`G? G?p?ɨ6#Ս@6Q;6CyJBJI)P P5Mb@Mb@Mb@111 1)1Y5Zd;O?J +Mb?y5~J?5H5<5Q8A 5 A)5AI5SA1y5fAIAIA٢]= ]A=9]،Q ]>aa eG٣eNGyen= e> mNusing accuracyPremultiplier from configiuf59md^c?uf5Ymw im@}J?}:}ؿ}@mSEmf;m;mGf5B [AEZjFNOT Ignoring new targets: 125.10 m.Bj<JjIa IeIIeBIa&Ia.Ia6Ie<:Ie FGBO ?_w,CA̿ANo@YNc@N~9N >yNH? 5ҿ`?`G?@֯?6?͜?ɨNo@N}K;NCy^ˁB^IIfaIf+4٢= = ==9EܣQ E>AA MG٣IyM= M> ]Nusing accuracyPremultiplier from configQ]f59U[c?ef5YUz iUK@ae:ҿe@USEU:Un:UKf5i uAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.10 m.Bj9<Jj9< ProNav: ac range: 125.099998 m, nav range: 21.610144 m, bearing: 50.932454 deg, approach rate: 0.662251 m/s, LOS rate: 1.232540 deg/s, cmd heading: 52.078789 deg, new cmd heading: 53.923734 deg. 2jxS=HeadingCmd: 0.941147 target range: 125.099998 and range: 128.90 m. jp?jjjihhhhfffrfbf !@ɛsB7< 9<I  =ɚ i Iu4=I8?ii)p?)E!E!*E%"E%Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580903JK|3 KS}-KK"KJ%J%J!J!J%:J%&:J!J!J%;J%;J%\;J%\; 1I1*F92F9:F9BF=0JF9} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832867Gu <GI BY O >w,(\̿A6@@Y6O@696.>y6H l?0?^ҿ -?F? ?]D??ɨ6@@6;4y>B>I Mb@Mb@Mb@    ) Y 9v?X9vI +?y 4? } 94< 6A A) AI $A y GAI%SI%4٢55> EE=9EQ E>AI MG٣IyMpz= M> Nusing accuracyPremultiplier from configf59Zc?f5Y i@5?:Qҿ@SE;3;Of5 AZj9EFNOT Ignoring new targets: 125.10 m.BjEߔ<JjMߔ<} ProNav: ac range: 125.099998 m, nav range: 21.861685 m, bearing: 51.391491 deg, approach rate: 0.577215 m/s, LOS rate: 1.041229 deg/s, cmd heading: 53.923732 deg, new cmd heading: 55.284729 deg. 2j}2=HeadingCmd: 0.964901 target range: 125.099998 and range: 128.90 m. jw?jjjihhhhBfffrfbfF!@ɛwB ,׎< lI `k=ɚiI5:3=I6?ii)%w?)!*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086280G$zKE qLKE 9KA KE (KE  +N *irK/! G B I O >w,u̿AF@YF9(@F~9F>yFHU?H?@ҿ??(?@m??ɨF@F;FCyR BRIiV4=IVa=IZdIZ?14٢bm> fR=9fUQ f>hh jG٣jNGyj= j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.337719  Nusing accuracyPremultiplier from configf59Yc?f5Y iW@ο@SE=3;';Sf5) -A5EZjQ]FNOT Ignoring new targets: 125.10 m.Bj]<Jj]J J J J J :J 9J J J 8;J :;J 3;J 3;#w,vޏ̿A 0I2h:@Y:7@:״9:+>y:H Kӱ? E?%ҿW[?Yl? 2?t?P?ɨ:@:[;:Cy^Bb IMMb@Mb@Mb@III I)IYMJ +?MbX9{Gzt?yM(?MʡMף;M5A M A)MAIMAIyMAaaImQIm4٢Ñ= ?=9EQ > G٣y= > Nusing accuracyPremultiplier from configf59Wc?f5Y i@)?:Ͽ@SEj; ;Vf5 WAZjFNOT Ignoring new targets: 125.10 m.Bj<Jj< ProNav: ac range: 125.099998 m, nav range: 22.307713 m, bearing: 52.218250 deg, approach rate: 0.543022 m/s, LOS rate: 0.983126 deg/s, cmd heading: 56.493820 deg, new cmd heading: 57.739677 deg. 2j(= HeadingCmd: 1.007748 target range: 125.099998 and range: 128.90 m. j ?jjjihhhhBfffrfbf`#@ɛ}B< I %(m=ɚ!i!I%)0=I-Ia?iIiI)M?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843155*F?2F:FBFX0JFG% 4G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. yH?o? ҿq.?@]ޤ?@^y?@[?l?ɨܒ@;y2B$ II%BI%3٢m2= mL=9m0Q m>yy }G٣yy}= > Nusing accuracyPremultiplier from configf59Wc?f5Y i@|˿@SE ; ;EZf5 AZjFNOT Ignoring new targets: 125.10 m.Bjَ<Jjَ< ProNav: ac range: 125.099998 m, nav range: 22.521736 m, bearing: 52.622983 deg, approach rate: 0.533397 m/s, LOS rate: 0.999098 deg/s, cmd heading: 57.739680 deg, new cmd heading: 58.942155 deg. 2jk+=HeadingCmd: 1.028735 target range: 125.099998 and range: 128.90 m. j?jjjihhhhfffrf bf _$@ɛ5B5Lq< 9=hI9 =@=ɚ9i9IE/=IEp?iAiI)M?)Q QIQzKm>"OKiKiKm)Km "=|taN;)KlVF8,# BKq:KqEWill construct direction to contact in vehicle frame from tetrahedron phase data.G>HA IA  IE l IIE nBIE  =&IA .IA 6IE <:IE & FG G B O >?1w, ̿A 6;Ɠ@Y6՚@6MO96#>y6Hx?`S?@ҿ?`?ą?@T?X?ɨ6;Ɠ@6er;6Cy>JBBB I)D DIJOIJ 4VWill construct direction to contact in vehicle frame from tetrahedron phase data.Zhh jG٣jNGyn"= n> rNusing accuracyPremultiplier from configpvf59rWc?vf5Yr ir@tvǿz@rSErX;r;r^f5| ~A|%B*** querying acoustic contact ***j!j!ZjIUFNOT Ignoring new targets: 125.10 m.BjU^<Jj]^ mBDAT read: Tx time:22:41:54.7606 u$Ping request sent.u7w,k̿A6䫔@Y6]@6>㒽96Ĕ>y6H@?`1?ҿ o?Og?``X?I? r?ɨ6䫔@6;6CyBXBBR IMb@Mb@Mb@ )Yx?EԸ~jtxyK?ƽĻ"9A A)ZAIyGAI-II-d4٢E= EB=9En:Q E>II MG٣Qy][= e> Nusing accuracyPremultiplier from configf59Wc?f5Yz i@S?:ȿ@SE;;af5  gAZjYeFNOT Ignoring new targets: 125.10 m.Bje<Jje< ProNav: ac range: 125.099998 m, nav range: 22.960258 m, bearing: 53.464108 deg, approach rate: 0.480765 m/s, LOS rate: 0.893644 deg/s, cmd heading: 60.272581 deg, new cmd heading: 61.440818 deg. 2jS=HeadingCmd: 1.072345 target range: 125.099998 and range: 128.90 m. jB?jjjihhhhhBfffrfbfL%&@ɛ-BWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:41:54.7598 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250980H&< I =ɚiI-J-=I5gw?i1i9)=B?)AEYEY*EY"EYJJJ1JJ:J9J3Ja @a @a@a@ IzKNK9KK*KRK?JK"?*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502530G 4GBO>@w,ͿA2@Y2@2@|92 >y2H? Z?<ҿeҢ?T?+???ɨ2@2/%;2Cy>lB>k IIJ#IJ%x3٢N,= N.=9R]:Q R>PT VG٣TH^O>I^C I^ II^BI\&I\.I\6I^<:I^ FBI}CJI}CRI}CZI} =bI} =jI}5y-j= -> UNusing accuracyPremultiplier from configQ]f59UtXc?]f5YUݵ iU@Ye{ſe@USEU2;U=3;Uef5 AEZjFNOT Ignoring new targets: 125.10 m.BjQ<JjQ< ProNav: ac range: 125.099998 m, nav range: 23.181618 m, bearing: 53.892428 deg, approach rate: 0.468295 m/s, LOS rate: 0.897467 deg/s, cmd heading: 61.440816 deg, new cmd heading: 62.713284 deg. 2j=HeadingCmd: 1.094553 target range: 125.099998 and range: 128.90 m. jR?jj!j!i!h!h9hAhifififirfibfu '@ɛBu< 隝뇿I rt=ɚiI`t+=I5?ii)R?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754696*F?2F:FBF_0JFG G IhG G G pAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005936'Fw,ͿAyEBE IiM=IIMb@Mb@Mb@ )YZd;O?+?Mb?y~ ?=<@  A)+AIAy AI,I3٢= 6=9 Q  >   G٣NGy > %Nusing accuracyPremultiplier from config%f59]c?-f5YŻ iVA- ?-:--@SE@;;if59 =*A9ZjaeFNOT Ignoring new targets: 125.10 m.BjmȒ<JjmȒ<} ProNav: ac range: 125.099998 m, nav range: 23.330719 m, bearing: 54.326528 deg, approach rate: 0.354886 m/s, LOS rate: 1.026618 deg/s, cmd heading: 62.713281 deg, new cmd heading: 64.007027 deg. 2j}#0=HeadingCmd: 1.117133 target range: 125.099998 and range: 128.90 m. j:?jjjihhh)h-Bf1f1f1rf1bf='@ɛBA< 隅уI =ɚiImz9*=Im>X?iqiq)u:?)q*F=?2F9:F9BFAJFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259037J J J J J :J u9J J G I GY Bi O >zK a3JK 9K K +K aLw,c3ͿA:<@Y:~K@:9:U>y:H?? §ѿ@? ?`"?`?ɨ:<@:;:CyBBF IININF3٢VW= Va=9V1OXX ZG٣Xy^#> ^> bNusing accuracyPremultiplier from config`ff59bac?ff5Yb ibAdf)j@bSEbn:bX:blf5l nAlZjFNOT Ignoring new targets: 125.10 m.Bj 7<Jj 7<- ProNav: ac range: 125.099998 m, nav range: 23.450163 m, bearing: 54.707106 deg, approach rate: 0.329228 m/s, LOS rate: 1.043649 deg/s, cmd heading: 64.007028 deg, new cmd heading: 65.142787 deg. 2j53=EHeadingCmd: 1.136956 target range: 125.099998 and range: 128.90 m. jELJ?jAjIjIiIhIhQhahafififqrfqbf`p(@ɛ]B]՛< aeIa e\;=ɚaiaIe2)=Im?iiiiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510067)uLJ?)!=5tAUA ,Y5tAy1$B*F?2F:FBF1JFHN>I I IIӂBI =&I.I6I<:I FG G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7620224OSw,mMͿA qIqx#@Y2@9>yHo?@?Yѿ ?;ʉ? u??ɨx#@;騙y޵B޵ I}Mb@Mb@Mb@yyy y)yY}S㥛?I +?Mb`y}$?}94=}}@ }QA)}AAI}AyyyIRIW4٢ .=9;Q > G٣yu= > Nusing accuracyPremultiplier from configf59hc?f5Y iA?:@SE;-;qf5 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 125.10 m.Bj<Jj<% ProNav: ac range: 125.099998 m, nav range: 23.592283 m, bearing: 55.197578 deg, approach rate: 0.301064 m/s, LOS rate: 1.032734 deg/s, cmd heading: 65.142786 deg, new cmd heading: 66.605005 deg. 2j%01=-HeadingCmd: 1.162477 target range: 125.099998 and range: 128.90 m. j- ̔?j)j)j1i1h1h1h9h=ŃBf9f9f9rfAbfE`I)@ɛmBu< y}vIy }\=ɚyiyI}'=I ̔?ii) ̔?)*F%?2F!:F!BF%V5JF)"G1G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006GY Ge ?Ge ?G9 BA O] >uYw,gͿA6@Y69-@6Yp96>y6Hv?I?~ѿ=?`<?ݭ??ɨ6@6?;6CyNBN I)P PIZIIZd4٢f< fo=9j6CI$ I& !II&BI$&I$.I$6I&<:I&) FF@YF:,@F._9F>>yFHP\??vҿI@?arI?@?@?ɨF@F,;FCyRBR IIbDIb3٢fl]< jJ=9j-ll EG٣AyM= M> UNusing accuracyPremultiplier from configQ]f59Uuc?]f5YU iUAaee@USEUO;U;Uwf5i mAmEZjFNOT Ignoring new targets: 125.10 m.Bj<Jj< ProNav: ac range: 125.099998 m, nav range: 23.810457 m, bearing: 56.003889 deg, approach rate: 0.299411 m/s, LOS rate: 1.126830 deg/s, cmd heading: 67.746051 deg, new cmd heading: 69.012440 deg. 2jUA=HeadingCmd: 1.204494 target range: 125.099998 and range: 128.90 m. j,?jjjihhhhfffrfbf +@ɛBˁ< I *+=ɚ i I '&=IoΙ?ii),?)*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770280 qIqG,GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021849مfw,[ͿAB@YB^*@B&M9Bߓ>yBH` G٣y= > Nusing accuracyPremultiplier from config f59|c? f5Y6 iuA  ? : @SE#;;d{f5) -A)ZjQ]FNOT Ignoring new targets: 125.10 m.Bj]v<Jj]v m $?Im hzK vNK 9K K -K e:{bL"[f0jXD9-)53" |vslw,5ͿAy~B~ Iie>Ip<IGI3٢%h %X=9%Q %>)) -G٣-NGy5 5> =Nusing accuracyPremultiplier from config1Ef595c?Ef5Y5A i5jAAAM@5SE5;5:5~f5Q UAQZj!-FNOT Ignoring new targets: 125.10 m.Bj5<Jj5IY I]!II]BI] =&IY.I]8D6I]<:I]+ FG ,- Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 22:41:57.3482 LVL= 12784, 15041, 18002, 20195, AGC= 59, IDX= 2,-0.32, 0.543, 0.264,-1.720,-0.538, PHS= 1.169, 0.849,-1.185, RAW= 37.2, -7.6, CAL= 39.4, -13.0, ROT= 110.6, 13.0 m Ygot valid direction response: 22:41:57.3482 LVL= 12784, 15041, 18002, 20195, AGC= 59, IDX= 2,-0.32, 0.543, 0.264,-1.720,-0.538, PHS= 1.169, 0.849,-1.185, RAW= 37.2, -7.6, CAL= 39.4, -13.0, ROT= 110.6, 13.0 } DAT read: Range 10 to 50 : 137.4 m (Round-trip 183.3 ms) speed -0.4 m/s } ,DAT read: user:2800> G B O > BDAT read: Tx time:22:41:58.4607  $Ping request sent. ) ) - ̿?Jx ٸ)- I- >i- ߭?- P) )  :publishing transmit ping timeع  Fpublishing direction and range info) 9- HvA3?W{0? M?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - ̿?Jx ٸ)) I) i) ) ) ) sw,2ͿA IPExceeded connect timeout, disconnecting.yB I=Mb@Mb@Mb@999 9)9Y=X9v?S㥻Zd;Oy=?=/ݽ=j<=l3A 9)9I=C@9y= AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:41:58.4599 IMZIM4٢< =9Q > G٣y > Nusing accuracyPremultiplier from configf59c?f5Y9 iA ?:@SE^;;f5 AkM3Y?kMe kI kM'ͿA:kMf CBkMvCZkMhZ+>"Ma^5@t\@ rR@MHvA3?W{0? M?JkM߭?RkMP*MYH]U@'8-@EVIpZ@M=($?)b8?Zkv?"kMiA*kMBkMj?kMG Tc 2kM+CkMj?kIkM+CkMıBkM-n>  addTargetRange:: Added new target pos. range: 137.399994 m, deltaT: 14.632558 s, deltaX: 8.500000 m, approachRate: 0.580896 m/s, rangeRepo size: 4  Added new target pos. range: 137.399994 m, bearing: 9.587708 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 21.948467 s, deltaX: 12.299995 m, approachRate: 0.560403 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 137.40 m.Bj%Jj! ProNav: ac range: 137.399994 m, nav range: 88.883644 m, bearing: 13.326804 deg, approach rate: 0.000000 m/s, LOS rate: 0.957921 deg/s, cmd heading: 71.453450 deg, new cmd heading: 73.064158 deg. 2jHeadingCmd: 1.275210 target range: 137.399994 and range: 137.40 m. j:?jjjihhhhBfffrf,a@bfg\?ɛeBe < im&Iq u =ɚqiqIu "=I:?ii):?)*F5 ?2F1 :F9 BF= P0JF9 - Will construct direction to contact in vehicle frame from tetrahedron phase data.G]G9BIO?{w,JͿAJ6J4J4J4J6:J4J4J4 DIH^q@Y^갥@^$ $9^Ę>y^H?)? iѿ !?`?? ?ɨ^q@^PR;^CynyBn{ IIv6Ivm3٢~ ~a=9    G٣ y I> > Nusing accuracyPremultiplier from configf59c?%f5Y iA!%㟿%@SE ;: ;f51 5`A1eB*** querying acoustic contact ***jijiZjquFNOT Ignoring new targets: 137.40 m.Bj}b;Jj}b; ProNav: ac range: 137.399994 m, nav range: 88.863701 m, bearing: 13.472835 deg, approach rate: -0.058584 m/s, LOS rate: 0.429064 deg/s, cmd heading: 73.064159 deg, new cmd heading: 73.502342 deg. 2j;<HeadingCmd: 1.282858 target range: 137.399994 and range: 137.40 m. j4?jjjihhhhfffrfbf?ɛ]B]n9 aeIa e|=ɚaiaIe:W"=ImK?iiiq)u4?)qzK}OK}s9KyK}.K}pkf`\YQNIGGCBA>=999984212,-/+)'#$$#!RK?JK ?*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=4jH<bH=HI>IC I IIBI =&I.I6I=<:I@ FG B O5 >_w,s οA6{@Y6P@6fW96,>y6H7?\?@wѿ.@??@w>i?? 2?ɨ6{@6o;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989647yFsBFs I)H HIR%IR)3٢Z ZQ=9Z;Q Z>\\ bG٣bNGyfp= f> jNusing accuracyPremultiplier from confighnf59j˔c?nf5Yj ijfAlrr@jSEj;j;j%f5vB vAvEZjFNOT Ignoring new targets: 137.40 m.Bj<;Jj<; ProNav: ac range: 137.399994 m, nav range: 88.836380 m, bearing: 13.629994 deg, approach rate: -0.066013 m/s, LOS rate: 0.379844 deg/s, cmd heading: 73.502343 deg, new cmd heading: 73.973955 deg. 2jW<HeadingCmd: 1.291089 target range: 137.399994 and range: 137.40 m. jhB?jjjih!h!h1hYfafifirf bf5`Ɔ? I UnManaging dock network, ignoring radio surface power offɛB@J< 隕I y=ɚiIC}!=IhB?ii)hB?)*FE?2FA:FABFAJFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241567G! G B O% >w,#οA6F@Y6EV@6N96=>y6H@F?ar?Lѿ?¨?x? ?ɨ6F@6w;6CyBkBBj IEMb@Mb@Mb@AAA A)AYE^I +?~jtZd;OyEX>EĽEjE5A E3@)EAIE@AyAI#I%x3٢  9=9[;Q > G٣yMf= > Nusing accuracyPremultiplier from configf59c?f5YN ik@<?:×@SE< ;;f5 A EZjFNOT Ignoring new targets: 137.40 m.Bj1;Jj1; ProNav: ac range: 137.399994 m, nav range: 88.804649 m, bearing: 13.769175 deg, approach rate: -0.073399 m/s, LOS rate: 0.322068 deg/s, cmd heading: 73.973954 deg, new cmd heading: 74.391637 deg. 2j]<HeadingCmd: 1.298379 target range: 137.399994 and range: 137.40 m. jI1?jjjih!h!h)h5Bf9f9f9rfAbfE@Y?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494655ɛUBUI; QUvIQ ]Ӯ=ɚYiYI]Q =IeI1?ii)I1?)*FY2FY:FYBF]n0JFY IzK NK +9K K /K    BK- pA:K- oAG G qAG oAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746260G B O >w,ҩ=οAB6@YBE@B9B>yBHI?k?@:пT *?@@5ޠ?`? ?ɨB6@Ba;BCyNaBN] IIVXIV4٢^+] ^]=9ba`d fG٣hynס= r> zNusing accuracyPremultiplier from configx~f59zc?~f5Yz iz;@@zSEz8;zC;z>f5 'AZjFNOT Ignoring new targets: 137.40 m.Bj;Jj;] ProNav: ac range: 137.399994 m, nav range: 88.773041 m, bearing: 13.886169 deg, approach rate: -0.083921 m/s, LOS rate: 0.310733 deg/s, cmd heading: 74.391641 deg, new cmd heading: 74.742745 deg. 2j]@UIy I} II}΂BI} =&Iy.Iy6I}<:I} FBIU¢CJIU¢CRIQZIU =bIU =jIUڻ5frfbf2?ɛB g: I =ɚi IMc =IU?iQiQ)U?)Y*F2F:FBFf2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998281JJJ/JJ̝:J9J(N3JJ;aJ;aJ8;aJ8;aG , $?I hGI B Oe >}w,WοAyr_Br[ Iiv;>Iv> z=za=Mb@Mb@Mb@ )Y?Qp= ףy ?4A @)AI&AyAIJI)4٢ :=9Q > G٣NGy > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249693f59c?f5Y{ i+@ #? :  @SEZ;&~; f5 4AZj9EFNOT Ignoring new targets: 137.40 m.BjE7;JjE7;] ProNav: ac range: 137.399994 m, nav range: 88.731514 m, bearing: 14.063014 deg, approach rate: -0.099816 m/s, LOS rate: 0.425272 deg/s, cmd heading: 74.742746 deg, new cmd heading: 75.273511 deg. 2j][św,^qοA 4I4BJ@YB@By9B<>yBH ?@"?@VFп`g;?`o?ۀ??ɨBJ@B;BCyN[BNV IIVgIV64٢^ɵ b]=9f9dh jG٣hyjf> j> 5Nusing accuracyPremultiplier from config1=f595c?Ef5Y56 i55@IMM@5SE5a;5a;5_f5UB U[AUEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 137.40 m.Bj;Jj; ProNav: ac range: 137.399994 m, nav range: 88.683357 m, bearing: 14.215655 deg, approach rate: -0.125083 m/s, LOS rate: 0.396688 deg/s, cmd heading: 75.273514 deg, new cmd heading: 75.731676 deg. 2j<HeadingCmd: 1.321767 target range: 137.399994 and range: 137.40 m. j/?jjjihhhhfffrfbfZ@ɛBU A=FI h3=ɚiI=I%/?i!i!)%/?))zKeLK59KK0KRK >JK ?*F?2F:FBFP0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755884|uAA 4Y|uAy,BG,G?G ?GqZHRHHF>I I IIBI =&I.I6I߯<:I FBO>.w,9οA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:42:01.0504 6TRx dataTimestamp_ set to:1736376122.188471:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006460F@YFqʪ@FN9F>yFH`? ?@Ͽ ?@¿ =? x??ɨF@F ;FCyNVBNO IIZ^IZ&4٢bnݼ bJ=9f=;Q f>dd jG٣hyj~= j> rNusing accuracyPremultiplier from configlrf59nIc?vf5Yn  in4@tvv@nSEn';nj;nϛf5x zA|Zj%FNOT Ignoring new targets: 137.40 m.Bj-5;Jj-5;E ProNav: ac range: 137.399994 m, nav range: 88.628059 m, bearing: 14.373006 deg, approach rate: -0.143215 m/s, LOS rate: 0.407776 deg/s, cmd heading: 75.731676 deg, new cmd heading: 76.204013 deg. 2jE 隝RI O=ɚiIcq=I=?ii)=?)JJJ0JJJ9Jـ3JJJ;JZ5;J[5; qIuh*F%?2F!:F!BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257847Gm 4GI Bq O >٨w, οA2֒@Y2O@2ּ92r'>y2H`c?7?`Ͽ`tq?ÿ ך?~??ɨ2֒@2K;2Cy:QB>I I)D FADFAMMb@Mb@Mb@III I)IYM(\?T㥛 MbyM'?MMM0A MM@)MAIM?AIyMAIuEIu3٢B >=9P;Q > G٣NGyz= > Nusing accuracyPremultiplier from configf59c?f5Y i@+?:p@SE;S;f5 AEZjFNOT Ignoring new targets: 137.40 m.Bj;Jj; ProNav: ac range: 137.399994 m, nav range: 88.558762 m, bearing: 14.552532 deg, approach rate: -0.161093 m/s, LOS rate: 0.417660 deg/s, cmd heading: 76.204011 deg, new cmd heading: 76.742993 deg. 2jQ<%HeadingCmd: 1.339418 target range: 137.399994 and range: 137.40 m. j- r?j)j)j1i1h1h9h9h=BfAfAfIrfIbfU@ @mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509735ɛ}B}X#; 隅SI =ɚiI=I r?ii) r?) m$?Ii*Fq2Fq:FqBFqJFqzKe JKa Ka Ke 1Ke Gy % Will construct direction to contact in vehicle frame from tetrahedron phase data.G B  DAT read: 22:42:01.0504 LVL= 21200, 28577, 27586, 32755, AGC= 63, IDX= 440, 0.43,-1.745,-2.434, 2.161,-3.125, PHS= 1.468, 0.738,-1.000, RAW= 46.7, -11.0, CAL= 53.3, -18.4, ROT= 96.7, 18.4  Ygot valid direction response: 22:42:01.0504 LVL= 21200, 28577, 27586, 32755, AGC= 63, IDX= 440, 0.43,-1.745,-2.434, 2.161,-3.125, PHS= 1.468, 0.738,-1.000, RAW= 46.7, -11.0, CAL= 53.3, -18.4, ROT= 96.7, 18.4  PDAT read: Bearing 96.7, 18.4 (Local)  ~Local bearing/azimuth received: Bearing 96.7, 18.4 (Local)  DAT read: Range 10 to 50 : 139.2 m (Round-trip 185.6 ms) speed -0.5 m/s  ,DAT read: user:2801> O >w,rοANBDAT read: Tx time:22:42:02.1607 R$Ping request sent.R3s?jp{ ?yU3 CQURUo Uk)UIU?iUm?UQQU9Q?3CX,eȿ)U׮IU5bD>iU?U3s?jp{ ?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU9Q?3CX,eȿ)QIQiQQQQb@YPr@μ9.>yH???ο@~\?HĿݙ??@?ɨb@g;CyJ IHH>I I IIBI&I.I6IT<:IP FI5KI54٢}k; <=9];Q > G٣y?g= > Nusing accuracyPremultiplier from config f59 _c?f5Y  i @0@ SE X: ": f5! %A%EkU?Bz?kUF kQ kUoοA:kU3 CBkU? CZkU1Ц>"Uue;@A X@5IU`W@U# ء?>3s?jp{ ?JkU?RkU<*UEN&Q@Ȋn-7@u@K«]@U*c!?/O?zT?"kUhA*kU2BkUjz?kU\ 2kU 8CkQkQkQkUBkUz>E addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.779886 s, deltaX: 1.800003 m, approachRate: 0.476206 m/s, rangeRepo size: 4  Added new target pos. range: 139.199997 m, bearing: 18.667373 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 3.779886 s, deltaX: 1.800003 m, approachRate: 0.476206 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 139.20 m.BjJj ProNav: ac range: 139.199997 m, nav range: 88.479836 m, bearing: 14.739429 deg, approach rate: 0.000000 m/s, LOS rate: 0.417660 deg/s, cmd heading: 76.742995 deg, new cmd heading: 77.322507 deg. 2jHeadingCmd: 1.349532 target range: 139.199997 and range: 139.20 m. jz?jYjYjaiahahahahifififirfm`ffa@bfu?ɛB@: ݚI  =ɚ i I =Iz?ii)=z?)9}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJJQ;JR;J%7;J%7; I EE <EY *F ?2F :F BF P5JF G qA G -Will construct direction to contact in vehicle frame from tetrahedron phase data.G,GGrAGBO?Kw,οAyTBN Ii G٣y > Nusing accuracyPremultiplier from configf59gc?f5YB" i@(2?:\@SE;Y;Rf5  A Zj9EFNOT Ignoring new targets: 139.20 m.BjM8;JjU8; ProNav: ac range: 139.199997 m, nav range: 88.380943 m, bearing: 14.978608 deg, approach rate: -0.182862 m/s, LOS rate: 0.442761 deg/s, cmd heading: 77.322509 deg, new cmd heading: 78.040809 deg. 2j <HeadingCmd: 1.362069 target range: 139.199997 and range: 139.20 m. jHX?jjjihhAhIhMBfQfQfQrfQbf]?ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data. z; I =ɚ i I (=IHX?ii)HX?)E@o=*F]?2FY:FYBF]0JFY 1I1zK= K= 9K9 K= 2K= ?US=' GE 4G B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ %>Օ N>Nw,mοAR@YRx@Rϼ9R>yRH 0?$?NͿ@@v?QCƿ g?΍? r?ɨR@R<;Py^\B^X IIj$Ij<3٢rp0= r\=9vQ v>tt zG٣zNGyz> z> Nusing accuracyPremultiplier from config|f59~c?f5Y~' i~@  D @~SE~ :~n:~f5B [AE5B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 139.20 m.Bj~;Jj~; ProNav: ac range: 139.199997 m, nav range: 88.303391 m, bearing: 15.137867 deg, approach rate: -0.202892 m/s, LOS rate: 0.417016 deg/s, cmd heading: 78.040813 deg, new cmd heading: 78.518998 deg. 2j<HeadingCmd: 1.370415 target range: 139.199997 and range: 139.20 m. ji?jjjihhhhfffrfbf`?ɛe„Be2 imhIi mH=ɚiiiImO=H}I>Iy I} II}BI} =&Iy.Iy6I}<:I}& FIi?ii)i?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFP0JF JSK[3 K[S}.KSKS"KSJ5 J5 J1 J1 J5 :J5 9J1 J1 J5 ;J5 ;J5 1;J5 1; $?I G-,Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452318G!B1OM?!Fw,VϿA~;@Y~@~mǼ9~"і>y~H;[?@?@1̿``ۏ?,ǿ@ ?` G٣yh= > Nusing accuracyPremultiplier from configf59d?f5Y/ it@-?:e|@SE;;8f5 BA ZjFNOT Ignoring new targets: 139.20 m.Bj;Jj; ProNav: ac range: 139.199997 m, nav range: 88.191528 m, bearing: 15.357965 deg, approach rate: -0.208376 m/s, LOS rate: 0.410516 deg/s, cmd heading: 78.519001 deg, new cmd heading: 79.180102 deg. 2j݌<HeadingCmd: 1.381953 target range: 139.199997 and range: 139.20 m. j-?j)j)j)i)h)h)h1h5Bf1f1f9rf9bf=4?ɛmńBu`; qubIq u/~=ɚyiyI}Z=I?ii)?)*F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704301G] 4 I hG1 BA O] >rw,h8ϿA @>FQ@Y>`@>+¼9>і>y>H?l0?˿`7M?ȿD?g??ɨ>FQ@>@;>CyJmBJl IIRCIR3٢^#= ^^=9^<:Q ^>`` bG٣`yf= f> jNusing accuracyPremultiplier from confighnf59j d?nf5Yj'5 ij|@lnur@jSEj:j:jpf5t vAvEzK LK 9K K 3K BK:KqAZj15FNOT Ignoring new targets: 139.20 m.Bj=;Jj=;M ProNav: ac range: 139.199997 m, nav range: 88.108810 m, bearing: 15.509407 deg, approach rate: -0.232545 m/s, LOS rate: 0.426148 deg/s, cmd heading: 79.180102 deg, new cmd heading: 79.634844 deg. 2j;<HeadingCmd: 1.389890 target range: 139.199997 and range: 139.20 m. j?jjj i h h h hfffrfbf @eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.955967ɛDŽB-S I ͙=ɚiI:=I?i i)?)*Fe?2Fa:FiBFm^0JFiHJ>I I IIBI =&I.I6Iԯ<:I FG , Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208138G B O >VUw,,RϿA6*@Y6S:@6q96ko>y6HM?๗?W˿d4?@$ɿS?W???ɨ6*@6;6CyNwBRx IIVVIVn4٢^0N= bK=9b;Q b>dd fG٣fNGyfԆ= j> nNusing accuracyPremultiplier from confighrf59j4d?rf5Yj: ijj@tvov@jTEj#;j#;jf5zB zA~E u!$?IyZj!5FNOT Ignoring new targets: 139.20 m.BjE;JjE;} ProNav: ac range: 139.199997 m, nav range: 88.012230 m, bearing: 15.673819 deg, approach rate: -0.207118 m/s, LOS rate: 0.352969 deg/s, cmd heading: 79.634842 deg, new cmd heading: 80.128606 deg. 2j}=r<HeadingCmd: 1.398508 target range: 139.199997 and range: 139.20 m. jO?jjjihhhhfffrfbf @ɛ ɄBC I =ɚiI=IO?i!iA)EO?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460426*F?2F:FBFJFG pA G GE 4GM pAGM qAG B) OU >6}w,kϿA>k@Y>@>\9>9>y>H@ ?'?ʿX%?Iʿ??f?ɨ>k@>ۍ;>CyJBJ IiN>IN= R=Rp=rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7120775Mb@Mb@Mb@111 1)1Y5 r?l¿~jty5#?55D51A 5@)5t AI5A1y5AIU>IU3٢e|= e@=9m5NQ m>ii uG٣qyun= u> Nusing accuracyPremultiplier from configyf59}q)d?f5Y}@ i}g@](?:j@}TE}f;};}f5  AZjFNOT Ignoring new targets: 139.20 m.BjQ<JjQ<} ProNav: ac range: 139.199997 m, nav range: 87.909431 m, bearing: 15.841784 deg, approach rate: -0.287140 m/s, LOS rate: 0.469714 deg/s, cmd heading: 80.128603 deg, new cmd heading: 80.633074 deg. 2j}.<HeadingCmd: 1.407313 target range: 139.199997 and range: 139.20 m. j"?jjjihhhhBfffrfbf@@ɛ˄B$ I 9=ɚiI=I"?ii)"?) JJJJJ:Jb9JJa%@a%@a%@a%@ yIy*F?2F:FBF0JFzKK9KK4K RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:42:04.7516 TRx dataTimestamp_ set to:1736376125.968691checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964998G,G B O >H I>I  I II BI &I .I 6I <:I  FBIEˡCJIEˡCRIAZIE =bIE =jIE˭V5ew,܅ϿA2̫@Y2Dܲ@2Z&92g>y2H?bi?@ɿ`u ?VʿHD?`s?`e?ɨ2̫@2猍;2CyRBR IIjWIj44٢=  P=9 :Q  > G٣yK= > uNusing accuracyPremultiplier from configq}f59ue7d?}f5YuF iuq@c@uTEue ;uu ;u1f5 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 139.20 m.Bj;Jj; ProNav: ac range: 139.199997 m, nav range: 87.806320 m, bearing: 15.999684 deg, approach rate: -0.255244 m/s, LOS rate: 0.391328 deg/s, cmd heading: 80.633074 deg, new cmd heading: 81.107319 deg. 2jH<HeadingCmd: 1.415590 target range: 139.199997 and range: 139.20 m. j 2?jjjihhhhfffrfbf@* @ɛ̈́B !%I! %*B=ɚ!i!I-=I5 2?i9i9)= 2?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215995*F?2F:FBF_5JF u"$?IyGQG) B1 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:42:04.7516 LVL= 21776, 30545, 26834, 32755, AGC= 64, IDX= 437, 0.04,-1.241,-1.959, 3.032,-2.287, PHS= 1.134, 0.376,-0.967, RAW= 50.9, -5.9, CAL= 55.3, -11.2, ROT= 94.7, 11.2  Ygot valid direction response: 22:42:04.7516 LVL= 21776, 30545, 26834, 32755, AGC= 64, IDX= 437, 0.04,-1.241,-1.959, 3.032,-2.287, PHS= 1.134, 0.376,-0.967, RAW= 50.9, -5.9, CAL= 55.3, -11.2, ROT= 94.7, 11.2  PDAT read: Bearing 94.7, 11.2 (Local)  ~Local bearing/azimuth received: Bearing 94.7, 11.2 (Local)  DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed -0.2 m/s  ,DAT read: user:2802>  BDAT read: Tx time:22:42:05.8607  $Ping request sent. ٥ Pw٥ clc?٥ Bҽ ڥ 0w?)ڥ +HIڥ ԏ?iڥ +H>ڡ ڡ ۥ qG!?5,Sv t`)ۥ qIۥ =iۥ z?ۥ !GOۡ ۡ = :publishing transmit ping time E Fpublishing direction and range infoء 9إ M}䊹?B?L7'+?yء ء kw,ʟϿA )Ii )IiqG!?5,Sv t`)Ii}}@Y}@}w9}YG>y}H ?!?`^ɿ `"?t˿gΗ???ɨ}}@}3;}CyB IMb@Mb@Mb@ )Y%C?n~jtyZ$?VX/A  @)AIAyIOI 4٢m= m=9mʅQ u>qq }G٣}NGy!?= > Nusing accuracyPremultiplier from configf59Id?f5YL iH@(?:8Z @TE<~<f5Y ]$AakFs?k  k k5ϿA:k CBk$ CZkg9?"Xt+@OYZW@=C\Y@M}䊹?B?L7'+?Jkz?Rk!GO*BҏG@|D@\hpK_@m߆? ?h ?"k&B*k~CkkkkTBk̺>% addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 3.527697 s, deltaX: 0.900009 m, approachRate: 0.255127 m/s, rangeRepo size: 4 ] Added new target pos. range: 140.100006 m, bearing: 41.495758 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 3.527697 s, deltaX: 0.900009 m, approachRate: 0.255127 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 140.10 m.BjeJja ProNav: ac range: 140.100006 m, nav range: 87.665680 m, bearing: 16.196093 deg, approach rate: 0.000000 m/s, LOS rate: 0.391328 deg/s, cmd heading: 81.107322 deg, new cmd heading: 81.751140 deg. 2jHeadingCmd: 1.426827 target range: 140.100006 and range: 140.10 m. jA?jjjihhhh݄Bfffrf@3a@bf`?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:05.8599 ɛ-τBM0; IUIQ UK=ɚQiQIU=I]A?iYiY)]A?)aE*F! 2F! :F! BF% p0JF! "G5 >G5 >JU JU JQ JQ JU :JU 9JQ JQ a Ia GE $GM ?GM >~GzK%iKK%9K!K%5K%G1B9Oe>w,ϿA Will construct direction to contact in vehicle frame from tetrahedron phase data.== 2(5Y0y2-BFGb@YFq@F(9F{>yFH`ߓ? 5?^ȿ7 ?(̿???ɨFGb@FvĎ;FCyRBR I)T VAIZIZ0٢b= bh=9fQ f>dh jG٣hyj= n> rNusing accuracyPremultiplier from configlrf59nVd?vf5YnQ in{@tvSv@nTEn:n:nf5~B ~<@~EZjFNOT Ignoring new targets: 140.10 m.Bj\;Jj\;  ProNav: ac range: 140.100006 m, nav range: 87.563683 m, bearing: 16.330735 deg, approach rate: -0.310070 m/s, LOS rate: 0.409787 deg/s, cmd heading: 81.751142 deg, new cmd heading: 82.155532 deg. 2j <5HeadingCmd: 1.433885 target range: 140.100006 and range: 140.10 m. j5?j1j1j1i1h9h9h9h9fAfAfArfAbfEA?ɛфBN> 隵I HX=ɚiI=I?ii)?)HQIQ IU IIU؂BIU =&IQ.IQ6IU?<:IUA F*F?2F:F BF Q5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GE 4G! B1 OM > = #$?I= h w,ϿAm+@Ym:@mF˼9m>ymH? ?`?` ȿ?t̿&h??@m?ɨm+@mJ;iyޅÂBޅ IMb@Mb@Mb@ )YZd;?X9vkty? 0(0A M@)AI+AyAI-I-2٢=f= =5=9=$EQ =>AI MG٣IyU^= U> ]Nusing accuracyPremultiplier from configYef59]gd?ef5Y]tV i]@e|"?m:mIm@]TE];];]f5y }l@yZj15FNOT Ignoring new targets: 140.10 m.Bj=(;Jj=(;UWill construct direction to contact in vehicle frame from tetrahedron phase data.m ProNav: ac range: 140.100006 m, nav range: 87.427849 m, bearing: 16.495258 deg, approach rate: -0.301481 m/s, LOS rate: 0.365722 deg/s, cmd heading: 82.155530 deg, new cmd heading: 82.649852 deg. 2jmz Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,.ϿA2@Y2q@2H)ּ92>y2H}??ǿC }? Ϳ aĚ? ?F?ɨ2@2;2CyBقBB IIJIJb2٢RW= Re=9VsQ V>JXJZBAJ^J^J\J\J^:J^9J\J\Td fG٣fNGyf#= j> nNusing accuracyPremultiplier from confighrf59jud?rf5YjZ ij@prCr@jTEj:ji:jf5zB z@zEZj!%FNOT Ignoring new targets: 140.10 m.Bj-;Jj-;= ProNav: ac range: 140.100006 m, nav range: 87.315376 m, bearing: 16.624695 deg, approach rate: -0.328969 m/s, LOS rate: 0.379078 deg/s, cmd heading: 82.649852 deg, new cmd heading: 83.038659 deg. 2j=w,s пA2)˯@Y2ڶ@2ˡռ92ӗ>y2H?`H?_ƿ`=<?FͿs?? ɗ?ɨ2)˯@2%;2Cy^B^!Iib=Ib>Ij!Iji3٢r= rG=9v$9Q z>x| ~G٣|y~h= >  Nusing accuracyPremultiplier from config f59ͅd?f5Y*_ i@<@TE::Yf5! %A@!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 140.10 m.BjU5;JjU5;e ProNav: ac range: 140.100006 m, nav range: 87.182312 m, bearing: 16.769890 deg, approach rate: -0.326737 m/s, LOS rate: 0.357065 deg/s, cmd heading: 83.038660 deg, new cmd heading: 83.474899 deg. 2je u<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 1.456912 target range: 140.100006 and range: 140.10 m. j|?jjjihhh!h!f!f!f!rf)bf- 4?ɛքB: wI d=ɚiI=I|?ii)|?) I*F ?2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.U ?U ?] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004961Gm ,GA BQ Om >w,B%пA:@Y:m@:/̼9:d>y:Hgc?O??Oſ@U?-?ο`??o?ɨ:@:A;8yVBV!IEMb@Mb@Mb@AAA A)AYE㥛 ?sh|?:vyE?EEԼE.A Eh@)AIEAAyE=AImEIm3٢uy= }A=9}p);Q }> G٣ys|= > Nusing accuracyPremultiplier from configf59Ed?f5Y4c i@'?:N*@"TE""; ;f5 y@~EZjFNOT Ignoring new targets: 140.10 m.BjG;JjG; ProNav: ac range: 140.100006 m, nav range: 87.039658 m, bearing: 16.903652 deg, approach rate: -0.335627 m/s, LOS rate: 0.315223 deg/s, cmd heading: 83.474897 deg, new cmd heading: 83.876836 deg. 2jUX<HeadingCmd: 1.463927 target range: 140.100006 and range: 140.10 m. ja?jjjihhhh"Bfffrfbf@ɛلB; wrI ɞ=ɚiIs=I%a?i!i!)%a?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257653*F?2F!:F!BF%\0JF!JJJJJ:J9JJ IGE $G B) OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507517'w,΍?пAzKMK+9KK7K$HfxnZF0w`I4&uqlgb]YUQNJHC>;862///6Eu@Y6@BK8:K86ü96'>y6Hf?@?+Ŀ߿Q?ο s?@ ??ɨ6Eu@6gp;6CyF BF.!IIN4INV3٢VX= ZW=9Zz>;Q Z>\\ ^G٣^NGy^g= b> fNusing accuracyPremultiplier from config`jf59bhd?jf5Ybf ib3@hj#n@b%TEb;b|;bYf5p r@pZj FNOT Ignoring new targets: 140.10 m.BjӴ;JjӴ;% ProNav: ac range: 140.100006 m, nav range: 86.906792 m, bearing: 17.022350 deg, approach rate: -0.353379 m/s, LOS rate: 0.316178 deg/s, cmd heading: 83.876834 deg, new cmd heading: 84.233465 deg. 2j%X<-HeadingCmd: 1.470151 target range: 140.100006 and range: 140.10 m. j--?j)j)j)i)h1h1h1h1f9f9f9rf9bf=}@ɛeڄBm t  gI  p=ɚ i I ?=I-?ii)-?)HI IM!II%BI&I.I6I5<:I9 F*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760281GG ?G?GBO> } %$?Iy Q w,NbYпA=@Y$M@B.¼9>yH@O0?@?(Ŀ@޿T?S$Ͽ@3E?r??ɨ=@;騥Cy޽B޽>!I) }Mb@Mb@Mb@yyy y)yY}Cl?p= ף~jty}?}}ļ}X/A } @)yI}Ayy}fAI?IT3٢!^= .=99Q > G٣yU= > Nusing accuracyPremultiplier from configf59d?f5Yj i@?:*@*TEK;;qf5B A@{EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012998Zj)-FNOT Ignoring new targets: 140.10 m.Bj5/;Jj5/;E ProNav: ac range: 140.100006 m, nav range: 86.739792 m, bearing: 17.158068 deg, approach rate: -0.352578 m/s, LOS rate: 0.287086 deg/s, cmd heading: 84.233465 deg, new cmd heading: 84.641396 deg. 2jEE+3w,+sпA2@Y2: @2m792㐕>y2Hϑ?t3?,ÿܿ@3v?ަϿf?m??ɨ2@2;2CyB#BBL!IIJ:IJ3٢V = Vr=9V ;Q V?XX ZG٣XyZ= ^? !I! %Nusing accuracyPremultiplier from config-f59d?-f5Ycm it@155@-TEo;$o;|f59 E@AZjiuFNOT Ignoring new targets: 140.10 m.Bj}M;Jj}M; ProNav: ac range: 140.100006 m, nav range: 86.612053 m, bearing: 17.257166 deg, approach rate: -0.369776 m/s, LOS rate: 0.287291 deg/s, cmd heading: 84.641398 deg, new cmd heading: 84.939129 deg. 2j*E<HeadingCmd: 1.482467 target range: 140.100006 and range: 140.10 m. j~?jjjihhhhfffrfbf@N @ɛ߄BY7 ]I }=ɚiI\z=I~?ii)~?)*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515531zK]G4GBZHRH?AHI I!IIMBI&I.I6I<:I) FO>#w,пA:Գ@Y:o@:9:>y:H`?@?`ZV¿`?jۿ`? /п]?q?@0?ɨ:Գ@:J;:CyF3BF`!IINJIN)4٢Vg= VJ=9V9Q Z>XX ZG٣ZNGy^r= ^> bNusing accuracyPremultiplier from config`ff59b d?jf5Ybgp ib@lnp n@b0TEb*^;b_;bf5rB r@vzEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 140.10 m.Bj{;Jj{;- ProNav: ac range: 140.100006 m, nav range: 86.464127 m, bearing: 17.367077 deg, approach rate: -0.377020 m/s, LOS rate: 0.280610 deg/s, cmd heading: 84.939126 deg, new cmd heading: 85.269420 deg. 2j-@<5HeadingCmd: 1.488232 target range: 140.100006 and range: 140.10 m. j5d~?j1j1j1i1h1h9h9h9fAfAfArfAbfE.@}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:42:08.4517 LVL= 19552, 22513, 18114, 23987, AGC= 55, IDX= 420, 0.20, 2.288, 1.133, 0.062, 0.766, PHS= 1.610, 0.415,-0.706, RAW= 61.1, -13.1, CAL= 72.3, -21.5, ROT= 77.7, 21.5 Ygot valid direction response: 22:42:08.4517 LVL= 19552, 22513, 18114, 23987, AGC= 55, IDX= 420, 0.20, 2.288, 1.133, 0.062, 0.766, PHS= 1.610, 0.415,-0.706, RAW= 61.1, -13.1, CAL= 72.3, -21.5, ROT= 77.7, 21.5 PDAT read: Bearing 77.7, 21.5 (Local) ~Local bearing/azimuth received: Bearing 77.7, 21.5 (Local) DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed 0.0 m/s ,DAT read: user:2803> BDAT read: Tx time:22:42:09.5608 $Ping request sent.}j4}?} j }?)}7 I}^?i}7 >yy}Xd?xmvMp̿)}(I}i>i}?}uyy:publishing transmit ping time)Fpublishing direction and range infoy9}B}*?5{x?)E~5?yyJJJ/JJJ9J(N3JJQ;aJR;aJ%7;aJ%7;ayyy y)yIyiyyyyy y)yIyiyyy}Xd?xmvMp̿)yIy &$?I*FM?2FI:FIBFM?5JFIiyyyyG5G9G=qAG B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:22:42:09.5600 OE >E)w,qпA:@Y:@:$9:D>y:H`>?v?@Quٿ`?s@пD?c?M?ɨ:@:;8yN8BNf!IiR=IR G٣y^= > Nusing accuracyPremultiplier from configf59|d?f5Ys i@ ?:*@4TED;; f5  A@k|Bq?kye  k kX пA:kBkZk- ?"\9=@p R@k \@B}*?5{x?)E~5?Jk?Rku*~]C@v ^Ս8@]su`@> addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 3.779953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 140.100006 m, bearing: 31.596855 deg, lat: 36.904288 deg, lon: -122.120058 deg, deltaT: 3.779953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 140.10 m.BjJj% ProNav: ac range: 140.100006 m, nav range: 69.784325 m, bearing: 20.600717 deg, approach rate: 0.000000 m/s, LOS rate: 0.280610 deg/s, cmd heading: 85.269420 deg, new cmd heading: 85.688728 deg. 2j!MHeadingCmd: 1.495550 target range: 140.100006 and range: 140.10 m. jM2n?jIjIjQiQhQhQhYh]MBfYfYfYrfabfe ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉɛBpF< UI `=ɚiI m=I 2n?ii)2n?)*F?2F:FBFO5JF ($?IG 4G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.l.0w,пAzK"'~MK K K"9K"<%"(,/20,,+-42/.+*/>FFj}7{xc2{R)hmXH6#b@Yr@[Ǽ9%>yH@@?;?@&U@Ɠؿz?jvϿ ??@?ɨb@KX;Cy%FB-w!II=I=F2٢M= Mb=9MoQ M>QQ UG٣Qy]= ]> eNusing accuracyPremultiplier from configamf59e\d?mf5Yeu ie@iu澑u@e8TEe:e:e)f5y }v@}wEZjFNOT Ignoring new targets: 140.10 m.Bjj;Jjj; ProNav: ac range: 140.100006 m, nav range: 69.649254 m, bearing: 20.717568 deg, approach rate: -0.410338 m/s, LOS rate: 0.355676 deg/s, cmd heading: 85.688726 deg, new cmd heading: 86.039955 deg. 2jt<HeadingCmd: 1.501680 target range: 140.100006 and range: 140.10 m. j7?jjjihhhhfffrfbfp>?HyIy I}!II}qBIy&Iy.Iy6I}ޯ<:I} FBIAJIARIAZIAbIAjIE]4ɛB@V: ?PI C=ɚiI@=I7?ii)7?)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >J J J 0J J :J b9J ـ3J J ;J ;J 0.;J 0.; I h[6w,3пAO9@YH@qqǼ9\>yH ? ? t6 +׿`?@zп? @?0?ɨO9@;CyOB!IMb@Mb@Mb@ )Y{Gz?I + G٣NGWill construct direction to contact in vehicle frame from tetrahedron phase data.y k=  > Nusing accuracyPremultiplier from configf59 e?f5Yx i@%?%:%tľ%@;TE7!;;.f51 5@1ZjQ]FNOT Ignoring new targets: 140.10 m.Bj];Jje;u ProNav: ac range: 140.100006 m, nav range: 69.475204 m, bearing: 20.850171 deg, approach rate: -0.377939 m/s, LOS rate: 0.288661 deg/s, cmd heading: 86.039954 deg, new cmd heading: 86.438752 deg. 2juF<HeadingCmd: 1.508641 target range: 140.100006 and range: 140.10 m. j%?jjjihhhhdBfffrfbf@?ɛBLZ< MI =ɚiI=I%?ii)%?)*F?2F:FBFQ0JFG G ?G ;? Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >y:H%?"!?`fտ`6? oп +? ?@ͳ?ɨ:S@:Ә;:CyFVBF!I)H H V)$?ITIV3IVʴ3٢^"= bu=9b9Q b?dd fG٣dyf<= f? rNusing accuracyPremultiplier from configpvf59rXe?vf5Yry ir@tvz@r>TEr:r7:rf5~B ~@~tEZj!%FNOT Ignoring new targets: 140.10 m.Bj-;Jj-;= ProNav: ac range: 140.100006 m, nav range: 69.347237 m, bearing: 20.943077 deg, approach rate: -0.386832 m/s, LOS rate: 0.281364 deg/s, cmd heading: 86.438756 deg, new cmd heading: 86.717987 deg. 2j=AI I!IIBI =&I.I6I <:I FG- ,G! BA O >hCw,^MѿA6@Y6@696>y6Hn?? E»ӿ B?п`M??ˮ?ɨ6@6';4yBYBB!IIJOIJ 4٢Rn< RL=9Vb;Q V>TX ZG٣\y^'= ^> fNusing accuracyPremultiplier from config`ff59b(e?ff5Ybm{ ib@hjhj@bATEbj:b:bf5l rN@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 140.10 m.Bj;Jj;% ProNav: ac range: 140.100006 m, nav range: 69.188820 m, bearing: 21.052421 deg, approach rate: -0.395544 m/s, LOS rate: 0.273641 deg/s, cmd heading: 86.717987 deg, new cmd heading: 87.046766 deg. 2j%;<-HeadingCmd: 1.519253 target range: 140.100006 and range: 140.10 m. j-v?j)j)j)i)h)h1h1]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.hfffrfbfa;@ɛ B =; JI 5z=ɚ1i9I=@=IEv?iAiA)Mv?)I *$?IJJJ/JJ:Ju9J(N3JJ;J;J/;J/;*F?2F:FBFz0JFG$GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254464Iw,.(ѿA6 Ӹ@Y6@6m96 >y6H? ?۹;ҿy? nѿ;? o>??ɨ6 Ӹ@6';4yPR!I}Mb@Mb@Mb@yyy y)yY}K7A?{GztI +y} ?}ף}94}-A }@)} AI}Ayy}zAI8I3٢: 6=9 ;Q  >   G٣NGyr= > %Nusing accuracyPremultiplier from config!-f59%=;e?-f5Y%%} i%@5?5:5=@%ETE%T&;%$;%f5EB ES@EqEZjimFNOT Ignoring new targets: 140.10 m.Bjuѓ;Jjuѓ; ProNav: ac range: 140.100006 m, nav range: 69.008224 m, bearing: 21.168274 deg, approach rate: -0.401853 m/s, LOS rate: 0.258465 deg/s, cmd heading: 87.046765 deg, new cmd heading: 87.395230 deg. 2ja1<HeadingCmd: 1.525334 target range: 140.100006 and range: 140.10 m. j)>?jjjihhhhOBfffrfbf@@ɛB; KI xw=ɚiIL=I)>?ii))>?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506934*F2F:FBF0JFGqA GqA IGGGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758384|Pw,pBѿA2瞹@Y2a@2#92>y2H ??п}?_[ѿt?@Q?=?ɨ2瞹@2;2CyBZBB!IiF,>IFp;IJ:IJ3٢R?; Vd=9V:Q V>XX ZG٣XyZ&= Z>zK^R]NK^s9K\K^;K^ jNusing accuracyPremultiplier from configdjf59f Je?nf5Yfh~ if@lnr@fHTEf ;f ;ff5t vC@tZjFNOT Ignoring new targets: 140.10 m.Bjӏ;Jjӏ;- ProNav: ac range: 140.100006 m, nav range: 68.860893 m, bearing: 21.258572 deg, approach rate: -0.409454 m/s, LOS rate: 0.251487 deg/s, cmd heading: 87.395228 deg, new cmd heading: 87.666699 deg. 2j-,<5HeadingCmd: 1.530073 target range: 140.100006 and range: 140.10 m. j5k?j1j1j1i1hhhhfffrfbfd@ɛ B `;HI>I I!IIBI =&I.I6I<:I F 15LI1 5S~u=ɚ1i9I=%a=I=k?iAiA)Ek?)A*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:42:12.1512 TRx dataTimestamp_ set to:1736376133.281191checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017110GE4 i Iq G B J J J 1J J :J 9J 3J J Q;J R;J :;J :;O >Vw,i[ѿAh@Yw@9@>yH?S?M ο?`iѿ̖?^?@?ɨh@;Cy!)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262488Mb@Mb@Mb@ )Yx&1?MbPMby?,A ~@)\ AIyAI@I39%x:Q ->)1 5G٣1y5O= 5> ENusing accuracyPremultiplier from config9Ef59=6^e?Mf5Y= i=@M?M:MkM@=LTE=o;=;=f5Y ]N@]nEZjFNOT Ignoring new targets: 140.10 m.BjÈ;JjÈ; ProNav: ac range: 140.100006 m, nav range: 68.659119 m, bearing: 21.374139 deg, approach rate: -0.416298 m/s, LOS rate: 0.239136 deg/s, cmd heading: 87.666701 deg, new cmd heading: 88.014415 deg. 2j$<HeadingCmd: 1.536141 target range: 140.100006 and range: 140.10 m. jH?jjjihhhhZBfffrfbfr @ɛB u +$?Iy m\w,vѿA%*@Y%,:@%B)9%>y%HD?`:?@ ˿^?ѿ@d?k?@y?ɨ%*@% ;%Cy=\B=!IIMAIMk3٢]; ]<9]_:Q e>aa mG٣mOGym|= m> uNusing accuracyPremultiplier from configq}g59ule?}g5Yu׀ iu@TS@uOTEu:u:ug5 1@ZjFNOT Ignoring new targets: 140.10 m.Bjل;Jjل; ProNav: ac range: 140.100006 m, nav range: 68.510384 m, bearing: 21.455571 deg, approach rate: -0.423359 m/s, LOS rate: 0.232293 deg/s, cmd heading: 88.014419 deg, new cmd heading: 88.259246 deg. 2jk<HeadingCmd: 1.540414 target range: 140.100006 and range: 140.10 m. jM,?jjjihhhhfffrfbf,C @ɛ-B-p} )-OI) 5p=ɚ1i1I5=I=M,?i9i9)=M,?)A*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:42:12.1512 LVL= 16112, 30177, 20018, 29107, AGC= 58, IDX= 432, 0.34, 1.749, 0.153,-0.139, 0.431, PHS= 1.406,-0.231,-0.573, RAW= 80.7, -6.6, CAL= 89.9, -14.6, ROT= 60.1, 14.6 Ygot valid direction response: 22:42:12.1512 LVL= 16112, 30177, 20018, 29107, AGC= 58, IDX= 432, 0.34, 1.749, 0.153,-0.139, 0.431, PHS= 1.406,-0.231,-0.573, RAW= 80.7, -6.6, CAL= 89.9, -14.6, ROT= 60.1, 14.6 PDAT read: Bearing 60.1, 14.6 (Local) ~Local bearing/azimuth received: Bearing 60.1, 14.6 (Local) DAT read: Range 10 to 50 : 139.7 m (Round-trip 186.3 ms) speed 0.0 m/s  ,DAT read: user:2804>  BDAT read: Tx time:22:42:13.2608 $Ping request sent.صu ٵ2N)ٵqIٵ:iٵ?ٵDlٵ!ٵI?ٵ ڵ?)ڵwIڵC?iڵw>ڱڱ۵nUc?2x%F]" )۵/I۵=i۵c?۵ ۱۱=:publishing transmit ping timeEFpublishing direction and range infoر9ص?s,~׬?[bMnj? "z?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵nUc?2x%F]" )۱I۱i۱۱۱۱zKvKK59KK<KZHRHAAHI I!IIBI&I.I6I<:I& FG$GG?GB O- >acw,BѿA>@Y>#@>l9>>y>Hk?tQ?mֲ@ȿ@!?uѿ?`o??ɨ>@>P;>CyJSBJ!I)P PIV4IVV3٢b7 bU=9b{K:Q b>dd fG٣dyf= z> ~Nusing accuracyPremultiplier from config|g59~%}e?g5Y~ǁ i~@  s: @~RTE~:~H:~Sg5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:13.2600 %B %@-kEkEjf?k k k ѿA:k CBk CZku@"ˑ?z@g(A@M`@?s,~׬?[bMnj? "z?Jkc?Rk *rpZ9@9=.p1qa@tڻ?|tHֻt?"kL*k΁@kf?k裡 2k3MCks?kk>CkHBk? addTargetRange:: Added new target pos. range: 139.699997 m, deltaT: 3.779917 s, deltaX: -0.400009 m, approachRate: -0.105825 m/s, rangeRepo size: 4  Added new target pos. range: 139.699997 m, bearing: 306.993451 deg, lat: 36.904108 deg, lon: -122.120058 deg, deltaT: 3.779917 s, deltaX: -0.400009 m, approachRate: -0.105825 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 139.70 m.BjJj% ProNav: ac range: 139.699997 m, nav range: 50.199417 m, bearing: 29.994193 deg, approach rate: 0.000000 m/s, LOS rate: 0.232293 deg/s, cmd heading: 88.259247 deg, new cmd heading: 88.541904 deg. 2j!MHeadingCmd: 1.545348 target range: 139.699997 and range: 139.70 m. jM?jIjQjQiQhQhQhYhYfYfYfYrfe`fva@bfe`4? ,$?IɛuBuP,; y}:UIy 3 m=ɚiId=I?ii)?)*F!2F):F)BF-O0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.==GU ,G) BA Om >jw,ѿAN@YN2@N豼9Nz>yNH`??Sſ@>?ѿ G٣yL= > Nusing accuracyPremultiplier from configg59Ze?g5Y i[@)?:%@UTE";'!; g5 Y@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 139.70 m.Bj;Jj;- ProNav: ac range: 139.699997 m, nav range: 50.030132 m, bearing: 30.152875 deg, approach rate: -0.406912 m/s, LOS rate: 0.382718 deg/s, cmd heading: 88.541901 deg, new cmd heading: 89.019548 deg. 2j-S<5HeadingCmd: 1.553684 target range: 139.699997 and range: 139.70 m. j5 ?j1j1j9i9h9hAhAhEJBfIfIfIrfQbfUf?ɛ}B}x֖ 隅C[I gj=ɚiI.=I ?ii) ?) Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F-?2F):F)BF-_0JF1 IJ=J=J=0J9J=\:J=u9J=ـ3J9aE@aE@aE@aM@GaGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996192qw,VѿA:.{@Y:@:zɴ9:>y:Hm?`w?2XJ¿b?ѿ?O?`?ɨ:.{@: ;:CyFGBFx!IININ<٢V VX=9Z:sQ Z>XX ^GzK^&~JK^}9K\K^=K^BK`:KblA٣^OGyf= j> nNusing accuracyPremultiplier from confighrg59j_e?rg5Yjd ij6@pr v@jXTEj;j;jq g5zB z@zhEZjFNOT Ignoring new targets: 139.70 m.Bj%;Jj%;5 ProNav: ac range: 139.699997 m, nav range: 49.878933 m, bearing: 30.288372 deg, approach rate: -0.398215 m/s, LOS rate: 0.357939 deg/s, cmd heading: 89.019549 deg, new cmd heading: 89.427263 deg. 2j5u<HEH>IA IE!IIEBIA&IA.IA6IE <:IE FHeadingCmd: 1.560800 target range: 139.699997 and range: 139.70 m. jM?jjjihhhhfffrfbf`?ɛB ^I >g=ɚiI=IM?ii)M?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248222 u-$?IqG4GGmAG B O- >R:ww,PѿAH@Y_X@9(i>yH? º?3& ¨{?ҿ`[?I?@.?ɨH@;;C-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501906yE:BEh!IiM4>IMB?Mb@Mb@Mb@ )Y+?I +V-yv>9 h@)E AIyQAIIb٢S )=9aQ > G٣yL= > Nusing accuracyPremultiplier from configg59Be?g5YS i@%>:A@\TE&$<#<g5! %v@-fEZjy}FNOT Ignoring new targets: 139.70 m.Bje;Jje; ProNav: ac range: 139.699997 m, nav range: 49.682995 m, bearing: 30.467790 deg, approach rate: -0.383057 m/s, LOS rate: 0.352145 deg/s, cmd heading: 89.427264 deg, new cmd heading: 89.967626 deg. 2jq<HeadingCmd: 1.570231 target range: 139.699997 and range: 139.70 m. jW?jjjihhhh+Bfffrfbf"?ɛMB 隝1gI c=ɚiI=IW?ii)W?)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752917 Y IY Gm $JsK{|3 K{L.KsKs"KsJ J J J J <:J 9J J GA BQ Ou >Qt}w,nѿA2 @Y2 @2<в92:>y2H?@ !? n?ѿ Y?@%?í?ɨ2 @2 ;2Cy>0BB\!IIJ@IJ3٢Rs Ry=9Rb;Q R?TT VG٣TyZ= Z? ^Nusing accuracyPremultiplier from config\bg59^e?bg5Y^̄ i^@`f-@^_TE^j<^j<^g5I M@IZjFNOT Ignoring new targets: 139.70 m.Bj;Jj; ProNav: ac range: 139.699997 m, nav range: 49.561340 m, bearing: 30.574840 deg, approach rate: -0.373749 m/s, LOS rate: 0.329688 deg/s, cmd heading: 89.967627 deg, new cmd heading: 90.289562 deg. 2j Cb< HeadingCmd: 1.575850 target range: 139.699997 and range: 139.70 m. ju?jjjihhhhfffQrfQbfU`?ɛ  B Nꊼ  |mI  +Qa=ɚiIf=I-u?i)i))-u?)A*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005429zKBHKKK>KRK ?JK ?H%G>I! I%!II%BI% =&I!.I!6I%!<:I%) FBIJIRIZIbIjI4G,G B O >Uw,.ҿA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256459:~ҿ@Y:@:+9:}5>y:HD?fu?tj E?`ѿ %?@_?@?ɨ:~ҿ@:;:Cy^!B^I!IIf<If3٢n} nH=9n^<;Q r>tt vG٣vOGyzt= z> ~Nusing accuracyPremultiplier from config|g59~3e?g5Y~N i~N@ @~bTE~:~L:~g5B @cEZj9=FNOT Ignoring new targets: 139.70 m.BjEN;JjEN; .$?I ProNav: ac range: 139.699997 m, nav range: 49.396133 m, bearing: 30.714015 deg, approach rate: -0.430919 m/s, LOS rate: 0.364231 deg/s, cmd heading: 90.289562 deg, new cmd heading: 90.708475 deg. 2jy<%HeadingCmd: 1.583162 target range: 139.699997 and range: 139.70 m. j% ?j!j!j!i)h)h)hyhyfyfyfyrfbf@ݫ@ɛB:S vI E!^=ɚiIk=I ?ii) ?))*F?2F:FBF_5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509586G G G ?G B O- >L}w,+ҿA:@Y:@:*9: В>y:H?jF?Pm"!? ҿi?@??ɨ:@:O;:CybBbA!I)h hMb@Mb@Mb@ )YMb?:vI +y?T94)A Q@) AIAyAI.I3٢ >=9P:Q > G٣yZ= > Nusing accuracyPremultiplier from configg59e?g5Y i@:?:@fTE==g5 ~@B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 139.70 m.Bj];Jj];Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760382 ProNav: ac range: 139.699997 m, nav range: 49.221355 m, bearing: 30.870159 deg, approach rate: -0.374606 m/s, LOS rate: 0.335855 deg/s, cmd heading: 90.708478 deg, new cmd heading: 91.178561 deg. 2j~f<HeadingCmd: 1.591366 target range: 139.699997 and range: 139.70 m. j?jjjihhhh؄Bfffrfbf@nJ@ɛmBu(> qu{Iq uZ=ɚqiyI}2K=I}?ii)?) /$?IJJJJJ:Ju9JJ*F?2F:FBFQ5JFUGiy /Yy(BG $G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:22:42:15.8506 M TRx dataTimestamp_ set to:1736376137.056672M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013359 ew,EҿAHvF>It Iv!IIv{BIt&It.It6Iv<:Iv$ FzK]jIK]59KYK]?K]`?8[}U@YU:U^9U$s>yUH`x?}aY]?c?`Lkҿ?i??ɨU@U;UCyB3!II7I3٢ Z  D=9 ;Q  > G٣y= > %Nusing accuracyPremultiplier from config!-g59%e?-g5Y%c i% @15^5@%iTE%h;%;%~g5=B =?@=`EZjq}FNOT Ignoring new targets: 139.70 m.Bj};Jj; ProNav: ac range: 139.699997 m, nav range: 49.045723 m, bearing: 31.013464 deg, approach rate: -0.460485 m/s, LOS rate: 0.377073 deg/s, cmd heading: 91.178558 deg, new cmd heading: 91.610006 deg. 2jd<HeadingCmd: 1.598896 target range: 139.699997 and range: 139.70 m. j?jjjihhhhfffrfbfa, @ɛB.# TI !W=ɚiIQ=I%?i!i!)%?))*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265787 IG G B O > w,R_ҿAWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 22:42:15.8506 LVL= 25440, 32753, 32466, 32755, AGC= 62, IDX= 442, 0.14,-0.289,-1.981,-1.662,-1.189, PHS= 0.988,-0.746,-0.477, RAW= 98.3, 2.9, CAL= 108.2, 0.9, ROT= 41.8, -0.9 mYgot valid direction response: 22:42:15.8506 LVL= 25440, 32753, 32466, 32755, AGC= 62, IDX= 442, 0.14,-0.289,-1.981,-1.662,-1.189, PHS= 0.988,-0.746,-0.477, RAW= 98.3, 2.9, CAL= 108.2, 0.9, ROT= 41.8, -0.9 }PDAT read: Bearing 41.8, -0.9 (Local) }~Local bearing/azimuth received: Bearing 41.8, -0.9 (Local) DAT read: Range 10 to 50 : 139.2 m (Round-trip 185.7 ms) speed 0.2 m/s ,DAT read: user:2805> BDAT read: Tx time:22:42:16.9608 $Ping request sent.i |? > X9 ? 4QO= ?) AA EG٣EOGyM M> uNusing accuracyPremultiplier from configq}g59uf?}g5Yu@ iu@}r?:J⽑@unTEu ;u';u#g5 /@k E^?k K ! k  k cҿA:k 3 CBk ? CZk <@" bӯ*g59x &.a@ IFÿأ=mb?Jk ;Rk ZѴ* "M7ڐFم';`@ /uſF?JԿ&*?"k 0*k k L`7^?k ! 2k YCCk 3 r?k k YCCk i1Bk k?] addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.530351 s, deltaX: -0.500000 m, approachRate: -0.141629 m/s, rangeRepo size: 4  Added new target pos. range: 139.199997 m, bearing: 241.634280 deg, lat: 36.904060 deg, lon: -122.120058 deg, deltaT: 3.530351 s, deltaX: -0.500000 m, approachRate: -0.141629 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 139.20 m.BjJjE  ProNav: ac range: 139.199997 m, nav range: 44.353180 m, bearing: 34.784418 deg, approach rate: 0.000000 m/s, LOS rate: 0.377073 deg/s, cmd heading: 91.610008 deg, new cmd heading: 92.278400 deg. 2jA HeadingCmd: 1.610562 target range: 139.199997 and range: 139.20 m. j &?j j j i h h h h Bf f f rf `ffa@bf ? Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:42:16.9600 ɛ B .I R=ɚ i I =I &?i i ) &?)! E1 0$?I J J J J J <:J 9J J *F ?2F :F BF 0JF GGpAGpAGBO?JϠw,oeҿA.Will construct direction to contact in vehicle frame from tetrahedron phase data.N@YNE=Nb79N>yNH`?sg?`?&ҿ ?{?@j?ɨN@Ne;NCyZBZ!Ii^=I^a=IfIf<2٢vO vc=9vbQ z>xx zG٣|y~> ~> Nusing accuracyPremultiplier from config g59f?g5Y i-@@qTE;};&g5B @%]EZjAEFNOT Ignoring new targets: 139.20 m.BjU8;Jj]8;m ProNav: ac range: 139.199997 m, nav range: 44.213917 m, bearing: 34.927806 deg, approach rate: -0.420213 m/s, LOS rate: 0.434022 deg/s, cmd heading: 92.278397 deg, new cmd heading: 92.709907 deg. 2juw,%ҿA:D@Y:@=:a9:{>y:H?ᲿK?%??0ҿK? ?p?ɨ:D@:V;:CyBBB!IIJ2IJ?3٢RB< VO=9VbQ V>XX ^G٣`yfh= j> vNusing accuracyPremultiplier from configpvg59r/f?zg5YrŇ irb@xz'z@rtTEr]:r:r*g5 @Zj)5FNOT Ignoring new targets: 139.20 m.Bj5;Jj5;m ProNav: ac range: 139.199997 m, nav range: 44.051125 m, bearing: 35.089075 deg, approach rate: -0.407403 m/s, LOS rate: 0.405082 deg/s, cmd heading: 92.709907 deg, new cmd heading: 93.195489 deg. 2ju< HeadingCmd: 1.626568 target range: 139.199997 and range: 139.20 m. j c3?jjji!h!h)h9h9fIfQfyrfbf@8?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB~߶ 隵ʉI ItK=ɚiI>=Ic3?ii)c3?)*F?2F:FBFP0JFG G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data. 2$?I -w,ҿAF$@YFp=FC9F>yFH ?`Vyw?@Sd? ? {ҿw?eo?`ʢ?ɨF$@F;FCyNBR!IUMb@Mb@Mb@QQQ Q)QYUL7A`?ʡEL7A`尿yU+?UケU+U)A U;@)QIU AQyUfAI  I <2٢=K =3=9E8Q E>AA MG٣MOGyM:= M> }Nusing accuracyPremultiplier from configq}g59uRDf?g5YuL iu#@y ?:h@uxTEu{;u;u.g5 @ZEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 139.20 m.Bj;Jj;= ProNav: ac range: 139.199997 m, nav range: 43.863201 m, bearing: 35.293904 deg, approach rate: -0.405737 m/s, LOS rate: 0.444131 deg/s, cmd heading: 93.195493 deg, new cmd heading: 93.812589 deg. 2j=fG>}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ?Յ8?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H9I9 I=y!II=HBI9&I9.I96I=)<:I=. FzK vOK 9K K AK j_WOHE?=;641.+*$%"!"  Gm $GI BQ O >Jw,'ҿABɣ@YB=B/9B1>yBH8?@PfnM? { ?@r?wLҿ?1C?j?ɨBɣ@B;BCyNBN !I)P PTVAIZ;IZ&3٢bP|< bf=9b;19Q f>hl nG٣pyr}= v> ~Nusing accuracyPremultiplier from configxg59zbTf?g5Yz iz+@  x@z{TEzX;zY;z"1g5B t@WEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745467Zj FNOT Ignoring new targets: 139.20 m.Bj%];Jj%];E ProNav: ac range: 139.199997 m, nav range: 43.714447 m, bearing: 35.450632 deg, approach rate: -0.399204 m/s, LOS rate: 0.422033 deg/s, cmd heading: 93.812587 deg, new cmd heading: 94.284359 deg. 2jEѐm1w,ҿAN^@YN >N!ߧ9Nk>yNH?`dp1?j?]?,6ҿ?4??ɨN^@NY;NCy^B^!I-zonly read 0 of 1 data item for BIT error. Device response is::TS,25010814432486,35.0, +10.9, 0.0,10  z@z z@z z@z  z@z I~@I~3٢ 3ɼ  E=9&;Q > G٣yb= %> -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5g59%ff?5g5Y%ӈ i% @=+:9=:=b=@%~TE%A6;%>% 4g5A E@AZjyFNOT Ignoring new targets: 139.20 m.Bj<Jj< ProNav: ac range: 139.199997 m, nav range: 43.539700 m, bearing: 35.628093 deg, approach rate: -0.451761 m/s, LOS rate: 0.460617 deg/s, cmd heading: 94.284362 deg, new cmd heading: 94.818866 deg. 2j<HeadingCmd: 1.654901 target range: 139.199997 and range: 139.20 m. j?jjjihhhhfffrfbfI@ɛ}%B} y}Iy @=ɚiIq=I?ii)?)*FA2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248065 aIiG<Ga Bq O >w,!ӿA&Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499567B@YB`">B79BJE>yBHX? !Ŀ`*??`:?;E?ҿƔ? &?ԭ?ɨB@Bt;BCyRBR !IIZWIZ44٢b< bO=9f :Q f>hh jG٣jOGynf= n> rbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpvg59rxf?vg5Yr ir@z :xz:zz@rTErH%;rN?rM6g5B r@TEZj)-FNOT Ignoring new targets: 139.20 m.Bj5.;Jj5.;E ProNav: ac range: 139.199997 m, nav range: 43.369305 m, bearing: 35.795077 deg, approach rate: -0.433973 m/s, LOS rate: 0.426956 deg/s, cmd heading: 94.818865 deg, new cmd heading: 95.321771 deg. 2jMJ- J- J- 0J) J- \:J- 9J- ـ3J) J- j;J- l;J- 1;J- 1;rBw,rӿA6@Y6:>6!96>y6Hov?BƿHѠ?7?`!?&ҿv?`}:? ?ɨ6@6"`;4y^B^!Iib4>Ib= fa=fa=Ij`Ij(*4٢rr= rH=9rC:Q r>tt vG٣tyzEn= z> %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config -g59 qf?-g5Y ވ i @5915O:5<5@ TE ; 5? 48g59 E@AZjamFNOT Ignoring new targets: 139.20 m.Bjm;Jjm;} ProNav: ac range: 139.199997 m, nav range: 43.189732 m, bearing: 35.964138 deg, approach rate: -0.435620 m/s, LOS rate: 0.411823 deg/s, cmd heading: 95.321772 deg, new cmd heading: 95.831049 deg. 2jP:}ʣ9:A>y:H7*?q̿ ??? ? 'ҿ@x?pY?@_?ɨ:v;:u;8yFBF!I    %%  % % %Mb@Mb@Mb@!!! !)!Y%?㥛 ¿X9vy%f?%%}%&A %@)% AI%\ A!y% A9=@AIEKIE4٢U; U=9UOQ U>HI III =&I.I6I<:I FBI!JI!RI!ZI% =bI% =jI%$4YY eG٣aye= e> Nusing accuracyPremultiplier from configg59ҩf?g5Y܈ zKOK59KKCKBK:KqAi@T:f ?:9@TEC<"C<>g5 @QEMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 139.20 m.Bj;Jj; ProNav: ac range: 139.199997 m, nav range: 42.898357 m, bearing: 36.246771 deg, approach rate: -0.409780 m/s, LOS rate: 0.400185 deg/s, cmd heading: 95.831051 deg, new cmd heading: 96.684645 deg. 2jR BDAT read: Tx time:22:42:20.6625 $Ping request sent. ڥ@)ڥ`=IڥUl>iڥ`ڡڡۥ:Xr?1:@ %lHN?)ۥu Iۥ;iۥ|ۥXgۡۡE :publishing transmit ping timeE Fpublishing direction and range infoء9إc6:п%Uѿ2/?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ:Xr?1:@ %lHN?)ۡIۡiۡۡۡۡJ J J J J :J 9J J J ;J ;J 8;J 8;G zG% ?G% 3?G B O >ww,aӿA66*96E>y6H |?9ϿyL?@?@?%ҿ D?`k?@?ɨ6<6m;6CyfBf;!IIrQIr4٢= C=99Q > %G٣%OGy%,z= %> Nusing accuracyPremultiplier from configAg59E9f?g5YE UWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:22:42:20.6617 iE@<@ETEEFR=E=E]Ag5eB e@eNEk%(`?k% 4$ k! k%UӿA:k%3 CBk%A CZk%@"%jAD/WBH `@%c6:п%Uѿ2/?Jk%|Rk%Xg*%-9;J1S>d- [@%T1.yrH?"k%*k%k%[`?k%$ 2k%0Ck%f?k%裡 k!k%@k%Z@5 addTargetRange:: Added new target pos. range: 138.199997 m, deltaT: 3.778612 s, deltaX: -1.000000 m, approachRate: -0.264647 m/s, rangeRepo size: 4 u Added new target pos. range: 138.199997 m, bearing: 257.311674 deg, lat: 36.903753 deg, lon: -122.120401 deg, deltaT: 3.778612 s, deltaX: -1.000000 m, approachRate: -0.264647 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 138.20 m.BjJj ProNav: ac range: 138.199997 m, nav range: 5.128170 m, bearing: 273.150563 deg, approach rate: 0.000000 m/s, LOS rate: 0.400185 deg/s, cmd heading: 96.684647 deg, new cmd heading: 97.189786 deg. 2j HeadingCmd: 1.696282 target range: 138.199997 and range: 138.20 m. j ?j j j i hh1h1h1f9f9f9rf=`fFa@bfEjI?ɛ/Bc 隵mI c/=ɚiI=I?ii)?)*Fe?2Fi:FiBFm_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.  6$?I G- pG B O >w,bzӿA6J]=Y6>696ε>y6H?x ѿ?`#\?`?߈ѿ Е? H?/?ɨ6J]=6;6CyB$BBM!I)D DDD)t tItAA 4Y tAy ,BMb@Mb@Mb@ )Y%C?+ÿ:vyZ?T @)vAI Ay AIIF٢= 3=9XQ > G٣yO= > Nusing accuracyPremultiplier from configg59f?g5Y i@ ?:<@TE4;2;TEg51 5+@1ZjYeFNOT Ignoring new targets: 138.20 m.Bje]Jjm]} ProNav: ac range: 138.199997 m, nav range: 5.125348 m, bearing: 270.431262 deg, approach rate: -0.007512 m/s, LOS rate: -7.238456 deg/s, cmd heading: 97.189787 deg, new cmd heading: 89.084949 deg. 2j}=HeadingCmd: 1.554826 target range: 138.199997 and range: 138.20 m. j?jjjihhhhBfffrfbfE?ɛ1B 1I ,=ɚiI=IJ?ii)?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF%o0JF!H!I! I%!II%MBI% =&I!.I!6I%<:I% FzKBHK}9KKDKRKJK ?GE 4G! BI Ou >w,pΔӿA2g=Y2<>23u92[>y2HW?ҿ@fC?1?`H?@xѿ@yw,ӿA6ۤ=Y6ᠨ>6c贼96=>y6H`E?`/<Կ(>?@ʱ??ѿ?&?@߰?ɨ6ۤ=6;4yVMBV!I=Mb@Mb@Mb@999 9)9Y=S㥛?!rhL7A`堿y=?=l罹=+=(A 9)= AI=\ A9y= AIUIUV٢e= eB=9m Q m>iq uG٣uOGyuˆ= u> Nusing accuracyPremultiplier from configyg59}f?g5Y} i}@=?:>@}TE}';};}Lg5 @HEZjFNOT Ignoring new targets: 138.20 m.Bj̽Jj̽ ProNav: ac range: 138.199997 m, nav range: 5.178047 m, bearing: 265.946369 deg, approach rate: 0.100349 m/s, LOS rate: -5.726743 deg/s, cmd heading: 82.968453 deg, new cmd heading: 75.767360 deg. 2juHeadingCmd: 1.322390 target range: 138.199997 and range: 138.20 m. jD?jjjihhhh؄Bfffrfbf:?ɛ5Blzȼ sI Z&=ɚiIN-=I'?ii)D?) 7$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.i*F?2F:FBF5JFG,G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,wjӿAF >YF>>F9F>)>yFH?տ|?` L??lѿ?+B??ɨF >F L;FCyRaBR!IiV=IV< Z=Z=H`I` Ib!IIbqBI`&I`.I`6Ib0<:Ib3 FI^0I^(3٢v= vS=9v.:Q v>xx zG٣xy= >  Nusing accuracyPremultiplier from config g59 g?g5Y  i S@',>@ TE q ; ; gOg5! %x@!ZjIMFNOT Ignoring new targets: 138.20 m.BjUǽJjUǽe ProNav: ac range: 138.199997 m, nav range: 5.230619 m, bearing: 263.753344 deg, approach rate: 0.135426 m/s, LOS rate: -5.591069 deg/s, cmd heading: 75.767357 deg, new cmd heading: 69.283814 deg. 2jeomHeadingCmd: 1.209231 target range: 138.199997 and range: 138.20 m. jmȚ?jijijqiqhqhqhyhyfffrfbf>q?ɛ6B֋ܼ 隵jI A#=ɚiI==I?i!i!)%Ț?)!zKKs9KKEK*F?2F:FBFP0JF 8$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G$GiBO>J J J J J :J O9J J J ;J ;J e,;J f,;+w,DӿA6:">Y6S>6՜96>y6H;?@X׿LJ?մ?f?ѿ*?`Y??ɨ6:">6uI;6Cy>uB>!IIFEIF3٢N= RO=9R8Q R>TT VG٣TyVu= V> ^Nusing accuracyPremultiplier from configXbg59Z*g?bg5YZ iZ@`bD>b@ZTEZ& ;Z ;ZRg5fB jF@jEEzB*** querying acoustic contact ***jxjxZj%FNOT Ignoring new targets: 138.20 m.Bj-Jj-= ProNav: ac range: 138.199997 m, nav range: 5.296090 m, bearing: 261.600816 deg, approach rate: 0.165150 m/s, LOS rate: -5.361369 deg/s, cmd heading: 69.283813 deg, new cmd heading: 62.933688 deg. 2j=eEHeadingCmd: 1.098400 target range: 138.199997 and range: 138.20 m. jE`?jAjIjIiIhIhIhQhQfQfQfQrfYbfe@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɛ8B c q}aIy Ԓ =ɚiIY<=Ir~?ii)`?)*Fa2Fa:FaBFaJFa I G <G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483460G B O >Uw,ӿAyB!IMb@Mb@Mb@ )YK7A?p= ף:vy ?T&A )vAI Ay AI1I3٢֝= 9=9Q > G٣OGy > Nusing accuracyPremultiplier from configg59&g?g5Y  i`@&?:>@TE;;Vg5 0@Zj%FNOT Ignoring new targets: 138.20 m.Bj%]Jj%]E ProNav: ac range: 138.199997 m, nav range: 5.390537 m, bearing: 259.397259 deg, approach rate: 0.215305 m/s, LOS rate: -4.934084 deg/s, cmd heading: 62.933691 deg, new cmd heading: 56.468032 deg. 2jESMHeadingCmd: 0.985553 target range: 138.199997 and range: 138.20 m. jM5M|?jIjIjIiIhQhQhYh]BfYfYfarfabfe)i@ɛ9B67 -YI) 5T=ɚ1i1I55=I=d?i9i9)=5M|?)A*F2F:FBF ^0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.735078HI I!IIBI&I.I6I(<:I- FGzzK- K- 59K) K- FK- G B O >1?w,ԿA 9$?I^Will construct direction to contact in vehicle frame from tetrahedron phase data.`i`bBDAT read: Rx Time:22:42:23.2488 fTRx dataTimestamp_ set to:1736376144.368939fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.988307yUB]!I)a aimAI7I3٢+> M=9Q > G٣y > Nusing accuracyPremultiplier from configg5987g?g5Y i@@TEa:*:2Zg5B @BEZjFNOT Ignoring new targets: 138.20 m.BjXJjX ProNav: ac range: 138.199997 m, nav range: 5.482756 m, bearing: 257.468989 deg, approach rate: 0.230498 m/s, LOS rate: -4.737691 deg/s, cmd heading: 56.468032 deg, new cmd heading: 50.800156 deg. 2j6KHeadingCmd: 0.886630 target range: 138.199997 and range: 138.20 m. j/b?jj!j!i!h!h!h)h)f)f)f)rfabfeA, @ɛ;Bhb] LI =ɚiIv=I-Ԣ?ii)%/b?)!*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247455G 4G B O >g w,/ԿAybBb!IUMb@Mb@Mb@QQQ Q)QYUy&1?Mb~jth?yU`?UUD;Ut'A U@)U`AIU AQyUQ AI)IW3٢_= J=9Q > G٣y > Nusing accuracyPremultiplier from configg59Gg?g5Y i=@p?:k>@TE;O;]g5 q@ZjFNOT Ignoring new targets: 138.20 m.BjuJju ProNav: ac range: 138.199997 m, nav range: 5.598209 m, bearing: 255.658609 deg, approach rate: 0.286896 m/s, LOS rate: -4.405178 deg/s, cmd heading: 50.800157 deg, new cmd heading: 45.497104 deg. 2j<HeadingCmd: 0.794074 target range: 138.199997 and range: 138.20 m. jtHK?j!j!j!i!h!h!h)h-#Bf)f)f1rf1bf5 @ɛ] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:42:23.2488 LVL= 27248, 32753, 30802, 32755, AGC= 61, IDX= 422,-0.38, 2.558, 1.101, 1.976, 2.002, PHS= 0.644,-0.854,-0.029, RAW= 123.3, 3.7, CAL= 131.7, -1.9, ROT= 18.3, 1.9  Ygot valid direction response: 22:42:23.2488 LVL= 27248, 32753, 30802, 32755, AGC= 61, IDX= 422,-0.38, 2.558, 1.101, 1.976, 2.002, PHS= 0.644,-0.854,-0.029, RAW= 123.3, 3.7, CAL= 131.7, -1.9, ROT= 18.3, 1.9  PDAT read: Bearing 18.3, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 18.3, 1.9 (Local)  DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.6 m/s  ,DAT read: user:2807>  BDAT read: Tx time:22:42:24.3625  $Ping request sent. JȿABݿu)?y؝ Cؙ ؝ pjؙ ٝ Rx)ٙ Iٝ =iٝ /$?ٝ Zٝ hٝ 9 @ٝ A= ڝ =@)ڝ Iڝ Ƈ>iڝ =ڙ ڙ ۝ }WǾ?=qI?\?)۝ o=I۝ i۝ ۝ 5ۙ ۙ - :publishing transmit ping time 5 Fpublishing direction and range infoؙ 9؝ >JȿABݿu)?yؙ ؙ ؙ ؙ ٙ )ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۝ }WǾ?=qI?\?)ۙ Iۙ iۙ ۙ ۙ ۙ Pw,=IԿAH4I4 I6""II6уBI6 =&I4.I46I6<:I6 FR* >YR>R9R>yRHe?7ܿҼ?@v?x?` пsB?`S??ɨR* >RmC;RCyZŃB^"IIM"IMq3٢]= ]O=9es?Q e>aa mG٣m OGym> m> Nusing accuracyPremultiplier from configqg59uWg?g5Yub~ iu^@>@uTEu ;u;u,ag5B S@?Ek8:m?kکi& k k/HԿA:kCBkCZkت@"1 {w:?GO3N!]@>JȿABݿu)?JkRk5*H2@ xwBX mʾW@XKdX?(p?W"?"k*kAkϪDm?k˚{& 2kQ Ckk! kk2BkR@ addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 3.787018 s, deltaX: -1.599991 m, approachRate: -0.422494 m/s, rangeRepo size: 4  Added new target pos. range: 136.600006 m, bearing: 280.511818 deg, lat: 36.903753 deg, lon: -122.120839 deg, deltaT: 3.787018 s, deltaX: -1.599991 m, approachRate: -0.422494 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 136.60 m.BjJj- ProNav: ac range: 136.600006 m, nav range: 44.501289 m, bearing: 267.974706 deg, approach rate: 0.000000 m/s, LOS rate: -4.405178 deg/s, cmd heading: 45.497106 deg, new cmd heading: 39.929757 deg. 2j15HeadingCmd: 0.696906 target range: 136.600006 and range: 136.60 m. j=jh2?j9j9j9i9h9h9hAhAfAfAfIrf@3a@bf`?zKJK9KKGK ɛ>B= +zw,cԿA6f>Y6?6xü96q>y6H:?޿ w? ? ?7п6r?+?j?ɨ6f>6`;4yñBn"Iir=Ir; tv%=IzIzb٢b = P=9AQ  >    G٣ y= > Nusing accuracyPremultiplier from config%g59fg?%g5Y{ i@!->-@TE::dg51 5@1}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 136.60 m.Bj/Jj/ ProNav: ac range: 136.600006 m, nav range: 44.601173 m, bearing: 267.745078 deg, approach rate: 0.268293 m/s, LOS rate: -0.615409 deg/s, cmd heading: 39.929757 deg, new cmd heading: 39.242449 deg. 2j,ӼHeadingCmd: 0.684910 target range: 136.600006 and range: 136.60 m. jBV/?jjjihhhhfffrfbf ?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɛ ?B 苈  R9I p=ɚiI(=IEB?iIiQ)UBV/?)Y*F?2F:FBF2JF  <$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744056G% 4G B O- >J J J J J J =9J J գw,g}ԿAy~B~7"IMb@Mb@Mb@ )Y(\?J +?=9Q > G٣y > Nusing accuracyPremultiplier from configg59vg?g5Yx i@V?:.?@TE;`;]hg5 @ Bfafafirfibfm!?ɛ@BHQ 隝.I W=ɚiI=Ir?ii)(,?)*FM?2FI:FIBFM14JFIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995524ZHaRHaHaIa IeZ"IIeBIe =&Ia.Ia6Ie<:Ie FBI!JI!RI!ZI!bI!jI%l4GmzGI BQ Ou >zK% }\KK% 59K! K% HK%     RK5 ?JK5 ?  I ^%w,IԿA:ƭ>Y:^?:Xڼ9:>y:H? ]?6?/?`R"п`vS?@`??ɨ:ƭ>:+ ;:CyFBF<"IININ ٢Vu< V_=9ZQ Z>XX ZG^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247328٣Z OGyfr> f> jNusing accuracyPremultiplier from confighng59j)g?ng5Yju ij@pr#?r@jTEj ;ju ;jkg5t vQ@tZjFNOT Ignoring new targets: 136.60 m.BjIJjI ProNav: ac range: 136.600006 m, nav range: 44.858273 m, bearing: 267.313564 deg, approach rate: 0.336197 m/s, LOS rate: -0.525560 deg/s, cmd heading: 38.531136 deg, new cmd heading: 37.951698 deg. 2jXHeadingCmd: 0.662382 target range: 136.600006 and range: 136.60 m. jߑ)?jjjihhhhf fQfQrfQbfUt?ɛABpG 隥a-I =ɚiIE=I/]?iiZ) ߑ)?)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յe?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504300G- 4G9 BI Oe >+w,CԿA:y>Y:\8?:?ټ9:#>y:H:?L3`d>?J?o?Ͽ+'??˱?ɨ:y>:;:CyBBFH"I)H HeMb@Mb@Mb@aaa a)aYeK7?V-?{Gz?ye ?eh=eף G٣yz= > Nusing accuracyPremultiplier from configg59\g?g5Yq ic@ ?:3?@TE3&;$;hog5B @9E =$?IhZjFNOT Ignoring new targets: 136.60 m.BjJj  ProNav: ac range: 136.600006 m, nav range: 45.019665 m, bearing: 267.093355 deg, approach rate: 0.349511 m/s, LOS rate: -0.475175 deg/s, cmd heading: 37.951697 deg, new cmd heading: 37.293467 deg. 2j  HeadingCmd: 0.650894 target range: 136.600006 and range: 136.60 m. j&?jjjihhh!h%GBf!f!f)rf)bfM?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445ɛBBr )I  =ɚiIA=IjCE?ii)&?)JK KS}-KK"KJJJJJ:Ju9JJ*F?2F:F)BF)JF1Ie|uAuA 4Y|uAy~-BGU߀GBO=>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003213HY IY  I] "II] (BIY &IY .IY 6I] ٯ<:I] F2w,m7ԿA:b>Y:?:Լ9:>y:H,?`*?@d?@1?eϿ@n??'?ɨ:b>:;8yRBRK"II .I 3٢E< S=9%:Q %>!) -G٣)y== => ENusing accuracyPremultiplier from configAMg59Eg?Mg5YEm iE @QU{:?U@ETEEH:E:Erg5Y e@e7EZjFNOT Ignoring new targets: 136.60 m.BjfJjf ProNav: ac range: 136.600006 m, nav range: 45.167473 m, bearing: 266.903830 deg, approach rate: 0.406058 m/s, LOS rate: -0.518958 deg/s, cmd heading: 37.293468 deg, new cmd heading: 36.726773 deg. 2jHeadingCmd: 0.641003 target range: 136.600006 and range: 136.60 m. j$?jjjihhhhfffrfbfC@ɛCBG F(I  =ɚiI#=I 6?i i hn) $?) *F?2F:FBF_0JFzK LK @9K K IK (c   O BKoA:KGdGIBQOm5> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2552298w,ԿA6ct>Y6#?6\Ӽ96>y6H` ? Ѐ Y?H?Y|?@οp???ɨ6ct>62;6CybBbX"IIj"Ijq3٢U= N=99Q  >    G٣  OGyU= > Nusing accuracyPremultiplier from config%g59g?-g5Yi i@15YA?5@TE_;"`;@vg5A E@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 136.60 m.BjuJj} ProNav: ac range: 136.600006 m, nav range: 45.322201 m, bearing: 266.717651 deg, approach rate: 0.389564 m/s, LOS rate: -0.467148 deg/s, cmd heading: 36.726774 deg, new cmd heading: 36.170163 deg. 2jLHeadingCmd: 0.631288 target range: 136.600006 and range: 136.60 m. j!?jjjihhhhfffrfbf` @ɛ9 ]#I =ɚiI=IQP+?ii 3]) !?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527971*F?2F:FBFo0JFGc_ >$?IG B OE >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775173J J J J J :J O9J J ?w,ԿA2>Y2^]*?2μ92->y2H)?` a? z? Z?`uοי?`#?@[?ɨ2>2;0y^B^T"Iib,>I`Mb@Mb@Mb@ )Yq= ףp?MbX9?{Gz?y ?ʡ=#<$A @)IAI Ayf AI2I?3٢[_ >=9:Q > G٣yw= > Nusing accuracyPremultiplier from configg59g?g5Ye iZ@ ?:zL?@TE;l;zg5B /@4EZjFNOT Ignoring new targets: 136.60 m.BjQJjQ- ProNav: ac range: 136.600006 m, nav range: 45.500679 m, bearing: 266.522892 deg, approach rate: 0.416058 m/s, LOS rate: -0.452229 deg/s, cmd heading: 36.170165 deg, new cmd heading: 35.588201 deg. 2j-.=HeadingCmd: 0.621131 target range: 136.600006 and range: 136.60 m. jEv?jAjAjIiIhQhYhYh]-BfYfafarfabfex@ɛDB 0 隝<%I w=ɚiI =Iv?iiBc=)v?)*FM?2FI:FIBFM0JFIG%TWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:42:26.9463 HI I"IIABI&I.I6I<:I FGBTRx dataTimestamp_ set to:1736376148.174738checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042676O5O>zK} q PK} 59Ky K} JK} 7 : @`/hW~\?'zpfXSLF?:9RK ?JK > a Ia Ew,տAF\t>YF61?F7Kμ9Fj>yFHf? ?j?`^|?`Ϳ@ș? ?ޯ?ɨF\t>F;FCyrBrG"II~6I~m3٢a  U=9 b9Q  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283390! %G٣!y%= %> 5Nusing accuracyPremultiplier from config)5g59-g?=g5Y-na i-@9=VS?=@-TE-G ;-0;-`}g5A M@IZjFNOT Ignoring new targets: 136.60 m.Bj_Jj_ ProNav: ac range: 136.600006 m, nav range: 45.664860 m, bearing: 266.354951 deg, approach rate: 0.420947 m/s, LOS rate: -0.429041 deg/s, cmd heading: 35.588202 deg, new cmd heading: 35.086203 deg. 2j9HeadingCmd: 0.612370 target range: 136.600006 and range: 136.60 m. jD?jjjihhhhfffrfbf @ɛEB{ *I \=ɚiI4=I ?iiz =)D?)!*Fa2Fa:FaBFe[2JFaG=hL)GBO%N>Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:42:26.9463 LVL= 27200, 31905, 22930, 32755, AGC= 62, IDX= 412, 0.22, 2.657, 0.914, 2.281, 1.920, PHS= 0.826,-0.959, 0.359, RAW= 135.4, -2.8, CAL= 140.8, -12.6, ROT= 9.2, 12.6  Ygot valid direction response: 22:42:26.9463 LVL= 27200, 31905, 22930, 32755, AGC= 62, IDX= 412, 0.22, 2.657, 0.914, 2.281, 1.920, PHS= 0.826,-0.959, 0.359, RAW= 135.4, -2.8, CAL= 140.8, -12.6, ROT= 9.2, 12.6  PDAT read: Bearing 9.2, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 9.2, 12.6 (Local)  DAT read: Range 10 to 50 : 134.7 m (Round-trip 179.7 ms) speed 0.3 m/s  ,DAT read: user:2808>  BDAT read: Tx time:22:42:28.0609  $Ping request sent. itS?uη>E>@+H nF@)z0aIl$>iz0a>sx?v/??{)>IK=i+ֿ Z5 :publishing transmit ping time 5 Fpublishing direction and range info9_&ֱK;QNvsZ?y )Ii )Iisx?v/??{)IiLw,2տA67>Y6̗7?6Ƽ96q>y6HJ?[@4B???̿ט? s?k?ɨ67>6;4y^B^J"I IMb@Mb@Mb@ )Ysh|??#~j?Mbp?y ?=;1$A @)Iy AI ?I T3٢+< )=9V:Q > G٣ OGyP= > Nusing accuracyPremultiplier from configg59gg?g5Y\ i@ ?:[?@TE;#;g5-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)5JDAT read: TxSync time:22:42:28.0601 I M@M1EkS`}?k;% k k|e+տA:kCBkCZk@"r";wOV@[VY@_&ֱK;QNvsZ?Jk+ֿRk Z*uxP@,| W6a&R@͓N?WD34?"k*kƃBk}?ka% 2kc Ckk$ k0CkBk@ addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.550197 s, deltaX: -1.900009 m, approachRate: -0.535184 m/s, rangeRepo size: 4 U Added new target pos. range: 134.699997 m, bearing: 305.458001 deg, lat: 36.903753 deg, lon: -122.121241 deg, deltaT: 3.550197 s, deltaX: -1.900009 m, approachRate: -0.535184 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 134.70 m.Bj]JjY ProNav: ac range: 134.699997 m, nav range: 81.532669 m, bearing: 267.836323 deg, approach rate: 0.000000 m/s, LOS rate: -0.429041 deg/s, cmd heading: 35.086204 deg, new cmd heading: 34.431329 deg. 2jHeadingCmd: 0.600940 target range: 134.699997 and range: 134.70 m. j5?jjjihhhh*Bfffrf`f`@bf2?ɛqu? 隝)I o_=ɚiIT=I5?i> Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "II FBI &I .I 6I <:I F1Rw,rLտA6G?Y6~=?6>96>y6H?@ڈ???˿`B??`?ɨ6G?6܍;6CyNBN="I)P PTVAIZIZ 2٢b b=9b(;Q f?dd fG٣dyjz= j? nNusing accuracyPremultiplier from configlrg59n9g?rg5YnX in@tv b?v@nTEn:n:nVg5x zg@xZj)-FNOT Ignoring new targets: 134.70 m.Bj5ˌJj5ˌ ProNav: ac range: 134.699997 m, nav range: 81.664024 m, bearing: 267.766296 deg, approach rate: 0.462532 m/s, LOS rate: -0.246183 deg/s, cmd heading: 34.431329 deg, new cmd heading: 34.221587 deg. 2j(HeadingCmd: 0.597279 target range: 134.699997 and range: 134.70 m. jM?jjjihhhhfffrfbf m?ɛ=FB=v 9=m/I9 E<ɚAiAIE^=IMM?iMA)MM?)zKe$PKe9KaKeKKe:<7215D?=4--//.-+&!       *F?2F:FBF-4JF ?$?IG}ڋGYByO]>5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ9JJJ;aJ;aJ%7;aJ%7;a%Yw,]fտA21p ?Y2B?2+92ь>y2HD(? e ??M'? #˿З?j`??ɨ21p ?2弍;2CyRBRA"IIZ IZb3٢fy< fJ=9fj:Q j>hh jG٣hyn L= 5> =Nusing accuracyPremultiplier from config9Eg59=g?Eg5Y= T i=l@IM)%?)I*F?2F:FBF\1JFGňGGpAGBO> IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219365r`w,@տA6- ?Y6DF?6綧96N>y6H@Q?7`? _?|?ȿ|?@@?w?ɨ6- ?6;6CyNBN7"ImMb@Mb@Mb@iii i)iYm/$?Zd;?y&1ym1?my=m`emx!A m@)m3AImvAiymAII<2٢ >=9;Q > G٣ OGy< > Nusing accuracyPremultiplier from configg59g?g5YsO i@! ?:=d?@TE;f;g5B @,EZjFNOT Ignoring new targets: 134.70 m.Bj;Jj; ProNav: ac range: 134.699997 m, nav range: 82.027100 m, bearing: 267.579910 deg, approach rate: 0.433608 m/s, LOS rate: -0.224220 deg/s, cmd heading: 33.943001 deg, new cmd heading: 33.663672 deg. 2jHeadingCmd: 0.587542 target range: 134.699997 and range: 134.70 m. j%i?jjj!i!h!h!h!h-Bf)f)f)rf1bf5[?ɛae h im2Ii m<ɚ i I >=I%i?iaJ)%i?)*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472026ZHRH@AHI I"IIABI&I.I6I<:I FGxG B O >zK vOK 9K K LK ! !&+.28DJPUUVVVTPL0$!  @$?I hn7fw,տAVm?YV@|H?V 9V7m>yVH@ͬ?`L9???eTƿ 쁑?"b?$?ɨVm?VZ;VCyrփBr("Iiv>Iv> xz=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723518IzUIz4٢{ S=9!! %G٣!y-*< -> 5Nusing accuracyPremultiplier from config)5g5=PExceeded connect timeout, disconnecting.9-h?Eg5Y-*K i-@AEwf?E@-TE-L;-L;-g5Q U@QZjq}FNOT Ignoring new targets: 134.70 m.Bj{Jj{ ProNav: ac range: 134.699997 m, nav range: 82.195221 m, bearing: 267.494815 deg, approach rate: 0.434575 m/s, LOS rate: -0.219511 deg/s, cmd heading: 33.663670 deg, new cmd heading: 33.408909 deg. 2jHeadingCmd: 0.583095 target range: 134.699997 and range: 134.70 m. jE?jjjihhhhfffrfbfϋ?ɛGB B8I <ɚi I L=I E?iZO)E?)JyJ}JyJyJyJ}=9JyJyJyJyJ}*;J}*;*F?2F:FBF_0JFGmRuN;GIBYOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978232blw,տA:?Y:qiI?:889:Z>y:HT?N2;?*?;?*Ŀ`?@r&?@E?ɨ:?:;:Cyb҃Bb#"IUMb@Mb@Mb@QQQ Q)QYU(\?L7A`?/$yU?U+=UUA Q)UAIUIAQyU=AImLIm4 I٢ C=9e G٣y< < > Nusing accuracyPremultiplier from configg59h?g5YF i@ ?:[?@TE(;;g5 @ZjFNOT Ignoring new targets: 134.70 m.BjjJjj ProNav: ac range: 134.699997 m, nav range: 82.370064 m, bearing: 267.398294 deg, approach rate: 0.417128 m/s, LOS rate: -0.229785 deg/s, cmd heading: 33.408911 deg, new cmd heading: 33.119964 deg. 2jHeadingCmd: 0.578052 target range: 134.699997 and range: 134.70 m. j>?jjjihhhhBfffrfbf@ɛYePꜼ aeR:Ia e<<ɚaiaImj= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227355I5>?i5V)=>?)9*F?2F:FBFJFG}pI=G ?G?GQBYO}z>H I  I "II 2BI &I .I 6I <:I  FBIa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480056JIaRIaZIabIajIe˧3isw,QտAV?YV_+J?V^9VK>yVHl? 9M@x?@?? \E¿u?~E?^?ɨV?V9;VCyޕЃBޕ!"II@I3٢& B=9c G٣OGy; > Nusing accuracyPremultiplier from configg59dh?g5YEB iu@[?@TE" ;e ;\g5B @)EZj)-FNOT Ignoring new targets: 134.70 m.Bj5CJj=CM ProNav: ac range: 134.699997 m, nav range: 82.545692 m, bearing: 267.302388 deg, approach rate: 0.417994 m/s, LOS rate: -0.227768 deg/s, cmd heading: 33.119963 deg, new cmd heading: 32.832862 deg. 2jMPUHeadingCmd: 0.573042 target range: 134.699997 and range: 134.70 m. jUڲ?jQjYjYiYhYhYhahafafafarfibfm@@ɛ{ o;I j<ɚiI-=Iڲ?i[)ڲ?) 5A$?I1zKemOKe}9KaKeMKeWFB@:;8861-*% *Fe?2Fa:FaBFe0JFaG=W=Will construct direction to contact in vehicle frame from tetrahedron phase data. nManaging dock network, ignoring radio surface power offGB O-o>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733584JUJUJQJQJU:JU9JQJQJUQ;JUR;JU3;JU3;vyw,տA2o?Y2CJ?26<92;>y2H ?@V?`x? '?`n'>V? v?ɨ2o?2n;2CyNŃBN"I)P PPPIVDIV3٢bnn fa=9jrll rG٣pyr v> ~Nusing accuracyPremultiplier from configxg59z%h? g5Yzg> izI@  [? @zTEzK;zd;zg5! %@!]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 134.70 m.Bj!Jj! ProNav: ac range: 134.699997 m, nav range: 82.698402 m, bearing: 267.219328 deg, approach rate: 0.410847 m/s, LOS rate: -0.223052 deg/s, cmd heading: 32.832863 deg, new cmd heading: 32.584143 deg. 2j%HeadingCmd: 0.568701 target range: 134.699997 and range: 134.70 m. j%\?j)jIjIiQhQhQhYhYfYfYfarfabfe(@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.983324ɛ̼ 0=@I <ɚi I =IE\?iMKa)U\?)a*F?2F:FBF0JF aIaGu)3>G)B9OU>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:42:30.6424 - TRx dataTimestamp_ set to:1736376151.952570- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236177)I M ]C vA &Y vAy B[w,ֿAyfBf "ImMb@Mb@Mb@iii i)iYm?~jthI +ymf?mDm9mXA m@)mAImAiymAI}VI}n4٢Mؼ ?=9Q > G٣y > Nusing accuracyPremultiplier from configg59R2h?g5Y7: i@?:J?@TEN;1M;Eg5B @&EZjFNOT Ignoring new targets: 134.70 m.BjJj  ProNav: ac range: 134.699997 m, nav range: 82.864967 m, bearing: 267.116195 deg, approach rate: 0.396206 m/s, LOS rate: -0.244827 deg/s, cmd heading: 32.584141 deg, new cmd heading: 32.275369 deg. 2j ( HeadingCmd: 0.563311 target range: 134.699997 and range: 134.70 m. j.5?jjjihhh!h%Bf!f!f)rf)bf-T @ɛY]= aeCIa e)<ɚaiaIeR=Im.5?imf)m.5?)*F?2F:FBF@5JFjHU<bHU4<HaIa Ie"IIeBIa&Ia.Ia6Ie:<:Ie9 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489101GH&>GpAGqAGYBiOZ> I IQ zK łNK K K NK ᅆw,[ֿAVY?YV\F?rWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:42:30.6424 LVL= 26336, 32753, 20370, 32755, AGC= 66, IDX= 421,-0.07,-1.995, 2.986,-1.945,-2.363, PHS= 0.456,-0.887, 0.415, RAW= 148.5, 0.3, CAL= 151.8, -8.7, ROT= 358.2, 8.7 mYgot valid direction response: 22:42:30.6424 LVL= 26336, 32753, 20370, 32755, AGC= 66, IDX= 421,-0.07,-1.995, 2.986,-1.945,-2.363, PHS= 0.456,-0.887, 0.415, RAW= 148.5, 0.3, CAL= 151.8, -8.7, ROT= 358.2, 8.7 }PDAT read: Bearing 358.2, 8.7 (Local) }~Local bearing/azimuth received: Bearing 358.2, 8.7 (Local) DAT read: Range 10 to 50 : 133.0 m (Round-trip 177.4 ms) speed 0.8 m/s ,DAT read: user:2809> BDAT read: Tx time:22:42:31.7609 $Ping request sent.vocvz>vH%@v; v)@V;w@<9V >yVHk?.`?m?@?}涿 2?`\?ɨVY?Vޠ;VC)v|Iv@iv|>ttv1J!?)?[)>q?)vV>Iv>ivܿvtt=:publishing transmit ping timeؑEFpublishing direction and range infot9vd%C]vfz/9?ytttt t)tItittttt t)tItitttJJJJJ:J9JJJ;J;JZ5;J[5;v1J!?)?[)>q?)tItittttyB"II @I 3٢=i =2=9EAA EG٣MOGy  > Nusing accuracyPremultiplier from config%g59Ah?%g5Y5 i@imF?m@TE*<*<g5 @kv`?kv% kt kv=ֿA:kvCBkvCZkvC@"vX03um[.mkR@vd%C]vfz/9?JkvܿRkv*v>yέQ@$+sW)b_8N@vj!֩?g"LJ?"kv*kvnBkv?kvW% 2kvBkvϪDm?kva% kvQ CkvgBkv @ addTargetRange:: Added new target pos. range: 133.000000 m, deltaT: 3.778813 s, deltaX: -1.699997 m, approachRate: -0.449876 m/s, rangeRepo size: 4 E Added new target pos. range: 133.000000 m, bearing: 306.647551 deg, lat: 36.903929 deg, lon: -122.121365 deg, deltaT: 3.778813 s, deltaX: -1.699997 m, approachRate: -0.449876 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 133.00 m.BjUJjQ ProNav: ac range: 133.000000 m, nav range: 95.202766 m, bearing: 279.205296 deg, approach rate: 0.000000 m/s, LOS rate: -0.244827 deg/s, cmd heading: 32.275369 deg, new cmd heading: 31.888957 deg. 2jHeadingCmd: 0.556567 target range: 133.000000 and range: 133.00 m. j2{?jjjihhhhfffrf`@bf?ɛFB|  GI1 5<ɚ1i1I5Z=IE2{?iEsho)E2{?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.ե=ե<JDAT read: TxSync time:22:42:31.7601 *F ?2F :F BF 0JF = B$?I9 GM&>G!B1OM?L,w,.r;ֿA^?Y^w??^j<9^=y^H t?jֲ?#?j?j ??ɨ^?^;^CzWill construct direction to contact in vehicle frame from tetrahedron phase data.ydi%=I%a= %=!Mb@Mb@Mb@ )Yp= ף?{Gzy?̼ףrA $@)zAIAy=AIIb195u19 =G٣9y=k => MNusing accuracyPremultiplier from configIUg59MtQh?Ug5YMQ1 iM @U_?U:]4?]@MTEM;M^;Mg5 @#EZjFNOT Ignoring new targets: 133.00 m.BjbJjb  ProNav: ac range: 133.000000 m, nav range: 95.330391 m, bearing: 279.078312 deg, approach rate: 0.289266 m/s, LOS rate: -0.287429 deg/s, cmd heading: 31.888958 deg, new cmd heading: 31.508521 deg. 2jBE=HeadingCmd: 0.549927 target range: 133.000000 and range: 133.00 m. j= ?j9jAjAiAhAhAhIhMBfIfIfIrfQbfU?ɛ ~GI <ɚiI=I ?iUt)] ?)YHIII IMf"IIM BII&II.II6IMѯ<:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.E} =*F ?2F :F BF n0JF G {8>G B O >^w,VֿA I >?Y>o7:?><9>=y>H`q?/8Ȱ? ;E??&F;??ɨ>?>CW;>Cy~B~!II 'I @3٢$ <9%zJ!) -G٣)y-Xl -> =Nusing accuracyPremultiplier from config1=g595]h?Eg5Y5@. i5@AE.?E@5TE5:5:5g5I M@U!EZjFNOT Ignoring new targets: 133.00 m.BjJj ProNav: ac range: 133.000000 m, nav range: 95.422813 m, bearing: 278.982335 deg, approach rate: 0.265744 m/s, LOS rate: -0.275697 deg/s, cmd heading: 31.508520 deg, new cmd heading: 31.220870 deg. 2j5=HeadingCmd: 0.544907 target range: 133.000000 and range: 133.00 m. j ?jjjihhhhfffrfbft?ɛ xZ=!PI 1<ɚiI|G=I  ?i ox)  ?)zK5BoHK5H9K1K5OK5 ')*1DS_heb`]YRPMJCC@<5566?GFB>BKEqA:KEoAE*_=uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFGe?>Gm ?Gm>G9BiO_> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ipֿAu?>Y5?.<9hL=yH *O?޻z?y?|R?eD_|?@?ɨu?>ό;騥Cy޽B޽!IMb@Mb@Mb@ )Y%C?QI +yZ?94`A @)AIv@yAI#I%x3٢>; 3=9 G٣OGy1 > Nusing accuracyPremultiplier from configg59umh?g5Yv* i7@?:&?@TE;;ìg5 @B*** querying acoustic contact ***jj -C$?I5hZj1=FNOT Ignoring new targets: 133.00 m.Bj=֛JjE֛] ProNav: ac range: 133.000000 m, nav range: 95.535614 m, bearing: 278.856906 deg, approach rate: 0.245340 m/s, LOS rate: -0.272485 deg/s, cmd heading: 31.220870 deg, new cmd heading: 30.845033 deg. 2j];]HeadingCmd: 0.538347 target range: 133.000000 and range: 133.00 m. je" ?jajajaiahihihihmBfqfqfqrfqbfu?ɛEBz 隭%OI <ɚiI+=I" ?i})" ?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.E31=JJJJJ:JO9JJa@a@a@a@*Fe ?2Fi :Fi BFm O5JFi GM A>H I  I T"II BI &I .I 6I <:I  F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741352GABIOe>{w,ֿA6>Y6HH/?6_=96y =y6H`k?1 ?@9?`V?m _??ɨ6>6;4yBBB!I)H JAHJAINRINW4٢V* VJ=9Zg\\ ^G٣\yb@g b> fNusing accuracyPremultiplier from configdjg59f{h?jg5Yf=' if@hj ?n@fTEfT ;f ;fIg5rB r.@rEZj  FNOT Ignoring new targets: 133.00 m.BjJj ProNav: ac range: 133.000000 m, nav range: 95.630707 m, bearing: 278.745739 deg, approach rate: 0.237405 m/s, LOS rate: -0.277260 deg/s, cmd heading: 30.845032 deg, new cmd heading: 30.511866 deg. 2jG>HeadingCmd: 0.532533 target range: 133.000000 and range: 133.00 m. j T?jjjihhhhfffrfbf U?ɛUDBU4 Y]#SIY ]X<ɚYiYI]!=Ie T?ie)m T?)iEMgW= I*F?2F:FBFP0JFG=>zKU^NKUs9KQKUPKU>8651.($('! RKe ?JKe>GBOa>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.993412^w,qֿA6E>Y6)?6))=962F?5? ]?fG?4݂?9?;?ɨ6E>6Z;6CyJBJ!IIZZIZ4٢j < jH=9nLpp rG٣tyvp z> Nusing accuracyPremultiplier from config| g59~gh? g5Y~$ i~b@^?@~TE~t;~P;~߳g5) -@1Zjq}FNOT Ignoring new targets: 133.00 m.BjJj ProNav: ac range: 133.000000 m, nav range: 95.723282 m, bearing: 278.631370 deg, approach rate: 0.221983 m/s, LOS rate: -0.273976 deg/s, cmd heading: 30.511865 deg, new cmd heading: 30.169096 deg. 2j<HeadingCmd: 0.526550 target range: 133.000000 and range: 133.00 m. j?j!j!j!i)h)hQhahafiffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245446ɛ% !%QI! %<ɚ!i!I--=I]?ie΂Ge qAGa  Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ AiՕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499517G9 BI O] >J J J J J J =9J J 7w,CֿAy~B!IMb@Mb@Mb@ )Yw/?L7A`堿y&1|y?+`zA `@)AI`@yAIVIn4٢< <=9Q > G٣OGy > Nusing accuracyPremultiplier from configg59Kh?g5Y  i@0?:(?@UE3;;g5’B @EZj!-FNOT Ignoring new targets: 133.00 m.Bj5Jj5E ProNav: ac range: 133.000000 m, nav range: 95.822273 m, bearing: 278.508366 deg, approach rate: 0.232047 m/s, LOS rate: -0.288037 deg/s, cmd heading: 30.169096 deg, new cmd heading: 29.800471 deg. 2jEEMHeadingCmd: 0.520116 target range: 133.000000 and range: 133.00 m. jMX&?jIjIjIiIhQhQhQhUBfYfYfarfabfe`A@ɛCBBo 隝iOI h<ɚiI%=IX&?iď)X&?)EE*E"EHIII IMA"IIMBII&II.II6IMɯ<:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749339*F?2F:FBFT0JF I G= $>zK }MK 9K K QK BK :K qAG B O= >!&w,ֿA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:22:42:34.3398 2TRx dataTimestamp_ set to:1736376155.4806616checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002420>>Y>bG?>*C=9>/;y>Hb?p*? l?`&?H?`b`1q?`?ɨ>>>g݊;>Cy^B^!I b=ba=If?IfT3٢n!~ nK=9r;{pt vG٣tyv v> 5Nusing accuracyPremultiplier from config 5g59 ܪh?=g5Y ~ i @9=A ?=@ UE : : zg5A M@iZjFNOT Ignoring new targets: 133.00 m.BjРJjР ProNav: ac range: 133.000000 m, nav range: 95.913094 m, bearing: 278.381540 deg, approach rate: 0.201552 m/s, LOS rate: -0.281191 deg/s, cmd heading: 29.800471 deg, new cmd heading: 29.420357 deg. 2j@HeadingCmd: 0.513482 target range: 133.000000 and range: 133.00 m. js?jjjihh)h)h)f1f1f1rf1bf5a@ɛ}BB' ROI A<ɚ i I RX=I s?i%G)B9OUu> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253373 F$?I Kw,XֿA6Lʾ>Y6?6J=96PP;y6H??`?@Ȉ?6);6CyfBj!IeMb@Mb@Mb@aaa a)aYep= ף?Mb`ye?e̼eehA ehA)aIeI@ayeGAIuGIu3٢$Ӽ @=9;Q > G٣yK > Nusing accuracyPremultiplier from configg59qh?g5Y i-@F?: ?@UE;;g5 F@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 133.00 m.Bj]Jj] ProNav: ac range: 133.000000 m, nav range: 95.991898 m, bearing: 278.270206 deg, approach rate: 0.208546 m/s, LOS rate: -0.294390 deg/s, cmd heading: 29.420357 deg, new cmd heading: 29.086633 deg. 2j J HeadingCmd: 0.507658 target range: 133.000000 and range: 133.00 m. j ?j j jihhhhBff!f!rf!bf% @ɛ AB QI 7<ɚiI.q=I?i%1G ?G #?Ga Bq O >jH bH p<H H>I  I ;"II BI &I .I 6I <:I  FBI1JI1RI1ZI1bI1jI574% Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 22:42:34.3399 LVL= 22336, 32753, 24370, 32755, AGC= 65, IDX= 410,-0.26, 2.995, 1.586, 2.570, 2.495, PHS= 0.587,-0.862, 0.071, RAW= 129.4, 3.2, CAL= 135.9, -3.8, ROT= 14.1, 3.8  Ygot valid direction response: 22:42:34.3399 LVL= 22336, 32753, 24370, 32755, AGC= 65, IDX= 410,-0.26, 2.995, 1.586, 2.570, 2.495, PHS= 0.587,-0.862, 0.071, RAW= 129.4, 3.2, CAL= 135.9, -3.8, ROT= 14.1, 3.8  PDAT read: Bearing 14.1, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 14.1, 3.8 (Local)  DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.4 m/s  ,DAT read: user:2810>  BDAT read: Tx time:22:42:35.4610 % $Ping request sent.% ?yUCQU@WQ U2_)QIUAiUE?U\Ush=U@Ud= U@@)UԇIUd{>iUԇ=QQU#@?ǻ/s>?XB?)U(>IUAgiUÎeI>Ye?eQ=9e;yeH?U@|?`Q??@×? 6?v?"?ɨeI>e5;eCUGpQQ:publishing transmit ping timeQFpublishing direction and range infoQ9Us  ȿWϿ*O>?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU#@?ǻ/s>?XB?)QIQiQQQQyB!I II5VI5n4٢"< 8=9p|;Q > G٣OGy: > Nusing accuracyPremultiplier from config g59xh? g5Y i@ UP?U@ UEC+<y+<g5Y ]@YkUp?kU6+# kQ kU׿A:kUCBkU4CZkUg@"U¦98 )~PRF7MyZ@Us  ȿWϿ*O>?JkUÎRkUGp*U 7@-*XR'SZ@Un,S?$bw, +׿A2>Y2?27 S=92+)??ɨ2>2_&;2CyJBL)P RAPPIV,IV3٢^a ^q=9by:Q b?`` fG٣dyf\ f? Nusing accuracyPremultiplier from configg59h?g5Y` ir@!%?%@UE":":g5-ÒB -@-EZjFNOT Ignoring new targets: 131.10 m.Bj緻Jj緻Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 131.100006 m, nav range: 98.111008 m, bearing: 283.999794 deg, approach rate: 0.147386 m/s, LOS rate: -0.321563 deg/s, cmd heading: 28.657319 deg, new cmd heading: 28.356452 deg. 2j\HeadingCmd: 0.494913 target range: 131.100006 and range: 131.10 m. jLe>jjjihhhhff!fIrfIbfM`?ɛ?B); oQ=隥MI <ɚiI׹=ILe>i%)Y*F2F:FBF%@5JF! G$?IG =GBOj> - tAy  Will construct direction to contact in vehicle frame from tetrahedron phase data. I'Y tAy BJ J J J J :J 9J J gFw,YE׿A2v3>Y2 ?2M=92- 29;2CyBBB!IEMb@Mb@Mb@AAA A)AYEp= ף?QMb`yAEuAEA EA)E3AIE3@AyEpAI]LI]4٢e< m@=9ufPQ u>qy }G٣yy} > Nusing accuracyPremultiplier from configg59h?g5Y i@-?:?@UE""; ;qg5 @ZjFNOT Ignoring new targets: 131.10 m.BjmJjm ProNav: ac range: 131.100006 m, nav range: 98.168304 m, bearing: 283.877631 deg, approach rate: 0.139848 m/s, LOS rate: -0.297999 deg/s, cmd heading: 28.356452 deg, new cmd heading: 27.990181 deg. 2jLHeadingCmd: 0.488521 target range: 131.100006 and range: 131.10 m. jg>jjjihhhhBfffrfbf {>?ɛ5>B  隵]LI {<ɚiI=Ig>i=)H=I>I9 I=5"II=BI= =&I9.I96I=<:I= F*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyG=G B O >ow,1_׿AzK&$LK&9K$K&SK&''%""    BK,:K.nA2Will construct direction to contact in vehicle frame from tetrahedron phase data.FeƝ>YF_?FmJ=9F7֞F/;DyRBR!IIZ+IZn3٢b& bU=9fIQ f>dh jG٣jOGyj0 j> rNusing accuracyPremultiplier from configpvg59r;h?vg5Yr ir@tv>z@rUEr:r*:rg5| ~e@~EZj!%FNOT Ignoring new targets: 131.10 m.Bj-Jj-= ProNav: ac range: 131.100006 m, nav range: 98.219193 m, bearing: 283.765458 deg, approach rate: 0.133006 m/s, LOS rate: -0.293034 deg/s, cmd heading: 27.990182 deg, new cmd heading: 27.653841 deg. 2jEIEHeadingCmd: 0.482651 target range: 131.100006 and range: 131.10 m. jE>jIjIjIiIhIhIhQhQfQfQfQrfYbf]?ɛ=BZ# 隍OI Sh<ɚiI =I>i0)*FQ2FQ:FQBFUX0JFQG-=G)BIO8>Will construct direction to contact in vehicle frame from tetrahedron phase data. H$?I +w,E y׿A>jW>Y>?>_J=9>H?߿a?`?`?VTI ,m?a?ɨ>jW>>L;>CyJBJ!IiN=IN>%Mb@Mb@Mb@!!! !)!Y%y&1?Mbpy%`?%%%A %QA)%AI%I@!y%AIYI4٢= <=9͂Q > G٣yǼ > Nusing accuracyPremultiplier from configg59i?g5Y  iP@a?:?@UEQ;;g5ĒB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 131.10 m.BjpJjp- ProNav: ac range: 131.100006 m, nav range: 98.281433 m, bearing: 283.638890 deg, approach rate: 0.143203 m/s, LOS rate: -0.291021 deg/s, cmd heading: 27.653841 deg, new cmd heading: 27.274386 deg. 2j=G=HeadingCmd: 0.476028 target range: 131.100006 and range: 131.10 m. jE>jAjAjAiAhAhAhIhMȃBfIfIfQrfQbfU?ɛ};B 隅KI <ɚiI."=I>iʊ)uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiquT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.EmY=*FQ2FQ:FQBFUN0JFQZH- ?ARH- ?AH5 J>I1  I1 I1 I5  =&I1 .I1 6I5 <:I5 F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987895G g=G B O >@2w,y˕׿A6/>Y6ȓ?6M=96.=y6H`?@\޿@?M?`+?6@ޣ?v?ɨ6/>6s_;6CyBBB!IINJIN)4٢R  VE=9V ;Q V> `I`  G٣y > %Nusing accuracyPremultiplier from config!-g59%i?-g5Y%H  i%@)-?-@%UE%:%\,;%Og59 =v@E EZjamFNOT Ignoring new targets: 131.10 m.BjuJju ProNav: ac range: 131.100006 m, nav range: 98.340561 m, bearing: 283.514131 deg, approach rate: 0.138441 m/s, LOS rate: -0.291934 deg/s, cmd heading: 27.274387 deg, new cmd heading: 26.900338 deg. 2jZHHeadingCmd: 0.469499 target range: 131.100006 and range: 131.10 m. jjjjihhhhfffrfbf"B@ɛ:BZ^ cNI <ɚiIh#=Ii N)ENB{=*Fa2Fa:FaBFe_0JFazK )LK s9K K TK %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240686RK-?JK-#?G=Z=GB!O=P>JKـ3 KKK"KJJJJJ:JO9JJJ;a5J;a5Je,;a=Jf,;a=KXw,}׿A::>Y:h2>:v-M=9:C=y:H`? P޿? or?`$?`Ƙ@j?@d?ɨ::>:;:CBWill construct direction to contact in vehicle frame from tetrahedron phase data.B>@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491963y``IjRIjW49r;Q r>tt vG٣vOGyzcǼ z> ~Nusing accuracyPremultiplier from configxg59zs&i?g5Yz iz@ b> @z UEz6c;zgo;zg51 11ZjY]FNOT Ignoring new targets: 131.10 m.BjeJjeu ProNav: ac range: 131.100006 m, nav range: 98.394157 m, bearing: 283.397720 deg, approach rate: 0.133440 m/s, LOS rate: -0.289673 deg/s, cmd heading: 26.900338 deg, new cmd heading: 26.551300 deg. 2juF}HeadingCmd: 0.463408 target range: 131.100006 and range: 131.10 m. j}C>jyjjihhhhfffrfbfw@ɛm8BuR y隅MI I$?Ih g<ɚiIv$=I C>i ы)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745260EMp=*F ?2F :F BF P0JF G-I I."II܃BI =&I.I6I<:I FGBO->w,#i׿ARkh>YR`>RA=9RG4x=yRH\?`UKݿ@A?gz?`b?A\ N;?@?ɨRkh>^Will construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:22:42:38.0371 bTRx dataTimestamp_ set to:1736376159.265524fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.997799RÈ;RCyllmMb@Mb@Mb@iii i)iYmy&1?{Gz?Mbpyim# G٣y > Nusing accuracyPremultiplier from configg59:i?g5YD i @g?:o>@$UE<O<Vg5uŒB u{@u EZjFNOT Ignoring new targets: 131.10 m.Bj*Jj* ProNav: ac range: 131.100006 m, nav range: 98.465538 m, bearing: 283.245455 deg, approach rate: 0.131384 m/s, LOS rate: -0.280056 deg/s, cmd heading: 26.551300 deg, new cmd heading: 26.094848 deg. 2j%3@-HeadingCmd: 0.455441 target range: 131.100006 and range: 131.10 m. j-/>j)j)j1i1h1h1h9h=ЃBfafafirfibfmo@ɛ6B 隽LL J$?II  |<ɚiI0 &=I/>i,4)EE*E!"E!mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248877zKĂKK+9KKUK.HVXWUQLHC@A=7732/,'$*F] ?2FY :Fa BFe O0JFa JE JE JA JA JE :JE 9JA JA JE Q;JE R;JE ';JE ';G '2=GBO=>\Ow,p׿A6oZ>Y6R>6:=96M=y6HB{?ܿ@??~?@@"??ɨ6oZ>6㧈;6CyNBN!IIZHIZ<3٢b b-=9fQ f>Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:42:38.0371 LVL= 24880, 32753, 29730, 32755, AGC= 64, IDX= 413, 0.15,-2.449, 2.279,-3.038,-2.894, PHS= 0.533,-1.063,-0.147, RAW= 124.9, 9.8, CAL= 132.2, 5.1, ROT= 17.8, -5.1 UYgot valid direction response: 22:42:38.0371 LVL= 24880, 32753, 29730, 32755, AGC= 64, IDX= 413, 0.15,-2.449, 2.279,-3.038,-2.894, PHS= 0.533,-1.063,-0.147, RAW= 124.9, 9.8, CAL= 132.2, 5.1, ROT= 17.8, -5.1 ]PDAT read: Bearing 17.8, -5.1 (Local) ]~Local bearing/azimuth received: Bearing 17.8, -5.1 (Local) mDAT read: Range 10 to 50 : 128.9 m (Round-trip 171.9 ms) speed 0.3 m/s m,DAT read: user:2811> uBDAT read: Tx time:22:42:39.1610 u$Ping request sent.u(޿6o?yC0a "t)I@ir?b+ @%/> 7@)K=I>iKsk?G?u?1%?)k=I.i x}:publishing transmit ping timeq}Fpublishing direction and range info9ӿyf>(޿6o?y )Ii )Iisk?G?u?1%?)Ii  G٣ yl E> mNusing accuracyPremultiplier from configag59ePi?%g5Ye ie@)5e>5@e)UEe=e8=e2g5ƒB @EkAi?k# k kʨ׿A:kCBkCZk@"{7Cڽ^N1fZ@ӿyf>(޿6o?Jk Rkx*s+su Sh;Y@-rO)jjjihhhhfffrf`@bf].?ɛ=3B=@ 9=KI9 ELl<ɚAiAIE'=IUW>iUg)QWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:39.1602 *F?2F :F BF '3JF G% OK=G B O >Tw, ؿAjHxbHz<HxIzC Iz("IIzփBIz =&Ix.Iz9D6Iz<:Iz Fez>Ye:>ehA.=9e=yeH~? Xxܿ ޱ? ??!Ȧ`~ƥ`.??ɨez>ep;eCyޝBޝ!ImWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YL7A`?y&1?y&1|y+?`e<``A v@)I@y3AIURIUW4٢e  e=9m*Q m>qq uG٣uOGy}VQ }> Nusing accuracyPremultiplier from configg59[bi?g5Y i%@:?:D>@-UE;3;Ig5 3@UB*** querying acoustic contact ***jQjQZj K$?I5FNOT Ignoring new targets: 128.90 m.Bj=wJj=wM ProNav: ac range: 128.899994 m, nav range: 98.605110 m, bearing: 282.944311 deg, approach rate: 0.152678 m/s, LOS rate: -0.326046 deg/s, cmd heading: 25.595108 deg, new cmd heading: 25.179553 deg. 2jM_HeadingCmd: 0.439466 target range: 128.899994 and range: 128.90 m. j>jjjihhhh߃Bfffrfbf@N?ɛe1Be' ae]OIa mska<ɚiiiI,(=I>i)*FE?2FI:FIBFMP0JFIGQ GQ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.zK] ۰MK] 9KY K] VK]  J J J J J :J b9J J J ;J ;J 0.;J 0.;GM k[=G! B) OM > w,(ؿA^Nt>Y^D>^=9^ =y^H?1ܿhg?O]?j?,t< ?3?ɨ^Nt>^ڜ;^CyrBr!Iizp=Iz4<IIM3٢%K -b=95`Q =>AA EG٣IyM& U> eNusing accuracyPremultiplier from configamg59epi?mg5Ye? ie@quA>u@e0UEe;e[;eqg5y }@}EZjFNOT Ignoring new targets: 128.90 m.BjCJjCu ProNav: ac range: 128.899994 m, nav range: 98.654442 m, bearing: 282.837373 deg, approach rate: 0.145477 m/s, LOS rate: -0.315199 deg/s, cmd heading: 25.179554 deg, new cmd heading: 24.858902 deg. 2juQXHeadingCmd: 0.433870 target range: 128.899994 and range: 128.90 m. j+$>jjjihhhhfffrfbf`d?ɛM0BM#P IU1SIQ UCX<ɚQiQIUb)=I+$>iW)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996474*Fm?2Fi:FiBFm_0JFi )I)GE =G B! OE >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247514 w,rBؿA6'Jq>Y6>6 =96A=y6H˵?'ۿN?.?F?/ƨ j;`??ɨ6'Jq>6Z;4yPP5Mb@Mb@Mb@111 1)1Y5%C?Mb?Mb`y5Z?5<51 5@)1I5A1y5AIMIM29Q > G٣y K  > Nusing accuracyPremultiplier from config=g59i?=g5Y i@Ej?E:E>M@3UE(;;(g5q qqZjFNOT Ignoring new targets: 128.90 m.BjJj ProNav: ac range: 128.899994 m, nav range: 98.711891 m, bearing: 282.714192 deg, approach rate: 0.130964 m/s, LOS rate: -0.280644 deg/s, cmd heading: 24.858902 deg, new cmd heading: 24.489581 deg. 2j@%HeadingCmd: 0.427424 target range: 128.899994 and range: 128.90 m. j%K>j!j!j!i!h)h)h1h5̃Bf1f1f1rf9bf=@!?ɛu.BuFk3 qu)RIy }nM<ɚyiyI}*=IK>iy)*F?2F:FBFJFH I  I ""II уBI &I .I 6I #<:I - FBIJIŢCRIZI =bI =jIŇ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499576G 3= - L$?I) G B O >ow,Zb\ؿAVp>YVl;>VM<9V4=yVH ?Nۿ@ؿ?$?ฮ?ȝɳ?@?ɨVp>VE;VCybBf!II~I~[3٢ <9%GQ ->)1 5G٣5OGyEl M> ]Nusing accuracyPremultiplier from configQeg59Ui?eg5YU iUg@im/>m@U7UEUH@;U;Uzg5q u @yZjFNOT Ignoring new targets: 128.90 m.BjѪJjѪ ProNav: ac range: 128.899994 m, nav range: 98.763466 m, bearing: 282.604246 deg, approach rate: 0.140183 m/s, LOS rate: -0.298682 deg/s, cmd heading: 24.489580 deg, new cmd heading: 24.159919 deg. 2jLHeadingCmd: 0.421670 target range: 128.899994 and range: 128.90 m. j&>jjjihhhhffqfqrfqbf}?ɛ,B? RI AC<ɚiI+=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751624I&>i')zKuLKu9KqKuWKuBKpA:KpAJJJJJ:J*9JJJ;J;J(;J(;*F?2F:FBF0JF"G=G=G"=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005183pw,Yn>{<9pJ=yH?`ۿM?I?? >n`? o?ɨm>A ;Cy%~B-!IMb@Mb@Mb@ )Yx&? G٣y >-vAI }$Y}vAy}tB Nusing accuracyPremultiplier from configg59i?g5Y i@? ?:>@;UE B;@;g5ǒB @EZjIUFNOT Ignoring new targets: 128.90 m.BjUJjUm ProNav: ac range: 128.899994 m, nav range: 98.831329 m, bearing: 282.451332 deg, approach rate: 0.129361 m/s, LOS rate: -0.291283 deg/s, cmd heading: 24.159919 deg, new cmd heading: 23.701501 deg. 2jmGuHeadingCmd: 0.413669 target range: 128.899994 and range: 128.90 m. jut>jqjqjqiqhyhyhyh}ЃBfffrfbf@ɛ)B( QUI n5<ɚiI_,=It>iˎ)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256419*F?2F:FBF0JFG c9=ZH @ARH AAH L>I  I "II ǃBI &I .I 6I <:I FG B O >$w,3ؿAjWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508335yzB!II-GI-3٢e} e_=9mQ m> G٣y > Nusing accuracyPremultiplier from configg59i?g5Y i@@>UE:n:g5ȒB @EZj)5FNOT Ignoring new targets: 128.90 m.Bj=iJj=iM ProNav: ac range: 128.899994 m, nav range: 98.876709 m, bearing: 282.350087 deg, approach rate: 0.142241 m/s, LOS rate: -0.317202 deg/s, cmd heading: 23.701501 deg, new cmd heading: 23.397909 deg. 2jMYUHeadingCmd: 0.408371 target range: 128.899994 and range: 128.90 m. jU>jQjQjQiQhYhYhahafififqrfqbfu`@ɛ'Ba 隥VI ,<ɚiIԯ-=I>iA) eN$?Ii*Fe?2Fa:FaBFe@5JFaG=A=GBO%M>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760176zK] BHK] 9KY K] XK] %`*Rua!RKm >JKm ?J J J J J m:J O9J J J ;J ;J e,;J f,;@*w,iؿAJd>YJp>J <9J=yJH?l:ۿҘ?`Vr?`?@G岿#@gi? ?ɨJd>JFg;JCynrBn!IIvQIv4٢j#  Q=9 Q > %G٣%OGy-qʼ 5> =Nusing accuracyPremultiplier from config9Eg59=i?Mg5Y=Q i=@QU(>U@=AUE=\;=];=/g5Y e]@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 128.90 m.Bj0Jj0 ProNav: ac range: 128.899994 m, nav range: 98.926491 m, bearing: 282.235554 deg, approach rate: 0.130168 m/s, LOS rate: -0.299326 deg/s, cmd heading: 23.397909 deg, new cmd heading: 23.054487 deg. 2jlMHeadingCmd: 0.402377 target range: 128.899994 and range: 128.90 m. jR>jjjihhhhfffrfbf9@ɛ%BMP mYI  "<ɚiI.=IR>iď) *F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014148 yIG'HF=G ?G;?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:42:41.7347  TRx dataTimestamp_ set to:1736376163.052539 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264545&1w,ؿAbh]>Ybܸ>bQ<9b=ybH6? ڿΫ?n?{?kQ)z?C?ɨbh]>b;bCyjjBj!IMb@Mb@Mb@ )YK7?~jtI3٢=d  =9=9=Q =>AA EG٣AyM6m M> UNusing accuracyPremultiplier from configQ]g59Uui?]g5YU iU]@]W ?e:eS>e@UEUEUl;U;Ug5mɒB m@mEZjFNOT Ignoring new targets: 128.90 m.BjJj ProNav: ac range: 128.899994 m, nav range: 98.975266 m, bearing: 282.099248 deg, approach rate: 0.111425 m/s, LOS rate: -0.311235 deg/s, cmd heading: 23.054487 deg, new cmd heading: 22.645777 deg. 2jUHeadingCmd: 0.395243 target range: 128.899994 and range: 128.90 m. jW]>jjjihhhhƒBfffrfbf. @ɛ-"B5|D 1=[I9 =<ɚ9i9I=y/=IEW]>iEa`)I*F ?2F :F BF 0JF HAIA IE"IIEƒBIE =&IA.IA6IE <:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515925G) O$?I G B1 Ou >S7w,#ؿA2@U>Y2>2ka<92/=y2HP?Goڿ???{;-@??ɨ2@U>2o;2CyNlBN!IIV8IV3٢^2; ^f=9b7Q b>`` fG٣dyf f> nNusing accuracyPremultiplier from confighnh59ji?rh5Yj ij*@pr/>r@jHUEj;j/;j!h5t v@xZj%FNOT Ignoring new targets: 128.90 m.Bj%Jj-= ProNav: ac range: 128.899994 m, nav range: 99.013710 m, bearing: 281.988545 deg, approach rate: 0.107868 m/s, LOS rate: -0.310491 deg/s, cmd heading: 22.645777 deg, new cmd heading: 22.313800 deg. 2j=UEHeadingCmd: 0.389449 target range: 128.899994 and range: 128.90 m. jEe>jAjAjAiAhAhIhIhIfIfQfYrfYbf]@ @ɛ% B%vZ )-&ZI)UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:42:41.7347 LVL= 26816, 32753, 30786, 32755, AGC= 63, IDX= 421, 0.18, 0.109,-1.408,-0.579,-0.414, PHS= 0.611,-0.947,-0.168, RAW= 120.0, 7.5, CAL= 128.9, 3.4, ROT= 21.1, -3.4 Ygot valid direction response: 22:42:41.7347 LVL= 26816, 32753, 30786, 32755, AGC= 63, IDX= 421, 0.18, 0.109,-1.408,-0.579,-0.414, PHS= 0.611,-0.947,-0.168, RAW= 120.0, 7.5, CAL= 128.9, 3.4, ROT= 21.1, -3.4 PDAT read: Bearing 21.1, -3.4 (Local) ~Local bearing/azimuth received: Bearing 21.1, -3.4 (Local) DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.4 m/s ,DAT read: user:2812> BDAT read: Tx time:22:42:42.8610 $Ping request sent. U@)Us=IU)>iUsQQU1p{?\^@?)U/P$IUtiU UsQQ:publishing transmit ping timeFpublishing direction and range infoQ9UB7п3ZٿbF?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU1p{?\^@?)QIQiQQQQzK-NK-59K)K-YK- ~ytqmljhc]WRKE?<64.+()%" BK5qA:K5rA -2 <ɚIiIIMX0=IUe>iU)Q*FE?2FI:FIBFM1JFQG 0P= Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:42:42.8602 GA BI Oe >V}=w,WؿA I e/M>Ye>ej&<9ei=yeH =4?ٿ@,h?@'? ?̳`C̈́ڶ?`?ɨe/M>ec;ay hB5!IMb@Mb@Mb@ )YDl?Zd;Oy&1|yO ?j` @)AIAyAI<I3٢%| %)=9Q > G٣OGy} > Nusing accuracyPremultiplier from configh59i?h5Y  i@r ?:>@LUE;b;sh5 @EkDؒ^h?k" k kؿA:kfBBkBZk@"9j@">epI[@B7п3ZٿbF?Jk Rks*]6kN*(QW 8Z@N#ίV)!Dsa?"kD*kkm[h?k[3" 2k,Ckk[# k)CkBk@ addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.780166 s, deltaX: -1.699997 m, approachRate: -0.449715 m/s, rangeRepo size: 4 % Added new target pos. range: 127.199997 m, bearing: 265.923874 deg, lat: 36.904022 deg, lon: -122.121143 deg, deltaT: 3.780166 s, deltaX: -1.699997 m, approachRate: -0.449715 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 127.20 m.Bj-Jj1= ProNav: ac range: 127.199997 m, nav range: 79.817482 m, bearing: 284.743519 deg, approach rate: 0.000000 m/s, LOS rate: -0.310491 deg/s, cmd heading: 22.313799 deg, new cmd heading: 21.848438 deg. 2jAMHeadingCmd: 0.381327 target range: 127.199997 and range: 127.20 m. jMQ=>jIjIjIiIhQhQhQhUɃBfYfYfYrf]_@bf]?ɛBh>? 隕~ZI ^;ɚiI?1=IQ=>iiMJ=)Q=>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBF]O5JFYJJJJJ:Ju9JJa@a@a@a@G} {H=G G rAjH <bH <H- M>I)  I- "II- BI-  =&I) .I) 6I- <:I- FGY Ba O} >bDw, eٿAbWill construct direction to contact in vehicle frame from tetrahedron phase data.yn`Bn!IIv'Iv@3٢~1 ~v=9Q ?   G٣ y    ? Nusing accuracyPremultiplier from config}h59j?h5YM i@@OUEl<l<Ah5 @Zj)-FNOT Ignoring new targets: 127.20 m.Bj='ӻJj='ӻM ProNav: ac range: 127.199997 m, nav range: 79.839493 m, bearing: 284.617236 deg, approach rate: 0.064371 m/s, LOS rate: -0.369213 deg/s, cmd heading: 21.848438 deg, new cmd heading: 21.469699 deg. 2jMc}]HeadingCmd: 0.374717 target range: 127.199997 and range: 127.20 m. j]ڿ>jYjYjYiYhYhahahafafifirfibfm?ɛBp 隝]I  6;ɚiIV2=Iڿ>ii(d=)ڿ>)  =P$?I9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G zK NK 9K K ZK  G B O5 >ތJw,B@,ٿA2e<>Y2t*>2t:92]3=y2H j?@*"ٿ@0?`1?Z?Eo N_Wð?@g?ɨ2e<>2ۍ;2Cy>dB>!IIFIF3٢N< NQ=9RyQ R>PT VG٣TyVr+ V> ZNusing accuracyPremultiplier from configXbh59Zj?fh5YZE iZ@hjP>n@ZSUEZ֩;Z1;Z h5vʒB va@zE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 127.20 m.Bj%BJj%Bﻝ5 ProNav: ac range: 127.199997 m, nav range: 79.863274 m, bearing: 284.462902 deg, approach rate: 0.064482 m/s, LOS rate: -0.418355 deg/s, cmd heading: 21.469699 deg, new cmd heading: 21.006843 deg. 2j5=HeadingCmd: 0.366639 target range: 127.199997 and range: 127.20 m. j= >j9j9j9i9hAhAhAhAfIfIfIrfIbfM?ɛByd  ZI .;ɚiI%2=I% >i)i-#@=)- >))Will construct direction to contact in vehicle frame from tetrahedron phase data.>=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFQ0JFG/_=GBOB> EQ$?IA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494552uQw,FٿAJrJrJpJpJrݒ:Jr*9JpJpyzcBz!IMb@Mb@Mb@ )YtV?:vMby?Լ 3@)AIyII٢h 5=9 Q  >  G٣OGy > %Nusing accuracyPremultiplier from config!-h59%:+j?-h5Y% i%@5?5:5w>5@%WUE%o;%;%h59 =t@AZjamFNOT Ignoring new targets: 127.20 m.BjmJju뻝 ProNav: ac range: 127.199997 m, nav range: 79.891541 m, bearing: 284.278451 deg, approach rate: 0.063247 m/s, LOS rate: -0.412560 deg/s, cmd heading: 21.006843 deg, new cmd heading: 20.453704 deg. 2jHeadingCmd: 0.356984 target range: 127.199997 and range: 127.20 m. jƶ>jjjihhhhăBfffrfbf?ɛeBmI 隵YI f;ɚiI|3=Iƶ>iihh=)ƶ>)HI I"IIBI =&I.I6I <:I F*F?2F:FBFU0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746385 1 I9 G 6a=G ?G ?G B O >.Ww,_ٿA:4/>Y:>:X9:=y:H@s?mؿp?]x?|? t? 1p??ɨ:4/>:v;:CyF`BF!IIR]IR$4٢VXU Zc=9Z*Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdjh59f;j?jh5Yf ifm@hj<>j@fZUEf:fH:fh5r˒B r@vEZjAMFNOT Ignoring new targets: 127.20 m.BjMJjU廝e ProNav: ac range: 127.199997 m, nav range: 79.912170 m, bearing: 284.131311 deg, approach rate: 0.056183 m/s, LOS rate: -0.400612 deg/s, cmd heading: 20.453705 deg, new cmd heading: 20.012409 deg. 2jewmHeadingCmd: 0.349282 target range: 127.199997 and range: 127.20 m. jm&ղ>jijijqiqhqhyhyhyfffrfbf@?ɛBo 隵YI  g;ɚiI4=I&ղ>ii|2S=)&ղ>)=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998723zK MK9KK[K     *F-?2F):F)BF-_0JF)GMf=G) BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250488 % R$?I! ]w, yٿA>A+>Y>>>9>;=y>H@Н?2ؿPZ? ;? A+>>3;>CyfcBj!IIRIW4٢F< %5=9UQ ]>i G٣y~ > Nusing accuracyPremultiplier from configh59Pj?h5Y iX@9>@^UE-<-<h5 @EZjYeFNOT Ignoring new targets: 127.20 m.BjmJjm滝 ProNav: ac range: 127.199997 m, nav range: 79.938629 m, bearing: 283.940738 deg, approach rate: 0.056049 m/s, LOS rate: -0.403570 deg/s, cmd heading: 20.012410 deg, new cmd heading: 19.440899 deg. 2j{HeadingCmd: 0.339308 target range: 127.199997 and range: 127.20 m. j >j j j i hhhhfffrfbf@@ɛ-B-@ 5\=5UI1 5;ɚ1i1I54=I=>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502522i9ieFk=)e>)iJJJJJm:Jb9JJ*F?2F:FBFJFZH RH @AH N>I  I I I  =&I .I 6I <:I ' FBIʢCJIRIZIbIjIq4G= R=G B! O= >dw,ٿArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760036yz`Bz!IMb@Mb@Mb@ )Y/$?QMbpy&? )AIAyI?IT3٢ S=9Q > G٣OGy > Nusing accuracyPremultiplier from configh59aj?h5Y iR@[?:>@bUEH;E;h5 @ZjFNOT Ignoring new targets: 127.20 m.BjeJjeﻝ- ProNav: ac range: 127.199997 m, nav range: 79.958458 m, bearing: 283.790284 deg, approach rate: 0.055181 m/s, LOS rate: -0.418590 deg/s, cmd heading: 19.440899 deg, new cmd heading: 18.989660 deg. 2j-5HeadingCmd: 0.331432 target range: 127.199997 and range: 127.20 m. j5w>j1j1j9i9h9h9hAhEBfAfA S$?IfArf!bf%@ɛu Bufs quUIq }Yn;ɚyiyI}wZ5=Iw>ii˃=)w>)*F?2F:FBF0JFGc=GGGiBqO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:42:45.4324 TRx dataTimestamp_ set to:1736376166.584679checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011554zK LK +9K K \K   :jw,3NٿAVv>YV2>V/Hk9VΥ=yVH?? ?h?? S?ɨVv>Vg;VCybfBb!IIj`Ij(*4٢r = rX=9rQ v>tt vG٣tyzL z> ~Nusing accuracyPremultiplier from config|h59~rj?h5Y~  i~W@  > @~eUE~3:~:~`h5̒B X@E5B*** querying acoustic contact ***j1j1ZjI]FNOT Ignoring new targets: 127.20 m.Bje9Jje9軝} ProNav: ac range: 127.199997 m, nav range: 79.975189 m, bearing: 283.637026 deg, approach rate: 0.044338 m/s, LOS rate: -0.406054 deg/s, cmd heading: 18.989659 deg, new cmd heading: 18.529990 deg. 2j}UHeadingCmd: 0.323409 target range: 127.199997 and range: 127.20 m. j蕥>jjjihhhhfffrfbf @ɛ Bn NQI I;ɚiI5=I蕥>iiZ=)蕥>)*F]?2FY:FaBFe#5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263832 IGKXi=G|uAG  Y |uAy BB) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528040Cqw,6ٿAJrJrJr1JpJr:Jr*9Jr3JpyMiBM!IMb@Mb@Mb@ )Y-?:vMbPy??Լ A @)Iy\AIRIW4٢ <<  ,=9 Q > G٣y% %> -Nusing accuracyPremultiplier from config)5h59-j?5h5Y- i-k@=e?=:=>=@-jUE-;-;-!h5A E,@IZjimFNOT Ignoring new targets: 127.20 m.BjuJju ProNav: ac range: 127.199997 m, nav range: 79.999893 m, bearing: 283.438665 deg, approach rate: 0.052044 m/s, LOS rate: -0.417759 deg/s, cmd heading: 18.529989 deg, new cmd heading: 17.935113 deg. 2jZHeadingCmd: 0.313027 target range: 127.199997 and range: 127.20 m. j E>jjjihhhhBfffrfbfqi @ɛBVJ MI X1;ɚHI I "IIBI =&I.I6I!<:I. FiIf6=I E>ii=) E>)Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:42:45.4324 LVL= 23600, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.13,-0.945,-2.481,-1.764,-1.522, PHS= 0.665,-0.912,-0.245, RAW= 114.9, 7.2, CAL= 124.5, 3.9, ROT= 25.5, -3.9 5Ygot valid direction response: 22:42:45.4324 LVL= 23600, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.13,-0.945,-2.481,-1.764,-1.522, PHS= 0.665,-0.912,-0.245, RAW= 114.9, 7.2, CAL= 124.5, 3.9, ROT= 25.5, -3.9 =PDAT read: Bearing 25.5, -3.9 (Local) =~Local bearing/azimuth received: Bearing 25.5, -3.9 (Local) MDAT read: Range 10 to 50 : 125.4 m (Round-trip 167.2 ms) speed 0.4 m/s U,DAT read: user:2813> ]BDAT read: Tx time:22:42:46.5610 ]$Ping request sent.]ԿMBj>?yB0\ t)I@iq=*?xiHz3X@> ^ @)'g=I> T$?IEt0=i'g,N?#49td?)@I~8i%- :publishing transmit ping timeY- Fpublishing direction and range info9_sIJп/b>ԿMBj>?y )Ii )Ii,N?#49td?)Ii*F] ?2FY :FY BF] o0JFY GYW=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:46.5602 GyBO?ʋyw, ٿAB5>YBp>Bj9Bާ=yBH` ?ֿ?"??hg???ɨB5>B;BCy^bB^!IInXIn4zK %MK 9K K ]K  BK:K٢  /=98Q > G٣OGy$ > Nusing accuracyPremultiplier from configh59ɞj?h5Y i@>@nUE3;n;%h5͒B @Ek 0e?k ! k kٿA:kBBkBZk @"6 (?ԿMBj>?JkRk%*cVj.+:L[ɉn[@B1Y Z߃:lݿҋB&?"kf*kRskKDe?k\! 2k0Ck}i?k(/# kq,CkBBkٔ@5 addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.783868 s, deltaX: -1.799995 m, approachRate: -0.475702 m/s, rangeRepo size: 4 E Added new target pos. range: 125.400002 m, bearing: 255.222442 deg, lat: 36.903816 deg, lon: -122.121110 deg, deltaT: 3.783868 s, deltaX: -1.799995 m, approachRate: -0.475702 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 125.40 m.BjMJjQ] ProNav: ac range: 125.400002 m, nav range: 75.129051 m, bearing: 266.514965 deg, approach rate: 0.000000 m/s, LOS rate: -0.417759 deg/s, cmd heading: 17.935114 deg, new cmd heading: 17.343733 deg. 2jamHeadingCmd: 0.302705 target range: 125.400002 and range: 125.40 m. jm.>jijijiiihihqhqhqfqfqfyrf}Y_@bf}@v?ɛByJ 隅SOI &:ɚiI6=I.>iia=).>)E|^=*F2F:FBF%3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G%ghs=GBO > eU$?Iilkw,ڿA2=Y2'>2992=y2H`(?dտEu? X? ?`2To?`? g?ɨ2=2ĉ;2CyBoBB!IMb@Mb@Mb@ )Y-?:vMb`?yT; A 3@)AIAyAIE IEb3٢U}= UP=9]Q ]>aa eG٣ayeݼ m> uNusing accuracyPremultiplier from configih59m j?h5Ym im@I?:>@mrUEm4Jj}>ໝ ProNav: ac range: 125.400002 m, nav range: 75.213608 m, bearing: 266.353538 deg, approach rate: 0.205617 m/s, LOS rate: -0.392100 deg/s, cmd heading: 17.343732 deg, new cmd heading: 16.860009 deg. 2jHeadingCmd: 0.294263 target range: 125.400002 and range: 125.40 m. j>jjjihhhh˃Bfffrfbf`3?ɛBQ] rGI! %i:ɚ!i!I-I7=IU>iQiU]=)U>)YEaEa*Ea"EajH9bH==HEO>IA IE"IIEǃBIA&IA.IA6IE<:IE F*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ie hG =G B O >Ew,kڿA64=Y6:|>6Լ968=y6Hm;?GԿZ?@w??@|@?o??ɨ64=6;4y>rB>!IIFIF 3٢r\< r<=9vsQ v>tx zG٣xyz ~> Nusing accuracyPremultiplier from config|h59~aj? h5Y~ i~@  > @~vUE~ :~P:~,h5 @ZjAMFNOT Ignoring new targets: 125.40 m.BjUJjUe ProNav: ac range: 125.400002 m, nav range: 75.306618 m, bearing: 266.174020 deg, approach rate: 0.226542 m/s, LOS rate: -0.436709 deg/s, cmd heading: 16.860009 deg, new cmd heading: 16.322136 deg. 2jeڕmHeadingCmd: 0.284875 target range: 125.400002 and range: 125.40 m. jm#ۑ>jijijiiihqhqhqhqfyfyfyrfybf ?ɛBY 隵/DI y9ɚiI 7=I#ۑ>ii'|g=)#ۑ>)*FM?2FI:FIBFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.GAGB O-,>JeJeJe0JaJe:JeO9Jeـ3JaJe;a}Je;a}JaaJaazKKK+9KK^KRK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,R8ڿA2=Y2Z>2T޼92:u=y2HS?kԿ^=/X?`8?`coɛ?JG?;?ɨ2=2;0y>sB>!I RV$?IPIJIJ[3٢r~; rK=9r>Q r>tt vG٣vOGyv z> ~Nusing accuracyPremultiplier from config|h59~Ej? h5Y~ i~*@  +> @~yUE~/;~/;~Y0h5ΒB @߷E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 125.40 m.BjMJjM컝 ProNav: ac range: 125.400002 m, nav range: 75.391357 m, bearing: 266.007554 deg, approach rate: 0.210314 m/s, LOS rate: -0.412684 deg/s, cmd heading: 16.322136 deg, new cmd heading: 15.823313 deg. 2jHeadingCmd: 0.276169 target range: 125.400002 and range: 125.40 m. jf>jjji h1h1hAhIfqfyfrfbf ) ?ɛ5B5G 15AI1 =ʽɚ9i9I=57=IEf>iaieb=)ef>)i*F ?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G= '\=G B! OE >H I  I ""II уBI &I .I 6I $<:I 1 FRw,!"RڿAB=YBp9>B9B=yBH>j?`dӿX@j? O? ;`4?V?`?ɨB=Bd;@yNtBN!I)P P-Mb@Mb@Mb@))) )))Y-bX9?{Gzt?{Gzt?y-E?-ף;-ף;- A -I@)-AI))y-\AIEGIE3٢U ; UC=9]Q ]>aa eG٣ayeݪ e> uNusing accuracyPremultiplier from configqh59uj?h5Yu iut@H?::>@u}UEu jyjyjyiyhhhhƃBff X$?Ifrfbf $@ɛBOX B?I %!ɚ!i!I%R8=IMBȈ>iIiMc8e=)MBȈ>)Q*F?2F:FBF V0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254962GM ;c=G B O9 JcKk3 Kk.-KcKc"KcJ J J 1J J :J J 3J J 8;J 9;J J zKU BHKU 9KQ KU _KU  'JZ[YX\ghiBKe pA:Ke qAjw,1%lڿA20=Y2wc>2692@^=y2HƁ?`QӿMVg=?*g?[ԏ?n$? h?ɨ20=2^;2Cy:{B:!IIB;IB&3٢N= NV=9NpnQ R>PP RG٣PyV<ʼ V> ZNusing accuracyPremultiplier from configX^h59Zj?^h5YZ iZ@`be>b@ZUEZ:ZL:ZY7h5fϒB f;@jܷEZjQUFNOT Ignoring new targets: 125.40 m.Bj]Jj] ProNav: ac range: 125.400002 m, nav range: 75.570312 m, bearing: 265.677815 deg, approach rate: 0.238855 m/s, LOS rate: -0.443673 deg/s, cmd heading: 15.306731 deg, new cmd heading: 14.835296 deg. 2j>HeadingCmd: 0.258925 target range: 125.400002 and range: 125.40 m. jɑ>jjjihhhhfffrfbf2;@ɛUBU]g Y隅9I L̺ɚiI8=Iɑ>ii`=)ɑ>)*F92F9:F9BF=_0JF9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508862 qIqG]c=G9 Bi O >dw,ׅڿAF=YF ]>F9F:_=yFH?`Hҿp?>z?`f=9ǺQ > G٣OGy > Nusing accuracyPremultiplier from configh599k?h5Y i@|?:>@UE ;;;h5]ВB ]_@]ٷEZjFNOT Ignoring new targets: 125.40 m.Bj(Jj(仝 ProNav: ac range: 125.400002 m, nav range: 75.674004 m, bearing: 265.500377 deg, approach rate: 0.233452 m/s, LOS rate: -0.398939 deg/s, cmd heading: 14.835296 deg, new cmd heading: 14.303727 deg. 2j䈼HeadingCmd: 0.249647 target range: 125.400002 and range: 125.40 m. j>jjjihhhhփBfffrfbf@@ɛeBe7M ae8Ia mɚiiiIm)8=I>iif=)>)ZHRHAAHI I."II܃BI*F?2F:FBF`0JF&I.I6I!<:I/ F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:42:49.1297 eTRx dataTimestamp_ set to:1736376170.365352echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012590 u Y$?Iq G )e]=G B O >Ꮷw,ڿAZ=YZ>ZJ9ZO =yZH?>Sҿx-u7Id j=j=In4InV3٢v%X< vT=9v+Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from configh59$k?h5Y iz@>@UEh5! -6@)ZjIUFNOT Ignoring new targets: 125.40 m.BjUJjUu ProNav: ac range: 125.400002 m, nav range: 75.765701 m, bearing: 265.341283 deg, approach rate: 0.253955 m/s, LOS rate: -0.440072 deg/s, cmd heading: 14.303727 deg, new cmd heading: 13.827035 deg. 2ju}HeadingCmd: 0.241327 target range: 125.400002 and range: 125.40 m. j}w>jyjyjyiyhhhhfffrfbf§ @ɛB{?d 5I z0ɚiIID9=Iw>iiICe=)w>)*FU?2FQ:FQBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263102JaJeJe0JaJaJe*9Jeـ3JaJaJaJe(;Je(;zK]gMK]+9KYK]`K]eZQK?:340,&" RKe?JKe?Guf=GQBiO>] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:42:49.1297 LVL= 23536, 32753, 32754, 32755, AGC= 62, IDX= 415, 0.06, 0.290,-1.311,-0.566,-0.295, PHS= 0.673,-0.969,-0.274, RAW= 114.9, 8.0, CAL= 124.3, 4.7, ROT= 25.7, -4.7  Ygot valid direction response: 22:42:49.1297 LVL= 23536, 32753, 32754, 32755, AGC= 62, IDX= 415, 0.06, 0.290,-1.311,-0.566,-0.295, PHS= 0.673,-0.969,-0.274, RAW= 114.9, 8.0, CAL= 124.3, 4.7, ROT= 25.7, -4.7  PDAT read: Bearing 25.7, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 25.7, -4.7 (Local)  DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.4 m/s  ,DAT read: user:2814>  BDAT read: Tx time:22:42:50.2111  $Ping request sent. ie I,?e bxe Ia e 5> e - @)e =Ie L>ie a a e g?wh{_qJ?)e rIe ie )e [a a % :publishing transmit ping time - Fpublishing direction and range infoa 9e s(?ѿ;S4'ԿzG@2?ya a a a a )a Ia ia a a a a a )a Ia ia a a e g?wh{_qJ?)a Ia ia a a a Y IY ~Fw, ڿAyޭxB޵!IILI4٢] e=9mQ > G٣y > Nusing accuracyPremultiplier from configh59g=k?h5Y i@   @UEf<f<Ch5 @ַEku)Fd?kuz! kq kuڿA:kuBBkuBZku%%@"uDʊ@>siC!ts \@us(?ѿ;S4'ԿzG@2?Jku)Rku[*u)OM5KfWZ@uI 9.ƿ׀~ݿa _?"ku_*kujkuT:d?ku! 2ku-Ckum[h?ku[3" ku,CkuBkuBВ@- addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.527880 s, deltaX: -2.099998 m, approachRate: -0.595258 m/s, rangeRepo size: 4 = Added new target pos. range: 123.300003 m, bearing: 249.138343 deg, lat: 36.903795 deg, lon: -122.121047 deg, deltaT: 3.527880 s, deltaX: -2.099998 m, approachRate: -0.595258 m/s, posRepo size: 4 Zj9eFNOT Ignoring new targets: 123.30 m.BjeJja} ProNav: ac range: 123.300003 m, nav range: 70.507431 m, bearing: 262.868575 deg, approach rate: 0.000000 m/s, LOS rate: -0.440072 deg/s, cmd heading: 13.827035 deg, new cmd heading: 13.080410 deg. 2jyHeadingCmd: 0.228296 target range: 123.300003 and range: 123.30 m. j|i>jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:50.2103 fffrf@3^@bf`?ɛBa4 隝4I zgɚiI9=I|i>ii=)|i>)*FU?2FQ:FQBFU_0JFQ"G]=G]=Hi Ii  Im ;"IIm BIi &Ii .Ii 6Im <:Im & FBI)JI)RI)ZI- =bI- =jI-!4Gu }xd=G1 B9 U Will construct direction to contact in vehicle frame from tetrahedron phase data.Oe >ηw,ڿARd[=YR-d>R*9RҊ=yRH?`IkѿG~`}R?B?@bV?ʳ??ɨRd[=R/;P fZ$?IdybvBf!I]Mb@Mb@Mb@YYY Y)YY]-?Q?~jth?y]??]\=]D;] A Y)]QAIYYy]\AIuIuԲ٢? X=9Q > G٣OGy" > Nusing accuracyPremultiplier from configh59Nk?h5Y$ i>@?:Ѫ>@UEk8;,7;TFh5 @]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 123.30 m.BjJj ProNav: ac range: 123.300003 m, nav range: 70.604111 m, bearing: 262.709907 deg, approach rate: 0.276420 m/s, LOS rate: -0.453030 deg/s, cmd heading: 13.080410 deg, new cmd heading: 12.605071 deg. 2jtHeadingCmd: 0.220000 target range: 123.300003 and range: 123.30 m. jGa>jjjihhhhȃBfffrfbflJ?ɛ}ބBj 隅3I hɚiI9=IGa>iiv=)Ga>)*F-?2F):F)BF52JF1Gkt=GBOg>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JE JA JA JA JE :JA JA JA JE ;JE ;JA JA zK *MK 59K K aK BK qA:K Իw,MڿA RS8=YR'>RU9R=yRH@?Pп@`? ?`] *?`F{??ɨRS8=Rr5;RCyjyBj!IIv5Iv3٢z{< ~V=9~Q ~> G٣y >  > Nusing accuracyPremultiplier from config h59 `k?h5Y C i @{>@ UE |<  }< Ih5ђB @ӷEZjFNOT Ignoring new targets: 123.30 m.BjQJjQ ProNav: ac range: 123.300003 m, nav range: 70.701965 m, bearing: 262.547215 deg, approach rate: 0.258357 m/s, LOS rate: -0.428949 deg/s, cmd heading: 12.605071 deg, new cmd heading: 12.117680 deg. 2j1HeadingCmd: 0.211493 target range: 123.300003 and range: 123.30 m. jX>jjjihhh h f f frfbf3?ɛ=ڄB=1 c IM0IQ eɚaiiIm':=I}X>iyiz=)X>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988614 [$?I*F ?2F :F BF4JF)  GtA) !YtAGb=yBGBO5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239859 w, ۿA6|(=Y6K>6B96'=y6H? п@\ڍ?*?`N`?@??ɨ6|(=6x;6CyFoBF!I-fonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.63, 70.20, 82.57  f@f f@f f@f  f@f IjIj(*٢ryN rK=9vQ v>tt vG٣tyz3 z>  bBottom track data is 0.4 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configh59nsk?h5YM i@+::}>@UE<;F>Lh5%ҒB %0@%зEZjIUFNOT Ignoring new targets: 123.30 m.BjUJjUe ProNav: ac range: 123.300003 m, nav range: 70.805084 m, bearing: 262.375592 deg, approach rate: 0.263954 m/s, LOS rate: -0.438663 deg/s, cmd heading: 12.117680 deg, new cmd heading: 11.603576 deg. 2jemHeadingCmd: 0.202521 target range: 123.300003 and range: 123.30 m. juaO>jqjqjqiqhqhqhyhyfyffrfbfP?ɛքBa 隽3I &ɚiIip:=IaO>ii=)aO>)ijHbH<HI III&I.I6I<:I*F2F:FBFP0JFG GGlKu=GGGBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.??-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493676 \$?Iw,a%ۿA2=Y2ك>2* 92$=y2H?gпK4rJ??"?y? ?ɨ2=2$;2Cy>lB>!IIJ3IJʴ3٢b@ bM=9fQ f>dd jG٣jOGyj. j> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configlzh59n k?zh5Ynd in*@z :|~n:~N>~@nUEn'r;nZN?nNh5 V@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744099Zj1=FNOT Ignoring new targets: 123.30 m.BjE߻JjE߻ ProNav: ac range: 123.300003 m, nav range: 70.906548 m, bearing: 262.206413 deg, approach rate: 0.234288 m/s, LOS rate: -0.390090 deg/s, cmd heading: 11.603576 deg, new cmd heading: 11.096780 deg. 2jۅHeadingCmd: 0.193675 target range: 123.300003 and range: 123.30 m. j RF>jjjihhhhfff!rf!bf%?ɛфB_ P J2I qɚiIS:=IRF>ii꧍=)RF>)zK]JK9KKbK*Fi2Fi:FiBFiJFq- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996364 I G x=G B O >@w,??ۿAR {R9R=yRH?!Ͽ@艿@A?`C?`J_? @ز??ɨR { G٣y=~ > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configh59ɛk?h5Y7 i@9A:>@UEV;?Ph5 @ͷEZj1=FNOT Ignoring new targets: 123.30 m.Bj=Jj=] ProNav: ac range: 123.300003 m, nav range: 71.023781 m, bearing: 262.009260 deg, approach rate: 0.268106 m/s, LOS rate: -0.450135 deg/s, cmd heading: 11.096780 deg, new cmd heading: 10.506318 deg. 2j]veHeadingCmd: 0.183370 target range: 123.300003 and range: 123.30 m. jeM;>jajajaihhhhfffrfbf`@ɛ̄BX_Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248022 4I MλɚiI;=IM;>ii̒=)M;>)J%J%J!J!J%<:J%O9J!J!a=@a=@a=@a=@*F2F:FBFJFG=GBO>H N>I  I 5"II BI &I .I 6I <:I  F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499934 w,sYۿA 2]$?I4yubBu!I        Mb@Mb@Mb@ )Y9v?I +?{Gzy?94<#A )@I3AyAI%-I%3٢=n =?=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configI]h59MAk?]h5YM iM@]T:] ?]:e{>e@MUEM ;Mj;MbTh5i m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.30 m.BjfJjf򻝊 ProNav: ac range: 123.300003 m, nav range: 71.114723 m, bearing: 261.841218 deg, approach rate: 0.229675 m/s, LOS rate: -0.423845 deg/s, cmd heading: 10.506317 deg, new cmd heading: 10.002852 deg. 2jpHeadingCmd: 0.174583 target range: 123.300003 and range: 123.30 m. j2>jjji!h!h!h!h-Bf)fQfQrfQbfU@ɛȄB]g 隥2I  ɚiI}U;=I2>iiբ=)2>)EEqA*Fq2Fq:FyBF}_0JFy"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751807G j=G ?G ?G B O >zK jIK 9K K cK 9#w,rۿA2Y2Es92r=y2H?2Ϳ?d?{͟?Χ?B?ɨ2Y<2 ;2Cy>\B>!IIJSIJ4٢Z Zg=9^*;Q b>dd fG٣j OGyrP< v>  Nusing accuracyPremultiplier from configh59lk?h5Y9 i@!%>%@UE>;k;Wh55ӒB =o@=˷EZjYeFNOT Ignoring new targets: 123.30 m.Bjm6Jjm6 ProNav: ac range: 123.300003 m, nav range: 71.196259 m, bearing: 261.684955 deg, approach rate: 0.232198 m/s, LOS rate: -0.444499 deg/s, cmd heading: 10.002851 deg, new cmd heading: 9.534609 deg. 2jHeadingCmd: 0.166410 target range: 123.300003 and range: 123.30 m. jxg*>jjjihhh h f ff9rfAbfE%@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005529 U^$?IYɛ-ÄBgj 隕3I ɚiIĪ;=Ixg*>iiQ9=)xg*>)*FE?2FA:FABFEo0JFIG:=GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:42:52.7774  TRx dataTimestamp_ set to:1736376174.144663 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256968JE JA JA JA JE :JA JA JA w,njۿA2aT;Y2@e>2D92=y2H/?p̿Ռ|g??ȳ@?n{??ɨ2aT;2;2CyBRBB!I)L LXZAMb@Mb@Mb@ )YQ?:vQy?ԼuA @)I AyAI7I3٢E: :=9"W9Q > G٣ya > Nusing accuracyPremultiplier from configh59Ok?h5Y i@?:9>@UE;;M[h5ԒB @ȷEZj%FNOT Ignoring new targets: 123.30 m.Bj%Jj%= ProNav: ac range: 123.300003 m, nav range: 71.277504 m, bearing: 261.493096 deg, approach rate: 0.189661 m/s, LOS rate: -0.447370 deg/s, cmd heading: 9.534609 deg, new cmd heading: 8.959708 deg. 2j==HeadingCmd: 0.156376 target range: 123.300003 and range: 123.30 m. jE"! >jAjAjAiAhAhAhIhMqBfIHI I""IIуBI&I.I6I<:I) FfIfrfbfvg @ɛEBMƾj 隍]6I |ɚiI<=I"! >iih=)"! >)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508548 IIIG Ơ=G B O >4w,IۿAZ,@YZP>Z[79Z ߍ=yZHR?`:ʿ`fS???@e???ɨZ,@Z]t;ZCybLBb!IlnAAIrDIr3٢z5 zX=9zS:Q z>|| G٣y Y >  Nusing accuracyPremultiplier from config h59 k?h5Y  i @/%>@ UE ; F; ^h5! %w@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:42:52.7774 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 426,-0.23, 2.992, 1.364, 2.100, 2.436, PHS= 0.644,-1.025,-0.339, RAW= 114.1, 9.9, CAL= 123.1, 6.9, ROT= 26.9, -6.9 MYgot valid direction response: 22:42:52.7774 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 426,-0.23, 2.992, 1.364, 2.100, 2.436, PHS= 0.644,-1.025,-0.339, RAW= 114.1, 9.9, CAL= 123.1, 6.9, ROT= 26.9, -6.9 ]PDAT read: Bearing 26.9, -6.9 (Local) e~Local bearing/azimuth received: Bearing 26.9, -6.9 (Local) mDAT read: Range 10 to 50 : 121.6 m (Round-trip 162.2 ms) speed 0.3 m/s Zjy}FNOT Ignoring new targets: 123.30 m.Bj}8Jj8黝 ProNav: ac range: 123.300003 m, nav range: 71.345383 m, bearing: 261.323570 deg, approach rate: 0.163439 m/s, LOS rate: -0.407796 deg/s, cmd heading: 8.959707 deg, new cmd heading: 8.451630 deg. 2j,DAT read: user:2815> BDAT read: Tx time:22:42:53.8611 $Ping request sent.jjjihhhhfffrfbfb@ؙFpublishing direction and range infoi9mp-pӿ)ӿ W?ym3Bimi i)iIm<im/$?m33mhm?m;0> m @)mϢ=Imva>imϢiimiZ?mŹT;K?)mѽImȘ1imÁm搿iiU:publishing transmit ping timeؙUFpublishing direction and range infoi9mp-pӿ)ӿ W?yiiii i)iIiiiiiii i)iIiiiiimiZ?mŹT;K?ɛ}B}Jo y}6Iy 4 ɚiI~b<=I >i)iIiiiiiiiz=) >)*F%?2F!:F!BF-P5JF)G5qA G1zKUKU 9KQKUdKURKe?JKe?G:=GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 _$?I1 K$w,9ۿAb4@YbF>b9b9(=ybH`b?`ȿ JĒ?Q?aaS?`?z?ɨb4@bC;bCyvPBz!II5 I5<2٢mw< uB=9}b>Q > G٣!OGyw > Nusing accuracyPremultiplier from configmh59k?mh5Y i@q}>}@UES<s<]bh5 ?@ŷEkKa?k]b k k숩ۿA:k3BBkBZkh @"w@HwBzB2[@p-pӿ)ӿ W?JkÁRk搿*H 7?t_.IjӋZ@z@nпj4ڿ̐??"kwI*kk!H a?k  2k+CkKDe?k\! kkwBk@ addTargetRange:: Added new target pos. range: 121.599998 m, deltaT: 3.781141 s, deltaX: -1.700005 m, approachRate: -0.449601 m/s, rangeRepo size: 4  Added new target pos. range: 121.599998 m, bearing: 238.208379 deg, lat: 36.903720 deg, lon: -122.120915 deg, deltaT: 3.781141 s, deltaX: -1.700005 m, approachRate: -0.449601 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 121.60 m.BjJj ProNav: ac range: 121.599998 m, nav range: 61.979656 m, bearing: 251.809615 deg, approach rate: 0.000000 m/s, LOS rate: -0.407796 deg/s, cmd heading: 8.451629 deg, new cmd heading: 7.908283 deg. 2j%HeadingCmd: 0.138026 target range: 121.599998 and range: 121.60 m. j%V >j!j!j!i)h)h)h1h1]Will construct direction to contact in vehicle frame from tetrahedron phase data.f ffqrfu`ff^@bfuF=?ɛBAY 1I ɚiJJJJJm:J*9JJI<=I V >i i- ~=)-V >)1*F?2F:FBF2JFHM>I I"IIǃBI =&I.I6Iկ<:I FG = ) I) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 >5 !@G B O >@w,lۿA6@Y6):>696Q=y6Ht?@^[ǿ # 1!?e?~`Y?#>??ɨ6@6a;6CyBGBBx!IiF G٣y > Nusing accuracyPremultiplier from configh59l?h5Y i@?:=@UE;;fh5ՒB @·EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 121.60 m.Bj%"Jj" ProNav: ac range: 121.599998 m, nav range: 62.076344 m, bearing: 251.596291 deg, approach rate: 0.258519 m/s, LOS rate: -0.569491 deg/s, cmd heading: 7.908283 deg, new cmd heading: 7.269335 deg. 2jküHeadingCmd: 0.126874 target range: 121.599998 and range: 121.60 m. j6>jjjihhhhVBfffrfbf)?ɛBLj D4I zɚ i I ==I6>iiS|=)6>)*FU?2FQ:FQBFU5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G-;v=G!B1OM>zK K h9K K eK BK pA:K mAXw,uwۿAb~y@Yb#/>bm 9b|=ybH`Ӄ?ƿ gr`?Hv?;@S^? x??ɨb~y@bs;bCynDBnt!II!Ii3٢ V=9MQ >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)5h59-#l?=h5Y-/ i-@9=LJ==@-UE- ;- ;-iih5I M@IZjiuFNOT Ignoring new targets: 121.60 m.Bj}TJj}T ProNav: ac range: 121.599998 m, nav range: 62.161762 m, bearing: 251.404171 deg, approach rate: 0.224722 m/s, LOS rate: -0.504737 deg/s, cmd heading: 7.269334 deg, new cmd heading: 6.693789 deg. 2j2HeadingCmd: 0.116829 target range: 121.599998 and range: 121.60 m. jC=jjjihhhhfffrfbfR?ɛBG 3 =b$?I9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223809I ul'ɚqiqIuEe==I}C=iyi)z=)C=)*F?2F:FBFW0JFGu=Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476438J J J /J J :J 9J (N3J w,ܿA6@Y6#>6Tf96w=y6HJ?@hĿ`@v\?2? ` ???ɨ6@6hH;4y>BBBr!IMb@Mb@Mb@ )YzG?J +Mby ?Ƚ3A )`@IAyAI5RI5W4٢E EF=9MW;Q M>II MG٣U"OGyU ޼ U> eNusing accuracyPremultiplier from configYeh59]8l?eh5Y]4 i]@m*?m:m4m@]UE];];]mh5u֒B u>@}EjHbH<HI I"IIBI&I.I6I2<:I9 FBIiJIiRIiZIibIijImc4Zjy}FNOT Ignoring new targets: 121.60 m.Bj Jj  ProNav: ac range: 121.599998 m, nav range: 62.240383 m, bearing: 251.188300 deg, approach rate: 0.177918 m/s, LOS rate: -0.487897 deg/s, cmd heading: 6.693789 deg, new cmd heading: 6.047022 deg. 2jkHeadingCmd: 0.105540 target range: 121.599998 and range: 121.60 m. j%=jjjihhhhBBfffrfbf?ɛ=B="0h 9=1I9 =EJ1ɚAiAIE5==IM%=iIiI)M%=)I*F?2F:FBF]0JF IMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728868G- {=G5 pAG5 pAG B O5 > w,4)ܿAR@YR`(>Rդ9Rw=yRH?`'ÿ?@?|`?@? ?ɨR@Rx;PbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980546yjFBew!I)i iiiIu]Iu$4٢S< H=99;Q > G٣y > Nusing accuracyPremultiplier from configh59;Ml?h5YK i@e@UE;;ph5 @ZjFNOT Ignoring new targets: 121.60 m.Bj Jj  ProNav: ac range: 121.599998 m, nav range: 62.316757 m, bearing: 250.973537 deg, approach rate: 0.199868 m/s, LOS rate: -0.561337 deg/s, cmd heading: 6.047022 deg, new cmd heading: 5.403551 deg. 2j HeadingCmd: 0.094310 target range: 121.599998 and range: 121.60 m. j y%=j j j i hhhhfff!rf!bf%ل@ɛUB]ϡv Y]`-IY ]9ɚaiaIe>=Iey%=iiim7z=)my%=))zKBHK 9KKfK *F2F:FBF_0JF c$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234830G= z=G B1 G vA  Y vAy BO >#w,CܿAFp@YF >Fb9F|=yFH?`xrC?ȟ? ?蓯?`?ɨFp@FY;FCyZIBZ{!IIHI<3٢5< =P=9M:Q M>QY eG٣ayu̼ u> =Nusing accuracyPremultiplier from configMh59Dbl?}h5Ys i@ü@UE6<q<@th5 @EZjFNOT Ignoring new targets: 121.60 m.Bj Jj = ProNav: ac range: 121.599998 m, nav range: 62.392933 m, bearing: 250.755070 deg, approach rate: 0.173397 m/s, LOS rate: -0.496681 deg/s, cmd heading: 5.403551 deg, new cmd heading: 4.748981 deg. 2j=oEHeadingCmd: 0.082885 target range: 121.599998 and range: 121.60 m. jEͿ=jAjAjIiIhIhihqhqfqfqfqrfybf}T@ɛBbWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483886 隭(I ]CɚiIw>=IͿ=ii~=)Ϳ=)EE*F2F:FBFJFG GHL>I I!IIBI&I.I6I<:I F  I G }z= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736401G B O% >Uw,\ܿA6@Y6&>6}i96ۀ=y6H*? 󁖿`tW?Ԫ?A ???ɨ6@6z;6Cy>UBB!IMb@Mb@Mb@ )Yl?Cl绿{Gzty?;߽ף )I@IyI7I3٢\= B=9͗:Q > G٣#OGy~м > Nusing accuracyPremultiplier from configh59Fvl?h5Yȳ i@?:Y@UE5;;wh5גB !@E B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 121.60 m.Bj%Jj% ProNav: ac range: 121.599998 m, nav range: 62.459698 m, bearing: 250.545610 deg, approach rate: 0.178053 m/s, LOS rate: -0.558005 deg/s, cmd heading: 4.748981 deg, new cmd heading: 4.121298 deg. 2jzHeadingCmd: 0.071930 target range: 121.599998 and range: 121.60 m. j&P=jjjihhhhUBfffrfbf0@ɛ]Beph ae6 Ia eaTKɚiiiImi>=I&P=iiK=)&P=)*F ?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.AiABDAT read: Rx Time:22:42:56.4252 TRx dataTimestamp_ set to:1736376177.678095checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992240JuJuJu0JqJuݒ:Ju9Juـ3JqJu;aJu;aJu;%;aJu;%;aGŠ}=G B O >zK= gLK= 9K9 K= gK=  w,vܿA2@Y2=2292=y2H@/?" '?@? L@#??5?ɨ2@2ld;2Cy:dB:!Ii>]>I>4< @Ba=IF^IF&4٢N@= N^=9N8Q R>PP RG٣PyVݼ V> ZNusing accuracyPremultiplier from configX^h59Zl?bh5YZ& iZ@`ff@ZUEZs;Zw;Zzh5t v.@x d$?IZjFNOT Ignoring new targets: 121.60 m.Bj Jj  ProNav: ac range: 121.599998 m, nav range: 62.520515 m, bearing: 250.350370 deg, approach rate: 0.153646 m/s, LOS rate: -0.492762 deg/s, cmd heading: 4.121298 deg, new cmd heading: 3.536168 deg. 2j=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239909]HeadingCmd: 0.061718 target range: 121.599998 and range: 121.60 m. j]|=jYjajaiahihihhfffrfbf`U @ɛuB}[ y}Iy }eSɚyiI?=I|=ii2v=)|=)*F?2F :F BF _5JF G I@= Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:42:56.4252 LVL= 23008, 32753, 30402, 32755, AGC= 65, IDX= 419, 0.21,-0.396,-2.131,-1.457,-1.069, PHS= 0.761,-1.015,-0.391, RAW= 110.3, 8.3, CAL= 120.2, 5.7, ROT= 29.8, -5.7 5 Ygot valid direction response: 22:42:56.4252 LVL= 23008, 32753, 30402, 32755, AGC= 65, IDX= 419, 0.21,-0.396,-2.131,-1.457,-1.069, PHS= 0.761,-1.015,-0.391, RAW= 110.3, 8.3, CAL= 120.2, 5.7, ROT= 29.8, -5.7 5 PDAT read: Bearing 29.8, -5.7 (Local) = ~Local bearing/azimuth received: Bearing 29.8, -5.7 (Local) JY J] @A DAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s  ,DAT read: user:2816>  BDAT read: Tx time:22:42:57.5111  $Ping request sent. C@) %=I %?i %˽ P5?\P!mſ2'?) c.I i 7 7 M :publishing transmit ping time M Fpublishing direction and range infoH M>I  I "II BI &I .I 6I <:I  F 9 1PFѿ_ ο}p?y  ) I i ) I i P5?\P!mſ2'?) I i GBO> C%w,@ܿAE{@YE=EN9E~=yEH?_AgA˻??S?`?`T?ɨE{@EӍ;ECy gB !IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:42:57.5103 EMb@Mb@Mb@AAA A)AYEl?Zd;~jthyAEEDEA A)AIEAAyE(AI]GI]3٢.<  =97Q > G٣y⁼ > Nusing accuracyPremultiplier from configh59l?h5Y i@?:@UE;T: h5ؒB @Ek/4Ob?k k kՖܿA:kBBk]BZk!@"ȡ>w1@H P2h+w,ׯܿAR-@YRX=R9R=yRH? ٹ!<]?`?Uȱ?`??@?ɨR-@R4;RCyZzB^!IIvIv 3٢= =9BQ % ?!! %G٣%$OGy- - ? 5Nusing accuracyPremultiplier from config1]h595l?]h5Y5 ]tIi5@aeFӽe@5UE5>;5;5ۂh5mْB m@mEZjFNOT Ignoring new targets: 120.00 m.BjEJjE ProNav: ac range: 120.000000 m, nav range: 62.055435 m, bearing: 245.451018 deg, approach rate: 0.194932 m/s, LOS rate: -0.535994 deg/s, cmd heading: 2.694853 deg, new cmd heading: 2.184026 deg. 2j췼HeadingCmd: 0.038118 target range: 120.000000 and range: 120.00 m. j"=jjj!i!h!h!h!h)f)f)f)rf)bf5Oh?ɛ}B}a y隅I vbɚiI?='TFailed to parse incomplete device message.I"=iiW=)"=)*Fm?2Fi:FiBFm 5JFq f$?IGe{=GmqAGmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBAO}Y>XU2w,qܿAV@YV=Vrh9VV=yVH?@Ms`? ?`M??2?ɨV@VG;VCybBb!I)d dhjAWill construct direction to contact in vehicle frame from tetrahedron phase data.AiMb@Mb@Mb@ )Yv?MbX{Gzt?y?ʽף;3A @)IhAyI5(I5̍3٢E.s= E7=9MBDQ M>II MG٣QyU"ͼ U> eNusing accuracyPremultiplier from configauh59el?uh5Ye ie(@u?u:uh}@eUEeA;en?;eh5  @ZjFNOT Ignoring new targets: 120.00 m.BjJjE ProNav: ac range: 120.000000 m, nav range: 62.148613 m, bearing: 245.218487 deg, approach rate: 0.213031 m/s, LOS rate: -0.530835 deg/s, cmd heading: 2.184026 deg, new cmd heading: 1.487515 deg. 2jE'MHeadingCmd: 0.025962 target range: 120.000000 and range: 120.00 m. jMQ<jIjQjQiQhQhQhYh]sBfYffrfbf`"e?ɛ~Bk; I =iɚAiAIE?=IEQI I"IĨBI&I.I6I<:I F*F?2F:FBF5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G =G B O >z8w,ܿA6vs@Y6Ŝ=6i 96?=y6HX? (퐳?}?@^^]L?@?M?ɨ6vs@6E;6CyBBB!IIJIJ3٢RQ= Rj=9VdQ V>TT VG٣XyZa Z> bNusing accuracyPremultiplier from config`fh59bIl?fh5Yb ib[@dfCj@bUEba:ba:bʉh5l nH@nE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 120.00 m.BjJj ProNav: ac range: 120.000000 m, nav range: 62.220337 m, bearing: 245.035230 deg, approach rate: 0.205437 m/s, LOS rate: -0.524295 deg/s, cmd heading: 1.487515 deg, new cmd heading: 0.938393 deg. 2j購HeadingCmd: 0.016378 target range: 120.000000 and range: 120.00 m. jD+<jjjihhhhfffrfbf`?ɛ=yB=D 9=I9 EXnɚAiAIMm@=IMD+ g$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. 9? w? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695002>w,nܿAy%B-!II=BI=3٢MN< M@=9UQ U>YY ]G٣]%OGy] e> mNusing accuracyPremultiplier from configamh59el?uh5Ye- ie@qqu@eUEe;e;eh5ڒB 3@EZjFNOT Ignoring new targets: 120.00 m.BjJj ProNav: ac range: 120.000000 m, nav range: 62.308460 m, bearing: 244.812835 deg, approach rate: 0.207764 m/s, LOS rate: -0.523587 deg/s, cmd heading: 0.938393 deg, new cmd heading: 0.272184 deg. 2jHeadingCmd: 0.004750 target range: 120.000000 and range: 120.00 m. j;jjjihhhhfffrfbf`{?ɛ]sBea 7 ae۾Ia etɚiiiIm*@=Iu;iqiuƜ=)u;)y*F)2F):F)BF-_0JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.948219G]XH=J@AJG! B) OM >H I  I A"II BI &I .I 6I (<:I 1 F)Ew,HݿAynBn"I va=vp= YIa}Mb@Mb@Mb@yyy y)yY}n?l E=9Q > G٣y > Nusing accuracyPremultiplier from configh59 m?h5Y i@9?:L@UE;;#h5 ,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198788ZjFNOT Ignoring new targets: 120.00 m.BjgJjg ProNav: ac range: 120.000000 m, nav range: 62.402061 m, bearing: 244.604475 deg, approach rate: 0.214611 m/s, LOS rate: -0.477015 deg/s, cmd heading: 0.272184 deg, new cmd heading: 359.648068 deg. 2jHeadingCmd: 6.277043 target range: 120.000000 and range: 120.00 m. j@jjjihhhhBfffrfbf%F@ɛmlB! 隕I yɚiIZ=@=ItHɻii9=)@)*FU?2FY:FYBFYJFYG==GB O-o>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450869JKcw3 KKK"KJ J J /J J :J 9J (N3J J l;J m;J F;J F;TKw,1ݿA6@Y6E=6c96 =y6HE?ɩ`+?-?`VX??i?ɨ6@6;6Cy<@IJ9IJ39R;Q V>TT VG٣TyZ\ Z> bNusing accuracyPremultiplier from config\bh59^m?fh5Y^ i^-@df f@^UE^+;^:^^h5jےB j7@nEZj FNOT Ignoring new targets: 120.00 m.Bj 'Jj'% ProNav: ac range: 120.000000 m, nav range: 62.480347 m, bearing: 244.417455 deg, approach rate: 0.223012 m/s, LOS rate: -0.532097 deg/s, cmd heading: 359.648064 deg, new cmd heading: 359.087726 deg. 2j%-HeadingCmd: 6.267263 target range: 120.000000 and range: 120.00 m. j-k@j)j)j)i)h)h1h1h1f1ffrfbf@ɛgB%w' !%I! %c}ɚ!i!I-/X@=I-oi1i5s=)Uk@)QEaEerAzK5c{LK5s9K1K5jK5CbuBKA:KEqA*F ?2F :F BF 0JF "GG= Uh$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703799G-=G B) OE >BRw, KݿAzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954865D@Y:"=F9!=yH?)Kd_C?? i/@!(? ް?`?ɨD@;Cy5B="IMb@Mb@Mb@ )YX9v?I +Q?y?94u<A @)3@IhAy@I.I3٢,Z; <9 4V:Q  >  G٣&OGy3 > Nusing accuracyPremultiplier from config%h591m?%h5Y6 i@-0?-:-/-@UE1;%;Nh51 =+@=EZjaMFNOT Ignoring new targets: 120.00 m.BjU JjU m ProNav: ac range: 120.000000 m, nav range: 62.584236 m, bearing: 244.198614 deg, approach rate: 0.230819 m/s, LOS rate: -0.485406 deg/s, cmd heading: 359.087715 deg, new cmd heading: 358.432314 deg. 2jmuHeadingCmd: 6.255824 target range: 120.000000 and range: 120.00 m. ju/@jqjqjyiyhyhyhyhBfffrfbfN@HiIi Im`"IImBIi&Ii.Ii6Im<:Im$ FBI)JI)RI)ZI- =bI- =jI-k)4ɛ`B 'I {[ɚiIl@=Ia$ii!Y=)/@)!*F?2F:FBFo0JF =i$?I9G©=GGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:43:00.0732 TRx dataTimestamp_ set to:1736376181.456702checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207939O>Xw,dݿA6@Y6=696]=y6H@?^ o??@h`=?&??ɨ6@6:;6CRPExceeded connect timeout, disconnecting.yVуBV""I)X XIb9Ib3٢j:> ja=9jQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtzh59vCm?zh5Yvw iv@x~\=~@vUEv ;v ;v|h5 @%B*** querying acoustic contact ***j!j!Zj9=FNOT Ignoring new targets: 120.00 m.BjE JjE U ProNav: ac range: 120.000000 m, nav range: 62.667191 m, bearing: 244.021885 deg, approach rate: 0.227783 m/s, LOS rate: -0.484635 deg/s, cmd heading: 358.432318 deg, new cmd heading: 357.902849 deg. 2jULHeadingCmd: 6.246583 target range: 120.000000 and range: 120.00 m. j@jjjihhhhf f f rf bf @ɛ[B 隽I 肼ɚiIy@=Iii1==)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460323*F?2F:FBFT5JFJJJ0JJݒ:J9Jـ3JJ;J;J!;J!;G {=zK - k$?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:43:00.0732 LVL= 11120, 26993, 17698, 29443, AGC= 59, IDX= 413, 0.12,-2.451, 2.088, 2.594, 3.053, PHS= 0.868,-0.918,-0.461, RAW= 104.2, 6.4, CAL= 114.4, 4.4, ROT= 35.6, -4.4 - Ygot valid direction response: 22:43:00.0732 LVL= 11120, 26993, 17698, 29443, AGC= 59, IDX= 413, 0.12,-2.451, 2.088, 2.594, 3.053, PHS= 0.868,-0.918,-0.461, RAW= 104.2, 6.4, CAL= 114.4, 4.4, ROT= 35.6, -4.4 5 PDAT read: Bearing 35.6, -4.4 (Local) 5 ~Local bearing/azimuth received: Bearing 35.6, -4.4 (Local) E DAT read: Range 10 to 50 : 118.4 m (Round-trip 157.9 ms) speed 0.4 m/s E ,DAT read: user:2817> M BDAT read: Tx time:22:43:01.1612 M $Ping request sent.M  G٣y > Nusing accuracyPremultiplier from configh59[m?h5YҸ iu@@UE::h5ܒB @@5Ek,ݡc?k- k kۊ}ݿA:kBBk0BZkt@")-{:/!~\@DRTͿa33ѵ?JkX&Rkئ*Oї=AP8A| Y\@3пUx5ɿ ݡH?"kE*kk2̐c?k"2 2k1Ck2̐c?k  k.Ck_iBk@M addTargetRange:: Added new target pos. range: 118.400002 m, deltaT: 3.780519 s, deltaX: -1.599998 m, approachRate: -0.423222 m/s, rangeRepo size: 4 ] Added new target pos. range: 118.400002 m, bearing: 218.931531 deg, lat: 36.903664 deg, lon: -122.120819 deg, deltaT: 3.780519 s, deltaX: -1.599998 m, approachRate: -0.423222 m/s, posRepo size: 4 ZjauFNOT Ignoring new targets: 118.40 m.BjJj-Will construct direction to contact in vehicle frame from tetrahedron phase data.M ProNav: ac range: 118.400002 m, nav range: 58.343014 m, bearing: 239.339331 deg, approach rate: 0.000000 m/s, LOS rate: -0.484635 deg/s, cmd heading: 357.902841 deg, new cmd heading: 357.122488 deg. 2jIHeadingCmd: 6.232963 target range: 118.400002 and range: 118.40 m. jot@jjjihhhhfffrf]@bf?ɛ]RB]m Ye4tIa ew:ɚaiaIep@=IӵMiih=)ot@)*FA 2FA :FA BFE o0JFA ZHi RHi Hu M>Iq  Iu "IIu (BIu  =&Iq .Iq 6Iu <:Iu  F  I Gm`=Gu ?Gu?Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OU?Zgw,0؞ݿAR(|@YRw<R29Re ~=yRH`?u??`E??`?ɨR(|@R;RCyzփB~("IMb@Mb@Mb@ )Y|?5^? rh{Gzt?y?Cף; A @)@IAy@II1٢" ==9PQ > G٣'OGy > Nusing accuracyPremultiplier from configh59pm?h5Y i@?:u@UE;Q;h5EݒB En@MEZjFNOT Ignoring new targets: 118.40 m.BjJj ProNav: ac range: 118.400002 m, nav range: 58.466846 m, bearing: 239.128127 deg, approach rate: 0.299417 m/s, LOS rate: -0.509590 deg/s, cmd heading: 357.122479 deg, new cmd heading: 356.490235 deg. 2jݮHeadingCmd: 6.221928 target range: 118.400002 and range: 118.40 m. j @jjjihhhhBfff rf bf `?ɛUMB}Z y隅oI SɚiIw@=IziiƠ=) @ nManaging dock network, ignoring radio surface power off)*F5?2F1:F1BF=P5JF9G&=GBO k>%Will construct direction to contact in vehicle frame from tetrahedron phase data.Uzmw,ݿAzKB%NKB9K@KBlKB jl$?IhME@YM@ME9M=yMHG?%zp?`A@ z? JƱ@Y?`ѱ??ɨME@M;Iy]Be6"Iim G٣y^ > Nusing accuracyPremultiplier from configh59m?h5Y# i@@UE::h5 @ZjFNOT Ignoring new targets: 118.40 m.BjJj ProNav: ac range: 118.400002 m, nav range: 58.576450 m, bearing: 238.933550 deg, approach rate: 0.289232 m/s, LOS rate: -0.512505 deg/s, cmd heading: 356.490222 deg, new cmd heading: 355.907604 deg. 2jݯHeadingCmd: 6.211760 target range: 118.400002 and range: 118.40 m. j@jjjih h h h fffrfbf?ɛEHBES AErNIA E|ɚIiIIM~q@=IMGiQiU[&=)U@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝p=*F ?2F:FBFP0JFGU-=G1 Bi O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J! J! J% :J% 9J! J! a- @a- @a- @a- @dtw,lݿAFKs@YFƂ@F 9FwZ=yFH#??ǡ˟@z?#>?Ű??ɨFKs@F ;DyZBZ7"IH!I! I%"II%ABI!&I!.I!6I%<:I%+ FMb@Mb@Mb@ )Yd;O?{GzMb`y?# )@IAyf@IIb٢ڗ;  B=9 OQ  > G٣yҼ > %Nusing accuracyPremultiplier from config!-h59%m?-h5Y%[ i%I@-?-:- 5@%VE%K;%-;%ʪh59 =@=EZjimFNOT Ignoring new targets: 118.40 m.Bj Jj  ProNav: ac range: 118.400002 m, nav range: 58.695782 m, bearing: 238.725023 deg, approach rate: 0.282725 m/s, LOS rate: -0.493045 deg/s, cmd heading: 355.907607 deg, new cmd heading: 355.283325 deg. 2j/ HeadingCmd: 6.200864 target range: 118.400002 and range: 118.40 m. j zm@j j j ihhhhBfffrfbf% ?ɛBBX 隕F@I ɚiI`@=I"ii5=)zm@ m$?I)*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G=}ܒ=GAGAGBOn>[zw,GWݿA>V@Y>*@>Zr9>[w=y>H?? Ra@k@Q?`Xm ???ɨ>V@>b;>CyJBJ9"IIV1IV3٢^< ^a=9bs;Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighnh59jQm?nh5Yj ijy@pr8r@jVEj:j:jh5vӒB v@zWill construct direction to contact in vehicle frame from tetrahedron phase data.tB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 118.40 m.Bj* Jj*  ProNav: ac range: 118.400002 m, nav range: 58.797180 m, bearing: 238.545062 deg, approach rate: 0.278635 m/s, LOS rate: -0.493665 deg/s, cmd heading: 355.283327 deg, new cmd heading: 354.744391 deg. 2jfHeadingCmd: 6.191458 target range: 118.400002 and range: 118.40 m. jl @j j j i h hhhfffrfbf ?ɛ=B 隵2I 'ɚiI'X@=Iۻii:=)l @) *F?2F:FBF\0JF IzKXKK9KKmKGOa=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gy B O >uw,O ޿AB@YB@B 9Bj=yBH1?@??`&0[? ? M??ɨB@B,;BCy^Bb6"I)d dIjJIj)4٢rx< rH=9r;Q v>tt vG٣v(OGyzտ z> ~Nusing accuracyPremultiplier from config|h59~Am?h5Y~ i~@ <_@~ VE~[0;~0;~h5 "@EZjAEFNOT Ignoring new targets: 118.40 m.BjMJjM ProNav: ac range: 118.400002 m, nav range: 58.909988 m, bearing: 238.342234 deg, approach rate: 0.277751 m/s, LOS rate: -0.498434 deg/s, cmd heading: 354.744398 deg, new cmd heading: 354.137105 deg. 2j HeadingCmd: 6.180859 target range: 118.400002 and range: 118.40 m. j@jjjihhhhfffrfbf @ɛ8BP 隝,I DɚiIO@=Iѽii=)@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254606JJJJJM:JJJ*F?2F:FBFJFH%N>I! I%"II%PBI!&I!.I!6I%<:I% F n$?I G% =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506029w,޿A2@Y2c@292h=y2H@? KF?$@2@?`V`?`??ɨ2@2?;0y B5"IMb@Mb@Mb@ )Y"~?~jtx G٣y“ > Nusing accuracyPremultiplier from configh59^m?h5YO i@?:`@ VEiD;;C;Ph5 ԒB ?@ EZj1FNOT Ignoring new targets: 118.40 m.Bj Jj  ProNav: ac range: 118.400002 m, nav range: 59.030212 m, bearing: 238.128201 deg, approach rate: 0.276740 m/s, LOS rate: -0.491674 deg/s, cmd heading: 354.137112 deg, new cmd heading: 353.496347 deg. 2jHeadingCmd: 6.169675 target range: 118.400002 and range: 118.40 m. jm@jjjihhhhBfff rf bf @ɛ2B` >#I Vrɚi!I-B@=I-wi1i5Z=)5m@)1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754125Gm q=Gu ?Gu ?GA BI Oe > ʍw,9޿A "o$?I$> C@Y>R@>a9>,g=y>H? ? Ϋ? #*?٬?`/?ɨ> C@>u;>Cy^B^8"IInTIn4٢v]< vZ=9v:Q v>xx zG٣xyzTż ~> Nusing accuracyPremultiplier from config h59m? h5Y i@  ‚ @VE:]:h5zKBHKKKnK) -@)ZjQUFNOT Ignoring new targets: 118.40 m.Bj] Jj] m ProNav: ac range: 118.400002 m, nav range: 59.132885 m, bearing: 237.943321 deg, approach rate: 0.273449 m/s, LOS rate: -0.491536 deg/s, cmd heading: 353.496359 deg, new cmd heading: 352.942700 deg. 2jmuHeadingCmd: 6.160012 target range: 118.400002 and range: 118.40 m. ju@jqjqjyiyhyhyhhfffrfbf@5@ɛ-BL 隽lI >ɚiII=@=IBBii=)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:43:03.7212 TRx dataTimestamp_ set to:1736376184.985312checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008141*FM?2FQ:FQBFU[2JFQGu=GIBYO}>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261778J J J J J J *9J J ٰw,S޿AF<@YF@F9F/h=yFH+? ?`L?%???ɨF<@F;F CyRBR4"IiV;>IV= Z=Z=HdId IdIdId&Id.Id6If<:If FmMb@Mb@Mb@iii i)iYm"~?y&1y&1yim`弹m`emA m@)iIm@iym@IJI)4٢Np @=9s9Q > G٣)OGy > Nusing accuracyPremultiplier from configh59>m?h5Yb i@/?:iད@VEc;A;Ph5ՒB S@E Up$?IYZjFNOT Ignoring new targets: 118.40 m.BjJj ProNav: ac range: 118.400002 m, nav range: 59.240601 m, bearing: 237.728443 deg, approach rate: 0.222229 m/s, LOS rate: -0.442509 deg/s, cmd heading: 352.942703 deg, new cmd heading: 352.299271 deg. 2jؗ5HeadingCmd: 6.148782 target range: 118.400002 and range: 118.40 m. j5@j1j1j1i1h1h1h9h=BfAfAfarfibfm @ɛ'Bռ 隵I sdɚiI+@=I i i =) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:43:03.7212 LVL= 17520, 28385, 23842, 32755, AGC= 57, IDX= 425, 0.31,-0.100,-1.911,-1.602,-1.024, PHS= 1.013,-0.840,-0.581, RAW= 97.4, 4.8, CAL= 106.8, 3.2, ROT= 43.2, -3.2 Ygot valid direction response: 22:43:03.7212 LVL= 17520, 28385, 23842, 32755, AGC= 57, IDX= 425, 0.31,-0.100,-1.911,-1.602,-1.024, PHS= 1.013,-0.840,-0.581, RAW= 97.4, 4.8, CAL= 106.8, 3.2, ROT= 43.2, -3.2 PDAT read: Bearing 43.2, -3.2 (Local) ~Local bearing/azimuth received: Bearing 43.2, -3.2 (Local) DAT read: Range 10 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.2 m/s ,DAT read: user:2818> %BDAT read: Tx time:22:43:04.8112 -$Ping request sent.-ۚw,m޿Af-@Yf@fU?9f`l=yfHP?Ա?,rKs?@9Z ?@s?`?ɨf-@fp;fCrWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:22:43:04.8104 y݃B1"II=LI=4٢MR MO=9M9Q U>QQ eG٣ay} }> Nusing accuracyPremultiplier from configh59 n?h5Y i@@VE:n;ʿh5 |@kWNe?kۍl k k=_޿A:kBBk5BZksY@"}5>صgc=\@eǿB^1Oo?JkPCRk*;=[{9U>Pt\@ΰRȘ?̿/G'?"k-*kck]e?knjn 2k3Ckk/_ kkCIBkڀ@ addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 3.526549 s, deltaX: -1.500000 m, approachRate: -0.425345 m/s, rangeRepo size: 4  Added new target pos. range: 116.900002 m, bearing: 194.673718 deg, lat: 36.903664 deg, lon: -122.120694 deg, deltaT: 3.526549 s, deltaX: -1.500000 m, approachRate: -0.425345 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.90 m.BjJj ProNav: ac range: 116.900002 m, nav range: 50.315750 m, bearing: 230.714209 deg, approach rate: 0.000000 m/s, LOS rate: -0.442509 deg/s, cmd heading: 352.299272 deg, new cmd heading: 351.817625 deg. 2j HeadingCmd: 6.140376 target range: 116.900002 and range: 116.90 m. j }@j j j i)hIhQhQhQfQfYfYrf]9]@bf]qS?ɛ#B 0 I 4ɚiI#@=I<ii=)}@)*Fm?2Fi:FiBFmP5JFi AIAzKK9KKoK RK>JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.G |=Ga Bi O >¡w,b޿Af.o@Yf~@f~9f=yfH?@޳? JB? `+/?p?@?ɨf.o@f;fCyrփBr("IIIm?3٢[  N=9mQ > G٣y%Ѵ %> -Nusing accuracyPremultiplier from config)5h59- n?5h5Y-ۼ i-@1==@-VE-l;-%;-8h5A E@EEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 116.90 m.Bj})Jj}) ProNav: ac range: 116.900002 m, nav range: 50.436619 m, bearing: 230.495362 deg, approach rate: 0.328585 m/s, LOS rate: -0.593516 deg/s, cmd heading: 351.817635 deg, new cmd heading: 351.162696 deg. 2j˼HeadingCmd: 6.128945 target range: 116.900002 and range: 116.90 m. jR @jjjihhhhfffrfbf?ɛUB]{ Y]6IY ]ɚYiaIe@=Ieiiim1=)mR @)iWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F92F9:FABFEP0JFIJJJJJJJJHO>I III&I.I6I<:I FBIJIRIZI =bI =jI[4GN= 5 q$?I9 Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987831w,2>޿AZ@YZ *@Z9ZL=yZHg??Pk#?@Q? c?`?ɨZ@ZR;Xyb܃Bb0"I)d dlnAeMb@Mb@Mb@aaa a)aYezG?Zd;Oy&1ye ?ej G٣*OGy`ɼ > Nusing accuracyPremultiplier from configh5915n?h5Y i@?5:5m*5@ VE<a<h5=֒B E@EEZjFNOT Ignoring new targets: 116.90 m.Bj6Jj6 ProNav: ac range: 116.900002 m, nav range: 50.561325 m, bearing: 230.251184 deg, approach rate: 0.283269 m/s, LOS rate: -0.553279 deg/s, cmd heading: 351.162701 deg, new cmd heading: 350.432016 deg. 2jڽHeadingCmd: 6.116192 target range: 116.900002 and range: 116.90 m. jٷ@jjjihhhhBfffrfbf ?ɛB~ϼ 隽I 萼ɚiI@=I1+iiۡ=)ٷ@)*F92F9:F9BF9JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239540Ge \=Gm ?Gm >G9 B O > ! I! )w,޿A6ɾ@Y6p@6v96a-=y6H@?k?W`?uڰ N?? ?ɨ6ɾ@6\V;4yRBR7"II^I^(*2٢< S=9Q  >    G٣ yм > Nusing accuracyPremultiplier from config%h59"Hn?%h5Y i@!-4-@#VE@::Bh51 5=@9zK]cLK]]9KYK]pK]   BKa:KepAZjq}FNOT Ignoring new targets: 116.90 m.Bj}-Jj}- ProNav: ac range: 116.900002 m, nav range: 50.674644 m, bearing: 230.026824 deg, approach rate: 0.307371 m/s, LOS rate: -0.607199 deg/s, cmd heading: 350.432008 deg, new cmd heading: 349.760465 deg. 2j[мHeadingCmd: 6.104472 target range: 116.900002 and range: 116.90 m. jW@jjjihhhhfffrfbf?ɛB&ͼ ȽI 51uɚ1EGi9IE?=utA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495635I7 7YtAyiBii,=)W@)*F2F:FBF_0JFG=G B 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750399O >w,#޿AH4I4 I6"II6KBI4&I4.I46I6<:I6& Fy߃B%3"IMb@Mb@Mb@ )Y`"?i|?5~jty?qDA @)@Iy@I`I(*4٢5ev =9=9EQ E>IQ ]G٣Yye m> }Nusing accuracyPremultiplier from configyh59}A^n?h5Y}b i} @?:J@}(VE};}Ѭ;}/h5 t$?IגB ~@MEZjq}FNOT Ignoring new targets: 116.90 m.Bj} Jj}  ProNav: ac range: 116.900002 m, nav range: 50.803501 m, bearing: 229.761788 deg, approach rate: 0.274404 m/s, LOS rate: -0.562968 deg/s, cmd heading: 349.760464 deg, new cmd heading: 348.967427 deg. 2j.HeadingCmd: 6.090631 target range: 116.900002 and range: 116.90 m. jr@jjjihhhh}Bfffrfbf@~?ɛEBEKq¼ Ed}7=隍XI o0ɚiI?=I-EiiG=)r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000090*FY2FY:FYBFaJFaG 6=G B O >)w,R޿A>@Y> @>j9>ic|=y>H? G? szͿ`?Ul??@?ɨ>@>;>CyNBR9"IiV!>IV>IZ7IZ3٢b< bd=9fwU;Q f>dd jG٣j+OGyj j>nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251204 zNusing accuracyPremultiplier from configt~h59von?h5Yv iv@c@v+VEvK;vK;vFh5ݒB @Zj9=FNOT Ignoring new targets: 116.90 m.BjE^5JjE^5U ProNav: ac range: 116.900002 m, nav range: 50.901138 m, bearing: 229.551400 deg, approach rate: 0.294916 m/s, LOS rate: -0.634263 deg/s, cmd heading: 348.967424 deg, new cmd heading: 348.337497 deg. 2jUټ]HeadingCmd: 6.079636 target range: 116.900002 and range: 116.90 m. j]a@jYjYjYiahahahahafififirfibfu`Q@ɛ Bo¼ 隭I (ɚiIE?=I-oPii'=)a@)EEJJJJJm:J9JJJ;aJ;aJ;%;aJ;%;a*F2F:FBF0JF"GGG-=GaBqO9> IzKWMK9KKqK  $&2CMPOMHEDA><54)&#   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503055~w,ڬ߿A2@Y2 @2li92r=y2H ?&?`Pg? @k?W??ɨ2@27ۑ;2CyBBB8"IIJNIJ@ 4٢-V -I=95?5Q 5>19 =G٣9yE E> MNusing accuracyPremultiplier from configIUh59Mn?Uh5YM  iM@Yeoe@M/VEM?;M7@;Mh5i m@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.90 m.Bj4*Jj4* ProNav: ac range: 116.900002 m, nav range: 51.014233 m, bearing: 229.303469 deg, approach rate: 0.272116 m/s, LOS rate: -0.595223 deg/s, cmd heading: 348.337489 deg, new cmd heading: 347.595388 deg. 2j?̼HeadingCmd: 6.066684 target range: 116.900002 and range: 116.90 m. jF"@jjjihhhhfffrfbf@æ@ɛB  I ɚ i I ?=I]ii=)F"@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759346jHYbH]<HeN>Ia IaIaIe =&Ia.Ia6Ie <:Ie FG=GqB u$?IO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:43:07.3700  TRx dataTimestamp_ set to:1736376188.516712 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008257_;w,"߿AMlK@YMZ@M|9MFj=yMH ޣ??ID¿R?p^՞?`K??ɨMlK@M};MCyޭBޭ<"IUMb@Mb@Mb@QQQ Q)QYU5^I ?Q~jthyU?UuUDUA U@)U@IUv@QyU@Im7Im3٢< 2=9Y:Q > G٣y¼ > Nusing accuracyPremultiplier from configh59n?h5Y iH@?:A}@3VEB;;h5ޒB x@EZjFNOT Ignoring new targets: 116.90 m.Bj*Jj* ProNav: ac range: 116.900002 m, nav range: 51.134102 m, bearing: 229.035634 deg, approach rate: 0.267817 m/s, LOS rate: -0.597003 deg/s, cmd heading: 347.595376 deg, new cmd heading: 346.793809 deg. 2j̼ HeadingCmd: 6.052694 target range: 116.900002 and range: 116.90 m. j @j jjihhhhlBfffrf!bf%l: @ɛmBm׭ quGIq }bdɚyiyI}L|?=Ilii]=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259157E5c=JJJ1JJݒ:J*9J3JJ;J;J(;J(;*F ?2F :F BF `0JF G  G qAG =GA BY I O} >dw,^<߿Ay~BH"I)  IOI 4٢-Y= -c=95Q 5>11 5G٣5,OGy= => MNusing accuracyPremultiplier from configAMh59E@n?Mh5YE; iEj@QQU@E7VEE:E:Eh5a e@azKoMK9KKrK #%$Zj FNOT Ignoring new targets: 116.90 m.Bj E#Jj E#mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514802 ProNav: ac range: 116.900002 m, nav range: 51.231205 m, bearing: 228.821389 deg, approach rate: 0.259276 m/s, LOS rate: -0.570971 deg/s, cmd heading: 346.793812 deg, new cmd heading: 346.152325 deg. 2jüHeadingCmd: 6.041498 target range: 116.900002 and range: 116.90 m. jS@jjjihh!hQhqfyfyfrfbf” @ɛB@Н 隝I jɚiIT?=I|wiQiU=)]S@)iEE8=*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:43:07.3700 LVL= 17232, 26609, 22226, 28275, AGC= 59, IDX= 428,-0.17,-1.314,-3.047,-2.979,-2.378, PHS= 1.152,-0.623,-0.604, RAW= 90.5, 0.9, CAL= 98.1, -2.8, ROT= 51.9, 2.8  Ygot valid direction response: 22:43:07.3700 LVL= 17232, 26609, 22226, 28275, AGC= 59, IDX= 428,-0.17,-1.314,-3.047,-2.979,-2.378, PHS= 1.152,-0.623,-0.604, RAW= 90.5, 0.9, CAL= 98.1, -2.8, ROT= 51.9, 2.8  PDAT read: Bearing 51.9, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 51.9, 2.8 (Local) - DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.2 m/s G= $=Hq Iq  Iu "IIu PBIu  =&Iq .Iq 6Iu <:Iu F ,DAT read: user:2819>  BDAT read: Tx time:22:43:08.4612  $Ping request sent. w,W߿AV@YV@ZJDAT read: TxSync time:22:43:08.4604 bR#Rx 1: Read range and direction messages.b^direction in FSK: [-0.102341,0.099241,0.989787]f:publishing transmit ping timeQfFpublishing direction and range info؁9؅E3dyg?U?V?9VY=yVH@a? ?4d/ſ?V:?3??ɨV@VN3;TyBS"Iy؅B؁؅PC؅g مV)مsnIم;iمt?م|مم-?م< Uv$?IQ څR(?)څ+HIڅ5g?iڅ+H=ځځۅ$]v?z߿]#+0?)ۅʧIۅ viۅ@ۅہہ}:publishing transmit ping timeQ}Fpublishing direction and range info؁9؅E3dyg?U?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ$]v?z߿]#+0?)ہIہiہہہہMb@Mb@Mb@ )Y ףp= ?:v~jtx?yQ?T;hA p@)@Iy=@IHI<3٢-M= -%=9-8:Q ->11 5G٣1y= => MNusing accuracyPremultiplier from configAMh59E^n?Uh5YE0 iE@U?U:U U@E;VEE<;E;EIh5ߒB Z@Ek+"j?kZ  k k Q߿A:kBBk9BZkj(@"B|^'j"'@:׭\@E3dyg?U?Jk@Rk*nSWN,QJQ\@^\@iIB,YQ?Qȯ?"k@*krbkj?kA 2k4Ckk"2 k1CkD%Bko@ addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.785535 s, deltaX: -1.000000 m, approachRate: -0.264163 m/s, rangeRepo size: 4  Added new target pos. range: 115.900002 m, bearing: 151.014854 deg, lat: 36.903664 deg, lon: -122.120525 deg, deltaT: 3.785535 s, deltaX: -1.000000 m, approachRate: -0.264163 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjJj ProNav: ac range: 115.900002 m, nav range: 41.317318 m, bearing: 214.581628 deg, approach rate: 0.000000 m/s, LOS rate: -0.570971 deg/s, cmd heading: 346.152321 deg, new cmd heading: 345.293590 deg. 2jHeadingCmd: 6.026510 target range: 115.900002 and range: 115.90 m. j,@jjjih h h h Bfff1rf=\@bf=@I?ɛB 隍)w,s߿A6]@Y6em@6H96U=y6H}? 1?`jiƿx?n!?`??ɨ6]@6*;6CyRBR]"IIZIZV83٢b== bl=9f&Q f?xx zG٣xyzq ~> Nusing accuracyPremultiplier from config h5JJJ0JJ:J9Jـ3JJl;Jm;J';J';9\n?5h5Y i@155@?VE;;Xh59 E@EEZjFNOT Ignoring new targets: 115.90 m.Bj7Jj7 ProNav: ac range: 115.900002 m, nav range: 41.452747 m, bearing: 214.361462 deg, approach rate: 0.396825 m/s, LOS rate: -0.643004 deg/s, cmd heading: 345.293602 deg, new cmd heading: 344.635294 deg. 2jܼHeadingCmd: 6.015020 target range: 115.900002 and range: 115.90 m. j {@jjjihhhhfffrf)bf-@4?ɛuBu| qu=Iq }IɚyiyI}>=ILii=) {@) w$?I*F]?2FY:FYBF]P0JFYzKeLK9KKsK  Will construct direction to contact in vehicle frame from tetrahedron phase data.G59=G B O% > w,ˌ߿AyB`"Ii%=I%l> %=%=I-"I-q3٢= < =C=9EQ E>AA MG٣M-OGyM M> ]Nusing accuracyPremultiplier from configQ]h59Uon?]h5YUQ iUD@aae@UCVEUv:U:Uh5q u@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.90 m.Bjv7Jjv7 ProNav: ac range: 115.900002 m, nav range: 41.613529 m, bearing: 214.103213 deg, approach rate: 0.400992 m/s, LOS rate: -0.641586 deg/s, cmd heading: 344.635281 deg, new cmd heading: 343.863576 deg. 2j(ܼHeadingCmd: 6.001552 target range: 115.900002 and range: 115.90 m. j @jjjihhhhfffrfbfO?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛBe3s <=I ɚ9i9I=K>=I]C2ii%=) @)HL>I I"II`BI&I.I6I<:I F*F?2F!:F!BF)JF1 I% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.165783Ge J=GY Ba O >'5w,߿A:G@Y:@:9:r7=y:Hj?W?ᢿȿ@Wg? >`??@X?ɨ:G@:7;8yRBRd"IMb@Mb@Mb@ )Y333333?~jtMb?y?<A )Iy@II(٢s< B=9Z;Q > G٣y > Nusing accuracyPremultiplier from configh590n?h5Y i@? :  @GVE^;/];h5%B %@%}EZjamFNOT Ignoring new targets: 115.90 m.Bjm-Jjm- ProNav: ac range: 115.900002 m, nav range: 41.782135 m, bearing: 213.841493 deg, approach rate: 0.393117 m/s, LOS rate: -0.607755 deg/s, cmd heading: 343.863579 deg, new cmd heading: 343.081637 deg. 2jмHeadingCmd: 5.987904 target range: 115.900002 and range: 115.90 m. j霿@jjjihhhhBfffrfbf?ɛEBU0_ QUpz=IQ UZɚQiQI]i>=Ie/iaiel=)m霿@)i*F?2F:F BF _0JF G GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.419745G 7=GBOj>J=J=J9J9J=-:J=9J9J9J=;J=;J=!;J=!; x$?I w,y߿A:϶@Y:J@:[ټ9:w>=y:H`_? I?;ȿ[? 9?ʧ?@?ɨ:϶@:M;:CzK^MKK^ػ9K\K^tK^yfBdrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.669487Iv2Iv?3٢~; ~X=9;Q >   G٣ y   > Nusing accuracyPremultiplier from configh59o?%h5Y i@!%H%@JVE ;z ;h5) -@1ZjQ]FNOT Ignoring new targets: 115.90 m.Bj]3Jj]3m ProNav: ac range: 115.900002 m, nav range: 41.931335 m, bearing: 213.609503 deg, approach rate: 0.404303 m/s, LOS rate: -0.626408 deg/s, cmd heading: 343.081631 deg, new cmd heading: 342.388173 deg. 2jmּuHeadingCmd: 5.975801 target range: 115.900002 and range: 115.90 m. ju9@jyjyjyiyhyhyhhfffrfbf@Њ?ɛB9O 隽=I W(ɚiI.g>=Iwaii:=)9@)*FU?2FQ:FQBF]0JFYGS=GqWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.925206BO >H K>I  I "II jBI  =&I .I 6I ү<:I FBIJIRIZIbIjI+5Hw,[߿A I>#k@Y>z@>ȼ9>>=y>H@P?@?$}#ʿ`L? M?.ϧ??ɨ>#k@>N;>CyNBNm"I)P PTVAMb@Mb@Mb@ )Y7A`?X9vy&1|?y?`;@ )@II@y@II٢= ?=9,;Q > G٣.OGy+ > Nusing accuracyPremultiplier from configh59 $o?h5Y9 i @?:@NVEy;[;h5B %@Zj  FNOT Ignoring new targets: 115.90 m.Bj*Jj*% ProNav: ac range: 115.900002 m, nav range: 42.098503 m, bearing: 213.353494 deg, approach rate: 0.390928 m/s, LOS rate: -0.596307 deg/s, cmd heading: 342.388176 deg, new cmd heading: 341.623247 deg. 2j-̼-HeadingCmd: 5.962451 target range: 115.900002 and range: 115.90 m. j5e̾@j1j1j1i1h1h9h9h=Bf9fAfArfAbfEL@ɛރB6$; =I ɚiI8>=Ia7ii=)e̾@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174764*F2F:FBF0JFG L=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425449qw,'1߿AZ@YZ*@ZϜ9ZV:=yZH}@?`9?9ޟ$_˿;?X$s?@EG??ɨZ@ZD;ZCyr Brl"II~JI~)4٢ Ȼ  U=9q;Q > G٣y%-Ҽ %> -Nusing accuracyPremultiplier from config)5h59-d6o?5h5Y- i-Z@155@-RVE- ;-q ;-h5A EC@EzEZjimFNOT Ignoring new targets: 115.90 m.Bju2+Jju2+ ProNav: ac range: 115.900002 m, nav range: 42.247692 m, bearing: 213.123298 deg, approach rate: 0.389383 m/s, LOS rate: -0.598687 deg/s, cmd heading: 341.623249 deg, new cmd heading: 340.935136 deg. 2joͼHeadingCmd: 5.950441 target range: 115.900002 and range: 115.90 m. jj@jjjihhhhfffrfbf*@ɛڃB;- qu=Iq }ߐɚyiyI>=I{]iio=)j@) -z$?I1*Fm?2Fi:FiBFmW5JFi)Q YGvA %Y%vAy%mB}%@BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677463zKUyJKUh9KQKUuKU RKe ?JKe?G=G B O >Yw, Ay] B]j"IImXIm4٢}ջ C=9Q > G٣y > Nusing accuracyPremultiplier from configh59^Jo?h5Y i@@VVE ;z:h5 Z@B*** querying acoustic contact ***jj]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:43:11.0187 eTRx dataTimestamp_ set to:1736376192.297365mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.931260Zjq}FNOT Ignoring new targets: 115.90 m.Bj}!Jj! ProNav: ac range: 115.900002 m, nav range: 42.410957 m, bearing: 212.874420 deg, approach rate: 0.372392 m/s, LOS rate: -0.565480 deg/s, cmd heading: 340.935149 deg, new cmd heading: 340.191433 deg. 2j ¼HeadingCmd: 5.937460 target range: 115.900002 and range: 115.90 m. j@jjjihh hhfffJsK{m3 K{S}-HmI>ImC Im"IImyBIi&Ii.Im8D6Im<:Im FKsKs"KsJ)J-J)J)J)J-O9J)J)J-;J)J-e,;J-f,;rfybf}@N@ɛՃBK4 p=I  ɚiI+==IiiS= !I%h)@))*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181396G =G B O > w,(AFV@YF9f@F؎9FO%=yFH ???t!Zο$?ڑ?§??ɨFV@Ff;FCy^ B^i"Iif>If< ]=]= Mb@Mb@Mb@    ) Y $C?~jtMbP?y ?  : QA @) @I @ y I%II%d4٢-> 5-=95c99 =G٣=/OGyEN E> MNusing accuracyPremultiplier from configIUh59MYao?Uh5YM iM@]k?]:]㚾e@M[VEME;MzD;Mh5mB mt@mwEZjFNOT Ignoring new targets: 115.90 m.Bj89Jj89 ProNav: ac range: 115.900002 m, nav range: 42.594357 m, bearing: 212.579156 deg, approach rate: 0.404069 m/s, LOS rate: -0.647728 deg/s, cmd heading: 340.191423 deg, new cmd heading: 339.309518 deg. 2jC޼HeadingCmd: 5.922068 target range: 115.900002 and range: 115.90 m. j@jjjihhhh{Bfffrfbf @ɛ}уBw 隝=I DɚiI==I_举ii2=)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:43:11.0187 LVL= 11760, 24513, 17522, 26291, AGC= 57, IDX= 430, 0.39,-1.221,-2.843,-3.072,-2.206, PHS= 1.073,-0.590,-0.869, RAW= 82.4, 4.3, CAL= 87.6, 2.8, ROT= 62.4, -2.8 MYgot valid direction response: 22:43:11.0187 LVL= 11760, 24513, 17522, 26291, AGC= 57, IDX= 430, 0.39,-1.221,-2.843,-3.072,-2.206, PHS= 1.073,-0.590,-0.869, RAW= 82.4, 4.3, CAL= 87.6, 2.8, ROT= 62.4, -2.8 MPDAT read: Bearing 62.4, -2.8 (Local) U~Local bearing/azimuth received: Bearing 62.4, -2.8 (Local) mDAT read: Range 10 to 50 : 114.9 m (Round-trip 153.3 ms) speed 0.0 m/s ,DAT read: user:2820> BDAT read: Tx time:22:43:12.1113 $Ping request sent. {$?Iw,BA.Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:22:43:12.1105 zK\LK 9KKvKBK%qA:K%qA%)@Y%@%Rh{9%J=y%H _?Q? п?\ߠ`l?@t??ɨ%)@%z;%Cy]B]^"II2I?3٢G h=9;Q > G٣y > Nusing accuracyPremultiplier from configh59Zro?h5Y i@͡@^VE::h5B  @tEk=DCk?k=I k9 k=Q3A:k=BBk=I  I "II ~BI  =&I .I 6I <:I FJ J 9J J J J J ;%;J ;%;Ge )=G1 BA O] > I 5w,ga\A2t@Y2#@2fsd92=y2H?;?`;0п@?`?ٞ 0??,?ɨ2t@25;0yRBRb"IEMb@Mb@Mb@AAA A)AYE7A`?Zd;MbyE?EyEE@ EQ@)E@IE@AyEQ@I]>I]3٢mJr< mN=9mg;Q u>qq uG٣y > Nusing accuracyPremultiplier from config i59o? i5Y i@Y?:`@bVE #;";|i5! %@)ZjIUFNOT Ignoring new targets: 114.90 m.BjU-Jj]-e ProNav: ac range: 114.900002 m, nav range: 30.779274 m, bearing: 190.534431 deg, approach rate: 0.526896 m/s, LOS rate: -0.607193 deg/s, cmd heading: 338.587312 deg, new cmd heading: 337.871274 deg. 2jm[мmHeadingCmd: 5.896966 target range: 114.900002 and range: 114.90 m. jm@jqjqjqiqhyhyhyh}pBfffrfbf )?ɛɃB 隽=I L䍼ɚiI==Ižii=)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFmW0JFiGE=G!B9OeV>% Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,HvA 2@Y2_@2G92/(=y2H`?? rJѿ?@5?@x?p?ɨ2@2 ;0yvBv["I)   AI&I3٢%YҼ %O=9%F;Q ->)) -G٣-0OGy5=' 5> =Nusing accuracyPremultiplier from config9Ei59=o?Ei5Y=  i=@IM>žM@=eVE=:=:=i5Q U:@]qEZjFNOT Ignoring new targets: 114.90 m.Bj&Jj& ProNav: ac range: 114.900002 m, nav range: 30.968372 m, bearing: 190.310904 deg, approach rate: 0.495975 m/s, LOS rate: -0.582696 deg/s, cmd heading: 337.871263 deg, new cmd heading: 337.204806 deg. 2jǼHeadingCmd: 5.885334 target range: 114.900002 and range: 114.90 m. jT@jjjihhhhfffrfbf`? =|$?I9ɛ=ŃBEQ AEl=IA E+ɚIiIIM==I-˾ii=)T@)*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKmBoIKm9KiKmwKm=roZMG=G B O% >#w,AZ\c@YZr@Z29Z=yZH?@q?1 ҿC?Ӟ B?`ۡ? ?ɨZ\c@Zf;ZCyfBfL"IIvIv3٢~| ~M=9~2W;Q > G٣y 7  > Nusing accuracyPremultiplier from configi59Do?i5Y{ i@!%uξ%@iVE;B;G i5) -@)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 114.90 m.BjeQ+JjmQ+} ProNav: ac range: 114.900002 m, nav range: 31.165178 m, bearing: 190.072518 deg, approach rate: 0.497762 m/s, LOS rate: -0.599116 deg/s, cmd heading: 337.204800 deg, new cmd heading: 336.494198 deg. 2j}ͼHeadingCmd: 5.872931 target range: 114.900002 and range: 114.90 m. j@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.frfbf%N?ɛBx, =I! }ɚyiyIc==ZHRHHG>I I"IItBI =&I.I6Iܯ<:I FJ%J%J!J!J%M:J%9J!J!J%;J% ;J%!;J%!;I ҾiiwW=)@) -~$?I)*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743936G {=G B O >9*w,AyBO"IMb@Mb@Mb@ )Yףp= ?~jt~jty?Ľ`@ @)I@y@ILI4٢t"< ==9Q > G٣y > Nusing accuracyPremultiplier from configi59o?i5Y i@ ?:羑@nVEa;;i5B @nEZj9=FNOT Ignoring new targets: 114.90 m.BjMY?JjMY? ProNav: ac range: 114.900002 m, nav range: 31.385649 m, bearing: 189.780436 deg, approach rate: 0.508677 m/s, LOS rate: -0.669165 deg/s, cmd heading: 336.494187 deg, new cmd heading: 335.624167 deg. 2j弝 HeadingCmd: 5.857747 target range: 114.900002 and range: 114.90 m. j r@j j j i h hhhWBfffrfbfK?ɛB5 隕=I ɚiI==I!پiiD=)r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996176*F}?2Fy:FyBF0JFG]FM=GB!O=r> I0w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&:?&=&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247605BFJ@YBY@B/9Bީhh jG٣n1OGynɾ ]> eNusing accuracyPremultiplier from configami59eo?mi5Ye ieK@quu@eqVEeU:e:emi5y }@yzKR]NKs9KKxKIHC=841/.,,.40.+*%"%$!!#,8RZjFNOT Ignoring new targets: 114.90 m.BjCJjC ProNav: ac range: 114.900002 m, nav range: 31.576771 m, bearing: 189.512784 deg, approach rate: 0.492305 m/s, LOS rate: -0.685259 deg/s, cmd heading: 335.624158 deg, new cmd heading: 334.826117 deg. 2j$뼝HeadingCmd: 5.843818 target range: 114.900002 and range: 114.90 m. j@j j j i h h hhff1f9rf9bf=>@ɛB(8 隥=I <ɚiI==Iii=)@)*F?2F:FBFU5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502900Gea=H F>I  I "II `BI  =&I .I 6I <:I FJI JM JI JI JI JM u9JI JI JI JI JM /;JM /;G B O > $?I 7w,ܷA6ж@Y6R@6B96{II MG٣IyU` U> ]Nusing accuracyPremultiplier from configYei59]o?ei5Y]? i]@m%?m:mm@]vVE];]:]i5}B }r@}kEZjFNOT Ignoring new targets: 114.90 m.BjM[Jjm[} ProNav: ac range: 114.900002 m, nav range: 31.773018 m, bearing: 189.200022 deg, approach rate: 0.483784 m/s, LOS rate: -0.766249 deg/s, cmd heading: 334.826118 deg, new cmd heading: 333.893714 deg. 2j}wHeadingCmd: 5.827545 target range: 114.900002 and range: 114.90 m. j?{@jjjihhhh5Bfffrfbfw@ɛB< \=I ɚiIE==I%Ii!i%g=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751284)%?{@)Q*F2F:FBF@5JFG&=GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:43:14.6681  TRx dataTimestamp_ set to:1736376195.824588 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004212<=w,DA6Y@Y6~h@696!TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\bi59^o?bi5Y^ i^@dff@^zVE^ :^*:^Mi5h j@jhEZjY]FNOT Ignoring new targets: 114.90 m.BjeMYJjeMY $?I ProNav: ac range: 114.900002 m, nav range: 31.957369 m, bearing: 188.902435 deg, approach rate: 0.473495 m/s, LOS rate: -0.759923 deg/s, cmd heading: 333.893716 deg, new cmd heading: 333.006180 deg. 2jaHeadingCmd: 5.812054 target range: 114.900002 and range: 114.90 m. jY@jjjihhhh!f!f!f!rf!bf- @ɛBa 9 隝=I 4ɚiI==I8ii=)Y@)*Fe?2Fi:FiBFmP0JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255323zK7NK9KKyK|vnkhb^ULKHDC=;;87533110/-,))&%$$$#!   G5=Ga Bq O >#Dw,\A2@Y2O@2–):92/L؃B>*"I)@ @DFAINTIN4٢bۻ fH=9j;Q n>pt vG٣v2OGyz ~> Nusing accuracyPremultiplier from config%i59p?-i5Y i@)-D-@~VES;LC;i51 =@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5109429B*** querying acoustic contact ***jjjHabHaH}D>Iy I}"II}KBI} =&Iy.Iy6I}<:I} FBI=áCJI=áCRI9ZI= =bI= =Zj%FNOT Ignoring new targets: 114.90 m.jI=iN5 IBj:Jj:5 ProNav: ac range: 114.900002 m, nav range: 32.155617 m, bearing: 188.579194 deg, approach rate: 0.402587 m/s, LOS rate: -0.652363 deg/s, cmd heading: 333.006174 deg, new cmd heading: 332.042525 deg. 2j5߼mHeadingCmd: 5.795235 target range: 114.900002 and range: 114.90 m. jmr@jqjqjqiqhyhhhfffrfbfD @ɛB`; (=I %wɚ!i!I%L>=I-i)i-=)-r@)1*F?2F:FBF4JFu Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:43:14.6681 LVL= 9968, 27121, 18962, 22371, AGC= 55, IDX= 440,-0.43,-0.413,-1.733,-2.595,-1.331, PHS= 1.006,-0.354,-1.266, RAW= 66.5, 6.3, CAL= 67.6, 7.8, ROT= 82.4, -7.8  Ygot valid direction response: 22:43:14.6681 LVL= 9968, 27121, 18962, 22371, AGC= 55, IDX= 440,-0.43,-0.413,-1.733,-2.595,-1.331, PHS= 1.006,-0.354,-1.266, RAW= 66.5, 6.3, CAL= 67.6, 7.8, ROT= 82.4, -7.8  PDAT read: Bearing 82.4, -7.8 (Local)  ~Local bearing/azimuth received: Bearing 82.4, -7.8 (Local)  DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed 0.0 m/s  ,DAT read: user:2821>  BDAT read: Tx time:22:43:15.7613  $Ping request sent. w?yu Bq u &u i u J)u cWIu 7iu Ā?u }?u J u ?u z0= u ?)u 'g >Iu X?iu 'g q q u @-?g^'ld@?)u CoIu ߽iu a;?u ?q q  :publishing transmit ping time  Fpublishing direction and range infoq 9u 1%FĿ*w?yq q q q q )q Iq iq q q q q q )q Iq iq q q u @-?g^'ld@?)q Iq iq q q q G= ?=GA GA G B! O= >Jw,&-Ab@YbJ$@bBw_;9b"=ybHAm? 4#?HV$ٿi?kc??ɨb@b;bCy~ӃB~%"IMb@Mb@Mb@ )Y#~j?sh|?ſ{Gzy%?)ף@ ~@)@Iy@IDI3٢-ď -=9-);Q ->11 5G٣1y=R => ENusing accuracyPremultiplier from configAMi59Ep?Ui5YE iE@UR+?U:UL']@EVEE 7;E5;EW i5B *@gEWill construct direction to contact in vehicle frame from tetrahedron phase data.k}>q?kI k k)%A:kBBkoBZk6?"E'8#2)w?Jka;?Rk?*Y[C_@N[8-YK@20Y@k?߰c?r?"k]B*k@kyq?k's? 2k%Ckj?kA kkפAk;*@e addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.778804 s, deltaX: -0.400002 m, approachRate: -0.105854 m/s, rangeRepo size: 4 u Added new target pos. range: 114.500000 m, bearing: 85.522641 deg, lat: 36.903843 deg, lon: -122.120173 deg, deltaT: 3.778804 s, deltaX: -0.400002 m, approachRate: -0.105854 m/s, posRepo size: 4 ZjqFNOT Ignoring new targets: 114.50 m.BjJj ProNav: ac range: 114.500000 m, nav range: 20.604990 m, bearing: 152.401667 deg, approach rate: 0.000000 m/s, LOS rate: -0.652363 deg/s, cmd heading: 332.042516 deg, new cmd heading: 331.184230 deg. 2jHeadingCmd: 5.780255 target range: 114.500000 and range: 114.50 m. j@jjjihhhhBfffrf\@bfE?ɛeBe 0 ae=Ia e㈼ɚiiiImO>=Iuiqi/=)@)JJJJJ-:J9JJa-@a-@a-@a5@ $?I*F-?2F):F)BF-P0JF1= GU |uAu A YY |uAy BGU I= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >Qw,&FAzK^NK^]9K\K^zK^  BKd:KfrAr@Yr2@r};9r=yrHB? ?ꇿ ٿg=IW@iiĸ=)Ǹ@)*F2F:FBF_0JFG=GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I"IIII MG٣M3OGyU ]Will construct direction to contact in vehicle frame from tetrahedron phase data. u> }Nusing accuracyPremultiplier from configyi59}?p?i5Y} i}x@0-?:^3@}VE};}o;})'i5B @dEZj!-FNOT Ignoring new targets: 114.50 m.BjU ػJjU ػe ProNav: ac range: 114.500000 m, nav range: 21.119623 m, bearing: 152.112357 deg, approach rate: 0.640726 m/s, LOS rate: -0.377769 deg/s, cmd heading: 330.848244 deg, new cmd heading: 330.327269 deg. 2jemHeadingCmd: 5.765298 target range: 114.500000 and range: 114.50 m. jS}@jjjihhhhBfffrfbfr?ɛ=BEjG t=I ɚiI>=I <i i =) S}@)1EIEMmA*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G LU=G B J= J9 J= /J9 J= :J9 J= (N3J9 O5 >]w,zA 2$?I0:ų@Y:Ժ@:ޙ;9:Ĥ=y:H@?`=?`ƈۿ?` 7ss>??ɨ:ų@:/;8yFBF5"IIRIRm?3٢V= Zh=9Zg;Q Z>X\ ^G٣\yb$ b> fNusing accuracyPremultiplier from configdji59fNp?ji5Yf if6@hj6j@fVEf:f;f5*i5p ra@pZjFNOT Ignoring new targets: 114.50 m.Bj\Jj\ﻝ- ProNav: ac range: 114.500000 m, nav range: 21.349497 m, bearing: 151.970225 deg, approach rate: 0.684266 m/s, LOS rate: -0.418528 deg/s, cmd heading: 330.327264 deg, new cmd heading: 329.905468 deg. 2j-5HeadingCmd: 5.757936 target range: 114.500000 and range: 114.50 m. j5A@j1j1j1i1hhhhfffrfbf;H?ɛ5B5-Ż 9= >I9 =#ӆɚ9i9IE>=IEviAiMܦ=)MA@)I*F)2F):F)BF-0JF)G=eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOJ>zKu MKu9KqKu{Ku-7.  RK} ?JK}?dw,/AV?c@YVr@V;9V3#=yVHS?7? `8ܿ?ң{d?P?ɨV?c@Vw3;VCy^B^?"IIfMIf{4rWill construct direction to contact in vehicle frame from tetrahedron phase data.٢v!= vI=9v;Q v>x| ]G٣Yye e> mNusing accuracyPremultiplier from configiui59m`p?ui5Ym im@y}9}@mVEm-;m.;m-i5 @aEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.50 m.BjbJjb컝 ProNav: ac range: 114.500000 m, nav range: 21.625933 m, bearing: 151.794201 deg, approach rate: 0.657506 m/s, LOS rate: -0.413323 deg/s, cmd heading: 329.905459 deg, new cmd heading: 329.384152 deg. 2jԍHeadingCmd: 5.748838 target range: 114.500000 and range: 114.50 m. j{@jjjihhhhfffrfbf?ZH9RH9HEE>IA IE"IIE2BIE =&IA.IA6IEů<:IE Fɛ]B]w Y]\%>IY e|ɚaiaIe>=Imiiimqߢ=)m{@)i $?I*F?2F:FBF%R5JF!Gޯ=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GpAGG B O >jw,A6 @Y6@6<96R,=y6H ?E?`ϕ`kܿ@o?D%`?w?ɨ6 @6;4y^B^P"IUMb@Mb@Mb@QQQ Q)QYU(\?ktƿ~jthyU'?U 0UDU@ U@)U@IU@QyU@ImVImn4٢}d= A=9w;Q > G٣4OGyּ > Nusing accuracyPremultiplier from configi59rp?%i5Y  i@%]-?%:%P9%@VE;;1i5-B 5@5^EZjaeFNOT Ignoring new targets: 114.50 m.Bjm.Jjm.廝} ProNav: ac range: 114.500000 m, nav range: 21.907074 m, bearing: 151.620858 deg, approach rate: 0.658381 m/s, LOS rate: -0.400729 deg/s, cmd heading: 329.384152 deg, new cmd heading: 328.870808 deg. 2j}HeadingCmd: 5.739879 target range: 114.500000 and range: 114.50 m. j@jjjihhhh/Bfffrfbf`@ɛB\2 6J>I BcɚiI?=I# ii\=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255204*Fm?2Fi:FiBFm'5JFi"Gu=Gu=GE=GB J%J%J%0J!J%:J%9J%ـ3J!O=P> Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506310qw,A6R@Y6Ĺ@6<966=y6Hi? n? oݿ_a?*oE{j??ɨ6R@62F;4yNBRX"IIZ>IZ3٢]N = ]M=9eA;Q e>aa mG٣iymּ m> uNusing accuracyPremultiplier from configq}i59u#p?i5Yu iuv@;@uVEu ;u;u4i5 @`EzKsLK9KK|KZjFNOT Ignoring new targets: 114.50 m.BjJj黝 ProNav: ac range: 114.500000 m, nav range: 22.158922 m, bearing: 151.462231 deg, approach rate: 0.656672 m/s, LOS rate: -0.408905 deg/s, cmd heading: 328.870822 deg, new cmd heading: 328.400361 deg. 2jPHeadingCmd: 5.731668 target range: 114.500000 and range: 114.50 m. ji@jjjihhhhfffrfbf`h@ɛ%B-h )-`>I) -sɚ)i)I50?=I=H0 i9i=T=)=i@)9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759874H=F>I9 I="II=7BI9&I9.I96I=Я<:I= FGU6= $?I G B O >* xw,A6l@Y6{@6\+<96HE=y6HG?`?7ݿ` >?!Jzk@R?@ ?ɨ6l@6N;6Cy> B>l"I Mb@Mb@Mb@    ) Y  r?7A`¿Mbp?y #?  ; 3@ Z@) @I @ y @I-II-d4٢5T= =M=9=L;Q =>AA EG٣AyMO M> UNusing accuracyPremultiplier from configQi59Uԓp?i5YU  iUV@'?:6@UVEUI xɚiI|S?=IiJE JE JA JA JE -:JE 9JA JA 6~w,sA I:@Y:p/@:[:<9:R=y:H#? u?v`v޿`}?mܩ ]`M???ɨ:@:Wv;:CyFBF{"IIRWIR44٢VB= ZS=9Z!;Q Z>\\ ^G٣\ybż b> fNusing accuracyPremultiplier from configdji59fߣp?ji5Yfv if3@hn8n@fVEf ;f ;f;i5p r@pZj)FNOT Ignoring new targets: 114.50 m.BjۻJjۻ ProNav: ac range: 114.500000 m, nav range: 22.662443 m, bearing: 151.178401 deg, approach rate: 0.682285 m/s, LOS rate: -0.384526 deg/s, cmd heading: 327.976996 deg, new cmd heading: 327.558388 deg. 2j򃼝HeadingCmd: 5.716972 target range: 114.500000 and range: 114.50 m. jp@jjjihhhh f f f rf bf 7X @ɛB; 隝~>I ~ɚiIc?=IRii=)p@)*FI2FI:FIBFM_0JFIGUrA GUrAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed 0.0 m/s u,DAT read: user:2822> }BDAT read: Tx time:22:43:19.4113 $Ping request sent. w,A2[ޱ@Y2@2NI<92K`=y2H@??`O?@޿`?@ R??ɨ2[ޱ@2Ԋ;2Cy:-B:"IIFCIF3٢Jn= NL=9R2 ;Q R>XX ZGfWill construct direction to contact in vehicle frame from tetrahedron phase data.didnJDAT read: TxSync time:22:43:19.4105 ٣z5OGy~H > Nusing accuracyPremultiplier from configi59p?%i5Y9 i @!%:%@VE';(;o?i5) -@5ZEMB*** querying acoustic contact ***jIjIm addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.527175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ZjimFNOT Ignoring new targets: 114.50 m.BjuѻJjuѻ ProNav: ac range: 114.500000 m, nav range: 22.926575 m, bearing: 151.025795 deg, approach rate: 0.642357 m/s, LOS rate: -0.366858 deg/s, cmd heading: 327.558387 deg, new cmd heading: 327.105851 deg. 2j{HeadingCmd: 5.709074 target range: 114.500000 and range: 114.50 m. j@jjjihjHbHHI I"IIPBI&I.I6Iү<:I FhhhfffrfbfE ? -$?I)ɛB; ­>I yɚiI-u?=IEim ]Hw,R/A6@@Y6@6@:<96C]=y6H@ G٣y > Nusing accuracyPremultiplier from configi59p?i5Y" i @H?:,@VEY;;2Ci5 @Zj!-FNOT Ignoring new targets: 114.50 m.Bj-TJj-TE ProNav: ac range: 114.500000 m, nav range: 23.190556 m, bearing: 150.914031 deg, approach rate: 0.615472 m/s, LOS rate: -0.257610 deg/s, cmd heading: 327.105846 deg, new cmd heading: 326.774377 deg. 2jM0UHeadingCmd: 5.703289 target range: 114.500000 and range: 114.50 m. j]X@jYjYjYiYhYhYhaheBfafafirfibfm4?ɛ{B~?< 隝>I FuɚiIt?=ItiΓ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0047272w,7IA6 [@Y6j@6If=<96.ok=y6H?v?`߿?@u ?i??ɨ6 [@6Ȗ;6CyFB"III3٢5= =L=9=9Q =>AA EG٣AyEc E> UNusing accuracyPremultiplier from configI]i59M/p?]i5YM& iM@Y].]@MVEMz ;M ;MFi5eB m<@mWEZjFNOT Ignoring new targets: 114.50 m.BjJj ProNav: ac range: 114.500000 m, nav range: 23.426809 m, bearing: 150.811998 deg, approach rate: 0.613417 m/s, LOS rate: -0.262251 deg/s, cmd heading: 326.774391 deg, new cmd heading: 326.471381 deg. 2j3HeadingCmd: 5.698000 target range: 114.500000 and range: 114.50 m. jV@jjjihhhhfffrfbf%?zKk3IKs9KK~K>f+=MZZOJ@/yqle]ɛ xB 1f< 隵>I  (pɚiIl?=IiȬWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256789HI I"IIoBI =&I.I6I*<:I- FBIJIRIZI =bI =jIǮ4G= I IQ G B) O >:[w, cAy~TB"IMb@Mb@Mb@ )Yl?MbMb?y?<A )I@y@II(*2٢ = A=9Q > G٣6OGy > Nusing accuracyPremultiplier from configi59^p?i5Y* i@}?:!@VE;;CJi5! %Y@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509205ZjYeFNOT Ignoring new targets: 114.50 m.Bje?Jjm?} ProNav: ac range: 114.500000 m, nav range: 23.677223 m, bearing: 150.739068 deg, approach rate: 0.581884 m/s, LOS rate: -0.167675 deg/s, cmd heading: 326.471376 deg, new cmd heading: 326.254901 deg. 2j}%滝HeadingCmd: 5.694222 target range: 114.500000 and range: 114.50 m. j7@jjjihhhhʃBfffrfbf@i?ɛsB]}< qu >Iq uiɚyiyI}^?=IFiV E $?IA w,|A>z@Y>@>k<9>s=y>H?@7>?@"H?@V?sTx??ɨ>z@>;>Cyb`Bb"IIj5Ij3٢vPw= zZ=9z|;Q z>|| ~G٣|yM >  Nusing accuracyPremultiplier from config i59 up?i5Y . i %@C$@ VE (; ; Mi5%B %@%TEZjIMFNOT Ignoring new targets: 114.50 m.BjU%WJjU%W)i mCGUvAuA YvAyB ProNav: ac range: 114.500000 m, nav range: 23.898893 m, bearing: 150.669081 deg, approach rate: 0.601324 m/s, LOS rate: -0.188094 deg/s, cmd heading: 326.254914 deg, new cmd heading: 326.046900 deg. 2jHeadingCmd: 5.690592 target range: 114.500000 and range: 114.50 m. jT@jjjihhhhfffrfbf` ?ɛoB’< >I -/acɚ)i)I-R?=I=3iE^{d}w,A6ǰ@Y6=׷@6`<96jz=y6H@y? f?Mfh?3됿J?`?ɨ6ǰ@6S;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264720yJkBJ"IIRLIR4٢ZW= ZL=9Zw;Q ^>\\ bG٣`ybod b> fNusing accuracyPremultiplier from configdji59f}q?ji5Yf1 if,@ln%n@fVEf ;fK ;f Qi5p v@vVEEB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 114.50 m.BjmfRJjmfRZHRH@AHG>I I #IIBI&I.I6IZ<:IP F= ProNav: ac range: 114.500000 m, nav range: 24.135181 m, bearing: 150.592702 deg, approach rate: 0.574684 m/s, LOS rate: -0.183944 deg/s, cmd heading: 326.046894 deg, new cmd heading: 325.820003 deg. 2j=zEHeadingCmd: 5.686632 target range: 114.500000 and range: 114.50 m. jE@jAjAjAiAhAhIhIhIfIfQfQrfQbf]"@ $?IhJJJJJ:J9JJJ;aJ;aJ;aJ;aɛkB$< A>I 0]ɚi)I5z??=Imiu35Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517463Ŗw,A6Ċ@Y6@@6a]<96n{=y6HY?˚?@b@rH?@D`lK }g?D?ɨ6Ċ@6Ɉ;6CyBjBB"IEMb@Mb@Mb@AAA A)AYE/$?:v?yE&?E̼ETqq uG٣u7OGy} > Nusing accuracyPremultiplier from configi59Qq?i5Y`5 i1@T?:J@VE9;7;Ti5B @SEZjFNOT Ignoring new targets: 114.50 m.Bj"Jj"𺝊 ProNav: ac range: 114.500000 m, nav range: 24.374977 m, bearing: 150.548802 deg, approach rate: 0.579082 m/s, LOS rate: -0.104971 deg/s, cmd heading: 325.819995 deg, new cmd heading: 325.689591 deg. 2jHeadingCmd: 5.684356 target range: 114.500000 and range: 114.50 m. j>@jjjihhhhBfff rf bf @ɛ=hB=v< AE?IA E[VɚAiAIE/?=IMLiM_ؗ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770179*F?2F:FBF]0JF IG[=G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:43:21.9679 m TRx dataTimestamp_ set to:1736376203.132663m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021760w,$|AzZ@Yz j@zԝ<9zź=yzH 3@?@'?1t D.? aC3? ?ɨzZ@zi;zCy]iB]"IIKI4٢8 D=9[Y;Q > G٣yd  >zK.MKh9KKKBKpA:KpA -Nusing accuracyPremultiplier from config)5i59-"(q?5i5Y-8 i-3@15=@-VE-C ;- ;-tXi5A E@AZjimFNOT Ignoring new targets: 114.50 m.BjuJju ProNav: ac range: 114.500000 m, nav range: 24.615433 m, bearing: 150.502307 deg, approach rate: 0.567807 m/s, LOS rate: -0.108720 deg/s, cmd heading: 325.689593 deg, new cmd heading: 325.551470 deg. 2j:HeadingCmd: 5.681945 target range: 114.500000 and range: 114.50 m. j~ҵ@jjjihhhhfffrfbf! @ɛdB蔴< u?I OɚiI%?=IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272775HH>I I.#IIBI&I.I6I<:I F IJ3K;ـ3 K; .K3K3"K3J J J 1J J -:J 9J 3J J ;J ;J F;J F;w,RA :(!@Y:0@:$(<9:H8=y:H`!?? n'? Ĕ :?@?ɨ:(!@:;8y^qB^"IMMb@Mb@Mb@III I)IYM rh?y&1y&1|?yMC ?M`eM`;I I)Mv@IM@IyM@Ie;Ie&3٢}.+= }P=9+;Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data. MNusing accuracyPremultiplier from configei5DAT read: 22:43:21.9679 LVL= 11952, 22193, 25666, 30195, AGC= 59, IDX= 437, 0.36, 0.879,-0.234,-1.594,-0.346, PHS= 1.313, 0.159,-1.251, RAW= 56.7, -2.0, CAL= 59.9, -5.7, ROT= 90.1, 5.7 Ygot valid direction response: 22:43:21.9679 LVL= 11952, 22193, 25666, 30195, AGC= 59, IDX= 437, 0.36, 0.879,-0.234,-1.594,-0.346, PHS= 1.313, 0.159,-1.251, RAW= 56.7, -2.0, CAL= 59.9, -5.7, ROT= 90.1, 5.7 9C7q?i5Y< i#@R ?:@VE~o=m=[i5B @PEPDAT read: Bearing 90.1, 5.7 (Local) ~Local bearing/azimuth received: Bearing 90.1, 5.7 (Local) DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.4 ms) speed -0.1 m/s M,DAT read: user:2823> MBDAT read: Tx time:22:43:23.0614 U$Ping request sent.U V}?5 aх?)%˽I I?i%=$qQ?[O  ʸ)diIW=iW?}g:publishing transmit ping timeQFpublishing direction and range info9$Q? uj?+&?y )Ii ProNav: ac range: 114.500000 m, nav range: 24.830238 m, bearing: 150.467469 deg, approach rate: 0.466248 m/s, LOS rate: -0.074965 deg/s, cmd heading: 325.551459 deg, new cmd heading: 325.447848 deg. 2jMHeadingCmd: 5.680137 target range: 114.500000 and range: 114.50 m. jõ@jjjihhhhB )Ii$qQ?[O  ʸ)Iif1f1f9rf=@3\@bf=?ɛ`B׾w,AAFz@YF@F0<9F1=yFH@>?*? y?@4@?3?ɨFz@F;FCybgBb"IIn9In3٢vN vS=9v;Q > G٣8OGy< > %Nusing accuracyPremultiplier from config!-i59%Eq?-i5Y%? i%@QUQU@%VE%;% ;%;_i5]B ]@Yk.Fܕ}?kC  k kGA:kBBk BZkzr?"Ϛ` X?|xQ@RKzuV@$Q? uj?+&?JkW?Rk}g*UB@g=FJ@+vW@?dprl?sQc?"k1RB*kBka}}?kp5 2kv Ck-<zKFKKs9KKK RK?JK>w,c A2@Y2i@2RΥ<92]=y2HJ?[?'蓿`N['? (<m`,??ɨ2@2Yω;0FWill construct direction to contact in vehicle frame from tetrahedron phase data.yNYBN"IIZ%IZ)3٢r vK=9vQ v>xx zG٣xyz1 ~>jH<bHp<HI I;#IIBI&I.I6I<:I F uNusing accuracyPremultiplier from configii59mUUq?i5YmtB im@@mVEmlI9 e:ɚiiiIu?=Ii w,K2AJp@YJ@J:\<9JRx=yJH`??`cW2?`W,?`?ɨJp@Jб;JCyRNBR"I=Mb@Mb@Mb@999 9)9Y=/$?Mb~jthy=&?==D=zA =~@)9I=@9y=@IUIU0٢mB u?=9u`عQ u>yy }G٣yy}j }> Nusing accuracyPremultiplier from configi59eq?i5YE i@+?:@VE3;;sfi5 X@ZjIMFNOT Ignoring new targets: 114.30 m.BjU;JjU;m ProNav: ac range: 114.300003 m, nav range: 36.795349 m, bearing: 120.580912 deg, approach rate: 0.521854 m/s, LOS rate: 0.386010 deg/s, cmd heading: 325.818328 deg, new cmd heading: 326.288350 deg. 2jmuI) -g}4ɚ)i)I->=I5i1i5]<)5;@)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.190043*F?2F:FBFP5JFGrA GqA IG Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4403030w,KA68@Y6-H@6<96m=y6H?s?B q?`;H?y?ɨ68@6 ;6CyBABB"IIJIJV83٢V[ VY=9V$SQ V>XX ZG٣Z9OGyZ ^> bNusing accuracyPremultiplier from config`ji59btq?ji5YbI ib@lnn@bVEbzI .ɚiI%>=I%ki!i-I<)-mw@))zKRKKKKK+0g/oZNTlvpjb[UOGA<;631/-'&%# *F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695940H]I>IY I]5#II]BI] =&IY.I]9D6I]<:I] FGOK= $?IGBO >J5 J5 J1 J1 J5 :J5 9J1 J1 J5 l;J5 m;J5 {;J5 |;w,eA6@Y6f@6Z<96}=y6H@??`痿Fu? ʕMʲ? ?ɨ6@64̉;6 CyB/BB"IMb@Mb@Mb@ )Yn?/$Qy?u ;@)Iy@I5RI5W4٢Ť ;=9c;Q > G٣y9 >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944615 Nusing accuracyPremultiplier from configi59{<HeadingCmd: 5.710324 target range: 114.300003 and range: 114.30 m. j@jjjihhhhBffifqrfqbfu@X@ɛOBÖ< 隥>I U(ɚiI}>=Iii7 ;)@)*Fe?2Fa:FaBFeP0JFaGE<GB!OEs> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195657  I j0w,1A6h@Y6@6f<96׃=y6H@~?``?`2Nvc? L` ʳ?d?ɨ6h@6sW;6CyBBBt"IINSIN4٢V V\=9Vc;Q Z>XX ZG٣Xy^| ^> bNusing accuracyPremultiplier from config`fi59bؔq?fi5YbhP ib@hj j@bVEb<:b:bpi5nB n@nJEZjFNOT Ignoring new targets: 114.30 m.Bj;Jj; ProNav: ac range: 114.300003 m, nav range: 37.423809 m, bearing: 121.007770 deg, approach rate: 0.520194 m/s, LOS rate: 0.337587 deg/s, cmd heading: 327.177454 deg, new cmd heading: 327.561629 deg. 2jg<HeadingCmd: 5.717029 target range: 114.300003 and range: 114.30 m. j@jjjihhhhfffrfbf@)@ɛMBr< >I #ɚ i I ?=Iii໻)@)*F2F:FBF_0JF"G=G >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447786GI<GiByO>zK OK 59K K K    hw,ʥAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699630BѮ@YB8@B6*<9B1v=yBHi?` ?i՛` tL?葴@`d?y?ɨBѮ@B;@yN BNi"IIVLIV4٢j# jG=9nZ~:Q n>lp rG٣r:OGyr- r>ZH|RH~AAHI I#IIBI&I.I8D6I<:I FBIJIRIZI =bI =jI&5 %Nusing accuracyPremultiplier from config!-i59%sq?-i5Y%7T i%x@)5"5@%VE%h;%;%qti59 =@9ZjaeFNOT Ignoring new targets: 114.30 m.Bjm;Jjm;} ProNav: ac range: 114.300003 m, nav range: 37.649345 m, bearing: 121.151403 deg, approach rate: 0.567850 m/s, LOS rate: 0.359469 deg/s, cmd heading: 327.561638 deg, new cmd heading: 327.989948 deg. 2j}v<HeadingCmd: 5.724504 target range: 114.300003 and range: 114.30 m. j$/@jjjihh $?Ihhqhqfyfyfyrfybf}@ɛIB֦< >I QɚiI"?=Ii8yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952399^Bw,DkA6R@Y6ϵ@6X<96hy=y6H@(`?{?>! >??*@??ɨ6R@6%a;4ybBbK"IUMb@Mb@Mb@QQQ Q)QYUGz?T㥛 /$yUp?UUUA U~@)U@IQQyU(@ImMIm{4٢} @=9{TQ > G٣y > Nusing accuracyPremultiplier from configi59q?i5YX i@Z?:L3@VE ; ;xi5B 2@GEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.30 m.Bj;Jj; ProNav: ac range: 114.300003 m, nav range: 37.893757 m, bearing: 121.276583 deg, approach rate: 0.583102 m/s, LOS rate: 0.296720 deg/s, cmd heading: 327.989946 deg, new cmd heading: 328.363057 deg. 2jK<HeadingCmd: 5.731017 target range: 114.300003 and range: 114.30 m. j}d@jjji h h h h Bfffrfbf @ɛFB_< !%E>I! %ɚ!i!I%G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4559534*w,=FA6g@Y6㺵@6~ر<96S=y6HoT?`%?6I,',?㧷@:`?'?ɨ6g@6Y҈;6CyBBB="IIJRIJW4٢Rr RY=9VQ V>TT VG٣Xy^%޻ ^> Nusing accuracyPremultiplier from config i59Zq? i5Y\ in@3@VE;;t{i59 =@AZjFNOT Ignoring new targets: 114.30 m.Bj;Jj; ProNav: ac range: 114.300003 m, nav range: 38.119213 m, bearing: 121.389737 deg, approach rate: 0.575124 m/s, LOS rate: 0.286942 deg/s, cmd heading: 328.363066 deg, new cmd heading: 328.700516 deg. 2jD<HeadingCmd: 5.736906 target range: 114.300003 and range: 114.30 m. j@jjjihhh h fyffrfbf`[ @zKKLK+9KKKɛCB K< >I mɚiI>^?=I i mBDAT read: Tx time:22:43:26.7114 m$Ping request sent.m\direction in FSK: [0.031398,0.565545,0.824120]:publishing transmit ping timeiFpublishing direction and range infoi9mzzql?w~?!0_?ym3Bimp,m- m9)mTIm8imB`?m/=mzm(?mk mT?)m5ImZƼ?im5>iimr2 :?ʄ/)m݄Im!l=im~?m1wii :publishing transmit ping timei5Fpublishing direction and range infoi9mzzql?w~?!0_?yiiii i)iIiiiiiii i)iIiiiiimr2 :?ʄ/)iIiiiiiiAUw,B%A6+@Y6@6c<96p=y6H'V?#?!@*-&?`,`ȃ??ɨ6+@6H;6Cy^̃Bb"IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:43:26.7106 UMb@Mb@Mb@QQQ Q)QYU#~j?EԸV-yU%?UƽUUA U;@)Uv@IU@QyU@ImOIm 4٢; .=9 Q > MG٣U;OGy]{4: ]> Nusing accuracyPremultiplier from configi59q?i5YJb i@'?:I oKɚiI0?=Iy i*=qw,A6@Y6@6]<96,=y6HP?!?B2 ? G`|?^?ɨ6@6Z;6CyMBM"IIe5Ie3٢*ֽ E=9EQ > G٣yA > Nusing accuracyPremultiplier from configi59q?i5Yf i@f?@VE:z:&i5  @ ZjIUFNOT Ignoring new targets: 114.60 m.BjU+B<JjU+BB=< AE,o>IA EɚAiAIE(?=IM{iIiMgA)Ud@@)Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF+5JFGGGBO>zKBoHK9KKK!    Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,AjH<bH=HJ>I I"II7BI =&I.I6I<:I F B$?I@ ®@Y >@ w<9 jo=y H(W??:D@*?3X?h?ɨ ®@ >; y%B%!II51I53٢E  E`=9MQ M>II MG٣IyUc; U> ]Nusing accuracyPremultiplier from configYei59]|q?ei5Y]'k i]`@im>m@]VE];];]Ji5 )@AEZj9EFNOT Ignoring new targets: 114.60 m.BjEb0<JjEb0<} ProNav: ac range: 114.599998 m, nav range: 41.814743 m, bearing: 91.756430 deg, approach rate: 0.441432 m/s, LOS rate: 0.616824 deg/s, cmd heading: 329.901088 deg, new cmd heading: 330.590176 deg. 2j}<}HeadingCmd: 5.769887 target range: 114.599998 and range: 114.60 m. jꢸ@jjjihhhhfffrfbf :?ɛ-;B5; 15R>I1 5 ɚ1i1I=2?=I=gi9iEb)Eꢸ@)AEQEUqA*F?2F:FBFu4JF"G%=G%=]Will construct direction to contact in vehicle frame from tetrahedron phase data.GE G! B) OE > w,V5A^Ů@Y^`յ@^oC<9^t>y^Hd?? :9#?+s'x?q?ɨ^Ů@^x;^CynBn!ImMb@Mb@Mb@iii i)iYm?X9vy&1ym,?mm`mA m-@)mQAIm@iym@II<2٢8 A=9Q > G٣  Nusing accuracyPremultiplier from config i59 r?i5Y p i @/?:F@ VE ; b; i5! -@-CEEB*** querying acoustic contact ***jAjAZjY]FNOT Ignoring new targets: 114.60 m.Bje@<Jje@I  ɚiI?=Iii5)@) $?I*F?2F:FBFP0JFJJJJJ :JJJGur(G)B9OUT>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730983w,&TOA2ܮ@Y2-@2"<92+>y2Hq?$?@@)?྿ P?@ʯ?ɨ2ܮ@2;2CyBBB!IIJ5IJ3٢fۤ fa=9jQ j>hh nG٣lynm; r> vNusing accuracyPremultiplier from configpzi59rr?zi5Yru ir@xzEz@rVErz:r":r-i5B @@EZj)5FNOT Ignoring new targets: 114.60 m.Bj5Z7<Jj5Z7I ɚiIv?=I%:@i!i-)-{@))zKRMKh9KKK7* BK:KoA*F?2F:FBF[0JFG^GaBO;>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982159HEL>IEC IEf"IIE BIE =&IA.IE9D6IE<:IE F IhDw,5iAJ[@YJ@Jk <9J>yJH?L?6>`g:?D2`?ܦ?ɨJ[@Jm2;JCyZ}BZ!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.234440Mb@Mb@Mb@ )Yi|?5?/$ÿS㥛y1?/ݼ A @)@I3@y@I ;I &3٢- -6=9-$HQ ->99 EG٣AyE=< E> }Nusing accuracyPremultiplier from configq}i59u*r?i5Yu7{ iuC@6?:aM@uWEu;u;u(i5 @Zj9EFNOT Ignoring new targets: 114.60 m.BjE.<Jju.< ProNav: ac range: 114.599998 m, nav range: 42.447083 m, bearing: 92.554915 deg, approach rate: 0.511109 m/s, LOS rate: 0.611266 deg/s, cmd heading: 332.107375 deg, new cmd heading: 332.973389 deg. 2j<HeadingCmd: 5.811482 target range: 114.599998 and range: 114.60 m. j@jjjihhhhEBfffrfbf@ɛ4BH: >I ;OɚiI @=I%iAiE2)M@)I*F?2F:FBF_0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486182 $?I Ge )^J- J- J) J) J- }:J- 9J) J) G9 BI Om >) w,AywB!II-5I-3٢e eX=9eQ e>ii mG٣m=OGyu u> Nusing accuracyPremultiplier from configi59h:r?i5Y8 i@@WE);;ji5B @=EZjAEFNOT Ignoring new targets: 114.60 m.BjM3<JjM3<] ProNav: ac range: 114.599998 m, nav range: 42.645393 m, bearing: 92.790033 deg, approach rate: 0.533274 m/s, LOS rate: 0.629308 deg/s, cmd heading: 332.973389 deg, new cmd heading: 333.675424 deg. 2j]I ѷɚiI @=I=iiV) \@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739350*F]?2Fa:FaBFeo0JFaGEwGB O%N>zK [LK 9K K K |Ytk2 "$"RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:43:29.2694  TRx dataTimestamp_ set to:1736376210.440668 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991283ZH1 RH1 H= O>I9  I= 5"II= BI=  =&I9 .I9 6I= <:I=  Fq&w,iA $I$:_@Y:4o@:|;9:&>y:Hº?`?<뵿ԗ*^?@P G٣y< > Nusing accuracyPremultiplier from configi59Lr?i5Yȅ i@WJ@ WE: :i5 @ZjFNOT Ignoring new targets: 114.60 m.BjU3<JjU3< ProNav: ac range: 114.599998 m, nav range: 42.866810 m, bearing: 93.055240 deg, approach rate: 0.526311 m/s, LOS rate: 0.627145 deg/s, cmd heading: 333.675423 deg, new cmd heading: 334.466883 deg. 2j3< HeadingCmd: 5.837548 target range: 114.599998 and range: 114.60 m. j 2ͺ@j jjihhhhfff!rf!bf% @ɛ0B< -=I1 5d ɚ9i9I=.@=Iu*iyiP)2ͺ@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.243372*F?2F:FBF_0JF"GG>G (G G rAG B O >l-w,nOA2@Y28@2:92k+>y2H@D?/?Rl;v?P@ Z?6?ɨ2@2z/;0y>pB>!IMb@Mb@Mb@ )Ygfffff?QſI +y33?(93 A @)QAI`@y\@IMDIM3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497600٢=*< =8=9MJл $?IQ > G٣ys`< > -Nusing accuracyPremultiplier from config)5i59-_r?5i5Y- i-"@=28?=:=L=@-WE-;-;-(i5EB E@E:EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.60 m.Bj,6<Jj,6< ProNav: ac range: 114.599998 m, nav range: 43.120129 m, bearing: 93.348800 deg, approach rate: 0.552992 m/s, LOS rate: 0.637069 deg/s, cmd heading: 334.466878 deg, new cmd heading: 335.342311 deg. 2j<HeadingCmd: 5.852828 target range: 114.599998 and range: 114.60 m. j]J@jjjihhh)h5LBf1f1f1rf9bf=` @ɛ-B@': 隕>I ^ɚiIC0@=IWܾiiMʽ)]J@)*F=?2F9:F9BF=0JF9G5ЭG BO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  DAT read: 22:43:29.2694 LVL= 13296, 24801, 22386, 32755, AGC= 62, IDX= 436, 0.34,-0.232,-1.254,-2.507,-1.419, PHS= 1.276, 0.212,-1.091, RAW= 56.7, -3.9, CAL= 61.1, -8.6, ROT= 88.9, 8.6  Ygot valid direction response: 22:43:29.2694 LVL= 13296, 24801, 22386, 32755, AGC= 62, IDX= 436, 0.34,-0.232,-1.254,-2.507,-1.419, PHS= 1.276, 0.212,-1.091, RAW= 56.7, -3.9, CAL= 61.1, -8.6, ROT= 88.9, 8.6  PDAT read: Bearing 88.9, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 88.9, 8.6 (Local)  DAT read: Range 10 to 50 : 115.4 m (Round-trip 153.9 ms) speed 0.0 m/s  ,DAT read: user:2825>  BDAT read: Tx time:22:43:30.3614  $Ping request sent. i٭ S?٭ Y>٭ 㥋٭ V}?٭ 'g ڭ ?)ڭ `Iڭ ?iڭ `>ک ک ۭ #g=?Y}qɇhbu)ۭ ~Iۭ Ƌ=iۭ b?ۭ g۩ ۩ E :publishing transmit ping time E Fpublishing direction and range infoة 9ح e@ ũ?n!j?Ù +?yة ة ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۭ #g=?Y}qɇhbu)۩ I۩ i۩ ۩ ۩ ۩ )T4w,'AyniBr!II~0I~(3٢m  uX=9uQ > G٣>OGy > Nusing accuracyPremultiplier from configi59nr?i5Y i@@WE(<)<Ai5 @I) I-"II-ƒBI)&I).I)6I-(<:I-5 FBIĢCJIĢCRIZI =bI =jI5 $?I*F}?2Fy:FyBF}1JFyJEJEJAJAJE :JE9JAJAJES;aMJET;aMJE;aUJE;aUGe .qGY Bq O >}:w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.Fh @YF@F^9F;>yFH?R?Z >?`S\ÿ@+x?`T?v?ɨFh @FE;Dy^hB^!IMb@Mb@Mb@ )YCl?bX9ƿQy/?E6uA @)Iv@yAI5I52٢E| E==9MQ M>IQ UG٣Qy]D= ]> eNusing accuracyPremultiplier from configami59e[r?mi5Ye ie@m5?u:uxNu@eWEe;e;ei5y }'@9EZjFNOT Ignoring new targets: 115.40 m.Bjc<Jjc< ProNav: ac range: 115.400002 m, nav range: 54.869129 m, bearing: 52.357473 deg, approach rate: 0.112736 m/s, LOS rate: 0.795799 deg/s, cmd heading: 336.086425 deg, new cmd heading: 337.024881 deg. 2j =5HeadingCmd: 5.882194 target range: 115.400002 and range: 115.40 m. j5:@j1j1j1i9h9h9h9hEhBfAfAfArfAbfM #?ɛ)BX: 隝=I ɚiI@=IN;iilS):@)*F2F:FBF5JFG]YĽG1BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data. yIy) F= SC iG- tAM A } {Y} tAy} BdAw,A6C@Y6R@6!&+96pO>y6H4? )q? _`{?;ſd?9?W?ɨ6C@6};6CyBlBB!IiFll nG٣lyr0< r> vNusing accuracyPremultiplier from configtzi59v(r?zi5Yvp iv|@xzpLz@v WEv:v:vi5 @Zj)5FNOT Ignoring new targets: 115.40 m.Bj5V<Jj=VIq uOɚyiyI}?=I`Wƾii()e@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFGuٽzK- D`LK- 9K) K- K- G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.jH= <bH= <HE Q>IE C IE "IIE BIE  =&IA .IA 6IE ݯ<:IE F u $?I} h3Gw,дA^Pð@Y^ҷ@^R9^HY>y^Hv?@?෿i`;? zſ *??`WF?ɨ^Pð@^BG;^CyfgBf!IJJJJJJJJJJJJIzIzF٢-#׼ -D=95Q 5>19 =G٣=?OGyE= E> MNusing accuracyPremultiplier from configAUi59E̠r?Ui5YE iE@QU9HU@E$WEE:E2 ;Ei5eB eF@e6EZjFNOT Ignoring new targets: 115.40 m.BjuQ<JjuQ< ProNav: ac range: 115.400002 m, nav range: 54.944160 m, bearing: 52.922641 deg, approach rate: 0.093548 m/s, LOS rate: 0.732487 deg/s, cmd heading: 337.804463 deg, new cmd heading: 338.719101 deg. 2jY<HeadingCmd: 5.911764 target range: 115.400002 and range: 115.40 m. j+-@jjjihhhhfffrfbf?ɛ&B8:  (>I  ɚiI?=I-*i1i)+-@)*F]?2FY:FaBFe^0JFaGM=GaGeqAG9BIOeV>Will construct direction to contact in vehicle frame from tetrahedron phase data.PExceeded connect timeout, disconnecting.Mw,~9A>%@Y>p5@>̯9>˃`>y>HD? +$?`O@? Iƿ-?h?` :?ɨ>%@>a;>Cy^nB^!IMMb@Mb@Mb@III I)IYMMbX?MbX9Ŀ{GzyM*?M!MףMA M@)MhAIMAIyMAIm5Im3٢}= }E=9}ػQ }> G٣y< > Nusing accuracyPremultiplier from configi59]r?i5Y io@/?:R?@)WEj;;\i5B @3EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 115.40 m.Bj!J<Jj!J< ProNav: ac range: 115.400002 m, nav range: 54.973331 m, bearing: 53.217397 deg, approach rate: 0.069994 m/s, LOS rate: 0.706867 deg/s, cmd heading: 338.719108 deg, new cmd heading: 339.602832 deg. 2j<HeadingCmd: 5.927187 target range: 115.400002 and range: 115.40 m. j@j $?Ijjihhhh%Bf!f!f!rfbf?ɛ$BP; >I |ɚiIJZ?=IETEiIiM8v)M@)I*F2F:FBF_0JFG) Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >Tw,+nSA6w@Y6@61ϼ96)f>y6H,?`/q?!߿:?Dǿ`?? b/?ɨ6w@6Ƴ;6CyRzBR!I)T TIZGIZ3٢b= bW=9fn%Q f>hh jG٣hyn^< n> vNusing accuracyPremultiplier from configpvi59rr?zi5Yr ir@xzW<z@r-WEr:r:ri5| @B*** querying acoustic contact ***jjZj1MFNOT Ignoring new targets: 115.40 m.BjUJ<Jj]J< ProNav: ac range: 115.400002 m, nav range: 54.998325 m, bearing: 53.487623 deg, approach rate: 0.065661 m/s, LOS rate: 0.709579 deg/s, cmd heading: 339.602825 deg, new cmd heading: 340.413079 deg. 2j}<HeadingCmd: 5.941329 target range: 115.400002 and range: 115.40 m. j^@jjjihhhhfffrfbf`N@ɛ#BM; 隝.>I PɚiI>=Iii)^@)zK JQJK 9K K K )&  *FM?2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.K?%= I%h%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.HO>IC III&I.I6I<:I FJJJJJ-:J9JJJ;J;J;%;J<%;GȇG B O= >`Zw,oFmA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506966 RnManaging dock network, ignoring radio surface power offj@Yj @j9jk>yjH@ ?K?f(i޿k?ǿ 5?2?`$?ɨj@j-;jCyv|Bv!IuMb@Mb@Mb@qqq q)qYujt?V-¿Mbyu ?uhuuA ub@)uQAIuAqyuAI-I3٢/< ==9^Q > G٣@OGy= > Nusing accuracyPremultiplier from configi59[r?i5Ye i@$?:S6@1WE;;ui5UB ]@]0EZjFNOT Ignoring new targets: 115.40 m.Bj 7<Jj 7< ProNav: ac range: 115.400002 m, nav range: 55.019821 m, bearing: 53.776045 deg, approach rate: 0.047748 m/s, LOS rate: 0.640403 deg/s, cmd heading: 340.413077 deg, new cmd heading: 341.277934 deg. 2j<HeadingCmd: 5.956424 target range: 115.400002 and range: 115.40 m. j@jjjihhhhBf!f!f)rf)bf-@ɛ!Bi; 隽5>I 7ɚiI{>=IHMii)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758706 IG% G5 ?G5 ?G B O- >aw,[$A6Y@Y6oi@696bo>y6H@;?=?t/ ޿?Wȿ ? ??ɨ6Y@6@;6CybBb!IIj5Ij3٢ra= rW=9v %Q v>tt vG٣tyzj= z> ~Nusing accuracyPremultiplier from config|i59~r?i5Y~ i~7@  3 @~5WE~:~ :~ķi5 @%2EZjAMFNOT Ignoring new targets: 115.40 m.BjM3I<JjM3I<] ProNav: ac range: 115.400002 m, nav range: 55.036758 m, bearing: 54.029428 deg, approach rate: 0.047047 m/s, LOS rate: 0.703614 deg/s, cmd heading: 341.277942 deg, new cmd heading: 342.037811 deg. 2jeqI ɚiI >=I򂠾ii)@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:43:32.9199 ]TRx dataTimestamp_ set to:1736376214.220965echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012147*Fm?2Fi:FiBFuI5JFqG}pA GyGGiByO>zK ӂLK h9K K K  ZH RH ?AH K>I  I "II ǃBI  =&I .I 6I /<:I 6 F  $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269434(gw,>AJKm3 KS}-KK"KJbJ`Jb1J`Jb:J`Jb3J`Jb;Jb;J`Jb;%;%̲@Y%Iܹ@%G9%s>y%H=p? ?i@ݿ~?ȿW?`"?`O?ɨ%̲@%Ψ;%CyMBM!Ii} >I}<I&I3٢-< 9=9%PQ ->Ya mG٣iy< > Nusing accuracyPremultiplier from configui59r?ui5Y i@q}h/}@:WE<`<޻i5 }@/EZjFNOT Ignoring new targets: 115.40 m.Bj%!*<Jj-!*< ProNav: ac range: 115.400002 m, nav range: 55.054893 m, bearing: 54.343058 deg, approach rate: 0.034414 m/s, LOS rate: 0.594954 deg/s, cmd heading: 342.037815 deg, new cmd heading: 342.978306 deg. 2j'<HeadingCmd: 5.986101 target range: 115.400002 and range: 115.40 m. j#@jjjihhhhfffrfbf`!( @]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:43:32.9199 LVL= 14208, 23089, 21794, 32755, AGC= 58, IDX= 441, 0.40,-0.962,-1.760,-3.040,-1.991, PHS= 1.117, 0.278,-1.052, RAW= 52.6, -3.7, CAL= 55.9, -7.9, ROT= 94.1, 7.9 Ygot valid direction response: 22:43:32.9199 LVL= 14208, 23089, 21794, 32755, AGC= 58, IDX= 441, 0.40,-0.962,-1.760,-3.040,-1.991, PHS= 1.117, 0.278,-1.052, RAW= 52.6, -3.7, CAL= 55.9, -7.9, ROT= 94.1, 7.9 PDAT read: Bearing 94.1, 7.9 (Local) ~Local bearing/azimuth received: Bearing 94.1, 7.9 (Local) DAT read: Range 10 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.0 m/s ,DAT read: user:2826> BDAT read: Tx time:22:43:34.0114 $Ping request sent.e𧆿ek?e Aɛ B 痢;  N>I Gٻɚ e|y?)e0 Ie8?ie0 >aae¤H?n~fP Z)eIe=ie>?eyZVaa:publishing transmit ping timeFpublishing direction and range infoa9eEJoz?"FZ?e n?yaaaa a)aIaiaaaaa a)aIaiaaaiIYA==I|iiy)#@)e¤H?n~fP Z)aIaiaaaa*F ?2F :F BF o0JF G G G rA I Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:43:34.0106 GBO>pw, AB3@YBKC@Bj!9Bwu>yBH`?\3?\`1ܿ?ɿ`T9?]?`?ɨB3@B~;@y B !I]Mb@Mb@Mb@YYY Y)YY]+?{Gzy]?]]ף]AA Y)]@I]AYy]AIuIuV83٢e= #=9Q > G٣AOGy< > Nusing accuracyPremultiplier from configi59 s?i5Y] is@"?:%@?WE{;;i5 @k-{?k-  k) k-ݖA:k-fBBk-BZk-?"-$mj@EMS@'vq|U@-EJoz?"FZ?e n?Jk->?Rk-yZV*-<Y:@ kG@ 8Y@-b&?ȏڨ]y?V 5?"k-p?B*k-Ak-{?k- w 2k-'Ck)k- w k)k-eBk-<{? addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.531360 s, deltaX: 0.299995 m, approachRate: 0.084952 m/s, rangeRepo size: 4 - Added new target pos. range: 115.699997 m, bearing: 61.163645 deg, lat: 36.904374 deg, lon: -122.119828 deg, deltaT: 3.531360 s, deltaX: 0.299995 m, approachRate: 0.084952 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 115.70 m.Bj5Jj1E ProNav: ac range: 115.699997 m, nav range: 57.490250 m, bearing: 56.355275 deg, approach rate: 0.000000 m/s, LOS rate: 0.594954 deg/s, cmd heading: 342.978304 deg, new cmd heading: 343.731151 deg. 2jAMHeadingCmd: 5.999240 target range: 115.699997 and range: 115.70 m. jM@jIjIjIiQhQhQhYh]BfYfYfarfe\@bfeϛ?ɛB5Q'< 1=n>I9 =)Իɚ9i9I=<=IE6aiAiE))E@)I*F?2F:FBFQ5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >W'vw,tA>O@Y>̓@>69>6>s>y>H౿?`?(¿Tۿ?pȿ@'Ҧ? ? ?ɨ>O@>X;>CyJBJ!IIRIR 3٢Zb-= Zo=9^sQ ^?\\ bG٣`yb< b? jNusing accuracyPremultiplier from configdri59fs?ri5Yf if8@pr#r@fBWEf ^;f_N;fi5zB z,@z,EzK~ILK~9K|K~K~ z0(Uf_M=550[Z%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 115.70 m.Bj=5<Jj=5I λɚiI+<=I𕋾ii)|V@)HE>IC I("IIփBI =&I.I8D6I <:I F -$?I)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.E 7=*FM?2FI:FIBFUO5JFi"GV>Gl>- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993937G] ]G1 B9 Ou >|w,AyB%!I)) )Mb@Mb@Mb@ )Y1Zd?zGế rhy"? ׽CA 5@)v@I7Ay\AI IV2٢,4= *=9Q > G٣y > Nusing accuracyPremultiplier from configi59+/s?i5Y> i@ ? :  @GWE;<1i5 @ZjFNOT Ignoring new targets: 115.70 m.BjU*<JjU*< ProNav: ac range: 115.699997 m, nav range: 57.510914 m, bearing: 56.865330 deg, approach rate: 0.019056 m/s, LOS rate: 0.595672 deg/s, cmd heading: 344.379559 deg, new cmd heading: 345.260939 deg. 2jg<-HeadingCmd: 6.025940 target range: 115.699997 and range: 115.70 m. j-@j1j1j1i1h1h1h9h=Bf9f9fArfAbfE@ ?ɛB8p1< 隽>I Ż $?IɚiI?;=I i i ) @)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.245898JJJ0JJݒ:J9Jـ3Ja@a@a@a@EMd=*F 2F :F BF 1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497641G%ӋGB O%>2w,uA:_@Y:So@:U9:sv>y:H6? ?-¿fڿiw?@Hɿᴪ?`w?@ ?ɨ:_@:>͉;8yBBF!IININ٢VÁ= V3=9VwQ V>\\ ^G٣bBOGybo= b> jNusing accuracyPremultiplier from configdMi59fBs?Ui5YfW if@QUU@fLWEfƐI cɚiI":=I bxi i  ) L@)EE*E"EzK}OK}9KyK}K} *C||txunib]XRK?JK> $?I jHbH<HA>IC IG"IIBI =&I.I7D6I˯<:I FBIJIRIÔCZI =bIjI/-6Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749783*F5?2F1:F1BF5R5JF1G PG B! OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002807hw,'/AJԴ@YJc@J\9J'w>yJHI? ?_¿ٿ?\ɿ???ɨJԴ@J<^;HyRBV "IMb@Mb@Mb@ )YS?ˡE rhy/?什nA K@)`@IAyzAI#I%x3٢= 7=9xQ > G٣y= > Nusing accuracyPremultiplier from configi59Vs?i5Y i@?:  @PWE h; Z;i5B #@'EZjIMFNOT Ignoring new targets: 115.70 m.BjU_5<JjU_5I  쳻ɚiI"%9=I|iiia)_@)I*F?2F:FBFP0JFGqA GpA IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254377c~G|uAA I'Y|uAyj BG !& J J J J J J u9J J G B O >^Aw,uIA2:@Y2lJ@2ge92Nw>y2H\p?@U[?P¿ ؿr? ɿ ? ? j?ɨ2:@2&;2CyR˃BR"IiV=IV=IZ IZb3٢b= b`=9f9Q f>dd fG٣dyj = j> nNusing accuracyPremultiplier from configlri59nogs?ri5Yn in@tvuv@nTWEn@:n*:nBi5x zL@xZjFNOT Ignoring new targets: 115.70 m.Bj'<Jj'< ProNav: ac range: 115.699997 m, nav range: 57.493183 m, bearing: 57.644977 deg, approach rate: -0.026727 m/s, LOS rate: 0.586978 deg/s, cmd heading: 346.924624 deg, new cmd heading: 347.599926 deg. 2jk<HeadingCmd: 6.066763 target range: 115.699997 and range: 115.70 m. j"@jjjihhhhfffrfbf @ɛ5B=š< =<=>I9 ="ɚ9iAIEF18=IE]iIiM>)M"@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506651*F%?2F!:F!BF%Y0JF!GVGBOj> $?I zK  OK h9K K K SPMMFC?<<<:52200.+(+*)*,**%!$#$$#  H @>I  I f"II BI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757781zmw,YcAFK@YFǼ@Fl9F y>yFH3?@? <¿ؿO?sɿ@z?`??ɨFK@Fh;FCyR҃BR#"IIZ1IZ3٢bq= bJ=9fŔQ f>dd jG٣jCOGyjJ = j> rNusing accuracyPremultiplier from configlri59nys?vi5Yn5 in@tz~@nXWEn_;n`;ni5  @&E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 115.70 m.BjM^8<JjM^8< ProNav: ac range: 115.699997 m, nav range: 57.479336 m, bearing: 57.894546 deg, approach rate: -0.035766 m/s, LOS rate: 0.644751 deg/s, cmd heading: 347.599938 deg, new cmd heading: 348.348780 deg. 2j><HeadingCmd: 6.079833 target range: 115.699997 and range: 115.70 m. j@jjjihhh!h!f!f!f!rf)bf-(@ɛMBM< QUp>IQ ]ɚYiYI]-7=I;Pii )@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:22:43:36.5703 -TRx dataTimestamp_ set to:1736376217.7537735checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012323*F?2F:FBFS0JFG5 G B O5 >刞w,|A>@Y>t#@> v9>7{>y>H??3H¿ A׿` ?@;ʿyծ? ?`I?ɨ>@>=';>CyJB LIPR8"I5Mb@Mb@Mb@111 1)1Y5Gz?/$:vy5p?55T5XA 55@)5I@I57A1y5AIM IMb3٢e= eB=9eVQ e>ii mG٣iyu5< u> }Nusing accuracyPremultiplier from configyi59}5s?i5Y} i}@?:@}\WE};};}wi5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261814 @ZjMFNOT Ignoring new targets: 115.70 m.BjU1<JjU1< ProNav: ac range: 115.699997 m, nav range: 57.463959 m, bearing: 58.154186 deg, approach rate: -0.036831 m/s, LOS rate: 0.622057 deg/s, cmd heading: 348.348773 deg, new cmd heading: 349.127851 deg. 2jt<HeadingCmd: 6.093431 target range: 115.699997 and range: 115.70 m. jb@jjjihhhh:Bfffrfbf @ɛ5B5< 15I>I9 =5ɚ9i9I=5=IEOBiaim&)mb@)iJJJJJM:J9JJ*F?2F:FBF_0JF"GY>GC>G! U Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:43:36.5703 LVL= 17248, 24977, 26690, 30963, AGC= 59, IDX= 445,-0.25, 2.535, 1.786, 0.497, 1.506, PHS= 1.117, 0.327,-1.012, RAW= 51.5, -4.7, CAL= 55.2, -9.4, ROT= 94.8, 9.4  Ygot valid direction response: 22:43:36.5703 LVL= 17248, 24977, 26690, 30963, AGC= 59, IDX= 445,-0.25, 2.535, 1.786, 0.497, 1.506, PHS= 1.117, 0.327,-1.012, RAW= 51.5, -4.7, CAL= 55.2, -9.4, ROT= 94.8, 9.4  PDAT read: Bearing 94.8, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 94.8, 9.4 (Local) 5 DAT read: Range 10 to 50 : 116.0 m (Round-trip 154.7 ms) speed 0.0 m/s = ,DAT read: user:2827> M BDAT read: Tx time:22:43:37.6614 M $Ping request sent.M U 7U f?G B O >U U Ϣv?)U 'IU ?iU '>Q Q U `70i?٪Q紿)U ~IU n=iU P?U RQ Q } :publishing transmit ping timeI  Fpublishing direction and range infoQ 9U 1ik8?zU?'i?yQ Q Q Q Q )Q IQ iQ Q Q Q Q Q )Q IQ iQ Q Q U `70i?٪Q紿)Q IQ iQ Q Q Q lw,UA2Չ@Y2R@292 }>y2H@!?@}?`=¿`8eֿK9?ʿگ? X?,?ɨ2Չ@2;2CyRBRI"I)T TIZIZ(*3٢%= %O=9-Q ->)) 5G٣1y5*= 5> ENusing accuracyPremultiplier from config9Mi59=s?Mi5Y= i=@IMU@=`WE=T ;=:=i5}B } @}#EkPz?k k kA:kBBkiBZkŹ?"TW!k!@wĥS@;uw7U@1ik8?zU?'i?JkP?RkR*:=5@+LPkI@q#0zY@?_w,o%??"kLB*kAkR"wz?k%~ 2k'Ckkk 'CkeBkv?E addTargetRange:: Added new target pos. range: 116.000000 m, deltaT: 3.530165 s, deltaX: 0.300003 m, approachRate: 0.084983 m/s, rangeRepo size: 4  Added new target pos. range: 116.000000 m, bearing: 67.020689 deg, lat: 36.904374 deg, lon: -122.119828 deg, deltaT: 3.530165 s, deltaX: 0.300003 m, approachRate: 0.084983 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.00 m.BjJj ProNav: ac range: 116.000000 m, nav range: 57.447014 m, bearing: 58.398335 deg, approach rate: 0.000000 m/s, LOS rate: 0.622057 deg/s, cmd heading: 349.127852 deg, new cmd heading: 349.895888 deg. 2jHeadingCmd: 6.106835 target range: 116.000000 and range: 116.00 m. j2k@jjjih!h!h!h!f)f)firfm]@bfuw? $?IɛU< 隽>I EsɚiI^4=ZHRHAAH?>I I"II(BI&I.I6I<:I FzKNKS9KKK    I  4i i ) 2k@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:43:37.6606 E3=*FQ 2FQ :FY BFY JFY e Will construct direction to contact in vehicle frame from tetrahedron phase data.GM GU ?GU >GQBYOu>w,h ANa@YNYq@N+݉9N>yNH/?2? 0¿ Կ]}?M-˿P8?r?` ?ɨNa@N;NCyZBZ]"IuMb@Mb@Mb@qqq q)qYu?Q뱿Mbyu ?u\uuA u@)u@IuMAqyu AII̍٢= &=9(Q > G٣DOGy\= > Nusing accuracyPremultiplier from configi59s?i5Y i,@!?:߾@eWE;v;5i5B  @ EZj%FNOT Ignoring new targets: 116.00 m.Bj%7<Jj%7<5 ProNav: ac range: 116.000000 m, nav range: 57.412502 m, bearing: 58.704196 deg, approach rate: -0.072445 m/s, LOS rate: 0.642432 deg/s, cmd heading: 349.895893 deg, new cmd heading: 350.813945 deg. 2j5r<=HeadingCmd: 6.122859 target range: 116.000000 and range: 116.00 m. jEu@jAjAjAiIhIhIhIhUIBfQfQfQrfQbf]_?ɛ%B%< !->I) -&zɚ)i)I-2q3=I5,$i1i5_)5u@)aE=q< m$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFJJJJJ:J9JJG MGi By O >@w,AFط@YFW@F9FY}>yFHFT?@JS?@ӿ?@%˿?tR??ɨFط@FĈ;FCyrBrm"IIzIzF3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ O=  V=9걻Q > G٣y%= %> -Nusing accuracyPremultiplier from config)5i59-s?5i5Y- i-f@15<ؾ5@-iWE-:- ;-i5A E5@AZjimFNOT Ignoring new targets: 116.00 m.Bju3<Jju3< ProNav: ac range: 116.000000 m, nav range: 57.383293 m, bearing: 58.942402 deg, approach rate: -0.077120 m/s, LOS rate: 0.629243 deg/s, cmd heading: 350.813952 deg, new cmd heading: 351.528892 deg. 2j<HeadingCmd: 6.135336 target range: 116.000000 and range: 116.00 m. jT@jjjihhhhfffrfbfo?ɛ(= L>I vbɚiI/2=Ieii)T@)E}< I*F?2F:FBFJFH@>I I"IIKBI&I.I6I)<:I& FGrA GrAzKMLKM 9KIKMKMWill construct direction to contact in vehicle frame from tetrahedron phase data.G"~G B O >w,AH@YyX@9֯~>yH t?@v?@ ӿ ?e˿`l?Lm?`V?ɨH@ @;Cyޥ!Bޥ"Ii=I9?II٢=  <=9=ŻQ E>IQ ]G٣YymG< u> Nusing accuracyPremultiplier from configi59bs?5i5Y i@9=6ѾE@mWE=<H<yi5 @E Will construct direction to contact in vehicle frame from tetrahedron phase data.%B*** querying acoustic contact ***j!j!Zjq}FNOT Ignoring new targets: 116.00 m.Bj}<Jj}< ProNav: ac range: 116.000000 m, nav range: 57.346397 m, bearing: 59.222091 deg, approach rate: -0.073255 m/s, LOS rate: 0.555669 deg/s, cmd heading: 351.528882 deg, new cmd heading: 352.368428 deg. 2j<HeadingCmd: 6.149989 target range: 116.000000 and range: 116.00 m. j@jjjihhhhf!f!f)rf)bf- ?ɛԇ< 隕R?I DE>ɚiIVq0=IEdiAiE)E@)IEIEI*EQ"EQ u $?Iq *FM ?2FQ :FQ BF] _0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G'GyBO ?Sw,Q A2θ@Y2ݿ@292=>y2H`ʛ? ~?z 0ҿK?n˿Z?~?g?ɨ2θ@2yщ;0yB/BB"IUMb@Mb@Mb@QQQ Q)QYUQ?)\(yU(?UGaUUA Q)U@IQQyQImIm(1٢}P= =9C:Q > G٣EOGy@= > Nusing accuracyPremultiplier from configi59s?i5Y i/@?:п@rWE;;i5ߒB @EZjFNOT Ignoring new targets: 116.00 m.BjA<JjA< ProNav: ac range: 116.000000 m, nav range: 57.296204 m, bearing: 59.533328 deg, approach rate: -0.108789 m/s, LOS rate: 0.675157 deg/s, cmd heading: 352.368421 deg, new cmd heading: 353.302860 deg. 2j< HeadingCmd: 6.166298 target range: 116.000000 and range: 116.00 m. j QR@j j j i h hhhwBfffrfbf ?ɛMBM+6 = MxzKM >`JKM 9KI KM KM ASE5*%! u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235034 w,k%AJ"J"J J J"m:J"O9J J J";a&J";a&J"e,;a*J"f,;a*fN>@YfM@fA49ff0>yfH`?NX? @ѿ?˿zb?|?@o?ɨfN>@fQ;fCy KB "II%I%m?3٢5f > 5P=95]Q 5>99 =G٣9yE= E> MNusing accuracyPremultiplier from configAUi59E t?Ui5YE iE@QU̸]@EvWEET ;E ;Ehi5a e?@aZjFNOT Ignoring new targets: 116.00 m.Bj*<Jj*< ProNav: ac range: 116.000000 m, nav range: 57.255890 m, bearing: 59.770045 deg, approach rate: -0.101521 m/s, LOS rate: 0.596537 deg/s, cmd heading: 353.302873 deg, new cmd heading: 354.013485 deg. 2j<HeadingCmd: 6.178701 target range: 116.000000 and range: 116.00 m. j@jjjihhihqhqfyfyfyrfybfC@ɛ = *?I! %[ɚ)i)I-T]-=I-սi1i5)5@)A*Fe?2Fa:FiBFmX5JFq"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491263Gy GY By O > I w,/?A6 @Y6@6 96#>y6H? ?Vп?@|I̿M?W??ɨ6 @6X;6Cy>UBB"I)D DEWill construct direction to contact in vehicle frame from tetrahedron phase data.E>E<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739305]Mb@Mb@Mb@YYY Y)YY]1Zd? rh G٣yX= > Nusing accuracyPremultiplier from configi59t?i5Y i$@e?:E@zWE;;i5 @EZjFNOT Ignoring new targets: 116.00 m.BjF+<JjF+< ProNav: ac range: 116.000000 m, nav range: 57.204041 m, bearing: 60.015343 deg, approach rate: -0.126488 m/s, LOS rate: 0.598954 deg/s, cmd heading: 354.013486 deg, new cmd heading: 354.750005 deg. 2j< HeadingCmd: 6.191556 target range: 116.000000 and range: 116.00 m. j 9!@j j j i hhhh~Bfffrf!bf%c@ɛ  -,= D ?I #ɚiI+=Ii!i%)%9!@)!*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991675GG B O >Fw,oYA6)@Y69@6*96A>y6H`/? ?`3<ο 9?w̿\A?y?@?ɨ6)@6;6CyNbBN"IIZ*IZ3٢b= bW=9fx:Q f>dd jG٣jFOGyjD= j> rNusing accuracyPremultiplier from configlri59n1t?vi5Yn in@tv/v@n~WEn:n:nWi5zB z@uEZjFNOT Ignoring new targets: 116.00 m.Bj!<Jj!< ProNav: ac range: 116.000000 m, nav range: 57.154232 m, bearing: 60.240363 deg, approach rate: -0.124927 m/s, LOS rate: 0.564873 deg/s, cmd heading: 354.749999 deg, new cmd heading: 355.425615 deg. 2j<HeadingCmd: 6.203347 target range: 116.000000 and range: 116.00 m. jҁ@jjjihhhhfffrfbf`0 @ɛ == !%&?I! %vnɚ!i!I%j*=I-1i)i5N)5ҁ@)9 $?IHI I#IIBI =&I.I6I<:I FBI CJI CRI“CZI =bI =jI`4MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:43:40.2206 UTRx dataTimestamp_ set to:1736376221.532768Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.244171zKerMKe9KaKeKe BKq:KuqAE=<J}J}JyJyJ}:J}9JyJyJ}8;J}9;J}';J}';*F?2F:FBF@5JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500101G B1 OU >5w,quA:q@Y:@:Z9: >y:H ? ?Ϳ%Q?̿i'?? ?ɨ:q@:l;:CyVkBV"IMb@Mb@Mb@ )YK?~jtx:v?y^?ĻT<A @)@IMAyAI}I}?13٢ =  =9%J:Q M>II MG٣IyUK< U> ]Nusing accuracyPremultiplier from configYei59]Kt?ei5Y] i]@i?:{@]WE]);]h;]i5 O@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.00 m.Bj )<Jj )< ProNav: ac range: 116.000000 m, nav range: 57.070755 m, bearing: 60.541017 deg, approach rate: -0.164678 m/s, LOS rate: 0.593974 deg/s, cmd heading: 355.425614 deg, new cmd heading: 356.328815 deg. 2j BDAT read: Tx time:22:43:41.3115 $Ping request sent.]"[]V}?]" ]Ð?)]ޏI]V?i]ޏ>YY]\+c?Ɨ: AĿ)]UlI]">i]?]|fYYU:publishing transmit ping timeUFpublishing direction and range infoY9]}&E?nJ?3 ?yYYYY Y)YIYiYYYYY Y)YIYiYYY]\+c?Ɨ: AĿ)YIYiYYYY Z#YiymB)IE <*F 2F :F BF y0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:43:41.3107 G1GGqAGBO?Nkw,AyyB "II Ib3٢]1V= e=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyj59}et?j5Y} i}{@@}WE};}3;}j5 p@EkWz?kL k kTA:k3BBkBZkA?"0@i|Q@lV@}&E?nJ?3 ?Jk?Rk|f*&&f13@D@4Z@[?}= ?eB"Y? $?I"k'B*kYAkz?k/8s 2k,Ck{?k"  k'CkaOBkSD?- addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.778304 s, deltaX: 0.099998 m, approachRate: 0.026466 m/s, rangeRepo size: 4 = Added new target pos. range: 116.099998 m, bearing: 65.020562 deg, lat: 36.904324 deg, lon: -122.119861 deg, deltaT: 3.778304 s, deltaX: 0.099998 m, approachRate: 0.026466 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 116.10 m.BjEZHQRHU?AHYIY I]H#II]BIY&IY.IY6I]<:I] FJjA ProNav: ac range: 116.099998 m, nav range: 51.845394 m, bearing: 64.577222 deg, approach rate: 0.000000 m/s, LOS rate: 0.593974 deg/s, cmd heading: 356.328811 deg, new cmd heading: 357.282438 deg. 2j-HeadingCmd: 6.235755 target range: 116.099998 and range: 116.10 m. j-N@j)j)j)i)h)h1h1h1f1f9f9rf=`f]@bf=`\?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ@.-= 隵2?I :ɚiIu&=IFBiiqZ)N@)EE*E"EzK%LK%9K!K%K%   JJJJJ:JO9JJJ;J;Je,;Jf,;*F% ?2F! :F! BF% ~0JF! e Will construct direction to contact in vehicle frame from tetrahedron phase data.GE EG)B9OU>fw,DAy%B%"IMb@Mb@Mb@ )Yx?Mb?I +?yK?<94<XA @)@I7Ay=AII(*٢< '=9Q > G٣GOGy >  Nusing accuracyPremultiplier from config j59 |t?j5Y < i \@`?:`U@ WE ; ; j59 E@EEZjamFNOT Ignoring new targets: 116.10 m.Bjm8<Jju8< ProNav: ac range: 116.099998 m, nav range: 51.779205 m, bearing: 64.886148 deg, approach rate: -0.138374 m/s, LOS rate: 0.646663 deg/s, cmd heading: 357.282442 deg, new cmd heading: 358.210321 deg. 2j<HeadingCmd: 6.251949 target range: 116.099998 and range: 116.10 m. j@jjjihhhhBfffrfbf? IhɛBiD= 4?I :ɚiI`$=Iii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF?5JF"G>G=GGaBqO[>rw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.:r@Y:s@:?9:r>y:Hr?@&?t˺`o ƿx?U-̿$?`? ?ɨ:r@:o];8yb}Bb"IIjIj%x٢r  r_=9r0tt vG٣tyv3> z> ~Nusing accuracyPremultiplier from configxj59zt?j5Yz iz@@zWEz ;zu ;zj5 0@ZjFNOT Ignoring new targets: 116.10 m.Bj*<Jj*< ProNav: ac range: 116.099998 m, nav range: 51.718613 m, bearing: 65.115275 deg, approach rate: -0.157898 m/s, LOS rate: 0.597778 deg/s, cmd heading: 358.210309 deg, new cmd heading: 358.898461 deg. 2j <%HeadingCmd: 6.263960 target range: 116.099998 and range: 116.10 m. j%\r@j!j!j!i!h)h)h)h1fAfAfIrfIbfM G?ɛ`/J= 隥3?I :ɚiI#=IN~iiʽ)\r@)*F?2F:FBF4JF $?IHqIq Ium#IIu߄BIq&Iq.Iq6Iu<:Iu FWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKػ9KKK/PK9*   f^z&qM]N6U"G J J J J J ̝:J 9J J J ;J ;J Z5;J [5;G B O > w,A:@Y: @:S9:t>y:H? {? 4ÿ?@̿g?iE?J?ɨ:@:;:CyNBb"I)d dhhhj@AInIn#3٢v< vJ=9v;Q z>xx zG٣xy~u*= ~> Nusing accuracyPremultiplier from config j59t? j5Y i@ @WE:: j5B @ EZjAEFNOT Ignoring new targets: 116.10 m.BjM<<JjM<< ProNav: ac range: 116.099998 m, nav range: 51.648628 m, bearing: 65.368381 deg, approach rate: -0.182254 m/s, LOS rate: 0.660027 deg/s, cmd heading: 358.898464 deg, new cmd heading: 359.658762 deg. 2j|<HeadingCmd: 6.277230 target range: 116.099998 and range: 116.10 m. j@jjjihhhhfffrfbf ?EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB[U= x5?I ;ɚ i I Ĕ!=I'ûiiJ.н)@)*F?2F:FBFP0JFGGQBaO{> I Will construct direction to contact in vehicle frame from tetrahedron phase data.w,]A@Y@Az9?x>yH`?@ľ?*@:*?@`ͿO=???ɨ@p;CyEzBE"IMb@Mb@Mb@ )Y7A`?{Gz?{Gzt?y?#<ף;A @)@IyAII3٢} ,=9;Q %>!! %G٣%HOGy-(= -> UNusing accuracyPremultiplier from configQ]j59U8t?]j5YU iUV@e?e:eae@UWEUr;U;Uj5) -y@- EmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 116.10 m.Bj'<Jj'< ProNav: ac range: 116.099998 m, nav range: 51.564751 m, bearing: 65.666680 deg, approach rate: -0.164825 m/s, LOS rate: 0.587129 deg/s, cmd heading: 359.658774 deg, new cmd heading: 0.555050 deg. 2jx<HeadingCmd: 0.009687 target range: 116.099998 and range: 116.10 m. j<jjjihhhhBfffrfbf @=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.ɛ9}R>= y隅1?I F;ɚiIj=IIi  Im z#IIm BIm  =&Ii .Im 8D6Im *<:Im ' FG .˽Gq By O >Ow,"A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506396y~eB~"IzK5-PK5h9K1K5K5  T.  +=40-*" *GjM4##&$# &*RKE?JKE?I  I b3٢h̽ M=9Q > G٣y > Nusing accuracyPremultiplier from configj59t?j5Y i@@WE:@:'j5 @Zj FNOT Ignoring new targets: 116.10 m.Bj@<Jj@<% ProNav: ac range: 116.099998 m, nav range: 51.496777 m, bearing: 65.912878 deg, approach rate: -0.185828 m/s, LOS rate: 0.673943 deg/s, cmd heading: 0.555050 deg, new cmd heading: 1.294576 deg. 2j-B<5HeadingCmd: 0.022595 target range: 116.099998 and range: 116.10 m. j5U<j1j1j1i1h1h9h9h9f9fAfArfAbfEڧ@ɛ B 9\= &?I b;ɚi!I%=ImUvw,LI=Mb@Mb@Mb@ )YbX9?Mb?:vyE?<TrA @)@IAyAI%I)3٢%0 %D=9!Q ->)) -G٣-IOGy1 5> =Nusing accuracyPremultiplier from config9Ej59=t?Ej5Y=e i=7@MR?M:MM@=WE=;=Y;=j5UB UK@]EZjFNOT Ignoring new targets: 116.10 m.BjS2<JjS2< ProNav: ac range: 116.099998 m, nav range: 51.424942 m, bearing: 66.173756 deg, approach rate: -0.171477 m/s, LOS rate: 0.623613 deg/s, cmd heading: 1.294576 deg, new cmd heading: 2.078253 deg. 2j<HeadingCmd: 0.036272 target range: 116.099998 and range: 116.10 m. jR=jjjihhhhCBfffrfbf@@ɛBB=  "?I ;ɚiI, =I R=iiW)R=)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:43:43.8702 uTRx dataTimestamp_ set to:1736376225.060659}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011475*F2F:FBF`0JFGeoܽGB)OER> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262407J]w,VA66@Y6@66S96\Zz>y6H?F? `Z?-Aοc? .?@?ɨ66@6G;4ybKBb"IIhIh٢   ^=9 A G٣yn> > -Nusing accuracyPremultiplier from config!-j59%>t?5j5Y% i%r@15w5@%WE%<:%:%j59 Ep@EEZjq}FNOT Ignoring new targets: 116.10 m.Bj0<Jj0< ProNav: ac range: 116.099998 m, nav range: 51.353012 m, bearing: 66.400886 deg, approach rate: -0.195312 m/s, LOS rate: 0.617587 deg/s, cmd heading: 2.078253 deg, new cmd heading: 2.760561 deg. 2j<HeadingCmd: 0.048181 target range: 116.099998 and range: 116.10 m. jQYE=jjjihhhhfffrfbf@ @ɛBD= ?I 5;ɚiIP=IQYE=ii)QYE=)*F?2F:FBF0JF $?IH;>IC Is#IIBI =&I.I7D6I)<:I" FWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:43:43.8702 LVL= 17200, 26977, 17634, 23539, AGC= 58, IDX= 442, 0.19,-0.569,-1.880,-2.687,-1.973, PHS= 1.492, 0.140,-0.717, RAW= 67.4, -9.5, CAL= 77.9, -17.7, ROT= 72.1, 17.7 uYgot valid direction response: 22:43:43.8702 LVL= 17200, 26977, 17634, 23539, AGC= 58, IDX= 442, 0.19,-0.569,-1.880,-2.687,-1.973, PHS= 1.492, 0.140,-0.717, RAW= 67.4, -9.5, CAL= 77.9, -17.7, ROT= 72.1, 17.7 PDAT read: Bearing 72.1, 17.7 (Local) ~Local bearing/azimuth received: Bearing 72.1, 17.7 (Local) zKPK+9KKK,,,*$"   A/0gpFAL BK:KpADAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s ,DAT read: user:2829> G)BDAT read: Tx time:22:43:44.9615 $Ping request sent.ٕP7ٕ?ٕ) ڕ?)ڕ2+Iڕ?iڕ2+>ڑڑەȩ'?lMٴ+ſ)ەI%kIەt%*>iە?ەۑۑ%:publishing transmit ping time-Fpublishing direction and range infoؑ9ؕBU"?`49?NKYs%?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑGBO>ڑەȩ'?lMٴ+ſ)ۑIۑiۑۑۑۑ֏w,t~pAyU;B]"IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:43:44.9607 I-I- 3٢> 2=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5j59- u?5j5Y-\ i-@YY]@-WE-8;-;-%j5i ms@ikVy?kMXW k kCdA:kBBkBZk\?"Q /@ZXDpJ@4SvY@BU"?`49?NKYs%?Jk?Rk*"ʤؒR(@6r[9@&ÛbM\@,#x?ea]U?]mM?"kA*kBAkZ y?kS 2kb2Ckz?k\( k'CkGBk? addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.530193 s, deltaX: -0.299995 m, approachRate: -0.084980 m/s, rangeRepo size: 4 - Added new target pos. range: 115.800003 m, bearing: 64.619592 deg, lat: 36.904300 deg, lon: -122.119866 deg, deltaT: 3.530193 s, deltaX: -0.299995 m, approachRate: -0.084980 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 115.80 m.Bj5JjQe ProNav: ac range: 115.800003 m, nav range: 49.874035 m, bearing: 69.374179 deg, approach rate: 0.000000 m/s, LOS rate: 0.617587 deg/s, cmd heading: 2.760561 deg, new cmd heading: 3.665169 deg. 2jamHeadingCmd: 0.063969 target range: 115.800003 and range: 115.80 m. jmR=jijijiiqhqhhhfffrf@3\@bf?ɛB#= ?I ;ɚ!i)I-g=IR=ii ޽)R=)EE I*FE?2FA:FIBFMo0JFIG%ƽGBO >} Will construct direction to contact in vehicle frame from tetrahedron phase data.JKـ3 KKK"KJ J J J J J 9J J a @a @a @a @o"w,P5A6&Կ@Y6@6S896u>y6H?D? Y?Ϳ@?`f? ?ɨ6&Կ@6;6CyB#BB"I)D DMb@Mb@Mb@ )Yx?ktQ롿yK? 0\\A @)p@IAyp@IIm?٢ [=9n G٣y= > Nusing accuracyPremultiplier from configj59Vu?j5Y i@?:@WE;:G!j5B @EZj%FNOT Ignoring new targets: 115.80 m.Bj-(G<Jj-(G< ProNav: ac range: 115.800003 m, nav range: 49.824791 m, bearing: 69.612040 deg, approach rate: -0.144047 m/s, LOS rate: 0.696468 deg/s, cmd heading: 3.665169 deg, new cmd heading: 4.379418 deg. 2j<HeadingCmd: 0.076435 target range: 115.800003 and range: 115.80 m. j=jjjihhhhBfffrfbf9?ɛuBu4= qu?Iq }g@;ɚyiyI}&f=I=iic]ý)=)Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A*F!2F!:F!BF%P5JF)GM # $?I GA BY Ou >H 8>I  I N#II ńBI # =&I .I 6D6I B<:I 1 FBIJIRIZIbI! =jIO5@(w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.Z%(@YZ7@Z].9ZQc>yZH`?@}?@=x!.?-˿Х?(?/?ɨZ%(@ZC;ZCyB o"III[3٢-ͽ -T=95;Q 5>11 =G٣=JOGy=< E> MNusing accuracyPremultiplier from configAMj59Eu0u?Uj5YE iEQ@QUN콑U@EWEE:E':E$j5a e=@eE}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.80 m.Bj<<Jj<< ProNav: ac range: 115.800003 m, nav range: 49.770882 m, bearing: 69.867468 deg, approach rate: -0.139226 m/s, LOS rate: 0.660380 deg/s, cmd heading: 4.379418 deg, new cmd heading: 5.146484 deg. 2j<zKOK9KKKQSA.~yrmhc`]TPONKHIE?;:54..,-)*(&"# RK?JK?HeadingCmd: 0.089823 target range: 115.800003 and range: 115.80 m. j+=jjjihhhhfffrfbf`?JUAAJQɛB = i>I vX;ɚiISZ=I+=i i a̽)5+=)1*F%?2F!:F!BF-5JF)G Q½GBO=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode..w,A 4I8:@Y: @:8"9:c>y:HT?S?<Ϩ2?9˿E?@!?1?ɨ:@:e;:Cy^B^V"I~GtA1 eI#YetAye,BUMb@Mb@Mb@QQQ Q)QYUn?zGế)\(yU?U ׽UGaUA Q)UZ@IUQAQyU@II1٢f 5=9b;Q > G٣y< > %Nusing accuracyPremultiplier from config-j59RGu?-j5Y- i@- ?5:5I5@WE;;(j59 =@9UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.463288Zjy}FNOT Ignoring new targets: 115.80 m.BjA<JjA< ProNav: ac range: 115.800003 m, nav range: 49.729137 m, bearing: 70.182454 deg, approach rate: -0.089620 m/s, LOS rate: 0.676800 deg/s, cmd heading: 5.146484 deg, new cmd heading: 6.092145 deg. 2j=<HeadingCmd: 0.106328 target range: 115.800003 and range: 115.80 m. j|=jjjihhhhBfffrfbfZ?ɛB= >I ;ɚiIF=I|=ii$ҽ)|=)JuJuJqJqJu\:Ju 9JqJq*F?2F:FBFP0JFG $ĽG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7149805w,AJ@YJ@J9Jd>yJH?^? 1V 3? ̿=?|?? 0?ɨJ@JS;JCyVBV@"IiZ=IZ]>Ib,Ib3٢j н jl=9n(<IA E0;ɚAiAIEv=I]=iiν)]=) e$?Ia*FM?2FI:FIBFMX0JFIH7>IC I#IIBI$ =&I.I6I4<:I& FG%VνGBO J>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.967695zKMOKM 9KIKMKM    ;w,A:Rx@Y:χ@:99:5uf>y:H ?@[?`R,`?1?&̿?`?`-?ɨ:Rx@:;:CyBՃBB&"IINCIN3٢bʽ fK=9j ?ll nG٣nKOGyr= r> uNusing accuracyPremultiplier from configtj59vku?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221997j5Yv1 iv*@,@vWEv=v jjjihh h h f ffrfbf@7@ɛ}!B< 隅>I ;ɚiI6=I>iiͽ)>) E$?IA*FE?2FA:FABFM\0JFIe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471051G} }ѽG} ?G} ?Gq J J J J J ̝:J 9J J B O >DBw, y ANe@YN@Nؼ9Nѫi>yNH@?Ўm c+?̿?`(?(?ɨNe@NA*;NCyZƃBZ"IEMb@Mb@Mb@AAA A)AYEn?/$ſ#~jyAE,E㥽E A Ej@)EC@IE@AyE\@I]&I]3٢m mA=9u,qq uG٣qy}L = }> Nusing accuracyPremultiplier from configj59u?j5Y i@n?:=z@WESI;%H;2j5 @EZjFNOT Ignoring new targets: 115.80 m.Bj p<Jj p< ProNav: ac range: 115.800003 m, nav range: 49.633533 m, bearing: 70.975577 deg, approach rate: -0.065781 m/s, LOS rate: 0.839435 deg/s, cmd heading: 7.589257 deg, new cmd heading: 8.472863 deg. 2j=HeadingCmd: 0.147879 target range: 115.800003 and range: 115.80 m. jm>jjjihhhh"BfffrfbfE@ɛ"B:< >I ;ɚi I-b=IUm>iQiUIѽ)Um>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723117*F2F:FBF_0JF M $?II G o̽jHm <bHm 4=Hq Iq  Iu "IIu `BIq &Iq .Iq 6Iu <:Iu  FG B O >XHw,CX%AWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975329>vC@Y>0<>"&9>MWl>y>H?@,͊]Ā? *&?MͿ@G?F?@$?ɨ>vC@>w;>CyFBF"I)H JAIR;IR&3٢Z(c ZW=9ZM0\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdjj59fu?jj5Yf; if@lnon@fWEf ;f ;f(6j5rB v@vEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.80 m.Bj><Jj>< ProNav: ac range: 115.800003 m, nav range: 49.611355 m, bearing: 71.240641 deg, approach rate: -0.055858 m/s, LOS rate: 0.667869 deg/s, cmd heading: 8.472862 deg, new cmd heading: 9.268358 deg. 2j-<HeadingCmd: 0.161763 target range: 115.800003 and range: 115.80 m. jK%>jjjihhh h zK5!MK5+9K1K5K5fYfYfYrfabfe`v@ɛ#B`< >I ;ɚiI/=IK%>iiֽ)K%>)!*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:43:47.5198 TRx dataTimestamp_ set to:1736376228.840751checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228189GU }ѽGa Bi O > 9 I9 ;Ow,f2?A:Γ@Y:p<:.9:~m>y:HD?@L@xll?!?Ϳ?Px?z"?ɨ:Γ@:[;8yFBF"IMb@Mb@Mb@ )YI +?`"ο/$y9?w A K@);@I@y@I5[I5K!4٢E: EA=9MnQQ ]G٣]LOGy]< ]> mNusing accuracyPremultiplier from configamj59esu?uj5Ye ie@u"?u:uu@eWEeo;e;e9j5 @ZjFNOT Ignoring new targets: 115.80 m.BjU<JjU< ProNav: ac range: 115.800003 m, nav range: 49.614811 m, bearing: 71.544021 deg, approach rate: 0.008507 m/s, LOS rate: 0.746726 deg/s, cmd heading: 9.268358 deg, new cmd heading: 10.178353 deg. 2j=HeadingCmd: 0.177646 target range: 115.800003 and range: 115.80 m. j5>jjjihhhhBfffrfbf L @ɛ%B< L<隵>I y;ɚiI=I5>ii)5>)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479565*F?2F:FBFa3JFG GrAGcӽGGrAJJJJJ|:J9JJGBOmx> Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:43:47.5198 LVL= 20784, 30193, 21074, 27635, AGC= 61, IDX= 439, 0.16, 2.809, 1.220, 0.865, 1.552, PHS= 1.344,-0.285,-0.690, RAW= 79.2, -4.0, CAL= 87.3, -10.4, ROT= 62.7, 10.4 5 Ygot valid direction response: 22:43:47.5198 LVL= 20784, 30193, 21074, 27635, AGC= 61, IDX= 439, 0.16, 2.809, 1.220, 0.865, 1.552, PHS= 1.344,-0.285,-0.690, RAW= 79.2, -4.0, CAL= 87.3, -10.4, ROT= 62.7, 10.4 = PDAT read: Bearing 62.7, 10.4 (Local) E ~Local bearing/azimuth received: Bearing 62.7, 10.4 (Local) M DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.0 m/s U ,DAT read: user:2830> U BDAT read: Tx time:22:43:48.6115 ] $Ping request sent.] +X&?ۺ5³ݱ) z6I =i ? C  :publishing transmit ping timeY  Fpublishing direction and range info 9 pc?_~WC?!c?y  ) I i ) I i +X&?ۺ5³ݱ) I i Vw,dYA%l@Y%<%Jq9%i~n>y%HP?`Ƃ`:?^?`Ϳ)?+? !?ɨ%l@%;%Cy=B="IIMOIM 4٢" ==9 MG٣IyMR< U> ]Nusing accuracyPremultiplier from configYej59]5u?ej5Y] i]@ae $?Ie@]WE] D<]D<]=j5 @Ek4,{u?k4X k k!VA:kBBkjBZk=?"C#"4?',z@@sRP[@pc?_~WC?!c?Jk?RkC*­ġlD4K@ava\@%tg|w?jҬ?J b?"k@*kMkzu?k9W 2k+5CkR"wz?k/8s k,Ck55BkI?] addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.777260 s, deltaX: -0.300003 m, approachRate: -0.079423 m/s, rangeRepo size: 4  Added new target pos. range: 115.500000 m, bearing: 97.022764 deg, lat: 36.904297 deg, lon: -122.119916 deg, deltaT: 3.777260 s, deltaX: -0.300003 m, approachRate: -0.079423 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.50 m.BjJj ProNav: ac range: 115.500000 m, nav range: 45.302635 m, bearing: 70.405407 deg, approach rate: 0.000000 m/s, LOS rate: 0.746726 deg/s, cmd heading: 10.178353 deg, new cmd heading: 11.217417 deg. 2jHeadingCmd: 0.195781 target range: 115.500000 and range: 115.50 m. jzH>jjjihhHI I"II-BI&I.I6I <:I FhAhAfAfAfArfM\@bfM?ɛ&B< j>I 8;ɚiIh=IzH>ii5)zH>)EAEErAWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:43:48.6107 *F?2F:FBF1JFzKgKK59KKKG ԽG B O >V3\w,8,sAZ@YZ=Z89Zȁo>yZH? g ֡?[?oͿa?@ ?p ?ɨZ@Z;ZCy%B%"Ii-p=I-=IeIe(Will construct direction to contact in vehicle frame from tetrahedron phase data.٢?< M=9] )) EG٣Ay]< e> Nusing accuracyPremultiplier from configj59u?j5Y iB@}@WE„<<MAj5eB e@EZjFNOT Ignoring new targets: 115.50 m.Bjt[<Jjt[<5 ProNav: ac range: 115.500000 m, nav range: 45.298065 m, bearing: 70.728101 deg, approach rate: -0.010868 m/s, LOS rate: 0.767443 deg/s, cmd heading: 11.217417 deg, new cmd heading: 12.185500 deg. 2j5==HeadingCmd: 0.212677 target range: 115.500000 and range: 115.50 m. j=Y>j9j9j9iAhAhAhahifififirfibfu:9?ɛ'B< 隍ϑ>I s<ɚiI]p=IY>i $?Iin)Y>)*FU?2FQ:FQBFUP5JFYG-eG B! - Will construct direction to contact in vehicle frame from tetrahedron phase data.OE >ocw,JAynǃBn"IuMb@Mb@Mb@qqq q)qYuV-?Fxѿsh|?yuh?uƋuuE A u5@)u~@Iu@qyu@II<2٢Ί= N=9Q > G٣MOGy > Nusing accuracyPremultiplier from configj59u?j5Y> i@"?%:%%%@WE7<a;Dj51 =@9ZjFNOT Ignoring new targets: 115.50 m.Bjqk<Jjqk< ProNav: ac range: 115.500000 m, nav range: 45.307396 m, bearing: 71.026054 deg, approach rate: 0.025790 m/s, LOS rate: 0.823358 deg/s, cmd heading: 12.185500 deg, new cmd heading: 13.079098 deg. 2jD =HeadingCmd: 0.228273 target range: 115.500000 and range: 115.50 m. j{i>jjjihhhhfffrfbf?ɛ(B4x< Þ>I @<ɚiI=I{i>iWill construct direction to contact in vehicle frame from tetrahedron phase data.ie ){i>) IE<ZH RH @AH 6>I  I f"II BI &I .I 6I <:I *F ?2F :F BF 1JF "G =G == Will construct direction to contact in vehicle frame from tetrahedron phase data.J]J]J]/JYJ]\:J]:J](N3JYJ]j;amJ]k;auJ]C;auJ]C;a}G_G ?G?zKiJK+9KKKGBO?jw,^ۭA^@Y^]=^;?9^q>y^H?`h?`? ?LͿ 'q???ɨ^@^Aʍ;\y~׃B~)"I)! %AIM IM<2٢}= !=9Wd G٣y<`= > Nusing accuracyPremultiplier from configj59u?j5Y  iI@@WEz:7: Ij5 @-EEB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 115.50 m.Bj]F`<Jj]F`jyjyjyiyhyhhhfffrfbfW?ɛ)B֤< >I ` <ɚiI$c=I~>ii1)~>)EF<MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF4JFGGBO> 5$?I1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749412qw,A6*N@Y6s=6ER96r>y6H? 鱿@0?Lj?a?`ͿH*? ?@ ?ɨ6*N@6oi;6CyNBRQ"IMb@Mb@Mb@ )YB`"?> ףp=ҿ F=9 G٣ys< > Nusing accuracyPremultiplier from configj59v?j5Yl  i|@u!?:z@WE;c;Lj5 B @ EZj1=FNOT Ignoring new targets: 115.50 m.Bj=e<Jj=ejYjYjaiahahahihm+BfififirfqbfuF?ɛh= 隥>I <ɚiI=Ih>iIiU )Uh>)QEYEY*Ea"Ea]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001579*FU?2FQ:FYBF]@5JFY % $?I! GE * H I  I `"II BI &I .I 6I 6<:I ) FBIe̞CJIe̞CRIaZIe$ =bIe$ =jIe4G1 B9 O] >{~xw,oA2@Y2=2ZsQ;92t>y2H`? c=?.?@ ?I/ο`h.jHR??ɨ2@2G;2Cy~B~m"II I ٢= E=9%:!! %G٣%NOGy-#< -> =Nusing accuracyPremultiplier from config1Ej595&v?Ej5Y5 i5@IMݴM@5WE5S*;5;5?Pj5Q U@YZjyFNOT Ignoring new targets: 115.50 m.Bj]<Jj]< ProNav: ac range: 115.500000 m, nav range: 45.333412 m, bearing: 72.063616 deg, approach rate: 0.022941 m/s, LOS rate: 0.774854 deg/s, cmd heading: 15.227675 deg, new cmd heading: 16.190831 deg. 2j=HeadingCmd: 0.282583 target range: 115.500000 and range: 115.50 m. j®>jjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253488hfffrfbf *@ɛ*B"= >I E<ɚiIVh=I®>i i z)®>)JJJ0JJ:J9Jـ3JJ;J;J:;J:;*F?2F:FBF]0JFzK}BoHKyKyK}K}G% G B O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505592~w,fA2@Y2f=2;92:?y>y2H?ֶ?@?? οQw`@?e?ɨ2@2 ;2C `Idyn0Bn"I r=r=uMb@Mb@Mb@qqq q)qYu@5^I ? +ο~jtyub?uvuu` A u@)u@Iu@qyu@I,I3٢g > C=9M;Q > G٣y< > Nusing accuracyPremultiplier from configj59:v?j5Y iS@P?:w@WE;0;Sj5 m@E) G|uA  Y|uAyzBZjFNOT Ignoring new targets: 115.50 m.Bj@<Jj@<- ProNav: ac range: 115.500000 m, nav range: 45.327259 m, bearing: 72.385346 deg, approach rate: -0.012841 m/s, LOS rate: 0.671501 deg/s, cmd heading: 16.190830 deg, new cmd heading: 17.156055 deg. 2j-l<=HeadingCmd: 0.299430 target range: 115.500000 and range: 115.50 m. j=N>j9j9j9i9hAhAhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757466frfbf60@ɛ+B[x)= Y?I B<ɚiI=I-N>i1i5D)5N>)*FY2FY:FYBF]P0JFaG G ?G ?Gq } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:43:51.1695  TRx dataTimestamp_ set to:1736376232.369348 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011158B O >w,A6Ub@Y6}=6,<96a|>y6H@?`𱹿'?? ?οzo:?`/?ɨ6Ub@6`;6Cy>WB>"IIJ7IJ3٢R#N> RU=9V,;Q V>XX ZG٣Xy^= ^> bNusing accuracyPremultiplier from config`fj59bMv?fj5YbJ ib@df j@bWEb:bv:bFWj5l n@pZj FNOT Ignoring new targets: 115.50 m.Bj ȁ<Jjȁ<% ProNav: ac range: 115.500000 m, nav range: 45.319958 m, bearing: 72.679671 deg, approach rate: -0.022515 m/s, LOS rate: 0.907729 deg/s, cmd heading: 17.156055 deg, new cmd heading: 18.039099 deg. 2j%=-HeadingCmd: 0.314842 target range: 115.500000 and range: 115.50 m. j52>j1j1j1i1h1h1hhfffrfbf@ɛ,BiQiUL)U2>)Y ]$?IY*F2F:FBFl0JFG4pjH<bH<H I  I "II #BI &I .I 6I E<:I 4 FGBOA>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261922J J J 1J J ̝:J :J 3J J ;J ;J @;J @;zK K 9K K K w,1A^c@Y^@=^<9^K~>y^H0?vd??@O?3Ͽ} u?Q?ɨ^c@^:ȉ;\yjBj#IIr.Ir3٢zPm> zE=9~;Q ~> G٣OOGy <  > Nusing accuracyPremultiplier from configj59av?%j5Y i@!%󅾑-@WEr;;Zj5I M@UEB*** querying acoustic contact ***jjZjWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:43:51.1695 LVL= 19632, 32753, 24802, 32755, AGC= 58, IDX= 435, 0.09, 1.371,-0.261,-0.332, 0.220, PHS= 1.240,-0.434,-0.554, RAW= 86.6, -2.9, CAL= 94.6, -9.1, ROT= 55.4, 9.1 EYgot valid direction response: 22:43:51.1695 LVL= 19632, 32753, 24802, 32755, AGC= 58, IDX= 435, 0.09, 1.371,-0.261,-0.332, 0.220, PHS= 1.240,-0.434,-0.554, RAW= 86.6, -2.9, CAL= 94.6, -9.1, ROT= 55.4, 9.1 UPDAT read: Bearing 55.4, 9.1 (Local) ]~Local bearing/azimuth received: Bearing 55.4, 9.1 (Local) uFNOT Ignoring new targets: 115.50 m.Bj}F<Jj}F<DAT read: Range 10 to 50 : 115.3 m (Round-trip 153.8 ms) speed 0.2 m/s ,DAT read: user:2831>  ProNav: ac range: 115.500000 m, nav range: 45.310440 m, bearing: 72.996920 deg, approach rate: -0.020823 m/s, LOS rate: 0.694237 deg/s, cmd heading: 18.039098 deg, new cmd heading: 18.990952 deg. 2j 9<5BDAT read: Tx time:22:43:52.2616 =$Ping request sent.=jqjyjyR#Rx 1: Read range and direction messages.ihhh^direction in FSK: [-0.023571,0.163344,0.986288]:publishing transmit ping time9Fpublishing direction and range infohf)f1f99G#,Bv?1>BԪ?yBLrf9bf? `)I:iR??5޾ \w?4QO V?)"Iw?i">AA?;P*^9)]IQ=ig?׳ E$?IAe:publishing transmit ping time9mFpublishing direction and range info9G#,Bv?1>BԪ?y )Iiɛ-BQ= 隵-?I )IiAA?;P*^9)Ii B0<ɚiI=Il>iiσ)l>)EE*F?2F:FBF_0JF"G8>G> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:43:52.2608 G $fG B O >~w,ƥNAF2@YFF>F 6<9FE>yFH+?E?J? ?GϿÆJ? ?ɨF2@F ;FCybBb.#I)d dhjA=Mb@Mb@Mb@999 9)9Y=&1?+ÿy&1|y=?==`=A =&@)=@I=@9y=Q@Iu&Iu3٢> #=9$1;Q > G٣y< > Nusing accuracyPremultiplier from configj59lzv?j5Y i@O?:8@WE#; ;D_j5B @Ekov?ki k k7A:kBBkBZkc@":Zp0f2@'#9Tn\@G#,Bv?1>BԪ?Jkg?Rk׳*uc%'$ߥ}\@`:m8,1RT-P(nO?"k *kkov?k 2k25CkZ y?kS kb2CkHAkxŤ?u addTargetRange:: Added new target pos. range: 115.300003 m, deltaT: 3.529829 s, deltaX: -0.199997 m, approachRate: -0.056659 m/s, rangeRepo size: 4  Added new target pos. range: 115.300003 m, bearing: 269.270196 deg, lat: 36.904251 deg, lon: -122.120102 deg, deltaT: 3.529829 s, deltaX: -0.199997 m, approachRate: -0.056659 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.30 m.BjJj ProNav: ac range: 115.300003 m, nav range: 27.910616 m, bearing: 73.755498 deg, approach rate: 0.000000 m/s, LOS rate: 0.694237 deg/s, cmd heading: 18.990952 deg, new cmd heading: 19.979611 deg. 2jHeadingCmd: 0.348710 target range: 115.300003 and range: 115.30 m. j>jjjihhhhBfffrf%@3\@bf%_?ɛm.Bm00= qun>?Iq u9<ɚqiqIu =Will construct direction to contact in vehicle frame from tetrahedron phase data.I>ii] )>)*Fu?2Fq:FqBFui0JFqGMAx $?IhG BO5>H 7>I  I "II eBI &I .I 6I <:I  F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,@lhA6V@Y6>6J11<96F>y6HB?@Z{C٧?+k??@ǰϿ &??ɨ6V@6;6CyeBeo#III(*2٢> Z=9RQ > G٣y= > Nusing accuracyPremultiplier from configj59Ōv?j5Y iK@轑@WE;;bj5 y@JJJJJ|:J9JJJ;J;J$7;J%7;Zj)FNOT Ignoring new targets: 115.30 m.Bj<Jj< ProNav: ac range: 115.300003 m, nav range: 27.874399 m, bearing: 74.199395 deg, approach rate: -0.100018 m/s, LOS rate: 1.227472 deg/s, cmd heading: 19.979611 deg, new cmd heading: 21.312777 deg. 2jR=HeadingCmd: 0.371978 target range: 115.300003 and range: 115.30 m. js>jjjihhhhfffrfbfD?zK-BHK-9K)K-K-BK=qA:K9ɛm/Bm= quX?Iq u0C<ɚqiqIuZ& =I}s>iyi()s>)*FE?2FA:FIBFM1JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G FG B I O >Tw,)YA6@Y6`>6 3<96]>y6H?¿@ɩ??`"?&п5as?/?ɨ6@6_ډ;6Cy>B>#I-^only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 92.10, 66.61, 76.47  ^@^ ^@^ ^@^  ^@^ IbIb٢nS> nX=9n~9Q r>pp rG٣rPOGyv< v> ~bBottom track data is 0.4 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxj59zJv?j5Yz9 iz@+::н@zWEz';z>z7ej5 @EZj9=FNOT Ignoring new targets: 115.30 m.BjE<JjE<] ProNav: ac range: 115.300003 m, nav range: 27.836966 m, bearing: 74.647262 deg, approach rate: -0.100164 m/s, LOS rate: 1.199994 deg/s, cmd heading: 21.312777 deg, new cmd heading: 22.657926 deg. 2j]M=eHeadingCmd: 0.395455 target range: 115.300003 and range: 115.30 m. je"y>jajajaiahahihihifqfqfqrfqbfu@5^?ɛ=0B=9= 9El?IA E2O<ɚAiAIE}O =IM"y>iIiU3)U"y>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%5JF!G GBOH> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A:p@Y: .>:V/<9:>>y:H?@&Ŀ"s?@D?;?gп@ꅿ`mm?@?ɨ:p@:h;:CyF+BF#IiJ=IJ<ININ@٢Vl0> VN=9ZGQ Z>XX ^G٣\yb= b> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnj59fӲv?nj5Yf if@r :prm:r|r@fWEf;;fTG?fgj5t v@zݶEZjFNOT Ignoring new targets: 115.30 m.BjƩ<Jj%Ʃ<- ProNav: ac range: 115.300003 m, nav range: 27.796175 m, bearing: 75.119143 deg, approach rate: -0.102496 m/s, LOS rate: 1.187438 deg/s, cmd heading: 22.657927 deg, new cmd heading: 24.075342 deg. 2j5K=5HeadingCmd: 0.420194 target range: 115.300003 and range: 115.30 m. j5#>j9j9j9iAhAhAhIhIfIfIfIrfQbfU? e$?Iaɛ1B= o<隍|?I [<ɚiId =I#>ii};)#>)*F?2F:FBFP0JFZH9RH=AAHAIA IEN#IIEńBIA&IA.IA6IE4<:IE& FWill construct direction to contact in vehicle frame from tetrahedron phase data.?_?GEe #G1B9OU>zK BoHK =9K K K ެw,jAy~OB~#II  I V2٢5*> =B=9=Q =>AA EG٣AyM M> UbBottom track data is 1.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.ej59Uxv?mj5YUT iUD@u9q}@:y}@UWEU ;U?Usij5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.30 m.Bj<Jj< ProNav: ac range: 115.300003 m, nav range: 27.755119 m, bearing: 75.619365 deg, approach rate: -0.096080 m/s, LOS rate: 1.172355 deg/s, cmd heading: 24.075341 deg, new cmd heading: 25.577864 deg. 2j$I=HeadingCmd: 0.446418 target range: 115.300003 and range: 115.30 m. j>jjjihhhhfffrfbf`tG@ɛ-2B-9= )-?I) 5 -j<ɚ1i1I5X =I=>i9i=R)=>)A*F?2F:FBFS0JF }$?IGE/G9BIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J% J% J% /J! J% \:J% :J% (N3J! a- @a5 @a5 @a5 @-dzw,Ay kB $I        Mb@Mb@Mb@ )Y333333?p= ף?Zd;?y?=y=A =@)@I@y@IIm?3٢q> A=9Q > G٣QOGy > Nusing accuracyPremultiplier from configj59Gv?j5Y i4@T:I?:D~>@XE;;$mj5B @ڶEZj)-FNOT Ignoring new targets: 115.30 m.Bj5<Jj5jIjIjIiQhQhQhYh]$BfYfYfYrfabfe`@ɛ4B5Ϻ= 15ۍ?I1 5Oy<ɚ1i9I=? =I=Z >iAiEkf)EZ >)AEqmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.475338*F12F1:F1BF5_0JF1"G=t>G=> IH9 I9  I= #II= &BI9 &I9 .I9 6I= t<:I= T FGU 3G! B1 Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727157w,AV$;YVd>Vh<9Vt>yVH4?ʿ A?R?@$?e(п `?`?ɨV$;Vl;VCyjBj<$I)t ttvAIzIzV83٢G >  W=9 g  G٣y> > Nusing accuracyPremultiplier from configj59rv?j5Y i@>@XE*:*:pj5 ,@Zj)-FNOT Ignoring new targets: 115.30 m.Bj5<Jj5jijijihhhhfffrfbf@ɛ5Bm= +?I <ɚiI!=I Lz>iiOE)Lz>))zKBHK9KKKEuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978184*F2F:FBFP0JFG HG B $?I hO >`w,A>z>>Wg<9>i>y>H ?vͿ? ?`?RпK` ?c?ɨ><>XP;>CyJBJL$I%Mb@Mb@Mb@!!! !)!Y%+?(\?~jt?y%?%.>%=%A %j@)%`@I!!y%@I= I=<2٢U= UF=9UQ ]>YY ]G٣ayeX= e> mNusing accuracyPremultiplier from configiuj59mw?uj5Ym ims@}&?}:}>}@m XEm;m);mtj5 Z@׶EZjFNOT Ignoring new targets: 115.30 m.Bjٖ<Jjٖ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482311N w,8A I==Y>[<94N>yH*?`пu?M?`޾?@}п}reQ??ɨ==c;CyB\$II  I (2٢e= %==9%޺Q %>)) -G٣-ROGy5O= 5> =Nusing accuracyPremultiplier from config9Ej59=6w?Ej5Y=R  i=@AM>M@=XE= ;=: ;=wj5UB U@UҶEZjy}FNOT Ignoring new targets: 115.30 m.Bjd<Jjd< ProNav: ac range: 115.300003 m, nav range: 27.164604 m, bearing: 77.354035 deg, approach rate: -0.421245 m/s, LOS rate: 1.023894 deg/s, cmd heading: 29.481569 deg, new cmd heading: 30.808872 deg. 2j/=HeadingCmd: 0.537716 target range: 115.300003 and range: 115.30 m. jƧ ?jH<bH4<HI I5$IIBI# =&I.I6Ig<:IJ FBIJIRIZIbIjI|4jjAjAiAhAhIhIhIfIfQfQrfQbfU`ȑ @ɛ9B2= ՙ?I ͔<ɚiI=I Ƨ ?i i  K) Ƨ ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:43:54.8176 LVL= 21136, 31793, 24018, 32755, AGC= 56, IDX= 416, 0.40, 1.342,-0.288,-0.012, 0.485, PHS= 0.945,-0.727,-0.500, RAW= 97.2, 3.6, CAL= 106.6, 1.8, ROT= 43.4, -1.8 =Ygot valid direction response: 22:43:54.8176 LVL= 21136, 31793, 24018, 32755, AGC= 56, IDX= 416, 0.40, 1.342,-0.288,-0.012, 0.485, PHS= 0.945,-0.727,-0.500, RAW= 97.2, 3.6, CAL= 106.6, 1.8, ROT= 43.4, -1.8 EPDAT read: Bearing 43.4, -1.8 (Local) M~Local bearing/azimuth received: Bearing 43.4, -1.8 (Local) }DAT read: Range 10 to 50 : 113.9 m (Round-trip 151.9 ms) speed 0.4 m/s ,DAT read: user:2832> BDAT read: Tx time:22:43:55.9116 $Ping request sent.=A x@)@I@y(AII(*39 Q  >  G٣y > %Nusing accuracyPremultiplier from config%j59S3w?-j5Y i@@-i.?-:-P?-@XEf;;|j55B 5@=϶Ekeyt?keS ka ke)A:keBBke=BZke,e@"e9YOpY2y<O\@eԳ%ſ 輌Zn\?JkeCRket*e`c٪ =EOAr5eNZ@e0{ e9ӿM4S?"ke *keVkeout?ke$ 2ke.Ckeov?ke9W kake@ke?- addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 3.778754 s, deltaX: -1.400002 m, approachRate: -0.370493 m/s, rangeRepo size: 4 =Will construct direction to contact in vehicle frame from tetrahedron phase data.E Added new target pos. range: 113.900002 m, bearing: 256.748129 deg, lat: 36.904180 deg, lon: -122.120323 deg, deltaT: 3.778754 s, deltaX: -1.400002 m, approachRate: -0.370493 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 113.90 m.BjUJjQe ProNav: ac range: 113.900002 m, nav range: 7.083636 m, bearing: 109.137307 deg, approach rate: 0.000000 m/s, LOS rate: 1.023894 deg/s, cmd heading: 30.808873 deg, new cmd heading: 32.684088 deg. 2jamHeadingCmd: 0.570445 target range: 113.900002 and range: 113.90 m. jm?jijijiiihihqhyh}Bfyfyfrfy\@bf@g?ɛ;B5= 隵-?I 7e<ɚiI$X=I?iih)?)EE*E"EJK|3 Kg.KK"KJUJQJU/JQJU:JQJU(N3JQ*F ?2F :F BF P0JF G RGi By O >}w,oYA*Will construct direction to contact in vehicle frame from tetrahedron phase data.:=Y: >:H;9:Pؓ>y:H T"?ԿUL?t?.?ѿtm9??ɨ:=:;:CyJBJB$IIRIR3٢}@9 }<9}Q }? G٣yl> ? Nusing accuracyPremultiplier from configj59ZBw?j5Yp i@-!?@XE3:(;j5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 113.90 m.Bjv=Jjv= ProNav: ac range: 113.900002 m, nav range: 7.022545 m, bearing: 110.859292 deg, approach rate: -0.200229 m/s, LOS rate: 5.692189 deg/s, cmd heading: 32.684088 deg, new cmd heading: 37.879910 deg. 2j(t>HeadingCmd: 0.661129 target range: 113.900002 and range: 113.90 m. j?)?jjjihh h h fffrfbf ?ɛ==BE@= қ;?I u<ɚiIM=I)?iif:)?)?) $?I*F?2F:FBF0JFHIC I$IIBI&I.I7D6I\<:IA FGūLG1B9OeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.02w,g'sA2/>Y2>2;92xĖ>y2H?@y.ֿ7? F?.? /ѿ vu ?@H?ɨ2/>2=;2CzKBBoHKB 9K@KBKBBKD:KFqAy^Bf5$IInIn%x٢voP vU=9z лQ z>x| ~G٣~SOGy~a= >  Nusing accuracyPremultiplier from config j59uSw?j5YN i0@b(?@XE:H:1j51 5@5̶EZjYeFNOT Ignoring new targets: 113.90 m.BjeI=JjmI=u ProNav: ac range: 113.900002 m, nav range: 6.952632 m, bearing: 112.882945 deg, approach rate: -0.181168 m/s, LOS rate: 5.295557 deg/s, cmd heading: 37.879912 deg, new cmd heading: 43.987404 deg. 2ju$c>HeadingCmd: 0.767725 target range: 113.900002 and range: 113.90 m. jD?jjjihhhhfffrfbfA+?ɛ?B>L= ?I :1<ɚiI1=I'?iiX)D?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231347*Fy2Fy:FBF=5JF $?IG܎LGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485153w,A 6~9>Y6&>6Co;96>y6Hs?I׿wH?(?`:)?`>ѿmD?:?ɨ6~9>6}ˊ;6CybeBb$IJpJpJr0JpJpJpJrـ3JpMb@Mb@Mb@ )YL7A`?v?v/?y+'?x>xi= b@)v@I@yAII٢ ==9pQ > G٣y= > Nusing accuracyPremultiplier from configj59Qfw?j5Y! i@2?:e8?@"XEF;(;j5 h@Zj)-FNOT Ignoring new targets: 113.90 m.Bj5=Jj5= ProNav: ac range: 113.900002 m, nav range: 6.864524 m, bearing: 115.242108 deg, approach rate: -0.204831 m/s, LOS rate: 5.553325 deg/s, cmd heading: 43.987405 deg, new cmd heading: 51.116687 deg. 2j3n>HeadingCmd: 0.892155 target range: 113.900002 and range: 113.90 m. j=dd?jjjihhhhKBfffrfbf[`?ɛEABU&= QU?IQ U)<ɚQiYI]=Ie??iaie )e=dd?)i*F?2F :F BF 05JF GTWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736421GBOf> I ZH RH ?AH 8>I  I $II ͅBI &I .I 6I <:I FvEw,A:nW>Y:<>:A;9:R>y:H?B}ٿ)?;h M??ɨ:nW>:>;:CyF;BF#IIN!INi3٢Ve V^=9Z'Q Z>\\ ^G٣\ybɢ= b> fNusing accuracyPremultiplier from configdjj59fuw?jj5Yf if]@hj??n@f&XEf ;f ;f0j5rB r@rɶEZjFNOT Ignoring new targets: 113.90 m.BjԾ=JjԾ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988064% ProNav: ac range: 113.900002 m, nav range: 6.791934 m, bearing: 117.276118 deg, approach rate: -0.188554 m/s, LOS rate: 5.338777 deg/s, cmd heading: 51.116688 deg, new cmd heading: 57.259001 deg. 2j%d>5HeadingCmd: 0.999358 target range: 113.900002 and range: 113.90 m. jU?jQjQjQiYhYhYhYhYfafafarfabfm D@ɛ5CB5= 15{?I1 =`]<ɚ9iAIEApw,ABOu>YB>BP:9Bc>yBH?Aۿi?l?Lb?@пjZ?\?ɨBOu>B$;BCyJBJ#I @ @ @  @ I!I!٢5v 5=9=}+Q =>9A EG٣ETOGyEh= E> ]bBottom track data is 0.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ]j59U(w?ej5YU  iUo@e+:aev:e@G?e@U,XEU.';U[?Uԍj5q u@qZjFNOT Ignoring new targets: 113.90 m.Bj=Jj= ProNav: ac range: 113.900002 m, nav range: 6.695138 m, bearing: 120.167836 deg, approach rate: -0.194537 m/s, LOS rate: 5.893132 deg/s, cmd heading: 57.259002 deg, new cmd heading: 65.987685 deg. 2j|>HeadingCmd: 1.151702 target range: 113.900002 and range: 113.90 m. jj?jjjihhhhff Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490900fIrfQbfU@9@ɛFBso= 隥k?I G<ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743083)w,yA>,ڈ>Y>> DIFh>$}:9> >y>HD?@JܿL???ʻп DO@??ɨ>,ڈ>>V1;>CyNBNx#I R=R=IVIVM3٢b- bS=9boںQ f>dd fG٣dyjR= j> rbBottom track data is 0.9 s old, using for 20.0 s. vNusing accuracyPremultiplier from configlvj59nw?vj5Yn in@z :xzG:zbN?z@n0XEng;ng?n j5~B a@ĶEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 113.90 m.Bj5=Jj5=M ProNav: ac range: 113.900002 m, nav range: 6.626566 m, bearing: 122.381838 deg, approach rate: -0.176398 m/s, LOS rate: 5.752934 deg/s, cmd heading: 65.987687 deg, new cmd heading: 72.666339 deg. 2jMv>UHeadingCmd: 1.268267 target range: 113.900002 and range: 113.90 m. jUV?jQjQjQiQhYhahahafafifirfibfm`5@ɛHBz= 隝|O?I w<ɚiIl;aeJUP>;aeG5}G) B1 OU >zKU JKU +9KQ KU KU BKa :Ke rAw,UABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.246929F|>YF*?F99F|>yFH ?%޿?J?1?%oп`1^??ɨF|>F;FCyRBR<#IIZ0IZ(3٢vm vH=9vQQ z>xx zG٣xyڊ= > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config j59w?5j5Y# i@=99=!:=U?=@5XEb<?j5A Ej@IZjFNOT Ignoring new targets: 113.90 m.Bj=Jj= $?I ProNav: ac range: 113.900002 m, nav range: 6.553296 m, bearing: 124.908236 deg, approach rate: -0.163032 m/s, LOS rate: 5.682450 deg/s, cmd heading: 72.666342 deg, new cmd heading: 80.282616 deg. 2j s>%HeadingCmd: 1.401196 target range: 113.900002 and range: 113.90 m. jdZ?jjjihhhhfffrfbf\ @ɛ=KB={U= ae5?Ia ee<ɚaiaImR BDAT read: Tx time:22:43:59.5616 $Ping request sent.rw,0A6>Y6[ ?6'996_?>y6H_?D߿#?u?$?;п@7@?@ ?ɨ6>6;6CyRBR#I        Mb@Mb@Mb@ )Yx?MbX?S㥛yK?=/ݼAA &@)I@Iy @I'I@3MWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:22:43:59.5608 ٢#* $=9L9Q > G٣UOGyAj= > Nusing accuracyPremultiplier from configj59̽w?j5Y3 i@T:?:W7?@9XE;;:j5 @Ek%<"z?k%($# k! k% A:k%3BBk%BZk%n@"%cP9@fY9@(Z@%h*̿i=nov̿|YR?Jk%jRk%2l*%VX@u@bN,{W@%??@rXU?"k%s*k%u@k%Oz?k%!# 2k%2 Ck!k% k!k%KAk%?@ addTargetRange:: Added new target pos. range: 112.099998 m, deltaT: 3.528059 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, rangeRepo size: 4  Added new target pos. range: 112.099998 m, bearing: 276.788056 deg, lat: 36.904180 deg, lon: -122.120517 deg, deltaT: 3.528059 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 112.10 m.BjJjM ProNav: ac range: 112.099998 m, nav range: 12.689283 m, bearing: 251.789816 deg, approach rate: 0.000000 m/s, LOS rate: 5.682450 deg/s, cmd heading: 80.282617 deg, new cmd heading: 88.521084 deg. 2jIUHeadingCmd: 1.544984 target range: 112.099998 and range: 112.10 m. jU ?jQjQjQiQhYhyhyhcBfffrf`f\@bf?ɛNB?= ?I 7<ɚiIqkM w,X0AV>YV2x?V檆9V>yVHX?@s?uS??п\0??*?`?ɨV>V;VCybDBb"I)d dInIn<٢r̾ vj=9v|Q v>xx zG٣xy~= ~? Nusing accuracyPremultiplier from config j59w? j5Y~ i@  s>? @I <ɚiI$w,zJA2'>Y2?292>y2H`?`A,'? ??пU?+?WP?ɨ2'>2B;2Cy:B:~"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y r?I +X9vy?94}A @)3@I@yz@I55I53٢EA EE=9M*Q M>II MG٣QyUa= U> Nusing accuracyPremultiplier from configj59w? j5Y i@ ? : ?@@XEK;J;j5B @EZjaeFNOT Ignoring new targets: 112.10 m.BjmtJjmt ProNav: ac range: 112.099998 m, nav range: 13.053357 m, bearing: 250.764139 deg, approach rate: 0.414694 m/s, LOS rate: -1.290095 deg/s, cmd heading: 87.187781 deg, new cmd heading: 85.488014 deg. 2jX]HeadingCmd: 1.492047 target range: 112.099998 and range: 112.10 m. jh?jjjihhhhʃBfffrfbfcH?ɛERBE U= AM>I ݁<ɚ i I WG B O > a Ia `w,QidAHI I#IIBI# =&I.I6Iw<:IX FBIeCJIeCRIaZIe# =bIe# =jIet3z>Yz|!?zh9zæ>yzHo???z?>пm@?`z?@JQ?ɨz>z;xyBG"II I<2٢%Da %L=9-;Q ->11 5G٣5VOGy=֓= => ENusing accuracyPremultiplier from configAMj59E2w?Mj5YE iE;@IU-&?U@ECXEE ;E ;Edj5a e@a}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.10 m.BjȯJjȯ ProNav: ac range: 112.099998 m, nav range: 13.217207 m, bearing: 250.294013 deg, approach rate: 0.433876 m/s, LOS rate: -1.229452 deg/s, cmd heading: 85.488014 deg, new cmd heading: 84.095409 deg. 2jRHeadingCmd: 1.467742 target range: 112.099998 and range: 112.10 m. j޻?jjjihhhhfffrfbf $?ɛ}UB}^LE= y隅>I _<ɚiIWu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751581w,+~A:4>Y:(?:#\9:3>y:HK?Ӗ?`?`C? п| ?!K?DY?ɨ:4>:z=;8yJƒBJ"IiR=IR=IVKIV4٢^f ^R=9^U:Q b>`` bG٣`yf= f> jNusing accuracyPremultiplier from confighnj59jNw?rj5Yj iju@pr[-?r@jFXEjq+;j+;jȣj5t z@zEZj) ]C %$?I)}FNOT Ignoring new targets: 112.10 m.G|uAA ut-Yu|uAy}U&BBjJj ProNav: ac range: 112.099998 m, nav range: 13.387800 m, bearing: 249.847767 deg, approach rate: 0.422792 m/s, LOS rate: -1.091856 deg/s, cmd heading: 84.095406 deg, new cmd heading: 82.773975 deg. 2jU; HeadingCmd: 1.444678 target range: 112.099998 and range: 112.10 m. j 9?j jjihhhhfffrf!bf%*?ɛXB#= 隥S>I <ɚiIYZ,5?Z";9ZV>yZH G?@?@?u%?BNͿ 4vȘ?`cv?ɨZ}L>Z7;ZCyfBf!I-%only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V  %@% %@% -@-  -@- ICI3٢ý =94! G٣WOGy= > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configj59Px?j5Y iL@+::9?@KXEE;+?j5B @EZj)-FNOT Ignoring new targets: 112.10 m.Bj5CJj5CE ProNav: ac range: 112.099998 m, nav range: 13.640202 m, bearing: 249.279679 deg, approach rate: 0.466249 m/s, LOS rate: -1.029967 deg/s, cmd heading: 82.773977 deg, new cmd heading: 81.101751 deg. 2jM0UHeadingCmd: 1.415493 target range: 112.099998 and range: 112.10 m. jU.?jQjQjQiQhQhQhYhYfYfYfarfabfe+ @ZHRH@AHI I"II~BI&I.I6I<:I Fɛ\Bު= 隽>I <<ɚiI+--w,8LAzKKs9KKKZA?YZ;?ZPy<9Z7>yZH?`^[??k?κ?@˿@O`bH??ɨZA?ZË;ZCyfBf!IIncIny/4٢vC v[=9v/xx zG٣xy~= ~>  bBottom track data is 0.9 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config j59)x?j5Y4 i~@ ::??@NXE%;n?ݩj5! %@%EZjIMFNOT Ignoring new targets: 112.10 m.BjUƅJjUƅe ProNav: ac range: 112.099998 m, nav range: 13.812540 m, bearing: 248.926176 deg, approach rate: 0.461912 m/s, LOS rate: -0.935652 deg/s, cmd heading: 81.101748 deg, new cmd heading: 80.054595 deg. 2je mHeadingCmd: 1.397216 target range: 112.099998 and range: 112.10 m. jmײ?jijijiiihqhqhqhqfyfyfyrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761396ɛ^B= <ȏ=I 1<ɚiI5w,A:}M ?Y:gA?:$U<9:TΘ>y:H`_B?6?5?&Q? Dʿi?2?ɨ:}M ?: ;:CyBgBB!I e e ee ee  e e eMb@Mb@Mb@aaa a)aYeq= ףp?ʡEƿbX9ȶye>e-2eEa e@)e@Ie@aye@I}VI}n4٢ 4=9 G٣yT= > Nusing accuracyPremultiplier from configj59+x?j5Y iq@T:>;>@QXE;z;٭j5 @ZjFNOT Ignoring new targets: 112.10 m.BjϝJjϝ ProNav: ac range: 112.099998 m, nav range: 13.922628 m, bearing: 248.419037 deg, approach rate: 0.241509 m/s, LOS rate: -1.103737 deg/s, cmd heading: 80.054591 deg, new cmd heading: 78.545572 deg. 2j_=-HeadingCmd: 1.370879 target range: 112.099998 and range: 112.10 m. j-x?jjjihhhhBfffrfbf @ɛ bB p<  3G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515515L*;w,A2i?Y2SH?2!6<92>y2H6?zY?G?? ȿ`F_??ɨ2i?2_;2Cy^ZB^!IIjUIj4٢v zV=9b G٣ XOGy/o= %> Nusing accuracyPremultiplier from configij59m;+x?j5Ym+ im@>@mSXEm% BDAT read: Tx time:22:44:03.2117 $Ping request sent. $?I id݁Q5?kAcq?_?)fTI_i Z叿 :publishing transmit ping timeؙ Fpublishing direction and range info9/Ͽ0wֿuQ?*F 2F :F BF 0JF y )Ii )Ii݁Q5?kAcq?_?)IiG GBO>PCw, A Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:44:03.2109 y-^B-!IJJJJJ\:J:JJa@a@a@a@Mb@Mb@Mb@ )Y&1?zGʿly> WEA )@IZ@y@I-FI-%3٢=e< ==9=Q E>AA MG٣IyM M> UNusing accuracyPremultiplier from configQ]j59U|8x?]j5YUH iUk@e]>e;eX>e@UVXEU-;U;Uʵj5uB u@uEkp8f?k~# k knA:kBBkEBZkõ@"پ~(;Gm:CkZNY@/Ͽ0wֿuQ?Jk RkZ叿*cg<@v^cpPjylV[U@&W!?BOv}tH ?"k*kAk)sv?k# 2kCkk$ k.Ck BkA?@ addTargetRange:: Added new target pos. range: 111.400002 m, deltaT: 3.779360 s, deltaX: -0.699997 m, approachRate: -0.185216 m/s, rangeRepo size: 4  Added new target pos. range: 111.400002 m, bearing: 293.121631 deg, lat: 36.904180 deg, lon: -122.120796 deg, deltaT: 3.779360 s, deltaX: -0.699997 m, approachRate: -0.185216 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 111.40 m.BjJj ProNav: ac range: 111.400002 m, nav range: 38.261951 m, bearing: 261.854401 deg, approach rate: 0.000000 m/s, LOS rate: -1.012921 deg/s, cmd heading: 77.182927 deg, new cmd heading: 75.752454 deg. 2jHeadingCmd: 1.322130 target range: 111.400002 and range: 111.40 m. j;?jjjihhhhłBfffrf[@bf8?ɛMhBMs< IMЛII U L<ɚQiQIUԟ.Jw,n,A6f?Y6U?6<96e>y6HBv? =?`iB>!IIF7IF3٢V@Q= VB=9Z;Q Z>\\ ^G٣\yb> b> jNusing accuracyPremultiplier from configdnj59fCx?nj5YfS if@pr^>r@fXXEfW-;f-;fyj5t vi@tWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj%FNOT Ignoring new targets: 111.40 m.Bj%Jj%= ProNav: ac range: 111.400002 m, nav range: 38.317348 m, bearing: 261.660687 deg, approach rate: 0.134226 m/s, LOS rate: -0.468685 deg/s, cmd heading: 75.752453 deg, new cmd heading: 75.172174 deg. 2j=ӠEHeadingCmd: 1.312002 target range: 111.400002 and range: 111.40 m. jE?jAjIjIiIhIhhhfffrfbfj??ɛkB<  (I) -G<ɚ)i1I5pG> ]nManaging dock network, ignoring radio surface power offzK 1NK 9K K K G)G1G1Will construct direction to contact in vehicle frame from tetrahedron phase data.G! BA Oe > I iQw,EAymxBm!IMb@Mb@Mb@ )YDl?bX9ƿ{GzyO>E6#rA @)@Iy@I-+I-n3٢Ex= E'=9MQ M>IQ UG٣UYOGyU U> ]Nusing accuracyPremultiplier from configYej59]ePx?mj5Y] i]*@md>m ;m>m@]ZXE] ;];]j5q u}@}EZjFNOT Ignoring new targets: 111.40 m.BjJj ProNav: ac range: 111.400002 m, nav range: 38.385300 m, bearing: 261.452675 deg, approach rate: 0.139910 m/s, LOS rate: -0.427534 deg/s, cmd heading: 75.172174 deg, new cmd heading: 74.549267 deg. 2jHeadingCmd: 1.301130 target range: 111.400002 and range: 111.40 m. jo?jjjihhhhBfffrfbf@'?ɛ nB < @ Will construct direction to contact in vehicle frame from tetrahedron phase data.@Ww,_A:*?Y:6c?:[|<9:n>y:H2?`Z? ??zÿ@Ι FT?G?ɨ:*?:S;:CyBBB!IIZSIZ4٢bTK> b=9f j ? ]Nusing accuracyPremultiplier from configYej59]Xx?ej5Y] i](@ae>m@]\XE]n:] :]j5q us@q $?IZjFNOT Ignoring new targets: 111.40 m.BjJj绝 ProNav: ac range: 111.400002 m, nav range: 38.437248 m, bearing: 261.313350 deg, approach rate: 0.151203 m/s, LOS rate: -0.404973 deg/s, cmd heading: 74.549268 deg, new cmd heading: 74.131867 deg. 2j  HeadingCmd: 1.293845 target range: 111.400002 and range: 111.40 m. j ?jj1j9i9h9h9h9hAfAfAfArfAbfM ?ɛpB= 隽=I E<ɚiI]w,gyA2/1?Y2ثi?2s<92ꨌ>y2Hˏ?7?N??@w¿@`Z??ɨ2/1?2;0yBBB"I)D DIJ4IJV3٢Z> ZK=9^`` bG٣`yf&= f> jNusing accuracyPremultiplier from confighnj59jnbx?nj5Yj ij@ln>r@j^XEj* ;jK ;jj5t z@xB*** querying acoustic contact ***zK&(KK9KKK >Obw %D\i}^*)q# Qg?a<jjZj1=FNOT Ignoring new targets: 111.40 m.Bj=dJj=d黝M ProNav: ac range: 111.400002 m, nav range: 38.499813 m, bearing: 261.156130 deg, approach rate: 0.162663 m/s, LOS rate: -0.408095 deg/s, cmd heading: 74.131868 deg, new cmd heading: 73.660985 deg. 2jM UHeadingCmd: 1.285627 target range: 111.400002 and range: 111.40 m. jUk?jQjYjYiYhYhYhahafafafarfibfm?ɛrB5ֹ= 15B >I1 5T<ɚ9i9I=^E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256137J J J J J J :J J dw,lA2b7?Y2o?248<92 >y2H*?@$??`Kv? Ch@şJ?P?ɨ2b7?2;2CyBуBB""IMb@Mb@Mb@ )Y~jt?x&Mby>7 A )@Ip@y@I9I3٢= <=9;Q > G٣ZOGyd= > Nusing accuracyPremultiplier from configj59lx?j5Y i>@%>;7 ?@`XEl0;/;j5 @Zj  FNOT Ignoring new targets: 111.40 m.BjJ׻JjJ׻% ProNav: ac range: 111.400002 m, nav range: 38.591175 m, bearing: 260.993475 deg, approach rate: 0.211945 m/s, LOS rate: -0.376439 deg/s, cmd heading: 73.660988 deg, new cmd heading: 73.174191 deg. 2j%,-HeadingCmd: 1.277131 target range: 111.400002 and range: 111.40 m. j-y?j)j)j)i)h1h1h9h=QBf9f9f9rfAbfE,V@ɛtBx!= 9>I $<ɚiI{I I!IIBI&I.I6I<:I FBIJIRIZIbIjIȯ'4G B O > jw,EIA2=?Y2kv?2B =92 >y2HPF? @?$?? ?n`'@kU?` ?ɨ2=?2d;0yVBVX"IIbKIb4٢j|i> jY=9nl;Q n>pp rG٣pyv= v> zNusing accuracyPremultiplier from configx~j5~Will construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7604529zux? j5Yz: iz@  ? @zbXEzn;z;z&j5B ;@EZjIMFNOT Ignoring new targets: 111.40 m.BjUλJjUλe ProNav: ac range: 111.400002 m, nav range: 38.673069 m, bearing: 260.856059 deg, approach rate: 0.215799 m/s, LOS rate: -0.361340 deg/s, cmd heading: 73.174193 deg, new cmd heading: 72.762825 deg. 2jewmHeadingCmd: 1.269951 target range: 111.400002 and range: 111.40 m. jm?jijijiiihqhqhqhyfyfyfyrfbf W_@ɛvBj== 隭>I <ɚiI9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:44:05.7628 TRx dataTimestamp_ set to:1736376246.992690checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013214 Q IQ G vA 8Y vAy e1BCqw,!Ay(B"IEMb@Mb@Mb@AAA A)AYERQ?V-?yE>EmE e'=9mQ m>qq uG٣qyu }> Nusing accuracyPremultiplier from configyj59}x?j5Y} i}@:> ;L?@}eXE};};}ij5 @ZjFNOT Ignoring new targets: 111.40 m.BjJj ProNav: ac range: 111.400002 m, nav range: 38.826981 m, bearing: 260.696838 deg, approach rate: 0.316914 m/s, LOS rate: -0.326546 deg/s, cmd heading: 72.762825 deg, new cmd heading: 72.287067 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2801572jE`MHeadingCmd: 1.261647 target range: 111.400002 and range: 111.40 m. jM}?jIjIjIiIhQhQhQhUƃBfYfYfYrfYbf`̝ @JJJJJJ 9JJɛ5zB5RD= 9=,>IY ]8<ɚYiYIe$= Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,A2DAT read: 22:44:05.7628 LVL= 25264, 30929, 24146, 32755, AGC= 67, IDX= 430, 0.16, 2.966, 1.316, 2.523, 2.310, PHS= 0.744,-0.947, 0.210, RAW= 132.0, -0.1, CAL= 137.7, -8.8, ROT= 12.3, 8.8 6Ygot valid direction response: 22:44:05.7628 LVL= 25264, 30929, 24146, 32755, AGC= 67, IDX= 430, 0.16, 2.966, 1.316, 2.523, 2.310, PHS= 0.744,-0.947, 0.210, RAW= 132.0, -0.1, CAL= 137.7, -8.8, ROT= 12.3, 8.8 pIp%K?Y%?%=9%>y%H@^?;@?`-?~? ࿢@d??ɨ%K?%ǧ;%Cy5eB5"I]PDAT read: Bearing 12.3, 8.8 (Local) ]~Local bearing/azimuth received: Bearing 12.3, 8.8 (Local) mDAT read: Range 10 to 50 : 110.2 m (Round-trip 147.0 ms) speed 0.6 m/s m,DAT read: user:2835> uBDAT read: Tx time:22:44:06.8617 $Ping request sent.?mnrm= W>mr@mII#3٢> d=9    G٣ [OGyP> m@)mnFIm[>imnF>iimw3L?Et|? k [)mJV>Im :im⿉mHhiiE:publishing transmit ping timeعEFpublishing direction and range infoi9m ɇb]J@NK2R6?yiiii i)iIiiiiiii i)iIiii U> ]Nusing accuracyPremultiplier from configYej59]fx?ej5Y] i]t@amBZ?m@]hXE]:]a:]j5HI I."II܃BI&I.I6Iů<:I Fiimw3L?Et|? k [)iIiiiiii @km|?km*h" ki kmA:kmfBBkmBZkm:@"m괦3<+PyѭĴU@m ɇb]J@NK2R6?JkmRkmHh*m8eԎ"Q@/Kts 6{P@mH:? + ל$?"km^*kmBkmG?km r" 2kmCkmOz?km r" km2 Ckm_Bkm@} addTargetRange:: Added new target pos. range: 110.199997 m, deltaT: 3.551995 s, deltaX: -1.200005 m, approachRate: -0.337840 m/s, rangeRepo size: 4  Added new target pos. range: 110.199997 m, bearing: 320.910895 deg, lat: 36.904280 deg, lon: -122.120990 deg, deltaT: 3.551995 s, deltaX: -1.200005 m, approachRate: -0.337840 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 110.20 m.BjJjm ProNav: ac range: 110.199997 m, nav range: 55.888264 m, bearing: 274.956749 deg, approach rate: 0.000000 m/s, LOS rate: -0.326546 deg/s, cmd heading: 72.287068 deg, new cmd heading: 71.902072 deg. 2jq}HeadingCmd: 1.254928 target range: 110.199997 and range: 110.20 m. j}z?jyjyjihhhhfffrf ̌[@bf`?ɛ]|B]}y= Y]>IY ?<ɚiI3~w,.AvR?Yv;?v=9vT>yvH`>? {s@c)?ء?? sZ?`)?ɨvR?vN;vCy%B% #II=I=ƲzKu NKu9KqKuKu )QTNHEC??><953//.-,+*( '0-*&! ٢W> S=9:Q > G٣yZ= > Nusing accuracyPremultiplier from configj59wx?j5YӴ ib@Na?@jXE;;j5 3@E=B*** querying acoustic contact ***j9j9ZjimFNOT Ignoring new targets: 110.20 m.Bju飻Jju飻 ProNav: ac range: 110.199997 m, nav range: 55.995480 m, bearing: 274.848926 deg, approach rate: 0.285536 m/s, LOS rate: -0.286603 deg/s, cmd heading: 71.902071 deg, new cmd heading: 71.579225 deg. 2jDHeadingCmd: 1.249293 target range: 110.199997 and range: 110.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. j?jjjihhhhfffrfbf &S? $?Iɛ~B== ?I C<ɚiIa} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.696732w,AV`Z?YV8n?V6=9V>yVH 7?`?@??`AD`Ţ>e? ?ɨV`Z?Vl;VCJ3K3 K;S}-K3K3"K3JrJrJr/JpJr:Jr :Jr(N3JpyMBM4#IMb@Mb@Mb@ )Ygfffff?~jt?Zd;O?y3>D<j<=nA K@)v@Iy(@IIT3٢> ?=9%Q %>!) -G٣)y-Ҕ= -> =Nusing accuracyPremultiplier from config9Ej59=|x?Ej5Y=: i=ɽ@Ej>E:E+?E@=mXE=f;=;=j5Q @Zj)MFNOT Ignoring new targets: 110.20 m.BjU<JjUGBO=>jHQbHU<HYIY I]"II]7BIY&IY.IY6I]`<:I]H F(w,.A:üa?Y:W?:=9:1>y:Ho?@?U {??s\?򈷿 y/j? Y?ɨ:üa?:T;8yNBRr#IIZIZ٢bۊ> bc=9bҺQ f>dd fG٣f\OGyj= j> nNusing accuracyPremultiplier from configlrj59nx?rj5Yn6 in"@tvٌ?v@npXEn ;n ;nj5zB z@zEZj!%FNOT Ignoring new targets: 110.20 m.Bj-Jj-= ProNav: ac range: 110.199997 m, nav range: 56.307079 m, bearing: 274.645707 deg, approach rate: 0.431825 m/s, LOS rate: -0.270446 deg/s, cmd heading: 71.244829 deg, new cmd heading: 70.971271 deg. EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2008032jM9UHeadingCmd: 1.238682 target range: 110.199997 and range: 110.20 m. jU%?jQjQjQiQhYhYhahafafafarfibfm>?ɛBέ= 隝/?I F<ɚiI~zK%MKs9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.452877 I w,HAi?Yo?M=9D>yH?``x??S?.]:?1?ɨi?;CyޭBޭ#II I q٢]> e3=9}MQ > G٣y= > Nusing accuracyPremultiplier from configj59x?j5Y i@?@sXE::j5 @Zj%FNOT Ignoring new targets: 110.20 m.Bj%yJj%yU ProNav: ac range: 110.199997 m, nav range: 56.497887 m, bearing: 274.534981 deg, approach rate: 0.406565 m/s, LOS rate: -0.235132 deg/s, cmd heading: 70.971273 deg, new cmd heading: 70.640223 deg. 2jU^!]HeadingCmd: 1.232904 target range: 110.199997 and range: 110.20 m. j]ϝ?jYjajaiahahhhfffrfbf@l?ɛB夞= Q=?I <ɚiI[0 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956650";w,bA IhyE(BE#IMb@Mb@Mb@ )Y5^I ?~jt?)\(?y?=Ga=A b@)I@H8>I I(#IIBI&I.I6I.<:I" Fy@IM.IM3٢]E> ]J=9eQ e>aa mG٣iym m> }Nusing accuracyPremultiplier from configyj59}x?j5Y} i}@@?:?@}wXE};};}Uj5 @Zjq}FNOT Ignoring new targets: 110.20 m.Bj}QJjQ ProNav: ac range: 110.199997 m, nav range: 56.717033 m, bearing: 274.436502 deg, approach rate: 0.528560 m/s, LOS rate: -0.236605 deg/s, cmd heading: 70.640221 deg, new cmd heading: 70.345926 deg. 2ja"HeadingCmd: 1.227768 target range: 110.199997 and range: 110.20 m. j'?jjjihhhhBf)f)f1rf1bf5`}Q@ɛB=  O?I  (<ɚ i I ew,d|A67v?Y6?6A=96>y6H???'?0 Jo,??ɨ67v?6x;6CyRxx zG٣xy~> ~> Nusing accuracyPremultiplier from config j59x? j5Y iп@ R?@{XE*::qj5 %n@%EzK/KK}9KKK0HH7' B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 110.20 m.Bj-qJj-q] ProNav: ac range: 110.199997 m, nav range: 56.916451 m, bearing: 274.359940 deg, approach rate: 0.552124 m/s, LOS rate: -0.211233 deg/s, cmd heading: 70.345928 deg, new cmd heading: 70.117049 deg. 2j]eHeadingCmd: 1.223773 target range: 110.199997 and range: 110.20 m. je?jajajaiahihihihifffrfbf I"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460855ɛB 4= ok< IX?I =ɚiIre Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712719&Pw,HA2<}?Y2rܚ?2!=92~>y2H? 9?-?`|?W: 0?t?ɨ2<}?2BQ;2CyRVBR$I5Mb@Mb@Mb@111 1)1Y5i|?5?K7?S㥫?y51?5I >5/]=1 1)5@I11y5@IMIMm?3٢]= ]C=9em;Q e>aa mG٣m]OGym+{= m> -Nusing accuracyPremultiplier from config5j59yx?5j5Y i@=5?=:=?=@XE<{<j5A E@IZjFNOT Ignoring new targets: 110.20 m.BjRJjR ProNav: ac range: 110.199997 m, nav range: 57.203762 m, bearing: 274.281169 deg, approach rate: 0.676027 m/s, LOS rate: -0.184412 deg/s, cmd heading: 70.117049 deg, new cmd heading: 69.881924 deg. 2jHeadingCmd: 1.219670 target range: 110.199997 and range: 110.20 m. j#?jjjihhhhBfffrfbf@z@ɛB= c?I }=ɚiITww,eA:ʁ?Y:?:P'$=9:2x>y:H@.?8?@D/? ?@9˥6?@~ ?ɨ:ʁ?:;:CyZ]BZ $IIf!Ifi3٢j%= nT=9r:Q v>tt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|j59~Dx?j5Y~ӌ i~P@  ܳ? @~XE~:~":~j5B ]@EWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:44:09.4091 -TRx dataTimestamp_ set to:1736376250.788794-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217905ZjyFNOT Ignoring new targets: 110.20 m.BjKJjK ProNav: ac range: 110.199997 m, nav range: 57.468899 m, bearing: 274.216395 deg, approach rate: 0.731872 m/s, LOS rate: -0.177974 deg/s, cmd heading: 69.881926 deg, new cmd heading: 69.688502 deg. 2jHHeadingCmd: 1.216294 target range: 110.199997 and range: 110.20 m. j?jjjihhhhfffrfbfc] @ɛB= f?I 8u=ɚiI<JyJ}J}1JyJyJ} :J}3JyJyJyJ}9P;J}:P;I?i¨^w,AyeB$IIeIeV83٢F= 1=9Q > G٣^OGy > Nusing accuracyPremultiplier from configj59x?j5Y4 i-@   @XE:.:j5 @Zj9=FNOT Ignoring new targets: 110.20 m.BjEt@JjEt@] ProNav: ac range: 110.199997 m, nav range: 57.791317 m, bearing: 274.138451 deg, approach rate: 0.699906 m/s, LOS rate: -0.168257 deg/s, cmd heading: 69.688502 deg, new cmd heading: 69.455976 deg. 2j]滝eHeadingCmd: 1.212235 target range: 110.199997 and range: 110.20 m. je*?jajajaiahahihihifqfqfqrfqbf} @ɛB|= 隥g?I 7 =ɚiI: EBDAT read: Tx time:22:44:10.5117 E$Ping request sent.E5Nb5&>5@.@5%= 5^/@)5Q I5'@i5Q =115)ʴg? I  Will construct direction to contact in vehicle frame from tetrahedron phase data.͉w,Ay=nB=$IHI I $II^BI&I.I7D6I<:I FBIaJIaRIaZIabIajIeS4]Mb@Mb@Mb@YYY Y)YY]S㥛?(\?Mb?y]$F?]z>]=]A ]@)]QAI]@Yy]@IIF٢%K)= %4=9)Q 5>9A EG٣qy > Nusing accuracyPremultiplier from configj59x?j5Yz i@I?:ij?@XE;L;j5 M@keg?ke4" ka keA:keBBkeSBZke뛷@"eS6C)6DeWyC4wG@e.D ˿ɚ 뿖:~EX?JkexRke *ev-"XV@xfKԩ:8@e./5]á?(8:YH?"keX*keIJBked1?ke" 2keBke)sv?kakeCke~Bkex@M addTargetRange:: Added new target pos. range: 107.400002 m, deltaT: 3.780965 s, deltaX: -2.799995 m, approachRate: -0.740550 m/s, rangeRepo size: 4 e Added new target pos. range: 107.400002 m, bearing: 328.750742 deg, lat: 36.904481 deg, lon: -122.120990 deg, deltaT: 3.780965 s, deltaX: -2.799995 m, approachRate: -0.740550 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 107.40 m.BjmJji} ProNav: ac range: 107.400002 m, nav range: 63.725025 m, bearing: 294.484625 deg, approach rate: 0.000000 m/s, LOS rate: -0.168257 deg/s, cmd heading: 69.455975 deg, new cmd heading: 69.218174 deg. 2jyHeadingCmd: 1.208085 target range: 107.400002 and range: 107.40 m. j?jjjihhhh&BfffrfZ@bf`?ɛBId= j?I s =ɚiIeXw,1AN6Ɗ?YN,?NlA=9NzD\>yNH? ???LJ E+ J?I:?ɨN6Ɗ?N!;LyncBn$Iira=Ip ra=rp=Iv$Iv<3٢ =9  ? %Nusing accuracyPremultiplier from config!-j59%x?-j5Y%t i%@)-?-@%XE%:%:%!j5=B =@AZjamFNOT Ignoring new targets: 107.40 m.Bjm&ӻJjm&ӻ ProNav: ac range: 107.400002 m, nav range: 63.924706 m, bearing: 294.381896 deg, approach rate: 0.719893 m/s, LOS rate: -0.369205 deg/s, cmd heading: 69.218175 deg, new cmd heading: 68.910954 deg. 2ja}HeadingCmd: 1.202723 target range: 107.400002 and range: 107.40 m. j?jjjihhhhfffrfbfD-?ɛB/= d?I Gr=ɚiICw,'Aj 6?Yjt?jJ=9jpP>yjH?`Y?`#??i?m=q`q??M?ɨj 6?j;jCyvYBv$IMb@Mb@Mb@ )YHzG?@5^I ?{Gz?y=J?b>#<A @)@I@y(@II1٢C @=9;Q > G٣y< > Nusing accuracyPremultiplier from configj59x?j5Yk i@sM?:B?@XE;;j5 G@EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 107.40 m.BjƻJjƻ% ProNav: ac range: 107.400002 m, nav range: 64.221725 m, bearing: 294.233803 deg, approach rate: 0.699455 m/s, LOS rate: -0.347132 deg/s, cmd heading: 68.910953 deg, new cmd heading: 68.468738 deg. 2j%;n-HeadingCmd: 1.195005 target range: 107.400002 and range: 107.40 m. j-?j)j)j)i1h1h1h9h=Bf9f9f9rfAbfE_?ɛEBEeͽ= AE]?II M=ɚIiI<w,_1A6?Y6,?6FZ=96l-A>y6H=?b??K?VOr? E`Z?tt vG٣v_OGyvt< v> ~Nusing accuracyPremultiplier from configx~k59zx?k5Yzc iz@?@zXEz ;z ;z"k5  @]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.488699Zj)5FNOT Ignoring new targets: 107.40 m.Bje崻Jjm崻 ProNav: ac range: 107.400002 m, nav range: 64.488007 m, bearing: 294.104335 deg, approach rate: 0.653253 m/s, LOS rate: -0.316304 deg/s, cmd heading: 68.468740 deg, new cmd heading: 68.081947 deg. 2jYHeadingCmd: 1.188254 target range: 107.400002 and range: 107.40 m. j?jjjihhJJJJJ,:JJJJ;J;JJhhffQfQrfYbf] fh?ɛ=BE= AEO?IA m=ɚiiiIm[)u?)y*F!2F!:F!BF!JF!G/7=GBO> IzKK59KKKRK?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740578w,;KA V?YVQ?V[l=9Vz->yVH]? ? 0?c?ً?~@^?|?ɨV?V+;VCyf+Bf#IIn5In3٢v޽ vI=9v/| G٣ y2; > ENusing accuracyPremultiplier from config1]k595;x?ek5Y5A[ i5@iuS?}@5XE5<5<5k5 $@Zj%FNOT Ignoring new targets: 107.40 m.Bj%8Jj-8] ProNav: ac range: 107.400002 m, nav range: 64.779045 m, bearing: 293.964880 deg, approach rate: 0.667941 m/s, LOS rate: -0.318615 deg/s, cmd heading: 68.081946 deg, new cmd heading: 67.665467 deg. 2j]ZeHeadingCmd: 1.180985 target range: 107.400002 and range: 107.40 m. je*?jajajaiahahihhfffrfbf`?ɛB= B?I =ɚiI )*?)E!mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992558*F?2F:FBF0JFG =GqBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244843w,eA2?Y2:?2I=92ۅ>y2H~q?y?z?@'??|@?`I?ɨ2?29;2Cy> Bb#IHAIA IEH$IIEBIA&IA.IA6IE<:IE F%Mb@Mb@Mb@!!! !)!Y%w/?T㥛 ?Qy%F?%>%u% A !)%QAI%p@!y%G@IEIEF3٢] e5=9eV0 G٣yĺ >  Nusing accuracyPremultiplier from configk59x?k5YQ i@I?:?@XE;4;k5) M'@IZjFNOT Ignoring new targets: 107.40 m.BjrлJjrл ProNav: ac range: 107.400002 m, nav range: 65.095451 m, bearing: 293.811078 deg, approach rate: 0.753472 m/s, LOS rate: -0.364475 deg/s, cmd heading: 67.665468 deg, new cmd heading: 67.206315 deg. 2j"zHeadingCmd: 1.172971 target range: 107.400002 and range: 107.40 m. j#?jjjihhhhBfff!rf!bf-a@ɛB/= t0?I k=ɚiIlq)#?)Q*F5?2F1:F1BF50JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496495G S=G B1 OU >w,~A2 v?Y2?2m=92Q*>y2H s??`?@h??@o*fP??ɨ2 v?24;2CyFBFq#IIN>IN3٢Vl Vk=9ZX)ed?)izKBHK@9KKKBKpA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748616*F?2F:FBF4JFGw=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:44:13.0561  TRx dataTimestamp_ set to:1736376254.328606 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001454J J J J J :J 9J J a @a @a @a @w,G̘AV?YV˧?V-}=9V=yVHLg?z?`b? ?'?k ?Ǻ?ɨV?Vү;VCybBbE#IMb@Mb@Mb@ )Yv?"~j?Q롿y8?S=\A @)I@y\@IWI44٢@% ;=98 G٣yM > Nusing accuracyPremultiplier from configk59x?k5YB ir@7;?:?@XEJ;uI;zk5 @B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 107.40 m.BjTJjT% ProNav: ac range: 107.400002 m, nav range: 65.601097 m, bearing: 293.562843 deg, approach rate: 0.632483 m/s, LOS rate: -0.311816 deg/s, cmd heading: 66.872401 deg, new cmd heading: 66.464527 deg. 2j-U-HeadingCmd: 1.160025 target range: 107.400002 and range: 107.40 m. j-{?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE'Y @ɛB0= ]<p?I =ɚiIGBOf>ZH9RH=AAHAIA IE$IIEhBIA&IA.IA6IEe<:IEJ Fw,ͫAy~B~#II AI k3٢W %S=9%Q %>)) -G٣1y5 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:44:13.0561 LVL= 21440, 30065, 15394, 29523, AGC= 65, IDX= 408, 0.34,-1.046,-2.340,-0.612,-1.179, PHS= 0.221,-1.114, 0.564, RAW= 161.1, 4.3, CAL= 161.8, -4.8, ROT= 348.2, 4.8 }Ygot valid direction response: 22:44:13.0561 LVL= 21440, 30065, 15394, 29523, AGC= 65, IDX= 408, 0.34,-1.046,-2.340,-0.612,-1.179, PHS= 0.221,-1.114, 0.564, RAW= 161.1, 4.3, CAL= 161.8, -4.8, ROT= 348.2, 4.8 PDAT read: Bearing 348.2, 4.8 (Local) ~Local bearing/azimuth received: Bearing 348.2, 4.8 (Local) DAT read: Range 10 to 50 : 105.2 m (Round-trip 140.3 ms) speed 0.1 m/s ,DAT read: user:2837> BDAT read: Tx time:22:44:14.1617 $Ping request sent.==Nb?=P3@=`= ={4@)=I=x@i==99=Sv?p,? \V?)=7?I=ؚi=o 俉=e99:publishing transmit ping time @ؙFpublishing direction and range info99=kdȿ5Ɨ"V2/њ?y9999 9)9I9i99999 9)9I9i999=Sv?p,? \V?)9I9k=bhg?k= k9 k=>A:k=fBBk=BZk=ں@"=(,4ٚXWI L=ɚiI0)f?)*Fu?2Fq:FqBFu3JFy $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:44:14.1610 zK- K- 9K) K- K-  %OvRKE ?JKE ?G # >GQ Ba O >sw, A?Y~*?=9'=yH?_ ;d? ? ?[?괿O?1?ɨ?5x;Cy5cB="IIPI 4٢ HO -,=9-(11 5G٣5aOGy=/ => ENusing accuracyPremultiplier from configAmk59Ex?mk5YE2 iE8@qu8?u@EXEE;E;E k5y }@ZjFNOT Ignoring new targets: 105.20 m.BjMJjM ProNav: ac range: 105.199997 m, nav range: 90.864296 m, bearing: 318.036944 deg, approach rate: 0.457578 m/s, LOS rate: -0.414930 deg/s, cmd heading: 66.039118 deg, new cmd heading: 65.518641 deg. 2ja%Will construct direction to contact in vehicle frame from tetrahedron phase data.-HeadingCmd: 1.143516 target range: 105.199997 and range: 105.20 m. j-^?j)j)j)i1h1h1h1h1f9f9f9rf9bfE W?ɛB= 隵g>I Ü =ɚiI)^?)JJJ/JJ :J9J(N3J*F]?2FY:FYBF]V0JFYG5m>GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.rSw,AHF9>ID IF#IIFBID&ID.ID6IFE<:IF3 F>p?Y>?>F=9>2W=y>H`Z[?S?@ ?Ż?1?* װ??ɨ>p?>;>Cyb*Bb"I Mb@Mb@Mb@    ) Y RQ? ףp= ?/$y "? Q= , A @) hAI @ y @I=I=T3٢MT MU=9M>QQ ]G٣Yy] ]> mNusing accuracyPremultiplier from configamk59ex?uk5Ye+ ie@u$?u:u_?}@eXEe^;e;e[k5 6@EZjFNOT Ignoring new targets: 105.20 m.BjyJjy ProNav: ac range: 105.199997 m, nav range: 90.997971 m, bearing: 317.910457 deg, approach rate: 0.358043 m/s, LOS rate: -0.338294 deg/s, cmd heading: 65.518637 deg, new cmd heading: 65.139738 deg. 2j+hHeadingCmd: 1.136903 target range: 105.199997 and range: 105.20 m. j ?jjjihhhh|Bfffrfbf?ɛB%g`= Z>I ]E!=ɚiIq) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Eu<*F ?2F :F BF P0JF G rA G y I} hG 1>GWill construct direction to contact in vehicle frame from tetrahedron phase data.BO>Dw,GAzK NK9KKKvmd`\VRNC;761+)(&&$  N?YN?N^=9N7Y=yNHD?i? `???@]??ɨN?Nz;NCyVBZ_"IIb"Ibq3٢z1 z8=9z|| ~G٣|y > -Nusing accuracyPremultiplier from config)5k59-mx?5k5Y-o$ i-ƻ@9=\?=@-XE-;-;-Bk5 @ ZjFNOT Ignoring new targets: 105.20 m.BjJj ProNav: ac range: 105.199997 m, nav range: 91.152191 m, bearing: 317.760474 deg, approach rate: 0.316501 m/s, LOS rate: -0.307282 deg/s, cmd heading: 65.139740 deg, new cmd heading: 64.690563 deg. 2j%R%HeadingCmd: 1.129063 target range: 105.199997 and range: 105.20 m. j%&?j)j)j)i)h)h)h1h1f1fIfQrfabfm ?ɛBB= i-=>I 9!=ɚiI)GyJJJ0JJ<:J 9Jـ3JBO>Kw,AJˍ?YJ˟?J2=9J3=yJH9/?Gd?@S6?0?@?|V??ɨJˍ?J4;JCybكBb,"IMMb@Mb@Mb@III I)IYMHzG?J +?{GzyM= ?MH=M#M`@ M@)MzAIM@IyM@IelIem?4٢}F }C=9S G٣bOGyi > I Nusing accuracyPremultiplier from configk59x?k5Y i@/ ?:?@XE~y;w; k5 F@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 105.20 m.Bj5Jj5 ProNav: ac range: 105.199997 m, nav range: 91.260902 m, bearing: 317.638556 deg, approach rate: 0.290666 m/s, LOS rate: -0.325590 deg/s, cmd heading: 64.690566 deg, new cmd heading: 64.325252 deg. 2js_HeadingCmd: 1.122687 target range: 105.199997 and range: 105.20 m. j9?jjjihhhhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛmŃB\[-= 隕P!=I \!=ɚiI>-G] ?G] >G)B9OU>w,>A6 ?Y6K?6[=96/7=y6H@Y?|??˪?Q?88?`X?ɨ6 ?6g;6Cy>B>!IIJ`IJ(*4٢N' R9=9RpWTT VG٣Ty 65  > Nusing accuracyPremultiplier from configk59x?k5Y tIi>@!%\?%@XE;;$k5) -@)ZjQ]FNOT Ignoring new targets: 105.20 m.BjeJjeu ProNav: ac range: 105.199997 m, nav range: 91.375763 m, bearing: 317.504374 deg, approach rate: 0.254700 m/s, LOS rate: -0.297170 deg/s, cmd heading: 64.325253 deg, new cmd heading: 63.923220 deg. 2juK}HeadingCmd: 1.115671 target range: 105.199997 and range: 105.20 m. j}LΎ?jyjyjyiyhhhhfffrfbf@ɛɃBnt= 隽$I p!=ɚiIWGBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data.յ >յ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509971w,WABD}?YB]?B=9B=u<==@ =h@)=AI99y= @IUhIUV84٢u 9=9e3 G٣y. > Nusing accuracyPremultiplier from configk59x?k5Y iN@>:d?@XE};;(k5  @ Zj1=FNOT Ignoring new targets: 105.20 m.Bj=QJj=QU ProNav: ac range: 105.199997 m, nav range: 91.453194 m, bearing: 317.394847 deg, approach rate: 0.179785 m/s, LOS rate: -0.254094 deg/s, cmd heading: 63.923221 deg, new cmd heading: 63.594921 deg. 2jUa.]HeadingCmd: 1.109941 target range: 105.199997 and range: 105.20 m. j]?jYjYjYiYhahahaheՂBfififirfibfm @ɛ̃Bn< B=隥I :!=ɚiI=)?) IEd=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760558HI I"II0hw, tA2,px?Y2 v?25=92EWB>!IIfuIfaO4٢n: nH=9n?-pp rG٣rcOGyv= v> zNusing accuracyPremultiplier from configx~k59zx?~k5YzA izc@?@zXEz:z:z.,k5 j@EZj9EFNOT Ignoring new targets: 105.20 m.BjEJjEUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011935e ProNav: ac range: 105.199997 m, nav range: 91.523804 m, bearing: 317.290241 deg, approach rate: 0.172112 m/s, LOS rate: -0.254779 deg/s, cmd heading: 63.594921 deg, new cmd heading: 63.281351 deg. 2je.mHeadingCmd: 1.104468 target range: 105.199997 and range: 105.20 m. jm5_?jijqjqiqhqhqhyhyfyfyfyrfbfz=@ɛЃB< 隵pI Fo =ɚiI~ QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979zK vKK s9K K K BK! :K% pAN#w,n܍A6 s?Y6y?6o=96`` bG٣`yf= f> jNusing accuracyPremultiplier from configdnk59fFx?nk5Yf  ifz@ln?r@fXEf ;f ;f/k5t v*@tZjFNOT Ignoring new targets: 105.20 m.Bj Jj  ProNav: ac range: 105.199997 m, nav range: 91.589874 m, bearing: 317.187690 deg, approach rate: 0.160130 m/s, LOS rate: -0.248365 deg/s, cmd heading: 63.281354 deg, new cmd heading: 62.973926 deg. 2js*HeadingCmd: 1.099102 target range: 105.199997 and range: 105.20 m. jc?jjjihh9hihifqfyfrfbf @ɛԃB[\< !%zI! %D=ɚ!i!I%pr̚=)5c?)1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516052E-B= A IA *FE ?2FI :FI BFM _0JFI GU qA GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767890ZH RH @AH :>I  I "II ̃BI &I .I 6I P<:I ? FGeo=G} ?G} ?G9BIOe?*w,!A:nyj?Y:z?:=9:*9@ @)AI@yI _I b(4٢Ž =9%[;Q %>!) -G٣-dOGy5, 5> =Nusing accuracyPremultiplier from config9Ek59=y?Ek5Y= i=@E>M ;M ?M@=XE=;=;=z4k5Y ]@YuB*** querying acoustic contact ***jqjqZj%FNOT Ignoring new targets: 105.20 m.Bj-Jj-= ProNav: ac range: 105.199997 m, nav range: 91.642525 m, bearing: 317.061893 deg, approach rate: 0.098090 m/s, LOS rate: -0.234229 deg/s, cmd heading: 62.973928 deg, new cmd heading: 62.596759 deg. 2j= EHeadingCmd: 1.092520 target range: 105.199997 and range: 105.20 m. je׋?jajajaiahihihihmwBfqfqfqrfqbfu`@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.020245ɛm؃Bm< quIq ur=ɚqiqIu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271934'1w,KA6e?Y66?6h=96*<=y6H?+t?`?`_'?-?Z`.I??ɨ6e?68;4zKBHK59KKK RK%?JK%?y= B=,!IIUjIU;4٢ S=9;Q > G٣y 9 > Nusing accuracyPremultiplier from configk59y?k5Y i @5LJ?5@XE'<(<7k5A EAAZjFNOT Ignoring new targets: 105.20 m.Bj+|Jj+|5 ProNav: ac range: 105.199997 m, nav range: 91.677742 m, bearing: 316.971997 deg, approach rate: 0.086400 m/s, LOS rate: -0.220462 deg/s, cmd heading: 62.596758 deg, new cmd heading: 62.327174 deg. 2j5M=HeadingCmd: 1.087814 target range: 105.199997 and range: 105.20 m. j==?j9j9jAiAhAhAhqhqfqfyfyrfybf} !@ɛۃB< 8g=DҾI s=ɚiIM 8w,/A dIdynBr!IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777164 )Y +?+Q?yȶ>u<`@ @)MAI@y=@I=^I=&4٢U U2=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configik59my?k5Ym  im@>;?@mXEmtIC IM!II%BI =&I.I7D6IZ<:IN FZjEFNOT Ignoring new targets: 105.20 m.BjMoJjMo] ProNav: ac range: 105.199997 m, nav range: 91.708344 m, bearing: 316.872330 deg, approach rate: 0.064195 m/s, LOS rate: -0.209007 deg/s, cmd heading: 62.327177 deg, new cmd heading: 62.028280 deg. 2j]pHeadingCmd: 1.082598 target range: 105.199997 and range: 105.20 m. j?jjjihhhhBfffrfbf@ɛ%߃B%:< !-NI) -=ɚ)i)I- Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030437JK KL.KK"KJ J J /J J :J 9J (N3J J k;J l;J p#;J q#;6>w,ǝA2K'^?Y2Q?2=92"=y2H z?A ?@[&?g?7? .F4??ɨ2K'^?2Z;0yBBB!IIJNIJ@ 4٢R V=9VズQ V ?XX ZG٣XyZĽ Z ? fNusing accuracyPremultiplier from config`fk59bNy?fk5Yb ibV@hjOz?j@bXEb7:b:b>k5nB raArEZjFNOT Ignoring new targets: 105.20 m.BjJj ProNav: ac range: 105.199997 m, nav range: 91.726509 m, bearing: 316.802145 deg, approach rate: 0.061615 m/s, LOS rate: -0.238010 deg/s, cmd heading: 62.028281 deg, new cmd heading: 61.817768 deg. 2jX#HeadingCmd: 1.078924 target range: 105.199997 and range: 105.20 m. j+?jjjihhhhfffrfbf@@ɛ-B-ź 11I 4=ɚiImKzKurKKu9KqKuKu BK}qA:K}qAE!Ew,@A%Z?Y%ة?%=9%͖4=y%H`5?@u @$? ?`?p?@Ti?޿?ɨ%Z?%!;!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531911yEBE!IMMb@Mb@Mb@III I)IYMQ?ktV-?yMµ>M 0Myy G٣eOGy] > Nusing accuracyPremultiplier from configk59ly?k5Y i@>;s?@XE;j;Bk5 AZjFNOT Ignoring new targets: 105.20 m.BjJj ProNav: ac range: 105.199997 m, nav range: 91.748993 m, bearing: 316.699395 deg, approach rate: 0.050406 m/s, LOS rate: -0.230294 deg/s, cmd heading: 61.817768 deg, new cmd heading: 61.509598 deg. 2j HeadingCmd: 1.073545 target range: 105.199997 and range: 105.20 m. ji?jjjihhhhBff f rf bf mj@ɛ5B=H; 9=,I9 ==ɚ9i9IEI C I "!II BI  =&I .I 8D6I 9<:I ; FGm -=Gu ?Gu ?GABQOm>ZVLw,3AB"X?YBuO?B`n=9B%T=yBH Y?@?F?'N?@R?}@Rc??ɨB"X?B;;BCyNBN!IIZ[IZK!4٢bC= bD=9b8Q b>dd fG٣dyjϼ j> nNusing accuracyPremultiplier from configlrk59n$y?rk5Yn in@prp?v@nXEnn:n:nSFk5x zVA|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 105.20 m.Bj-}Jj-}E ProNav: ac range: 105.199997 m, nav range: 91.767815 m, bearing: 316.606904 deg, approach rate: 0.045117 m/s, LOS rate: -0.221665 deg/s, cmd heading: 61.509596 deg, new cmd heading: 61.232181 deg. 2jE MHeadingCmd: 1.068703 target range: 105.199997 and range: 105.20 m. jMDˈ?jIjIjIiIhIhQhQhYfYfYfYrfYbfe@ɛBm; 隍I <=ɚiI u$?I}h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287786zK LK 59K K K ,:Sw,7MA2ٜU?Y2b ?2}=920r=y2H\?/`???S?߼ ??ɨ2ٜU?2m;2CyBBB!IIJVIJn4٢U G=9 Q  >    G٣ fOGyJļ > =Nusing accuracyPremultiplier from config1Mk595O,y?Mk5Y5 i5@QU#n?]@5XE5p;5);5Ik5q }AyZjFNOT Ignoring new targets: 105.20 m.BjAzJjAz ProNav: ac range: 105.199997 m, nav range: 91.785217 m, bearing: 316.514903 deg, approach rate: 0.041393 m/s, LOS rate: -0.218789 deg/s, cmd heading: 61.232181 deg, new cmd heading: 60.956233 deg. 2j'HeadingCmd: 1.063887 target range: 105.199997 and range: 105.20 m. js-?jjjihhhhfffrfbf`g@ɛ-B-p ; )-fI) 5 =ɚ1i1I5xYw,hA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791899:ΠS?Y:\?:=9:0=y:H`??@.?)?`q?\??ɨ:ΠS?:ݧ;8y B !IHK>IC I!IIBI =&I.I6I<:I FBICJICRICZI =bI =jIJ6Mb@Mb@Mb@ )Yx&1?y&1 rh?y>`弹C =zA ) AI@y @IWI44٢< .=9EݻQ > G٣y > Nusing accuracyPremultiplier from configk594y?k5Y i@> ;w?@XEM;;Nk5 |AEZjFNOT Ignoring new targets: 105.20 m.Bj%Jj%= ProNav: ac range: 105.199997 m, nav range: 91.813026 m, bearing: 316.405299 deg, approach rate: 0.060379 m/s, LOS rate: -0.237901 deg/s, cmd heading: 60.956235 deg, new cmd heading: 60.627525 deg. 2j=D#EHeadingCmd: 1.058150 target range: 105.199997 and range: 105.20 m. jEuq?jAjAjAiIhIhIhIhMǂBfQfQfQrfQbf]R@ɛBc; 隍I ;=ɚiIpWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043788J J J J J :J 9J J J ;J ;J ;J ;j`w,fA6Q?Y6?6s=96b=y6H?@eFʽ?`'p?_?@ī?m!;?`4?ɨ6Q?6%d;4)F= JcC dId~~G) ]YYy][AyeBe!Iimyy }G٣yy}$ }> Nusing accuracyPremultiplier from configk59- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550033fw,ÝA2AP?Y2?2-=92=y2H`??`$L?`??㐧?<gp? m?ɨ2AP?2;2Cy:B>$!I=Mb@Mb@Mb@999 9)9Y=S?Mb`?l?y=/>=;===A 9)= AI=Q@9y=QAIM;IM&3٢]< e]=9eHQ e>ii mG٣iymJ u> }Nusing accuracyPremultiplier from configyk59}By?k5Y} i}j@>:8?@}XE} >;}&%;}Tk5 AZjFNOT Ignoring new targets: 105.20 m.Bj䕻Jj䕻 ProNav: ac range: 105.199997 m, nav range: 91.871231 m, bearing: 316.215858 deg, approach rate: 0.096419 m/s, LOS rate: -0.262092 deg/s, cmd heading: 60.351367 deg, new cmd heading: 60.059389 deg. 2j3HeadingCmd: 1.048234 target range: 105.199997 and range: 105.20 m. j,?jjjihhhhBfff rf bf *@ɛ5B=: 9=I9 =޳=ɚ9iAIE|=IE,?iMBIC I.!II BI =&I.I9D6I-<:I; FG  ?G >G B O5 >lw,zA6VO?Y6?6W=96v=y6H@H]?@48 ?`OS?c?`.?-?@й?ɨ6VO?6M;6CyRBR:!IIZ:IZ3٢b,= bU=9bWQ f>dd fG٣fgOGyj'+ j> rNusing accuracyPremultiplier from configlrk59n1Jy?vk5Yn9 in[@tv?v@nXEne:n:n Xk5x ~[A|B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 105.20 m.Bj5dJj5dE ProNav: ac range: 105.199997 m, nav range: 91.908043 m, bearing: 316.114419 deg, approach rate: 0.096102 m/s, LOS rate: -0.264714 deg/s, cmd heading: 60.059390 deg, new cmd heading: 59.755197 deg. 2jE5MHeadingCmd: 1.042925 target range: 105.199997 and range: 105.20 m. jM~?jIjIjIiIhQhQhQhYfYfafarfabfm0 @ɛB_c; 隝߾I qT=ɚiI;=I~?iʘ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305000zK k3IK 9K K K Lsw,RA>N?Y>Ɩ?>=9>J=y>Hu?g!?I??Ԝ?T 6r?`P?ɨ>N?>׻;Ij3٢r's= rH=9rVQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|k59~Qy?k5Y~? i~R@  !? @~XE~C:~:~[k5 B @EZj9EFNOT Ignoring new targets: 105.20 m.BjU+JjU+ ProNav: ac range: 105.199997 m, nav range: 91.946671 m, bearing: 316.007031 deg, approach rate: 0.095119 m/s, LOS rate: -0.264327 deg/s, cmd heading: 59.755194 deg, new cmd heading: 59.433169 deg. 2jg5HeadingCmd: 1.037305 target range: 105.199997 and range: 105.20 m. jeƄ?jjjihhhhfffrfbf @ɛB@; 隍 ־I  =ɚiIf=IeƄ?i{yw,Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.816525HUU>IQ IUM!IIU%BIU =&IQ.IU:D6IU"<:IU7 Fym!BiMb@Mb@Mb@ )YGz?~jt?D=t=zA @) AI@y=AINI@ 4٢: /=9Q > G٣y > Nusing accuracyPremultiplier from configk59Zy?k5Y i@@K>:?@XE$;D";_k5 @ZjFNOT Ignoring new targets: 105.20 m.BjJj ProNav: ac range: 105.199997 m, nav range: 92.018738 m, bearing: 315.869399 deg, approach rate: 0.149416 m/s, LOS rate: -0.285128 deg/s, cmd heading: 59.433171 deg, new cmd heading: 59.020605 deg. 2j C%HeadingCmd: 1.030104 target range: 105.199997 and range: 105.20 m. j%rڃ?j!j)j)i)h)h1h1h5OBf1f9f9rf9bf=!@ɛBt_; 8ؾI : =ɚiIZ)=Irڃ?i1Ow,o A I:M?Y::?:=9:F=y:H? N? ?? ?L?w E??ɨ:M?:;8yF8BFf!IINYIN4٢V. > Vt=9Z? Q Z?XX ZG٣^hOGy^< b? fNusing accuracyPremultiplier from config`fk59b`y?jk5Yb ibC@hj_?j@bXEb:bX:bbk5p r@pZj FNOT Ignoring new targets: 105.20 m.BjJj񰻝- ProNav: ac range: 105.199997 m, nav range: 92.070206 m, bearing: 315.770274 deg, approach rate: 0.160733 m/s, LOS rate: -0.309391 deg/s, cmd heading: 59.020607 deg, new cmd heading: 58.723402 deg. 2j-UT5HeadingCmd: 1.024917 target range: 105.199997 and range: 105.20 m. j5y0?j1j1j9i9h9h9hAhAfAfAfArfAbfM Ń"@ɛBk; þI 0# =ɚiI=Iy0?i M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575588J J J J J :J 9J J w,yA63M?Y6 ?6N=96=y6HX??hA?)?2v?%.??ɨ63M?6=؈;4yr G٣ym > Nusing accuracyPremultiplier from configk59iy?k5Y i4@p? : ? @XE;;yfk5 D@Zj9=FNOT Ignoring new targets: 105.20 m.BjEJjEU ProNav: ac range: 105.199997 m, nav range: 92.154907 m, bearing: 315.622799 deg, approach rate: 0.191498 m/s, LOS rate: -0.333113 deg/s, cmd heading: 58.723405 deg, new cmd heading: 58.281395 deg. 2jUd]HeadingCmd: 1.017202 target range: 105.199997 and range: 105.20 m. j]3?jYjYjaiahahihqhuBfqfyfyrfybf}f#@ɛB,; 隭&I =ɚiI=I3?ii:/<)3?) $?Ih*F2F:FBF_0JFjH<bH<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824662HZ>IC I!IIMBI =&I.I6IK<:IX FG<G B O > w,b6A6BM?Y6D߂?6=96=y6Hg? 6?>??`~3?F|TT VG٣XyZ q Z> Nusing accuracyPremultiplier from config\k59^py?k5Y^ i^1@!%Ց?%@^YE^;^K ;^ik5-!B ->@-EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 105.20 m.BjmoJjmo} ProNav: ac range: 105.199997 m, nav range: 92.224480 m, bearing: 315.502139 deg, approach rate: 0.185081 m/s, LOS rate: -0.320743 deg/s, cmd heading: 58.281396 deg, new cmd heading: 57.919697 deg. 2j}\HeadingCmd: 1.010889 target range: 105.199997 and range: 105.20 m. jd?jjjihhhhfffrfbf@c&$@ɛB< 9C=I $=ɚiIt=Id?i˜ I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BoIK>9K<K>K>  6;‰;4y^KB^~!IIfEIf3٢nqٻ nG=9ndQ n>pp rG٣riOGyv9 v> zNusing accuracyPremultiplier from configx~k59zyy?~k5Yz; iz9@|ؑ?@zYEzN;z;z>mk5  U@ Zj15FNOT Ignoring new targets: 105.20 m.Bj=ûJj=ûM ProNav: ac range: 105.199997 m, nav range: 92.303886 m, bearing: 315.365550 deg, approach rate: 0.199177 m/s, LOS rate: -0.342315 deg/s, cmd heading: 57.919697 deg, new cmd heading: 57.510288 deg. 2jMjUHeadingCmd: 1.003744 target range: 105.199997 and range: 105.20 m. jUz?jQjQjQiYhYhYhYhYfafafarfabfm@$@ɛB4< 隕MI =ɚiIY =Iz?iim =)z?)*Fm?2Fq:FqBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.!w,~jA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Response Not Received :*response not received:,DAT read: user:2838> HN_>INC IN!IINlBIN =&IL.IN;D6IN<:IN) F-Zaa eG٣aym m> uNusing accuracyPremultiplier from configq}k59uӂy?}k5Yu̾ iuC@} ?}:}a?@u YEuT;u;u|qk5 @ZjFNOT Ignoring new targets: 105.20 m.Bj̻Jj̻ ProNav: ac range: 105.199997 m, nav range: 92.420441 m, bearing: 315.190856 deg, approach rate: 0.239399 m/s, LOS rate: -0.358363 deg/s, cmd heading: 57.510288 deg, new cmd heading: 56.986884 deg. 2ju HeadingCmd: 0.994609 target range: 105.199997 and range: 105.20 m. j ~?j j j ihhhhBfff!rf!bf%R%@ɛB;< 隕ìI I=ɚiIL1 =I~?iix+=)~?)*Fy2Fy:FyBF}0JFyG].=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:44:25.1118 %$Ping request sent.%mJDAT read: TxSync time:22:44:25.1110 u:publishing transmit ping time%Nuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.010077 I w,mSA2L?Y2:?2KQ=922=y2H"?@0V׾?@??]`@A.?`|?ɨ2L?2;2CyB^BB!IIJDIJ3٢R$K= R=9VQ V ?TT VG٣XyZ Z ? ~Nusing accuracyPremultiplier from config|k59~Oy?k5Y~۹ i~]@  9? @~ YE~:~:~Otk5 (@ZjaeFNOT Ignoring new targets: 105.20 m.BjmʻJjuʻ ProNav: ac range: 105.199997 m, nav range: 92.498207 m, bearing: 315.074847 deg, approach rate: 0.238069 m/s, LOS rate: -0.354845 deg/s, cmd heading: 56.986884 deg, new cmd heading: 56.639153 deg. 2jsHeadingCmd: 0.988540 target range: 105.199997 and range: 105.20 m. j}?jjjihhhhfffrfbft&@ɛ]B]; Y].IY eBk=ɚaiaIe =Im}?iim:=)}?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250632zK]LKYKYK]K]EXh=*Fi2Fq:FqBFu0JFq"G}=G}=- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504851J J J J J }:J 9J J G k =G G rAG B O >w,AJݻL?YJ⛂?Jo:=9Jh=yJHO? ? >?? K÷?`N?ɨJݻL?J7;JCyVXBV!I IMb@Mb@Mb@ )Y/$?X9v?~jt?y,?=< A )vAIAyAI1I3٢ɿ )=9:Q > G٣jOGyn > Nusing accuracyPremultiplier from configk59Iy?k5Y iw@ /?:Q?@YE;;vxk5"B @EZj)5FNOT Ignoring new targets: 105.20 m.Bj5ݻJj5ݻE ProNav: ac range: 105.199997 m, nav range: 92.628540 m, bearing: 314.890603 deg, approach rate: 0.273833 m/s, LOS rate: -0.386556 deg/s, cmd heading: 56.639152 deg, new cmd heading: 56.087216 deg. 2jMMHeadingCmd: 0.978907 target range: 105.199997 and range: 105.20 m. jMz?jQjQjQiQhQhQhYh]ӃBfYfYfarfbf['@ɛ5B=~)< 9=I9 }=ɚiI7 =Iz?iiW=)z?)EB=ZHRHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753857H=d>I=C I=!II=BI= =&I=FD.I=w,պABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005797VL?YV?V =9V=yVH?@ W?=?@?ؖ`??ɨVL?Vᅊ;VCy^WB^!Iib%=Ibl> f=fa=IjIjb٢vl vY=9vBQ v>xx zG٣xy~3 ~>  Nusing accuracyPremultiplier from config k59 =y?k5Y  i @=?@ YE ": : {k5!B @EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 105.20 m.Bj-лJj-л] ProNav: ac range: 105.199997 m, nav range: 92.732765 m, bearing: 314.744356 deg, approach rate: 0.260388 m/s, LOS rate: -0.364960 deg/s, cmd heading: 56.087215 deg, new cmd heading: 55.648979 deg. 2j]wzmHeadingCmd: 0.971258 target range: 105.199997 and range: 105.20 m. jm\x?jijijiiihihqhhfffrfbf`kX(@ɛ B d{; 15㰾I1 5m=ɚ1i1I=x =I=\x?i9iEjn=)E\x?)AEIEI*E $?I]h"Emj~GtA YtAyA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257833*F ?2F :F BF 1JF zKE JKE h9KA KE KE   RKM ?JKM >G ‹9=G ?G >GBO>>w,.AWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517351K?Y$?Od<9=yH-?^v۹?c3?-?A`??ɨK?%z;CyXB!IMb@Mb@Mb@ )YGz?T㥛 ?~jt?y0?>< )IAyGAII<٢U;  =9 Q  >    G٣ kOGy} > Nusing accuracyPremultiplier from config%k59y?%k5Ye iͳ@-3?-:-ɘ?-@YE;/;k59 =@AZjamFNOT Ignoring new targets: 105.20 m.BjmJjm컝 ProNav: ac range: 105.199997 m, nav range: 92.899727 m, bearing: 314.510265 deg, approach rate: 0.295898 m/s, LOS rate: -0.414122 deg/s, cmd heading: 55.648980 deg, new cmd heading: 54.948005 deg. 2jHeadingCmd: 0.959024 target range: 105.199997 and range: 105.20 m. ju?jjjihhhhB Ifffrfbf|)@ɛe Beh2< m=mIi mW=ɚiiiImd =Iu?ii}=)u?)*FM?2FI:FIBFMS5JFIG%_=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762078Hf>GB) I I!IIBI =&I.I6Iկ<:I FO >Lbw,0A6QJ?Y6?6X<96"+=y6H?@?}"?@?>9j ;??ɨ6QJ?6T;6Cy^RBb!IIjLIj4٢r% r=9r,'Q r?tt vG٣tyve] z? ~Nusing accuracyPremultiplier from configxk59zy?k5YzB iz@J? @z YEz;z+;zk5 @ZjAEFNOT Ignoring new targets: 105.20 m.BjMJjM⻝ ProNav: ac range: 105.199997 m, nav range: 92.984215 m, bearing: 314.391718 deg, approach rate: 0.281902 m/s, LOS rate: -0.395181 deg/s, cmd heading: 54.948004 deg, new cmd heading: 54.592693 deg. 2jHeadingCmd: 0.952822 target range: 105.199997 and range: 105.20 m. j)s?jjjihhhhfffrfbf*@ɛE BM: IMII Md<ɚIiQI9 =I)s?ii7=))s?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014635JJ~JJJv:Jf9JJJT;aJV;aJ:aJ:a*Fe?2Fa:FaBFeP0JFa $?IG n=Gq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266284/Jw,` A @@^YpI?Y^ ?^<9^F¾=y^H@?^?@k ?@?V@^ ͷ?.?ɨ^YpI?^߉;^CyjMBj!I)l lprAIv[IvK!4٢) H=9Q >    G٣ y0P > Nusing accuracyPremultiplier from config%k59Ƿy?%k5YC i@)-?-@$YE::k55"B 5N@5|EZjYeFNOT Ignoring new targets: 105.20 m.BjeJje⻝} ProNav: ac range: 105.199997 m, nav range: 93.098869 m, bearing: 314.229881 deg, approach rate: 0.281388 m/s, LOS rate: -0.396695 deg/s, cmd heading: 54.592695 deg, new cmd heading: 54.107792 deg. 2j}HeadingCmd: 0.944359 target range: 105.199997 and range: 105.20 m. jq?jjjihhhhfffrfbf#*@ɛ B,Z; I <ɚiIby =Iq?ii4=)q?)EEzKGLK59KKK  *F?2F:FBF_0JFGmI3=G!B9OU2>-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521287 I yw,<'AbVH?YbNi?b=<9b8=ybH3?`d"??`1/?DPYG޶?y?ɨbVH?bP;bCyrDBvt!IjH<bH< Mb@Mb@Mb@    ) Y  +?X9v?{Gz?y 6? = #<  @) AI  y AI%NI%@ 4٢5, 58=95޻Q =>99 =G٣9yEf E>HMh>II IIIIIM =&II.II6IM<:IM< FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769936 }Nusing accuracyPremultiplier from configq}k59uy?}k5Yu` iu1@R9?:M?@u)YEu};u;u k5 @zEZjFNOT Ignoring new targets: 105.20 m.BjJj軝 ProNav: ac range: 105.199997 m, nav range: 93.224449 m, bearing: 314.045191 deg, approach rate: 0.277305 m/s, LOS rate: -0.407280 deg/s, cmd heading: 54.107792 deg, new cmd heading: 53.554488 deg. 2jHeadingCmd: 0.934702 target range: 105.199997 and range: 105.20 m. jHo?jjjihhhhfffrfbf+@ɛUBU; y}ʾIy }0`<ɚiIF =IHo?iiYs=)Ho?)EB=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:44:27.6459 5 TRx dataTimestamp_ set to:1736376268.9542855 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024520*FQ 2FY :FY BF] 4JFY J J zJ J J p:J 9J J J ;J ;J P:J Q: i Ii G}1=GQBaO}?w,5F?Y>X?> <9>\=y>H[?` ش??\V?`ᦟ༴̵?@?ɨ>5F?>?މ;>CyN9BNh!IIVDIV3٢b<1 b1=9bʲQ f>dd fG٣flOGyjcM j> nNusing accuracyPremultiplier from configlrk59ny?rk5Ynj inK@tv?v@n/YEn:n.:nk5x z@xB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 105.20 m.Bj-Jj-뻝= ProNav: ac range: 105.199997 m, nav range: 93.350845 m, bearing: 313.858302 deg, approach rate: 0.279159 m/s, LOS rate: -0.412205 deg/s, cmd heading: 53.554489 deg, new cmd heading: 52.994598 deg. 2j=rEHeadingCmd: 0.924930 target range: 105.199997 and range: 105.20 m. jE:l?jAjIjIiIhIhIhQhQfQfQfYrfYbf] q,@ɛBp: 隍rվI -<ɚiI =I:l?iij!=):l?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274590Ee#'=*F?2F:FBF_0JFGG=GzKF5LK+9KKKRK?JK?B9O^> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:44:27.6459 LVL= 26096, 32033, 23266, 32755, AGC= 64, IDX= 303, 0.01,-0.778,-2.281,-1.196,-1.330, PHS= 0.641,-0.904, 0.132, RAW= 131.1, 1.9, CAL= 137.1, -5.9, ROT= 12.9, 5.9  Ygot valid direction response: 22:44:27.6459 LVL= 26096, 32033, 23266, 32755, AGC= 64, IDX= 303, 0.01,-0.778,-2.281,-1.196,-1.330, PHS= 0.641,-0.904, 0.132, RAW= 131.1, 1.9, CAL= 137.1, -5.9, ROT= 12.9, 5.9  PDAT read: Bearing 12.9, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 12.9, 5.9 (Local)  DAT read: Range 10 to 50 : 97.4 m (Round-trip 129.9 ms) speed 0.4 m/s  ,DAT read: user:2839>  BDAT read: Tx time:22:44:28.7619  $Ping request sent. `?y B  e !}  Z) I @i $? lg +> p@w,bA pIrhy'BQ!I a= M= Mf$@)MBҽIMf>iMB=IIMW(`?z?Q1a?)MG>IM iM뿉MTljII%:publishing transmit ping time!-Fpublishing direction and range infoI9M$,Ŀ%;Fǹ>`?yIIII I)IIIiIIIII I)IIIiIIIMW(`?z?Q1a?)IIIiIIIIuMb@Mb@Mb@qqq q)qYuQ??{Gzt?yu5?u=uף;u A uv@)uIAIuAqyuGAIXI4٢Z .=9Q > G٣y > Nusing accuracyPremultiplier from configk59y?k5YD} iM@%7?%:%p?%@4YE;;,k5M#B M@UwEkM^?kMMC kI kMZ]A:kMBBkM|BZkM΀@"M G/ LPI׌`?JkMRkMTlj*MZXF@R7,>uZGN]qR@MJB:?pG޿q~?"kM:*kM5BkMX-҈?kMMK 2kM CkIkM" kIkMBkM@u addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 14.626698 s, deltaX: -7.799995 m, approachRate: -0.533271 m/s, rangeRepo size: 4 Hk>IC I!IIBI&I.I=D6Iܯ<:I F Added new target pos. range: 97.400002 m, bearing: 314.237159 deg, lat: 36.904853 deg, lon: -122.120948 deg, deltaT: 14.626698 s, deltaX: -7.799995 m, approachRate: -0.533271 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 97.40 m.BjJj ProNav: ac range: 97.400002 m, nav range: 90.794121 m, bearing: 315.300610 deg, approach rate: 0.000000 m/s, LOS rate: -0.412205 deg/s, cmd heading: 52.994598 deg, new cmd heading: 52.370610 deg. 2j HeadingCmd: 0.914040 target range: 97.400002 and range: 97.40 m. ji?jjjiAhAhAhIhMBfIfIfIrfUYX@bfU̕?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:22:44:28.7611 ɛB`; I  <ɚiI; =Ii?iiU=)i?)EE =*F ?2F :F BF 5JF G  G  Will construct direction to contact in vehicle frame from tetrahedron phase data.J ~J {J J J {m:J -9J J J ;;J =;J :J :Gt=G?G?? 5$?I1GBO?Yw,\AyB7!II% I%2٢5_ ="=99Q =>AA EG٣EmOGy > Nusing accuracyPremultiplier from configk59y?k5Y{t iO@@:YEF;mG;k5 AZjDNOT Ignoring new targets: 97.40 m.Bj Jj  ProNav: ac range: 97.400002 m, nav range: 90.919327 m, bearing: 315.082622 deg, approach rate: 0.258797 m/s, LOS rate: -0.449954 deg/s, cmd heading: 52.370612 deg, new cmd heading: 51.717578 deg. 2jf%HeadingCmd: 0.902642 target range: 97.400002 and range: 97.40 m. j%g?j!j!j!i)h)h)h1h1f1f1f1rf9bf=y?ɛB x 隥7I <ɚiI =Ig?ii'=)g?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.iA*F?2F:FBF_2JFzKqkKKKKKBr Ur'iC+BK:KpAG=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.fw,QAmw@?Ym\My?m,<9m}=ymH?)g`AB?@v?@?š鐅@ط??ɨmw@?mf܊;mCy}B}!I IEMb@Mb@Mb@AAA A)AYEi|?5?#~j?MbPyE1?E=EE/ A E@)AIAAyAI]I][3٢e׽ m9=9}Q }> G٣y6` > Nusing accuracyPremultiplier from configk59y?k5Yqm iD@2?:?@?YE;;lk5$B IArEZjDNOT Ignoring new targets: 97.40 m.BjrJjrﻝ ProNav: ac range: 97.400002 m, nav range: 91.009735 m, bearing: 314.901509 deg, approach rate: 0.209205 m/s, LOS rate: -0.418681 deg/s, cmd heading: 51.717578 deg, new cmd heading: 51.174794 deg. 2jHeadingCmd: 0.893169 target range: 97.400002 and range: 97.40 m. jd?jjjih h h h Bfffrfbf5'?ɛMBM[ IM II U<ɚQiQIUH =I]d?iYi]y=)]d?)Y*F}?2F:FBF_0JFZHRHAAH m>I  I !II gBI  =&I .I 6I <:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.G ޯ=G B O >w,WAyB II-I-F3٢=1  =`=9EQ E>AA EG٣IyM M> UNusing accuracyPremultiplier from configQ]k59Uiy?]k5YUg iU:@aae@UCYEU\:U:Uk5i mAiZj DNOT Ignoring new targets: 97.40 m.BjJj滝- ProNav: ac range: 97.400002 m, nav range: 91.086487 m, bearing: 314.749446 deg, approach rate: 0.203841 m/s, LOS rate: -0.403513 deg/s, cmd heading: 51.174793 deg, new cmd heading: 50.719000 deg. 2j-v5Will construct direction to contact in vehicle frame from tetrahedron phase data.EHeadingCmd: 0.885214 target range: 97.400002 and range: 97.40 m. jE[b?jAjAjAiIhIhIhQhQfQfQfQrfYbf]@8?ɛBz}n 隭I 9<ɚiI"=I[b?ii:=)[b?)JCKK3 KK.-KCKC"KCJ}J}JJJ[j:JS9JJJ;J;J:J:*F?2F:FBFo0JF"G=G!> $?IG}R=GqAGpAG9BAOmW> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,*A:(??Y:ɤw?:5<9:}=y:H (?@{I6?X?@#?ћ@׃ ??ɨ:(??:Um;:CyZЂBZ IIbQIb4٢j* jQ=9nV Q n>lp rG٣rnOGyr釼 r> zNusing accuracyPremultiplier from configt~k59v-z?k5Yv+a iv1@?@vGYEv;;v6;vk5  A-B*** querying acoustic contact ***j)j)Zj9=DNOT Ignoring new targets: 97.40 m.BjEJjEU ProNav: ac range: 97.400002 m, nav range: 91.168114 m, bearing: 314.585754 deg, approach rate: 0.216871 m/s, LOS rate: -0.434516 deg/s, cmd heading: 50.719001 deg, new cmd heading: 50.228376 deg. 2jU]HeadingCmd: 0.876651 target range: 97.400002 and range: 97.40 m. j],l`?jYjYjaiahahahahifififirfibfuD5?ɛBޔ 隥!I ud<ɚiIqy=I,l`?izKE-OKh9KKK   RK ?JK?iy=),l`?)*FU?2FQ:FQBFU1JFQMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G== IhG1B9OU>H I  I m!II >BI &I .I 6I #<:I L FBI˧CJI˧CRI˓CZI =bI =jIs5ϻw,%ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.205662jYn:?Yj=r?j]3<9j;$w=yjH@G?Y??D?_䚿`Nc@B߮??ɨjYn:?jH;jCyuBu IMb@Mb@Mb@ )YˡE?A`"?Mby'?Y= A hA)IyAI=CI=3٢E M5=9M]4;Q M>QQ UG٣Qy]o' e> mNusing accuracyPremultiplier from configamk59ez?k5YeqZ ie@~(?:ڃ?@eLYEeyw,=A6]7?Y6Bp?6$h9<96En=y6Hm? L!k?\\ ^G٣\y^_ b> fNusing accuracyPremultiplier from config`fk59bz?jk5YbT ib߳@hjf?j@bPYEb ;b* ;b4k5p rApZj  DNOT Ignoring new targets: 97.40 m.BjJj% ProNav: ac range: 97.400002 m, nav range: 91.302147 m, bearing: 314.255673 deg, approach rate: 0.173439 m/s, LOS rate: -0.435093 deg/s, cmd heading: 49.685829 deg, new cmd heading: 49.238897 deg. 2j%L-HeadingCmd: 0.859381 target range: 97.400002 and range: 97.40 m. j-c\?j1j1j1i1h1h1h9h9f9f9fArfAbfE@ɛ B-] )-6I) 5<ɚ1i1I5wX=I=c\?i9i=_=)=c\?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711169*F?2F:FBF@5JFG)=GqBO<>zKGLK9KKKBKpA:KqA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:44:31.2934  TRx dataTimestamp_ set to:1736376272.485188 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969709#w,#"A j$?Ijh y B  IMb@Mb@Mb@ )YZd;O?~jt?Qyj?<u A A)IyGAIVIn4٢rٽ ,=9Q > G٣oOGy > Nusing accuracyPremultiplier from configk59,z?k5YN i@?:Sx?@UYEJO;M;Zk5  A mEZj15DNOT Ignoring new targets: 97.40 m.Bj=rֻJj=rֻM ProNav: ac range: 97.400002 m, nav range: 91.359535 m, bearing: 314.077323 deg, approach rate: 0.120731 m/s, LOS rate: -0.374969 deg/s, cmd heading: 49.238899 deg, new cmd heading: 48.704200 deg. 2jMUHeadingCmd: 0.850049 target range: 97.400002 and range: 97.40 m. jUʜY?jQjQjQiQhYhYhaheBfififirfqbfu @ɛ;ż DI _<ɚiI7=IʜY?ii֣=)ʜY?)Hn>I I(!IIBI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214569*FM?2FI:FIBFUP5JFQG5 ݔ=G B9 OU >Gw,;AWill construct direction to contact in vehicle frame from tetrahedron phase data.P1?Yi?W<9[=yH`3?9G@EƩ?@tS? ? ʖ` \??=DAT read: 22:44:31.2934 LVL= 32752, 32753, 31346, 32755, AGC= 67, IDX= 421, 0.33,-3.074, 1.614, 2.616, 2.670, PHS= 0.628,-1.009,-0.056, RAW= 125.4, 6.2, CAL= 133.3, 1.1, ROT= 16.7, -1.1 EYgot valid direction response: 22:44:31.2934 LVL= 32752, 32753, 31346, 32755, AGC= 67, IDX= 421, 0.33,-3.074, 1.614, 2.616, 2.670, PHS= 0.628,-1.009,-0.056, RAW= 125.4, 6.2, CAL= 133.3, 1.1, ROT= 16.7, -1.1 MPDAT read: Bearing 16.7, -1.1 (Local) M~Local bearing/azimuth received: Bearing 16.7, -1.1 (Local) ɨP1?;Cy{B} IDAT read: Range 10 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.5 m/s ,DAT read: user:2840> %BDAT read: Tx time:22:44:32.4119 %$Ping request sent.%iڍnFډډ I9;Q > G٣y|d >ۍؘ̫? ?J\;ߜ?)ۍa=Iۍ6Uݽiۍۍ ~ۉۉ:publishing transmit ping time!Fpublishing direction and range info؉9؍A{ϿI\߿,p?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډ -Nusing accuracyPremultiplier from config)5k59-:z?5k5Y-H i-?@15r?=@-YYE-;-;-:k5E%Bډۍؘ̫? ?J\;ߜ?)ۉ NAjEIۉiۉۉۉۉk =5?kB k k ?A:kBBkBZk/@"`%7R)rfG;Q̛S@A{ϿI\߿,p?JkRk ~*b8:@S[[jWHfxiS@?#-AP࿽p?"kB*kAki?kZK 2kCkk q kkդBk@ addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.527245 s, deltaX: -1.900002 m, approachRate: -0.538664 m/s, rangeRepo size: 4  Added new target pos. range: 95.500000 m, bearing: 298.873758 deg, lat: 36.904853 deg, lon: -122.120799 deg, deltaT: 3.527245 s, deltaX: -1.900002 m, approachRate: -0.538664 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 95.50 m.BjJjm ProNav: ac range: 95.500000 m, nav range: 82.417648 m, bearing: 320.279886 deg, approach rate: 0.000000 m/s, LOS rate: -0.374969 deg/s, cmd heading: 48.704201 deg, new cmd heading: 48.169426 deg. 2jiHeadingCmd: 0.840715 target range: 95.500000 and range: 95.50 m. j9W?jjjihhhhfffrfW@bfa?ɛAMG=Ƽ IM5MII uQ-<ɚqiqIu=I9W?ii.=)9W?)- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:22:44:32.4111 *FA 2FI :FI BFM T5JFI "GU =GU =G k=zK &~JK 9K K K C|uoje[VQI?>82-+$#GiBqO>+Kw,eZA2#a.?Y2f?2h<92JtX=y2H@?@o (?`?V?#P ??ɨ2#a.?2;0y>`B>\ I)@ @IFRIFW4٢^B  bQ=9bO0;Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from configlrk59nZEz?rk5YnD in@pr%o?r@n]YEn:nX:nqk5x )AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 95.50 m.BjJj- ProNav: ac range: 95.500000 m, nav range: 82.430679 m, bearing: 320.123817 deg, approach rate: 0.035890 m/s, LOS rate: -0.429776 deg/s, cmd heading: 48.169424 deg, new cmd heading: 47.701302 deg. 2j-y5HeadingCmd: 0.832545 target range: 95.500000 and range: 95.50 m. j5!U?j1j1j9i9h9h9h9hAfAfAfArfAbfM`H?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɛB+c)J%}J%yJ!J!J%[j:J%9J!J!a]@ae@ae@ae@ ukJ=}[Iy Ɖ<ɚiIL=I!U?iiS=)!U?)! $?I*F?2F:FBFl4JFGʯ=GBO>Hp>IC I II΂BI&I.I6I%<:IP F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.702026sw,2:tA2+?Y2d?2c<92P3W=y2H?"`?`??@h–z??ɨ2+?2=;2Cy^KB^B IMMb@Mb@Mb@III I)IYM G٣pOGyӼ > Nusing accuracyPremultiplier from config%k59nSz?%k5Y> i@%?%:%[?%@aYEz;;Rk5U&B UAUgEZjDNOT Ignoring new targets: 95.50 m.BjeJjeﻝ ProNav: ac range: 95.500000 m, nav range: 82.427116 m, bearing: 319.945963 deg, approach rate: -0.008385 m/s, LOS rate: -0.418592 deg/s, cmd heading: 47.701304 deg, new cmd heading: 47.167733 deg. 2jHeadingCmd: 0.823232 target range: 95.500000 and range: 95.50 m. jYR?jjjihhhh ЂBf f frfbf?ɛYeY#w, A:(?Y:Ta?:S"u<9:=S=y:H a?`vB?`7?5`?_啿 q?&?ɨ:(?:,e;8yF4BF% IIN"INq3٢V* VY=9Z7;Q Z>XX ZG٣Xy^bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.206205 f> jNusing accuracyPremultiplier from confighrk59j _z?vk5Yj: ijM@tvIY?v@jdYEjp;jq;j|k5  AZjyDNOT Ignoring new targets: 95.50 m.BjJjờ ProNav: ac range: 95.500000 m, nav range: 82.422600 m, bearing: 319.801175 deg, approach rate: -0.012316 m/s, LOS rate: -0.394819 deg/s, cmd heading: 47.167733 deg, new cmd heading: 46.733355 deg. 2jzHeadingCmd: 0.815651 target range: 95.500000 and range: 95.50 m. jP?jjjihhhhfffrfbf@T(?ɛB2 qI O<ɚ i I 7=IUP?iQiU=)UP?)Y*F?2F:F BF _0JF G GzKNKs9KKK  l FuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458087G2=JM ~JM {JI JI JM {m:JM -9JI JI I G B Oe >b)w,A6%?Y6^?6<96'R=y6Hΰ?\G?g?? C1A? 0?ɨ6%?6 ;6Cyn#Br Iiv>Ivp>Mb@Mb@Mb@ )YS㥛?X9vQy?u A )AIyGAIIV83٢▽ 7=9;Q > G٣y >  Nusing accuracyPremultiplier from config k59qlz?k5Yy6 i@'?:8O?@hYE9;^7;\k5! %A)H}r>Iy I} II}BI} =&Iy.Iy6I}<:I}/ FZjDNOT Ignoring new targets: 95.50 m.Bj^ʻJj^ʻ- ProNav: ac range: 95.500000 m, nav range: 82.409149 m, bearing: 319.641135 deg, approach rate: -0.029734 m/s, LOS rate: -0.353848 deg/s, cmd heading: 46.733356 deg, new cmd heading: 46.253168 deg. 2j-r5HeadingCmd: 0.807270 target range: 95.500000 and range: 95.50 m. j5@N?j1j1j9i9h9h9hAhEBfAfIfirfibfm`?ɛ3 隽yI i|<ɚiI]j=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.711000I @N?i i !=)@N?)Emy=*F ?2F :F BF P0JF  PExceeded connect timeout, disconnecting.} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962104 $?I G x=GBO>Y1w,%;AF+"?YFZ?F6<9FT=yFH@?3E???󟔿`??`?ɨF+"?FMlj;FCyRBRIIZiIZ:4٢bÆ b5=9fE;Q f>dh jG٣jqOGyj j> rNusing accuracyPremultiplier from configlrk59nBzz?rk5Yn2 in@tvK?v@nkYEn:n ;nNk5x ~A~dEZj!%DNOT Ignoring new targets: 95.50 m.Bj-UػJj-Uػ= ProNav: ac range: 95.500000 m, nav range: 82.392990 m, bearing: 319.478531 deg, approach rate: -0.037584 m/s, LOS rate: -0.378269 deg/s, cmd heading: 46.253167 deg, new cmd heading: 45.765271 deg. 2j=́EHeadingCmd: 0.798755 target range: 95.500000 and range: 95.50 m. jE0{L?jAjIjIiIhIhIhQhQfQfQfYrfYbf]K^@ɛ|B 隍I <ɚiIQ=I0{L?ii0=)0{L?)E ?=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.215556*Fy2Fy:FyBF}_0JFyG]b=G1B9OUT>zKm MKm 9Ki Km Km 4D@5)"'(($ RKu ?JKu ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465995&7w,AJ2|J2zJ0J0J2;g:J29J0J0f?YfW?fk֫<9fZ=yfH`O?-Ɉ??O?l fzXU?`?ɨf?f;fCyBI IIIId4٢T 3=9;Q > G٣y׼ > Nusing accuracyPremultiplier from configk59z?k5Y- i(@H?@oYE:j:ck5 9 AbEUB*** querying acoustic contact ***jQjQZjYeDNOT Ignoring new targets: 95.50 m.BjeʻJjeʻ ProNav: ac range: 95.500000 m, nav range: 82.373978 m, bearing: 319.310167 deg, approach rate: -0.039976 m/s, LOS rate: -0.354088 deg/s, cmd heading: 45.765273 deg, new cmd heading: 45.260078 deg. 2jsHeadingCmd: 0.789937 target range: 95.500000 and range: 95.50 m. jV9J?jjjihhhhfffrfbf`<@ɛMBU; Y隅I D<ɚiIAc=IV9J?iit=)V9J?)EpAEqAHt>I If IIiBI =&I.I6Iگ<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718099EM BJ=EQ EQ *F 2F :F BF O0JF "G =G > nManaging dock network, ignoring radio surface power offG"= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970810GBO-?@w,.A j$?InhzE?Yz+IQ?z^<9zb=yzH? G&?U?? 㘿M? ?ɨzE?zd;zCyBI) Mb@Mb@Mb@ )YV-?/$,t hA)I AyAI_Ib(4٢U!< =9 ;Q  >    G٣yD > %Nusing accuracyPremultiplier from config!-k59%z?-k5Y%) i%ǰ@57?5:5 ۄI <ɚiI=IG?iij>=)G?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.222872*F%?2F!:F!BF%P0JF)Gv=G B O >zK% *MK% h9K! K% K% QJ BK5 qA:K5 pAFw,VANM?YN20N?N:<9NAj=yNH)?|`)??*?3 2`A??ɨNM?NG;NCyVBVIIbqIbJH4٢j립 j`=9je;Q n>ll nG٣nrOGyr  r> vNusing accuracyPremultiplier from configtzk59vz?zk5Yv% iv@x~8?~@vvYEv ;vu ;vk5  AZj)-DNOT Ignoring new targets: 95.50 m.Bj5ƻJj5ƻE ProNav: ac range: 95.500000 m, nav range: 82.318245 m, bearing: 319.009913 deg, approach rate: -0.067020 m/s, LOS rate: -0.346257 deg/s, cmd heading: 44.735297 deg, new cmd heading: 44.359026 deg. 2jEmMHeadingCmd: 0.774211 target range: 95.500000 and range: 95.50 m. jM2F?jIjIjIiQhQhQhQhQfYfYfYrfYbfe : @ɛPt o=I ,<ɚiIՉ=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.485583I2F?i+Lw, ~6A2?Y2bK?2|<92p=y2H`i? Ѯ??j?1Κe ? ?ɨ2?2X;2Cy>B>I5Mb@Mb@Mb@111 1)1Y5-?Mb`y5?>5L51 5A)5zAI5 A1y5AIMGIM3٢]7; ]B=9e:Q m>ii mG٣iyuԼ u> Nusing accuracyPremultiplier from configyk59}Dz?k5Y}" i}C@>:0?@}zYE}8;};}k5(B  A\EZjDNOT Ignoring new targets: 95.50 m.Bj⼻Jj⼻ ProNav: ac range: 95.500000 m, nav range: 82.285248 m, bearing: 318.870515 deg, approach rate: -0.078148 m/s, LOS rate: -0.330273 deg/s, cmd heading: 44.359026 deg, new cmd heading: 43.940672 deg. 2jbHeadingCmd: 0.766909 target range: 95.500000 and range: 95.50 m. j-TD?jjjihhhhBfffrfbf r@ɛ-B-8a 15KI1 54I<ɚ9i9I='=IE-TD?iAiE%=)E-TD?)A*F2F:FBF}1JFGqA GGp`=GrAGqAGABQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.990166O8>~G $?I 5Y1y5BSw,YPA2=$?Y2#H?2?<92!|=y2Hd?#@+? ??PZ?z?ɨ2=$?2s;2Cy@@iF=IFILIL٢V. VV=9V:Q V>XX ZG٣Xy^S ^>fWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.243060 nNusing accuracyPremultiplier from configh=k59jUz?=k5Yjr ij @AE.?M@j}YEjp}Zw,(CjAyUBUIHu>I I( II6BI&I.I>D6I<:I/ FMb@Mb@Mb@ )Y-?/$Mb?y,< A hA)dAI~AyGAI5OI5 4٢EF E3=9MQ M>QQ UG٣UsOGy] ]> eNusing accuracyPremultiplier from configYek59]z?mk5Y] i]@m9>m:m2?u@]YE]p;]W;]k5y } AyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 95.50 m.BjbƻJjbƻ ProNav: ac range: 95.500000 m, nav range: 82.220177 m, bearing: 318.593454 deg, approach rate: -0.077286 m/s, LOS rate: -0.346883 deg/s, cmd heading: 43.561488 deg, new cmd heading: 43.109179 deg. 2jnHeadingCmd: 0.752397 target range: 95.500000 and range: 95.50 m. j@?jjjihhhhBfffrfbf@ɛBh 隍TI  <ɚiI7=I@?ii96=)@?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.746207E0M=*Fm ?2Fi :Fi BFm 0JFi "Gu =Gu =} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=4.998068J J J J J J J J J Պ;a J ׊;a J :a J :a $?I Gm &P=GABQOm>bw,A2 ?Y2D?2׹<92 =y2H@&? n ?+??0 Z֛ R|??ɨ2 ?2;0yBBBIIJPIJ 4٢R RC=9RG:Q V>TT VG٣TyZx/ Z> ^Nusing accuracyPremultiplier from config\bk59^z?bk5Y^l i^ԯ@dff-?f@^YE^:^:^k5h j AjYEZjDNOT Ignoring new targets: 95.50 m.Bj 5Jj 5 ProNav: ac range: 95.500000 m, nav range: 82.186180 m, bearing: 318.455049 deg, approach rate: -0.081230 m/s, LOS rate: -0.330836 deg/s, cmd heading: 43.109179 deg, new cmd heading: 42.693802 deg. 2j c%HeadingCmd: 0.745147 target range: 95.500000 and range: 95.50 m. j%>?j!j!j!i!h)h)h)h1f1f1f1rf1bf=2@ɛBj  -I  s<ɚiI%)=I>?iƙ?)Em=*Fy2Fy:FyBF}05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.250089Guk%=GIBYOuX>zK BHK ]9K K K ,hw,JAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.503601UI ?YU0B?Uz-<9U =yUH9?`? &?6?? ? IɨUI ?UL;UCyBIIRIW4٢ $b= %*=9-غQ 5>19 =G٣AyM| U> uNusing accuracyPremultiplier from configak59eIz?k5Ye ie@w+?@eYEe};e;ek5  AZj9DNOT Ignoring new targets: 95.50 m.Bj˵Jj˵ ProNav: ac range: 95.500000 m, nav range: 82.145294 m, bearing: 318.293305 deg, approach rate: -0.080312 m/s, LOS rate: -0.317873 deg/s, cmd heading: 42.693802 deg, new cmd heading: 42.208338 deg. 2j'ZHeadingCmd: 0.736674 target range: 95.500000 and range: 95.50 m. jC< )AIAypAIHI<3٢= #=9sQ > G٣tOGy> > Nusing accuracyPremultiplier from configk59z?k5YW i@>:>6?@YEg5;J4;;k5%)B %A%VEZjY]DNOT Ignoring new targets: 95.50 m.Bje̻Jje̻u ProNav: ac range: 95.500000 m, nav range: 82.113548 m, bearing: 318.123259 deg, approach rate: -0.066890 m/s, LOS rate: -0.358431 deg/s, cmd heading: 42.208339 deg, new cmd heading: 41.698018 deg. 2juu}HeadingCmd: 0.727768 target range: 95.500000 and range: 95.50 m. j}N:?jyjjihhhhBfffrfbf`@ɛ]BGT 隍I #R<ɚiI=IN:?iiu~=)N:?)*F]?2FY:FaBFeV5JFaG5v'=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.259535G BO5q>Aww,pAzK.K.+9K,K.K.RK6?JK6?NV?YN>?N3<9N=yNH ?ږe?`²?@z?&`%&?@'?ɨNV?NE;NCyZBZIIbYIb4٢jȼ j_=9j5Q n>ll rG٣pyr r> vNusing accuracyPremultiplier from configtzk59v{?zk5Yv6  iv˯@|~i4?~@vYEv ;vm ;vok5 ! A TEZj)5DNOT Ignoring new targets: 95.50 m.Bj5 ǻJj5 ǻE ProNav: ac range: 95.500000 m, nav range: 82.089043 m, bearing: 317.996462 deg, approach rate: -0.067246 m/s, LOS rate: -0.348046 deg/s, cmd heading: 41.698018 deg, new cmd heading: 41.317519 deg. 2jEnMHeadingCmd: 0.721127 target range: 95.500000 and range: 95.50 m. jMÛ8?jIjQjQiQhQhQhYhYfYfYfarfabfe#@ɛBa 隕I WG<ɚiIJ=IÛ8?ii+=)Û8?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.511993*F5?2F9:F9BFEP0JFA }$?I}hGU{=HI I4 II@BI =&I.I6I<:I6 FGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.761988k}w,GAZ?YZ|R=?Z<<9Z`/=yZH?>s Z?@?c? ^y?`?ɨZ?Z.;ZCyB IMb@Mb@Mb@ )YNbX9?~jtx?~jt?y?;<E A )vAI3AyAIDI3٢mA= :=9́Q > G٣yZ > Nusing accuracyPremultiplier from configk59{?k5Y  i@ ? : |?? @YEI;;Dk5*B A%QE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 95.50 m.BjUλJjUλ ProNav: ac range: 95.500000 m, nav range: 82.068840 m, bearing: 317.837220 deg, approach rate: -0.045898 m/s, LOS rate: -0.361870 deg/s, cmd heading: 41.317518 deg, new cmd heading: 40.839689 deg. 2jYxHeadingCmd: 0.712787 target range: 95.500000 and range: 95.50 m. j6y6?j j j i h h1h1h5҂Bf9f9f9rf9bf= F@ɛBߟX -I [7<ɚiI ~ =I 6y6?iGy B O >gSw,$A6)1?Y6;?6>Z<96\=y6HM?OL`+?h??`꓿룵??ɨ6)1?6;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.265976yVBV II^SI^4٢f < f^=9jԻQ j>hl nG٣nuOGyr r> zNusing accuracyPremultiplier from configtzk59v{?~k5Yv iv@|~=?@vYEv';v;v}k5  A Zj)5DNOT Ignoring new targets: 95.50 m.Bj5.лJj.л  ProNav: ac range: 95.500000 m, nav range: 82.051086 m, bearing: 317.703235 deg, approach rate: -0.048223 m/s, LOS rate: -0.364011 deg/s, cmd heading: 40.839689 deg, new cmd heading: 40.437653 deg. 2j yHeadingCmd: 0.705770 target range: 95.500000 and range: 95.50 m. j[4?jjjihhhhf!f!f!rf!bf%~x@ɛ B} 隝{I +<ɚiI!=I[4?iiQ'=)[4?)*Fm?2Fi:FiBFm\0JFizKKKKKBK:KqA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.519186G#= U $?IY Ga Bi O >|}w,+A2,?Y2l:?2"H<92ͱ=y2H b?@.`?PK??|@1?@?ɨ2,?24;2CyB"BB IMb@Mb@Mb@ )YV-?Mb?/$?y ?=<rA QA) AIAy\AI-QI-4jH=<bH=4<HEx>IA IES IIEYBIE =&IA.IA6IA:IA٢5y= D=9һQ > G٣yi7 > Nusing accuracyPremultiplier from configk59Y,{?k5Y- i8@ ?:PH?@YE ;h;Pk5) -=A)ZjDNOT Ignoring new targets: 95.50 m.BjKٻJjKٻ ProNav: ac range: 95.500000 m, nav range: 82.039307 m, bearing: 317.534132 deg, approach rate: -0.026464 m/s, LOS rate: -0.379948 deg/s, cmd heading: 40.437653 deg, new cmd heading: 39.930286 deg. 2j`HeadingCmd: 0.696915 target range: 95.500000 and range: 95.50 m. ji2?jjjihhhhBfffrfbf5`8@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.770134ɛU BUV QUtIY ]ZN<ɚaiaIe"=Ii2?ii)f5=)i2?)*FY2FY:FYBF]]0JFYG '=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.023149G B O >J |J xJ 1J J ;g:J 9J 3J J Պ;J ׊;J &:J ': A IA Zew,EA2?Y29?2Haj<92p=y2H?Vȹ?*??`(K.B> I)d ddfAIjRIjW4٢ou= N=9 oʻQ  >  G٣yg > ENusing accuracyPremultiplier from config9Ek59= 9{?Mk5Y=E i=i@IMF?M@=YE=:=a:=k5Q uAuNEZjDNOT Ignoring new targets: 95.50 m.BjڻJjڻ ProNav: ac range: 95.500000 m, nav range: 82.028473 m, bearing: 317.386676 deg, approach rate: -0.028097 m/s, LOS rate: -0.382471 deg/s, cmd heading: 39.930287 deg, new cmd heading: 39.487869 deg. 2j> HeadingCmd: 0.689193 target range: 95.500000 and range: 95.50 m. j n0?j j j ihhQhYhYfYfYfYrfabfe@] @ɛ Bds 隵mI @<ɚiI#=In0?ii<=)n0?)*F2F:FBF_0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.274141G 4=G B O >Lw,9_AzKBHK9KKKRK?JK?y5B' II-XI-4٢=^= =G=9EQ E>AA MG٣MvOGyM M> UNusing accuracyPremultiplier from configQ]k59UF{?ek5YU iU@aae@UYEU~ ;U;U3k5i mAqZjDNOT Ignoring new targets: 95.50 m.BjJj㻝 ProNav: ac range: 95.500000 m, nav range: 82.017525 m, bearing: 317.229460 deg, approach rate: -0.027735 m/s, LOS rate: -0.398328 deg/s, cmd heading: 39.487868 deg, new cmd heading: 39.016168 deg. 2jHeadingCmd: 0.680961 target range: 95.500000 and range: 95.50 m. joS.?jjjihhhhfffrfbf"!@ɛ B>`o iI X?<ɚiI<$=I oS.?i i +[=) oS.?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.526116 $?I*F?2F:FBF]1JFHEv>IEC IEl IIEnBIE =&IA.IA6IEկ<:IE FBIJIRIZI =bI =jIy5GГ>=GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.778161w,yA2(>Y2t6?2<92r=y2H5?V??S!?l  D??ɨ2(>2;2CyNABR6 ImMb@Mb@Mb@iii i)iYmbX9?S㥫?Mb?ymE?m/]=m G٣yǼ > Nusing accuracyPremultiplier from configk59T{?k5Yw iӰ@?:8M?@YE-;;k5+B LAKEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 95.50 m.Bj Jj 껝 ProNav: ac range: 95.500000 m, nav range: 82.012329 m, bearing: 317.058155 deg, approach rate: -0.012451 m/s, LOS rate: -0.410546 deg/s, cmd heading: 39.016168 deg, new cmd heading: 38.502235 deg. 2j%HeadingCmd: 0.671991 target range: 95.500000 and range: 95.50 m. j%,?j!j!j!i!h)h)h)h-Bf1f9fArfIbfb!@ɛB~\T bI ;ɚi I v%=I5,?i1i5^Q=)5,?)1*F?2F:FBF3JF) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.032391Ge4X=~G I -Y)y-AGBOa>w,pABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.282019y~CB~9 I = a=I?IT3٢% < %R=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9El59=kb{?Ml5Y= i=@IIM@=YE=:=:=<l5a e>AaZjDNOT Ignoring new targets: 95.50 m.BjJj뻝 ProNav: ac range: 95.500000 m, nav range: 82.008141 m, bearing: 316.897788 deg, approach rate: -0.010755 m/s, LOS rate: -0.411789 deg/s, cmd heading: 38.502234 deg, new cmd heading: 38.021119 deg. 2jMHeadingCmd: 0.663594 target range: 95.500000 and range: 95.50 m. jG)?jjjihhhhfffrfbf6"@ɛBii 隝*aI ;ɚiI'D&=IG)?ii7r=)G)?)*F?2F:FBF05JFzKUJKUػ9KQKUKU-'`?9x9:HBKq:Kq5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.534141G@Z= $?IJKO3 K/KK"KJ! J% J% 0J! J! J% 9J% ـ3J! a] @a] @a] @ae @Gq B O >ͪw,OAJ>YJB3?J&H;9JZ=yJH um?l ?@?W?_iT??ɨJ>J_;JCZHlRHn@AHpIrC Ir IIrBIp&Ip.Ip6Ir <:IrD Fy~KB~C IMb@Mb@Mb@ )YZd;O?Zd;?:v?yj?y=T<A A)vAI`AyAI;I&3٢%I= %;=9%'YQ %>)) -G٣-wOGy5ü => ENusing accuracyPremultiplier from configAMl59E/r{?Ml5YE  iE@@M:?U:UL?U@EYEE=;E;El5],B ]A]FEZjDNOT Ignoring new targets: 95.50 m.BjJj ProNav: ac range: 95.500000 m, nav range: 82.003487 m, bearing: 316.710251 deg, approach rate: -0.010670 m/s, LOS rate: -0.429987 deg/s, cmd heading: 38.021119 deg, new cmd heading: 37.458496 deg. 2jHeadingCmd: 0.653774 target range: 95.500000 and range: 95.50 m. j]'?jjjihhhh2Bfffrfbf;#@ɛuBuES qu'\Iq }v;ɚyiyI} '=I]'?iil=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.786069)]'?)*FA2FA:FABFEq4JFIGe ap=G9 BI Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E 11 5G٣1y5 => ENusing accuracyPremultiplier from configAMl59E{?Ml5YE iEq@IIM@EYEEv:Ea:EL l5Y ]AYZjDNOT Ignoring new targets: 95.50 m.Bj'Jj'򻝊 ProNav: ac range: 95.500000 m, nav range: 82.000237 m, bearing: 316.551187 deg, approach rate: -0.008651 m/s, LOS rate: -0.423414 deg/s, cmd heading: 37.458496 deg, new cmd heading: 36.981295 deg. 2jJHeadingCmd: 0.645445 target range: 95.500000 and range: 95.50 m. j;%?jjjihhhhfffrfbf_$@ɛ Bf nZI %i/;ɚ!i!I%b'=I-;%?i)i-&=)-;%?))*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ܷw,Aj>Yji0?j9j'=yjH '?`yO@l?`??s !c?-?`?ɨj>jZ~;hyvTBvM IAI 4I V3٢%.= -K=95]Q E>II MG٣IyM2 U>zK]6OK] 9KYK]K] RKe ?JKe? mNusing accuracyPremultiplier from configQul59Ue{?ul5YU iU@q}I?}@UYEUc;UB;U l59B (AZjDNOT Ignoring new targets: 95.50 m.BjJj ProNav: ac range: 95.500000 m, nav range: 81.994446 m, bearing: 316.376829 deg, approach rate: -0.014349 m/s, LOS rate: -0.432086 deg/s, cmd heading: 36.981294 deg, new cmd heading: 36.458200 deg. 2jDHeadingCmd: 0.636316 target range: 95.500000 and range: 95.50 m. j"?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.I I IIBI =&I.I6I<:IH FGB!OEr> Will construct direction to contact in vehicle frame from tetrahedron phase data. =9Q > G٣xOGy > Nusing accuracyPremultiplier from config l59{? l5Y i@ ?:L?@YEl;;l5:B ACEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 95.50 m.Bj Jj 컝 ProNav: ac range: 95.500000 m, nav range: 81.992424 m, bearing: 316.192269 deg, approach rate: -0.004521 m/s, LOS rate: -0.412720 deg/s, cmd heading: 36.458201 deg, new cmd heading: 35.904525 deg. 2j%HeadingCmd: 0.626652 target range: 95.500000 and range: 95.50 m. j%Gl ?j!j!j!i)h)h)h1h5GBf1f1f9rf9bf=&@ɛmBu`W quSIq uL;ɚqiyI}())=I}Gl ?iiv=)Gl ?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received %*response not received%,DAT read: user:2841> -BDAT read: Tx time:22:44:43.3620 -$Ping request sent.-~w,xA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:22:44:43.3612 6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248578>>Y>B-?>9>9j=y>H*?@$? ??gp}?g?`?ɨ>>>N8;tt vG٣tyv: z> ~Nusing accuracyPremultiplier from configxl59z{?l5Yz iz+@gI?@zYEz~ ;z ;zl5 6AZj1EDNOT Ignoring new targets: 95.50 m.BjEAJjEAU ProNav: ac range: 95.500000 m, nav range: 81.988289 m, bearing: 316.032216 deg, approach rate: -0.011949 m/s, LOS rate: -0.462502 deg/s, cmd heading: 35.904525 deg, new cmd heading: 35.424354 deg. 2jUeHeadingCmd: 0.618272 target range: 95.500000 and range: 95.50 m. je G?jajajaiahihihihifqfqfqrfqbf} J&@ɛBg TI e^;ɚiI)=I G?ii=) G?) *F?2F:FBF n0JF G*=GBOg>zK:KKKKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499764 =$?I9J }J |J J J [j:J @9J J w,.AjH@bHB<HHIH IJ IIJBIH&IH.IH6IJ<:IHA>Ym)?Y92t=yH`D?߯??@/5? @@;>?U~??ɨA>";Cy-dB-a Ii5p G٣y > Nusing accuracyPremultiplier from configl59:{?l5Y iq@ }!? : D? @YE;;l5;B A@EZjAEDNOT Ignoring new targets: 95.50 m.BjMMJjMM] ProNav: ac range: 95.500000 m, nav range: 81.979362 m, bearing: 315.839553 deg, approach rate: -0.020356 m/s, LOS rate: -0.439407 deg/s, cmd heading: 35.424353 deg, new cmd heading: 34.846322 deg. 2j]ǖeHeadingCmd: 0.608183 target range: 95.500000 and range: 95.50 m. je?jajijiiihihih hPBfffrfbf@'@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751936ɛB`O 隕JI 1;ɚiIbL*=I?ii~Gv=)?)E*F2F:FBF0JFG q=G B O > ! I% h- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005354Kw,yHAF>YF]'?F9Fv=yFHe?ns@H?@u?0V?Kg 6?@֮?@?ɨF>F;DyNbBR_ IIZ IZb3٢v v[=9v?޻Q z>|| ~G٣~yOGyL >  Nusing accuracyPremultiplier from config  l59 {?l5Y z i @7C?@ YE ; O; l5! %A%>EZjIMDNOT Ignoring new targets: 95.50 m.BjUWJjUWe ProNav: ac range: 95.500000 m, nav range: 81.970871 m, bearing: 315.675025 deg, approach rate: -0.022770 m/s, LOS rate: -0.441225 deg/s, cmd heading: 34.846321 deg, new cmd heading: 34.352700 deg. 2jegmHeadingCmd: 0.599568 target range: 95.500000 and range: 95.50 m. jmE}?jijijiiqhqhqhyhyfffrfbfjd(@ɛBj 隽JI n ;ɚiIu*=IE}?ii&=)E}?)*Fm?2Fi:FiBFm@5JFiGE{=GB!OE1>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2557751w,_bAf>YfC%?f9f-uy=yfH@͂?N Җ?6O? Nr?^r͖?e(?v?ɨf>fP;fCyrZBrU IIz Iz(2٢  H=9 ZQ  > G٣yk > %Nusing accuracyPremultiplier from config%l59S{?-l5Y i@)-A?-@YET ; ;sl59 =A=;EZjimDNOT Ignoring new targets: 95.50 m.Bju<Jju< ProNav: ac range: 95.500000 m, nav range: 81.960876 m, bearing: 315.495529 deg, approach rate: -0.024457 m/s, LOS rate: -0.439295 deg/s, cmd heading: 34.352699 deg, new cmd heading: 33.814161 deg. 2jHeadingCmd: 0.590168 target range: 95.500000 and range: 95.50 m. jG?jjjihhhhfffrfbf?5)@ $?IzKJK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507915ɛB\ MI :ɚiI7A+=IG?ii=)G?)J|JwJJJ;g:J9JJ*FE?2FA:FABFE4JFAHI I IIBI&I.I6I<:I" FGvpx=GY Ba  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760103O >Uw,|A2{>Y29$?292t=y2H=?@<$@?`E%? ?`;G` ???ɨ2{>2;2CyBfBBc IDFAEMb@Mb@Mb@AAA A)AYERQ?A`"?{Gz?yE"?EY=E#qq uG٣yy}u| }> Nusing accuracyPremultiplier from configl59{?l5Y7 iR@%#?:C9?@YE+;u:"l5 AZjDNOT Ignoring new targets: 95.50 m.BjJj ProNav: ac range: 95.500000 m, nav range: 81.942703 m, bearing: 315.311049 deg, approach rate: -0.043494 m/s, LOS rate: -0.441610 deg/s, cmd heading: 33.814159 deg, new cmd heading: 33.260615 deg. 2jHeadingCmd: 0.580507 target range: 95.500000 and range: 95.50 m. j?jjji h h h h3Bfffrfbf = *@ɛMBMW IMFIQ UK_:ɚQiQIU+=I]?iYi]f=)e?)a*F?2F:FBFP0JF $?IGPă=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011967GBO=>c=w,/A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263750y-jB-h IIAIk3٢%< 8=9Q > G٣zOGy > Nusing accuracyPremultiplier from configl59{?l5YF i@@YE ; ;%l5!kw,~AZHRHAAH"t>I  I" II"ĂBI &I .I 6I"<:I"& FBIqJIqRIqZIu =bIu =jIuJ4ymBl IMb@Mb@Mb@ )Yx&1?A`"?{Gz?yA ?I A ~A)7AI Ay\AIEI3٢}L< I=9Q > G٣y > Nusing accuracyPremultiplier from configl59 |?l5YԼ i@ ?:9?@YE;<;)l5 zAZjDNOT Ignoring new targets: 95.50 m.BjhJjh- ProNav: ac range: 95.500000 m, nav range: 81.908684 m, bearing: 314.935717 deg, approach rate: -0.038212 m/s, LOS rate: -0.437845 deg/s, cmd heading: 32.667579 deg, new cmd heading: 32.134423 deg. 2j->5HeadingCmd: 0.560851 target range: 95.500000 and range: 95.50 m. j5?j1j1j1i1h9h9h9h=?BfAfAfAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768100rfQbf]@=+@ɛB%'W !%@I! -:ɚ)i)I-7,=I5?i1i5=)5?)1*F?2F:FBFV0JFG=GBO> H~G 1 e XYa ye B I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:44:45.8830  TRx dataTimestamp_ set to:1736376287.110410 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022738J }J ~J J J [j:J f9J J J ;a J ;a J :a J :a HOw,A->Y-Pu?-9-}=y-H@!? v@?u? ?pⰿ:?@??ɨ->-;-Cy=[BEV IiM>IM=IUPIU 4٢e ec=9mQ m>qq uG٣qyu > Nusing accuracyPremultiplier from configl59|?l5Y iT@2?@YE ; ;,l5=B  A5EZjDNOT Ignoring new targets: 95.50 m.Bj]Jj]- ProNav: ac range: 95.500000 m, nav range: 81.889053 m, bearing: 314.773490 deg, approach rate: -0.052960 m/s, LOS rate: -0.437774 deg/s, cmd heading: 32.134421 deg, new cmd heading: 31.647635 deg. 2j-85HeadingCmd: 0.552355 target range: 95.500000 and range: 95.50 m. j5*g ?j9j9j9i9h9h9hAhAfAfAfArfIbfMz,@ɛB.dm 隅HI ɚiI!-=I*g ?ii\b=)*g ?)*F ?2F :F BF _0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271725G5=G B O5 >{w,dA -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.ս%=սR=DAT read: 22:44:45.8830 LVL= 17968, 32753, 25650, 32755, AGC= 62, IDX= 298,-0.03, 1.053,-0.553, 0.174, 0.495, PHS= 0.646,-1.001,-0.324, RAW= 114.1, 9.5, CAL= 123.3, 6.4, ROT= 26.7, -6.4 Ygot valid direction response: 22:44:45.8830 LVL= 17968, 32753, 25650, 32755, AGC= 62, IDX= 298,-0.03, 1.053,-0.553, 0.174, 0.495, PHS= 0.646,-1.001,-0.324, RAW= 114.1, 9.5, CAL= 123.3, 6.4, ROT= 26.7, -6.4  PDAT read: Bearing 26.7, -6.4 (Local)  ~Local bearing/azimuth received: Bearing 26.7, -6.4 (Local) DAT read: Range 10 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.4 m/s ,DAT read: user:2842> %BDAT read: Tx time:22:44:46.9620 %$Ping request sent.%Ye?eK9eſt=KMJJAA`direction in FSK: [-0.295819,-0.298096,0.907541]:publishing transmit ping time!Fpublishing direction and range infoع9ؽGQvҿ;ӿ  ?yؽ3Bعؽ0Fع ٽ2d)ٹIٽ>iٽB`%?ٽ ٽT㥾yeH@K?9=?98? 8?`~'"?d?H?ɨeC>e;ayAEU Iٽ?ٽ)> ڽ9 @)ڽ=Iڽ>iڽڹڹ۽gc{Be?n̹CR"?)۽ѽI۽G)i۽۽۹۹}:publishing transmit ping time!Fpublishing direction and range infoع9ؽGQvҿ;ӿ  ?ILI4٢H =9-5Q > G٣{OGyq >yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽gc{Be?n̹CR"?)۹I۹i۹ Nusing accuracyPremultiplier from configHAIA IAIAIA&IA.IE=D6IE<:IE" F۹l59D1|?l5Yh ۹۹i̴@AMq0?M@YE==xn=M1l5>B A2EkTz?k k k-A:k3BBkBZk @"*`9 :c; S@GQvҿ;ӿ  ?JkRk*,cD@ϸ?S@>r@䧩uM޿(-m S ?"k%*k)k~Rz?k' 2k,CkX-҈?kMK k CkBku@  addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 14.626273 s, deltaX: -7.900002 m, approachRate: -0.540124 m/s, rangeRepo size: 4 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:22:44:46.9612 }  Added new target pos. range: 87.599998 m, bearing: 263.119427 deg, lat: 36.904682 deg, lon: -122.120755 deg, deltaT: 14.626273 s, deltaX: -7.900002 m, approachRate: -0.540124 m/s, posRepo size: 4 Zjy DNOT Ignoring new targets: 87.60 m.Bj Jj   ProNav: ac range: 87.599998 m, nav range: 66.541641 m, bearing: 305.208523 deg, approach rate: 0.000000 m/s, LOS rate: -0.437774 deg/s, cmd heading: 31.647634 deg, new cmd heading: 30.815979 deg. 2j  HeadingCmd: 0.537840 target range: 87.599998 and range: 87.60 m. j ?ja ji ji iq hy hy h h f f f rf `fU@bf F?ɛ B 0 A=隝 &FI Jɚ i I -=I ?i i y=) ?) *FM ?2FI :FI BFU 4JFQ e$?Ieh%Will construct direction to contact in vehicle frame from tetrahedron phase data.G5=GBO5?bUw, AJ~J{J J J{m:J-9J J J<;J=;J:J:y5^B5Y I5Mb@Mb@Mb@111 1)1Y5jt?v/?y&1|?y5 ?5xi=5`;5 A 5zA)5AI5A1y53AIMIM٢]L8< ]=9eQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configyl59}E|?l5Y} i}5@p!?:2?@}YE};};}5l5=B A0EZjDNOT Ignoring new targets: 87.60 m.BjHGJjHG ProNav: ac range: 87.599998 m, nav range: 66.568062 m, bearing: 304.936634 deg, approach rate: 0.067748 m/s, LOS rate: -0.696899 deg/s, cmd heading: 30.815980 deg, new cmd heading: 30.000692 deg. 2j#=HeadingCmd: 0.523611 target range: 87.599998 and range: 87.60 m. j\ ?jjjihhhh*Bfffrfbfk?ɛ-B--| )-CI) 5)ɚ1i1I5?-=I=\ ?i9i= =)=\ ?)A*F?2F:FBF_0JFGuX=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOa>zw,d#A2>Y2?2q92\=y2H9?@#:{?ׯ?,?fɮB? 8?@?ɨ2>2sĉ;0yNUBRN I)T TIZIZT3٢jXL jh=9j;Q j>ll rG٣pyri r> vNusing accuracyPremultiplier from configtzl59vUT|?zl5Yvg iv@|~,?~@vYEv;vb;v8l5>B LA -E !I!5B*** querying acoustic contact ***j1j1ZjAMDNOT Ignoring new targets: 87.60 m.BjMJjMe ProNav: ac range: 87.599998 m, nav range: 66.583031 m, bearing: 304.746412 deg, approach rate: 0.042288 m/s, LOS rate: -0.537269 deg/s, cmd heading: 30.000691 deg, new cmd heading: 29.430175 deg. 2je\mHeadingCmd: 0.513653 target range: 87.599998 and range: 87.60 m. jm~?jijijiiihqhqhqhyfyfyfyrfybfi?ɛB{y 隭FI MɚiI"N.=I~?iiP=)~?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKuk3IKuh9KqKuKu*Fu?2Fq:FqBFuo0JFyGqA GnAjHbHp<Hs>I III =&I.I6I<:IF FGH=GQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246228w,h=A2=>Y2?292b=y2H?sy?`z}?7?˯o? Q??ɨ2=>2C;2CyBPBBH I Mb@Mb@Mb@    ) Y -?kt?Mbp?y 5?  0= ;  A ) I  A y \AI-I- 2٢=޷ =D=9EJQ E>AA EG٣M|OGyM2 M> UNusing accuracyPremultiplier from configQ]l59Ue|?]l5YUM iU׵@e?e:e%?e@UYEU;U6;Ui=)=?)A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499117JM}JMzJM1JIJM[j:JM9JM3JIJM;JM;JMP:JMQ:EM@p=*F ?2F :F BF V0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750271G h=GBO>w,]A6>Y6P}?6?96 k=y6H?`XLv? Q????Y??ɨ6>6m;4y>EB>; IXXI^OI^ 4٢jw3 j*=9jKQ n>ll nG٣lyr]V r> zNusing accuracyPremultiplier from configtzl59vy|?~l5Yv iv:@|~)$?~@vYEv:vX:v@l5?B A *EZj)5DNOT Ignoring new targets: 87.60 m.Bj5NJj=NM ProNav: ac range: 87.599998 m, nav range: 66.606361 m, bearing: 304.267996 deg, approach rate: 0.026197 m/s, LOS rate: -0.550109 deg/s, cmd heading: 28.764686 deg, new cmd heading: 27.995259 deg. 2jMļUHeadingCmd: 0.488609 target range: 87.599998 and range: 87.60 m. jU+>jYjYjYiYhYhYhahafafifirfibfm`7?ɛ5ۃB5Pe 15KI1 =ɚyiyI}/=I+>iil=)+>)Eu<H= E$?IA*F 2F :FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002270G=zKBHK9KKKGBOh>H I  I II BI &I .I 6I <:I & Fu w,vAJ7>YJ ?Jd9Jp=yJH??'s?ٿ?P/?ܰYK?E??ɨJ7>Jl;JCyV:BV- IiZ;>IZ>fWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255158Mb@Mb@Mb@ )Y/$?kt?Mb`?y?;E A )AI Ay AI?IT3٢L ;=9չQ > G٣yFE >  Nusing accuracyPremultiplier from config l59 8|?l5Y | i @?:?@ YE ; ; rDl5! -(A)ZjQUDNOT Ignoring new targets: 87.60 m.Bj]Jj]m ProNav: ac range: 87.599998 m, nav range: 66.613052 m, bearing: 304.037316 deg, approach rate: 0.015275 m/s, LOS rate: -0.526559 deg/s, cmd heading: 27.995258 deg, new cmd heading: 27.303324 deg. 2jmuHeadingCmd: 0.476533 target range: 87.599998 and range: 87.60 m. ju>jqjyjyiyhyhyhhBfffrfbf@ɛ5؃B5x 15 OI1 =4ɚ9i9I=U/=IE>iAiEܞ=)E>)I AIAEu&t@=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507089*F2F:FBFJF"G=G=J J yJ 0J J p:J 9J ـ3J J ;J ;J :J :G 6=G qAG G B O>$w,XABg>YBE ?BA'9Bl=yBHn?yTm?r?^?`峰C? By;BCyN5BN' IIVBIV3٢^ ^A=9b8Q b>`d fG٣f}OGyfռ j> nNusing accuracyPremultiplier from confighnl59j |?rl5Yj ij޶@tv)?v@jYEjKG;jG;j$Hl5z@B ~SA~'EZj!%DNOT Ignoring new targets: 87.60 m.Bj-Jj-= ProNav: ac range: 87.599998 m, nav range: 66.617691 m, bearing: 303.814391 deg, approach rate: 0.010955 m/s, LOS rate: -0.526443 deg/s, cmd heading: 27.303324 deg, new cmd heading: 26.634629 deg. 2j=EHeadingCmd: 0.464862 target range: 87.599998 and range: 87.60 m. jEc>jAjAjAiIhIhIhIhIfQfQfQrfQbf]@w@ɛՃB@z 隍OI л»ɚiI/=Ic>ii2=)c>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758392*F?2F:FBF`0JF e$?Ia Will construct direction to contact in vehicle frame from tetrahedron phase data.յ {>յ < BDAT read: Rx Time:22:44:49.4803  TRx dataTimestamp_ set to:1736376290.636848 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011531G B=zK K +9K K K G B O >*w, AV͝>YVb?V59V1>j=yVH?*c?A#??C te?*@?@?ɨV͝>Vu֊;VCyb*Bf IHq>I I IIBI&I.IIe1Ie3٢? 2=6Iί<:I F9ԒQ > G٣yü > Nusing accuracyPremultiplier from config l59K|? l5YE i8@G?@YE;;ELl51 5A5$EmB*** querying acoustic contact ***jijiZjy}DNOT Ignoring new targets: 87.60 m.BjJj ProNav: ac range: 87.599998 m, nav range: 66.620804 m, bearing: 303.565178 deg, approach rate: 0.006504 m/s, LOS rate: -0.520680 deg/s, cmd heading: 26.634628 deg, new cmd heading: 25.887067 deg. 2jHeadingCmd: 0.451815 target range: 87.599998 and range: 87.60 m. j=T>jjji)h)h)h1h1f1f1f1rf9bf=@' @ɛЃB,o 隝SI ˽ݻɚiIA`0=I=T>ii2=)=T>)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262427*F?2F:FBF0JFG = a Ia G B O% >1w,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516288J|JJ1JJ;g:J9J3JJՊ;J׊;J1;J1;y"B I  AMb@Mb@Mb@ )Y~jt?V-?y?</ A )3AI AyI@I3٢  8=9Q > G٣~OGy > Nusing accuracyPremultiplier from configl59|?l5Y i@?:?@ZEU9;6; Pl5 AZjDNOT Ignoring new targets: 87.60 m.BjKJjK ProNav: ac range: 87.599998 m, nav range: 66.618866 m, bearing: 303.339297 deg, approach rate: -0.004389 m/s, LOS rate: -0.511600 deg/s, cmd heading: 25.887068 deg, new cmd heading: 25.209440 deg. 2j HeadingCmd: 0.439988 target range: 87.599998 and range: 87.60 m. j F>j j j ihhhhBfffrfbf%m @ɛ̓B#  UI *ɚiI0=I=F>i9iE&=)EF>)A*F?2F:FBF0JFGrA GrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:44:49.4803 LVL= 25424, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.25, 1.438,-0.184, 0.496, 0.899, PHS= 0.627,-1.036,-0.406, RAW= 112.0, 11.2, CAL= 121.0, 8.5, ROT= 29.0, -8.5 Ygot valid direction response: 22:44:49.4803 LVL= 25424, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.25, 1.438,-0.184, 0.496, 0.899, PHS= 0.627,-1.036,-0.406, RAW= 112.0, 11.2, CAL= 121.0, 8.5, ROT= 29.0, -8.5 PDAT read: Bearing 29.0, -8.5 (Local) ~Local bearing/azimuth received: Bearing 29.0, -8.5 (Local) DAT read: Range 10 to 50 : 85.6 m (Round-trip 114.2 ms) speed 0.4 m/s ,DAT read: user:2843> BDAT read: Tx time:22:44:50.5620 $Ping request sent. =(@)=>I=?i=99=0.&B?vZsef?)=OXI=MHi==A99 :publishing transmit ping time Fpublishing direction and range info99=ԿXoп4GLn?y9999 9)9I9i99999 9)9I9i999=0.&B?vZsef?)9I9i9999G= 6=GE ?GE >G B O >_q8w,siAJ>YJ?J_9Jab=yJH?`!߿S?? k? ?bJ;JCyVBVII^7I^3٢ft vu=9z;Q z?|| ~G٣|y~ ?  Nusing accuracyPremultiplier from config 5$?I1ml59|?ml5Y i@iu?u@ZEa<a<Rl5}AB }h A}EkJqx?kڬh k k'A:k3BBk BZkWۋ@";FCK)6#wS@ԿXoп4GLn?JkRkA*77:*ԏBє}R@ºo Ŀ$0+ܿJ?"k*kVkix?kWo 2k Cki?kZK k CkkBkG@5 addTargetRange:: Added new target pos. range: 85.599998 m, deltaT: 3.780872 s, deltaX: -2.000000 m, approachRate: -0.528979 m/s, rangeRepo size: 4 E Added new target pos. range: 85.599998 m, bearing: 250.412640 deg, lat: 36.904525 deg, lon: -122.120755 deg, deltaT: 3.780872 s, deltaX: -2.000000 m, approachRate: -0.528979 m/s, posRepo size: 4 ZjamDNOT Ignoring new targets: 85.60 m.BjmJji} ProNav: ac range: 85.599998 m, nav range: 58.885815 m, bearing: 288.772503 deg, approach rate: 0.000000 m/s, LOS rate: -0.511600 deg/s, cmd heading: 25.209441 deg, new cmd heading: 24.673650 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 0.430636 target range: 85.599998 and range: 85.60 m. ja|>jjj i h h hhfff9rfE`ffU@bfM3?ɛɃBE ZI :ɚiIV1=Ia|>iiu=)a|>) zK=rKK=9K9K=K= !?[nyzysrsne][WUSQOLGC7,''%! *F?2F:FBF@5JFG뜮=HG)BaI I IIBI =&I.I6Iگ<:I FO >BIJIRIZI =bI =jI5u Will construct direction to contact in vehicle frame from tetrahedron phase data.w>w,'A @@yvBvI-only read 0 of 1 data item for BIT error. Device response is::TS,25010814455711,35.S,-32768,-32768,-32768,V  @ @ @  @ I%(I%̍3٢-9 5E=95Q 5>II MG٣QyU U> ebBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYml59]|?ml5Y]* i]@m+:im:qu@]ZE]';]>]Ul5y }m AyZjDNOT Ignoring new targets: 85.60 m.Bj0Jj0 ProNav: ac range: 85.599998 m, nav range: 58.942959 m, bearing: 288.534331 deg, approach rate: 0.148418 m/s, LOS rate: -0.617994 deg/s, cmd heading: 24.673650 deg, new cmd heading: 23.959865 deg. 2jԼHeadingCmd: 0.418179 target range: 85.599998 and range: 85.60 m. j>jjjihhhhfffrfbf@n?ɛ ƃB  kYI ɚiI!1=I>ii%7=)%>)!)= *F?2F:FBFQ0JFNG =$?IEh|uAA %Y%|uAy%BWill construct direction to contact in vehicle frame from tetrahedron phase data.G =GBO{Ew,A:>Y:>:Q9:0=y:HI?@ݿ]p?`~?D7?DZ ?/?'?ɨ:>:;:CyFBFIININm?3٢Z ZS=9Z`:Q Z>\\ ^G٣`ybd b> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdjl59f|?nl5Yf if4@n :lrd:r?r@f ZEfF;f2M?fXl5vBB v AvEZjDNOT Ignoring new targets: 85.60 m.Bj%$Jj%$5 ProNav: ac range: 85.599998 m, nav range: 58.992195 m, bearing: 288.311733 deg, approach rate: 0.127733 m/s, LOS rate: -0.576999 deg/s, cmd heading: 23.959865 deg, new cmd heading: 23.292660 deg. =Will construct direction to contact in vehicle frame from tetrahedron phase data.2j=ż]HeadingCmd: 0.406534 target range: 85.599998 and range: 85.60 m. j],%>jYjYjYiYhahahahafififirfibfm4?ɛÃB钽 隝`I ɚiIy_2=I,%>iiq=),%>)*Fq2Fq:FqBFu_0JFq !I!G=GGmAGiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.J- ~J- J) J) J- {m:J- 9J) J) a5 @a5 @a5 @a5 @zK 4NK +9K K K     ĩKw,50AHZr>IX IZ IIZ}BIX&IX.IX6IZ <:IZ? FUP>YU>U'9Uxyp=yUH|?@[&ݿ8W?`?m?`A ?`?@?ɨUP>UW;UCyޥBޥI ] ] ee ee  e m mMb@Mb@Mb@iii i)iYmV-? G٣OGy*ټ >  Nusing accuracyPremultiplier from configl59 }?l5Y i1@T:?:%a>%@ZE h;6c;\l5) -p A)EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 85.60 m.BjmJjm} ProNav: ac range: 85.599998 m, nav range: 59.028408 m, bearing: 288.031883 deg, approach rate: 0.070513 m/s, LOS rate: -0.544584 deg/s, cmd heading: 23.292659 deg, new cmd heading: 22.453688 deg. 2j}ߺHeadingCmd: 0.391891 target range: 85.599998 and range: 85.60 m. j>jjjihhhhBfff!rf!bf%@?ɛmBm߂ qudIq u~)ɚqiqIu3=I>ii8)=)>)*FU?2FQ:FQBFUP0JFQG-vԦ=GBO >  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ŎRw,MJAy%B%II5[I5K!4٢Um U}=9]Q ] ?Ya eG٣aye m ? }Nusing accuracyPremultiplier from configy}l59}}?l5Y} i}.@@}ZE}:}z:}`_l5CB  AEZjDNOT Ignoring new targets: 85.60 m.BjJj ProNav: ac range: 85.599998 m, nav range: 59.051754 m, bearing: 287.857165 deg, approach rate: 0.073887 m/s, LOS rate: -0.552738 deg/s, cmd heading: 22.453689 deg, new cmd heading: 21.929759 deg. 2jHeadingCmd: 0.382746 target range: 85.599998 and range: 85.60 m. jY>jjjihhhhfffQrfQbfU9?ɛBm `;k=隭EhI 2ɚiIn3=IY>ii =)Y>)*F?2F:FBFd0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997641G=G B O >"Xw,>dA6zd>Y6<5>6ļ96N.N=y6Hj? Cۿ>Yx??΄i?@? H?ɨ6zd>69;6Cy>BBI)D DIJZIJ4 PIT٢V] ZV=9Z@\\ ^G٣\yb b> jNusing accuracyPremultiplier from configdnl59fG+}?nl5Yfg if$@pr>r@fZEfz%;f%;fbl5t v AtZjDNOT Ignoring new targets: 85.60 m.BjJj- ProNav: ac range: 85.599998 m, nav range: 59.074253 m, bearing: 287.647495 deg, approach rate: 0.058824 m/s, LOS rate: -0.547972 deg/s, cmd heading: 21.929758 deg, new cmd heading: 21.301013 deg. 2j-5HeadingCmd: 0.371773 target range: 85.599998 and range: 85.60 m. j5Y>j1j1j1i1hQhQhQhQfYfYfYrfabfe@ɛB L  kI  j>ɚ iI;4=IY>ii~=)Y>)!EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254242JCKK3 KK.KCKC"KCJ}JyJ0JJ[j:J9Jـ3J*F-?2F):F)BF-0JF)zKDRLK9KKKBcpqiZSJEB=;5320.-*'&"!!   G=GBOE>Hs>I IZ II^BI =&I.I6I@<:Ig F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505756~^w,]n~Ayn܁BnI}Mb@Mb@Mb@yyy y)yY}Fx?:v/$y} ?}T}}zA }A)} AI}MAyy}AIFI%3٢z <=9Q > G٣OGy > Nusing accuracyPremultiplier from configl59,>}?l5Y>~ i@ ?:>@ZE;;fl5 8 AEZjDNOT Ignoring new targets: 85.60 m.Bj  Jj   ProNav: ac range: 85.599998 m, nav range: 59.084976 m, bearing: 287.416179 deg, approach rate: 0.024666 m/s, LOS rate: -0.531993 deg/s, cmd heading: 21.301012 deg, new cmd heading: 20.607226 deg. 2jHeadingCmd: 0.359664 target range: 85.599998 and range: 85.60 m. j%>jjjihhhhaBfffrfbfh@ɛ-B-;疽 )M5kII UKɚQiQIU4=I]%>iYi]?8=)]%>)a $?I*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757695G L=G B O >}ew,kA2ЏL>Y2?>2G92PK=y2H5?@%ڿk]?y?*?|Ȕ?v?@,?ɨ2ЏL>2?;2CyBԁBBIIJ_IJb(4٢Ry/ R[=9VTX ZG٣XyZN Z> bNusing accuracyPremultiplier from config\bl59^~N}?bl5Y^| i^ٷ@df>f@^ZE^ ;^` ;^il5h nz AlZjDNOT Ignoring new targets: 85.60 m.Bj Jj  ProNav: ac range: 85.599998 m, nav range: 59.090149 m, bearing: 287.217891 deg, approach rate: 0.013851 m/s, LOS rate: -0.530911 deg/s, cmd heading: 20.607225 deg, new cmd heading: 20.012438 deg. 2j.%HeadingCmd: 0.349283 target range: 85.599998 and range: 85.60 m. j%6ղ>j!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:44:53.0783 =TRx dataTimestamp_ set to:1736376294.420742=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010820j!jIiQhQhQhQhQfYfYfYrfYbfeC@ɛB lmI VɚiI5=I%6ղ>i!i%=)%6ղ>))EI yIy*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262738J |J wJ J J ;g:J 9J J zK MK 9K K K   G Dz=ZH RH H I  I 4 II @BI &I .I 6I <:I 1 FG B O >lw,AA>Y>>9lL=yHX?ٿf?}?M?1.??@~?j?ɨA>Uȉ;騅Cyޕ́BޝIi)>I<=Mb@Mb@Mb@999 9)9Y=L7A`?sh|?I +y=+?==9= A =hA)=~AI99Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:44:53.0783 LVL= 11968, 26689, 22210, 32755, AGC= 58, IDX= 424,-0.31, 2.354, 0.582, 1.131, 1.585, PHS= 0.857,-0.956,-0.458, RAW= 105.4, 6.9, CAL= 115.6, 4.9, ROT= 34.4, -4.9 Ygot valid direction response: 22:44:53.0783 LVL= 11968, 26689, 22210, 32755, AGC= 58, IDX= 424,-0.31, 2.354, 0.582, 1.131, 1.585, PHS= 0.857,-0.956,-0.458, RAW= 105.4, 6.9, CAL= 115.6, 4.9, ROT= 34.4, -4.9 PDAT read: Bearing 34.4, -4.9 (Local) ~Local bearing/azimuth received: Bearing 34.4, -4.9 (Local) DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.3 m/s ,DAT read: user:2844> BDAT read: Tx time:22:44:54.1621 $Ping request sent. G٣yΙ > %Nusing accuracyPremultiplier from config!-l59%=g}?-l5Y%{z i%@-?5:U'>U@%"ZE%;%Q;%nl5eDB e AeEkpVo(y?kʡ k ky"A:kBBkߦBZk@"4K)KeH4#T@.ο&QÿA?Jkb$Rk@**)8-+S@fÿ[DXҿPYA?"k*kOkz^!y?k3h 2kQCk~Rz?k' k,Ck1BkЂ@ addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.530931 s, deltaX: -1.599998 m, approachRate: -0.453138 m/s, rangeRepo size: 4  Added new target pos. range: 84.000000 m, bearing: 241.666194 deg, lat: 36.904292 deg, lon: -122.120610 deg, deltaT: 3.530931 s, deltaX: -1.599998 m, approachRate: -0.453138 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.00 m.BjJj ProNav: ac range: 84.000000 m, nav range: 44.493713 m, bearing: 258.745935 deg, approach rate: 0.000000 m/s, LOS rate: -0.530911 deg/s, cmd heading: 20.012437 deg, new cmd heading: 19.044298 deg. 2jHeadingCmd: 0.332386 target range: 84.000000 and range: 84.00 m. ju.>jjjihhhhQBfffrfU@bf2?ɛB@l 隅nI (jɚiI>6=Iu.>ii:2=)u.>) $?IU Will construct direction to contact in vehicle frame from tetrahedron phase data.U =U =] JDAT read: TxSync time:22:44:54.1613 E m=*F ?2F :F BF ]0JF "G =G =Gu&=GIBYOu?Auw,R AB4>YBQ>B`9BE=yBH`l?ؿ?{g??`-w?`D@~?䟨?R?ɨB4>B4;BCyR΁BRIIZIZb2٢b.< bJ=9fy;Q f>dd jG٣jOGyj n> rNusing accuracyPremultiplier from configpvl59rx}?vl5Yr y irU@tvDy>v@r%ZEr:rU:r9rl5~EB ~ A~E%B*** querying acoustic contact ***j!j!Zj)-DNOT Ignoring new targets: 84.00 m.Bj5DJj=DE ProNav: ac range: 84.000000 m, nav range: 44.585091 m, bearing: 258.497544 deg, approach rate: 0.253666 m/s, LOS rate: -0.688127 deg/s, cmd heading: 19.044297 deg, new cmd heading: 18.300696 deg. 2jM 켝MHeadingCmd: 0.319407 target range: 84.000000 and range: 84.00 m. jU^>jQjQjQiQhQhYhYhYfYfafarfabfe?ɛB 隽6kI KsɚiIe7=I^>ii=)^>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F 2F:FBF0JF $?IE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744872Je ~Je {Ja Ja Je {m:Je -9Ja Ja Gy Gi By O >{w,pAzKrLK9KKK:B*>Y:?>:k֑9:4=y:HR?0ؿ*?)??^@:?%??ɨ:B*>:";8yBҁBFIINWIN44٢R< VH=9VQ V> G٣H9I9 I=! II=1BI9&I9.I96I= <:I=A FyU U> ]Nusing accuracyPremultiplier from configYel59]w}?el5Y]w i]@aen>e@])ZE]H:]3:]ul5  AZjDNOT Ignoring new targets: 84.00 m.Bj%+Jj%+} ProNav: ac range: 84.000000 m, nav range: 44.681774 m, bearing: 258.231441 deg, approach rate: 0.218781 m/s, LOS rate: -0.600848 deg/s, cmd heading: 18.300696 deg, new cmd heading: 17.504169 deg. 2j-μHeadingCmd: 0.305505 target range: 84.000000 and range: 84.00 m. j4k>jjjihhhhfifqfrfbf`?ɛB 9EmfIA EpɚIiIIMK8=eWill construct direction to contact in vehicle frame from tetrahedron phase data.iii}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998885I4k>iiLʬ=)4k>)*F2F:FBF_1JFGe=G9 BI O} > A IA Oow,Y6 AF" >YF]b>F9F:=yFH {?׿P?U?W? ਿ`b?$P?`R?ɨF" >FB;FCjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250751yrӁBrI)t tzAzA}Mb@Mb@Mb@yyy y)yY}RQ?:vMby}?}Խ}}A }A)} AI}7Ayy}QADAII2٢; <=9:Q > G٣y > Nusing accuracyPremultiplier from configl59u}?l5Yv i@O?:6>@,ZEn;;9;yl5FB  A EZjDNOT Ignoring new targets: 84.00 m.Bj?.Jj?. ProNav: ac range: 84.000000 m, nav range: 44.763443 m, bearing: 257.973884 deg, approach rate: 0.193575 m/s, LOS rate: -0.609355 deg/s, cmd heading: 17.504170 deg, new cmd heading: 16.732959 deg. 2jѼHeadingCmd: 0.292045 target range: 84.000000 and range: 84.00 m. j>jjjihhhhDBf!f!f!rf!bf%9j?ɛB 隕cI ɚiI9=I>ii=)>)*F2F:FBF 4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499377G =G B O >9w,.$AJ >YJL>J}x9JAG=yJH? Kֿf?E??`d!??O?ɨJ >J:;JCyVށBVIIbPIb 4٢fMX= jY=9j"; n$?IpQ r>pp vG٣vOGyvp v> UNusing accuracyPremultiplier from configI]l59MV}?]l5YMu iMɶ@Y]>]@M0ZEM ;M:M}l5i m? AiZjDNOT Ignoring new targets: 84.00 m.Bj:Jj: ProNav: ac range: 84.000000 m, nav range: 44.836411 m, bearing: 257.731957 deg, approach rate: 0.197203 m/s, LOS rate: -0.652771 deg/s, cmd heading: 16.732959 deg, new cmd heading: 16.008399 deg. 2j߼HeadingCmd: 0.279399 target range: 84.000000 and range: 84.00 m. jl >jjjihhhhfffrfbf 2?ɛBKǥ  \I  ɚ iI9=Il >ii]=)l >)Will construct direction to contact in vehicle frame from tetrahedron phase data.?[?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751942*F2F:FBFW0JFG,Ů=GyBO<>zKuKqKqKuKu#_~tjaZYUPLE>>?;3( jH5<bH1H9I9 I=( II=6BI= =&I9.I96I=T<:I=v FBI JI RI ZI bI jI 4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005629Îw,=Af=Yfn>ffi9fI=yfH#?ńտDi??? ,??`M?ɨf=fF/;fCyBIMb@Mb@Mb@ )Yw/?S㥻Mbpy?/ݽMA hA)AIy(AIaI+4٢= :=9g ;Q > G٣yx > Nusing accuracyPremultiplier from config l59v}? l5Y u iö@  ? :>@3ZE<<l5  A EZjDNOT Ignoring new targets: 84.00 m.Bj/Jj/ ProNav: ac range: 84.000000 m, nav range: 44.916664 m, bearing: 257.457780 deg, approach rate: 0.180304 m/s, LOS rate: -0.614884 deg/s, cmd heading: 16.008399 deg, new cmd heading: 15.187397 deg. 2jҼ HeadingCmd: 0.265070 target range: 84.000000 and range: 84.00 m. j D>j j j ihhhhQBfffrfbf%4*@c~G $?IvAA MYMvAyMBɛB/B ?VI QɚiIk:=ID>ii=)D>)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255333JJJJJs:Jľ9JJJ;aJ;a J;aJ;aG =GY Ba O >Kw,WAyޕBޕI ==IQI4٢X= M=9Q > G٣y > Nusing accuracyPremultiplier from configl59i}?l5Y=t i@@7ZE'::9l5GB  AEB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 84.00 m.Bj-r@Jj-r@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507500U ProNav: ac range: 84.000000 m, nav range: 44.992905 m, bearing: 257.201380 deg, approach rate: 0.200458 m/s, LOS rate: -0.673004 deg/s, cmd heading: 15.187397 deg, new cmd heading: 14.419550 deg. 2jU漝]HeadingCmd: 0.251669 target range: 84.000000 and range: 84.00 m. j]ڀ>jajajaiahahahihif f frfbf@c@ɛ}B}fꝽ 隅WKI 4@ɚiI~;=Iڀ>iiw=)ڀ>)*Fe?2Fa:FaBFe_0JFa"Gm=Gmp=G== IG9BIOuy> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619J J ՛w,qA6=Y6:>61S96uG=y6He?Կ h?b?Z?`񽩿~?`??ɨ6=6҈;4zKNMKN9KLKNKN$=Tdrx~fZUTRURRSNMRNOyVBZIIbdIb?14٢j> j[=9jTe;Q n>H|I| I~: II~EBI~ =&I|.I|6I~G<:I~l F G٣OGy > %Nusing accuracyPremultiplier from config!-l59%}?-l5Y%s i%@15*=5@%:ZE%3:%:%l5  AZjDNOT Ignoring new targets: 84.00 m.Bj/Jj/ ProNav: ac range: 84.000000 m, nav range: 45.061356 m, bearing: 256.956564 deg, approach rate: 0.171965 m/s, LOS rate: -0.614100 deg/s, cmd heading: 14.419550 deg, new cmd heading: 13.686261 deg. 2j=ҼMHeadingCmd: 0.238870 target range: 84.000000 and range: 84.00 m. jUkt>jqjqjqiyhyhhhfffrfbf@MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:44:56.6766 ]TRx dataTimestamp_ set to:1736376297.949754mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014787ɛBG 隵&i9i==)Ekt>)Y*F?2F:FBFJF $?I G =G B O >w,ZA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263539J5~J5{J1J1J5{m:J5-9J1J1J5;;J5=;J5:J5:ymBm IMb@Mb@Mb@ )Y(\?(\µy&1|?y?`;A A) AIyQAI]RI]W4٢m= u,=9uQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from configl59k}?l5Yr iڶ@l ?:">@>ZE!;;l5HB z AEZjDNOT Ignoring new targets: 84.00 m.BjU;JjU; ProNav: ac range: 84.000000 m, nav range: 45.156563 m, bearing: 256.661155 deg, approach rate: 0.211582 m/s, LOS rate: -0.655112 deg/s, cmd heading: 13.686260 deg, new cmd heading: 12.801973 deg. 2j༝HeadingCmd: 0.223437 target range: 84.000000 and range: 84.00 m. jd>jjjihhhhBf ffrfbf` @ɛEBE IM5II MɚIiIIM==IUd>iQiU1=)Ud>)Y*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:44:56.6766 LVL= 11984, 24689, 19010, 28099, AGC= 56, IDX= 423,-0.09, 2.607, 0.783, 1.133, 1.686, PHS= 1.010,-0.856,-0.555, RAW= 98.6, 4.7, CAL= 108.4, 3.0, ROT= 41.6, -3.0 5Ygot valid direction response: 22:44:56.6766 LVL= 11984, 24689, 19010, 28099, AGC= 56, IDX= 423,-0.09, 2.607, 0.783, 1.133, 1.686, PHS= 1.010,-0.856,-0.555, RAW= 98.6, 4.7, CAL= 108.4, 3.0, ROT= 41.6, -3.0 EPDAT read: Bearing 41.6, -3.0 (Local) E~Local bearing/azimuth received: Bearing 41.6, -3.0 (Local) UDAT read: Range 10 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.3 m/s U,DAT read: user:2845> ]BDAT read: Tx time:22:44:57.7621 $Ping request sent.  I &w,VaA2=Y2:=>2kM92E=y2H8?ҿn_?`?W?@kE?(?@?ɨ2=2˃;2CyR4BR% IIZ6IZm3٢%)> %c=9-:Q ->)) -G٣1y5 5> ENusing accuracyPremultiplier from config9El59= ~?El5Y=q i=@IM* >M@=AZE=U:=:=Ŏl5}GB }AykOy?kN= k kA:kBBk|BZku@"1.6h!a RQT@i: ǿdsRti?Jk<Rk)|*AN{+XW'gvT65T@_E>ſK*@j<=?"k8*k[kЈy?k!  2kCkЈy?kWo kCk$Bk@ addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.527980 s, deltaX: -1.199997 m, approachRate: -0.340137 m/s, rangeRepo size: 4  Added new target pos. range: 82.800003 m, bearing: 220.034691 deg, lat: 36.904264 deg, lon: -122.120551 deg, deltaT: 3.527980 s, deltaX: -1.199997 m, approachRate: -0.340137 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.80 m.BjJj ProNav: ac range: 82.800003 m, nav range: 41.134323 m, bearing: 250.484160 deg, approach rate: 0.000000 m/s, LOS rate: -0.655112 deg/s, cmd heading: 12.801973 deg, new cmd heading: 12.032105 deg. 2jHeadingCmd: 0.210000 target range: 82.800003 and range: 82.80 m. j 4 W>j j 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:44:57.7613 j9i9hAhAhAhAfIfifirfm@3T@bfu7?ɛ~B\׃ U%I ]ɚiI==I4 W>ii=)4 W>)*F?2F:FBFO1JFG GzKE[NKAKAKEKEMLLJC=896657642/+****')*''))(&$#"! "! !!   !ZHaRHe?AHmt>Ii Iml IImnBIi&Ii.Ii6Im%<:ImS FG=GYBaO}{> Will construct direction to contact in vehicle frame from tetrahedron phase data. i w,P:A6d{=Y6bd>6Qe96`=y6H?Rѿ q?`?0?۠?`?ɨ6d{=6X;6CyBABB6 I-Mb@Mb@Mb@))) )))Y- rh?S㥫~jt?y-C ?-/]-<-dA ))-AI-A)y-zAIeIe٢m= uF=9u9gQ u> G٣OGyݼ > Nusing accuracyPremultiplier from configl59~?l5Yp iL@% ?%:%M:>-@EZEK<K<sl5]HB ]8AeE $?IZj DNOT Ignoring new targets: 82.80 m.Bj5;Jj5;E ProNav: ac range: 82.800003 m, nav range: 41.249756 m, bearing: 250.206941 deg, approach rate: 0.274308 m/s, LOS rate: -0.656923 deg/s, cmd heading: 12.032106 deg, new cmd heading: 11.202837 deg. 2jEkἝEHeadingCmd: 0.195526 target range: 82.800003 and range: 82.80 m. jM8H>jIjIjiiihihqhqhuBfqfyfyrfybf}@K?ɛyBK I gɚiI]>=I8H>ii;<=)8H>)*F?2F:FBFP5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJYJYJYJYJYJYJYJYJYJYJYG }=G B O >~7w,4A6fD=Y6>6h96ڽ fU=9jQ j>hh nG٣lyn n> vNusing accuracyPremultiplier from configpvl59r-~?zl5Yro ir@xz,>z@rHZEr;r;rl5 JAEB*** querying acoustic contact ***j!j!Zj)-DNOT Ignoring new targets: 82.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bj5MJjM ProNav: ac range: 82.800003 m, nav range: 41.350918 m, bearing: 249.959755 deg, approach rate: 0.294892 m/s, LOS rate: -0.718793 deg/s, cmd heading: 11.202837 deg, new cmd heading: 10.463137 deg. 2jHeadingCmd: 0.182616 target range: 82.800003 and range: 82.80 m. j:>jjjihhh!h!f!f!f!rf)bf-i?ɛuB'z  I ɚiI>=I:>iixr=):>)*F?2F:FBFP0JFG= $?IG9BIOmW>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m >m a=u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225063HY IY  I] II] BIY &IY .IY 6I] -<:I] Y Fvw,$GAzK* NK*h9K(K*K* "'))'')*&''%$"!#$ R8=YR>REi9R G٣ y 6׼  > Nusing accuracyPremultiplier from configl59@~?l5Yn i@!%!>%@LZE:H:[l5-IB -A5EZjQ]DNOT Ignoring new targets: 82.80 m.Bj]<Jj]jyjyjyiyhyhyhhfffrfbf?ɛpB`yl 隽I ЯɚiIw?=IzV,>iiM=)zV,>)*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476904G= IG B O- >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730444hw,LAJrJryJpJpJrv:Jr9JpJpJrU;JrV;Jr:Jr:Z(Zl9ZV %8=9%Q ->)) -G٣-OGy5i 5> ]Nusing accuracyPremultiplier from configYel59]T~?el5Y]cm i]p@e ?e:mx>m@]PZE];];]Fl5 AEZjDNOT Ignoring new targets: 82.80 m.Bj.Jj. ProNav: ac range: 82.800003 m, nav range: 41.600769 m, bearing: 249.405128 deg, approach rate: 0.304191 m/s, LOS rate: -0.611511 deg/s, cmd heading: 9.642801 deg, new cmd heading: 8.804387 deg. 2jѼ%HeadingCmd: 0.153666 target range: 82.800003 and range: 82.80 m. j%Z>j!j!j!i!h!h!h)h- BfifqfqrfqbfuT&?ɛjBSK ݾI )ɚiI@=IZ>iiB=)Z>)*F]?2FY:FaBFeP0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980990GE =GM ?GM >G B) OE > e $?Ii Iw,T'A63'6^h96+D=y6H? rοx`f?n?@硿?V??ɨ63'<6;4yBBB IIJIJ[3٢V-= Vi=9Z1:Q Z>\\ bG٣`yf| f> jNusing accuracyPremultiplier from confighEl59jod~?El5Yj6l ijԸ@IM8p>M@jSZEjUjAjAjAiIhIhIhIhQfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233023ɛeBxP 隍оI ȵɚiI|@=I>iiDR=)>)*F?2F:FBF_0JFjH<bH<Hq>I I IIӂBI =&I.I6I<:I7 FzKsMKػ9KKK     G g=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486777kw,AAyB I)! !Mb@Mb@Mb@ )Y> ףp=?I +?I +?y?94=9< A A) AIAyGAIIM3٢dz= 8=9Q > G٣y >  Nusing accuracyPremultiplier from config l59x~?l5Y$j  %$?I%hiF@%v?-:->-@WZE;w;4l55JB 5A=EZjYeDNOT Ignoring new targets: 82.80 m.Bje8Jje8u ProNav: ac range: 82.800003 m, nav range: 41.868240 m, bearing: 248.916400 deg, approach rate: 0.382979 m/s, LOS rate: -0.645208 deg/s, cmd heading: 8.149036 deg, new cmd heading: 7.343072 deg. 2jufݼ}HeadingCmd: 0.128161 target range: 82.800003 and range: 82.80 m. j}<>jyjyjihhhh8Bfffrfbf F@ɛ`B>E շI ɚiI@=I<>iin=)<>)EqAE*F?2F:FBFz0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%>%<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736942GuP=GI Ba O >xw,^[A2%;Y2f>2'b92n=y2Hu1?`̿@>tુ?o+?D?? ??ɨ2%;2;2Cy:B> IIJIJ[3٢R= Ra=9V:Q V>TT ZG٣ZOGyZ<, Z> bNusing accuracyPremultiplier from config\bl59^^~?fl5Y^h i^@df>f@^ZZE^;^;^^l5h nAluB*** querying acoustic contact ***jqjqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:45:00.2750 TRx dataTimestamp_ set to:1736376301.481620checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990786ZjDNOT Ignoring new targets: 82.80 m.Bj7&Jj7& ProNav: ac range: 82.800003 m, nav range: 41.996666 m, bearing: 248.694954 deg, approach rate: 0.338140 m/s, LOS rate: -0.581275 deg/s, cmd heading: 7.343072 deg, new cmd heading: 6.680797 deg. 2jvǼHeadingCmd: 0.116602 target range: 82.800003 and range: 82.80 m. j=jjjihhhhfffrfbf @^@ɛe[Bey; im㦾Ii mɚiiiIm2RA=Iu=iyi}Q=)}=)y*F)2F):F)BF-1JF1 IG<(=GGrAGBOI>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240773J5 |J5 J1 J1 J5 ;g:J5 9J1 J1 a= @a= @a= @a= @H s>I  I (!II BI &I .I 6I v<:I FBIJIRIZIbIjI˸4kw,wuAzKBMKB9K@KBKBJ@YJO[>Jd9J!=yJH`D?`@˿ ru`3?=?@aIØ?:??ɨJ@JHa;JCyfBf IIn/In3٢ ,=  D=9 ɹQ > G٣y=7ͼ E> MNusing accuracyPremultiplier from configAMl59EϜ~?Ul5YEf iE@QUQ>U@E^ZEE:E:E l5KB kAEZjDNOT Ignoring new targets: 82.80 m.Bj3Jj3 ProNav: ac range: 82.800003 m, nav range: 42.144993 m, bearing: 248.436696 deg, approach rate: 0.362553 m/s, LOS rate: -0.629031 deg/s, cmd heading: 6.680798 deg, new cmd heading: 5.908800 deg. 2j׼ HeadingCmd: 0.103128 target range: 82.800003 and range: 82.80 m. j 4=j j j i h hh1h1f9f9fArfAbfM@c @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝ADAT read: 22:45:00.2750 LVL= 13648, 23137, 18082, 25715, AGC= 55, IDX= 423,-0.44,-1.355, 3.021, 3.139,-2.499, PHS= 1.232,-0.716,-0.648, RAW= 91.8, 1.4, CAL= 99.6, -1.8, ROT= 50.4, 1.8 Ygot valid direction response: 22:45:00.2750 LVL= 13648, 23137, 18082, 25715, AGC= 55, IDX= 423,-0.44,-1.355, 3.021, 3.139,-2.499, PHS= 1.232,-0.716,-0.648, RAW= 91.8, 1.4, CAL= 99.6, -1.8, ROT= 50.4, 1.8 %PDAT read: Bearing 50.4, 1.8 (Local) -~Local bearing/azimuth received: Bearing 50.4, 1.8 (Local) 5DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.3 m/s =,DAT read: user:2846> ɛuUBuv* qu뗾Iy }莼ɚyiyI}A=I4=ii=)4=)BDAT read: Tx time:22:45:01.3621 $Ping request sent.= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:22:45:01.3613 w,TAV|@YVO>Vk9V=yVHW?qɿ z ?Q?t??#?ɨV|@VC;VCyrɂBr Iiv=Iv;5Mb@Mb@Mb@111 1)1Y5Q?RQ?Mb?y5?5=5<5zA 5hA)5AI5MA1y5AIUBIU3٢eN= e6=9m#uQ m>i G٣yм > Nusing accuracyPremultiplier from configl59~?l5Y@bZE;;l5LB AEk0\{?kWF k k)A:k3BBkBZkB@" s""]$6@G<3T@3N$??Jkʚ"@Rk<*Da%헰?*Q6T@+/9?6 v ?"kn?*kK/k {?k6$F 2k?Ckk3h kQCkAk.Ƅ@ addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.534975 s, deltaX: -1.200005 m, approachRate: -0.339466 m/s, rangeRepo size: 4  Added new target pos. range: 81.599998 m, bearing: 174.160051 deg, lat: 36.904264 deg, lon: -122.120390 deg, deltaT: 3.534975 s, deltaX: -1.200005 m, approachRate: -0.339466 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 81.60 m.BjJj ProNav: ac range: 81.599998 m, nav range: 29.477369 m, bearing: 237.731175 deg, approach rate: 0.000000 m/s, LOS rate: -0.629031 deg/s, cmd heading: 5.908800 deg, new cmd heading: 5.038400 deg. 2jHeadingCmd: 0.087937 target range: 81.599998 and range: 81.60 m. j%=j)j)j)i)h)h)h1h5NBf1f1f9rf=`ffT@bf= u?ɛQB,- 隭I .ɚiIB=I%=ii!=)%=)*Fe?2Fa:FaBFmO5JFiG]=Will construct direction to contact in vehicle frame from tetrahedron phase data.G1B9OU> I kw,m6AJZ@YJ@>J9J[=yJHFn?ȿ“`?^i?`b?)?@?ɨJZ@Jg;JCynłBn II=I=b1٢M筼 M^=9MQQ UG٣]OGy]r" ]> eNusing accuracyPremultiplier from configaml59e~?ml5YeLb ieκ@iuQ>u@efZEe ;e ;e%l5y }4AyZjDNOT Ignoring new targets: 81.60 m.Bj SJj S ProNav: ac range: 81.599998 m, nav range: 29.648010 m, bearing: 237.476037 deg, approach rate: 0.496663 m/s, LOS rate: -0.738319 deg/s, cmd heading: 5.038400 deg, new cmd heading: 4.277441 deg. 2jYHeadingCmd: 0.074655 target range: 81.599998 and range: 81.60 m. j=jjjihhhhfffrfbfE?ɛ MB ,4 @I ɚiIjB=I-=i)i-U=)-=)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFQ0JFJ}J~JJJ[j:Jf9JJHq>I IG!II BI =&I.I6IA<:Ie FzKMnLK+9KKK     BKqA:KoAG =GB) Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,$&AB9@YB`{3>B狼9B =yBH`O?@[aƿ@2i9Q?}?@y|? 6?`,?ɨB9@B;BCyNBN I%Mb@Mb@Mb@!!! !)!Y%S?1Zd?QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configa }$?Iy}l59et~?l5Ye` ie@ ?:A>@ejZEe;e;el5 bAEZjDNOT Ignoring new targets: 81.60 m.BjIJjI ProNav: ac range: 81.599998 m, nav range: 29.845661 m, bearing: 237.186325 deg, approach rate: 0.484957 m/s, LOS rate: -0.706127 deg/s, cmd heading: 4.277441 deg, new cmd heading: 3.414130 deg. 2jM򼝊HeadingCmd: 0.059588 target range: 81.599998 and range: 81.60 m. jZt=jjjihhhihmZBfifqfqrfqbfuNw,A>y?@Y>`'>>p9>mw=y>Hǐ?`Ŀ@w[{?@1?s ͒? m?`f?ɨ>y?@>|;`` fG٣dyfd f> jNusing accuracyPremultiplier from confighrl59j+~?rl5Yj] ijd@tvz>v@jmZEjgk;jl;j l5| =A9]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AuB*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 81.60 m.BjEJjE ProNav: ac range: 81.599998 m, nav range: 30.032143 m, bearing: 236.911141 deg, approach rate: 0.472011 m/s, LOS rate: -0.692203 deg/s, cmd heading: 3.414130 deg, new cmd heading: 2.593762 deg. 2jHeadingCmd: 0.045270 target range: 81.599998 and range: 81.60 m. jl9=jjjihhhhfffrfbf9j? }$?IyɛDBh* nI xüɚiIC=Il9=ii7=)l9=)*F?2F:FBFP0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J ~J {J J J {m:J -9J J G] =H r>I  I T!II *BI  =&I .I 6I %<:I P FG1 BA O] >Lw,A6@Y6>6P96ԿTT VG٣VOGyZ' ^> fNusing accuracyPremultiplier from config`fl5zKjLKj9KhKjKj  RKn ?JKn?9b~?rl5Yb[ ib@pv>v@bqZEb;bԖ;bl5UMB UAUEZjDNOT Ignoring new targets: 81.60 m.BjJJjJ ProNav: ac range: 81.599998 m, nav range: 30.226871 m, bearing: 236.620955 deg, approach rate: 0.477277 m/s, LOS rate: -0.706655 deg/s, cmd heading: 2.593762 deg, new cmd heading: 1.728883 deg. 2j|򼝊HeadingCmd: 0.030175 target range: 81.599998 and range: 81.60 m. j0<jjjihhhhff)f)rf)bf- ?ɛ@B67 эI  <żɚuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982644iImC=I0Hw,Afq@Yf@$>f)9f_P G٣y > Nusing accuracyPremultiplier from configl59?l5YY i@c?:2>@uZE;y;_l5NB /AEZjDNOT Ignoring new targets: 81.60 m.Bj`NJj`N ProNav: ac range: 81.599998 m, nav range: 30.427792 m, bearing: 236.306311 deg, approach rate: 0.463922 m/s, LOS rate: -0.721708 deg/s, cmd heading: 1.728883 deg, new cmd heading: 0.791273 deg. 2jHeadingCmd: 0.013810 target range: 81.599998 and range: 81.60 m. jDb<jjjihhhh#Bfffrfbf@ɛm;B3Y3 FI ǼɚiIC=IDbz" w,*AR@YR`>R#jz9RZpIfp<IjNIj@ 4٢r rW=9r:Q v>tt vG٣tyz z> Nusing accuracyPremultiplier from config| l59~Y$? l5Y~CX i~»@ >@~yZE~0;~55;~l5 AZji}DNOT Ignoring new targets: 81.60 m.Bj2TJj2T ProNav: ac range: 81.599998 m, nav range: 30.601353 m, bearing: 236.031817 deg, approach rate: 0.471885 m/s, LOS rate: -0.742071 deg/s, cmd heading: 0.791273 deg, new cmd heading: 359.972518 deg. 2jHeadingCmd: 6.282706 target range: 81.599998 and range: 81.60 m. j @jjjihhhhfQfQfQrfQbf]`'@ɛ7BdA 隥렾I !ɼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734862ɚiI6D=ISii=) @)JKـ3 KKK"KJ|JyJJJ;g:J9JJ*F?2F:FBF1JF"G=G>jH%<bH%<H-t>I) I-A!II-BI)&I).I)6I-_<:I-| FzKMMKM9KIKMKMGM =GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ AiՕ A BDAT read: Rx Time:22:45:03.8736  TRx dataTimestamp_ set to:1736376305.014476 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996040B Oe >Qw,nPDAZ7@YZ@6=Z p9Zf  G٣OGy^ > Nusing accuracyPremultiplier from configl59 9?l5YV i@?:N>@}ZEw;M;il5OB AEZjDNOT Ignoring new targets: 81.60 m.BjRJjR ProNav: ac range: 81.599998 m, nav range: 30.781481 m, bearing: 235.703641 deg, approach rate: 0.406853 m/s, LOS rate: -0.736906 deg/s, cmd heading: 359.972525 deg, new cmd heading: 358.993859 deg. 2jHeadingCmd: 6.265625 target range: 81.599998 and range: 81.60 m. j@jjjihhhhBfff)rf1bf5z @ɛ3BmG 隝ൾI ˼ɚiI D=Iڏiir=)@)*Fe?2Fa:FaBFe_5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242825G =G ?G ?Ga Bq O >1w,+^A: %@Y:+=:fm9:cXX ZG٣Xy^ ^> fNusing accuracyPremultiplier from configdjl59faK?jl5YfU if_@ln$@>n@fZEf;f;fl5p vAtB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.60 m.Bj"hJj"h- ProNav: ac range: 81.599998 m, nav range: 30.937922 m, bearing: 235.415121 deg, approach rate: 0.442407 m/s, LOS rate: -0.811789 deg/s, cmd heading: 358.993869 deg, new cmd heading: 358.132756 deg. 2j-G 5HeadingCmd: 6.250596 target range: 81.599998 and range: 81.60 m. j5@j1j1j1i1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.490702hAhIhQhQfQfYfYrfYbfe; @ɛ/B]:<^ aeľIi mͼɚiI#E=I|ii8=)@) $?I*F?2F:FBF4JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 22:45:03.8736 LVL= 10880, 23857, 16594, 25347, AGC= 55, IDX= 423, 0.05, 1.609, 0.005,-0.291, 0.665, PHS= 1.031,-0.613,-0.960, RAW= 80.6, 5.9, CAL= 85.5, 6.1, ROT= 64.5, -6.1 E Ygot valid direction response: 22:45:03.8736 LVL= 10880, 23857, 16594, 25347, AGC= 55, IDX= 423, 0.05, 1.609, 0.005,-0.291, 0.665, PHS= 1.031,-0.613,-0.960, RAW= 80.6, 5.9, CAL= 85.5, 6.1, ROT= 64.5, -6.1 M PDAT read: Bearing 64.5, -6.1 (Local) U ~Local bearing/azimuth received: Bearing 64.5, -6.1 (Local) e DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed -0.1 m/s u ,DAT read: user:2847>  BDAT read: Tx time:22:45:04.9622  $Ping request sent. Ii-L?#f2O|?)IiH= u>I9  I= !II= BI= =&I9 .I= >D6I= <:I= " F\w,xA2@Y2 =2\e92"qQQ UG٣QzK]K]9KYK]K]yU > Nusing accuracyPremultiplier from configl59`?l5YT i)@2>@ZE;;vl5 AEk-y?k- u k) k-7pA:k-̠BBk-BZk-,@"-.n,{x5@-S@-`Iǿ5f?DF?2D?Jk-65 @Rk-*- .1csO2@K@S@-H!0Y˿Y2&?-Jf?"k-{A*k-pk-ڸy?k-Hr 2k- Ck)k-!  k)k-ˮAk-p@ addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.778338 s, deltaX: -1.199997 m, approachRate: -0.317599 m/s, rangeRepo size: 4  Added new target pos. range: 80.400002 m, bearing: 133.175516 deg, lat: 36.904264 deg, lon: -122.120245 deg, deltaT: 3.778338 s, deltaX: -1.199997 m, approachRate: -0.317599 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 80.40 m.BjJj ProNav: ac range: 80.400002 m, nav range: 21.849566 m, bearing: 215.389129 deg, approach rate: 0.000000 m/s, LOS rate: -0.811789 deg/s, cmd heading: 358.132746 deg, new cmd heading: 357.028067 deg. 2j%HeadingCmd: 6.231315 target range: 80.400002 and range: 80.40 m. j%f@j!j!j!i!h)h)hQhqfyffrfT@bfT3?]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ*BP 隵ѾI BѼɚiIxE=IuTii>)f@) I=PExceeded connect timeout, disconnecting.*F]?2FY:FYBF]"5JFYGa GaGy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA Oe >L$w, AJHJJwJHJHJHJJ9JHJHJJՊ;aRJJ׊;aRJJ:aRJJ:aRyv:Bv. IMb@Mb@Mb@ )YQ?{GzV-y?#A hA)~AIAyAIEIEM3٢U  U9=9]Q ]>Ya eG٣eOGye e> uNusing accuracyPremultiplier from configiul59mu?ul5Ym9T imߺ@}?}:}ύ=}@mZEmZ8;m6;m:l5PB AߵEZjDNOT Ignoring new targets: 80.40 m.BjkJjk ProNav: ac range: 80.400002 m, nav range: 22.065334 m, bearing: 215.047466 deg, approach rate: 0.526091 m/s, LOS rate: -0.824896 deg/s, cmd heading: 357.028058 deg, new cmd heading: 356.013205 deg. 2j HeadingCmd: 6.213603 target range: 80.400002 and range: 80.40 m. j@jjjihhhhBfffrfbf ה?ɛ'Bc@w !%I! %ZӼɚ!i!I-JF=I-vi)i5>)5@)1*F?2F:FBF[0JFG{>GBOc>MWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I m*w,A2@Y24o=2sp92{dd fG٣dyj⛽ j> nNusing accuracyPremultiplier from configlrl59n?rl5YnS in@pv-=v@nZEn;nP';nHl5| ~k A|Zj!-DNOT Ignoring new targets: 80.40 m.Bj-fJj5fE ProNav: ac range: 80.400002 m, nav range: 22.238083 m, bearing: 214.763101 deg, approach rate: 0.492477 m/s, LOS rate: -0.804377 deg/s, cmd heading: 356.013201 deg, new cmd heading: 355.166797 deg. 2jE MHeadingCmd: 6.198830 target range: 80.400002 and range: 80.40 m. jM\@jIjIjIiIhIhQhQhQfQfYfrfbfO?ɛ #B * ?I 5 ּɚ1i9I=1F=I=^¬iAiEh>)E\@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFZHRHHt>I I IIBI&I.I=D6IQ<:Is FBIJIRIZIbIjIĉ*5zKK]9KKKG5>G B! Oe >u Will construct direction to contact in vehicle frame from tetrahedron phase data.fU1w,A $I$@NtA rnManaging dock network, ignoring radio surface power offx =s YEtAyEvBe[d@Ye1=e~|9e99 =G٣9y= E> MNusing accuracyPremultiplier from configAMl59E?Ul5YET iED@?:Ұ@EZEE͛)@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.0??*F2F:FBFJF"G=G>J{JxJJJd:J9JJJ";J#;J&:J':G% ->G B O- >7w,sA6@Y62<6i96nXX ^G٣^OGy^2 ^> fNusing accuracyPremultiplier from config`fl59bQ?jl5Yb$U ib@hjнj@bZEbH:b3:bRl5l rn Ap~B*** querying acoustic contact ***j|j|Zj  DNOT Ignoring new targets: 80.40 m.BjJj%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 80.400002 m, nav range: 22.598347 m, bearing: 213.998184 deg, approach rate: 0.473502 m/s, LOS rate: -1.003872 deg/s, cmd heading: 353.895870 deg, new cmd heading: 352.891015 deg. 2j<,HeadingCmd: 6.159110 target range: 80.400002 and range: 80.40 m. jn@jjjihhhhfffrfbf ?ɛ-B- )5 I1 UKݼɚQiQI]+H=I].iaie6>)en@)a E$?IA*F ?2F :F BF 1JFG@ >GBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998277H s>I  I II BI  =&I .I 6I <:I F F =w,TA:a@Y:dB<:H-S9:pt vG٣tyv v> ~Nusing accuracyPremultiplier from configx~l59zF?l5YzU iz@@zZEz] ;z ;zl5RB  AٵEZj9EDNOT Ignoring new targets: 80.40 m.BjE1JjM1] ProNav: ac range: 80.400002 m, nav range: 22.779533 m, bearing: 213.606489 deg, approach rate: 0.440892 m/s, LOS rate: -0.945545 deg/s, cmd heading: 352.891013 deg, new cmd heading: 351.725444 deg. 2j]:"eHeadingCmd: 6.138767 target range: 80.400002 and range: 80.40 m. jep@jajajaiahahihihififqfqrfqbf}Xm@ɛBQʌ 隭iI iɚiIH=IKii) >)p@)EEzKk3IKh9KKK*FU?2FQ:FQBFUO5JFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]AiYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257861 5$?I9G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505667Dw,*AJf|JfyJdJdJf;g:Jf9JdJdJfՊ;Jf֊;Jf:Jf:yvBvI)| ~AMb@Mb@Mb@ )Y9v?+ÿS㥛y?/ݼA )IAyAI@I3٢ >=9Q > G٣y > Nusing accuracyPremultiplier from configl59t?l5YW iL@g?:~@ZE;;l5 d AֵEZjDNOT Ignoring new targets: 80.40 m.BjΗJjΗ ProNav: ac range: 80.400002 m, nav range: 22.954302 m, bearing: 213.126433 deg, approach rate: 0.389513 m/s, LOS rate: -1.061759 deg/s, cmd heading: 351.725454 deg, new cmd heading: 350.296564 deg. 2j+6HeadingCmd: 6.113828 target range: 80.400002 and range: 80.40 m. j{@jjjihhhhBfffrfbf@ɛBȥ 隕I ;ɚiI,I=Ik-ii*>){@)*F?2F:FBFQ5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757618 U $?IQ G >G B O >wJw,-A6@@Y6YP@6S>96 dd fG٣dyj n> rNusing accuracyPremultiplier from configpvl59r?vl5Yr)=@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:45:07.4731 TRx dataTimestamp_ set to:1736376308.792669checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011182*F?2F:FBFP0JFjHu<bHqHx>IC IS IIYBI =&I.I>D6I <:IG.>G G GBOE>zK-K-9K)K-K- u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264711 9 I9 QQw, &GAf@Yf1@fE:9fGp G٣OGymz > Nusing accuracyPremultiplier from configl59?l5Y\ i̸@ ?:@ZE;;Il5SB  AӵEZjQUDNOT Ignoring new targets: 80.40 m.Bj]RJj]R ProNav: ac range: 80.400002 m, nav range: 23.284954 m, bearing: 212.098379 deg, approach rate: 0.371218 m/s, LOS rate: -1.212244 deg/s, cmd heading: 349.027311 deg, new cmd heading: 347.235590 deg. 2jOHeadingCmd: 6.060404 target range: 80.400002 and range: 80.40 m. j@jjjihhhhBfffrfbfs @ɛeBm Ӆ imIi mvɚqiqIuQK=Iu diyi}(>)}@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:45:07.4731 LVL= 8896, 25153, 18642, 26611, AGC= 55, IDX= 418, 0.30, 1.548, 0.098,-0.736, 0.443, PHS= 1.193,-0.298,-1.182, RAW= 68.4, 2.8, CAL= 70.8, 0.4, ROT= 79.2, -0.4 Ygot valid direction response: 22:45:07.4731 LVL= 8896, 25153, 18642, 26611, AGC= 55, IDX= 418, 0.30, 1.548, 0.098,-0.736, 0.443, PHS= 1.193,-0.298,-1.182, RAW= 68.4, 2.8, CAL= 70.8, 0.4, ROT= 79.2, -0.4 PDAT read: Bearing 79.2, -0.4 (Local) ~Local bearing/azimuth received: Bearing 79.2, -0.4 (Local) DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.1 m/s ,DAT read: user:2848>  BDAT read: Tx time:22:45:08.5622  $Ping request sent. ?yإ3Bءإ"إAb ٥H)٥gI١i٥9?٥u٥K٥Θ?٥+H= ڥ2+?)ڥ;Iڥ;?iڥڡڡۥxK9?Pi 3Q`?)ۥfIۥLGiۥ?ۥDmۡۡ=:publishing transmit ping time EFpublishing direction and range infoء9إخ&!8҆Vk??yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥxK9?Pi 3Q`?)ۡIۡiۡۡۡۡJxJsJJJZ:J9JJJ ;J ;J<:J=:)*FE?2FA:FIBFM@5JFIGu Q)>G1 B9 U Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] Ae JDAT read: TxSync time:22:45:08.5614 Ou >lnXw,]cA@Y$@/9mW $?I G٣y@ > Nusing accuracyPremultiplier from configl59A?l5Yc^ i@¾@ZE;M;l5%TB % A%еEk}?kKwG k k$RA:k3BBk BZky?"L-}sRhB@ïFʬQ@خ&!8҆Vk??Jk?RkDm*ҫv",B@9_)Q@eV`)3 ?yf?"kaB*kkG b}?kiܠ 2kCkڸy?k6$F kkAkF@ addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.530696 s, deltaX: -0.300003 m, approachRate: -0.084970 m/s, rangeRepo size: 4  Added new target pos. range: 80.099998 m, bearing: 100.033284 deg, lat: 36.904269 deg, lon: -122.120097 deg, deltaT: 3.530696 s, deltaX: -0.300003 m, approachRate: -0.084970 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 80.10 m.BjJj= ProNav: ac range: 80.099998 m, nav range: 19.333113 m, bearing: 177.336059 deg, approach rate: 0.000000 m/s, LOS rate: -1.212244 deg/s, cmd heading: 347.235589 deg, new cmd heading: 345.828046 deg. 2j9MHeadingCmd: 6.035838 target range: 80.099998 and range: 80.10 m. jU%@jQjQjQiQhYhYhahafqfyfyrf}`fT@bf@?ɛBd 隕I ZɚiIqL=IH}ii,>)%@)*F}?2Fy:FyBF}P0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ@AH- |>I)  I- 4 II- @BI- =&I) .I) 6I- <<:I- k FG ^p(>GQ Ba O} >"^w,%}A2h@Y2.x@2+292+Y4hh nG٣lyr_ r> vNusing accuracyPremultiplier from configtzl59v%?zl5Yv` ivu@xz5;z@vZEv:zK~]JK~9K|K~K~!#$#!" ! RK  ?JK ?v:vl5 r A5B*** querying acoustic contact ***j1j1ZjAUDNOT Ignoring new targets: 80.10 m.Bj7Jj7  ProNav: ac range: 80.099998 m, nav range: 19.546370 m, bearing: 177.104993 deg, approach rate: 0.599097 m/s, LOS rate: -0.642045 deg/s, cmd heading: 345.828051 deg, new cmd heading: 345.142449 deg. 2j PܼHeadingCmd: 6.023872 target range: 80.099998 and range: 80.10 m. j@jj1j1i1h9hAhIhIfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɛBG؏ p I LɚiIL=I5Ti=)E@ $?I)*Fe?2Fa:FaBFiJFi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995071G v+>G B OE >rew,4זAbپ@Yb]@bD%9b=ybH?? `.)c? ɵ@?p?[?ɨbپ@b;bCynBnIMb@Mb@Mb@ )Yn?}?5^I̿MbPy?Mb A )AIyfAII 3٢5+< 57=95:Q 5>99 =G٣EOGyE M> UNusing accuracyPremultiplier from configQ]l59U ;?]l5YUc iUm@]T ?]:]꾑]@UZEU{;U;Ul5i md Am͵EZjDNOT Ignoring new targets: 80.10 m.BjLLJjLL ProNav: ac range: 80.099998 m, nav range: 19.803852 m, bearing: 176.783101 deg, approach rate: 0.579021 m/s, LOS rate: -0.714447 deg/s, cmd heading: 345.142436 deg, new cmd heading: 344.189410 deg. 2j(HeadingCmd: 6.007238 target range: 80.099998 and range: 80.10 m. jL;@jjjihhhhBfffrfbf`tr?ɛB I ɚiIM=I 'يi i!>)L;@)*F?2F:FBF`0JFG]P)>GB!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251650OMR> IՖkw,̛A2rL@Y2[@2{92xx ~G٣|yC >  Nusing accuracyPremultiplier from config l59 K?l5Y f i h@@ ZE  ; ; l5) - A)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502862ZjDNOT Ignoring new targets: 80.10 m.Bj5CJj5CE ProNav: ac range: 80.099998 m, nav range: 20.010462 m, bearing: 176.519179 deg, approach rate: 0.541622 m/s, LOS rate: -0.684720 deg/s, cmd heading: 344.189406 deg, new cmd heading: 343.405865 deg. 2jM꼝MHeadingCmd: 5.993563 target range: 80.099998 and range: 80.10 m. jME˿@jIjQjqiqhyhyhyhyfffrfbf@?JyJtJJJ]:J9JJa@a@a@a@ZHRHHI III&I.I6I<:IL FɛUBUI Q]IY ]*ɚYiYI]GN=IeaIiaies!>)eE˿@)i*FA2FA:FABFEu0JFAzKa MK+9KKK] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760501G M(> $?I G B O- >N~rw,>uAy=B=IMb@Mb@Mb@ )Yd;O?NbX9ȿ:v?y?ET< )I~Ay=AI5I3٢T= 9=9Q > G٣y > }Nusing accuracyPremultiplier from config}l59r`?l5Yi i@?:߾@ZE;;l5UB  AʵEZjDNOT Ignoring new targets: 80.10 m.Bj6Jj6 ProNav: ac range: 80.099998 m, nav range: 20.259979 m, bearing: 176.240724 deg, approach rate: 0.579450 m/s, LOS rate: -0.638684 deg/s, cmd heading: 343.405874 deg, new cmd heading: 342.580858 deg. 2j)ۼHeadingCmd: 5.979164 target range: 80.099998 and range: 80.10 m. jPU@jjjihhhh@Bfffrfbfn?ɛ%B-Ty )-ݾI) 5ɚ1i1I5N=I=i9i=/>)=PU@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007690*F?2F:FBF1JFG:{!>GBO_>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258805xw,oAJ&c@YJr@JY9J1;JCyR%BR IIZQIZ4٢b= b_=9f=Whh jG٣jOGyr & r> zNusing accuracyPremultiplier from configtzl59v*q?~l5Yvl iv@|~2~@vZEv@:v:vl5VB  A ǵEZj15DNOT Ignoring new targets: 80.10 m.Bj=ARJj=AR u$?Iq ProNav: ac range: 80.099998 m, nav range: 20.465225 m, bearing: 175.976864 deg, approach rate: 0.577743 m/s, LOS rate: -0.735280 deg/s, cmd heading: 342.580869 deg, new cmd heading: 341.797282 deg. 2jNHeadingCmd: 5.965488 target range: 80.099998 and range: 80.10 m. jG@jjjihhhhfffrf!bf-`p@ɛ}B}"r 隭ƾI ɚiIUO=I5ii>)G@)ErAE*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510874JzJJJJ`:JJJH}>I I` IIdBI&I.I6I<:I= FBIȩCJIȩCRIZI =bI =jIȐ5G L&">G B O >Q~w,CAFү@YFO@FLQ9F KvIV=I^FI^%3٢j= nI=9n}];Q n>pp rG٣pyr] v> zNusing accuracyPremultiplier from configt~m59v>?~m5Yvo iv@|~~@vZEv:v":vm5  A %B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 80.10 m.BjEuOJjEuO] ProNav: ac range: 80.099998 m, nav range: 20.688095 m, bearing: 175.680500 deg, approach rate: 0.551527 m/s, LOS rate: -0.725498 deg/s, cmd heading: 341.797283 deg, new cmd heading: 340.917839 deg. 2j]eHeadingCmd: 5.950139 target range: 80.099998 and range: 80.10 m. jeg@jajajaiihizKmRIKiKiKmKm&al?hP6hyhhfffrfbf@@ɛBd 隽I ɚiIUQP=Iii>)g@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764157*F?2F:FBFP0JF)= ]C yIhG+s>NGvAI YvAyBG@BB O-N> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:45:11.0729  TRx dataTimestamp_ set to:1736376312.324539 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015832ںw,lA:@Y:@: 9:1*O G٣yX > Nusing accuracyPremultiplier from configm59?m5Yr i@@?:@ZEf;;Dm5WB u*AuƵEZjDNOT Ignoring new targets: 80.10 m.Bj1Jj1 ProNav: ac range: 80.099998 m, nav range: 20.926348 m, bearing: 175.396564 deg, approach rate: 0.525414 m/s, LOS rate: -0.619026 deg/s, cmd heading: 340.917828 deg, new cmd heading: 340.075783 deg. 2jjԼ%HeadingCmd: 5.935442 target range: 80.099998 and range: 80.10 m. j%$@j!j!j!i!h)h)h)h5Bf1f9fArfAbfE@1} @ɛMBMeM IUIQ UeɚQiQIUF Q=I]i iYi]49=)]$@)a*F?2F:FBF%G1JF!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267917G=.> $?IG1BQO}>w,1A6=@Y6L@6[@96Q5 nW=9r-;Q r>pt vG٣vOGyvt v> zNusing accuracyPremultiplier from configxm59zr?m5Yzu iz@F@zZEz;zC*;z m5! %SA!ZjIMDNOT Ignoring new targets: 80.10 m.BjUMJjUMe ProNav: ac range: 80.099998 m, nav range: 21.134956 m, bearing: 175.138466 deg, approach rate: 0.586863 m/s, LOS rate: -0.718919 deg/s, cmd heading: 340.075774 deg, new cmd heading: 339.309170 deg. 2jemHeadingCmd: 5.922062 target range: 80.099998 and range: 80.10 m. jm@jijijqiqhqhq}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.0 m/s ,DAT read: user:2849> BDAT read: Tx time:22:45:12.1622 $Ping request sent.IC I IIBI =&I.I?D6I<:I F*F?2F:FBF_0JFG GG>GrAGzKaOK9KKKq`ZYRM5{tia[TNKKIJIRG3PN4GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:22:45:12.1614 I ͒w,KA2n@Y2@292ӭ=BB I)D DMb@Mb@Mb@ )Y/$?bX9ȶQ?y&?E< ) AIAyfAI3Iʴ3٢c= :=9LS9Q > G٣y =G  > Nusing accuracyPremultiplier from configm59캀?m5Yx i@%!?%:%4׾%@ZE;;mm5) -A-õE] addTargetRange:: Added new target pos. range: 79.900002 m, deltaT: 3.532029 s, deltaX: -0.199997 m, approachRate: -0.056624 m/s, rangeRepo size: 4 ZjaeDNOT Ignoring new targets: 80.10 m.BjeJjm ProNav: ac range: 80.099998 m, nav range: 21.374168 m, bearing: 174.915050 deg, approach rate: 0.545414 m/s, LOS rate: -0.503695 deg/s, cmd heading: 339.309181 deg, new cmd heading: 338.646467 deg. 2j׬HeadingCmd: 5.910496 target range: 80.099998 and range: 79.90 m. j"@jjjihhhhBfffrfbf@?ɛ%ւB%. !%I) M ɚIiIIM0R=IU-ѾiQiU=)]"@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ<Օ<*F%?2F!:F!BF%^0JF!G|+=GBOm>= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,eAN@YN,@N9N}S G٣yj > %$?I! -Nusing accuracyPremultiplier from config)5m59-Vˀ?5m5Y-{ i-X@9=/޾=@-ZE-U;-;-m5I MAIZjy}DNOT Ignoring new targets: 80.10 m.BjkJjk ProNav: ac range: 80.099998 m, nav range: 21.576332 m, bearing: 174.722112 deg, approach rate: 0.537901 m/s, LOS rate: -0.508544 deg/s, cmd heading: 338.646462 deg, new cmd heading: 338.073090 deg. 2jHeadingCmd: 5.900488 target range: 80.099998 and range: 79.90 m. jм@jjjihhhhfffrfbf@?ɛ҂B1K# 隥<ӽI [ɚiIeR=Iþii=)м@)*F?2F:FBFl0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JwJqJ1JJW:Jq9J3JHI I IIӂBI =&I.I6I<:IP FGs=G B O > w,qsA6@Y6@6B96ax| ~G٣~OGy~ >  Nusing accuracyPremultiplier from config m59܀?m5Y} i@Q徑@ZE:v:/m5%XB %oA%EMB*** querying acoustic contact ***jIjIZjQ]DNOT Ignoring new targets: 80.10 m.BjeJjeu ProNav: ac range: 80.099998 m, nav range: 21.791241 m, bearing: 174.512288 deg, approach rate: 0.538138 m/s, LOS rate: -0.520222 deg/s, cmd heading: 338.073081 deg, new cmd heading: 337.449844 deg. 2ju}HeadingCmd: 5.889611 target range: 80.099998 and range: 79.90 m. j}w@jyjyjyihhhhfffrfbf m?ɛ͂B@? I ɚiIS=IɾzKOKh9KKKi9Z5gP<$yrnkhe^[XTNKGEGC>;973ii=)w@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF1JF"G=G= 5$?I9Gi=G?G>GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096N w,UA6&Q@Y6`@696nIR;? V=VR=5Mb@Mb@Mb@111 1)1Y5n?MbZd;O?y5V?55j<5 A 5hA)1I5 A1y5AIMIMb٢]= ]C=9]DE;Q ]>aa eG٣aymڼ m> uNusing accuracyPremultiplier from configq}m59u?}m5Yu iu@}?:ø@uZEuO;u;um5 AZjY]DNOT Ignoring new targets: 80.10 m.Bje<ͻJje<ͻ ProNav: ac range: 80.099998 m, nav range: 22.015928 m, bearing: 174.353605 deg, approach rate: 0.513373 m/s, LOS rate: -0.358863 deg/s, cmd heading: 337.449840 deg, new cmd heading: 336.978661 deg. 2jHvHeadingCmd: 5.881387 target range: 80.099998 and range: 79.90 m. jS4@jjjihhhhBfffrfbf |?ɛMȂBUA QU`\IQ U\ɚYiYI]yS=I]{;iaie=)eS4@)a*F?2F:FBFV2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759512 IG% =G B O= >2w,*A2@Y2b @2:92q??`Buaӿ@Uo?f4X <>??ɨ2@2}e;2CyB˂BB IIJ;IJ&3٢RM= RW=9V;Q V>TX ZG٣XyZ3 Z> bNusing accuracyPremultiplier from config\bm59^?fm5Y^Ё i^K@dfJf@^ZE^:^:^*m5jYB npAnE]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011461ZjDNOT Ignoring new targets: 80.10 m.BjػJjػHM>II IM(!IIMBIM =&II.II6IMׯ<:IM$ FJuJrJJJ[Q:J9JJJo;aJo;aJ:aJ:a ProNav: ac range: 80.099998 m, nav range: 22.220312 m, bearing: 174.206037 deg, approach rate: 0.530318 m/s, LOS rate: -0.379374 deg/s, cmd heading: 336.978666 deg, new cmd heading: 336.540043 deg. 2j-.5HeadingCmd: 5.873732 target range: 80.099998 and range: 79.90 m. j5@j9j9j9i9h9h9hAhAfAfAfArfIbfMe@ɛÂBZ_ w+w,AyۂB IMb@Mb@Mb@ )YZd;O?{Gz?Q?y~ ?ף<u<A A) AIAyAI&I3٢= 6=9Q >   G٣ OGy  > Nusing accuracyPremultiplier from configm59u?%m5Y i@% ?%:%̍%@ZE;; m5ZB AEZjDNOT Ignoring new targets: 80.10 m.BjJj- ProNav: ac range: 80.099998 m, nav range: 22.459778 m, bearing: 174.097524 deg, approach rate: 0.540312 m/s, LOS rate: -0.242229 deg/s, cmd heading: 336.540031 deg, new cmd heading: 336.217967 deg. 2j5=&5HeadingCmd: 5.868111 target range: 80.099998 and range: 79.90 m. j=ǻ@j9j9j9i9h9h9hAh=Bfffrfbf@ɛB he=I dɚ i I 6qT=IԾic Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767419Ew,A pIpy9= I)I IIe3Ieʴ3٢@D P=9Q > G٣y > Nusing accuracyPremultiplier from configm59$?m5Y i@@ZE<՞<#m5y }AyZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 22.670540 m, bearing: 174.003944 deg, approach rate: 0.537010 m/s, LOS rate: -0.236222 deg/s, cmd heading: 336.217974 deg, new cmd heading: 335.939845 deg. 2j"HeadingCmd: 5.863256 target range: 80.099998 and range: 79.90 m. j̟@jjjihhh)h1f1f1f1rf9bf=@ @ɛB( =I P/ɚiIT=I׾iɠI=C I=T!II=*BI= =&I9.I=@D6I=<:I= FO]>>1w,A> @Y>@>ߒ;9>HK%?ww?gEwwտ!?@[r@d:?X?ɨ> @>$4;>Cy^B^ IIf"Ifq3٢n1O= nX=9r<pp rG٣pyv v> zNusing accuracyPremultiplier from configx~m59z#5?~m5Yz izػ@@zZEz:z3:z&m5  AE5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 80.10 m.BjEJjM] ProNav: ac range: 80.099998 m, nav range: 22.869789 m, bearing: 173.902094 deg, approach rate: 0.554232 m/s, LOS rate: -0.280836 deg/s, cmd heading: 335.939849 deg, new cmd heading: 335.636966 deg. 2j]@eHeadingCmd: 5.857970 target range: 80.099998 and range: 79.90 m. je~t@jajajaiahihihihifqfyfyrfybf}  @ɛBм 隵=I ɚiI'U=Iõپi찡JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272323*Fm?2Fi:FiBFm`0JFi  $?IGmy=GIBQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.4 ms) speed -0.2 m/s  ,DAT read: user:2850>  BDAT read: Tx time:22:45:15.7622  $Ping request sent. ԂB> IMb@Mb@Mb@ )YHzG? ףp= ?MbP?y= ?Q8=:MA hA)I AyAIPI 4٢ <=9^:Q > G٣OGy 3  > 5Nusing accuracyPremultiplier from config1=m595H?=m5Y5e i1= ?E:E1E@5ZE5;5;5*m5I M5AI addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.529429 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 80.10 m.BjqJjq ProNav: ac range: 80.099998 m, nav range: 23.107214 m, bearing: 173.806179 deg, approach rate: 0.528523 m/s, LOS rate: -0.211319 deg/s, cmd heading: 335.636971 deg, new cmd heading: 335.352185 deg. 2j%HeadingCmd: 5.853000 target range: 80.099998 and range: 79.80 m. j%K@j!j!j!i!h!h)hIhM0BfQfQfQrfU@3S@bfUh?ɛB 隥 =I vɚiIU=IMAܾi4ހw,iq4A6lw@Y6醽@6s;96=y6Ho??W~`ֿ?u s@?f?ɨ6lw@6;6CybʂBb Iif=If<Ij*Ij3٢vQ v[=9vQ z>xx zG٣xy~cҼ ~> Nusing accuracyPremultiplier from config m59X? m5Y҉ i׻@ @ZE:':-m5[B A%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjIUDNOT Ignoring new targets: 80.10 m.BjUCJjUCm ProNav: ac range: 80.099998 m, nav range: 23.302132 m, bearing: 173.724250 deg, approach rate: 0.542265 m/s, LOS rate: -0.226023 deg/s, cmd heading: 335.352180 deg, new cmd heading: 335.108449 deg. 2jmuHeadingCmd: 5.848746 target range: 80.099998 and range: 79.80 m. ju(@jqjqjqiyhyhyhhfffrfbf`c?ɛBme 隽]=I ɚiItV=In޾i I I`!II4BI =&I.I6I<:I FBICJICRIZI =bI =jI5*F?2F:FBF0JFG=GzK"KKs9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.iG 5tAi B I Y 5tAy BOu >iw,MNAyn‚Br I-Monly read 0 of 1 data item for BIT error. Device response is::TS,25010814462247,35.0, +10.9, 0.0,1493.3, , 0.00, 84.28, 80.20, 82.92, 82.24  @ @ @  @% I%I%T3٢5 5F=9=Q =>9A EG٣AyE E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]m59Mj?]m5YMp iIe+:ae:ae@MZEM=;M0>M0m5i mAiZjDNOT Ignoring new targets: 80.10 m.BjxJjx ProNav: ac range: 80.099998 m, nav range: 23.523100 m, bearing: 173.633036 deg, approach rate: 0.530386 m/s, LOS rate: -0.216883 deg/s, cmd heading: 335.108451 deg, new cmd heading: 334.837381 deg. 2jHeadingCmd: 5.844015 target range: 80.099998 and range: 79.80 m. j+@jjjihhh h f f f rfbf ?ɛ=BEԃ AE0@=IA MH^ɚIiIIM{V=IiѤ Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,(hA 6 $?I4j"ܵ@Yj@j?=;9jAA EG٣EOGyM? M> ebBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYum59]|?um5Y]! i]ڻ@} :y:@]ZE];]S?]#3m5\B lAEZjDNOT Ignoring new targets: 80.10 m.BjHJjH ProNav: ac range: 80.099998 m, nav range: 23.739185 m, bearing: 173.535322 deg, approach rate: 0.531802 m/s, LOS rate: -0.238292 deg/s, cmd heading: 334.837375 deg, new cmd heading: 334.546904 deg. 2j#HeadingCmd: 5.838945 target range: 80.099998 and range: 79.80 m. jغ@jjjihhhhfqfqfqrfybf}ќ?ɛB9 隭0]Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I IT!II*BI =&I.I6Iu<:I F|w,_ A2S@Y2ѹ@2;923.=y2H@æ? ?P ؿw? @cĠ??ɨ2S@2/;0yRBR I)T TIZIZ2٢b퀽 bQ=9f疺Q f>dh jG٣hyj j> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlvm59n?vm5YnȎ inݻ@v9xzP:zܚz@nZEn(;n?n4m5 A%B*** querying acoustic contact ***j!j!Zj)5DNOT Ignoring new targets: 80.10 m.Bj5͋Jj5͋E ProNav: ac range: 80.099998 m, nav range: 23.946011 m, bearing: 173.440349 deg, approach rate: 0.536977 m/s, LOS rate: -0.244446 deg/s, cmd heading: 334.546900 deg, new cmd heading: 334.264446 deg. 2jM'MHeadingCmd: 5.834015 target range: 80.099998 and range: 79.80 m. jMA@jQjQjQiQhQhYhYhYfYfafarfabfeY?ɛ5B5, 1=XI9 =BPɚ9i9I=o]W=IEiExe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010841J J sJ J J J 9J J w,'ޛA2Ѐ@Y2N@2BG;92$=y2H ?Z?@v`]ؿ`?`\h@N??ɨ2Ѐ@2|ȉ;2CyNBR I 5 5 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5Dl?Q?y5O ?5u<5̼57A 5A)5 AI11y5\AIMBIM3٢Nٽ :=9:Q > G٣y= > Nusing accuracyPremultiplier from configm59?m5Y  i@T: ?:+@ZE;;8m5 ]B AZj9=DNOT Ignoring new targets: 80.10 m.BjEȵJjEȵU ProNav: ac range: 80.099998 m, nav range: 24.181093 m, bearing: 173.299838 deg, approach rate: 0.537010 m/s, LOS rate: -0.317856 deg/s, cmd heading: 334.264458 deg, new cmd heading: 333.847030 deg. 2jU$Z]HeadingCmd: 5.826730 target range: 80.099998 and range: 79.80 m. j]t@jYjYjYiYhYhahihm܂Bfifqfqrfqbfu`*D@ɛBb% 隽@ I ctɚiIW=Iil AIEh w,IA6!M@Y6\@6?;96Jm/=y6H8?`/?@`ؿ {?ˤg?s?ɨ6!M@6S;6CyfvBfw IInGIn3٢vս v[=9v㤹Q v>xx zG٣zOGy~ ~> Nusing accuracyPremultiplier from config m59԰? m5Y i0@ O@ZE:*: I I"!IIBI&I.I6Iί<:I" F ProNav: ac range: 80.099998 m, nav range: 24.380737 m, bearing: 173.179643 deg, approach rate: 0.530623 m/s, LOS rate: -0.316843 deg/s, cmd heading: 333.847024 deg, new cmd heading: 333.489397 deg. 2jrYHeadingCmd: 5.820488 target range: 80.099998 and range: 79.80 m. jpA@jjjihhhhfffrfbfM@ɛBI I ɚiIahX=Iio= w,ARN@YR@Ra1;9R8=yRHg?8?2=ٿ_? 6,f`?@?ɨRN@R뵉;RCy^_B^[ IibR>Ibp=Mb@Mb@Mb@ )Y(\?J +X9vyz?HA v@)AI~Ay AIFI%3٢ѽ ==9Q > G٣y > Nusing accuracyPremultiplier from configm59Á?m5Y i@8?:v@[E;;?m5 AZji}DNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 24.614904 m, bearing: 172.969513 deg, approach rate: 0.534590 m/s, LOS rate: -0.475151 deg/s, cmd heading: 333.489396 deg, new cmd heading: 332.865028 deg. 2jM UHeadingCmd: 5.809591 target range: 80.099998 and range: 79.80 m. jU+@jQjQjYiYhYhYhaheBfafafarfibfm@ɛB ۽I!5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>54=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021045 ɚiI Y=Izii=)+@)JmyJmtJm1JiJm]:Jm9Jm3Ji*F?2F:FBFP0JFG =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:45:18.2739  TRx dataTimestamp_ set to:1736376319.633388 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272523  I! w,{AR@YRͻ@RA:9R@=yRH`J??Eٿ B?`\&^ ?@?ɨR@Rn;RCy}BB}7 II5I3٢ I=9Q > G٣y > Nusing accuracyPremultiplier from config%m59SՁ?%m5Y iA@!%%@[E ::jCm5U^B UAUEZjDNOT Ignoring new targets: 80.10 m.Bj> Jj>  ProNav: ac range: 80.099998 m, nav range: 24.838955 m, bearing: 172.767164 deg, approach rate: 0.540175 m/s, LOS rate: -0.483451 deg/s, cmd heading: 332.865034 deg, new cmd heading: 332.263488 deg. 2j䥼HeadingCmd: 5.799092 target range: 80.099998 and range: 79.80 m. j)@jjjihhhh)f)f1f1rf1bf5@) @ɛuBuF2 q}!Iy }/ɚyiyI}Y=Iii=))@)*FE?2FA:FABFE_0JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522652H}>I}C I} II}΂BI} =&Iy.I}?D6I}<:I} FG n=GY Bi O >}w,MA6/s@Y6@6ʆ:96 I=y6HV,?`vE?@Lڿ ,#?YP ??ɨ6/s@6;6CyR,BR IIZOIZ 4٢fZ f]=9fxQ f>hh jG٣jOGyn˼ n> zNusing accuracyPremultiplier from configtzm59v䁜?~m5Yvϛ ivܹ@|~K~@v[Ev;v};vFm5   A -B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 80.10 m.Bj=Jj=M ProNav: ac range: 80.099998 m, nav range: 25.036320 m, bearing: 172.587485 deg, approach rate: 0.557800 m/s, LOS rate: -0.503813 deg/s, cmd heading: 332.263486 deg, new cmd heading: 331.728713 deg. 2jUᬼUHeadingCmd: 5.789758 target range: 80.099998 and range: 79.80 m. j]E@jYjYjYiYhYhYhihifqfqfqrfybf}u @ɛB7"A 隭FI M$ɚiI-Z=Iwii=)E@)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IDAT read: Range 10 to 50 : 80.6 m (Round-trip 107.5 ms) speed -0.4 m/s ,DAT read: user:2851> BDAT read: Tx time:22:45:19.3623 $Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:45:19.3615 Hw,&A6@Y6A-@6)g96{N=y6H?@J?`啿4ڿn?\ 5,? ̩??ɨ6@6Ј;4yBBB I)D DFADMb@Mb@Mb@ )Y-?:vV-y5?Խ @) AIAy\AI-!I-i3٢ ?=9W?Q > G٣yļ > Nusing accuracyPremultiplier from configm59? m5Yן ic@ ?5:5=@ [E#U< <dJm5E_B E, AEE addTargetRange:: Added new target pos. range: 80.599998 m, deltaT: 3.779080 s, deltaX: 0.799995 m, approachRate: 0.211691 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 80.10 m.Bj/Jj/ ProNav: ac range: 80.099998 m, nav range: 25.278894 m, bearing: 172.309405 deg, approach rate: 0.541351 m/s, LOS rate: -0.614630 deg/s, cmd heading: 331.728710 deg, new cmd heading: 330.902537 deg. 2jҼHeadingCmd: 5.775339 target range: 80.099998 and range: 80.60 m. jϸ@jjjihhh h kBf)f1f1rf5`f&T@bf5?ɛBb6A 隥dI ɚiIZ=IAii=)ϸ@)*Fe?2Fi:FiBFm0JFiGu Gu"GuGu $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > w,7A:@Y:-ɺ@:>9:w=y:H/?u?Gۿ@;?e\'b?ޮ?@?ɨ:@:qe;:CyF BFIIRIR3٢Zt ^X=9^ĬQ ^>`` bG٣`yfE f> jNusing accuracyPremultiplier from confighnm59j?nm5YjY ij@lnr@j[EjC ;j ;jMm5t v AtZjH%>I! I% II%BI% =&I!.I!6I%<:I% FEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 80.10 m.BjM>JjM>e ProNav: ac range: 80.099998 m, nav range: 25.485928 m, bearing: 172.069975 deg, approach rate: 0.581765 m/s, LOS rate: -0.667335 deg/s, cmd heading: 330.902530 deg, new cmd heading: 330.190112 deg. 2je伝mHeadingCmd: 5.762905 target range: 80.099998 and range: 80.60 m. jmi@jijijiiihihqhqhqfyfyfyrfybf?ɛBJRR 隽.yI qɚiIq[=I1ii)i@)J9J=uJ=0J9J9J=9J=ـ3J9J=;aMJ=;aUJ=f:aUJ=h:aU*Fm?2Fi:FiBFm5JFiGABIOe> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK PK K K K {vrmhcb^[WSQOO\cc\SJD@95210/11/-.++*(#%#! BK qA:K mA w,PA6YZ@Y6i@6u'{96q=y6H`? 8?(:Hܿ? >do?8??ɨ6YZ@6K;6Cy^B^IMb@Mb@Mb@ )YK7A?w/ĿS㥛y "?&/ݼMA `@)~AIAyfAIIm?3٢ ;=9ArQ > G٣OGyڼ > Nusing accuracyPremultiplier from configm59E?m5Y= i@z'?:4@[E^;u:uQm5`B  AEZj DNOT Ignoring new targets: 80.10 m.Bj]Jj]% ProNav: ac range: 80.099998 m, nav range: 25.727200 m, bearing: 171.727313 deg, approach rate: 0.551809 m/s, LOS rate: -0.776341 deg/s, cmd heading: 330.190114 deg, new cmd heading: 329.171884 deg. 2j-25HeadingCmd: 5.745133 target range: 80.099998 and range: 80.60 m. j5"ط@j1j1j1i1h1h9h9h=1Bf9fAfArfAbfE;?ɛBO !%(I! -ɚ)i)I-!\=I5ý i1i5y=)5"ط@)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFG?G>GBOH> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i 1w,jAN@YN@N9Nh=yNHL?e?\۞fܿ}?Ȩ`Qt???ɨN@Nˋ;LyZBZIi^=I^=IbKIb4٢jD jZ=9n)EQ n>tt vG٣tyvU z> ~Nusing accuracyPremultiplier from config|m59~)?m5Y~ i~@  8 @~[E~:~L:~Tm5 I AZj9=DNOT Ignoring new targets: 80.10 m.BjE^JjE^ ProNav: ac range: 80.099998 m, nav range: 25.933908 m, bearing: 171.432023 deg, approach rate: 0.549315 m/s, LOS rate: -0.778456 deg/s, cmd heading: 329.171897 deg, new cmd heading: 328.293160 deg. 2jHeadingCmd: 5.729796 target range: 80.099998 and range: 80.60 m. j~Z@jjjihhhhfffrfbf?ɛBpW -I  ɚiI\=I ii=)~Z@)*F2F:FBFP0JFGyBO=>H>I If IIiBI =&I.I6Iɯ<:I FBIJIRIZIbI =jI5UWill construct direction to contact in vehicle frame from tetrahedron phase data.JUvJUrJQJQJU{T:JU9JQJQJUGu;JUIu;JU:JU:!w,.A6k@Y6馹@696P_=y6H@>\?@ܔ?XʞXݿR?`>y6v?!??ɨ6k@6ϋ;6C)T TG-vAi YvAycByBII XI 4 I٢% w -7=9-Q ->11 5G٣Qy]ռ ]> eNusing accuracyPremultiplier from configamm59eI A'w,YmA6@@Y6ii uG٣uOGyu u> Nusing accuracyPremultiplier from configym59}7K?m5Y} i}e@.?:N@}![E}U;};}[m5 } AZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 26.383900 m, bearing: 170.743328 deg, approach rate: 0.564003 m/s, LOS rate: -0.920577 deg/s, cmd heading: 327.244144 deg, new cmd heading: 326.245034 deg. 2jHeadingCmd: 5.694050 target range: 80.099998 and range: 80.60 m. j5@jjjihhhhBfffrfbf<@ɛzBV}[ nI xa ɚiI^=Iii =)5@)*F?2F:FBF_0JF $?I hGF=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523948GyBO^>6k-w,RHA:@Y:@:ջ9:@VU=y:H ??É`޿?hz???ɨ:@:Aڋ;:CyBBBI)H HIRCIR3٢Z8< ZW=9ZyQ Z>\\ZH`RHbAAHf>Id IfG IIfOBId&Id.Id6Ift<:If F nG٣pyrJ r> vNusing accuracyPremultiplier from configtzm59vdZ?zm5Yv iv'@|~P~@v&[Ev. ;v ;vO_m5aB q A E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771545ZjAEDNOT Ignoring new targets: 80.10 m.BjM|JjM|] ProNav: ac range: 80.099998 m, nav range: 26.592915 m, bearing: 170.398774 deg, approach rate: 0.540287 m/s, LOS rate: -0.883641 deg/s, cmd heading: 326.245024 deg, new cmd heading: 325.219600 deg. 2jeeHeadingCmd: 5.676153 target range: 80.099998 and range: 80.60 m. je @jijijiiihihihqhqfqfqfyrfybf} 5T@ɛwBW 隵ÃI ) ɚiI^=Ifii=) @)J%wJ%qJ!J!J%W:J%q9J!J!J%z;J%z;J%:J%:*F5?2F1:F1BF50JF1"G=C=G=p=Gs= $?IGB O%>Will construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:22:45:21.8756 TRx dataTimestamp_ set to:1736376323.168949checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024807zK CMK 9K K K   BK% pA:K% qAPX4w,`9AV)@YV@V9V9Q=yVH`?:Z? K$j߿@o?`Ҥ?$?`?ɨV)@Vu7;VCybBbImMb@Mb@Mb@iii i)iYmHzG?%C̿y&1|ym=*?mZdm`mA m`@)mhAImhAiyiI?IT3٢`< <=9 G٣yfü > Nusing accuracyPremultiplier from configm59kk?m5Yt i@3?:U@*[E;R;cm5 D AZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 26.830053 m, bearing: 170.000191 deg, approach rate: 0.548851 m/s, LOS rate: -0.914348 deg/s, cmd heading: 325.219594 deg, new cmd heading: 324.034592 deg. 2jHeadingCmd: 5.655470 target range: 80.099998 and range: 80.60 m. j@jjjihhhh"Bff)f)rf)bf- @ɛ}rB}MXK y}nsI H ɚiI3_=I iiA=)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278628*F]?2FY:FYBF]w0JFYG5S=GBOn> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 22:45:21.8756 LVL= 14944, 14913, 16882, 23539, AGC= 57, IDX= 459,-0.37,-2.598,-3.026, 1.424, 2.851, PHS= 0.922, 0.453,-1.430, RAW= 40.9, 0.5, CAL= 40.3, -1.0, ROT= 109.7, 1.0 E Ygot valid direction response: 22:45:21.8756 LVL= 14944, 14913, 16882, 23539, AGC= 57, IDX= 459,-0.37,-2.598,-3.026, 1.424, 2.851, PHS= 0.922, 0.453,-1.430, RAW= 40.9, 0.5, CAL= 40.3, -1.0, ROT= 109.7, 1.0 }:w,;ARPDAT read: Bearing 109.7, 1.0 (Local) R~Local bearing/azimuth received: Bearing 109.7, 1.0 (Local) ZDAT read: Range 10 to 50 : 81.9 m (Round-trip 109.2 ms) speed -0.3 m/s Z,DAT read: user:2852> ^BDAT read: Tx time:22:45:22.9623 r$Ping request sent.r= [9@YH@V9:N=36?5< 4?)5Ix?i5<+aA?fmSt@x?)ͰIi?$M:publishing transmit ping timepUFpublishing direction and range info9AF}AF?H   5G٣=OGy=Jټ => ENusing accuracyPremultiplier from configAMm59E{?Mm5YEN iEζ@QX@E/[EE (IC IA IIJBI =&I.I6Iٯ<:I$ F=Will construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:45:22.9615 *F?2F:FBFm0JFJExJEtJAJAJEZ:JE9JAJAJE ;JE ;JE:JE:G= :=G B! OE >Aw,A6߰@Y6 @6!96~I=y6H?`I?0 8R ? ??,??ɨ6߰@6A;4 J$?IHyNBNIiRp=IRp;IZIZV83٢^t= bP=9b-Q b>hh jG٣hyj5 n> rNusing accuracyPremultiplier from configlrm59n?vm5Yn in@xz[z@n3[En!;n3";n&jm5| ~ A|Zj!%DNOT Ignoring new targets: 81.90 m.Bj-YJj-Y㺝= ProNav: ac range: 81.900002 m, nav range: 32.184238 m, bearing: 134.723582 deg, approach rate: 0.823369 m/s, LOS rate: -0.099381 deg/s, cmd heading: 322.729826 deg, new cmd heading: 322.631422 deg. 2j=hEHeadingCmd: 5.630980 target range: 81.900002 and range: 81.90 m. jE0@jAjAjIiIhQhQhQhQfYfYfYrfYbf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5kB=K AeGIa ms ɚiiiIm2=`=Iu'iu{] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,F}!Ay~B~IMb@Mb@Mb@ )YQ?zGʿy(? W )AI~AyAILI4٢^= ==9Q > G٣y > Nusing accuracyPremultiplier from configm59›?m5Y i@N1?:W@8[El;;mm5cB | AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.90 m.BjԑJjԑ- ProNav: ac range: 81.900002 m, nav range: 32.483280 m, bearing: 134.695754 deg, approach rate: 0.691402 m/s, LOS rate: -0.063747 deg/s, cmd heading: 322.631417 deg, new cmd heading: 322.548702 deg. 2j-.5HeadingCmd: 5.629537 target range: 81.900002 and range: 81.90 m. j5*%@j1j9j9i9h9h9hAhMLBfIfIfIrfIbfU?ɛgB8; 'I %gɚ!i!I%9`=I-U'i-K"jH <bH <H }>I  I Z II ^BI =&I .I >D6I <:I 9 F} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.21645811 5G٣1y5틽 => ENusing accuracyPremultiplier from config9Em59=~?Mm5Y= i=@IM^M@==[E=: ;= ;=Xqm5Y ] AYZjDNOT Ignoring new targets: 81.90 m.BjֺJjֺ ProNav: ac range: 81.900002 m, nav range: 32.753513 m, bearing: 134.658310 deg, approach rate: 0.683757 m/s, LOS rate: -0.093960 deg/s, cmd heading: 322.548689 deg, new cmd heading: 322.437285 deg. 2jHeadingCmd: 5.627592 target range: 81.900002 and range: 81.90 m. j<@jjjihhhhfff!rf!bf% H?ɛdB\3 LI xɚAiAIE1(a=IM'iMgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468512zK] BoHK] +9KY K] K]    Uw,L7UA2@Y2@2o92<$=y2Ht?[?mbI?H?0? ?ɨ2@2։;2Cyj9Bn, I)p pMb@Mb@Mb@ )Y?V-ǿy&1?yf&?|?`e<MA )IyfAIIId4٢Q=  2=9.BQ > G٣OGy%ܼ %> -Nusing accuracyPremultiplier from config!5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Z?5*?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721022Em59%?Em5Y%H i%׶@E/-?E:MZM@%B[E%͌;%;%_um5UdB UU AUEZjy}DNOT Ignoring new targets: 81.90 m.Bj&Jj& ProNav: ac range: 81.900002 m, nav range: 33.064667 m, bearing: 134.623837 deg, approach rate: 0.677710 m/s, LOS rate: -0.074379 deg/s, cmd heading: 322.437275 deg, new cmd heading: 322.334828 deg. 2j.LHeadingCmd: 5.625804 target range: 81.900002 and range: 81.90 m. j@jjjihhhhlBfffrfbf$~?J1J5rJ51J1J1J59J53J1a=@a=@a=@a=@ɛ`B0# I CɚiI1a=I"J(ic9[w,oA68@Y6G@6^96B=y6HT?ϲ?@@x?QՋ??)?ɨ68@61 ;6CyBMBBD IIJSIJ4٢R<= R{=9RGT;Q V ?TT VG٣TyZ Z ? ^Nusing accuracyPremultiplier from config\bm59^ǂ?bm5Y^ i^@df^f@^E[E^:^z:^5xm5h jAhZjDNOT Ignoring new targets: 81.90 m.Bj ȺJj Ⱥ ProNav: ac range: 81.900002 m, nav range: 33.283508 m, bearing: 134.595260 deg, approach rate: 0.676945 m/s, LOS rate: -0.087817 deg/s, cmd heading: 322.334823 deg, new cmd heading: 322.249655 deg. 2jqHeadingCmd: 5.624318 target range: 81.900002 and range: 81.90 m. ji@jjjihhhhfffrfbf@ɛ=]B= 9=I9 EɚAiAIEa=IM(iMGaI I IIBI =&I.I?D6Iǯ<:I FBOF>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.224559 m $?Iq X2bw,6AbϮ@Yb޵@b'T9b G٣y U  > Nusing accuracyPremultiplier from config-m5}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4764519ւ? m5Yu i<@  ea@J[E5=C={m5 QAEZjIMDNOT Ignoring new targets: 81.90 m.BjUֺJjUֺe ProNav: ac range: 81.900002 m, nav range: 33.566189 m, bearing: 134.552693 deg, approach rate: 0.628291 m/s, LOS rate: -0.093812 deg/s, cmd heading: 322.249664 deg, new cmd heading: 322.123041 deg. 2jeÀmHeadingCmd: 5.622108 target range: 81.900002 and range: 81.90 m. jmN@jijijqiqhqhqhyhyfyfyfyrfbfm@ɛZBƕ 隽l:I ɚiI\b=Id<)ih;- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728501J- wJ- vJ- 0J) J- W:J- ϣ9J- ـ3J) G\hw,A2I`@Y2o@2$M927p G٣OGyU > Nusing accuracyPremultiplier from configm59n悜?m5Y  i@&?:-[@N[EqF;!E;m5  A-B*** querying acoustic contact ***j)j)Zj9EDNOT Ignoring new targets: 81.90 m.BjEJjE] ProNav: ac range: 81.900002 m, nav range: 33.846603 m, bearing: 134.522769 deg, approach rate: 0.696606 m/s, LOS rate: -0.073723 deg/s, cmd heading: 322.123032 deg, new cmd heading: 322.034001 deg. 2j]bJ]HeadingCmd: 5.620553 target range: 81.900002 and range: 81.90 m. je۳@jajajaiahahahihmB $?Ihfff rf)bf5@S@ɛVBll m=I E{ɚAiIIMYb=IM9)iUIe C Ie IIe BIe =&Ia .Ia 6Ie <:Ie FBI%˩CJI!RI!ZI% =bI% =jI%95O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232806nw,#,Ay=BE II]?I]T3٢m̊= mM=9mQ m>qq uG٣y > Nusing accuracyPremultiplier from configm59?m5Y6 i@@R[EL:&;!m5eB AEZj%DNOT Ignoring new targets: 81.90 m.Bj%ϘJj-Ϙ] ProNav: ac range: 81.900002 m, nav range: 34.105579 m, bearing: 134.495570 deg, approach rate: 0.640884 m/s, LOS rate: -0.066798 deg/s, cmd heading: 322.033994 deg, new cmd heading: 321.953016 deg. 2j]_7eHeadingCmd: 5.619140 target range: 81.900002 and range: 81.90 m. jeϳ@jajajaiahihihihyfyfyfrfbf, @ɛSBq 隥=I [SɚiIab=I)iɟDAT read: 22:45:25.4769 LVL= 14912, 17009, 17954, 23027, AGC= 55, IDX= 440,-0.17,-1.119,-0.912,-3.085,-1.566, PHS= 0.535, 0.700,-1.522, RAW= 26.2, 2.7, CAL= 25.3, 3.0, ROT= 124.7, -3.0 Ygot valid direction response: 22:45:25.4769 LVL= 14912, 17009, 17954, 23027, AGC= 55, IDX= 440,-0.17,-1.119,-0.912,-3.085,-1.566, PHS= 0.535, 0.700,-1.522, RAW= 26.2, 2.7, CAL= 25.3, 3.0, ROT= 124.7, -3.0 PDAT read: Bearing 124.7, -3.0 (Local) ~Local bearing/azimuth received: Bearing 124.7, -3.0 (Local) DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.5 ms) speed -0.4 m/s  ,DAT read: user:2853> BDAT read: Tx time:22:45:26.5623 %$Ping request sent.%}A= }=>)}PwV=I}J @i}PwVyy}>Er dx=]ו3?)}#ѿI})Ai}?}ʾyy:publishing transmit ping time Fpublishing direction and range infoy9}Er dx=]ו3?)yIyiyyyyzK LK 9K K K BK qA:K pA,uw,AyB IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:45:26.5615 Mb@Mb@Mb@ )YV-?zGế~jt?y? ׽<MA hA)AIAy\AI%gI%64٢U= U/=9YQ ]>Ya eG٣ay > Nusing accuracyPremultiplier from configm59G?m5Y i?@I?:H@JK3 K.-KK"KJ|JwJJJ;g:J9JJW[EN;;Am5 Ak"␜?kc k kA:kBBk~BZky?"n 5S@:L d?@I  ɚiIXb=ICm*iVq{w,zAB@YB3@Bi9B=yBH :H?U?@`G?`‚}#?@ ?@?ɨB@B B;@yZB^ I)` `IjIjF3٢r(= rv=9rQ r?tt vG٣vOGyz z? ~Nusing accuracyPremultiplier from config|m59~?m5Y~ i~@  T @~Z[E~ ;~: ;~m5fB 0AEZjAEDNOT Ignoring new targets: 82.80 m.BjM;JjM;] ProNav: ac range: 82.800003 m, nav range: 45.101860 m, bearing: 110.119460 deg, approach rate: 0.606922 m/s, LOS rate: 0.316391 deg/s, cmd heading: 321.856491 deg, new cmd heading: 322.147884 deg. 2je"YI m ɚiIb=I)iil<)@)*FE?2FA:FABFMP0JFIGvpx=H}>IC I IIBI&I.I6I<:I FGBO'>Will construct direction to contact in vehicle frame from tetrahedron phase data. } $?Iy Tw,> A2@Y2/@2߰t92'=y2H@(?` ?7`.'?7`ѕ?? 8?ɨ2@2fP;0yZBZ IIbNIb@ 4٢j~/= jL=9nQ n>pp rG٣pyr}~ v> zNusing accuracyPremultiplier from configtzm5Will construct direction to contact in vehicle frame from tetrahedron phase data.9v?m5Yvv ivθ@  7V @v^[Eve;ve;vm5 AZjAMDNOT Ignoring new targets: 82.80 m.BjM;JjU;e ProNav: ac range: 82.800003 m, nav range: 45.333160 m, bearing: 110.237141 deg, approach rate: 0.573181 m/s, LOS rate: 0.290136 deg/s, cmd heading: 322.147894 deg, new cmd heading: 322.499132 deg. 2jeGI  ɚiIb=I5'i{JWill construct direction to contact in vehicle frame from tetrahedron phase data.J xJ zJ J J Z:J 9J J X׈w,'%A6z@Y6R@6؂968J=y6HA?`5?;!@I?oZZ?@C??ɨ6z@6猈;6CybBb IUMb@Mb@Mb@QQQ Q)QYUzG? G٣y} > Nusing accuracyPremultiplier from configm59.?m5Y8 i@7?:K@b[E; ;Nm5 ]AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.80 m.Bj_;Jj_; ProNav: ac range: 82.800003 m, nav range: 45.563885 m, bearing: 110.367468 deg, approach rate: 0.545637 m/s, LOS rate: 0.306648 deg/s, cmd heading: 322.499130 deg, new cmd heading: 322.888124 deg. 2jsR< HeadingCmd: 5.635461 target range: 82.800003 and range: 82.80 m. j U@j j j i  %$?I!hhhhBfffrfbf@$u?ɛ-GBM$. QUe>IQ U ɚQiQIU%b=I]B%i]{jH <bH <H |>I  I .!II BI =&I .I 6I <:I ; F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743643w,>A6\@Y68l@6#x96;c=y6H??]Χf@?K2?b?u?ɨ6\@6m;6CyrBr Iiv>Iv>INI@ 4٢Ղ< Q=9t ;Q >!! %G٣%OGy% -> 5Nusing accuracyPremultiplier from config)5m59-YI C ɚiIb=I?@$i}Will construct direction to contact in vehicle frame from tetrahedron phase data.iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994923zK BoHK K K K 3m #kD3*$ w,XA69@Y6I@6 u96=z=y6H`x?`?@!@?@ň`?P??ɨ69@6;6CyB‚BB I5Mb@Mb@Mb@111 1)1Y5V-?ˡEMbp?y5h?5'5;5zA 5v@)5AI5 A1y5AIE;IE&3٢Uت< UF=9]k9Q ]>aa eG٣aye* m> uNusing accuracyPremultiplier from configi}m59mJ?}m5Ym im@}?}:}@@mj[Em;m;mQm5 &AZjDNOT Ignoring new targets: 82.80 m.BjUQ;JjUQ;e ProNav: ac range: 82.800003 m, nav range: 45.986565 m, bearing: 110.614824 deg, approach rate: 0.515760 m/s, LOS rate: 0.317043 deg/s, cmd heading: 323.238730 deg, new cmd heading: 323.626764 deg. 2jeYI 4^ ɚiIc=Id"iԯzw,rA6/@Y6 ?@60u968=y6H2??q@) ?%??@?ɨ6/@6D;6CyB΂BB IIJRIJW4٢R= RV=9VǸQ V>XX ^G٣\yrK  > Nusing accuracyPremultiplier from config m59 |X?m5Y  i @!%A%@ m[E +; +; m5-hB -A5EZjamDNOT Ignoring new targets: 82.80 m.Bjm;Jjm;} ProNav: ac range: 82.800003 m, nav range: 46.186863 m, bearing: 110.736900 deg, approach rate: 0.512758 m/s, LOS rate: 0.311155 deg/s, cmd heading: 323.626766 deg, new cmd heading: 323.991400 deg. 2jU<HeadingCmd: 5.654716 target range: 82.800003 and range: 82.80 m. jp@jjjihhhhfffrfbf@@%@ɛ@BI  ɚiIb=IY ii")p@)*F?2F:FBF0JFHQIQ IUM!IIU%BIU =&IQ.IU>D6IUد<:IU FGmo;GIBQOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750753JJtJJJJ9JJJaJaJaJa $?I w,AB$@YB4@BԀ9Br=yBH0???B2;?'g?#h?@?ɨB$@BD;BCybǂBb I)d dIj=rWill construct direction to contact in vehicle frame from tetrahedron phase data.vBDAT read: Rx Time:22:45:29.0788 vTRx dataTimestamp_ set to:1736376330.225034zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004156Ij=3٢~ E=9]Q >    G٣ OGy ,Y > %Nusing accuracyPremultiplier from config%m59f?-m5Y i@)-gA-@q[E:z:Im51 AZjDNOT Ignoring new targets: 82.80 m.Bj ާ;Jj ާ;= ProNav: ac range: 82.800003 m, nav range: 46.394829 m, bearing: 110.861971 deg, approach rate: 0.490267 m/s, LOS rate: 0.293525 deg/s, cmd heading: 323.991389 deg, new cmd heading: 324.364915 deg. 2j=qII ;ɚiIb=I8i7963.++(#   *F=?2F9:FABFE;2JFA"GM=GM=G-AGBOl>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254655%w,]A2-0@Y2?@2192b=y2Hn? ?@߱ (?Y?`-?;?ɨ2-0@2;2CybĂBb IUMb@Mb@Mb@QQQ Q)QYU&1?~jt{GztyU?UUףU A Q)U AIU AQyUA IIRIW4٢ ==9=Q > G٣yU; > %Nusing accuracyPremultiplier from config!-m59%u?m5Y%s i%@:?:d?@%u[E%<%˜<%m5iB )AEB*** querying acoustic contact ***j j Zj1=DNOT Ignoring new targets: 82.80 m.Bj=;Jj=;m ProNav: ac range: 82.800003 m, nav range: 46.616253 m, bearing: 110.996412 deg, approach rate: 0.499499 m/s, LOS rate: 0.301838 deg/s, cmd heading: 324.364919 deg, new cmd heading: 324.766319 deg. 2ju&OI) 5>ɚ1i1I5 b=IliԭII  IM T!IIM *BII &II .II 6IM <:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:45:29.0788 LVL= 15488, 21601, 18658, 24307, AGC= 56, IDX= 458, 0.00,-1.123,-0.513,-2.888,-1.448, PHS= 0.413, 0.982,-1.443, RAW= 17.0, 0.4, CAL= 16.7, -0.8, ROT= 133.3, 0.8  Ygot valid direction response: 22:45:29.0788 LVL= 15488, 21601, 18658, 24307, AGC= 56, IDX= 458, 0.00,-1.123,-0.513,-2.888,-1.448, PHS= 0.413, 0.982,-1.443, RAW= 17.0, 0.4, CAL= 16.7, -0.8, ROT= 133.3, 0.8  PDAT read: Bearing 133.3, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 133.3, 0.8 (Local)  DAT read: Range 10 to 50 : 84.2 m (Round-trip 112.3 ms) speed -0.4 m/s  ,DAT read: user:2854>  BDAT read: Tx time:22:45:30.1624  $Ping request sent. ٥ Zd{?٥ 9٥ >٥ ; ڥ ;>)ڥ dIڥ @iڥ d<ڡ ڡ ۥ 9̿8.6oJ?)ۥ AIۥ *iۥ ?ۥ [v|ۡ ۡ  :publishing transmit ping time  Fpublishing direction and range infoء 9إ ^4c?~}?ꚯ2=?yء G1 G9 G9 ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ 9̿8.6oJ?)ۡ Iۡ iۡ ۡ ۡ ۡ G B O>w,A65A@Y6P@6=96=y6H??@Q@? z'?@R?J?ɨ65A@6[T;6CyvBv II~7I~3٢ 3 ;=98Q > %G٣!y% ; %> uNusing accuracyPremultiplier from configi}m59ml?}m5Ym imŹ@y}>}@my[Em:me:mm5 xAk Hݯ?k  k  k A:k fBBk EBZk IX?" Q@'6u@CtcT@_<604@ ^4c?~}?ꚯ2=?Jk ?Rk [v|* }?J@M#M@F<@ Τ:?p!z?m??"k lB*k QBk  y͔?k  2k Bk LČ?k ~6" k fBk 9Bk ?} addTargetRange:: Added new target pos. range: 84.199997 m, deltaT: 3.779713 s, deltaX: 1.399994 m, approachRate: 0.370397 m/s, rangeRepo size: 4  Added new target pos. range: 84.199997 m, bearing: 48.407606 deg, lat: 36.904790 deg, lon: -122.119535 deg, deltaT: 3.779713 s, deltaX: 1.399994 m, approachRate: 0.370397 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.20 m.BjJj $?I  ProNav: ac range: 84.199997 m, nav range: 64.612442 m, bearing: 64.235586 deg, approach rate: 0.000000 m/s, LOS rate: 0.301838 deg/s, cmd heading: 324.766315 deg, new cmd heading: 325.162688 deg. 2j HeadingCmd: 5.675159 target range: 84.199997 and range: 84.20 m. j蚵@jjjihh9hAhAfAfAfIrfM U@bfM@/?ɛ8Bʆw >I ɚiIHb=IiiD?)蚵@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFuU5JFqGM~FG BO=r>zK]NK] 9KYK]K]!! w,ABJ@YBY@B9B=yBH>?s? LqT? Y?x ?W?ɨBJ@B(;BCNWill construct direction to contact in vehicle frame from tetrahedron phase data.R ףp=?kty&1yE?E 0E`eE3 A E@)AIAAyEAI}0I}(3٢ 3=9OǻQ > G٣OGy; > Nusing accuracyPremultiplier from configm59'?-m5Y$ i@5`?5:5!@5@}[Ei^<*^<تm5=jB =A=EZjDNOT Ignoring new targets: 84.20 m.Bj> <Jj> < ProNav: ac range: 84.199997 m, nav range: 64.688530 m, bearing: 64.451490 deg, approach rate: 0.174278 m/s, LOS rate: 0.493942 deg/s, cmd heading: 325.162685 deg, new cmd heading: 325.809606 deg. 2j~<HeadingCmd: 5.686450 target range: 84.199997 and range: 84.20 m. jg@jjj i h h hh Bff!f!rf!bf`1?ɛ6B` f>I ɚ i I b=Iii9)g@)! I*F?2F:FBFO5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G GG B O ><w,A6j@Y6y@6L965=y6H@? ?BE?ഞ ??F?ɨ6j@6I9 I=A!II=BI= =&I9.I96I=+<:I=Z FBIJI©CRIZI =bI =jI}5ɛ4B 隝x_>I IɚiIb=IBii'G)=@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FaBFeP0JFaJJAAJJwJJJJ9JJJJp;J:J:GeG!B)OER>)MF= ItA YtAyB $?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,$bA6r@Y6@6ռ96>y6H ?`@?7?j+3?tt zG٣xyz; z> UNusing accuracyPremultiplier from configQ]m59U?]m5YUD, iU@ae>>e@U[EU;UW;U|m5i mAmEZjDNOT Ignoring new targets: 84.20 m.Bj<Jj< ProNav: ac range: 84.199997 m, nav range: 64.817696 m, bearing: 64.818519 deg, approach rate: 0.177259 m/s, LOS rate: 0.502916 deg/s, cmd heading: 326.302999 deg, new cmd heading: 326.909560 deg. 2j<HeadingCmd: 5.705648 target range: 84.199997 and range: 84.20 m. j@jjjihhhhfffrfbf ?ɛ2B^ @>I  ɚiI tb=I iia)@)zK"LK9KKK\FHc)#ZZ6*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G59GBO% > I Nw,;+AyB I)! !Mb@Mb@Mb@ )YtV?Zd;~jty?yA @)~AIAy(AIHI<3٢ :=9Q > G٣OGy >  Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.m59 󾃜?%m5Y 0 i a@%?%:%E%@ [E g; >e; 8m55kB =_A=EUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 84.20 m.Bjmt<Jjmt<} ProNav: ac range: 84.199997 m, nav range: 64.898682 m, bearing: 65.024161 deg, approach rate: 0.188165 m/s, LOS rate: 0.477195 deg/s, cmd heading: 326.909547 deg, new cmd heading: 327.525676 deg. 2j}<HeadingCmd: 5.716402 target range: 84.199997 and range: 84.20 m. j@jjjihhhhBfffrfbfz?ɛ0BB >I %ɚiIJb=Iii)@)*Fm?2Fi:FiBFm_0JFiGe|[G!B)OMS>H=z>I9 I="!II=BI9&I9.I96I=<:I=J F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J yJ }J 1J J ]:J S9J 3J J ;J ;J :J :6w,EA6@Y6 @6-96>y6H|| ~G٣y%= > Nusing accuracyPremultiplier from config%m59 ̃?%m5Y4 i=@!%B-@[E,;"&;xm51 5A1ZjY]DNOT Ignoring new targets: 84.20 m.Bjeq <Jjeq zKM NKI KI KM KM   #,<Tfq}BK pA:K qAOfw,N _A:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506834B@YB*@BN$9B9[>yBH@g?@ ?@Ծn@4?@hC?j?@?ɨB@B;@y^`Bb\ I]Mb@Mb@Mb@YYY Y)YY]/$?&1L7A`堿y]?]н]+]A ]@)YI]AYy]QAIuJIu)4٢f A=9aQ >I MG٣IyUw< ]> Nusing accuracyPremultiplier from configm59q܃?m5Y : i͸@?:N@[E;;om5 YAEZjDNOT Ignoring new targets: 84.20 m.Bj<Jj< ProNav: ac range: 84.199997 m, nav range: 65.070900 m, bearing: 65.434087 deg, approach rate: 0.227927 m/s, LOS rate: 0.506313 deg/s, cmd heading: 328.062974 deg, new cmd heading: 328.753750 deg. 2j<HeadingCmd: 5.737835 target range: 84.199997 and range: 84.20 m. jY@jjjihAhAhAhMтBfIfIfIrfIbfU@ɛ,BѼ 隝=I BcɚiIOb=I ii)Y@) )I)*F?2F:FBF0JFGu)wG)B9OUt>-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758852Ȋw,xA6@I@Y6X@6x96">y6H@A?*?'߾IM? afn?<8?@ߔ?ɨ6@I@6O;6CyRXBRS IiV>IV=I^NI^@ 4٢ S=9VֻQ > G٣OGy%}< %> -Nusing accuracyPremultiplier from config)5m59-r郜?5m5Y-@> i-x@15EM=@-[E- ;-m ;-m5A EAAZjq}DNOT Ignoring new targets: 84.20 m.Bj}X<JjX< ProNav: ac range: 84.199997 m, nav range: 65.152092 m, bearing: 65.615764 deg, approach rate: 0.227438 m/s, LOS rate: 0.508288 deg/s, cmd heading: 328.753752 deg, new cmd heading: 329.298089 deg. 2jj<HeadingCmd: 5.747336 target range: 84.199997 and range: 84.20 m. j-@jjjihhhhfffrfbf@HI I II݂BI =&I.I6I<:I Fɛ+BZiϼ =I  "ɚ i I |b=Ik- iis)-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:45:32.6814 TRx dataTimestamp_ set to:1736376334.004955checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012176*F?2F:FBFP5JFG GrAJJ{J0JJJ-9Jـ3JJJJ:J:  $?IGwGB O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262915rw,A:݉@Y:[@: 9:^'>y:H`?@Ų?ѿp?@Q?#?̍?ɨ:݉@:#&;:CyBDBB: IIHIH٢V̽ VQ=9VQ Z>\` bG٣`yb< b> jNusing accuracyPremultiplier from configdjm59f?jm5YfB if@ln&Kn@f[Ef;f};fm5rlB v< AvEZjDNOT Ignoring new targets: 84.20 m.Bj%\<Jj%\< ProNav: ac range: 84.199997 m, nav range: 65.240059 m, bearing: 65.815242 deg, approach rate: 0.224473 m/s, LOS rate: 0.508337 deg/s, cmd heading: 329.298091 deg, new cmd heading: 329.895694 deg. 2jo<HeadingCmd: 5.757766 target range: 84.199997 and range: 84.20 m. j?@jjjihhhhff frf1bf= @ɛ)Bp 隕pY=I lɚiIgb=Iiirُ)?@)zK]NKh9KKKRK ?JK>*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.5 m/s ,DAT read: user:2855> BDAT read: Tx time:22:45:33.7624 $Ping request sent. I w,wA6ٹ@Y6Wɴ@696dl*>y6HS?\?@X@? ?0?@3?ɨ6ٹ@6,;4yR6BR( I5Mb@Mb@Mb@111 1)1Y5y&1?T㥛 ~jty5`%?555EA 5p@)1I57A1y5AIM7IM3٢] ]?=9eQ e>ai mG٣iyma< m>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:45:33.7616 Nusing accuracyPremultiplier from configq m59u ? m5Yu/H tIiu@(?:RP@u[Eu@;uR;um5) - A)B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.528271 s, deltaX: 1.900002 m, approachRate: 0.538508 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 84.20 m.Bjk <Jjk <5 ProNav: ac range: 84.199997 m, nav range: 65.347504 m, bearing: 66.042275 deg, approach rate: 0.231123 m/s, LOS rate: 0.487563 deg/s, cmd heading: 329.895705 deg, new cmd heading: 330.575651 deg. 2j5N<=HeadingCmd: 5.769634 target range: 84.199997 and range: 86.10 m. j=נ@jAjAjAiAhAhAhIhMBfififqrfu`fU@bfu -?ɛ(B I I IIBI =&I.I6IƯ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GI GQ GQ G B) OU >w,]A2l@Y2@2(92->y2H`4?+Z?@B@Dڦ?꼿??`m?ɨ2l@2 |;0yB4BF& IIJ$IJ<3٢j jS=9n: Q n>pp rG٣rOGyvk< v> ~Nusing accuracyPremultiplier from configxm59z?m5Yz M iz@@  N @z[Ezr>;z';zm5mB  AEZjAEDNOT Ignoring new targets: 84.20 m.BjM )<JjM )<] ProNav: ac range: 84.199997 m, nav range: 65.444725 m, bearing: 66.248596 deg, approach rate: 0.278964 m/s, LOS rate: 0.591130 deg/s, cmd heading: 330.575664 deg, new cmd heading: 331.193683 deg. 2j]zKm 5OKm 9Ki Km Km ɮw,K9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005452BO@YB@B89B72>yBHL? 6?:@έ+? )K?? T|?ɨBO@BJ;BCyn+Bn IMb@Mb@Mb@ )Y(\?Sſ{Gzy.?/#/A @)AIAJzJyJJJ`:J9JJa @a @a @a @yAI Ib3٢5  56=9=Q =>AI MG٣Iy]< ]> }Nusing accuracyPremultiplier from configqm59us(?m5Yu_S iu@3?:>[@u[EuG B O >Pw,AB<@YBK@BEJ9Bl6>yBH ?? f8¿`?w½W??vt?ɨB<@Bcň;BCyJBJ IIR IR̍2٢^ be=9bKQ b>dd fG٣dyfz< f> nNusing accuracyPremultiplier from confighrm59j%6?rm5Yj>X ijK@prYv@j[Ej;jj;jm5znB zu AzEZjDNOT Ignoring new targets: 84.20 m.Bj%+<Jj%+<5 ProNav: ac range: 84.199997 m, nav range: 65.686554 m, bearing: 66.694238 deg, approach rate: 0.325471 m/s, LOS rate: 0.600765 deg/s, cmd heading: 331.946019 deg, new cmd heading: 332.528046 deg. 2j5&IC I IIBI =&I.I6Iį<:I Fɛ$B 隭@I ɚiIa=I}ii])@)*FI2FQ:FQBFUn0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509829G5銝G BO--> IhE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764046w,ARv@YRH@RsV9R ;>yRH.?@?@¿$Ru?`ިT˪?`mI?k?ɨRv@R;RCy B II-9I-3٢=Lr; =B=9E9ݻQ E>AA MG٣MOGyM< M> ]Nusing accuracyPremultiplier from configQ]m59UF?em5YU ^ iUӵ@aeWe@U[EU:U:Um5i mn AqZjDNOT Ignoring new targets: 84.20 m.Bj<Jj< ProNav: ac range: 84.199997 m, nav range: 65.811424 m, bearing: 66.927065 deg, approach rate: 0.296289 m/s, LOS rate: 0.551397 deg/s, cmd heading: 332.528033 deg, new cmd heading: 333.225153 deg. 2j5<HeadingCmd: 5.815876 target range: 84.199997 and range: 86.10 m. j@jjjihhhhfffrfbf`?ɛE#B}>@ 隅I ɚiI I  w,L-Ay)B IMb@Mb@Mb@ )Y/$?~jtȿ~jty&1?DA )v@IAyAWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268987I MI {4٢&= ==9%Q %>!! %G٣)y- -> =Nusing accuracyPremultiplier from config1=m595W?Em5Y5Dd i5S@E8?E:E]E@5[E5!;5;5m5I U, AU|EmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 84.20 m.BjY<JjY< ProNav: ac range: 84.199997 m, nav range: 65.950790 m, bearing: 67.168096 deg, approach rate: 0.322892 m/s, LOS rate: 0.557252 deg/s, cmd heading: 333.225149 deg, new cmd heading: 333.946672 deg. 2j8<HeadingCmd: 5.828469 target range: 84.199997 and range: 86.10 m. jт@jjjihhhhBfffrfbfB]@ɛ!B\ mjHybHyHu>I I IIBI&I.I=D6I<:ID FBIAJIEǨCRIAZIE =bIE =jIE45 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520243I e vAw,y6H@?@?` ÿ @?*0`᛭?)^?7\?ɨ6 @6;6C\ z"YzvAyzoByf-Bz IIIId4 #$?I٢]< ]W=9]lQ e>aa eG٣aym@= m> }Nusing accuracyPremultiplier from configq}m59uf?m5Yui iu@X@u[Eu;u;um5  AZjDNOT Ignoring new targets: 84.20 m.Bj <Jj < ProNav: ac range: 84.199997 m, nav range: 66.070267 m, bearing: 67.382205 deg, approach rate: 0.313831 m/s, LOS rate: 0.561387 deg/s, cmd heading: 333.946663 deg, new cmd heading: 334.587802 deg. 2j<HeadingCmd: 5.839659 target range: 84.199997 and range: 86.10 m. j|޺@jjjihhhhfffrfbf@j@ɛe Bm! m'yA=mw,aA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:45:36.2838 6TRx dataTimestamp_ set to:1736376337.5365026checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024863y6B) IJ|JyJJJ;g:J9JJeMb@Mb@Mb@aaa a)aYen?B`"ɿX9vye6?eNeeA e@)e`@IeAaye(AI.I3٢ )"= 4=9Q > G٣OGy% %> ]Nusing accuracyPremultiplier from configQ]m59Uy?em5YUp iU@eb=?e:e[e@U[EU ;U ;Um5uoB u Au{EZjDNOT Ignoring new targets: 84.20 m. $$?IhBj!<Jj!Ge,>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277110G} Q½GQ Ba O >aSw,|AHrs>Ip Ir IIrBIr =&Ip.Ip6Ir<:Ir9 F@Y @9`JO>yHd? f?8Ŀ`'Y@? 7?@b?H?ɨ@ޒ;CyEB; IIM-IM3٢]= eN=9eQ e>ii mG٣iym>= u> }Nusing accuracyPremultiplier from configym59}?m5Y}v i}1@%V@}[E};}9;}Tm5 O AZjDNOT Ignoring new targets: 84.20 m.Bj#<Jj#< ProNav: ac range: 84.199997 m, nav range: 66.347664 m, bearing: 67.870917 deg, approach rate: 0.319540 m/s, LOS rate: 0.573119 deg/s, cmd heading: 335.382915 deg, new cmd heading: 336.050754 deg. 2j< HeadingCmd: 5.865192 target range: 84.199997 and range: 86.10 m. j @j j jiWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:45:36.2838 LVL= 15520, 17585, 15266, 21107, AGC= 57, IDX= 446,-0.18,-3.113,-2.679, 1.329, 2.648, PHS= 0.610, 1.003,-1.322, RAW= 20.9, -2.7, CAL= 20.6, -5.2, ROT= 129.4, 5.2 ]Ygot valid direction response: 22:45:36.2838 LVL= 15520, 17585, 15266, 21107, AGC= 57, IDX= 446,-0.18,-3.113,-2.679, 1.329, 2.648, PHS= 0.610, 1.003,-1.322, RAW= 20.9, -2.7, CAL= 20.6, -5.2, ROT= 129.4, 5.2 ePDAT read: Bearing 129.4, 5.2 (Local) e~Local bearing/azimuth received: Bearing 129.4, 5.2 (Local) uDAT read: Range 10 to 50 : 87.9 m (Round-trip 117.3 ms) speed -0.4 m/s },DAT read: user:2856> }BDAT read: Tx time:22:45:37.3624 $Ping request sent.A X>)޹I@i޹=#i0Ŀ^Qn =  nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:45:37.3616 .%w,໕A:\@Y:@:P9:aR>y:H?,k?@?ſ A?@ t??#@?ɨ:\@:;8yRSBRL IIZ3IZʴ3٢b= bk=9fB/Q f?dd jG٣hyj< j? rNusing accuracyPremultiplier from configlvm59n?vm5Yn{ in@tvSv@n[En:nz:n_m5zpB ~A~xEke`݃?kevD ka ke\A:ke̯BBkeBZkerGm?"eG"!@Hl&WT@nW"~:;@epCi/?@f@?b%i7?Jke`?Rke@*eqTdF@[QdN@_r|F@eݱc?ac ?&+w,A285@Y2D@2V92W>y2H@??Dſ]?`@p??b6?ɨ285@2܈;2C:Will construct direction to contact in vehicle frame from tetrahedron phase data.yniBnh IMb@Mb@Mb@ )Y|?5^?Eȿy2?F̼A @)I@I AyQAIIV83٢= ,=9Q > G٣OGy< > Nusing accuracyPremultiplier from configm59?m5Y i@9?:'P@[EB;;m5 5AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.90 m.Bjb<Jjb< ProNav: ac range: 87.900002 m, nav range: 72.307335 m, bearing: 58.876987 deg, approach rate: 0.185718 m/s, LOS rate: 0.536395 deg/s, cmd heading: 336.647866 deg, new cmd heading: 337.434811 deg. 2j<HeadingCmd: 5.889349 target range: 87.900002 and range: 87.90 m. j%u@j!j!j!i!h!h!h)h-ڂBf)f)f1rf1bf5 w?ɛB >I WɚiIc^=Iɾii޽)u@)E&t@=ZHRHHI I IIBI&I.I6I<:I; F*FM?2FI:FIBFUP0JFQG]rA G]rAGE}[ܽ%Will construct direction to contact in vehicle frame from tetrahedron phase data.->-@-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.GABQO> I 2w,fA2@Y2+@292GX>y2H@??ƿK3?3o??2?ɨ2@2Ή;2Cy>B> IIFIFb1٢R= R`=9R.Q V>\d fG٣hyj< n> =Nusing accuracyPremultiplier from config1=m595ɼ?Em5Y5 i5@AEME@5[E5 ;5 ;5m5MqB UAUuEZjDNOT Ignoring new targets: 87.90 m.Bj '<Jj '< ProNav: ac range: 87.900002 m, nav range: 72.379219 m, bearing: 59.088799 deg, approach rate: 0.198446 m/s, LOS rate: 0.584153 deg/s, cmd heading: 337.434814 deg, new cmd heading: 338.069589 deg. 2js<HeadingCmd: 5.900427 target range: 87.900002 and range: 87.90 m. jMм@jjjihhhhfffrfbf@2?ɛ} H>I ɚiI]=Iþii_)Mм@)E E *E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247307*F=?2F9:F9BF=R0JF9zKJKh9KKKBK= qA:K9 GE oS׽M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500664G BI Om >'9w,Az8@Yz_H@zV99z(b>yzH?`=?ǿ߿,Q?'$ÿ@`?`b ?@?ɨz8@zT~;xy B  I %&$?I!-Mb@Mb@Mb@))) )))Y-n?#~jĿ~jty-V.?-%-D-AA -@)-@I-zA)y-zAI]I]٢־= .=9rQ > G٣y5>= => uNusing accuracyPremultiplier from configI}m59M^ф?}m5YM iM@}:3?}:}?@M[EM=;M;Mm5rB ArEZjDNOT Ignoring new targets: 87.90 m.Bj<Jj< ProNav: ac range: 87.900002 m, nav range: 72.448997 m, bearing: 59.346653 deg, approach rate: 0.144458 m/s, LOS rate: 0.533304 deg/s, cmd heading: 338.069584 deg, new cmd heading: 338.842352 deg. 2j <HeadingCmd: 5.913915 target range: 87.900002 and range: 87.90 m. j>@jjjihhhh% Bf!f!f!rf!bf-@?ɛuBud }!Q=}v>Iy }ɚyiyI}\=Iiiн)>@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751918GoܽGBO>H p>I C I II BI &I .I 6I #<:I N F ?w,sA^@Y^@^s9^"g>y^H@?*?XǿA߿@ |?@Lÿ? E??ɨ^@^;\yjBj IIr*Ir3٢zR> zj=9~2»Q ~? G٣OGy =  ? Nusing accuracyPremultiplier from config m59 ߄?m5Y  i Գ@%b<%@ [E I; ; m5) -A-tEZjYeDNOT Ignoring new targets: 87.90 m.Bje]<Jje]I ɚiI \=IG= -'$?I-hGu}[ܽGQBiO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255045 Fw,VA6@Y6j @6b96 j>y6H n???{ǿ޿@?V7Ŀ@e??\ ?ɨ6@6T;6Cy>̂B> IIN%IN)3٢V/= VO=9VxQ V>XX ZG٣Xy^M< ^> bNusing accuracyPremultiplier from config`fm59b?fm5Ybĕ ib@djB9j@b[Eb:b@:bNm5nsB n4AnqEZjAEDNOT Ignoring new targets: 87.90 m.BjM<JjM<} ProNav: ac range: 87.900002 m, nav range: 72.548180 m, bearing: 59.738091 deg, approach rate: 0.132504 m/s, LOS rate: 0.533397 deg/s, cmd heading: 339.373822 deg, new cmd heading: 340.015805 deg. 2j}<HeadingCmd: 5.934395 target range: 87.900002 and range: 87.90 m. j@jjjihhhhfffrfbf@T@ɛB(n  >I  Ưɚ i I cZ=IUiYi]c̽)]@)YzKBHK 9KKK 'qxskd]VPLGD?<;7:BXpaQE;,$ RK ?JK?*F?2F:FBF[5JFGcӽ Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509702GB)O]U> )I)5Lw,&63A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760986zp[@Yzj@z'9zk>yzH7#? ?@ǿݿ@?Ŀ?I?K?ɨzp[@z!;xy B  IMb@Mb@Mb@ )Y?HzGMb`yf&?= A @)@I AyAI ,I 3٢= 5=9aQ %>!! %G٣!y-.< -> 5Nusing accuracyPremultiplier from config1=m595?=m5Y5ƚ i5X@E)?E:E0E@5[E5;5^;5@m5I MAQmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 87.90 m.Bj<Jj< ProNav: ac range: 87.900002 m, nav range: 72.596344 m, bearing: 59.971512 deg, approach rate: 0.108309 m/s, LOS rate: 0.524555 deg/s, cmd heading: 340.015805 deg, new cmd heading: 340.715567 deg. 2j<HeadingCmd: 5.946609 target range: 87.900002 and range: 87.90 m. jJ@jjjihhhh\Bfffarfibfm`2@ɛd 隽j>I ɚiI+Y=ISii:ν)J@)jHabHep<Hmj>ImC ImM!IIm%BIm =&Ii.ImybHS?Q?@ͨǿ@'0ݿh?ſRt?`b? ?ɨb'Dz@ba;bCynBn$!IIvIvF3٢~> ~&=9~Q ~> G٣OGy <  > Nusing accuracyPremultiplier from confign59?%n5Y% iô@!%,%@[E::n51 5A5nEZjY]DNOT Ignoring new targets: 87.90 m.Bje<JjeI) -Qɚ)i)I-HX=I5 i1i5ν)=@)9Em(=*F}?2Fy:FBF2JFzK}NK}9KyK}K}eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:45:39.8856 LVL= 15632, 15137, 14882, 20131, AGC= 54, IDX= 464, 0.18,-1.229,-1.249, 2.957,-2.049, PHS= 0.909, 0.847,-1.280, RAW= 31.4, -4.4, CAL= 31.8, -8.1, ROT= 118.2, 8.1 Ygot valid direction response: 22:45:39.8856 LVL= 15632, 15137, 14882, 20131, AGC= 54, IDX= 464, 0.18,-1.229,-1.249, 2.957,-2.049, PHS= 0.909, 0.847,-1.280, RAW= 31.4, -4.4, CAL= 31.8, -8.1, ROT= 118.2, 8.1 PDAT read: Bearing 118.2, 8.1 (Local) ~Local bearing/azimuth received: Bearing 118.2, 8.1 (Local) DAT read: Range 10 to 50 : 89.3 m (Round-trip 119.1 ms) speed -0.4 m/s ,DAT read: user:2857> BDAT read: Tx time:22:45:40.9624 G $Ping request sent. I II ] :publishing transmit ping time ] Fpublishing direction and range infoa9eAx?>ҳ?ȸ$?yeBae=e!; e":)eNIe6ie9h?eX?e ףeK ?enF eq?)eIe@ie>aaeZRd?,(xb峿)eſIedW=ie빸?eaa :publishing transmit ping time  Fpublishing direction and range infoa9eAx?>ҳ?ȸ$?yaaaa a)aIaiaaaaa a)aIaiaaaeZRd?,(xb峿)aIaiaaaa!)[w,nAyv$BvM!IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:45:40.9616 Mb@Mb@Mb@ )Y\(\?I +Mbp?y?9;A x@)@IyAI$I<3٢- > -,=9-Q 5>11 5G٣1y= => ENusing accuracyPremultiplier from configAMn59E-?Mn5YE iE[@U?U:U9U@E[EE;E;En5 xAkJq?kn k kΈdA:kBBkeBZk(V?" g $@S@j+E@Ax?>ҳ?ȸ$?Jk빸?Rk*Ȁ_G5:A@]I oL@,:d,M@q=tv?j_`?v\+o\?"kxcB*k Bkb?kW 2k]BkkkkYBk ?U addTargetRange:: Added new target pos. range: 89.300003 m, deltaT: 3.530911 s, deltaX: 1.400002 m, approachRate: 0.396499 m/s, rangeRepo size: 4 e Added new target pos. range: 89.300003 m, bearing: 58.789294 deg, lat: 36.904905 deg, lon: -122.119535 deg, deltaT: 3.530911 s, deltaX: 1.400002 m, approachRate: 0.396499 m/s, posRepo size: 4 ZjaDNOT Ignoring new targets: 89.30 m.BjJj ProNav: ac range: 89.300003 m, nav range: 72.674904 m, bearing: 60.452846 deg, approach rate: 0.000000 m/s, LOS rate: 0.517959 deg/s, cmd heading: 341.478695 deg, new cmd heading: 342.253822 deg. 2jHeadingCmd: 5.973456 target range: 89.300003 and range: 89.30 m. j&@jjjihhhhBfffrf @3SV@bf `x?ɛY]; Y]?IY 9ɚiIV=IԔii:)&@)EE*E"EHk>I I!IIlBI =&I.I6I&<:IJ FBI]ǧCJI]ǧCRIYZI] =bI] =jI]6m Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF "G =G p=) J J }J J J J S9J J J J ;J :J :9 M |uAe A %Y |uAy B E *$?IA G`KҽG?G?GBO?ccw,AF@YF@F8Ľ9Fm>yFHM?"?ǿۿ QO? 4Dſ`y?O??ɨF@Fm;DyR7BRd!II^I^٢b٪= b<=9fQ f>hl nG٣lyn@V= n> vNusing accuracyPremultiplier from configpzn59r@?zn5Yr} ir@xzez@r[Er;rV;rn5tB AlEZj1=DNOT Ignoring new targets: 89.30 m.Bj=<Jj=zKa3JK 9KK K %-/--))%$    - Will construct direction to contact in vehicle frame from tetrahedron phase data.qiw,quA HIHZϳ@YZߺ@ZȽ9Zpe>yZH??@AǿSۿz? {ĿK? ^W?@K ?ɨZϳ@Z;ZCy~CB~s!I Mb@Mb@Mb@    ) Y X9v?J +Mbp?y ? H  XA ) @I  A y AAAI%I%i٢5#R= 56=9=Q =>99 =G٣=OGyE߬< E> MNusing accuracyPremultiplier from configIUn59MZS?Un5YM iM@]??]:]$]@M[EM[;M-;Mj n5euB eAeiEZjDNOT Ignoring new targets: 89.30 m.BjI<JjI< ProNav: ac range: 89.300003 m, nav range: 72.701103 m, bearing: 60.865750 deg, approach rate: 0.010180 m/s, LOS rate: 0.455615 deg/s, cmd heading: 342.880742 deg, new cmd heading: 343.492248 deg. 2jW<HeadingCmd: 5.995070 target range: 89.300003 and range: 89.30 m. j׿@jjjihhhhÃBfffrfbfX?ɛ~ < 隕?I bɚiIS=Iȃii<ӽ)׿@)*Fa2Fa:FaBFeG5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G wG G ZHQ RHU AAH] l>I] C I] !II] BIY &IY .I] =D6I] <:I] 3 FGq By O >pw,oKAf;@Yf}K@f̽9fdi>vWill construct direction to contact in vehicle frame from tetrahedron phase data.yfHZ??Yǿ4ڿm?@ſ ݉???ɨf;@f;fCyXB!II}I}@٢J= V=9Q > G٣y = > Nusing accuracyPremultiplier from confign59c?n5YȮ iD@@[E;w;n5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.30 m.Bj<Jj<  ProNav: ac range: 89.300003 m, nav range: 72.702797 m, bearing: 61.039672 deg, approach rate: 0.004415 m/s, LOS rate: 0.453374 deg/s, cmd heading: 343.492235 deg, new cmd heading: 344.013975 deg. 2j<HeadingCmd: 6.004177 target range: 89.300003 and range: 89.30 m. j7"@jjjih!h!h!h!f)f)f)rf)bf-[?J]J]J]1JYJ]v:J]9J]3JYJ]T;J]V;J]g;J]h;ɛy}e< y}?Iy  ;ɚiI HR=I2ڎiiG˽)7"@) }+$?I*F ?2F :F BF P0JF GrA GGrؽGBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Jvw,&A6@Y6$@6<ͽ96Fk>y6H@2 ?M?.ǿٿD?`.ſ?X??ɨ6@6;6CyBaBB!IIJIJ2٢f0= jW=9j=FQ j>ll nG٣lyr= r> vNusing accuracyPremultiplier from configtzn59vs?zn5Yv iv@x~~@v[Ev~ ;vG;vn5vB AhEZjDNOT Ignoring new targets: 89.30 m.Bj;Jj;U ProNav: ac range: 89.300003 m, nav range: 72.701988 m, bearing: 61.212520 deg, approach rate: -0.002018 m/s, LOS rate: 0.431382 deg/s, cmd heading: 344.013980 deg, new cmd heading: 344.532513 deg. 2j]<}HeadingCmd: 6.013227 target range: 89.300003 and range: 89.30 m. j}Zl@jyjjihhhhzKCMKKK Kf1f9fArfIbfU`n?Will construct direction to contact in vehicle frame from tetrahedron phase data. ? p=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964857ɛ=B= L< 9="?Ii m& ɚiiiImpP=Iu 8iqiuB)uZl@)y m,$?IuhE +=*Fe ?2Fa :Fa BFe N1JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211248GuQӽGAHMi>IMC IM("IIMփBII&IMGD.IMy6H@|?@u'?7ƿJؿ|?`r ǿ ?@??ɨ6 @6~;6CyBdBB!IMb@Mb@Mb@ )YV-?S㥛{Gzty ?/ݼף K@)@I AyAI"Iq3٢S< =9i;Q > G٣OGyLK= > Nusing accuracyPremultiplier from confign59?n5Y i@ ?:ݾ@\E{;;n5 AZj)5DNOT Ignoring new targets: 89.30 m.Bj5<Jj5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727189w,A2!@Y2@2@ǽ92vq>y2HP?@n?5.ƿYQ׿@ 9? K[ǿ`޸?༶?a?ɨ2!@2!;0yBeBB!IIJIJ[3٢f] ; f^=9f>;Q f>hh jG٣hyj = n> =Nusing accuracyPremultiplier from config9En59='?En5Y=P i=0@IM*׾M@=\E=:=:=kn5UwB UAUeEZjDNOT Ignoring new targets: 89.30 m.Bjx;Jjx; ProNav: ac range: 89.300003 m, nav range: 72.664612 m, bearing: 61.626774 deg, approach rate: -0.042161 m/s, LOS rate: 0.434456 deg/s, cmd heading: 345.280488 deg, new cmd heading: 345.775531 deg. 2j<HeadingCmd: 6.034922 target range: 89.300003 and range: 89.30 m. j@jjjihhhhfffrfbf@b@ɛB8/< ,$?I E׼ɚiIJM=I8~ii7)@) zK>KK9KK K"))%"E=<}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:45:43.4873 TRx dataTimestamp_ set to:1736376344.614479checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992681JeJeJe0JaJe}:Jey9Jeـ3Jaa}@a}@a}@a}@*F?2F:FBF'5JF I"G-=G-=GU Q½G1 B9 O] >Čw,5ABVl@YB{@BĽ9Beo>yBH@?v?ſֿ\?@ɏǿ`x???ɨBVl@B;BCyLN!I)P PZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235230  @   @  @  @ I&I3٢%m+; %6=9-b;Q ->11 5G٣1y5Q< => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Mn59=خ?Mn5Y=ֹ i=ƹ@]+:Y]:]о]@=\E=i;=5>=n5i mAiZjDNOT Ignoring new targets: 89.30 m.Bj;Jj; ProNav: ac range: 89.300003 m, nav range: 72.643799 m, bearing: 61.816592 deg, approach rate: -0.047364 m/s, LOS rate: 0.432094 deg/s, cmd heading: 345.775540 deg, new cmd heading: 346.345136 deg. 2jE<HeadingCmd: 6.044863 target range: 89.300003 and range: 89.30 m. jo@jjjihhhhfffrfbf@ @ɛ< 隵$$?I tҼɚiIK=I tii)o@)EE*E"EHg>I IA"IIBI&I.I6I<:I* F*F-?2F):F)BF-4JF)mWill construct direction to contact in vehicle frame from tetrahedron phase data.m9w,ROA6Ƕ@Y6ֽ@6962n>y6H??$&ſտ{?`ǿ`?:`?`?ɨ6Ƕ@6G;6CyfhBf!IInInT3٢vob< vO=9zr;Q z>xx zG٣~OGy~r< ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from confign59п?n5Y iK@ :{:ʾ@ \EI;V? n5! %xA-bEMB*** querying acoustic contact ***jIjIZjQeDNOT Ignoring new targets: 89.30 m.Bje.;Jje.;u ProNav: ac range: 89.300003 m, nav range: 72.623283 m, bearing: 61.988000 deg, approach rate: -0.051924 m/s, LOS rate: 0.433953 deg/s, cmd heading: 346.345123 deg, new cmd heading: 346.859478 deg. 2j}<HeadingCmd: 6.053840 target range: 89.300003 and range: 89.30 m. j@jjjihhhhfffrfbf @ɛB+< ;%?I yμɚiI.J=Ihjii )@)*FU?2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 22:45:43.4874 LVL= 17024, 15313, 16530, 23475, AGC= 55, IDX= 465, 0.19,-3.024, 2.880, 1.003, 2.214, PHS= 1.134, 0.713,-1.214, RAW= 39.7, -5.9, CAL= 41.6, -10.6, ROT= 108.4, 10.6 -Ygot valid direction response: 22:45:43.4874 LVL= 17024, 15313, 16530, 23475, AGC= 55, IDX= 465, 0.19,-3.024, 2.880, 1.003, 2.214, PHS= 1.134, 0.713,-1.214, RAW= 39.7, -5.9, CAL= 41.6, -10.6, ROT= 108.4, 10.6 5PDAT read: Bearing 108.4, 10.6 (Local) 5~Local bearing/azimuth received: Bearing 108.4, 10.6 (Local) =DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed -0.4 m/s E,DAT read: user:2858> UBDAT read: Tx time:22:45:44.6125 ]$Ping request sent.] h?iT`$$;GH)oI<=iõ?X :publishing transmit ping timeYFpublishing direction and range info9'?ę?XeB?y )Ii )Ii h?iT`$$;GH)IiGԣGQBaO}>zK olLK 9K K K " BK9 :K9  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:45:44.6117 ԙw,;iAJJJJJ:J9JJ b.$?I`r{'@Yr6@r9r&l>yrH@H ?@s?сĿ` 1տj?ǿz?a"??ɨr{'@r`Ɗ;py`B!I        Mb@Mb@Mb@ )Y(\?~jtMby?/A @)@IhAyAII#3٢ 0=9#;Q >   G٣ y< > Nusing accuracyPremultiplier from confign59$Յ?n5Yо ix@T:?:Ⱦ@\E;T;%n5xB A_Ek6˥?kuC k k:ZWA:k3BBkBZk`?"ЍT( &@ b$R@ƓJ@'?ę?XeB?Jkõ?RkX *h^7@rs~ J@ߟ@Q@I?-k?~WE8`?"kqVB*k8AkH^?k.vi: 2kCkk]9 kkBkH>? addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.794032 s, deltaX: 1.299995 m, approachRate: 0.342642 m/s, rangeRepo size: 4  Added new target pos. range: 90.599998 m, bearing: 65.969903 deg, lat: 36.904905 deg, lon: -122.119545 deg, deltaT: 3.794032 s, deltaX: 1.299995 m, approachRate: 0.342642 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.BjJj ProNav: ac range: 90.599998 m, nav range: 71.832077 m, bearing: 61.880912 deg, approach rate: 0.000000 m/s, LOS rate: 0.433953 deg/s, cmd heading: 346.859491 deg, new cmd heading: 347.519587 deg. 2jHeadingCmd: 6.065361 target range: 90.599998 and range: 90.60 m. jp@jjjihh!h!h%Bf!f)f)rf5`fV@bf5 ;?ɛB _< 隥m ?I ɼɚiI[H=I\ _ii)p@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FqBFqJFqH f>I  I I I  =&I .I 6I <:I  FG 4G ?G ?G B O >]w,/ۃA @6xZ@Y6i@6y96@;i>y6H`;?? 6Ŀ@RԿ@? ǿ`f??@ ?ɨ6xZ@6;6CyNNBN!IIVIV ٢b[ͽ bi=9bc:Q b>dd fG٣dyfo< j? nNusing accuracyPremultiplier from configlrn59n6ㅜ?rn5Yn in@pržr@n\En:n:n'n5x zRAxZjDNOT Ignoring new targets: 90.60 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 90.599998 m, nav range: 71.813499 m, bearing: 62.023906 deg, approach rate: -0.056938 m/s, LOS rate: 0.438374 deg/s, cmd heading: 347.519588 deg, new cmd heading: 347.948673 deg. 2jm<HeadingCmd: 6.072850 target range: 90.599998 and range: 90.60 m. jT@jjjihhhhff f rf bfEܚ? U/$?IQɛ BE< 隝?I żɚiIG=I0bWiio)T@)*Fy2Fy:FyBF}o0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]G B O >w,AF@YF@F2%9Fe>yFHq5?X?@ÿUԿ k?koǿ?3X?j?ɨF@F(;FCyRFBRx!IIZIZ٢b bJ=9f;Q f>dh jG٣jOGyj< j> rNusing accuracyPremultiplier from configpvn59r?vn5Yr ir@tvv@r\ErL:r:ro+n5~yB ~A~\EZj)-DNOT Ignoring new targets: 90.60 m.Bj5<Jj5<w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y%>B%m!IMb@Mb@Mb@ )YCl?(\µy?LA @)C@I Ay@II<٢ :=9Q > G٣y > Nusing accuracyPremultiplier from confign59?n5Y iw@?:澑 @\En;;G/n5 AZj9=DNOT Ignoring new targets: 90.60 m.BjEl<JjElIC I("IIփBI =&I.I6I<:I FBIæCJIæCRIZI =bI =jI*K5ɛe"BmuA< im(?Ii msɚiiqIu:$w,^A6+@Y6F;@6 96]>y6He?3?@#¿~Iӿ)?`ǿ<?XX ZG٣Xy^C= ^> fNusing accuracyPremultiplier from config`jn59b?jn5Yb ib:@hn\޾n@b\Ebp/;bB;bv2n5rzB r^ArYEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.60 m.Bj<Jj<- ProNav: ac range: 90.599998 m, nav range: 71.771431 m, bearing: 62.568397 deg, approach rate: -0.026077 m/s, LOS rate: 0.453037 deg/s, cmd heading: 349.085368 deg, new cmd heading: 349.582407 deg. 2j-u<5HeadingCmd: 6.101364 target range: 90.599998 and range: 90.60 m. j5`>@j1j1j1i1h1h9h9hAfAfAfArfAbfM~+?ɛ'^< ?I }-ɚiI%t)C=I%L/:i)i-ȟ)-`>@))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFG#mGIBQOu6>zKE k3IKA KA KE KE  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255404 1 I1 ePw,BAJ.J.J.1J,J.:J.9J.3J,JJo@YJ~@JHΠ9J-\>yJH|?Xd?jҿ`?5ǿ? 9?*?ɨJJo@JGԉ;JCy^'B^P!IMb@Mb@Mb@ )Y9v?x&V-y?7 mA @)-@I Ayz@I%I)3٢ 7=9 G٣OGy <  > %Nusing accuracyPremultiplier from config-n59+?-n5Y\ i@-?-:-5@!\E)G;Y;b6n5A EAAZjiuDNOT Ignoring new targets: 90.60 m.Bju<Jju< ProNav: ac range: 90.599998 m, nav range: 71.777168 m, bearing: 62.782927 deg, approach rate: 0.012783 m/s, LOS rate: 0.477961 deg/s, cmd heading: 349.582414 deg, new cmd heading: 350.225927 deg. 2j<-HeadingCmd: 6.112596 target range: 90.599998 and range: 90.60 m. j-b@j1j1j1i1h9hAhihmՂBfififqrfqbfuc@ɛ$B+< p?I fUɚiIA=I .ii;t)b@)*F?2F:FBF2JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503544H _>I  I "II BI  =&I .I ;D6I <:I FG- G5 ?G5 ?G B! OE >6w,@A6Ƨ@Y6E@696Z>y6H`?@?@_ҿ?.ǿP? ?`70?ɨ6Ƨ@6;4y>B>E!IIJ*IJ3٢RtK Rb=9VTT VG٣TyZ< Z> bNusing accuracyPremultiplier from config\bn59^;?fn5Y^ i^1@dff@^$\E^:^:^9n5h jAnVEZj|DNOT Ignoring new targets: 90.60 m.Bj" <Jj" <% ProNav: ac range: 90.599998 m, nav range: 71.781067 m, bearing: 62.954163 deg, approach rate: 0.010919 m/s, LOS rate: 0.479567 deg/s, cmd heading: 350.225927 deg, new cmd heading: 350.739591 deg. 2j%<-HeadingCmd: 6.121561 target range: 90.599998 and range: 90.60 m. j-@j)j)j)i)h)h1h1h1f9f9fArfAbfE @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754949ɛ%Bup< >I vɚiI@=I%%i!i%)%@)) 1$?I*F?2F:FBF_0JFGqA GG2uGBO>>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:22:45:47.1395 u TRx dataTimestamp_ set to:1736376348.388669} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007940`w,|A2@Y27@292Y>y2H`B?n?@`ѿ ~)?7jǿ ?@?P2?ɨ2@2/͈;0yN"BRK!IiV)>IV=IZ3IZʴ3٢bv< bH=9fdd jG٣hyj< j> rNusing accuracyPremultiplier from configlrn59nM?rn5Yn in@tvz@n(\En1;n1;n=n5~{B ~AXEZj!-DNOT Ignoring new targets: 90.60 m.Bj-5<Jj-5I Rɚ!i)I-?=I=i9i=S)=c7@)9*F?2F:FBFJFzKMRIKM9KIKMKM  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262648 3$?IGME"G B O5 >rw,S8AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed -0.4 m/s ,DAT read: user:2859> BDAT read: Tx time:22:45:48.2625 "$Ping request sent."aa eG٣eOGym m> uNusing accuracyPremultiplier from configq}n59uc?}n5Yu7 iuη@} ?:Z @u-\Euf;u;uYAn5 AUEH\>IC I!IIBI =&I.I6I<:I F addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.527038 s, deltaX: 1.500000 m, approachRate: 0.425286 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.BjH <JjH < ProNav: ac range: 90.599998 m, nav range: 71.809273 m, bearing: 63.391921 deg, approach rate: 0.050744 m/s, LOS rate: 0.494077 deg/s, cmd heading: 351.324031 deg, new cmd heading: 352.052504 deg. 2j<HeadingCmd: 6.144475 target range: 90.599998 and range: 92.10 m. j@jjjihhhhBfffrf`fW@bfI  Kiɚ i I V>=I ii9Ž)@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:45:48.2617 4$?IhJ J J 0J J ̈́:J H9J ـ3J J ;a% J ;a% J Q;a% J R;a% G 孽G B O >Crw,7RA6Wa@Y6p@6G܉96u\>y6H?m?žп@A?ȿ 48?H?0?ɨ6Wa@6u;6CyhhIrIr̍٢zR; z{=9~}{I  ɚiI==I]ii+㶽)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fq:FqBFu.1JFq"G}=G}=GM&G BO-->zK "KK +9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. %= R= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757435Qw,lA yrH?ް?@/п`G?*ȿn??(*?ɨr@r؉;rCy~#B~L!I) Mb@Mb@Mb@ )Y+?:vʿQy?T @)@IQAyQ@II2٢< ;=9[:Q > G٣y ;q<  > Nusing accuracyPremultiplier from confign59?n5Y iX@%)?%:%X%@5\E;M;Hn5) -A)ZjQ]DNOT Ignoring new targets: 90.60 m.Bj]<Jj]< ProNav: ac range: 90.599998 m, nav range: 71.851280 m, bearing: 63.782108 deg, approach rate: 0.063507 m/s, LOS rate: 0.523226 deg/s, cmd heading: 352.537782 deg, new cmd heading: 353.222651 deg. 2j<HeadingCmd: 6.164898 target range: 90.599998 and range: 92.10 m. jF@jjjihhhhBfffrfbf?ɛ+Bu.EA< y}>>Iy iɚiI\<=I@ii½)F@)*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005905H Y>I  I !II BI  =&I .I :D6I <:I FG 8uĽG B O% >w,ZA>Ź@Y>a@>/9>X`>y>H ? ?Ž=пS?ȿ`?`?+?ɨ>Ź@>_;>CyF4BFa!IIRIR<٢Z= Zb=9Zs;Q Z>\\ ^G٣^OGyb< b> fNusing accuracyPremultiplier from configdjn59f5?jn5Yf8 if@hn n@f9\Ef:f:f-Kn5r}B rEArOEZjDNOT Ignoring new targets: 90.60 m.Bj<Jj<- ProNav: ac range: 90.599998 m, nav range: 71.873711 m, bearing: 63.970995 deg, approach rate: 0.061840 m/s, LOS rate: 0.520593 deg/s, cmd heading: 353.222659 deg, new cmd heading: 353.789125 deg. 2j-<5HeadingCmd: 6.174785 target range: 90.599998 and range: 92.10 m. j5ח@j1j9j9i9h9h9hAhAfAfAfIrfIbfM ?ɛu,B}Bה< 隅?I 0ɚiIe;=I޽iiɽ)ח@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257048JK3 K.-KK"KJJJJJ:J9JJJ;J;JF;JG;*F-?2F1:F1BF5t4JF1 u5$?IyGUu[ýG1BAOe>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508990tw,7A6@Y6L @6TI96b>y6H&?6?e Ͽ`:\?@-ɿJf?X?(?ɨ6@69;6CyB@BBp!IIJIJ٢nCn= nG=9r8:Q r>pt vG٣tyv< v> zNusing accuracyPremultiplier from configx~n59z?n5Yz izǴ@ @z=\Ezz ;z ;zNn5  AZj1=DNOT Ignoring new targets: 90.60 m.BjE<JjEн)u@)*FU?2FQ:FQBFUP0JFQG-]ŽWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768713G zKjIKs9KKKBYRK?JK?OMS> 6$?Iw,8AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016975 yZB!IuMb@Mb@Mb@qqq q)qYuK7A?A`"˿ktyu "?uYu 0u A uS@)u@Iu3@qyup@I'I@3٢ = 1=9Q > G٣y > Nusing accuracyPremultiplier from confign59?n5Y i@?+?: @B\Eo7;%;Rn5HUV>IUC IU!IIUBIU =&IQ.IQ6IU <:IU$ F ALEZjDNOT Ignoring new targets: 90.60 m.Bj <Jj < ProNav: ac range: 90.599998 m, nav range: 71.929558 m, bearing: 64.428234 deg, approach rate: 0.063543 m/s, LOS rate: 0.492513 deg/s, cmd heading: 354.429909 deg, new cmd heading: 355.160240 deg. 2j<HeadingCmd: 6.198716 target range: 90.599998 and range: 92.10 m. j[@jjjihhhhBfffrfbf `op@ɛm1BO< 隝?I 囼ɚiI8=Iii)[@)*F]?2FY:FaBFe5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269906J J J J J M:J 9J J J ;J ;J ';J '; q Iq Gy G G GQ Ba O >w,LA2I@Y2Ƞ@2Dfp92f>y2H@7?? l`@kͿ7t?@ ʿ ^?w?X$?ɨ2I@2l_;0y>wBB!IIJIJ#3٢R&> Rm=9RR Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776313zK K 9K K K BK- pA:K) = 7$?I9 \w, AVӺ@Y@Oj9q h>yH %?!?  j̿@~?@sʿ E?@?!?ɨVӺ@;y-B-!IMb@Mb@Mb@ )Y'1Z?ɿS㥛y"?L/ݼI A =@)@II@yI"Iq3٢= %5=9%W;Q %>)) -G٣)y-< 5> =Nusing accuracyPremultiplier from config9En59=膜?En5Y= i=@E*?E:EM@=J\E=U;=;=Yn5Q U@QZjy}DNOT Ignoring new targets: 90.60 m.Bj<Jj< ProNav: ac range: 90.599998 m, nav range: 71.970917 m, bearing: 64.849947 deg, approach rate: 0.047078 m/s, LOS rate: 0.530604 deg/s, cmd heading: 355.709149 deg, new cmd heading: 356.424975 deg. 2j<HeadingCmd: 6.220789 target range: 90.599998 and range: 92.10 m. j@jjjihhhh͂BfffrfbfW^@ɛ4B< -?I {ƓɚiIM6=Iii-y޽)-@))*F2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:45:50.7912 -TRx dataTimestamp_ set to:1736376351.920657-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026032H= T>I9  I= "II= ƒBI=  =&I9 .I9 6I= <:I9 BIȤCJIȤCRIZI =bI =jIȾ5G% wG- ?G- ?GI Bi O >)% = ) w,Ajc~Gx  EYAyEeBU ,@YU;@Ub9UOj>yUH 9??͹T˿?ʿW?Q??ɨU ,@U;UCymBm!IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277078) IIm?3٢1> R=9y;Q > G٣y< > Nusing accuracyPremultiplier from confign59?n5Y\ i@@O\E<<$]n5B @HE 8$?IJJJJJ:Ju9JJJ8;J9;J/;J/;Zj%DNOT Ignoring new targets: 90.60 m.Bj%N <JjUN < ProNav: ac range: 90.599998 m, nav range: 71.987320 m, bearing: 65.055907 deg, approach rate: 0.038529 m/s, LOS rate: 0.483662 deg/s, cmd heading: 356.424980 deg, new cmd heading: 357.042694 deg. 2j<HeadingCmd: 6.231571 target range: 90.599998 and range: 92.10 m. ji@jjjihhhhfffrfbf` @ɛ6Bt= IM=?II MɚQiQIU5=IUiSiYi]Ojݽ)]i@)*F5?2F9:F9BF=_0JF9- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529234G ݽG B O > w,!A6x@Y6@6n^96/l>y6H-J? ?]ɿ`.?`H˿m̫?7?L?ɨ6x@6;6Cy>ȃB>"IIJ'IJ@3٢R&= R\=9V-<;Q V>TT VG٣VOGyZ< Z> bNusing accuracyPremultiplier from config\bn59^?fn5Y^l i^@dfbf@^S\E^X:^:^_`n5h jo@lZj|DNOT Ignoring new targets: 90.60 m.Bj'<Jj'< ProNav: ac range: 90.599998 m, nav range: 72.001450 m, bearing: 65.251768 deg, approach rate: 0.042339 m/s, LOS rate: 0.586768 deg/s, cmd heading: 357.042702 deg, new cmd heading: 357.630148 deg. 2jX<%HeadingCmd: 6.241824 target range: 90.599998 and range: 92.10 m. j%@j!j!j)i)h)h)h)h1f1f1f1rf1bf@ @ɛ8BB0= H?I 5Zɚi I z4=I j)iiۿ߽)5@)9*F?2F:FBF*1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:45:50.7912 LVL= 14192, 15073, 14098, 21235, AGC= 57, IDX= 440,-0.15, 1.741, 0.985,-0.661, 0.425, PHS= 1.404, 0.607,-1.089, RAW= 48.2, -8.4, CAL= 53.6, -14.7, ROT= 96.4, 14.7 zKMBoHKIKIKMKM   RK ?JK> ImYgot valid direction response: 22:45:50.7912 LVL= 14192, 15073, 14098, 21235, AGC= 57, IDX= 440,-0.15, 1.741, 0.985,-0.661, 0.425, PHS= 1.404, 0.607,-1.089, RAW= 48.2, -8.4, CAL= 53.6, -14.7, ROT= 96.4, 14.7 PDAT read: Bearing 96.4, 14.7 (Local) ~Local bearing/azimuth received: Bearing 96.4, 14.7 (Local) DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed -0.1 m/s ,DAT read: user:2860> %BDAT read: Tx time:22:45:51.9125 %$Ping request sent.%ڑڑەǍm?'ˆCK¿)ەPIەEF>iە2?ە"Cۑۑ:publishing transmit ping time!Fpublishing direction and range infoؑ9ؕ[v=?8+є?;ʒG(?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەǍm?'ˆCK¿)ۑIۑiۑۑۑۑG5z۽GBO% >= Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,;A2׻@Y2@2 oX92p>y2H i]?`G?J`Juȿ ӟ?`˿` ?ٲ?`?ɨ2׻@25;0yBBBE"IMb@Mb@Mb@ )Y~jt?7A`¿Qy?u A &@)I`@y@II3٢(> 7=9eY;Q 5>19 =G٣9y=< => MNusing accuracyPremultiplier from configAMn59E#?un5YEv iEܱ@u- ?u:uվu@EW\EE;E;EYdn5B !@EEjHbH<HP>IC IZ"IIBI =&I.I9D6I<:IkAb?kv< k kCS+A:k̺BBkBZk?"p6y,@-A0zP@*P@[v=?8+є?;ʒG(?Jk2?Rk"C*[3@q#G@CS@+?Jrb?E"?"k9B*kƘAkd2m?k!@,4 2kCkb?kW k]Bk߄BkP? addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.785037 s, deltaX: 1.300003 m, approachRate: 0.343458 m/s, rangeRepo size: 4  Added new target pos. range: 93.400002 m, bearing: 67.577022 deg, lat: 36.904892 deg, lon: -122.119607 deg, deltaT: 7.312075 s, deltaX: 2.800003 m, approachRate: 0.382929 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 93.40 m.BjJjM ProNav: ac range: 93.400002 m, nav range: 66.436684 m, bearing: 64.598929 deg, approach rate: 0.000000 m/s, LOS rate: 0.586768 deg/s, cmd heading: 357.630153 deg, new cmd heading: 358.504620 deg. 2jIUHeadingCmd: 6.257086 target range: 93.400002 and range: 93.40 m. jU :@jQjQjYiYhYhYhYhe0BfaffrfYW@bfU?ɛ;B= vY?I mɚiIy3=I (ռi i) :@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 9$?IhJ J J J J :J 9J J J ;J ;J <;J <;G Y۽G rAG qAG B O >w,|UABJ+@YB:@BW9Bus>yBH!m? u?з+ǿ ?u̿A???ɨBJ+@Bq;BCyJBJc"IiRC=IR=IVIV٢Z~> ^`=9^9Q ^>`` bG٣`yf.< f> jNusing accuracyPremultiplier from confighnn59j+5?rn5Yj ij@prVоv@j[\EjD;juE;jvgn5zB z@zBE B*** querying acoustic contact ***j j Zj%DNOT Ignoring new targets: 93.40 m.Bj%3.<Jj%3.<5 ProNav: ac range: 93.400002 m, nav range: 66.428940 m, bearing: 64.791029 deg, approach rate: -0.024554 m/s, LOS rate: 0.609185 deg/s, cmd heading: 358.504608 deg, new cmd heading: 359.080956 deg. 2j5  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926652zK= LK= 9K9 K= K=  I 6Nw,3koAF,@YF@FX9F;w>yFH{?V?@k%ſ?cͿ??E?ɨF,@F.@;FCyB{"IMb@Mb@Mb@ )Y333333?bX9ȶ~jtx?y?E;vA )@I3@yf@II)٢%= -5=9=jҹQ E>II UG٣UOGy]< e> }Nusing accuracyPremultiplier from configqn59uoK?n5Yu iu@I?:@u_\Eu;xI I"IIFBI =&I.I6I#<:I- FG G ?G ?G B O >U0"w,4.A6@Y6C@6U96x>y6H` Rg=9V;Q V>TT VG٣XyZ = Z? bNusing accuracyPremultiplier from config\bn59^O\?fn5Y^ i^@dfgf@^b\E^:^:^~nn5h jW@n@EZjDNOT Ignoring new targets: 93.40 m.Bj <Jj < ProNav: ac range: 93.400002 m, nav range: 66.368546 m, bearing: 65.208951 deg, approach rate: -0.083139 m/s, LOS rate: 0.554393 deg/s, cmd heading: 359.795897 deg, new cmd heading: 0.335253 deg. 2j<<-HeadingCmd: 0.005851 target range: 93.400002 and range: 93.40 m. j-;j)j)j)i)h1h1h1h1f9f9f9rfAbfE?eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.427583ɛBB= '}?I "eɚi!I%L1/=I-;i)i5 )5;)9 }:$?Iy*F?2F:FBFZ0JFGGB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679397O= >\(w,A26K@Y2Z@2L92dx>y2Hi??I@7¿e?ͿY?`??ɨ26K@2{;2Cy:RB:"I)@ @DFAIJIJ3٢R= RJ=9R;Q R>TT VG٣TyV= Z> ^Nusing accuracyPremultiplier from config\bn59^p?bn5Y^ i^D@`ff@^f\E^:^:^rn5jB j@j=EZj|DNOT Ignoring new targets: 93.40 m.Bj <Jj < ProNav: ac range: 93.400002 m, nav range: 66.334702 m, bearing: 65.418772 deg, approach rate: -0.083844 m/s, LOS rate: 0.520066 deg/s, cmd heading: 0.335253 deg, new cmd heading: 0.965011 deg. 2ju<%HeadingCmd: 0.016843 target range: 93.400002 and range: 93.40 m. j%<j!j!j)i)h)h)h)h1f1f1f9rf9bf=Ԕ?ɛeDBmo= im|?Ii mWɚiiqIu@-=I.w,VA6y@Y6@6jB96X_y>y6Hۮ??ٳ`?:ͿK?`?T?ɨ6y@6;6CyRbBV"ImMb@Mb@Mb@iii i)iYm^I +?lMbp?ymX?mm;mA m@)iIm@iym@II3٢= 1=9|;Q >ZHRHHL>IC I#IIBI =&I.I6I(<:I. F G٣OGy< > Nusing accuracyPremultiplier from confign596?n5Y i@?:F@k\EӁ; ;vn5 @Zj)-DNOT Ignoring new targets: 93.40 m.Bj5~<Jj5~5w,FAV@YV@V49Vy>yVH_?~?`}j?r0ο`s??\?ɨV@Vn;Ty^sB^"IIf$If<3٢r= rX=9rtt vG٣tyz"= z> ~Nusing accuracyPremultiplier from config|n59~ϙ?n5Y~ i~޲@5+ @~n\E~] ;~ ;~\yn5B @:EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.40 m.Bj <Jj <  ProNav: ac range: 93.400002 m, nav range: 66.213547 m, bearing: 65.841023 deg, approach rate: -0.145717 m/s, LOS rate: 0.481764 deg/s, cmd heading: 1.670647 deg, new cmd heading: 2.232873 deg. %Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6880522jUP<]HeadingCmd: 0.038971 target range: 93.400002 and range: 93.40 m. j] =jYjYjYiahahahahafififirfibfu@@ɛMJBMy~= 隕;?I 2u8ɚiI|*=I =iis) =)EoM<*Fm ?2Fi :Fi BFm P0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:45:54.4416  TRx dataTimestamp_ set to:1736376355.700770 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940446 I J= J= J= 0J9 J= ̝:J= 9zKe }@LKe 9Ka Ke Ke !   #)/33/-6>BD@HPW`kswuxJ= ـ3J9 G Y۽GqBO>=w,A @2e @Y2@2,92~y>y2H?!b?`'``?UQο7? R?`?ɨ2e @2]m;0yFBJ"I]Mb@Mb@Mb@YYY Y)YY]9v?MbpMb`?y]?]];] A ]@)YIYYy]@I}I}M3٢p= "=9/v;Q > G٣y< > Nusing accuracyPremultiplier from confign59ò? n5Y iI@?:ͽ@s\E8;;}n55B 5@=7EZjimDNOT Ignoring new targets: 93.40 m.Bju <Jju < ProNav: ac range: 93.400002 m, nav range: 66.120110 m, bearing: 66.085690 deg, approach rate: -0.186619 m/s, LOS rate: 0.489356 deg/s, cmd heading: 2.232873 deg, new cmd heading: 2.967871 deg. 2j<HeadingCmd: 0.051799 target range: 93.400002 and range: 93.40 m. jP+T=jjjihhhhBfffrfbf%% @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191582ɛNBo= !?I &ɚiIK)=I%P+T=i!i9)P+T=)EE*E"EHmK>Ii ImH#IImBIi&Ii.Ii6ImA<:Im? F*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:45:54.4416 LVL= 11792, 16209, 16242, 23715, AGC= 56, IDX= 429, 0.31,-0.125,-1.043,-2.521,-1.460, PHS= 1.423, 0.464,-1.063, RAW= 52.5, -7.6, CAL= 58.5, -13.7, ROT= 91.5, 13.7  Ygot valid direction response: 22:45:54.4416 LVL= 11792, 16209, 16242, 23715, AGC= 56, IDX= 429, 0.31,-0.125,-1.043,-2.521,-1.460, PHS= 1.423, 0.464,-1.063, RAW= 52.5, -7.6, CAL= 58.5, -13.7, ROT= 91.5, 13.7 G YĽ PDAT read: Bearing 91.5, 13.7 (Local)  ~Local bearing/azimuth received: Bearing 91.5, 13.7 (Local)  DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed -0.1 m/s m >$?Iq  ,DAT read: user:2861>  BDAT read: Tx time:22:45:55.5625  $Ping request sent. % :publishing transmit ping timeة % Fpublishing direction and range info؉ 9؍ .HX??E @?y؍ fB؉ ؍ .؍ Q? ٍ r?)ٍ \Iٍ 8iٍ $?ٍ h>ٍ bٍ j?ٍ  ڍ ?)ڍ GtIڍ i?iڍ Gt>ډ ډ ۍ ͻ`B?38N0'{Dw,X A)۵EԖI۵>i۵?۵DU۱۱N:publishing transmit ping timeRFpublishing direction and range infoر9ص.HX??E @?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵ͻ`B?38N0')۱I۱i۱۱۱۱x@Yd@F$9JXz>yH?0!?٭#2?}ο}???ɨx@;騅CyB"III<2٢' C=9U;Q >!! %G٣%OGy%k= -> UNusing accuracyPremultiplier from configQ]n59U!LJ?]n5YUV iU@Ye=e@Uw\EU :U:Uyn5i m7@kF?k*2" k kU A:kfBBkBZk=?"i'@Q)N@S]Q@.HX??E @?Jk?RkDU*Z6 (@ S#E@0g T@1[=jjjihhhhfffrflW@bfn?ɛ QB = Nj?I EɚAiAIEˉ'=IM>[=iIiMʼ)M>[=)IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:45:55.5617 *F2F:FBF_0JFG= G?G B OM ><1Jw,* Ar)޿@Yr@r9rx>yrH`?9g?/% ?lο??R ?ɨr)޿@rsx;rCy%B%"I=Will construct direction to contact in vehicle frame from tetrahedron phase data.I5I5ʴ٢< R=9;Q > I G٣y <  > MNusing accuracyPremultiplier from config9n59=ڇ?zKSNKػ9KKK{wqngdca`b`]ZWRJJJJJ\:J:JJn5Y= i=@1=ꗽ=@={\E=====n5 &@4EZjq}DNOT Ignoring new targets: 93.70 m.Bj'<Jj'< ProNav: ac range: 93.699997 m, nav range: 58.966686 m, bearing: 72.470679 deg, approach rate: -0.125157 m/s, LOS rate: 0.511105 deg/s, cmd heading: 3.618934 deg, new cmd heading: 4.281320 deg. 2jb<HeadingCmd: 0.074723 target range: 93.699997 and range: 93.70 m. jq=jjjihhhhff frfbfQ+?ɛTBI=  n?I  gɚiiiImK&=I}q=iyi}0)}q=)*F12F1:F1BF=`0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.jH] <bHY He H>Ia  Ie g#IIe ڄBIe =&Ia .Ie 8D6Ie ,<:Ie - FBI%ˡCJI%ˡCRI!ZI% =bI% =jI%'5G G G rAGi By O >Qw,y]H@?7u? qĨ-v?`Ϳf? ???ɨ]TF@]z ;]CymBm"I)q q-Mb@Mb@Mb@))) )))Y-"~?Mb?Mb`y-?-<-) ))-@I-@)y-@IEIE<٢Mۻ U/=9U]H;Q U>YY ]G٣Yy]f< e> mNusing accuracyPremultiplier from configiun59m?un5Ym im>@}?}:}ּ}@m\Em;m:mn5B K@1EZjDNOT Ignoring new targets: 93.70 m.Bj3<Jj3<Will construct direction to contact in vehicle frame from tetrahedron phase data.M ProNav: ac range: 93.699997 m, nav range: 58.895298 m, bearing: 72.714244 deg, approach rate: -0.183984 m/s, LOS rate: 0.628481 deg/s, cmd heading: 4.281320 deg, new cmd heading: 5.012859 deg. 2jMWw,` A:K@Y:@: 9:x6r>y:H@?a?rإ\6?%Ϳ`?5?4?ɨ:K@:I4;:CyFwBF"IIRIRF٢ZR Zj=9Z;Q Z>\\ ^G٣bOGyb%= b> fNusing accuracyPremultiplier from configdjn59f?jn5Yf  if|@hnEn@f\Ef;f;fn5p r@t B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 93.70 m.Bj%f<Jj%f<5 ProNav: ac range: 93.699997 m, nav range: 58.838009 m, bearing: 72.902484 deg, approach rate: -0.164170 m/s, LOS rate: 0.539950 deg/s, cmd heading: 5.012859 deg, new cmd heading: 5.578108 deg. 2j5H<=HeadingCmd: 0.097356 target range: 93.699997 and range: 93.70 m. j=b=j9j9j9i9hAhAhAhAfIfIfIrfIbfM`?ɛ}ZBۙ= 隅W?I ܻɚiI#=Ib=ii<)b=)*FM?2FQ:FQBFU3JFQ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. IG`ϻJJJ1JJ|:J:J3JzK5DNK59K1K5K5I?,>DA@=<7564110..*&"#! BKa:KepAGBO >E ^w,Dz AypB"I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726871Mb@Mb@Mb@ )Y&1?Mb?Qy?<u` A @)@I@y@I I 3٢% %5=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from config9En59=>?En5Y=+ i=@M?M:MM@=\E=o;=%;=n5UB ]Z@].EZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 58.768188 m, bearing: 73.142270 deg, approach rate: -0.154681 m/s, LOS rate: 0.531856 deg/s, cmd heading: 5.578108 deg, new cmd heading: 6.298281 deg. 2j<HeadingCmd: 0.109926 target range: 93.699997 and range: 93.70 m. j =jjjihhhhBfffrfbf?ɛ]B= ?I :ɚiIk%"=I =ii̽) =)HG>I Im#II߄BI&I.I6ID<:I= F*Fm?2Fi:FiBFmP0JFq"G}=G}=G-.qG5 ?G5%?- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978772G1 BA O] > A$?I idw, A:؟@Y:X@:,9:S=s>y:H`>?]t? ϙ ?ο?@??ɨ:؟@:g;:CyR`BR"IiVR>IV> V=V=IZIZm?3٢j뵽 jc=9j ll nG٣lyr= r> vNusing accuracyPremultiplier from configtzn59vn(?zn5Yv  iv@x~<~@v\Ev7;vZ8;vn5  a@ Zj)-DNOT Ignoring new targets: 93.70 m.Bj= <Jj= != 隝~?I ɚiI =Io=ii?ꦽ)o=)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231591*F?2F:FBF JF G<ŽGBOn>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482707Nkw,L A Ij{@Yj @j̼9jX3r>yjHq?+v;6?`Ϳ D??o?ɨj{@j0];jCyvUBv"II#I%x3٢I F=9P;Q > %G٣%OGy%< -> 5Nusing accuracyPremultiplier from config)5n59-B %@%+EZjquDNOT Ignoring new targets: 93.70 m.Bj} <Jj} < ProNav: ac range: 93.699997 m, nav range: 58.636799 m, bearing: 73.549691 deg, approach rate: -0.159272 m/s, LOS rate: 0.488484 deg/s, cmd heading: 6.868923 deg, new cmd heading: 7.521871 deg. 2j<HeadingCmd: 0.131281 target range: 93.699997 and range: 93.70 m. jn>jjjihhhhfff)rf)bf5`G@ɛeBIn= 隽Bx?I tɚiI=In>iiЫ)n>)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734900ZH ?ARH ?AH F>I C I N#II ńBI &I .I 6I <:I i FG kʽG B O >rw,i A2Y@Y2z1<2Aس92,q>y2H?@ C@-?? Ϳz?@?`?ɨ2Y@2؊;2Cy:DB:"I=Mb@Mb@Mb@999 9)9Y="~?Q롿y=?=̼=\= A =@)=@I=@9y=@IUIU2٢e# eE=9e=;Q e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configyn59}KP?n5Y} i}G@`?:v@}\E}5;}94;}In5 .@(EZjDNOT Ignoring new targets: 93.70 m.Bjs8<Jjs8< ProNav: ac range: 93.699997 m, nav range: 58.573349 m, bearing: 73.775484 deg, approach rate: -0.181066 m/s, LOS rate: 0.645040 deg/s, cmd heading: 7.521871 deg, new cmd heading: 8.199950 deg. 2jW<HeadingCmd: 0.143116 target range: 93.699997 and range: 93.70 m. j>jjjihh!h!h%&Bf!f)f)rf)bf- @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:45:58.0926 TRx dataTimestamp_ set to:1736376359.228689checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987893 B$?IɛuhBu= qu0n?Iy }?aɚyiyI}=I>ii䭽)>)JyJ}J}0JyJyJ}:J}ـ3JyJ};aJ};aJ}DG;aJ}EG;a*F?2F :F BF _0JF G GG8uĽGBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239522+xw,E A2t@Y2<2{92)q>y2H ?@a?@?Ϳ`!?`? [?ɨ2t@2l;2CyB3BB"I)D DIJIJF3٢f fU=9fZ;Q f>hh jG٣hyn_< n> ENusing accuracyPremultiplier from config9En59=c?Mn5Y=) i=@IM,M@=\E=H:=H:=n5Q UB@Y}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 58.511402 m, bearing: 73.991728 deg, approach rate: -0.156879 m/s, LOS rate: 0.548210 deg/s, cmd heading: 8.199949 deg, new cmd heading: 8.849339 deg. 2j<HeadingCmd: 0.154450 target range: 93.699997 and range: 93.70 m. j+(>jjjihhhhfffrfbfV @ɛkBGI= c?I 97ɚiIS=I+(>iiӱ)+(>) *F?2F:FBF0JF C$?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495689G=zK-2"NK-9K)K-K- GI BQ Ou >U~w,! AB@YB<B($9B-nq>yBH$?`낿Sў??ͿP$? R? ??ɨB@BV;BCy^'Bb"IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:45:58.0926 LVL= 12752, 20465, 21970, 32755, AGC= 57, IDX= 438,-0.06, 1.374, 0.521,-0.817, 0.247, PHS= 1.215, 0.321,-1.067, RAW= 52.9, -4.8, CAL= 57.0, -9.5, ROT= 93.0, 9.5 Ygot valid direction response: 22:45:58.0926 LVL= 12752, 20465, 21970, 32755, AGC= 57, IDX= 438,-0.06, 1.374, 0.521,-0.817, 0.247, PHS= 1.215, 0.321,-1.067, RAW= 52.9, -4.8, CAL= 57.0, -9.5, ROT= 93.0, 9.5 PDAT read: Bearing 93.0, 9.5 (Local) ~Local bearing/azimuth received: Bearing 93.0, 9.5 (Local) %DAT read: Range 10 to 50 : 94.4 m (Round-trip 125.9 ms) speed -0.3 m/s =,DAT read: user:2862> =BDAT read: Tx time:22:45:59.2125 E$Ping request sent.Eمuم\l?م څ~?)څ)Iڅ?H}D>Iy I}"#II}BI}! =&Iy.Iy6I}<:I} FMb@Mb@Mb@ )Y/$?x& ףp= y&?7Q8iڅ)>ځځۅЬ(K? .9aOjit=)ۅIۅ=iۅغ?ۅWہہ:publishing transmit ping timeAFpublishing direction and range info؁9؅q?:(?,9?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅЬ(K? .9aOjit=)ہIہiہہہہ A )@I-@y @II(*3٢U8 U=9] ;Q ]>YY ]G٣]OGye< e> mNusing accuracyPremultiplier from configiun59m|?un5Ym im@}?}:}Æ}@m\Em;m;m0n5B  @%Ek~pމ?k{ k kG A:k̼BBkBZk2?"@rӑ5O@՗ vQ@q?:(?,9?Jkغ?RkW*~@^(0F@ 3T@/p~ ?~h\?j j jihhhhBfYfafarfeW@bfe qs?ɛ5pB=(bF= 9=Z[?I9 =ɚ9iAIEp=IE->iIiMm)M->)I  D$?I *F ?2F :F BF _0JF "G% =G! - Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J! J! J% :J% :J! J! J% ;J% ;J% J;J% J;G #G B O >w,z A2?@Y2=2r92o>y2H?)@uu??ͿP??]?ɨ2?@2;0y> B>l"IIjIjF٢  ^=9ά;Q > G٣y< > Nusing accuracyPremultiplier from confign59ލ?n5Y i@i@\E::pn5 @ ZjIUDNOT Ignoring new targets: 94.40 m.BjU=<JjU=< ProNav: ac range: 94.400002 m, nav range: 49.078857 m, bearing: 72.446403 deg, approach rate: -0.145303 m/s, LOS rate: 0.660980 deg/s, cmd heading: 9.712434 deg, new cmd heading: 10.432737 deg. 2j<HeadingCmd: 0.182086 target range: 94.400002 and range: 94.40 m. jt:>jjjihhhhfffrfbf`<?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]tB]Whv= Y]L?IY ebɚaiaIe=Imt:>iiiml)mt:>)q*F?2F:FBF0JFG5GYBiO~> Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,u:3 AzK^iKK^9K\K^K^ˋ@YE=+c9r>yH?@ha`ﳨ?&?ο'e???ɨˋ@NJ;Cy-B5_"Ii==I=<Mb@Mb@Mb@ )YCl?ktˡEy? '@ )Iy\@I%+I%n3٢59 53=95;Q =>99 =G٣9yEצ< E> MNusing accuracyPremultiplier from configIUn59Mi?Un5YM iM@]?]:]]@M\EM;MQ;Mcn5eB ec@m"EZjamDNOT Ignoring new targets: 94.40 m.Bjm1<Jjm1< ProNav: ac range: 94.400002 m, nav range: 49.022518 m, bearing: 72.738733 deg, approach rate: -0.119595 m/s, LOS rate: 0.621260 deg/s, cmd heading: 10.432737 deg, new cmd heading: 11.310662 deg. 2j.<HeadingCmd: 0.197408 target range: 94.400002 and range: 94.40 m. jf%J>jjjihhhh_Bfffrfbf?ɛ5xB5:FI= Y]RE?IY ]RLɚYiYIe=Ief%J>iaim)ʽ)mf%J>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF1JF1jH<bH<HC>I I"IItBI" =&I.I7D6Io<:IZ FGU #G) B9 OU >w,M A6ź@Y65]=6fF96o>y6Hu?@Qd I??@?Ϳ`̈?8??ɨ6ź@6;6Cy>B>\"IIFIFM٢N R=9R;Q R ?TT VG٣TyV< V ? ^Nusing accuracyPremultiplier from config\bn59^?bn5Y^ i^3@`bf@^\E^;^l0;^.n5t z@ ~F$?I|UWill construct direction to contact in vehicle frame from tetrahedron phase data.]EZjDNOT Ignoring new targets: 94.40 m.Bj?<Jj?< ProNav: ac range: 94.400002 m, nav range: 48.982475 m, bearing: 72.945728 deg, approach rate: -0.129519 m/s, LOS rate: 0.670072 deg/s, cmd heading: 11.310662 deg, new cmd heading: 11.932130 deg. 2j<HeadingCmd: 0.208255 target range: 94.400002 and range: 94.40 m. j@U>jjjihhhhfffrfbf|?ɛE{BEZ x= I隭B?I @t̸ɚiI-=I@U>iiCҽ)@U>)JK KKK"KJmJmJiJiJm:Jm:JiJiJm6;Jm8;JmDG;JmEG;*Fm?2Fi:FiBFm5JFqG=oGBO%M> Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,f AB#@YB=BfN"9B/l>yBH^?JB@s?R?%?!XͿI?R?%?ɨB#@B;BCybBbL"IIj#Ij%x3٢rb| vF=9v";Q v>xx zG٣zOGyz< ~> Nusing accuracyPremultiplier from config n59Qƈ? n5YT i}@   @\E;;ȯn5! -h@)eB*** querying acoustic contact ***jajaZjq}DNOT Ignoring new targets: 94.40 m.Bj'><Jj'>< ProNav: ac range: 94.400002 m, nav range: 48.929867 m, bearing: 73.212352 deg, approach rate: -0.131069 m/s, LOS rate: 0.664978 deg/s, cmd heading: 11.932130 deg, new cmd heading: 12.732804 deg. 2j/<HeadingCmd: 0.222229 target range: 94.400002 and range: 94.40 m. jc>jjjihhhhfffqrfqbf}/?ɛ~BN= 15I:?I1 5x0:ɚ1i1I==I=c>iAiMwڽ)Mc>) G$?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uX?uT?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F?2F :F BF O0JF zK=BHK=9K9K=K= $5?L[gs~G- ` ǽG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991411}.w,€ AbJ@Yb=b׻9b2l>ybH`?5@e?dO????ͿQz?@C?`&?ɨbJ@bYɉ;bCyh=K"I)A AAEAHyIy I}"II}PBIy&Iy.Iy6I}3<:I}/ FBIECJIECRIAZIE! =bIE! =jIEG5Mb@Mb@Mb@ )YFx?/$Mby ?1@A @)@I@yz@I  I b3٢-$ -7=9-W;Q 5>11 5G٣1y=s< => ENusing accuracyPremultiplier from configAMn59Eۈ?Mn5YEB iEt@U]?U:UU@E\EE1;EJ0;En5eB ey@eEZj DNOT Ignoring new targets: 94.40 m.Bj-a5<Jj5a5<= ProNav: ac range: 94.400002 m, nav range: 48.893082 m, bearing: 73.501125 deg, approach rate: -0.080739 m/s, LOS rate: 0.634297 deg/s, cmd heading: 12.732804 deg, new cmd heading: 13.599705 deg. 2jEjijiji)y yiqhhGvA h1 EYEvAyEBhMBfIfIfIrfQbfU#P@ɛBD= 隝8?I <:ɚiIOC=Igs>ii)gs>)*Fy2Fy:FyBF}P0JFy IGUkֽWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245695G)BAO]>Jm Jm Jm 1Ji Jm :Jm /:Jm 3Ji Jm ;Jm ;Jm ^;Jm ^;TWw, A2\@Y2@=2N92ql>y2H@?/`?@`z?% ?*1Ϳ։q?(>?E'?ɨ2\@2{P;2CyRBVT"II^I^#3٢f= fd=9f@;Q f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpvn59r눜?vn5Yr ir@xz) z@r\Er:r9;rжn5  @ Zj15DNOT Ignoring new targets: 94.40 m.Bj=VA<Jj=VAjYjYjYiYhYhYhahafafafirfibfm`l@ɛB(u= 隥5:?I N:ɚiI=I>ii)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496296*FQ2FQ:FQBFU_0JFQG}g׽GIBYOu> H$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747440ꀬw,q A @Yk=9ll>zK%YNK%9K!K%K%^u`F#uX=21-()&#/Ggvwslg_\^]]XSLJIF?yH`o? w?@[%?@?=Ϳ@\? W?%?ɨ @-|;CyMBMP"IIm-Im3٢}5 2=9;Q > G٣OGyK< > Nusing accuracyPremultiplier from confign59?n5Y i}@@\E3::ݺn5B A@EZjDNOT Ignoring new targets: 94.40 m.Bj3<Jj3< ProNav: ac range: 94.400002 m, nav range: 48.821968 m, bearing: 74.033869 deg, approach rate: -0.084884 m/s, LOS rate: 0.626172 deg/s, cmd heading: 14.297642 deg, new cmd heading: 15.199009 deg. 2j< HeadingCmd: 0.265273 target range: 94.400002 and range: 94.40 m. j ч>j jjihhhhfffrf!bf%`@ɛBeA= Q{<6?I V;ɚiI=Iч>ii#)ч>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:46:01.7438 TRx dataTimestamp_ set to:1736376363.013829checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002050*F?2F:FBFJFZH@ARH@AHI I"IIhw,IL A 4I6hyBX"Ii%N>I%p= -=-a=I53I5ʴ3EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.252352٢ w=  R=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-n59%?5n5Y%  i%@115@%\E%9;%;%;n5EB E@MEZjiuDNOT Ignoring new targets: 94.40 m.Bju$B<Jj}$B< ProNav: ac range: 94.400002 m, nav range: 48.789139 m, bearing: 74.283739 deg, approach rate: -0.089142 m/s, LOS rate: 0.678929 deg/s, cmd heading: 15.199008 deg, new cmd heading: 15.949076 deg. 2j<HeadingCmd: 0.278364 target range: 94.400002 and range: 94.40 m. j>jjjihhhhfffrfbfN @ɛB^g= 8?I xN:;ɚiI"&=I>iis!)>)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:46:01.7438 LVL= 13520, 24033, 23746, 32755, AGC= 58, IDX= 434, 0.18, 0.880, 0.175,-1.065,-0.083, PHS= 1.051, 0.305,-0.985, RAW= 51.2, -4.2, CAL= 54.6, -8.6, ROT= 95.4, 8.6 - Ygot valid direction response: 22:46:01.7438 LVL= 13520, 24033, 23746, 32755, AGC= 58, IDX= 434, 0.18, 0.880, 0.175,-1.065,-0.083, PHS= 1.051, 0.305,-0.985, RAW= 51.2, -4.2, CAL= 54.6, -8.6, ROT= 95.4, 8.6 5 PDAT read: Bearing 95.4, 8.6 (Local) 5 ~Local bearing/azimuth received: Bearing 95.4, 8.6 (Local) E DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.0 m/s E ,DAT read: user:2863> M BDAT read: Tx time:22:46:02.8625 M $Ping request sent.U (|d?Q s?)`I+ ?i`>mnb?$Vv^N SŲ)顙I%M=i?P :publishing transmit ping timeI  Fpublishing direction and range info9!L?u/p?LoM?y )Ii )Iimnb?$Vv^N SŲ)IiG G B O >uw,(* AZ@YZ=Z;9Zڒo>yZH;?̊U??s??uͿxb? ?ɨZ@Z';ZCy%B%]"II+In3٢< O=9& G٣y\U= >  Nusing accuracyPremultiplier from config n59E&? n5Y  i@UѽU@\E?*<d*<n5Y e@ak%?k%o<- k! k%u A:k%BBk%LBZk%?"% y@+ޮ@P@&YQ@%!L?u/p?LoM?Jk%?Rk%P*%= f?ޤuG@|#T@%2~e?DXd?|D?"k%N>B*k%0?k%?k% I$ 2k%Ck%Cp?k!k%Ck%>Bk%&ڳ? addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.527136 s, deltaX: 0.900002 m, approachRate: 0.255165 m/s, rangeRepo size: 4 UI$?IQe Added new target pos. range: 95.300003 m, bearing: 88.465010 deg, lat: 36.904762 deg, lon: -122.119761 deg, deltaT: 3.527136 s, deltaX: 0.900002 m, approachRate: 0.255165 m/s, posRepo size: 4 ZjaeDNOT Ignoring new targets: 95.30 m.BjJj ProNav: ac range: 95.300003 m, nav range: 47.640549 m, bearing: 80.506003 deg, approach rate: 0.000000 m/s, LOS rate: 0.678929 deg/s, cmd heading: 15.949076 deg, new cmd heading: 16.815557 deg. 2jHeadingCmd: 0.293487 target range: 95.300003 and range: 95.30 m. jC>jjjihhhhfffrf@3W@bf!p?MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:46:02.8618 ɛB?Q= 隍8?I d;ɚiIZm=IC>ii)C>)J]J]J]0JYJ]ܫ:J]:*F?2F:FBF0JFJ]ـ3JYa@a@a@a@zK*OK+9KKK;3/.,)&&#"      G#GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A}w,R  A2@Y2=2;92q>y2H ?I!Ơ?@h?@?uͿ`/?q`?@?ɨ2@2S;2Cy>B>n"IH-B>I) I)I)I)&I).I)6I-k<:I-X F @ @ @  @ II(*٢x= 8=9;Q >    G٣ OGy< > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%n59:?-n5Y  is@-+:)-:-c5@\E,7;>n59 =@=EUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 95.30 m.Bjm]K<Jjm]K<} ProNav: ac range: 95.300003 m, nav range: 47.622730 m, bearing: 80.800696 deg, approach rate: -0.042985 m/s, LOS rate: 0.711180 deg/s, cmd heading: 16.815557 deg, new cmd heading: 17.699891 deg. 2j} <HeadingCmd: 0.308921 target range: 95.300003 and range: 95.30 m. j*>jjjihhhhfffrfbf@jL?ɛBi= E>?I 9c;ɚiI=I*>iiM)*>) EJ$?IAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.E<*F ?2F :F BF _0JF G GBO>wWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996271,6u! An@Ynp>n;9n /n>ynH`?S¿`v?5;?y?@ Ϳ v8?D#?ɨn@n3;nCyzBz"I|~AII1٢= ?=9bK;Q >! %G٣!y-= -> 5bBottom track data is 0.9 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config1=n595N?En5Y5  i5]@M :IMw:MuM@5\E5bp;5_?5Jn5Q U@YZjDNOT Ignoring new targets: 95.30 m.Bj><Jj>< ProNav: ac range: 95.300003 m, nav range: 47.600098 m, bearing: 81.086943 deg, approach rate: -0.052712 m/s, LOS rate: 0.666994 deg/s, cmd heading: 17.699891 deg, new cmd heading: 18.558972 deg. 2j<HeadingCmd: 0.323915 target range: 95.300003 and range: 95.30 m. j6إ>jjjihhhhfffrfbf?ɛB_g= 2D?I ;ɚiID =I}6إ>iyi}3)}6إ>)Euu<*F?2F:FBFf3JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248441G J J J J J L:J :J J G B O >zK 'MK ]9K K K w,); Ay5'B5"I % - -- --  - - -Mb@Mb@Mb@))) )))Y- r?Zd;O:vy-?-j-T- A ))-@I))y-@IEIEV8٢U+*= U9=9UQ U>YY ]G٣]OGye e> mNusing accuracyPremultiplier from configiun59m^b?un5Ym/  imب@uT:u?}:}:}@m\EmA;m ;m&n5B ]@EZjDNOT Ignoring new targets: 95.30 m.Bj2<Jj2< ProNav: ac range: 95.300003 m, nav range: 47.568638 m, bearing: 81.361415 deg, approach rate: -0.071584 m/s, LOS rate: 0.624949 deg/s, cmd heading: 18.558973 deg, new cmd heading: 19.382874 deg. 2jr<HeadingCmd: 0.338295 target range: 95.300003 and range: 95.30 m. j4>jjjihhhhBfffrfbf?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500338ɛ=B=-i= AE7G?IA E6;ɚAiAIMI=IM4>iIiU)U4>)QEYEY*EY"EYjH<bH<HI I"IIKBI&I.I6Iu<:I_ F*F?2F:FBF0JF"G4>Gx>Ge ׏ K$?I GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752419w,VT A6k@Y6=>6U<96}{>y6Hs?൛ƿ ,?@?`B?`Zο*x? ?ɨ6k@6;6CyB7BB"IIJ IJb3٢VƲ= Vj=9Z;Q Z>XX ZG٣\y^= ^> fNusing accuracyPremultiplier from config`fn59bq?fn5Yb  ibi@hjƛ<j@b\Eb<:b':b3n5=B Eo@E EZjDNOT Ignoring new targets: 95.30 m.Bj+)<Jj+)< ProNav: ac range: 95.300003 m, nav range: 47.538223 m, bearing: 81.577615 deg, approach rate: -0.083171 m/s, LOS rate: 0.591594 deg/s, cmd heading: 19.382873 deg, new cmd heading: 20.031859 deg. 2j<HeadingCmd: 0.349622 target range: 95.300003 and range: 95.30 m. j>jjjihhhhfffrf!bf-`?ɛBI= 隽M?I ;ɚiIӗ=I>ii۽)>)*F2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006877G3G B O= >)w,n A IBa@YBL>B<9B~>yBH~]? HȿD[?@W?9j?@ο`σ?z?ɨBa@BK;BCybBBb"IifJ>Ifi> fa=fp=IjIjT3٢rQ= rG=9vC6;Q v>tt zG٣xyz = z> Nusing accuracyPremultiplier from config n59ǃ? n5Y  i@* =@\E:*:n5 %@!ZjAMDNOT Ignoring new targets: 95.30 m.BjM#8<JjM#8jijijiiihihihqhqfqfyfyrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256451ɛBu= qQ?I _;ɚiI=I׹>ii)U׹>)QJJJJJ,:J:JJ*F2F:FBFX0JF!G-޽zKJK9KK KG BO5O>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509507H I  I "II eBI &I .I 6I B<:I 9 Fw, A2@Y2 [>2S!<92O>y2HC?ʿͯ?@??kN?`tοb*?`?ɨ2@2;2CyBRBB"I Mb@Mb@Mb@    ) Y #~j? rh{Gzty ? C ף  A ) C@I @ y @I!I!٢5= 5E=9:Q > G٣yD= > Nusing accuracyPremultiplier from confign59?n5Y^  i@?:l=@\E;F;n5 @ E-B*** querying acoustic contact ***j)j)ZjY]DNOT Ignoring new targets: 95.30 m.Bje+<Jje+< ProNav: ac range: 95.300003 m, nav range: 47.448700 m, bearing: 82.095480 deg, approach rate: -0.117173 m/s, LOS rate: 0.599784 deg/s, cmd heading: 20.796565 deg, new cmd heading: 21.586820 deg. 2j<HeadingCmd: 0.376761 target range: 95.300003 and range: 95.30 m. j>jjjihhhh$Bfffrfbf @ L$?Iɛ=BEv= AEW?IA E ;ɚAiIIM\=I>iiݽ)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761328*F%?2F!:F!BF%\0JF!GM ݽGm ?Gm !?GA BI Om >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:46:05.3937 e TRx dataTimestamp_ set to:1736376366.540629e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013311Ew, A;Yh>E&<9=>yH,?˿?h?9? ο`ȄЪ? ?ɨ;;Cy5XB5"IIE*IE3٢U~= UG=9]@:Q ]>Ya eG٣eOGye= m> uNusing accuracyPremultiplier from configiun59m1?}n5Ym  im,@y}|=}@m\Em:m:mn5 a@ZjDNOT Ignoring new targets: 95.30 m.Bj7<Jj7< ProNav: ac range: 95.300003 m, nav range: 47.398739 m, bearing: 82.342084 deg, approach rate: -0.129535 m/s, LOS rate: 0.640045 deg/s, cmd heading: 21.586820 deg, new cmd heading: 22.327369 deg. 2j<HeadingCmd: 0.389686 target range: 95.300003 and range: 95.30 m. j>jjjihh9hAhAfAfIfIrfIbfM @ɛB= 隝aY?I /<ɚiIz^=I>iie޽)>)*Fu?2Fy:FyBF}_0JFy M$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264280G}ܽGA BI J J J J J :J :J J O >Biw,q AzK.BoHK.+9K,K.!K.  bib.<9b>ybH*?WPͿ X??!?`fοօ@ߡ?m?ɨbi G٣y = > Nusing accuracyPremultiplier from confign591?n5Y i@m?m:m=>m@\E<<n5uB }@}EZjDNOT Ignoring new targets: 95.30 m.Bj$<Jj$<Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518857 ProNav: ac range: 95.300003 m, nav range: 47.330997 m, bearing: 82.591897 deg, approach rate: -0.155364 m/s, LOS rate: 0.573764 deg/s, cmd heading: 22.327369 deg, new cmd heading: 23.077837 deg. 2j<HeadingCmd: 0.402784 target range: 95.300003 and range: 95.30 m. j9>jjjiHEA>IA IE"IIEBIA&IA.IA6IE><:IE5 FBIJIRIZI" =bI" =jI-a4hhhhKBfffrfbf` @ H~G!9ɛMB m"YiymB6= 隕[?I $<ɚiI=I9>iiܽ)9>)*Fi2Fi:FiBFiJFi I Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:46:05.3937 LVL= 21472, 25185, 24562, 29283, AGC= 64, IDX= 433,-0.16, 3.050, 2.253, 0.941, 1.922, PHS= 1.216, 0.378,-0.984, RAW= 52.2, -6.4, CAL= 57.2, -11.9, ROT= 92.8, 11.9  Ygot valid direction response: 22:46:05.3937 LVL= 21472, 25185, 24562, 29283, AGC= 64, IDX= 433,-0.16, 3.050, 2.253, 0.941, 1.922, PHS= 1.216, 0.378,-0.984, RAW= 52.2, -6.4, CAL= 57.2, -11.9, ROT= 92.8, 11.9  PDAT read: Bearing 92.8, 11.9 (Local)  ~Local bearing/azimuth received: Bearing 92.8, 11.9 (Local) = DAT read: Range 10 to 50 : 95.2 m (Round-trip 127.0 ms) speed -0.1 m/s E ,DAT read: user:2864> E BDAT read: Tx time:22:46:06.5125 M $Ping request sent.M ٽ m{ٽ Z;i?ٽ ڽ r?)ڽ ȭTIڽ 4Q?iڽ ȭT>ڹ ڹ ۽ Ai?LIesz)۽ I۽ t=i۽ =?۽ ɱT۹ ۹ u :publishing transmit ping timeA } Fpublishing direction and range infoع 9ؽ  *?|O? gá?yع ع ع ع ٹ )ٹ Iٹ iٹ ٹ ٹ ٹ ٹ G ݽG rAG qA ڹ )ڹ Iڹ iڹ ڹ ڹ ۽ Ai?LIesz)۹ I۹ i۹ ۹ ۹ ۹ G B O >V w,1^ AJ=YJ>J1<9J~>yJH?ο@os?F? ?@1ο`#؊??ɨJ=J%;JCybkBb"II~#I~%x3٢ ,Q= 5;=9= 9Q =>9A EG٣AyE:< E> MNusing accuracyPremultiplier from configIun59Mn͉?}n5YM iMߦ@y}J>}@M\EM;M;Mnn5 =@ku1a ?kuQN;b kq ku A:kufBBkuBZkus?"ur$@MEO@䂓Q@u *?|O? gá?Jku=?RkuɱT*uX˹֕߿쇃F@D:kT@u2;u呞s?bk?"ku5B*kuku3ף?kul Z 2kuCku?kul Z kuCku5Bkudi?% addTargetRange:: Added new target pos. range: 95.199997 m, deltaT: 3.779940 s, deltaX: -0.100006 m, approachRate: -0.026457 m/s, rangeRepo size: 4 ] Added new target pos. range: 95.199997 m, bearing: 90.622087 deg, lat: 36.904711 deg, lon: -122.119777 deg, deltaT: 3.779940 s, deltaX: -0.100006 m, approachRate: -0.026457 m/s, posRepo size: 4 ZjY]DNOT Ignoring new targets: 95.20 m.BjeJja ProNav: ac range: 95.199997 m, nav range: 45.453304 m, bearing: 89.708931 deg, approach rate: 0.000000 m/s, LOS rate: 0.573764 deg/s, cmd heading: 23.077836 deg, new cmd heading: 23.819947 deg. 2jHeadingCmd: 0.415736 target range: 95.199997 and range: 95.20 m. jj>jjjihhhhfffrfW@bf?ɛMBMx= IM_?II U<ɚQiQIU0=I]j>iYi]Z^޽)]j>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F!:F!BF%p0JF!G G B O > e N$?Ie hU Will construct direction to contact in vehicle frame from tetrahedron phase data.U %=U %=9w,cD A24>=Y2'ʈ>25"<92q~>y2H`?9п ?@+?`"?ο`F?%?ɨ24>=2z;2CyZlBXIbIbb٢j߂: jN=9n Q n>ll nG٣nOGyr' = r> UNusing accuracyPremultiplier from configQ]n59U߉?]n5YUW iU@Y]dX>]@U\EU:U:Un5B E@EZjDNOT Ignoring new targets: 95.20 m.BjZ?<JjZ?jjjihhhhff1f9rfbf?zKvKKKK"KɛBt= ]?I )<ɚiIc =I>ii)>)!*F2F:FBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I#IIBI&I.I6I-<:I) FG ݽG B O >w,} A Iy iB "I ==Mb@Mb@Mb@ )Yx&?V-Mbpy7 ? @)@I@y@II٢X 8=9Q >! %G٣!y% %> -Nusing accuracyPremultiplier from config)5n59-?=n5Y- i-@=k ?=:=]>=@-\E-;-;-n5EB E@MEmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 95.20 m.Bje@<Jje@< ProNav: ac range: 95.199997 m, nav range: 45.358521 m, bearing: 90.258369 deg, approach rate: -0.116017 m/s, LOS rate: 0.672822 deg/s, cmd heading: 24.614311 deg, new cmd heading: 25.469864 deg. 2j<HeadingCmd: 0.444533 target range: 95.199997 and range: 95.20 m. jԙ>jjjihhhhJBfffrfbf`x?ɛB&=  Z?I L3<ɚiI6- =Iԙ>ii)ԙ>)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFH5JFJJJJJL:J :JJJP;a-JQ;a-JR;a5JR;a5MPExceeded connect timeout, disconnecting.GG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242523F w,%& A:=Y:"r>:;;9:c>y:H۩?ѿ`N?K?;?`vο %)?G?ɨ:=:Q;:Cy^rB^"IIjIj٢rV= r`=9rCƻQ r>tt vG٣tyzf= z> ~Nusing accuracyPremultiplier from config|n59~,?n5Y~ i~T@?u> @~\E~v:~:~n5 @ZjYeDNOT Ignoring new targets: 95.20 m.Bjm;<Jjm;< ProNav: ac range: 95.199997 m, nav range: 45.313274 m, bearing: 90.499458 deg, approach rate: -0.122984 m/s, LOS rate: 0.655957 deg/s, cmd heading: 25.469864 deg, new cmd heading: 26.193814 deg. 2j5jIjIjIiIhIhihqhqfqfqfyrfybf}I?ɛBO=  ]?I ><ɚiIT =I>ii/W)>)  P$?I*F?2F:FBFC4JFG%Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498010GQBaOe>JJzKE BoHKE 9KA KE #KE ";ILMJIGE@@@@BTNTr7f{rU:) -w,]@ A~p=Y~(>~- <9~ـ>y~H?:/ҿ!޴??`ܠ?"οa??ɨ~p=~{;~Cy}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746618Mb@Mb@Mb@ )Yoʡ?{Gz{Gzy ?## A @)-@I@yI&I3٢d ;=9;Q > G٣OGy< > Nusing accuracyPremultiplier from config n59? n5Y i@  ?:HaIa Ie(#IIeBIa&Ia.Ia6Ie8<:Ie1 F>@\E==n5 @EZjiDNOT Ignoring new targets: 95.20 m.Bj2<Jj2<5 ProNav: ac range: 95.199997 m, nav range: 45.247669 m, bearing: 90.792971 deg, approach rate: -0.139466 m/s, LOS rate: 0.624863 deg/s, cmd heading: 26.193813 deg, new cmd heading: 27.075554 deg. 2j5kjqjqjyiyhyhhhSBfffrfbf ?ɛ]B]ze= Z?I PL<ɚ!i!I%>g =I%>i)i-)5>)y Q$?I*F?2F:FBFD5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998584J% J% J! J! J% :J% :J! J! J% ;J% ;J% A;J% A;  nManaging dock network, ignoring radio surface power offG5 G B O >мw,cB\ A6=Y6>61<96t1>y6Hs?;ҿ?a?G? jͿ`<?@@?ɨ6=6Ȋ;6Cy>iB>"IIHIH٢R= RS=9R\:Q R>TX ZG٣Xy^= ^> bNusing accuracyPremultiplier from config`fn59b&?jn5YbX ib@hj/>j@b\Eb>;b;b%n5l n@pZj  DNOT Ignoring new targets: 95.20 m.BjT<JjT<% ProNav: ac range: 95.199997 m, nav range: 45.187809 m, bearing: 91.053722 deg, approach rate: -0.169996 m/s, LOS rate: 0.741482 deg/s, cmd heading: 27.075555 deg, new cmd heading: 27.858794 deg. 2j%o<-HeadingCmd: 0.486228 target range: 95.199997 and range: 95.20 m. j->j)j)j1i1h9h9hAhAfAfAfArfbf`A@ɛBc= cT?I QU<ɚiI" =IE>iAiM)M>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252113*F?2F:FBF\0JFGGqBO;>  I m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502670w,u A:)=Y:m>:<9:N >y:H O?)ӿy? ρ? d?&Ϳ??ɨ:)=:[ ;:CyFfBF"IIN"INq3٢Zi ZJ=9^a:Q ^>`` bG٣`ybG = f> jNusing accuracyPremultiplier from configdjn59f8?nn5Yf if@lnN>n@f\Ef ;f ;fn5vB v@vEZjDNOT Ignoring new targets: 95.20 m.Bj?<Jj-?<= ProNav: ac range: 95.199997 m, nav range: 45.123764 m, bearing: 91.323730 deg, approach rate: -0.158957 m/s, LOS rate: 0.671097 deg/s, cmd heading: 27.858793 deg, new cmd heading: 28.669907 deg. 2j=H  R$?I 9#w,ݏ A2j=Y2>2<92>y2H`*? SԿ 8+?lW?A?`{Ϳ``p?)?ɨ2j=2щ;2Cy:cB:"I Mb@Mb@Mb@    ) Y Cl?:v{Gzy ? Լ ף  A ) C@I @ y I%I%F3٢5E 5B=9="Q =>AA EG٣EOGyMB= M> UNusing accuracyPremultiplier from configI]n59MK?]n5YM iM>@]?]:]>e@M\EM;M2;MXn5i m@i B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 95.20 m.Bj%<<Jj%<<5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:46:09.0433 =TRx dataTimestamp_ set to:1736376370.320811Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007814U ProNav: ac range: 95.199997 m, nav range: 45.058765 m, bearing: 91.612767 deg, approach rate: -0.148210 m/s, LOS rate: 0.660012 deg/s, cmd heading: 28.669907 deg, new cmd heading: 29.538200 deg. 2jUz<]HeadingCmd: 0.515539 target range: 95.199997 and range: 95.20 m. j]Z?jYjYjaiahahahihmDBfififrfbfI@ɛɂB3= (M?I k<ɚiI! =I-Z?i)i-U)5Z?)1J1J5J1J1J1J5:J1J1J1J1J5yE;J5zE;*F2F:FBF_0JFG GG}G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258592)w, AJ >YJ>J <9J*>yJH&?kտY?j=? ?LͿEդ?g?ɨJ >J=~;JCyfVBj"IIv&Iv3٢ن N=90Q  >    G٣ y"= > %Nusing accuracyPremultiplier from config%n59]?%n5Y iڤ@)-E>5@\E:;9j;n5UB U@eEZj DNOT Ignoring new targets: 95.20 m.BjC<JjC< S$?I ProNav: ac range: 95.199997 m, nav range: 44.995262 m, bearing: 91.885170 deg, approach rate: -0.158794 m/s, LOS rate: 0.682121 deg/s, cmd heading: 29.538198 deg, new cmd heading: 30.356502 deg. 2j<-HeadingCmd: 0.529821 target range: 95.199997 and range: 95.20 m. j5X?j1j1j1i1h9hAhihfffrfbf @ɛ͂Bd= /D?I u<ɚiI4=IX?ii)X?))MWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M<DAT read: 22:46:09.0433 LVL= 16880, 32081, 22098, 32755, AGC= 57, IDX= 428,-0.14, 1.558, 0.585,-0.560, 0.278, PHS= 1.368, 0.354,-0.842, RAW= 57.3, -9.2, CAL= 65.7, -16.3, ROT= 84.3, 16.3 Ygot valid direction response: 22:46:09.0433 LVL= 16880, 32081, 22098, 32755, AGC= 57, IDX= 428,-0.14, 1.558, 0.585,-0.560, 0.278, PHS= 1.368, 0.354,-0.842, RAW= 57.3, -9.2, CAL= 65.7, -16.3, ROT= 84.3, 16.3 PDAT read: Bearing 84.3, 16.3 (Local) ~Local bearing/azimuth received: Bearing 84.3, 16.3 (Local) DAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed 0.0 m/s ,DAT read: user:2865> BDAT read: Tx time:22:46:10.1626 $Ping request sent.UPWUj?Ul$ Utƒ?)UIUS?iU>QQU7?˒Dh:Ŀ)UfIU$>iU?U,iQQ:publishing transmit ping timeFpublishing direction and range infoQ9U ~J?T < ?ԀG?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU7?˒Dh:Ŀ)QIQiQQQQ*F2F:FBFg0JF!GM AzK .NK 9K K %K   G9 BI Oe >0w, ARWill construct direction to contact in vehicle frame from tetrahedron phase data.VJDAT read: TxSync time:22:46:10.1619 b8R>Yb>b<9b~>ybH ?7ֿw?Q ?@? Ϳ@Pl?_?ɨb8R>b;bCHEB>IA IE"#IIEBIA&IA.IA6IE<:IE Fy]NB]"IMb@Mb@Mb@ )Ygfffff?lS㥛y3?/ݼ A @)@I@yII 3٢ -=9뇺Q %>!! %G٣!y-< -> uNusing accuracyPremultiplier from configq}o59us?}o5Yu iu<@?:>@u\Eu;uY;uo5 R@Ekj?k> k kԴ A:kBBkMBZkd?"0+@*q5L@!e)R@ ~J?T < ?ԀG?Jk?Rk,i*pxgx?I0)C@>]SU@k]{?5׏Rc?(3'?"kYB*k#$?k^oɩ?k 2kCkkZs kICk/Bk#? addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.529654 s, deltaX: -0.399994 m, approachRate: -0.113324 m/s, rangeRepo size: 4  Added new target pos. range: 94.800003 m, bearing: 89.060227 deg, lat: 36.904711 deg, lon: -122.119788 deg, deltaT: 3.529654 s, deltaX: -0.399994 m, approachRate: -0.113324 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 94.80 m.BjJj% ProNav: ac range: 94.800003 m, nav range: 43.951275 m, bearing: 92.272657 deg, approach rate: 0.000000 m/s, LOS rate: 0.682121 deg/s, cmd heading: 30.356503 deg, new cmd heading: 31.351328 deg. 2j!-HeadingCmd: 0.547184 target range: 94.800003 and range: 94.80 m. j-> ?j)j1j1i1h1h1h9h=0Bf9f9f9rfe@3W@bfe? T$?Iɛ҂B= 隽.>?I <ɚiI ^Z=I=> ?iAiE;A)M> ?)I*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JQ JQ JU :JU :JQ JQ JU ;JU ;JU R;JU R;G JG G rAG B O >h7w, A6&'>Y6>62;96PC~>y6H@?H׿ R???̿ rZt?@?ɨ6&'>6hˈ;4y>FB>"IIJIJV٢N@ Nk=9RKúQ R?PT VG٣VOGyZ5= Z? ^Nusing accuracyPremultiplier from config\bo59^[?bo5Y^ i^Σ@`b>b@^\E^:^:^o5h j@lZj DNOT Ignoring new targets: 94.80 m.Bj]<Jj]<% ProNav: ac range: 94.800003 m, nav range: 43.895023 m, bearing: 92.517434 deg, approach rate: -0.178049 m/s, LOS rate: 0.775763 deg/s, cmd heading: 31.351326 deg, new cmd heading: 32.086553 deg. 2j%=-HeadingCmd: 0.560016 target range: 94.800003 and range: 94.80 m. j-5]?j)j)j)i1h1h1h1h1f9f9f9rf9bfEzi?ɛՂBhh= q8?I dJ<ɚiI=I5]?ii )5]?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JF"G=G=GGBOA> I Will construct direction to contact in vehicle frame from tetrahedron phase data.=w, A:b65>Y:2>:a;9: l>y:Hɀ?`׿t?@?`? F̿ rz?}?ɨ:b65>:b;8ybABb"I)d djAjAInIn٢vɼ vF=9z]>Q z>xx ~G٣|yN= >  Nusing accuracyPremultiplier from config o59 -?o5Y  i J@>@ ]E  ; \ ; o5%B %7@%EZjq}DNOT Ignoring new targets: 94.80 m.BjK<JjK< ProNav: ac range: 94.800003 m, nav range: 43.824741 m, bearing: 92.813785 deg, approach rate: -0.168783 m/s, LOS rate: 0.712831 deg/s, cmd heading: 32.086552 deg, new cmd heading: 32.976957 deg. 2j<HeadingCmd: 0.575556 target range: 94.800003 and range: 94.80 m. jW?jjjihhhhfffrfbf?ɛقB=  3?I  f<ɚiI~=IW?iif)W?) zKMRLKM9KIKM&KM "#),03889<<ABDDA?2$ *F?2F:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I#IIBI&I.I6I<:I FBIAJIARIAZIAbIAjIEJ4)F= ~G5tAY  YtAyKBG= &@E BG B O > U$?I hTrDw, Ay~;B~"I]Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?X9vX9vy&?} A @)-@Iy @IIm?٢nļ :=9 Q  >   G٣y > ENusing accuracyPremultiplier from config1Mo595^?Mo5Y5 i5@M;?U:Ue>U@5]E5@;5L^;5s o5Y ]@a}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 94.80 m.BjO<JjO< ProNav: ac range: 94.800003 m, nav range: 43.761707 m, bearing: 93.131994 deg, approach rate: -0.143586 m/s, LOS rate: 0.725890 deg/s, cmd heading: 32.976956 deg, new cmd heading: 33.932864 deg. 2j<HeadingCmd: 0.592240 target range: 94.800003 and range: 94.80 m. j?jjjihhhhBfffrfbf?ɛނB-{= .?I *<ɚiIQ=JaKem3 KeS}-KaKa"KaJ J J J J  :J :J J J ;J ;J C;J C;I?ii )?)*F2F!:F!BF%4JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GA G B O= >sJw,, A6O>Y6ȿ>6E;96Hk>y6H@,?Zhٿ?J? I?,̿`sҘ?`b?ɨ6O>6;6CyV>BV"IIb"Ibq3٢f@< j`=9jQ j>ll nG٣nOGyr= r> vNusing accuracyPremultiplier from configtzo59vʺ?zo5Yv iv @xz>z@v ]Ev:v:vo5B v@EZj1=DNOT Ignoring new targets: 94.80 m.BjEXN<JjEXNzK UMK h9K K 'K !(/0.,+))))'#1KQcJ;56>AB@B@?>=>@@@BC@>> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251042Qw,fF AHI I"IIBI! =&I.I6Iׯ<:I F3\>Y>b;9~>yH?`|ڿ׻?n?@"?E̿Ŀvു??ɨ3\>z;Cyޝ0Bޥ"Ii>IR= p=R=eMb@Mb@Mb@aaa a)aYem?㥛 ~jtye?eeļe A e@)e@Ie@aye@I I(2٢|g 0=9d:Q > G٣y< > Nusing accuracyPremultiplier from configo59ϊ?o5Y ib@?:>@ ]Eo;:o5 F@EZjDNOT Ignoring new targets: 94.80 m.BjQL<JjQL< ProNav: ac range: 94.800003 m, nav range: 43.639790 m, bearing: 93.721090 deg, approach rate: -0.143305 m/s, LOS rate: 0.714512 deg/s, cmd heading: 34.713398 deg, new cmd heading: 35.702489 deg. 2j.<HeadingCmd: 0.623126 target range: 94.800003 and range: 94.80 m. j/?jjjihhhhBfffrfbf%:G@ IIIɛmBm;r= qun%?Iq u<ɚqiqIuW|=I}/?ii?)/?)*F?2F:FBFP0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502867G G B O >5Ww,;` Azj>YzAg>z;9z9>yzHL?`ڿ@׼?o? ?@*̿:y˒??ɨzj>z:;zCy!-"II=%I=)3٢uqR u_=9}:Q }> G٣y = > Nusing accuracyPremultiplier from configo59ߊ?o5Y i۠@>@]E=;;o5 [@EZjUDNOT Ignoring new targets: 94.80 m.BjUJK<Jj]JK Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:46:12.6934  TRx dataTimestamp_ set to:1736376373.849351 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008604~]w,z AJJJJJ:J:JJa@a@a@a@vTx>Yvc>v;9v>yvH ?`iۿS?`??`"˿@x`ƥ??ɨvTx>vN;vCy1B%"II5/I53٢}ݝ; }J=97Q > G٣OGy = > Nusing accuracyPremultiplier from configo59?o5Y iG@>@]E;);ko5B W@EZjDNOT Ignoring new targets: 94.80 m.Bj I<Jj I< ProNav: ac range: 94.800003 m, nav range: 43.523487 m, bearing: 94.270221 deg, approach rate: -0.151512 m/s, LOS rate: 0.705313 deg/s, cmd heading: 36.484145 deg, new cmd heading: 37.351967 deg. 2j<5HeadingCmd: 0.651915 target range: 94.800003 and range: 94.80 m. j5&?j9jAjAiIhIhQhahafifyfrfbfQ @ɛ=BE]~= 隍"?I U<ɚiIt=I&?ii})&?)zK2OK9KK(K=:7655/.,-)'%%&"!! !"   %~/\Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258997H%A>I! I%"II%tBI%" =&I!.I!6I%߯<:I% FE 9 I9 *Fm ?2Fi :Fi BFu P0JFq "G >G {> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514138G 0GBO?fw,u AR>YR>Rrŵ;9R܋>yRH/?`@Bݿ?@(M?AO?˿v@T? ?ɨR>Rj;PyZ/B^"I)` `bA`Mb@Mb@Mb@ )YJ +?/$y&1y?,`e A @)C@I@y@IIF3٢N =9 Q > G٣y4b= > Nusing accuracyPremultiplier from config o59? o5Y iџ@ , ?:>@]Eu*;3A;o5) -m@)MB*** querying acoustic contact ***jIjIZjQ]DNOT Ignoring new targets: 94.80 m.Bj]O><Jj]O> BDAT read: Tx time:22:46:13.8126 $Ping request sent.%aaeE?o}+ߑ )e]Ie>ie?eaa:publishing transmit ping timeFpublishing direction and range infoa9e\0ȷ?ϸY?Ljz?yaaaa a)aIaiaaaaa a)aIaiaaaeE?o}+ߑ )aIaiaaaa X$?I G= ;G B O= >lw,A A^Will construct direction to contact in vehicle frame from tetrahedron phase data.j(Ǔ>Yj_?j<\;9j:>yjH@W?B ޿`B?3?@?˿`+u@? R?ɨj(Ǔ>jW;jCyv6Bv"II$I<3٢-= -X=9-Q 5>99 =G٣9y=M-= E> MNusing accuracyPremultiplier from configAMo59E^?Uo5YE iE}@qu2>u@E]EEV;E;Ec!o5B @Ekk?k/ k ko A:k̽BBkBZkNH?"t@!@{}IC@y5sU@\0ȷ?ϸY?Ljz?Jk?Rk*PߠL !3@vI I"IIoBI&I.I6I*<:I& F*F 2F :F BF ^0JF G- rA G) G G B O >ܗsw,+ A 8IYn?n_O;9nM~>ynHw? ߿`,??? ˿@i`Ղ?`?ɨno>n-B;nCyE0BE"IMb@Mb@Mb@ )Yy&1?:v~jtxy`?ԼĻ A @)@I@y\@IIm?3٢м >=9lQ  >    G٣ OGy-$= > Nusing accuracyPremultiplier from config%o59#(?%o5Y iL@-?-:-F>-@ ]E;;&%o59 =l@9ZjaeDNOT Ignoring new targets: 94.90 m.BjuhB<JjuhB< ProNav: ac range: 94.900002 m, nav range: 43.269718 m, bearing: 95.149229 deg, approach rate: -0.212965 m/s, LOS rate: 0.679862 deg/s, cmd heading: 39.220480 deg, new cmd heading: 40.044844 deg. 2jJ<HeadingCmd: 0.698914 target range: 94.900002 and range: 94.90 m. j2?jjjihhhh BfffrfbfJ?ɛEBM= iuR?Iq uD<ɚqiqIu } Will construct direction to contact in vehicle frame from tetrahedron phase data.yw, Av >Yvȁ ?vT;9vG>yvHg]?` ޳?? Ƀ?o˿I`?@?ɨv >v%;vCy -B "IiR=Ii> %=%=I5I5<٢U{ UV=9UwEQ U>YY ]G٣YyeE= e> mNusing accuracyPremultiplier from configiuo59m6?uo5Ymg im#@y}>}@m#]Em;m;m{(o5 @EZjDNOT Ignoring new targets: 94.90 m.Bj5<Jj5< ProNav: ac range: 94.900002 m, nav range: 43.190884 m, bearing: 95.391266 deg, approach rate: -0.206806 m/s, LOS rate: 0.636090 deg/s, cmd heading: 40.044846 deg, new cmd heading: 40.772241 deg. 2jE<HeadingCmd: 0.711610 target range: 94.900002 and range: 94.90 m. j,6?jjjihhhhfffrfbf`?ɛB;= ]?I %'8<ɚ!i!I%Ew,AzKUsOKU9KQKU*KUDA?985-*)'&#"!    BK]qA:K]oAeģ>Ye?e ;9e8>yeH#?~7?` ?e;eCy}2B}"I-Will construct direction to contact in vehicle frame from tetrahedron phase data.H==>I=C I9I9I=# =&I9.I96I=֯<:I= FmMb@Mb@Mb@iii i)iYmK7A?{Gz? G٣yD= > Nusing accuracyPremultiplier from configo59F?o5Y& iH@?:?@&]E{;;`,o5 T@ZjDNOT Ignoring new targets: 94.90 m.Bjx+<Jjx+<  ProNav: ac range: 94.900002 m, nav range: 43.086269 m, bearing: 95.658184 deg, approach rate: -0.234451 m/s, LOS rate: 0.599640 deg/s, cmd heading: 40.772241 deg, new cmd heading: 41.574884 deg. 2j <HeadingCmd: 0.725619 target range: 94.900002 and range: 94.90 m. j$9?jjjihhhhBfff!rf)bf-?ɛ%B-|= )-7?I) -<ɚ)i1I5bՆw,iA2ӵ>Y2e?2z#b;92&c>y2H@+?` ?dl?!?\hʿkDl ??ɨ2ӵ>2J;2Cy>;BF"IIR%IR)3٢VR= Zo=9Z;Q Z?\\ ^G٣^OGyb5(= b? fNusing accuracyPremultiplier from configdjo59fS?jo5Yf ifb@hj'?j@f)]Efc;f;f]/o5rB r@rߴEZjDNOT Ignoring new targets: 94.90 m.Bj%#<Jj%#< ProNav: ac range: 94.900002 m, nav range: 43.004589 m, bearing: 95.862065 deg, approach rate: -0.228136 m/s, LOS rate: 0.570527 deg/s, cmd heading: 41.574883 deg, new cmd heading: 42.187664 deg. 2j<HeadingCmd: 0.736314 target range: 94.900002 and range: 94.90 m. j  Q IQ Ga Bq O >w,86A6Gv>Y6%7?6+;96>y6Hܓ?`}<!?Q??ɿ`sc?T?ɨ6Gv>6j;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.R*?R4=ytt)x x||I#I%x3٢ D=9V;Q >!! %G٣!y-m= -> 5Nusing accuracyPremultiplier from config1=o595a?Eo5Y5m i5@IM?M@5-]E5\;5N;53o5a m@iB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 94.90 m.Bj?-<Jj?-< ProNav: ac range: 94.900002 m, nav range: 42.902824 m, bearing: 96.110014 deg, approach rate: -0.248070 m/s, LOS rate: 0.605852 deg/s, cmd heading: 42.187664 deg, new cmd heading: 42.933229 deg. 2j< HeadingCmd: 0.749326 target range: 94.900002 and range: 94.90 m. j ??j j jihhh!h!f!f)f)JJJJJܫ:J :JJrfbf ̴@ɛB= ?I <ɚ i I >I1 I5"II5tBI1&I1.I16I5<:I5 FBIJIUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.RIZIbIjI 5Goܽ) E vAa Y vAy BG B O > 9 I9 w,YPA2a>Y2?2%;92Q}>y2H@U?Z}j?-??tɿv@Ni?^?ɨ2a>2=1;2CyfABf"IMb@Mb@Mb@ )Y}?5^I?Q?:v?yM?<T< A @)C@I@y@IIT3٢< ?=9I:Q > G٣yA= > Nusing accuracyPremultiplier from configo59Ip?o5Y i@?:'?@0]E;;6o5 B @ ܴEZj15DNOT Ignoring new targets: 94.90 m.Bj= +<Jj= +e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:46:16.3424 m TRx dataTimestamp_ set to:1736376377.628669m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9673687w,BjAn>Ync?n$;9nAI|>ynH U?`?? O?2ȿ ${@7?`t?ɨn>nʼn;lyvFBv"II~.I~3٢ <  X=9n3;Q > G٣OGy%i= -> 5Nusing accuracyPremultiplier from config)=o59-}?=o5Y- i-@9=i+?=@-3]E- ;-;-:o5I M+@IZjq}DNOT Ignoring new targets: 94.90 m.Bj}%<Jj}%< ProNav: ac range: 94.900002 m, nav range: 42.687004 m, bearing: 96.580118 deg, approach rate: -0.268741 m/s, LOS rate: 0.580335 deg/s, cmd heading: 43.683622 deg, new cmd heading: 44.347039 deg. 2j#<HeadingCmd: 0.774002 target range: 94.900002 and range: 94.90 m. j$F?jjjihhhhfffrfbf`C@ɛ B= ?I Ra<ɚiIvxw,AzK KK9KK,K96!>Y!?;9mz>yH@?hKV ?/?`?@ȿ a }j ?1 ?ɨ>(;騍Cy޹޽"Ii=I4< =a=H=>I I"IIyBI&I.I6I"<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:46:16.3424 LVL= 17456, 32753, 24386, 32755, AGC= 56, IDX= 435, 0.39, 0.259,-1.367,-1.522,-0.983, PHS= 1.329,-0.337,-0.542, RAW= 84.3, -5.1, CAL= 92.9, -12.6, ROT= 57.1, 12.6 MYgot valid direction response: 22:46:16.3424 LVL= 17456, 32753, 24386, 32755, AGC= 56, IDX= 435, 0.39, 0.259,-1.367,-1.522,-0.983, PHS= 1.329,-0.337,-0.542, RAW= 84.3, -5.1, CAL= 92.9, -12.6, ROT= 57.1, 12.6 UPDAT read: Bearing 57.1, 12.6 (Local) ]~Local bearing/azimuth received: Bearing 57.1, 12.6 (Local) eDAT read: Range 10 to 50 : 94.2 m (Round-trip 125.6 ms) speed 0.4 m/s m,DAT read: user:2867> uBDAT read: Tx time:22:46:17.4626 u$Ping request sent.uc1c?x:QXҶ)Iն=i#.?_1:publishing transmit ping timeqFpublishing direction and range info97Vy??Dي?y`2DY?y )Ii )Iic1c?x:QXҶ)IiMb@Mb@Mb@ )YMb?:v?:v?y?T= A @)-@I@y@II#3٢ =9l:Q >!! %G٣!y5< 5> UNusing accuracyPremultiplier from configIo59M?o5YM iMO@?:[9?@M8]EM6o5 /@ٴE ]$?Ik%?kh y k k7qA:kfBBkBZkH@"u_@@/2@$W@7Vy??Dي?y`2DY?Jk#.?Rk_1*ɏ@ ȵLsW@fsl8?R풿AG:?"k޿*k~@k?k 2k4 Ck^oɩ?k kCkBkV?M addTargetRange:: Added new target pos. range: 94.199997 m, deltaT: 3.526720 s, deltaX: -0.700005 m, approachRate: -0.198486 m/s, rangeRepo size: 4  Added new target pos. range: 94.199997 m, bearing: 339.433312 deg, lat: 36.904732 deg, lon: -122.119843 deg, deltaT: 3.526720 s, deltaX: -0.700005 m, approachRate: -0.198486 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 94.20 m.BjJj ProNav: ac range: 94.199997 m, nav range: 37.491142 m, bearing: 94.152966 deg, approach rate: 0.000000 m/s, LOS rate: 0.580335 deg/s, cmd heading: 44.347039 deg, new cmd heading: 45.377607 deg. 2jHeadingCmd: 0.791989 target range: 94.199997 and range: 94.20 m. jſJ?jjjihhh)h)f)f)f1rf5̌W@bf5`R?ɛ BCq= 2?I ֠<ɚiIWYF%?F{g<9F|z>yFH`?@Dtz? G??(ȿ L W? ?ɨFh!>FG;FCynGBr"II5I5٢E&; MV=9M;Q M>qq }G٣yy}= }> Nusing accuracyPremultiplier from configo59蚋?o5Yh i@=?@;]E;;#Bo5 '@ִEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 94.20 m.BjH<JjH Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,mA63>Y6u)?6?;96u>y6H =?T???6xǿZ{d??ɨ63>6K;6CyBABB"IIJIJƲ٢R RV=9R;gQ R>TX ZG٣ZOGyZ%= Z> bNusing accuracyPremultiplier from config\bo59^Ԧ?fo5Y^ i^Ԡ@dfA?f@^>]E^U:^v:^oEo5h j@lzB*** querying acoustic contact ***jxjxZj DNOT Ignoring new targets: 94.20 m.Bj 65<Jj 65< ProNav: ac range: 94.199997 m, nav range: 37.247833 m, bearing: 94.623966 deg, approach rate: -0.329624 m/s, LOS rate: 0.633707 deg/s, cmd heading: 46.094911 deg, new cmd heading: 46.795138 deg. 2j%t<%HeadingCmd: 0.816729 target range: 94.199997 and range: 94.20 m. j%+Q?j)j)j)i)h1h1h1h9fffrfbfP?ɛ-B-l= )-z?I) 5<ɚYiYI]Lt>I I"IIBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zK9LK9KK-K IGz۽G?G9?G B O >ɵw,|FA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248109yeDBe"I)i iMMb@Mb@Mb@III I)IYMp= ף?v/?Q?J]J]J]1JYJ]:J] 9J]3JYJ];J];J]O>;J]P>;yM?Mxi=Mu G٣y > Nusing accuracyPremultiplier from configo59絋?o5Yj i4@?:B?@B]Ea;;Io5B `@ԴEZjDNOT Ignoring new targets: 94.20 m.Bj<.<Jj<.< ProNav: ac range: 94.199997 m, nav range: 37.092873 m, bearing: 94.920604 deg, approach rate: -0.316980 m/s, LOS rate: 0.609321 deg/s, cmd heading: 46.795139 deg, new cmd heading: 47.688695 deg. 2j<HeadingCmd: 0.832325 target range: 94.199997 and range: 94.20 m. j<U?jjjihhh h %Bf)f)f1rf1bf5H'?ɛ]B]j= ae?Ia e<ɚaiaI}w,E-A29>Y21?2g;92v>y2H T?!?`y?V?ƿLy?;?ɨ29>2;;2Cy>FBB"IIJ!IJi3٢R);< Ro=9R7Q R?TT VG٣TyZ= Z? ^Nusing accuracyPremultiplier from config\bo59^F?bo5Y^ i^x@df$K?f@^E]E^n:^:^Lo5h j@@lZj DNOT Ignoring new targets: 94.20 m.Bj O9<Jj O9<% ProNav: ac range: 94.199997 m, nav range: 36.979046 m, bearing: 95.127208 deg, approach rate: -0.355942 m/s, LOS rate: 0.648048 deg/s, cmd heading: 47.688695 deg, new cmd heading: 48.310388 deg. 2j%_<-HeadingCmd: 0.843175 target range: 94.199997 and range: 94.20 m. j-WW?j)j)j)i)h)h1h1h1f9f9f9rf9bf=@?ɛmB$= ?I <ɚiIJH I  I #II BI &I .I 6I G<:I 9 F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004447zK >KK 59K K .K BK pA:K pA'w, AyrBBr"IMb@Mb@Mb@ )YuV?x&?~jt?yr?7=D< A )-@I@y\@I(I̍3٢. 7=9Q > G٣OGy > 9I9 ENusing accuracyPremultiplier from configEo593΋?Mo5Y iѡ@M ?M:MzO?M@H]E;;fPo5Y ]|@YZjIUDNOT Ignoring new targets: 94.20 m.Bje)<Jje)< ProNav: ac range: 94.199997 m, nav range: 36.821182 m, bearing: 95.407515 deg, approach rate: -0.333211 m/s, LOS rate: 0.594193 deg/s, cmd heading: 48.310389 deg, new cmd heading: 49.154852 deg. 2j<HeadingCmd: 0.857914 target range: 94.199997 and range: 94.20 m. jA[?jjjihhhhBfffrfbf v@ɛEBmfG= im?Iq u<ɚyiyI}Xn5w,%A "@>C>Y>#u8?>4 <9>5:w>y>H@ ?q??e?2ƿ `D??ɨ>C>>;>CyRlp rG٣pyr= v> zNusing accuracyPremultiplier from configtzo59vSً?~o5Yv iv@|-V?@vL]Ev#;v]$;vSo5 B @ ѴEZj1EDNOT Ignoring new targets: 94.20 m.BjE?<JjE?= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511118隵{?Iq }<<ɚyiyI}! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759903V1w,?A2(Y?Y2*;?2F*<92v>y2H ? j?`m?!?ſ`X?`?ɨ2(Y?2 ;0yR=BR"IIZIZ2٢~; ~H=9~:Q > G٣y =  > %Nusing accuracyPremultiplier from config%o59勜?-o5YS i_@)-Y?-@O]E@::1Wo51 =@9UB*** querying acoustic contact ***jQjQZjimDNOT Ignoring new targets: 94.20 m.Bjme0<Jjue0< ProNav: ac range: 94.199997 m, nav range: 36.538200 m, bearing: 95.886749 deg, approach rate: -0.365209 m/s, LOS rate: 0.616863 deg/s, cmd heading: 49.837616 deg, new cmd heading: 50.598047 deg. 2j<HeadingCmd: 0.883103 target range: 94.199997 and range: 94.20 m. jb?jjjihhhhfffrfbf``@ɛB{= ?I S<ɚiIIy I}"II}BIy&Iy.Iy6I}<:I} F*F?2F:FBF]0Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:46:19.9909 TRx dataTimestamp_ set to:1736376381.160739-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019203JFzKRIK+9KK/K +-*&   RK?JK IG5 G B O- >w,YA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265222bd?Ybf??b5<9bw>ybHKs?@?`>??'ſ@@F? J?ɨbd?bH;bCyz9B"IJ=J=J=1J9J=,:J=:J=3J9J=;J=;J=J;J=J;-Mb@Mb@Mb@))) )))Y- rh?S㥫?Mb?y-C ?-/]=-<) -@)-@I))y-f@IeIe?13٢u u5=9}::Q }> G٣OGy= > Nusing accuracyPremultiplier from configo59s?o5Y{ i@ ?:@W?@S]E;0;#[o5 !@˴EZjDNOT Ignoring new targets: 94.20 m.Bjd7<Jjd7< ProNav: ac range: 94.199997 m, nav range: 36.372578 m, bearing: 96.174373 deg, approach rate: -0.367630 m/s, LOS rate: 0.641338 deg/s, cmd heading: 50.598048 deg, new cmd heading: 51.464780 deg. 2j<HeadingCmd: 0.898230 target range: 94.199997 and range: 94.20 m. jde?jjjihhhhBff f rf bfi @ɛBD=  ?I <ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520248  I hXBw,+ksAy /B "II=I=[3٢MZ M`=9MQ M>QQ UG٣aye e> uNusing accuracyPremultiplier from configiuo59m?}o5Ym im@yy}@mV]Em;ml;mV^o5 @ZjDNOT Ignoring new targets: 94.20 m.BjS8<JjS8< ProNav: ac range: 94.199997 m, nav range: 36.238937 m, bearing: 96.409566 deg, approach rate: -0.364924 m/s, LOS rate: 0.644595 deg/s, cmd heading: 51.464779 deg, new cmd heading: 52.172922 deg. 2j0<HeadingCmd: 0.910589 target range: 94.199997 and range: 94.20 m. jai?jjjihhhhfffrfbfk @ɛ!B6'= !%?I! %p<ɚ!i!I% BDAT read: Tx time:22:46:21.1127 -$Ping request sent.-H- @>I- C I- "II- ~BI- " =&I) .I) 6I- <:I-  FBI%ʟCJI%ʟCRI!ZI%# =bI%# =jI%r4U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ )m = m cCzK LK K K 0K BK rA:K qA tA = Y= tAy= B+w,IA2p0?Y2rF?2yC<92hhw>y2H?@?i?  G٣y{= > Nusing accuracyPremultiplier from configo59 ?o5Y i͢@ ?%:%X?%@Z]E;;Wbo5I M@IkqZ?kaW7 k klzA:kBBkBZk ܞ@""P1")P T @0˶ W@J ZXC??Jk%@Rk뷿*t/@8e.UUV@'vUz?qCQſKw?"kw*k.@kP,\?kԞ: 2kCk2?k kCkAk? addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 3.780967 s, deltaX: -1.199997 m, approachRate: -0.317378 m/s, rangeRepo size: 4 m Added new target pos. range: 93.000000 m, bearing: 284.436880 deg, lat: 36.904744 deg, lon: -122.120059 deg, deltaT: 3.780967 s, deltaX: -1.199997 m, approachRate: -0.317378 m/s, posRepo size: 4 ZjiuDNOT Ignoring new targets: 93.00 m.BjuJjq ProNav: ac range: 93.000000 m, nav range: 16.842953 m, bearing: 100.069473 deg, approach rate: 0.000000 m/s, LOS rate: 0.644595 deg/s, cmd heading: 52.172922 deg, new cmd heading: 53.106067 deg. 2jHeadingCmd: 0.926876 target range: 93.000000 and range: 93.00 m. jGm?jjjihhhhBf!f!f!rf%@W@bf-e?ɛu#Buj|= q}?Iy }4<ɚyiITw,#ARE?YRN?Rt2<9Rp>yRH ?n|???ÿxNU?@ ?ɨRE?ROP;Py^,B^"IIf)IfW3٢~ h=9=AQ E>AI MG٣MOGyUV= U>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config=o59?=o5Y iע@9=`?=@]]E,<,<eo5EB M@MȴEZjDNOT Ignoring new targets: 93.00 m.Bj9<Jj9<w,AF?YFS?F O&<9F5r>yFH??|?@.?U|ÿɄw??ɨF?FV;DyR"BR"IiVC=IV< Z=Z=I^I^٢ CJ  K=9 Q > G٣y#+= > %Nusing accuracyPremultiplier from config!-o59%"?-o5Y%: i%@15#e?5@%a]E%:%C:%ho59 =@AeB*** querying acoustic contact ***jajaZjiuDNOT Ignoring new targets: 93.00 m.Bju/<Jj}/< ProNav: ac range: 93.000000 m, nav range: 16.578775 m, bearing: 101.140833 deg, approach rate: -0.381362 m/s, LOS rate: 1.553997 deg/s, cmd heading: 54.697169 deg, new cmd heading: 56.344752 deg. 2jO=HeadingCmd: 0.983401 target range: 93.000000 and range: 93.00 m. j2{?jjjihhhhfffrfbf҂?ɛ&B(= >I d<ɚiIl }a$?Iyfw,oA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488483>X?Y>Y7V?>=<9>Us>y>Ho?@ `? ?K?&ÿ`Ӱ.?`q?ɨ>X?>=P; G٣y(< > Nusing accuracyPremultiplier from configo59/?o5YT i@?:ve?@e]EZ;;lo5 @Zj)5DNOT Ignoring new targets: 93.00 m.Bj=m<Jj=mI 8<ɚiI i Ii 1w,A:!?Y:Y?:TY<9:Kt>y:H`?I ?? 7?¿:(T??ɨ:!?: ;8yBBFq"IIN'IN@3٢VP V^=9V ;Q V>XX ZG٣ZOGy^= b> fNusing accuracyPremultiplier from configdjo59f9?jo5Yf if@hjh?j@fh]Ef:f%;foo5p r@rƴEZj  DNOT Ignoring new targets: 93.00 m.Bj<Jj<% ProNav: ac range: 93.000000 m, nav range: 16.294838 m, bearing: 102.321618 deg, approach rate: -0.358084 m/s, LOS rate: 1.503665 deg/s, cmd heading: 58.263153 deg, new cmd heading: 59.916758 deg. 2j%=-HeadingCmd: 1.045745 target range: 93.000000 and range: 93.00 m. j-څ?j)j)j1i1h1h1h9h9fAfAfArfAbfMIy <ɚiInJK3 K.-KK"KJ-J-J)J)J-:J- :J)J)HE B>IA  IE "IIE `BIE ! =&IA .IA 6IE D<:IE ; F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246790zK JK K K 2K -w,9A2B$?Y2C\?2!e<92s>y2H?2@} ?uH?T?iS¿`8,?R?ɨ2B$?2R;2CyF BFj"IHH xIx%Mb@Mb@Mb@!!! !)!Y%Zd;O?Q?Mb`?y%~ ?%u<%;%A %@)%C@I%@!y%@I=I=m?3٢M U?=9U:Q U>YY ]G٣Yy]< e> mNusing accuracyPremultiplier from configiuo59mE?uo5Ym^ im@u ?u:uAc?}@ml]Em ;m ;mso5 @ôEZjQ]DNOT Ignoring new targets: 93.00 m.Bj]<Jj}< ProNav: ac range: 93.000000 m, nav range: 16.151949 m, bearing: 102.962428 deg, approach rate: -0.318430 m/s, LOS rate: 1.440655 deg/s, cmd heading: 59.916755 deg, new cmd heading: 61.855411 deg. 2j-w=HeadingCmd: 1.079581 target range: 93.000000 and range: 93.00 m. j/?jjjihhhhԂBfffrfbfC@ɛ+Br2u= >I9 =@<ɚ9iAIE?fʢ w,wj(A6s'?Y6_?6t<96t>y6H ?+a??:?0`8?@}?ɨ6s'?6bO;6CyRBRd"IIb#Ib%x3٢n߼ rS=9r;Q r>tt zG٣xyz2 = ~>  Nusing accuracyPremultiplier from config o59 P?o5Y  i ۢ@!%f?%@ o]E |; u; vo55BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748813 5d@EZj%DNOT Ignoring new targets: 93.00 m.Bj%<Jj%< ProNav: ac range: 93.000000 m, nav range: 16.021183 m, bearing: 103.550973 deg, approach rate: -0.331552 m/s, LOS rate: 1.504388 deg/s, cmd heading: 61.855409 deg, new cmd heading: 63.634851 deg. 2j=HeadingCmd: 1.110638 target range: 93.000000 and range: 93.00 m. j`)?jjjihhhhfffrfbf@=@ɛ},Bx= 隅->I L=ɚiI&m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:22:46:23.6396 } TRx dataTimestamp_ set to:1736376384.941002} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002051JE JE JA JA JE ,:JE :JA JA ׊w,VFBA:Y*?Y:Xy:H2?`??@? @ꏿ@y?`g?ɨ:Y*?:M;:CyRBRc"IIZIZV83٢b bL=9b:Q f>dd fG٣fOGyj-= j> rNusing accuracyPremultiplier from configlvo59n\?vo5Yn inѢ@tzi?z@nr]En8;n;njzo5| ~t@|B*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 93.00 m.Bj-R<Jj5RI HA=ɚiI)A?)*F?2F:FBF?1JFjH<bHHC>G5>I I"IIPBI&I.I8D6I/<:I- FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256539G B1OG>zKKKK3K RK-?JK-? IǴw, \AWill construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: 22:46:23.6396 LVL= 21744, 32177, 26162, 32755, AGC= 60, IDX= 421, 0.30,-1.808, 2.800, 3.100,-2.696, PHS= 0.976,-0.740,-0.490, RAW= 97.8, 3.2, CAL= 107.5, 1.2, ROT= 42.5, -1.2 6Ygot valid direction response: 22:46:23.6396 LVL= 21744, 32177, 26162, 32755, AGC= 60, IDX= 421, 0.30,-1.808, 2.800, 3.100,-2.696, PHS= 0.976,-0.740,-0.490, RAW= 97.8, 3.2, CAL= 107.5, 1.2, ROT= 42.5, -1.2 :PDAT read: Bearing 42.5, -1.2 (Local) :~Local bearing/azimuth received: Bearing 42.5, -1.2 (Local) BDAT read: Range 10 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.3 m/s F,DAT read: user:2869> FBDAT read: Tx time:22:46:24.7627 J$Ping request sent.JyH@~?BL`w??U?O༔`i?@6 ?ɨ.?`É;Cy޽B޽]"IMb@Mb@Mb@ )Yq= ףp?Zd;O?y ?j< A @)I@y\@I!Ii3٢Uv U(=9UQ U>YY ]G٣Yye< e> Nusing accuracyPremultiplier from configio59m,i?o5Ym} imƢ@ ?:q?@mw]EmI 8=ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:46:24.7620 d$?I G NG B O >"w,wAV2?YV'k?VAn<9V >yVHk?L,?m?$?@eݍI?`b?ɨV2?VM;VCyrBrT"III<٢u~1 ui=9}=Q }>yy G٣y6= > Nusing accuracyPremultiplier from config o59r? o5Yy i@u?@z]E<u;o5Q ]B@]EWill construct direction to contact in vehicle frame from tetrahedron phase data.յ=յ<ZjDNOT Ignoring new targets: 92.00 m.Bj[Jj[ ProNav: ac range: 92.000000 m, nav range: 5.238142 m, bearing: 291.628863 deg, approach rate: 0.297586 m/s, LOS rate: -5.073776 deg/s, cmd heading: 68.008644 deg, new cmd heading: 62.498374 deg. 2jYHeadingCmd: 1.090802 target range: 92.000000 and range: 92.00 m. jj?jjjihhhAhAfIfIfIrfIbfMd?ɛ0B }= 隝a>I 3=ɚiIHe D>Ia  Ie "IIe ABIe =&Ia .Ia 6Ie 5<:Ie 3 Fe Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 zK5 iJK5 9K1 K5 4K5 .P_XPQtBKE qA:KE pA@$w,ܐAyrBrQ"IMb@Mb@Mb@ )Yy&1?S㥛?Mb`?y`?/<; A @)-@Iy@II٢3 ?=9Q > G٣OGy > Nusing accuracyPremultiplier from config o59 %}?%o5Y t i ¢@-?-:5w?=@ }]E ;  ; |o5A Ei@AZjimDNOT Ignoring new targets: 92.00 m.BjuJju ProNav: ac range: 92.000000 m, nav range: 5.360130 m, bearing: 289.729321 deg, approach rate: 0.313714 m/s, LOS rate: -4.772949 deg/s, cmd heading: 62.498376 deg, new cmd heading: 56.947892 deg. 2jLHeadingCmd: 0.993928 target range: 92.000000 and range: 92.00 m. jr~?jjjihhhh؂Bfffrfbfm?ɛ1BBx= >I e=ɚiI_.*w,NAV6=?YVu?V*5<9Vnh>yVH@[?Le?85?? C`5>? .?ɨV6=?V;VCybBbM"IIjIjƲ٢r\a r^=9v~Q z>x| ~G٣|y= >  Nusing accuracyPremultiplier from config o59 ԅ?o5Y p i ̢@"?@ ]E%Will construct direction to contact in vehicle frame from tetrahedron phase data. L: I =ɚiI+,Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,ęA>I B?Y>Iz?>(<9>;>y>H9?(o?`͌?%P? ?|?ɨ>I B?>>-;>CyFBJH"IIRIR٢Z㨼 ZM=9ZQ ^>`` bG٣`yj"B= j> rNusing accuracyPremultiplier from configlvo59n掌?vo5Ynk inע@tv?v@n]En:ne:n5o5| ~@~EB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 92.00 m.Bj-Jj-= ProNav: ac range: 92.000000 m, nav range: 5.619594 m, bearing: 286.529240 deg, approach rate: 0.346456 m/s, LOS rate: -3.936105 deg/s, cmd heading: 52.290777 deg, new cmd heading: 47.594000 deg. 2jE(EHeadingCmd: 0.830672 target range: 92.000000 and range: 92.00 m. jET?jAjIjIiQhYhYhYhYfafafarfabfe?ɛ 3B q= 15}>I1 =t=ɚ9i9I=O~G|uAIC5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.  Y|uAy6B I"II7BI =&I.I6I<:I F*F?2F:FBF_0JF e$?IBI CJI CRIZI! =bI =jIQ5zK=MK=s9K9K=5K=xkb[YXZSH>7671-./-+))(#!  RKE>JKE?G ]NGY Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004630A7w,7mAyrBrL"I- only read 0 of 1 data item for BIT error. Device response is::TS447325210.9, 0.0,1493.3, 0   @   @   @    @ I1I3٢-AA EG٣EOGyE M> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIJeJeJe0JaJe :Je 9Jeـ3JaJe;amJe;auJeO>;auJeP>;au}o59Md?}o5YMf iM@+::@M]EM/;MW>M*o5B @EZjDNOT Ignoring new targets: 92.00 m.BjJj ProNav: ac range: 92.000000 m, nav range: 5.768666 m, bearing: 284.929117 deg, approach rate: 0.351869 m/s, LOS rate: -3.678841 deg/s, cmd heading: 47.594001 deg, new cmd heading: 42.928628 deg. 2jHeadingCmd: 0.749246 target range: 92.000000 and range: 92.00 m. j??jjjihhhhfffrfbf Z@ɛq= >I 4 =ɚiIz=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254705 IhBk=w,HA6ɁL?Y6~?6q<96ې>y6H ?`w!f ? A?`*?@2@?@?ɨ6ɁL?6;4yBBBD"IiF,>IF4<Ij8Ij3٢~ M=9-Q >    G٣ yw= > -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5o59%ՠ?5o5Y%"b i%@5 :15:=?=@%]E%>;%Q?%so5A E@AZjiuDNOT Ignoring new targets: 92.00 m.BjuxvJj}xv ProNav: ac range: 92.000000 m, nav range: 5.920694 m, bearing: 283.537803 deg, approach rate: 0.386694 m/s, LOS rate: -3.447706 deg/s, cmd heading: 42.928627 deg, new cmd heading: 38.869068 deg. 2jHeadingCmd: 0.678393 target range: 92.000000 and range: 92.00 m. j.-?jjjihhhhfffrfbf u@ɛ4B_v= o>I 7 =ɚiI)?H F>I  I "II -BI  =&I .I 6I A<:I = FU Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] Au checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762911 I SDw,)&A6 ^R?Y6m?6~<96>y6H!?`6sg?y?@ ?"@ί`A?m?ɨ6 ^R?6SÊ;6CzKNMNKN9KLKN6KN9y~ul`YTRNHE?950**+*%%#*@Wehkec`\ZVTNMIEDEB>;93.,+BKVpA:KVqAyZBZH"I E E EE EE  E E EMb@Mb@Mb@AAA A)AYE r??qq uG٣qy}`= }> Nusing accuracyPremultiplier from configo59?o5Y] iP@T:I?: ?@]E;g;o5 @ZjDNOT Ignoring new targets: 92.00 m.BjUJjU ProNav: ac range: 92.000000 m, nav range: 6.089017 m, bearing: 282.263998 deg, approach rate: 0.405159 m/s, LOS rate: -2.981089 deg/s, cmd heading: 38.869070 deg, new cmd heading: 35.158793 deg. 2jHeadingCmd: 0.613637 target range: 92.000000 and range: 92.00 m. jK?jjjihhqhqh}Bfyffrfbf1k@ɛ5BXp= />I 6 =ɚiI)K?)*F?2F:FBF0JFGAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:46:27.2876 TRx dataTimestamp_ set to:1736376388.471434checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015721GBOb>JyJ}JyJyJyJ}:JyJyJyJyJ}DG;J}EG;}Jw,+AyrBrG"I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262484IzIz#3٢ݢ P=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)5o59-?=o5Y-4X i-@99=@-]E-: ;-;-o5I M@IZjyDNOT Ignoring new targets: 92.00 m.BjHJjH ProNav: ac range: 92.000000 m, nav range: 6.250543 m, bearing: 281.124911 deg, approach rate: 0.409274 m/s, LOS rate: -2.811441 deg/s, cmd heading: 35.158791 deg, new cmd heading: 31.833797 deg. 2j.񽝊HeadingCmd: 0.555605 target range: 92.000000 and range: 92.00 m. j<?jjjihhhhfffrfbf`c @ɛwqy= >I K =ɚiI"< =f$?I9Iu-gM?iqiud>)u<?)y*F ?2F :F BF _5JF G GBOK>Will construct direction to contact in vehicle frame from tetrahedron phase data.ս<ս< DAT read: 22:46:27.2876 LVL= 22688, 32753, 27970, 32755, AGC= 61, IDX= 417, 0.20,-1.918, 2.745,-2.983,-2.660, PHS= 0.830,-0.831,-0.326, RAW= 107.2, 4.5, CAL= 118.2, 2.0, ROT= 31.8, -2.0  Ygot valid direction response: 22:46:27.2876 LVL= 22688, 32753, 27970, 32755, AGC= 61, IDX= 417, 0.20,-1.918, 2.745,-2.983,-2.660, PHS= 0.830,-0.831,-0.326, RAW= 107.2, 4.5, CAL= 118.2, 2.0, ROT= 31.8, -2.0  PDAT read: Bearing 31.8, -2.0 (Local)  ~Local bearing/azimuth received: Bearing 31.8, -2.0 (Local)  DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.6 m/s  ,DAT read: user:2870>  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.194792,-0.189459,0.962373] Fpublishing direction and range info96ȿ[/2@ȿiN?y3BX Bm)I=izT?jTy馾|?|٠= @)5=Iq?i5{?b)̿CϢ?)"cI6iES֥ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.eQw,YEAyrBrN"I)t ttvAIz3Izʴ3٢ <  K=9 Q  > G٣OGy9 => ENusing accuracyPremultiplier from configAMo59E?Mo5YE8S iE@IIU@E]EE:E:Eo5}B }@}Ek[?kݠ k kp]>A:k3BBkBZk@"(C1޿=*1X8U@6ȿ[/2@ȿiN?JkERkS֥*A.;@kA|S@H&?"T4Yٿ )Q?"k*kAk!H?kh 2kCkP,\?kԞ: kkԔAkd,@ addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.530598 s, deltaX: -1.400002 m, approachRate: -0.396534 m/s, rangeRepo size: 4 M Added new target pos. range: 90.599998 m, bearing: 307.354277 deg, lat: 36.904806 deg, lon: -122.120420 deg, deltaT: 3.530598 s, deltaX: -1.400002 m, approachRate: -0.396534 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 90.60 m.BjuJjq ProNav: ac range: 90.599998 m, nav range: 18.603682 m, bearing: 276.046415 deg, approach rate: 0.000000 m/s, LOS rate: -2.811441 deg/s, cmd heading: 31.833797 deg, new cmd heading: 28.281106 deg. 2jHeadingCmd: 0.493598 target range: 90.599998 and range: 90.60 m. j>jjjHbH<HG>I I"II(BI&I.I6IO<:IH Fjihhhhfffrf`fV@bf?ɛ}6Bs= 隅Ҿ>I e=ɚiI)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Tx time:22:46:28.4127 =$Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249422ЏWw,c_A6`?Y6?6n<96m>y6H7?oc? ?@y*?@N?@&?ɨ6`?6;4y>BBG"IJEJEJAJAJE:JE:JAJAJE;JE;JEA;JEA;Mb@Mb@Mb@ )Y%C?ʡE?/$?yZ?=<A r@)p@Iy(@II 3٢? @=9Q > G٣y> > Nusing accuracyPremultiplier from configo59ɽ?o5YM i@?:?@]E;;o5B @EB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 90.60 m.BjIJjI- ProNav: ac range: 90.599998 m, nav range: 18.802097 m, bearing: 275.757881 deg, approach rate: 0.490651 m/s, LOS rate: -0.705965 deg/s, cmd heading: 28.281105 deg, new cmd heading: 27.424707 deg. 2j-?򼝊5HeadingCmd: 0.478651 target range: 90.599998 and range: 90.60 m. j5>j9j9j9i9h9h9hAhEBfAfAfArfIbfM?ɛy= }>I! %+=ɚ!i!I%M)Q*F?2F:FBFV4JFGGBOa>-Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503542 9I9 ]w,yA6@e?Y6qގ?6sG;96T}>y6H? ?੿? Z?@@湿qi? @?ɨ6@e?6<;6CyBBBM"IIJIJ2٢RO< R]=9VQ V>TT VG٣XyZx@= Z> bNusing accuracyPremultiplier from config\bo59^Œ?fo5Y^H i^@df?f@^]E^;:^\:^o5h n@lZj  DNOT Ignoring new targets: 90.60 m.Bj66Jj66% ProNav: ac range: 90.599998 m, nav range: 18.978607 m, bearing: 275.519121 deg, approach rate: 0.475494 m/s, LOS rate: -0.637205 deg/s, cmd heading: 27.424707 deg, new cmd heading: 26.715125 deg. 2j%ڼ-HeadingCmd: 0.466267 target range: 90.599998 and range: 90.60 m. j->j)j1j1i1h1h1h9h9f9f9fArfAbfE B?ɛө= >I EK=ɚiIO)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751336*F2F:FBFZ0JFG}y,GBO>>HI I"II-BI&I.I6IC<:I? F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005651 A IA dw,lA6i?Y6{̐?6<96q>y6H`;?` )??o?i`ׂ?`Q?ɨ6i?6'G;4zKR>MKR9KPKR8KRyZBZK"I ^p=^p=Mb@Mb@Mb@ )YS㥛?sh|??Zd;O?y?=j< A @)C@I@y@II٢ ;=9s;Q > G٣OGy_ = > Nusing accuracyPremultiplier from configo59Ȍ?o5Y(C ip@?:;?@]E;+;ͦo5B @ZjDNOT Ignoring new targets: 90.60 m.Bj)Jj ) ProNav: ac range: 90.599998 m, nav range: 19.190577 m, bearing: 275.257842 deg, approach rate: 0.486998 m/s, LOS rate: -0.593654 deg/s, cmd heading: 26.715124 deg, new cmd heading: 25.939995 deg. 2j˼%HeadingCmd: 0.452738 target range: 90.599998 and range: 90.60 m. j%Q>j!j!j!i!h)h)h)h-Bf1f1f9rfAbfMEt?ɛ̩w= >I M=ɚIiQIUiYiY)]Q>)Y*F!2F!:F!BF-\0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254718G ;GBOk>J]J]JYJYJ]|:J]:JYJYJ];J];J]zE;J]zE;jw,GA6dk?Y6?6M9<964c>y6H,?~V`XC??t)?`)`/>? 5?ɨ6dk?6:;6CyBBBV"IIJIJ3٢b&D= bZ=9f%;Q f>dh jG٣hyj< j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506760 zNusing accuracyPremultiplier from configx~o59z?͌?o5Yz%> izܥ@?@z]Ezd.;z.;zo5  @ZjDNOT Ignoring new targets: 90.60 m.BjK!JjK! I ProNav: ac range: 90.599998 m, nav range: 19.375063 m, bearing: 275.042237 deg, approach rate: 0.487290 m/s, LOS rate: -0.564060 deg/s, cmd heading: 25.939995 deg, new cmd heading: 25.299367 deg. 2jHeadingCmd: 0.441557 target range: 90.599998 and range: 90.60 m. j>jjjihhh h f f frfbf5?ɛ7B\U= 隍>I +=ɚiI݃ii)>)*FI2FI:FIBFM_0JFIG%>uN=GBO-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758420qw,'A6ol?Y67?6J<96R>y6H m?`|@?#??ӱ%鐿`$?(R?ɨ6ol?6;6CyNBNR"IIV-IV3٢^톼 bK=9bbSdd fG٣dyfo*< f> nNusing accuracyPremultiplier from confighro59j#Ҍ?ro5Yj8 ijB@tvK?v@j]Ej12;j;:jo5zB z?@zEZj!%DNOT Ignoring new targets: 90.60 m.Bj--Jj--= ProNav: ac range: 90.599998 m, nav range: 19.571697 m, bearing: 274.820830 deg, approach rate: 0.489981 m/s, LOS rate: -0.546167 deg/s, cmd heading: 25.299367 deg, new cmd heading: 24.641849 deg. 2j=jEHeadingCmd: 0.430081 target range: 90.599998 and range: 90.60 m. jE3>jAjAjAiIhIhIhIhIfQfQfYrfYbf]\t@ɛڟ= 隍S>I =ɚiI\ii)3>)!ZH1RH5@AH9I9 I="II=2BI9&I9.I96I=<:I= FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010604*F?2F:FBF0JF g$?IG7=GB!OUS>zK}KKػ9KK9KRK?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262683ww,wAyBS"I5Mb@Mb@Mb@111 1)1Y5sh|??sh|??~jt?y5 ?15<5 A 5@)5-@I5@1y5@IE/IE3٢U ; ]3=9]Q ]>aa eG٣eOGye e> uNusing accuracyPremultiplier from configq}o59u،?o5Yu2 iu@ ?:ͤ?@u]EuR;uP;uo5 /@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.60 m.Bj Jj u ProNav: ac range: 90.599998 m, nav range: 19.804483 m, bearing: 274.561842 deg, approach rate: 0.509088 m/s, LOS rate: -0.559729 deg/s, cmd heading: 24.641849 deg, new cmd heading: 23.874069 deg. 2ju}HeadingCmd: 0.416681 target range: 90.599998 and range: 90.60 m. j}:W>jyjyjihhhh߂BfffrfbfM@ɛU6BU[x= Y]l>IY G=ɚiI'ii):W>) *F?2F:FBFd0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514589G1V>GG IGaBqO>~w,A:)k?Y:ґ?:<9:">y:H K?@? ??@Eݤ8A?p?ɨ:)k?:E;:CyFBFR"IIR-IR3٢Z Zj=9Z =Q Z?\\ ^G٣\yb b? fNusing accuracyPremultiplier from configdjo59f܌?jo5Yf- ifզ@hjj?n@f]Efj;f,m;fo5t v7@zEZjDNOT Ignoring new targets: 90.60 m.BjJj%- ProNav: ac range: 90.599998 m, nav range: 19.982172 m, bearing: 274.366747 deg, approach rate: 0.509579 m/s, LOS rate: -0.554522 deg/s, cmd heading: 23.874069 deg, new cmd heading: 23.294008 deg. 2j5H5HeadingCmd: 0.406557 target range: 90.599998 and range: 90.60 m. j5B(>j9j9j9i9h9hAhAhAfAfIfIrfIbfM @ɛyYL= 隅>I }=ɚiI$ii)B(>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767970*FU?2FQ:FQBFU@5JFQG-A>J]JYJYJYJ]L:JYJYJYam@am@am@am@GBO*>) H9I9 I="II=7BI= =&I9.I96I=L<:I=F FBIȡCJIȡCRIZI =bI =jID4GvA "YvAyVB Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:46:30.9351 = TRx dataTimestamp_ set to:1736376392.252829M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025794 I hw,A6sxh?Y68z?6]=96:D>y6H@\? {??"k?̖` ?@Ĺ?ɨ6sxh?6.;6Cy>BBW"IzKn:IKns9KlKn:KnBKt:KtMb@Mb@Mb@ )Yq= ףp??{Gz?y ?=ף<A &@)@I@y3@I'I@3٢k< 9=9~ G٣y/ü > Nusing accuracyPremultiplier from configo59ጜ?o5Y|' i@ ?:?@]E;B;o5 @Zj)-DNOT Ignoring new targets: 90.60 m.Bj5Jj5E ProNav: ac range: 90.599998 m, nav range: 20.212776 m, bearing: 274.133511 deg, approach rate: 0.524144 m/s, LOS rate: -0.524076 deg/s, cmd heading: 23.294008 deg, new cmd heading: 22.602320 deg. 2jEճMHeadingCmd: 0.394485 target range: 90.599998 and range: 90.60 m. jM>jIjIjQiQhQhQhYh]BfYfYfYrfabfeIj @ɛ3o= b>I =ɚiI Vi1i1)5>)9*F?2F:FBF95JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271162Ggu>GBOb>w,*.A2d?Y2?2a,=92˻=y2H3?RĹ??T?f`k?@\?ɨ2d?2^;2Cy@BX"IIJ&IJ3٢VR; Z_=9Z\\ ^GbWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:46:30.9351 LVL= 23104, 32753, 29426, 32755, AGC= 62, IDX= 423, 0.37,-2.730, 1.893, 2.596, 2.947, PHS= 0.695,-1.007,-0.354, RAW= 112.4, 9.0, CAL= 121.8, 6.1, ROT= 28.2, -6.1 Ygot valid direction response: 22:46:30.9351 LVL= 23104, 32753, 29426, 32755, AGC= 62, IDX= 423, 0.37,-2.730, 1.893, 2.596, 2.947, PHS= 0.695,-1.007,-0.354, RAW= 112.4, 9.0, CAL= 121.8, 6.1, ROT= 28.2, -6.1 -PDAT read: Bearing 28.2, -6.1 (Local) -~Local bearing/azimuth received: Bearing 28.2, -6.1 (Local) =DAT read: Range 10 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.4 m/s E,DAT read: user:2871> MBDAT read: Tx time:22:46:32.0627 M$Ping request sent.M Nusing accuracyPremultiplier from configo59猜?o5Y! i@G?@]E ; ;o5 @IFpublishing direction and range info`9bZS8ҿr 9ѿ` q?yb3B`b@Z` br)`Ib>ib1?b`倿b}?b?b| > bJ @)b^ =Ibd>ib^ ڽ``b2/S?.ف=?)blIb ib՘bڇ`` :publishing transmit ping timeI Fpublishing direction and range info`9bZS8ҿr 9ѿ` q?y`kb璜?kb k` kb 0A:kb3BBkbBZkb@"bR:9T79%Q aT@bZS8ҿr 9ѿ` q?``` `)`I`i````` `)`I`i```b2/S?.ف=?)`I`i````Jkb՘Rkbڇ*b`7\2@[a٧@ڰ.iS@b2J?!ؿ)?"kb*kbAkbf8?kb 2kbCkbu?kb5 kbCkbAkbŠ@ addTargetRange:: Added new target pos. range: 88.599998 m, deltaT: 3.777549 s, deltaX: -2.000000 m, approachRate: -0.529444 m/s, rangeRepo size: 4  Added new target pos. range: 88.599998 m, bearing: 298.794252 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.777549 s, deltaX: -2.000000 m, approachRate: -0.529444 m/s, posRepo size: 4 Zj5DNOT Ignoring new targets: 88.60 m.Bj5Jj1E ProNav: ac range: 88.599998 m, nav range: 30.233936 m, bearing: 287.862287 deg, approach rate: 0.000000 m/s, LOS rate: -0.524076 deg/s, cmd heading: 22.602320 deg, new cmd heading: 21.948272 deg. 2jAHeadingCmd: 0.383070 target range: 88.599998 and range: 88.60 m. j!>jjjihhhhfffrf`f&V@bf`'?ɛ15>ف= 9=Y>I9 =yQ=ɚ9i9I=iiii)m!>)i*F?2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:46:32.0620 JU JU JQ JQ JU :JU :JQ JQ G] c>Ge ?Ge >G! B) OE >zw,BvHAyrBrR"II~5I~3٢ U  D=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-o59%쌜?-o5Y%} i%,@)15@%]E%P;% ;%Wo59 =4@9ZjamDNOT Ignoring new targets: 88.60 m.Bjm+-Jjm+- ProNav: ac range: 88.599998 m, nav range: 30.410912 m, bearing: 287.638702 deg, approach rate: 0.482145 m/s, LOS rate: -0.605582 deg/s, cmd heading: 21.948272 deg, new cmd heading: 21.281450 deg. 2jϼHeadingCmd: 0.371431 target range: 88.599998 and range: 88.60 m. jA,>jjjihhhhfffrfbf?ɛ5BjHbHp<HF>I III&I.I6I.<:I/ FDT= >I \=ɚiI)ii ) A,>) *F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IzK5BoHK59K1K5;K5RK] ?JK]?Gh>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.E+w,lCbAy]B]U"IMb@Mb@Mb@ )Yn?K?~jtx?yV?^=;@ @)-@Ib@y@II3٢%Y=< %:=9!Q %>)) -G٣)y1 5> =Nusing accuracyPremultiplier from config9Eo59=%?Eo5Y=B i= @E<?M:M%?M@=]E=;=;=-o5Q U@UE}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 88.60 m.Bj)Jj) ProNav: ac range: 88.599998 m, nav range: 30.614756 m, bearing: 287.375838 deg, approach rate: 0.463122 m/s, LOS rate: -0.593233 deg/s, cmd heading: 21.281450 deg, new cmd heading: 20.498161 deg. 2j˼HeadingCmd: 0.357760 target range: 88.599998 and range: 88.60 m. j_,>jjjihhhhBfffrfbf?ɛB= >I <=ɚiIii)_,>) *FE?2FA:FABFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. yIG ^>Ga Bi O >"Vw,!|A:{R?Y:{?:|=9:j;y:H@? ٢ʘ?? !? ?'x? B?ɨ:{R?:ڍ;:CyBBFQ"IININ(٢V媼 Vf=9Va=Q V>XX ZG٣ZOGyZL ^> fNusing accuracyPremultiplier from configdjo59f3?jo5YfQ if@hnC?n@f]EfGD;fE;fLo5t vS@tZjDNOT Ignoring new targets: 88.60 m.Bj8Jj%8- ProNav: ac range: 88.599998 m, nav range: 30.772665 m, bearing: 287.143813 deg, approach rate: 0.442267 m/s, LOS rate: -0.646510 deg/s, cmd heading: 20.498161 deg, new cmd heading: 19.805695 deg. 2j5ݼ5HeadingCmd: 0.345675 target range: 88.599998 and range: 88.60 m. j5B>j9j9j9i9hAhAhIhIfIfIfQrfQbfUt?ɛ}4Bʙ= <隅>I W=ɚiIiii)B>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247666*F5?2F1:F1BF5o0JF1J-J-J)J)J-\:J-:J)J)G5c>G9G=mAHI III&I.I6I5<:I4 FGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499290 h$?I @w,dA>J?Y>??>=9>y>H?* ? ??@? ]ʑq?ɨ>J?>~; G٣yE > Nusing accuracyPremultiplier from configo596?o5Y  i-@N ?:?@]E;;o5 @EZjamDNOT Ignoring new targets: 88.60 m.Bj|6Jj|6 ProNav: ac range: 88.599998 m, nav range: 30.953949 m, bearing: 286.856383 deg, approach rate: 0.404868 m/s, LOS rate: -0.638166 deg/s, cmd heading: 19.805694 deg, new cmd heading: 18.948520 deg. 2jڼHeadingCmd: 0.330714 target range: 88.599998 and range: 88.60 m. j[S>jjjihhhhcBfffrfbf ?ɛ!mx= qu>Iy }D=ɚiI̅ii)[S>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752155*F?2F:FBF`0JFG] m>G9 BA Oe >iw,<ޯA2aB?Y2^1{?2=92B y2H`???w?`̴?B?ɨ2aB?2ݍ;2Cy:B:<"IIFFIF%3٢N9 N[=9RzPP RG٣PyV4 V> ZNusing accuracyPremultiplier from configX^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003061fo59Z?fo5YZ iZ@df|?f@Z]EZs;Zt;ZUo5l rb@pZj  DNOT Ignoring new targets: 88.60 m.BjH !I%hJjH ProNav: ac range: 88.599998 m, nav range: 31.105999 m, bearing: 286.603104 deg, approach rate: 0.423000 m/s, LOS rate: -0.701170 deg/s, cmd heading: 18.948521 deg, new cmd heading: 18.192446 deg. 2j𼝊HeadingCmd: 0.317518 target range: 88.599998 and range: 88.60 m. j>jjjihhhhfffrfbf%A@ɛ}3B}v= y}>Iy \ =ɚiIii)>)*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254984G} ^>JKm3 KS}-KK"KJ5 J5 J1 J1 J5 <:J5 9J1 J1 GY Bi O >5Pw,A6:?Y6s?6A=96P9y6H`??l?@?俷? ,@"3?ɨ6:?6;6Cy^Bb;"IIf7If3٢v8 vE=9zx| ~G٣~OGy~" >  Nusing accuracyPremultiplier from configo59Y?o5YV i@q?@]E;v";o5%B %v@%EZjIMDNOT Ignoring new targets: 88.60 m.BjUtGJjUtGe ProNav: ac range: 88.599998 m, nav range: 31.271000 m, bearing: 286.314514 deg, approach rate: 0.400914 m/s, LOS rate: -0.697505 deg/s, cmd heading: 18.192446 deg, new cmd heading: 17.331311 deg. 2jmX=uHeadingCmd: 0.302488 target range: 88.599998 and range: 88.60 m.ZHRHAAHH>I I"II-BI =&I.I6Ic<:IV F juߚ>jjjihhhh!f!f!f!rf!bf-`9@ɛ2BĂ= 隽)>I !=ɚiIkBii)ߚ>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507179 IE]<zKyJK9KK=K RK ?JK >*F?2F:FBFp0JF"Gi>G>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758917G= c>G] ?G] >GIBYOu>Mw,A6 2?Y6 Lk?6=96w8y6H+U? a~?W?I?0?`?ɨ6 2?6;4yBBB5"IMb@Mb@Mb@ )YHzG?Dl?Mby= ?O=K@ Z@)@I@y=@I;I&3٢ !=9S G٣yv >  Nusing accuracyPremultiplier from config o59 ?o5Y  i @a ?:?@ ]E f; ; bo5! %@)MB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 88.60 m.Bje6JJje6Ju ProNav: ac range: 88.599998 m, nav range: 31.460888 m, bearing: 285.952889 deg, approach rate: 0.373581 m/s, LOS rate: -0.707151 deg/s, cmd heading: 17.331311 deg, new cmd heading: 16.253121 deg. 2ju򼝊}HeadingCmd: 0.283670 target range: 88.599998 and range: 88.60 m. j}B=>jyjyjyihhhhjBf f f rf bf /@ɛe1Bef@z= im>Ii m"=ɚiiiIm3)ii)B=>)Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:22:46:34.5833 TRx dataTimestamp_ set to:1736376395.782204 i$?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013645ES-<*F ?2F :F! BF% `0JF! m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263112GA G1BIOyJJJJJM:J9JJWw,IAR_5#?YR\[?R=9RayRH@?>[???@sd?ǹ@甑 $?ɨR_5#?R;Pyn܃Bn0"IIv9Iv3٢~ ~6=9c G٣ y   > Nusing accuracyPremultiplier from configo598'?%o5Y i@!%`|?%@]E:*:Mo51 5 @1ZjYeDNOT Ignoring new targets: 88.60 m.Bje6TJjm6T} ProNav: ac range: 88.599998 m, nav range: 31.619160 m, bearing: 285.618615 deg, approach rate: 0.353147 m/s, LOS rate: -0.742120 deg/s, cmd heading: 16.253122 deg, new cmd heading: 15.255424 deg. 2j}HeadingCmd: 0.266257 target range: 88.599998 and range: 88.60 m. jR>jjjihhhhfffrfbf = @ɛ0B= B=.>I $=ɚiI9ii)R>)EE*E"EHMK>II IM"IIMBIM =&II.II6IMH<:IMF F IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:46:34.5833 LVL= 16032, 27473, 24018, 30819, AGC= 58, IDX= 419,-0.12,-0.904,-3.126,-2.798,-2.252, PHS= 1.436,-0.827,-0.548, RAW= 96.5, -0.6, CAL= 105.2, -5.4, ROT= 44.8, 5.4 Ygot valid direction response: 22:46:34.5833 LVL= 16032, 27473, 24018, 30819, AGC= 58, IDX= 419,-0.12,-0.904,-3.126,-2.798,-2.252, PHS= 1.436,-0.827,-0.548, RAW= 96.5, -0.6, CAL= 105.2, -5.4, ROT= 44.8, 5.4  PDAT read: Bearing 44.8, 5.4 (Local) ~Local bearing/azimuth received: Bearing 44.8, 5.4 (Local) DAT read: Range 10 to 50 : 87.2 m (Round-trip 116.3 ms) speed 0.3 m/s %,DAT read: user:2872> %R#Rx 1: Read range and direction messages.e`direction in FSK: [-0.083993,-0.006197,0.996447]uFpublishing direction and range info9E鍀(ay??yfB>Qk ])cxI:iη?FSI D?+ ?)I+H?i=OW?2ٿka)ҾIS%YDD=T****** received valid address query ******=R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JFzK LK ŷ9K K >K #[M%xYE4%      G) G B OE ><w,;"AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:46:35.7128 $Ping request sent.h?YE;S?Eq=9E9yEH`?@Z? m?ʥ? ]?iP`?ɨE>h?EҊ;ECyuσB} "I) Mb@Mb@Mb@ )YuV? ףp= ?~jtxyr?Q8=Ļ@ p@)@I@y(@I5JI5)4٢mG u=9u Ly G٣OGy p > Nusing accuracyPremultiplier from config=o59}5?=o5Y i @E?E:ei?e@]E<c<o5i u@uEk Í?k , k  k A:k fBBk 6BZk ?" D|K9JR7U@ E鍀(ay??Jk >YDRk D* Т N3?)i?աc9U@ Zˮ?`3Zҋ?=?"k ?*k ?k č?k ' 2k Ck k k Ck HAk K@5 addTargetRange:: Added new target pos. range: 87.199997 m, deltaT: 3.542160 s, deltaX: -1.400002 m, approachRate: -0.395240 m/s, rangeRepo size: 4 m Added new target pos. range: 87.199997 m, bearing: 34.869184 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.542160 s, deltaX: -1.400002 m, approachRate: -0.395240 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 87.20 m.BjuJjq ProNav: ac range: 87.199997 m, nav range: 31.785225 m, bearing: 285.218357 deg, approach rate: 0.000000 m/s, LOS rate: -0.742120 deg/s, cmd heading: 15.255424 deg, new cmd heading: 14.010500 deg. 2jHeadingCmd: 0.244529 target range: 87.199997 and range: 87.20 m. jez>jjjihhhhxBfffrfU@bf`"?ɛ.B0p= 隝>I n%=ɚiIii)ez>)E IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253332*F?2F:FBFp0JFG GG ^>G B O > 'w,ڍ?A6?Y6hL?6=96ȃBB"IIJIJ[3٢V Vb=9Vfzxx zG٣|y~٣ ~> Nusing accuracyPremultiplier from config o59?? o5Y  iI@)b?@]E ;\ ; o5 M@ZjIUDNOT Ignoring new targets: 87.20 m.BjUwJjUwe ProNav: ac range: 87.199997 m, nav range: 31.897604 m, bearing: 284.935286 deg, approach rate: 0.345088 m/s, LOS rate: -0.866175 deg/s, cmd heading: 14.010500 deg, new cmd heading: 13.164344 deg. 2jemHeadingCmd: 0.229761 target range: 87.199997 and range: 87.20 m. jmFk>jqjqjqiqhqhqhyhyfyfyfyrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503584ɛ-B5= >I &[&=ɚiIii)Fk>)*Fa2Fa:FaBFe4JFaeG5tAjHbH<HQ>IC I`"IIBI =&I.I9D6I$<:I1 FBIJIRIZI =bIjI|5 e|$Ye5tAyeBGc>GIBQOu>  j$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755307 w,\YAyUƒBU"IzKu#NKu9KqKu?Ku#!>tq_RI>7/'!   Mb@Mb@Mb@    ) Y w/? rh?y&1|y ? C = ` -@ Z@) v@I @ y @I% I%2٢5Ӽ 54=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUo59ML?Uo5YM` iMX@U4?]:]]?]@M]EM;M;Mo5a e@aZjDNOT Ignoring new targets: 87.20 m.BjZJjZ ProNav: ac range: 87.199997 m, nav range: 32.030392 m, bearing: 284.591704 deg, approach rate: 0.296666 m/s, LOS rate: -0.764423 deg/s, cmd heading: 13.164344 deg, new cmd heading: 12.137986 deg. 2j'HeadingCmd: 0.211848 target range: 87.199997 and range: 87.20 m. jX>jjjihhhhBfffrfbf@| ?ɛ,B , w=  R>I  sn'=ɚ iIi!i))-X>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010024*F2F:FBF 5JFJMJMJIJIJM :JMH9JIJIJMR;amJMT;amJMQ;amJMQ;auG ^>G B O > I h3w, +sAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259391f!?Yf=?fG=9f3J)) -G٣-OGy- 5> =Nusing accuracyPremultiplier from config1Eo595W?Eo5Y5 i5@AEPN?E@5]E57:5:5$o5UB U@UEmB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 87.20 m.BjPbJjPb ProNav: ac range: 87.199997 m, nav range: 32.131695 m, bearing: 284.299119 deg, approach rate: 0.274892 m/s, LOS rate: -0.791440 deg/s, cmd heading: 12.137986 deg, new cmd heading: 11.263070 deg. 2jHeadingCmd: 0.196578 target range: 87.199997 and range: 87.20 m. jKI>jjjihhhhfffrfbf?ɛ+B>t= 隽;>I D(=ɚiI!:ii)KI>)EF<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512233*Fm?2Fi:FqBFuO5JFqG c>H X>I C I ;"II BI  =&I .I :D6I <:I  FGi By O >w,AR,>YRX5?R :>9R#Rz;PyZBZ!IIfRIfW4٢n  n;=9nٙpp rG٣pyv v> ~Nusing accuracyPremultiplier from configx~o59ze?o5Yz izn@F?@z]Ezn:z7:zo5  8@ ]k$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763483Zj1=DNOT Ignoring new targets: 87.20 m.Bj=VJjEVM ProNav: ac range: 87.199997 m, nav range: 32.246613 m, bearing: 283.947760 deg, approach rate: 0.246632 m/s, LOS rate: -0.751381 deg/s, cmd heading: 11.263070 deg, new cmd heading: 10.212874 deg. 2jMHeadingCmd: 0.178248 target range: 87.199997 and range: 87.20 m. j6>jjjih hhhafifqfqrfbf@ɛ)Bjg= $9=>I d)=ɚiIqii)6>)zKUMKUs9KQKU@KUBKi:KmnA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015260E} =JE JE JA JA JE =:JE 9JA JA JE ӥ;JE ԥ;JE ;JE ;*F ?2F :F BF 0JF GG BUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268148Ou?Tw,AZr>YZ$?Zn>9ZgZ<;ZCyfBf!I)h hMb@Mb@Mb@ )Y r?Q?Mbpy?\=@ C@)AI@y@INI@ 4٢ȼ =9 G٣OGyݽ > Nusing accuracyPremultiplier from configo59My?o5Y2 i@?:.6?@]E";'!;Bo5 @EZj15DNOT Ignoring new targets: 87.20 m.Bj=VqJj=VqM ProNav: ac range: 87.199997 m, nav range: 32.387093 m, bearing: 283.460422 deg, approach rate: 0.244348 m/s, LOS rate: -0.843976 deg/s, cmd heading: 10.212875 deg, new cmd heading: 8.757533 deg. 2jMUHeadingCmd: 0.152848 target range: 87.199997 and range: 87.20 m. jU">jQjQjQiYhahahaheBfififirfqbfu@ɛ'Bi= 隝w>I VW*=ɚiIii)">)Em;6=*F?2F:FBF05JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520196G! G B O >Xw,AZHRH@AH\>IC I"IIƒBI =&I.I;D6I<:I5 FFU>YF&?Fu>9FUFŌ;FCyRBR!II^GI^3٢fĽ f_=9fhh jG٣hyj n> rNusing accuracyPremultiplier from configpvo59r?vo5Yr ir@xz-?z@r]Era:r:rto5| mAZjDNOT Ignoring new targets: 87.20 m.Bj]Jj] ProNav: ac range: 87.199997 m, nav range: 32.467411 m, bearing: 283.164109 deg, approach rate: 0.210822 m/s, LOS rate: -0.775843 deg/s, cmd heading: 8.757534 deg, new cmd heading: 7.870867 deg. 2jHeadingCmd: 0.137373 target range: 87.199997 and range: 87.20 m. jd >jjjihh m$?I%hh!h!f)f)f)rf)bf-I@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771525ɛE%BEbe= AE>W>IA M+=ɚIiIIMiqiq)ud >)yEE*E"EzKJK9KKAKRK=>JK=>*F?2F:FBF_5JF PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:46:38.2317  TRx dataTimestamp_ set to:1736376399.568628 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024416J% J% J! J! J% :J% 9J! J! J% ;J% ";J% \ ;J% ] ;GU ^>G)B9OU>w,AB=Z>YB)?B%>9B)-B%;BCyJBN!I%Mb@Mb@Mb@!!! !)!Y%X9v?X9v?y%>%<%%@ %p@)%7AI%@!y%@I=KI=4٢M U(=9UMYY ]G٣YyeT e> mNusing accuracyPremultiplier from configiuo59m?uo5Ym\ im@ur>u:}X$?}@m]Eml;m;mo5B AEZjDNOT Ignoring new targets: 87.20 m.Bj-ViJj5Vi= ProNav: ac range: 87.199997 m, nav range: 32.563675 m, bearing: 282.779693 deg, approach rate: 0.204945 m/s, LOS rate: -0.815991 deg/s, cmd heading: 7.870868 deg, new cmd heading: 6.721191 deg. 2jE EHeadingCmd: 0.117307 target range: 87.199997 and range: 87.20 m. jE>=jIjijiiihihqhqhuBfqfyfyrfybf}` @ɛ#BҚ`= H>I +=ɚiI=ii)>=) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277163*F}?2Fy:FyBF}3JFyG Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:46:38.2317 LVL= 13296, 23521, 16562, 24563, AGC= 59, IDX= 419, 0.45, 1.186,-0.454,-0.773, 0.284, PHS= 0.991,-0.691,-1.060, RAW= 80.3, 8.1, CAL= 85.2, 10.4, ROT= 64.8, -10.4  Ygot valid direction response: 22:46:38.2317 LVL= 13296, 23521, 16562, 24563, AGC= 59, IDX= 419, 0.45, 1.186,-0.454,-0.773, 0.284, PHS= 0.991,-0.691,-1.060, RAW= 80.3, 8.1, CAL= 85.2, 10.4, ROT= 64.8, -10.4  PDAT read: Bearing 64.8, -10.4 (Local)  ~Local bearing/azimuth received: Bearing 64.8, -10.4 (Local)  DAT read: Range 10 to 50 : 86.0 m (Round-trip 114.7 ms) speed 0.2 m/s = ,DAT read: user:2873> E BDAT read: Tx time:22:46:39.3128 E $Ping request sent.E V?)9>IÐ?i9YE_?`M>俱 ?)=s1I=ViAz@>:publishing transmit ping timey>Fpublishing direction and range info9h̿*)?u?y )Ii )IiYE_?`M>俱 ?)IivG>Yv ?v}E+>9vvG;vCy=xB=!IiE=IEp=IUYIU4٢e eI=9eOWii mG٣mOGyu u> Nusing accuracyPremultiplier from configo59?o5YK i@R?@]E:":Qo5 4Akd=t?kJ' k kA:kBBk֪BZk@"I2P7@T@h̿*)?u?JkAz@Rk*$,/mqr=0@7_f̼T@tǩǿn Es,?9px?"kA*k}k2k?ke$ 2kCkkkCkBk@ addTargetRange:: Added new target pos. range: 86.000000 m, deltaT: 3.777671 s, deltaX: -1.199997 m, approachRate: -0.317655 m/s, rangeRepo size: 4  Added new target pos. range: 86.000000 m, bearing: 134.316842 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.777671 s, deltaX: -1.199997 m, approachRate: -0.317655 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 86.00 m.Bj JjI] ProNav: ac range: 86.000000 m, nav range: 32.640888 m, bearing: 282.450029 deg, approach rate: 0.000000 m/s, LOS rate: -0.815991 deg/s, cmd heading: 6.721191 deg, new cmd heading: 5.654815 deg. 2jaeHeadingCmd: 0.098695 target range: 86.000000 and range: 86.00 m. je =jijijiihhhhfffrfU@bff0?H5^>I5C I5!II5BI5 =&I1.I16I5q<:I5x Fɛm!BmZ= uJd=u.>Iq u^j,=ɚqiqI}G B O >zK BHK K K BK 3}w}BK :K qAŏw,5ABz*>YB:?B/>9BlIBz;BCyJnBN!I bnManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )Y\(\?Q?y&1|y>\=`@ @)AI@y@I=I= 2uWill construct direction to contact in vehicle frame from tetrahedron phase data.٢}@ 9=9  G٣yZ > Nusing accuracyPremultiplier from config p59?p5Y& iQ@>:3?@]E<̤<2p5B AEB*** querying acoustic contact ***jjJJJJJ:J9JJJn;Jo;J' ;J' ;Zj1=DNOT Ignoring new targets: 86.00 m.Bj=6[Jj=6[m ProNav: ac range: 86.000000 m, nav range: 32.719696 m, bearing: 282.100429 deg, approach rate: 0.173227 m/s, LOS rate: -0.766599 deg/s, cmd heading: 5.654815 deg, new cmd heading: 4.608663 deg. 2jmuHeadingCmd: 0.080436 target range: 86.000000 and range: 86.00 m. juл=jyjyjyiyhyhyhhBfffrfbfy?ɛBV= 隵>I ,=ɚiIsw,E:A:J~>Y:Ev>:T2>9:q:-;:CyB`BB!IIn%In)3٢vՒ v]=9~ "|| ~G٣|y > Nusing accuracyPremultiplier from config p59 ?p5Y  i E@?@ ]E : @: Vp5! %A!ZjIUDNOT Ignoring new targets: 86.00 m.BjU)yJj])ym ProNav: ac range: 86.000000 m, nav range: 32.779156 m, bearing: 281.814958 deg, approach rate: 0.181818 m/s, LOS rate: -0.871338 deg/s, cmd heading: 4.608663 deg, new cmd heading: 3.753870 deg. 2ju}HeadingCmd: 0.065517 target range: 86.000000 and range: 86.00 m. j}-=jyjyjihhhhfffrfbf?ɛBLX= >I NN-=ɚiIjH <bH <H `>I  I !II vBI &I .I 6I G<:I Z F Q IQ Fw,roTA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243050Jn>YJ9>Jg5>9J`רJH{;HyVRBV!I)X XI^I^M3٢f܎ fM=9j;Q j>hh nG٣rOGyr% v> zNusing accuracyPremultiplier from configtzp59v͍?~p5Yv/ iv@|~?@v]Ev;v};vp5  kA Zj)5DNOT Ignoring new targets: 86.00 m.Bj5(dJj=(dM ProNav: ac range: 86.000000 m, nav range: 32.840088 m, bearing: 281.497086 deg, approach rate: 0.153229 m/s, LOS rate: -0.797883 deg/s, cmd heading: 3.753871 deg, new cmd heading: 2.802116 deg. 2jMUHeadingCmd: 0.048906 target range: 86.000000 and range: 86.00 m. jUQH=jQjYjYiYhahihihififqfqrfqbfu;?ɛBfL= 隥=I p-=ɚiIOI${upnhab][VSOJJDA@><:88640-,)(E89=*FU?2FY:FYBF]_0JFY%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496836G m>Gy B O >Aw,@4oA>N>Y>JB>>8>9>H?ڿ ?}?4;?3?ƿX?@dy?ɨ>N>>R;BJm!IeMb@Mb@Mb@aaa a)aYeʡE?{Gz?ye->e#=ee`@ e@)e AIe5@aye@I}AI}k3 o$?I٢з 8=9.;Q > G٣yK > Nusing accuracyPremultiplier from configp59;܍?p5Y i@ >:?@]E8;; p5 AEZjDNOT Ignoring new targets: 86.00 m.Bj\Jj\ ProNav: ac range: 86.000000 m, nav range: 32.903278 m, bearing: 281.153721 deg, approach rate: 0.142282 m/s, LOS rate: -0.771642 deg/s, cmd heading: 2.802116 deg, new cmd heading: 1.774117 deg. 2jdHeadingCmd: 0.030964 target range: 86.000000 and range: 86.00 m. j<jjjih!h!h!h-҂Bf)f)f)rf)bf5?Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746523ɛ BxA= !%=I! %-=ɚ!i!I-$Gq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998469J) J- J) J) J) J- 9J) J) a= @a= @a= @a= @ "w,JAF />YF>F;;>9F9FH;Dyf0Bf\!IIn@In3٢v vW=9z;Q z>xx ~G٣|y~M ~>  Nusing accuracyPremultiplier from config p59鍜?p5Yb iܓ@>@^EP;;p5! %A!ZjQUDNOT Ignoring new targets: 86.00 m.Bj]^Jj]^m ProNav: ac range: 86.000000 m, nav range: 32.953335 m, bearing: 280.857217 deg, approach rate: 0.131652 m/s, LOS rate: -0.778638 deg/s, cmd heading: 1.774117 deg, new cmd heading: 0.886029 deg. 2jmuHeadingCmd: 0.015464 target range: 86.000000 and range: 86.00 m. juE]}<jqjqjqiqhyhy) hhfff!rf)1bfE@@UvAi R,YvAy%BHc>I I!IIRBI =&I.I6IH<:I] FBI¥CJI¥CRIZI =bI =jI"6ɛB(<= HM=I! %.=ɚ!i!I%{5)w,wA^o>Y^2ȹ>^Q=>9^ ?r?ɨ^o>^;\yj(BjS!I n=na=Mb@Mb@Mb@ )YV-?X9v?~jthy><D@ @)` AIK@y@I]QI]4٢  =9Z;Q > G٣OGyf > Nusing accuracyPremultiplier from configp59?p5Y ih@>:>@^E;f;p5B AE%B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 86.00 m.Bj=XJj=XU ProNav: ac range: 86.000000 m, nav range: 33.010811 m, bearing: 280.457697 deg, approach rate: 0.109251 m/s, LOS rate: -0.758081 deg/s, cmd heading: 0.886029 deg, new cmd heading: 359.689740 deg. 2jU]HeadingCmd: 6.277770 target range: 86.000000 and range: 86.00 m. j]~@jYjYjaiahahihhBfffrfbfwI@ɛ=B=G8= AE&=IA ErA.=ɚiI0w,zA6n=Y6S>6s>>96j@b^Eb:b:bp5p rApZj DNOT Ignoring new targets: 86.00 m.Bj=bJj=b% ProNav: ac range: 86.000000 m, nav range: 33.045158 m, bearing: 280.194289 deg, approach rate: 0.103274 m/s, LOS rate: -0.791172 deg/s, cmd heading: 359.689728 deg, new cmd heading: 358.900380 deg. 2j%-HeadingCmd: 6.263993 target range: 86.000000 and range: 86.00 m. j-r@j)j)j)i)h1h1h1h9f9fAfArfAbfEV@ɛmBmۖ(= u=uЍIq u!6.=ɚqiqII%C I%M!II%%BI% =&I%FD.I%GiBy IO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259290L6w,kA63 =Y6G>6>>96 v G٣yy > Nusing accuracyPremultiplier from configp59?p5Y i@>@ ^E]:j:p5B &AEZjDNOT Ignoring new targets: 86.00 m.Bj[Jj[5 ProNav: ac range: 86.000000 m, nav range: 33.087494 m, bearing: 279.831316 deg, approach rate: 0.089690 m/s, LOS rate: -0.767985 deg/s, cmd heading: 358.900377 deg, new cmd heading: 357.812988 deg. 2j5=HeadingCmd: 6.245015 target range: 86.000000 and range: 86.00 m. j=)@j9j9j9i9h9hAhAhAfIfIfIrfIbfU` @ɛ}B}$= y}I .=ɚiI BDAT read: Tx time:22:46:42.9128  $Ping request sent. G B! OM > } q$?Iy q<w,1A2Qk=Y25b>2cr>>92̂?q?ɨ2Qk=2;2CyNBR IVAVAWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:46:42.9121 Mb@Mb@Mb@ )YS㥛?S㥛?y>/< `@)AIx@yQAITI4٢ O=9 2Q  >   G٣OGyA > %Nusing accuracyPremultiplier from config%p59%?-p5Y i@-G>-:-ͭ>-@^E;s;p51 =A9e addTargetRange:: Added new target pos. range: 85.199997 m, deltaT: 3.530281 s, deltaX: -0.800003 m, approachRate: -0.226612 m/s, rangeRepo size: 4 ZjimDNOT Ignoring new targets: 86.00 m.BjuXJjuX ProNav: ac range: 86.000000 m, nav range: 33.116138 m, bearing: 279.543129 deg, approach rate: 0.075391 m/s, LOS rate: -0.757832 deg/s, cmd heading: 357.812983 deg, new cmd heading: 356.949238 deg. 2jHeadingCmd: 6.229939 target range: 86.000000 and range: 85.20 m. j[@jjjihhhhՂBfffrfLU@bf9?ɛU BU#e= Q]lIY ]-=ɚYiYI]JM zJM wJM 0JI JM `:JM 9JM ـ3JI G B O >YCw, A6U6<>96nTT ZG٣XyZ Z>Hfn>IfC If!IIfBIf =&Id.If=D6If<:If F rNusing accuracyPremultiplier from configpvp59r2?vp5YrU ir*@tv֟>v@r^Er:r:r# p5| ~A~EZj!%DNOT Ignoring new targets: 86.00 m.Bj-;WJj-;W ProNav: ac range: 86.000000 m, nav range: 33.139732 m, bearing: 279.269481 deg, approach rate: 0.064942 m/s, LOS rate: -0.752678 deg/s, cmd heading: 356.949238 deg, new cmd heading: 356.128938 deg. 2j#HeadingCmd: 6.215622 target range: 86.000000 and range: 85.20 m. ja@jjjihhhhfffrfbf? I!ɛM BM w = Q隕I St-=ɚiIfFJw,+A:@Y: a>: ;>9:_u G٣y0{ >  Nusing accuracyPremultiplier from config p59C? p5Y۸ i@>:>@^E;;m$p5 VA!=B*** querying acoustic contact ***j9j9ZjYeDNOT Ignoring new targets: 86.00 m.BjmPJjmP} ProNav: ac range: 86.000000 m, nav range: 33.163002 m, bearing: 278.908081 deg, approach rate: 0.047044 m/s, LOS rate: -0.730121 deg/s, cmd heading: 356.128932 deg, new cmd heading: 355.045629 deg. 2j}HeadingCmd: 6.196715 target range: 86.000000 and range: 85.20 m. j~K@jjjihh h h ւBf ffrfbfr? r$?IɛBz= 隕rI n,=ɚiIi=I ii)~K@)Eb$=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FM?2FQ:FQBFUX0JFQGq Gy G} ?GI BY O} >&Qw,DA6@Y6OC>6[8>96 G٣OGy > Nusing accuracyPremultiplier from configp59Q?p5Yȷ i@u>@^E: :'p5 B -AEZjyDNOT Ignoring new targets: 86.00 m.BjOJjOJyJrJJJ]:J9JJ ProNav: ac range: 86.000000 m, nav range: 33.177879 m, bearing: 278.612888 deg, approach rate: 0.036641 m/s, LOS rate: -0.726698 deg/s, cmd heading: 355.045637 deg, new cmd heading: 354.160528 deg. 2j\HeadingCmd: 6.181267 target range: 86.000000 and range: 85.20 m. j@jjjihhhhfffrfbf@=!?ɛ]B]j< Y]NIY e+,=ɚaiaIeF=Imrнiii>)@)EE*E"EHMv>IMC IM IIMɂBIM =&II.IM>D6IM\<:IM~ F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755060*F 2F :F BF P0JF GU ^>G)B9O]>NSXw,WbAzKfEMKfs9KdKfGKfRKn ?JKly-~B- IMb@Mb@Mb@ )Y1Zd?Mb`y">A A)I@y AIOI 4٢ !  "=9 Q  > G٣y >-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006170 5Nusing accuracyPremultiplier from config5p59xb?5p5Y϶ iĊ@=#>=:=r>>=@^E|;y;,p5I U# AQZjq}DNOT Ignoring new targets: 86.00 m.Bj}RJj}R ProNav: ac range: 86.000000 m, nav range: 33.185619 m, bearing: 278.267434 deg, approach rate: 0.016501 m/s, LOS rate: -0.736282 deg/s, cmd heading: 354.160526 deg, new cmd heading: 353.124524 deg. 2jHeadingCmd: 6.163186 target range: 86.000000 and range: 85.20 m. j8@jjjihhhhƂBfffrfybf} u@ɛ%B%< !-I) -V&+=ɚ)i)I-<0=I]Ziaie >)e8@)a*F?2F:FBF_0JFGc> us$?IqGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258161!z^w,|AykBi II%bI%-4٢]ͽ ]V=9aQ e>aa mG٣iyi m> }Nusing accuracyPremultiplier from configqp59uo?p5Yu iuԉ@@u^Eup;up;ui/p5  AZjDNOT Ignoring new targets: 86.00 m.Bj6PJj6P ProNav: ac range: 86.000000 m, nav range: 33.192703 m, bearing: 277.990395 deg, approach rate: 0.018623 m/s, LOS rate: -0.728139 deg/s, cmd heading: 353.124523 deg, new cmd heading: 352.293646 deg. 2jHeadingCmd: 6.148684 target range: 86.000000 and range: 85.20 m. j@jjjihhhhfffrfbfI@ɛ5B5Y< 1=ۓI9 =S*=ɚ9i9I=l=IE iAiA)E@)I*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510104G{>GBO >HM z>IM C IM IIM BIM  =&II .II 6IM [<:IM F a Ia ]ew, ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761937+P@Y=0>9A G٣OGyI > Nusing accuracyPremultiplier from configp59D~?p5Y iވ@==@^EG ; ;2p5B j AEZjDNOT Ignoring new targets: 86.00 m.BjPJjP ProNav: ac range: 86.000000 m, nav range: 33.180752 m, bearing: 277.693450 deg, approach rate: -0.029345 m/s, LOS rate: -0.729368 deg/s, cmd heading: 352.293644 deg, new cmd heading: 351.402563 deg. 2jG HeadingCmd: 6.133132 target range: 86.000000 and range: 85.20 m. j B@j jjihhhhfff!rf!bf% @ɛMBM< I ?)=ɚiI3 =Iiiv>>)B@)*Fq2Fy:FyBF}s1JFGY>GaByO\>zKUBoIKU9KQKUHKU 0k}xtrlgfbYURNKC6%   UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:46:45.4303 ]TRx dataTimestamp_ set to:1736376406.624966echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015466JK KKK"KJ wJ sJ J J W:J 9J J J z;a J z;a J <:a J =:a 5kw,BZA^x@Y^8<=^V,>9^" A  A)AI@y(AILI4٢x  G=9 Q > G٣y > Nusing accuracyPremultiplier from configp59͌?p5Yص i@.>:休@"^E;:6p5 O AB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 86.00 m.Bj-LJj-L ProNav: ac range: 86.000000 m, nav range: 33.153328 m, bearing: 277.399195 deg, approach rate: -0.066665 m/s, LOS rate: -0.715892 deg/s, cmd heading: 351.402550 deg, new cmd heading: 350.519131 deg. 2jHeadingCmd: 6.117713 target range: 86.000000 and range: 85.20 m. jN@jjjihhhhBfffrfbf-` @ɛeBe)҃< aeѾIa mr'=ɚiiiIA =Iq)ii'A>)N@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270161*F 2F :F BF Y5JF G- ^>G5 ?G5 >G B9 O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 84.9 m (Round-trip 113.3 ms) speed -0.1 m/s u ,DAT read: user:2875>  BDAT read: Tx time:22:46:46.5128  $Ping request sent. 9f:R;yfH?@5?Ў? ?l`Xſz? Ɛ?ɨfޖ@fc;fCyr&Br IIzWIz44uc~G|uA٢Ƚ L= *Y|uAy#B9Q > G٣y# > Nusing accuracyPremultiplier from config p59>? p5Y i@  1c@%^E:v:%:p5y } A}~EZHRH?AH>IC IZ II^BI =&I.I?D6IU<:IBI¨CJI¨CRI”CZI =bI =jI-6= addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.525753 s, deltaX: -0.299995 m, approachRate: -0.085087 m/s, rangeRepo size: 4 Zj9EDNOT Ignoring new targets: 86.00 m.BjESDJjMSD} ProNav: ac range: 86.000000 m, nav range: 33.122250 m, bearing: 277.107315 deg, approach rate: -0.073035 m/s, LOS rate: -0.686565 deg/s, cmd heading: 350.519134 deg, new cmd heading: 349.642744 deg. 2j}뼝HeadingCmd: 6.102417 target range: 86.000000 and range: 84.90 m. jG@jjjihhhhfffrf9U@bfN? IɛmBm2[< quxϾIq uw&=ɚqiqIuh=I}]9iyiz6>)G@)*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:46:46.5121 Gu*>GYBaO}>xw,Ay=B=IiE=IE< E=E=zK]NK]@9KYK]IK]W$RH$ zl`TL@Mb@Mb@Mb@ )Yףp= ?T㥛 Mb`y>7A 7A)EAIC@yAIGI3٢  D=9 Q  >   GWill construct direction to contact in vehicle frame from tetrahedron phase data.٣OGy %> -Nusing accuracyPremultiplier from config)-p59-?5p5Y- i-@5 >5:5=@-(^E-N;-;-=p5A E AAZjimDNOT Ignoring new targets: 86.00 m.BjuKYJj}KY ProNav: ac range: 86.000000 m, nav range: 33.078579 m, bearing: 276.809978 deg, approach rate: -0.111460 m/s, LOS rate: -0.759888 deg/s, cmd heading: 349.642738 deg, new cmd heading: 348.749625 deg. 2j`=HeadingCmd: 6.086829 target range: 86.000000 and range: 84.90 m. j=N@jAjAjAiIhQhQhYh]BfaJvJvJJJ{T:Jϣ9JJJGu;JJu;J:J:ffrfbf?ɛ=B= < 9EIA E$=ɚAiaIex=IIiiG>)N@)*F]?2Fa:FaBFe4JFa v$?IGu 6U>G)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.:~w,:AB@YB@B2>9B/v`` bG٣dyf5 f> jNusing accuracyPremultiplier from confighnp59j?np5Yjo ij1@pr=:r@j*^Ej ;j ;j@p5zB z Az{EZjDNOT Ignoring new targets: 86.00 m.Bj%|MJj%|M5 ProNav: ac range: 86.000000 m, nav range: 33.032608 m, bearing: 276.550982 deg, approach rate: -0.127373 m/s, LOS rate: -0.718603 deg/s, cmd heading: 348.749623 deg, new cmd heading: 347.971605 deg. 2j5=HeadingCmd: 6.073250 target range: 86.000000 and range: 84.90 m. j=X@j9j9jAiAhAhAhIhIfIfIfIrfQbfU;?ɛB`": 隝I #=ɚiI=I%Vii->)X@)*F2F:FBF%_0JF!G-rA G-pAGB>GrAGrAGBO%>%Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC I II'BI =&I.I6IH<:I| F I 媅w,~A>@BWill construct direction to contact in vehicle frame from tetrahedron phase data.Y>Y @>>9>aH@?യ? ? }`?@࿗ %ÿ@? ?ɨ>@>;>Cy^BbIIj(Ij̍3٢r:ɽ rH=9vEQ v>tx zG٣xyzɆ z> Nusing accuracyPremultiplier from config|p59~Ŏ? p5Y~h i~M@  U @~-^E~:~a:~rDp5 (AZjAEDNOT Ignoring new targets: 86.00 m.BjEIMJjMIM ProNav: ac range: 86.000000 m, nav range: 32.976582 m, bearing: 276.257939 deg, approach rate: -0.137021 m/s, LOS rate: -0.717894 deg/s, cmd heading: 347.971610 deg, new cmd heading: 347.091059 deg. 2jW HeadingCmd: 6.057882 target range: 86.000000 and range: 84.90 m. j +@j j j i hhh1h1fYfYfarfabfe#?ɛB); uIq u!=ɚqiyI};*=Ifi ier>)+@))*F2F:FBFT0JFzKiOKKKJK8.&!   5Will construct direction to contact in vehicle frame from tetrahedron phase data.5?5?J wJ mJ J J W:J &9J J J z;J z;J :J :G A>G B O >ԋw,b1A Nw$?I\jA@YjvQ@j}g>9jКEĻA A)\AI@y=AI-I3٢Ž ;=9XQ > G٣OGy:S > Nusing accuracyPremultiplier from config p59sՎ? p5Y۹ iK@^>:@0^E;;DHp5B A%xEEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 86.00 m.Bj]LJj]Lm ProNav: ac range: 86.000000 m, nav range: 32.901897 m, bearing: 275.944371 deg, approach rate: -0.170270 m/s, LOS rate: -0.716511 deg/s, cmd heading: 347.091062 deg, new cmd heading: 346.148312 deg. 2jmuHeadingCmd: 6.041428 target range: 86.000000 and range: 84.90 m. ju`S@jyjyjyiyhyhyhhxBfffrfbf ?ɛ5B5H9 9=I9 E=ɚAiAIEW=IMMwiIiM>)m`S@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:F BF `0JF G;>GBOb>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0114315w,}KAj?@Yj@j>9jMzii mG٣iymy u> }Nusing accuracyPremultiplier from configqp59uF㎜?p5Yu= iuj@@u3^Eu:u:uKp5 AZjDNOT Ignoring new targets: 86.00 m.BjdLJjdL ProNav: ac range: 86.000000 m, nav range: 32.833084 m, bearing: 275.669128 deg, approach rate: -0.178326 m/s, LOS rate: -0.714768 deg/s, cmd heading: 346.148304 deg, new cmd heading: 345.320907 deg. 2jEHeadingCmd: 6.026987 target range: 86.000000 and range: 84.90 m. j@jjjihhhhfffrfbf @ɛ%B-@{u )-!I) -=ɚ)i1I5=I=,i9i=i >)=@)AjH<bH4=H>I IIIBI =&I.I@D6I9<:Is F I*F2F:FBF0JFGs>G ?G>GBO>>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263405w,aeAn5ؽ@Yn@nk>9nn`役tdA 7A)AI@y AI5RI5W4٢E E/=JusJuuJqJqJuK:Ju9JqJqJue;Jue;Jug:Juh:9EMQ > G٣y. >  Nusing accuracyPremultiplier from configp59=?p5Yi i;@E>M:MļM@7^E <h<Op5Q U&AUuEZjDNOT Ignoring new targets: 86.00 m.BjzMJjzM ProNav: ac range: 86.000000 m, nav range: 32.730701 m, bearing: 275.312014 deg, approach rate: -0.205370 m/s, LOS rate: -0.718572 deg/s, cmd heading: 345.320895 deg, new cmd heading: 344.246337 deg. 2jHeadingCmd: 6.008232 target range: 86.000000 and range: 84.90 m. jpC@jYjYjYiYhahahaheiBfififirfibfu7@ɛ%B%݅9 !%SI! -X=ɚ)i)I-b=I5ƌi1i5C >)upC@)q x$?I*F ?2F:FBFn0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767398G5 >G B) OE >Iw,e5AyEBEaIiM=IM< M=Ma=IUYIU4٢䊽 W=9Q > G٣OGy > Nusing accuracyPremultiplier from configp59?p5Y  iW@@9^E ;u ; Sp5 AZjDNOT Ignoring new targets: 86.00 m.Bj]Jj] ProNav: ac range: 86.000000 m, nav range: 32.654720 m, bearing: 275.042605 deg, approach rate: -0.218306 m/s, LOS rate: -0.775856 deg/s, cmd heading: 344.246343 deg, new cmd heading: 343.436291 deg. 2jHeadingCmd: 5.994094 target range: 86.000000 and range: 84.90 m. jϿ@j!j!j!i!h!h!h)h)f)f)f)rf1bf59@ɛ]݂B]\ e=e$Ia m=ɚiiiIm=Iuiqi} >)}Ͽ@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019681*F-?2F1:F1BF5P5JF1G >GBOF>H>I IIIBI =&I.I6I(<:Ii F I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:46:49.0314  TRx dataTimestamp_ set to:1736376410.404626 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272539fw,'ښA6@Y6@6>96=y6HG??9?Pſ?߯??ɨ6@6;4yBBBNIIJDIJ3٢v; vX=9vQ v>xx zG٣xyzҽ ~> %Nusing accuracyPremultiplier from config!-p59%?-p5Y% i%~@)5iо5@%<^E%:%*:%aVp5]B eAerEZjDNOT Ignoring new targets: 86.00 m.BjkMJjkM ProNav: ac range: 86.000000 m, nav range: 32.569256 m, bearing: 274.762868 deg, approach rate: -0.218898 m/s, LOS rate: -0.718361 deg/s, cmd heading: 343.436282 deg, new cmd heading: 342.594933 deg. 2jHeadingCmd: 5.979410 target range: 86.000000 and range: 84.90 m. jSW@jjjihhhhf!f!f!rf!bf% @ɛقB@ 隥*I y=ɚiI =Iiix>)SW@)Ea*F?2F:FBF5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524287zKuKKus9KqKuLKu  AgGu >G pAG G B O > y$?I |w,Ar@Yr@r>9r`k=yrHs1?Va??ǿc?@g`3@??ɨr@rฐ;pytB9IMb@Mb@Mb@ )Y ףp= ?rh|y&1|yQ>` A A)AI@yAIaI+4٢W ;=9%Q > G٣y* > Nusing accuracyPremultiplier from configp59!?p5YO i|@?:߾ @@^E;;'Zp5 A5B*** querying acoustic contact ***j1j1ZjIUDNOT Ignoring new targets: 86.00 m.BjU.]JjU.]e ProNav: ac range: 86.000000 m, nav range: 32.463428 m, bearing: 274.435293 deg, approach rate: -0.249073 m/s, LOS rate: -0.773482 deg/s, cmd heading: 342.594939 deg, new cmd heading: 341.609114 deg. 2jemHeadingCmd: 5.962204 target range: 86.000000 and range: 84.90 m. jm`ʾ@jijqjqiqhqhqhyh}yBfyfyfyrfbfT9@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙDAT read: 22:46:49.0314 LVL= 18384, 17649, 19794, 23155, AGC= 60, IDX= 431,-0.19,-2.863, 3.025, 1.095, 2.522, PHS= 0.987, 0.550,-1.429, RAW= 39.8, -1.0, CAL= 39.7, -3.2, ROT= 110.3, 3.2 Ygot valid direction response: 22:46:49.0314 LVL= 18384, 17649, 19794, 23155, AGC= 60, IDX= 431,-0.19,-2.863, 3.025, 1.095, 2.522, PHS= 0.987, 0.550,-1.429, RAW= 39.8, -1.0, CAL= 39.7, -3.2, ROT= 110.3, 3.2 PDAT read: Bearing 110.3, 3.2 (Local) ~Local bearing/azimuth received: Bearing 110.3, 3.2 (Local) DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed -0.3 m/s ,DAT read: user:2876> BDAT read: Tx time:22:46:50.1129 $Ping request sent.)m`ʾ@)iۡ*F?2F:FBF/4JFG>GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.J uJ qJ J J [Q:J q9J J a @a @a @a @xw,qA6w@Y62@6)=96ӵ.=y6H`?@?? ɿE?F ?@?ɨ6w@6-;6CyBiBB,I)D DDDIJIJF3٢Gb Z=9TQ >    G٣ OGy< > %Nusing accuracyPremultiplier from config-p59/?-p5Yu i-{@15辑5@C^E7;';n]p5He>Ia IefIIeBIa&Ia.Ia6Ie<:Ie= Fy }Aykx?ki#: k k?A:kfBBkBBZkם?"c!@mF_~\Q@n@I@6~)x?{8?mj?Jk5?Rk *Iy6@_31P@\$2޳-J@ک?e)A?TŌ?"kB*kγAk?k. 2k Bkf8?k' kCk6Ak@  addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.782262 s, deltaX: 0.799995 m, approachRate: 0.211512 m/s, rangeRepo size: 4 =z$?I9M Added new target pos. range: 85.699997 m, bearing: 70.653986 deg, lat: 36.904959 deg, lon: -122.120156 deg, deltaT: 10.838296 s, deltaX: -0.300003 m, approachRate: -0.027680 m/s, posRepo size: 4 ZjIuDNOT Ignoring new targets: 85.70 m.BjuJjy ProNav: ac range: 85.699997 m, nav range: 11.437449 m, bearing: 357.847662 deg, approach rate: 0.000000 m/s, LOS rate: -0.773482 deg/s, cmd heading: 341.609125 deg, new cmd heading: 340.692656 deg. 2jHeadingCmd: 5.946208 target range: 85.699997 and range: 85.70 m. jWG@jjjihhhhfffrflU@bfd?ɛ5тB5y 1=4I9 ==ɚ9i9I=Ex!=IE3iAiE(>)EWG@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.Eff=*F) 2F) :F) BF- 05JF) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge >Gm ?Gm ?zK MK 59K K MK -#vjaVLA94-&   RK ?JK >GIBQOm>Yw,A2@Y2O@24q=921=y2H`]? S|?`8?K˿*?V1]5?Q?ɨ2@2";0y>]B>IuMb@Mb@Mb@qqq q)qYuZd;?V-Mbpyu>uuu A uA)uAIuv@qyqI)IW3٢J $=9LQ > G٣yc > Nusing accuracyPremultiplier from configp595B?p5YX iy@?:[澑@G^E;b;ap5B XAoEZjDNOT Ignoring new targets: 85.70 m.Bj<Jj<5 ProNav: ac range: 85.699997 m, nav range: 11.207071 m, bearing: 358.363885 deg, approach rate: -0.484896 m/s, LOS rate: 1.108864 deg/s, cmd heading: 340.692650 deg, new cmd heading: 342.272734 deg. 2j5@>==HeadingCmd: 5.973786 target range: 85.699997 and range: 85.70 m. j=B)@j9j9j9iAhAhAhAhMbBfffrfbf`BZ? Iɛ5͂B=/2 9=8I9 ==ɚAiaImp#=Im⧾iqiu=)uB)@)qEX=*F5?2F1:F9BF=P0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G] q>G1 BA O] >w,A6{@Y6@6T=962G=y6H`?n?G?Ϳ1 ?`@=Ȩ?@>?ɨ6{@6ڐ;6CyRTBRIIZ&IZ3٢b9 b\=9boQ b>dd fG٣dyj) j> -Nusing accuracyPremultiplier from config)5p59-P?5p5Y- i-w@9==@-J^E- ;- ;-ep5A EAMmEZjq}DNOT Ignoring new targets: 85.70 m.Bj}i<Jji< ProNav: ac range: 85.699997 m, nav range: 11.032089 m, bearing: 358.788560 deg, approach rate: -0.457908 m/s, LOS rate: 1.128939 deg/s, cmd heading: 342.272746 deg, new cmd heading: 343.566744 deg. 2jA=HeadingCmd: 5.996371 target range: 85.699997 and range: 85.70 m. jE@jjjihhhhfffrfbf?ɛɂBĝ |:I  =ɚiI$=IWill construct direction to contact in vehicle frame from tetrahedron phase data.ii=)E@)E E *E "E ) U~GJyJ}pJyJyJyJ}^9JyJytAA #YtAy}BHIII IM@IIMzBII&II.II6IM<:IM` FBI ūCJI ūCRI œCZI  =bI  =jI X5 I *F?2F:FBFJFG`=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,dy A @:@Y:\@:=9:P=y:HB?5? '?\CϿ 0?X*O?)?ɨ:@:ϋ;:CybHBfIin=In)>Ir[IrK!4٢zi zG=9~]Q ~> G٣OGyv  > Nusing accuracyPremultiplier from config p59 _?p5Y  tIi u@%@ M^E ; J; hp5) -A)ZjDNOT Ignoring new targets: 85.70 m.Bj;<Jj;w,3T:A2Will construct direction to contact in vehicle frame from tetrahedron phase data.V@YV@VI==9VM=yVHu??-A?пA?'@|@$}??ɨV@VCӋ;TybABbIUMb@Mb@Mb@QQQ Q)QYU'1Z?y&1MbpyU?U`役QU A UMA)UAIUQAQyUG AIiIi٢u }B=9}%Q }> G٣y > Nusing accuracyPremultiplier from configp59Qp?p5Y iOt@?:m@Q^E>i;hg;Elp5B <AjEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 85.70 m.Bj%<Jj%<} ProNav: ac range: 85.699997 m, nav range: 10.655424 m, bearing: 359.790166 deg, approach rate: -0.514153 m/s, LOS rate: 1.420834 deg/s, cmd heading: 345.009930 deg, new cmd heading: 346.623555 deg. 2j}s=HeadingCmd: 6.049722 target range: 85.699997 and range: 85.70 m. jS@jjjihhhhQBfffrfbf@ɛB< 隕A?I +=ɚiI0K(=IHs|ii;)S@)*Fe?2Fa:FaBFeo0JFiG=W=GBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data./?=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J J oJ J J J K9J J jHE <bHE <HM >IM C IM 'IIM fBII &II .II 6IM <:IM @ F I kw,#1TA2'@Y2C7@2=92 d?=y2H?@d?K? cѿ@?X/Χ?u?ɨ2'@2~;2Cy>>B>IIFNIF@ 4٢Nҡ NY=9R^Q R>PT VG٣TyV V> ZNusing accuracyPremultiplier from configXbp59Z~?bp5YZ/ iZr@`b`b@ZT^EZ;Zo;Zop5h j]AjlEZjxDNOT Ignoring new targets: 85.70 m.Bj<Jj< ProNav: ac range: 85.699997 m, nav range: 10.483185 m, bearing: 0.292570 deg, approach rate: -0.460295 m/s, LOS rate: 1.364677 deg/s, cmd heading: 346.623549 deg, new cmd heading: 348.155142 deg. 2j$j=%HeadingCmd: 6.076454 target range: 85.699997 and range: 85.70 m. j%Or@j!j)j)i)h)h)h1h1f1f1f1rf9bf=@ɛBV =?I l=ɚiI)=I;]i1i5)UOr@)QuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487707*F2F:FBF`5JFG=GBO>>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738613zK ?z?@>ҿ@f?8尿- ?`?ɨ2d@2;2CyN6BRIMb@Mb@Mb@ )Y"~j?I +~jtx?yS?9;vA A)EAIhAy A@AI]I$4٢ 7=9oUQ > G٣OGy   > Nusing accuracyPremultiplier from configp59k?%p5Y iq@%A?%:%쾑%@W^E3;<;{sp5-B 5A5iEZjQ]DNOT Ignoring new targets: 85.70 m.Bj]<Jjew,qAb Y@Ybh@b#=9b "=ybHcs?>3?#?jҿ ?@I௿S.??ɨb Y@b=‹;bCyj*BjIIv>Iv3٢zm ~Z=9~&Q > G٣y /  > Nusing accuracyPremultiplier from configp59ݞ?p5Y9 ip@!%%@[^E ;? ;vp5) -A)ZjYeDNOT Ignoring new targets: 85.70 m.Bje<JjeI II*FM?2FQ:FQBFU5JFY }}$?II[BI&I.I6I߯<:I7 F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:46:52.6328 LVL= 19712, 18929, 25842, 28147, AGC= 62, IDX= 445,-0.07, 1.818, 2.328,-0.049, 1.396, PHS= 0.510, 0.979,-1.448, RAW= 19.5, -0.4, CAL= 19.1, -1.9, ROT= 130.9, 1.9  Ygot valid direction response: 22:46:52.6328 LVL= 19712, 18929, 25842, 28147, AGC= 62, IDX= 445,-0.07, 1.818, 2.328,-0.049, 1.396, PHS= 0.510, 0.979,-1.448, RAW= 19.5, -0.4, CAL= 19.1, -1.9, ROT= 130.9, 1.9  PDAT read: Bearing 130.9, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 130.9, 1.9 (Local)  DAT read: Range 10 to 50 : 86.7 m (Round-trip 115.7 ms) speed -0.3 m/s  ,DAT read: user:2877>  BDAT read: Tx time:22:46:53.7629  $Ping request sent. iٍ \?ٍ z?ٍ Xٍ @>ٍ ڍ 㭪>)ڍ Iڍ y7@iڍ =ډ ډ ۍ APǿ$Gmv 5z)ۍ )Iۍ ;iۍ h?ۍ 'ۉ ۉ = :publishing transmit ping time = Fpublishing direction and range info؉ 9؍ gzCϮ?幺 ?3M w,z¡AF@YFj-@Ff=9F.=yFH e?@ߢ?@m? [fӿm?P@{x`ĥ??ɨF@FI;FCyV(BVII^=I^=3٢v> vK=9vQ v>99 =G٣9yEᏼ E> MNusing accuracyPremultiplier from configIUp59MѮ?Up5YM iMo@QU}@M^^EMd;M~;MPzp5 Akaܸ?k1 k kA:kfBBk>BZk?"#Tc@%FT@j8@gzCϮ?幺 ?3M6w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y%0B-IMb@Mb@Mb@ )Y'1Z?A`"~jt?y?YD<` A dA)AIAy AIIF2٢ =  9=9Q > G٣y > -Nusing accuracyPremultiplier from config!-p59%?-p5Y%) i%n@5?5:5Ӿ5@%a^E%;%;%~p5=B EAEfE]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 86.70 m.Bju=Jju= ProNav: ac range: 86.699997 m, nav range: 19.311138 m, bearing: 59.811358 deg, approach rate: -0.077357 m/s, LOS rate: 1.916006 deg/s, cmd heading: 353.601461 deg, new cmd heading: 355.561903 deg. 2j^=5HeadingCmd: 6.205726 target range: 86.699997 and range: 86.70 m. j5N@j1j1j1i9h9h9h9hEhBfAfAfArfAbfMF?ɛB˼ =I # <ɚiIZH RH H >I  I II VBI &I .I 6I E<:I F e ~$?Ia >w,{A>ӷ@Y>k@>zu=9>i0=y>HuW?9?@3?`Xӿ&C? (P7x?{?ɨ>ӷ@><;>CyJBJIIVXIV4٢^  ^c=9^6Q b>`` bG٣bOGyf8ͼ f> jNusing accuracyPremultiplier from confighnp59j(Ώ?rp5Yj* ijpn@pv}ؾv@jd^EjG;jG;j=p5x zwAxZj%DNOT Ignoring new targets: 86.70 m.Bj%x<Jj%x<5 ProNav: ac range: 86.699997 m, nav range: 19.292789 m, bearing: 60.358120 deg, approach rate: -0.050762 m/s, LOS rate: 1.514034 deg/s, cmd heading: 355.561890 deg, new cmd heading: 357.203261 deg. 2j5=EHeadingCmd: 6.234373 target range: 86.699997 and range: 86.70 m. jE@jAjAjAiAhAhIhIhIfIfIfQrfQbfU =)?ɛBt 隽EI <ɚiI70=Iii?>B)@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991741*Fa2Fa:FaBFe`0JFaGM%zGBO-,> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243216Hw,TAJJBAJuJpJ1JJ[Q:J^9J3JJo;aJo;aJ}:aJ~:aBķ@YBӾ@B= V=9B=yBHU?Q?@?Կ9? g?@?ɨBķ@B-Ϗ;BCzKZBoHKZ9KXKZQKZRK>JK>y%!B%I IMb@Mb@Mb@ )YT㥛 ?kt{Gz?y? 0#<A MA)AI7Ay AI I<2٢< .=9|Q > G٣y > Nusing accuracyPremultiplier from configp59?p5Y im@?:о@h^E ;r;Wp5 RAcEZjDNOT Ignoring new targets: 86.70 m.Bji<Jji<- ProNav: ac range: 86.699997 m, nav range: 19.267954 m, bearing: 61.059498 deg, approach rate: -0.053034 m/s, LOS rate: 1.499614 deg/s, cmd heading: 357.203266 deg, new cmd heading: 359.309111 deg. 2j-=5HeadingCmd: 6.271127 target range: 86.699997 and range: 86.70 m. j5@j1j9j9i9h9h9hAhE^BfAfAfArfIbfMՑ?ɛBsF 隥AI  <ɚiIQ1=IEiiܘl)@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495576E ȝ=*F ?2F :F BF P0JF G &+G G ?%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749622GBO>|w,^A:@Y:?@:N=9:rR=y:H k??p=?@ӿ:8?it B~@I?@?ɨ:@:82;:CyrBrI)t tI~VI~n4٢ <  <=9 ;Q > G٣%OGy%ar< %> -Nusing accuracyPremultiplier from config)5p59-?5p5Y- i-zm@9=̾=@-l^E-;-;-$p5EB EAM`EZjiuDNOT Ignoring new targets: 86.70 m.BjuW<Jj}W< ProNav: ac range: 86.699997 m, nav range: 19.246164 m, bearing: 61.710773 deg, approach rate: -0.050100 m/s, LOS rate: 1.499123 deg/s, cmd heading: 359.309123 deg, new cmd heading: 1.264359 deg. 2j=HeadingCmd: 0.022067 target range: 86.699997 and range: 86.70 m. jSƴ<jjjihhhhfffrfbf $?ɛBP Tg=DI Z<ɚiI(2=I'<HI IIIQBI&I.I6I<:Ic F u$?Iqi iu)Sƴ<)Emz=*F?2F:FBF%_0JF!G^lƽGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999371Og>ʧ w,o(A@@YO@=y<9f>yHv?C?~1ӿe G٣y< > Nusing accuracyPremultiplier from configp59?p5Y i/m@=?:?@o^E;";,p5  A Zj15DNOT Ignoring new targets: 86.70 m.Bj=P<Jj=PG B O >w,_BA6@Y6@66<96;>y6H?z?-m ҿC?@W¿Ɠ 1?`?ɨ6@6;6Cy>B>IIFJIF)4٢N Nv=9RܼQ R?PT VG٣TyV = V? ^Nusing accuracyPremultiplier from configX^p59Z9?bp5YZ iZm@`bb@Zr^EZ:Z:Zp5jB j+An]E~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 86.70 m.Bj 3<Jj3< ProNav: ac range: 86.699997 m, nav range: 19.195711 m, bearing: 62.895397 deg, approach rate: -0.063646 m/s, LOS rate: 1.491158 deg/s, cmd heading: 3.331830 deg, new cmd heading: 4.821716 deg. 2j=%HeadingCmd: 0.084155 target range: 86.699997 and range: 86.70 m. j%]Y=j!j)j)i)h1h1h1h1f9f9f9rf9bfE@_!@ɛuBuN quSHIq } z<ɚyiyI}3=I5G=ii)]Y=)Ew=*FY2FY:FYBFe1JFaEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756339GM4|uAAGB!O=Q> E8&YE|uAyEdBjH<bHHI IIILBI&I.I6Iޯ<:I7 FBIǬCJIǬCRIZIbI =jIǴN4 M$?IIw,t$\A2#@Y2c3@2 )<92.>y2H ?Y?u ~ѿ`Q? ?ſ@k1@ʷ?ƈ?ɨ2#@2W;2CyBBBIiF;>IFp=NWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:22:46:56.2843 VTRx dataTimestamp_ set to:1736376417.460472Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008060IJRIJW4٢f fH=9f과Q f>hh jG٣hyn%= n> rNusing accuracyPremultiplier from configpvp59r!?vp5Yr] irm@xz(z@ru^Er;r;rp5| ~fAZj!-DNOT Ignoring new targets: 86.70 m.Bj-<Jj- w,( vAN{@YN@N,:9NVzC>yNH@?? Zп_?]ǿ6E ^I?/k?ɨN{@N;NCyVBVIMMb@Mb@Mb@III I)IYMGz?QMbPyMp>MMMnA M~A)MAIM AIyM AIuLIu4٢} }?=9oQ > G٣OGy1= > Nusing accuracyPremultiplier from configp592?p5Y il@>:@y^EQ;;bp5 AZEZjDNOT Ignoring new targets: 86.70 m.BjM<JjM< ProNav: ac range: 86.699997 m, nav range: 19.138760 m, bearing: 64.134828 deg, approach rate: -0.068919 m/s, LOS rate: 1.470876 deg/s, cmd heading: 6.655014 deg, new cmd heading: 8.544156 deg. 2j\|=HeadingCmd: 0.149124 target range: 86.699997 and range: 86.70 m. j߳>jjjihhhhBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.2 ms) speed -0.4 m/s ,DAT read: user:2878> BDAT read: Tx time:22:46:57.3629 $Ping request sent.ii)߳>)!E1E1*E1"E1*Fa 2Fi :Fi BFm 0JFi U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:46:57.3622 GA H I  I II GBI &I .I 6I (<:I m F -$?I)G)B9O]>$w,2A2q@Y2r@2 92Z>y2H`R?`<?~Ϳ`k?!ʿ@~!?b(? E?ɨ2q@2 ;2CyNBRIIZ>IZ3٢b? b7=9bgQ b>dd fG٣dyf:L= j> ]Nusing accuracyPremultiplier from configh]p59jxD?]p5Yj ijl@aee@j|^Ej9j!j!j!i!h)h)h)h)f)fqfqrfuU@bfu@?ɛB RI  x<ɚiI4=I@;>ii)@;>)!Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխA*F5?2F1:F1BF55JF1G"jGBO%n>] Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,W"AJ{5@YJD@J^M9Jo>yJH^F?`m?ʿ u?~̿C?`ȴ? x?ɨJ{5@Jt;JCyR݀BVI)X XXX=Mb@Mb@Mb@999 9)9Y=Mb?X9v~jtxy=?==Ļ="A =v@)=AI=` A9y=AY]AAI]*I]3٢mO;JqJumJqJqJqJu&9JqJqJqJqJu:Ju: ?=9\޼Q > G٣OGyb= > Nusing accuracyPremultiplier from configp59V?p5YS il@?:@^E;O; p5B AWEzKmGMKm]9KiKmTKm   $?IhZjDNOT Ignoring new targets: 86.70 m.Bjw<Jjw< ProNav: ac range: 86.699997 m, nav range: 19.069912 m, bearing: 65.432228 deg, approach rate: -0.081081 m/s, LOS rate: 1.465040 deg/s, cmd heading: 10.512208 deg, new cmd heading: 12.441787 deg. 2j\{=HeadingCmd: 0.217150 target range: 86.699997 and range: 87.90 m. j\^>jjji!h!h!h)h-Bf)f)f1rf1bf5?ɛ}B}F :=隥UI :<ɚiI4=I\^>ii)\^>)*F]?2FY:FYBF]P0JFYG5G BO5q>Will construct direction to contact in vehicle frame from tetrahedron phase data.&1w,GA6@Y6{*@696+>y6H`Aq?`t?Xpǿ,? Oο`AO?`' ?d?ɨ6@6R;4yNـBR{IIZIZ?13٢b+ bV=9fQ f>dd jG٣hyj= j> rNusing accuracyPremultiplier from configlrp59ne?vp5Yn inl@tvvv@n^En:na:nYp5x zA|B*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 86.70 m.Bj-<Jj-<= ProNav: ac range: 86.699997 m, nav range: 19.035368 m, bearing: 65.993738 deg, approach rate: -0.098724 m/s, LOS rate: 1.607631 deg/s, cmd heading: 12.441787 deg, new cmd heading: 14.128859 deg. 2j==MHeadingCmd: 0.246595 target range: 86.699997 and range: 87.90 m. jMm|>jIjIjIiIhIhQhQhQfQffrfbf ?ɛ-B5,4 隵VI hI<ɚiI4=Im|>ii)m|>)Will construct direction to contact in vehicle frame from tetrahedron phase data.>p=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF[0JFZHRH@A IH>I III8BI&I.I6I<:IT FGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508130 8w,mA67@Y6@6!-96B>y6Hٕ??﴿`zÿ#?^пz? ??ɨ67@6ߊ;6CyRȀBRfIIZIZ٢bU bJ=9bռQ f>dd fG٣dyj= j> 5Nusing accuracyPremultiplier from config)=p59-v?=p5Y- i-l@9=XE@-^E-p;-;-p5MB M3AMTEZjquDNOT Ignoring new targets: 86.70 m.Bj}<Jj}< ProNav: ac range: 86.699997 m, nav range: 18.993538 m, bearing: 66.609646 deg, approach rate: -0.100921 m/s, LOS rate: 1.489207 deg/s, cmd heading: 14.128858 deg, new cmd heading: 15.979972 deg. 2j=HeadingCmd: 0.278903 target range: 86.699997 and range: 87.90 m. jd̎>jjjihhhhfffrfbf?ɛB ]I <ɚiI4=Id̎>ii)d̎>)*Fm?2Fi:FqBFu_0JFq]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769274GJ5sJ5tJ1J1J5K:J59J1J1J5e;J5e;J5:J5:GiBy $?IzK5>w,Ay B [I =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020379Mb@Mb@Mb@ )Y)\(?A`"MbyG?Y)A 3@) AIAyAI6Im3٢ (  7=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-p59%ވ?5p5Y% i%l@5 ?5:5}=@%^E%;%;%Ʃp5A EAEVEZjimDNOT Ignoring new targets: 86.70 m.Bju<Jju< ProNav: ac range: 86.699997 m, nav range: 18.959486 m, bearing: 67.268847 deg, approach rate: -0.078248 m/s, LOS rate: 1.517475 deg/s, cmd heading: 15.979972 deg, new cmd heading: 17.960294 deg. 2j-=HeadingCmd: 0.313466 target range: 86.699997 and range: 87.90 m. j~>jjjihhhhBf!f!f!rf!bf%`@ɛuBu qu`Iq }7<ɚyiyI}4=I~>ii)~>)Efm=m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272140*F 2F :F BF P0JF I H I  I II )BI &I .I 6I <:I Y FGq Gu ?Gu ?GIBYOu>1-Fw,A6qھ@Y6@6w96I>y6H?@鉳? 2@?`Mҿ@8ޮ? ?@ ?ɨ6qھ@6;4yBBBXIIJCIJ3٢RB R?=9R9,Q V>TT VG٣VOGyZ > Z> ^Nusing accuracyPremultiplier from config\bp59^՚?bp5Y^- i^l@dfAf@^^E^)0;^1;^p5nB nAnSEZjaeDNOT Ignoring new targets: 86.70 m.Bjm<Jjm< ProNav: ac range: 86.699997 m, nav range: 18.915918 m, bearing: 67.912140 deg, approach rate: -0.099055 m/s, LOS rate: 1.465923 deg/s, cmd heading: 17.960293 deg, new cmd heading: 19.893843 deg. 2j{=HeadingCmd: 0.347213 target range: 86.699997 and range: 87.90 m. jű>jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524201ɛ}B  J=隽V`I <ɚiIz4=Iű>ii)ű>)ESE=*F2F:FBF_0JFGa G9 BA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y ] <e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776460Om > U $?IQ YLw,3A6@zK:BHK:9K8K:VK:Y6%@6J96K">y6H w?\ ?@js&r~?tҿ ѱ?G+?@s?ɨ6@6,;6CybBfNIUMb@Mb@Mb@QQQ Q)QYU r?{Gz:vyU?UףUԼU-0A U@)U AIUAQyUAIe9Ie3٢u u==9}@Q }>yy G٣yj= > Nusing accuracyPremultiplier from configp59_?p5Y_ iRl@U?:O@^E/;;Fp5 AZjDNOT Ignoring new targets: 86.70 m.Bjo<Jjo< ProNav: ac range: 86.699997 m, nav range: 18.876455 m, bearing: 68.582729 deg, approach rate: -0.094239 m/s, LOS rate: 1.604702 deg/s, cmd heading: 19.893843 deg, new cmd heading: 21.908937 deg. 2j=HeadingCmd: 0.382383 target range: 86.699997 and range: 87.90 m. j>jjjihhhhBfff rf bf  BJ@ɛzB! bI Щ<ɚiI4=IE>iAiA)E>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029886Eп8=*F 2F :F BF ^0JF GE u Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:22:46:59.8861 } TRx dataTimestamp_ set to:1736376421.250438 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283066GB)OE>B8Tw,QAJ,J.lJ,J,J,J.9J,J,a6@a6@a6@a6@B@YB7@B9B~9>yBH ^?y7?@G^7|?X=ӿD?g?`7d?ɨB@B9;BC I jHbHHI IIIBI&I.I6Iv<:I Fy}B}KIII[3٢ *=9ݍQ > G٣OGy]k=  > Nusing accuracyPremultiplier from configp59M?p5Y i l@!%F3%@^E: :p5I UAUPEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 86.70 m.Bj<Jj< ProNav: ac range: 86.699997 m, nav range: 18.828285 m, bearing: 69.335162 deg, approach rate: -0.097718 m/s, LOS rate: 1.530256 deg/s, cmd heading: 21.908937 deg, new cmd heading: 24.170771 deg. 2jF=HeadingCmd: 0.421860 target range: 86.699997 and range: 87.90 m. j>jjjihhh h f f frfbfL @ɛ]wB]r  Ye7bIa <ɚiId3=I>ii)>)El=*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532636G] G1 BI Ou >bZw,ɎkA>n@Y>U~@>b9>>y>H@?@lX= e?:Wӿf? ]?@|`?ɨ>n@>y2;>CynBn1II%%I%)3=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:46:59.8861 LVL= 21808, 19233, 19954, 26067, AGC= 59, IDX= 462, 0.49,-2.602,-2.948, 1.427, 2.537, PHS= 1.232, 0.846,-1.113, RAW= 38.8, -8.9, CAL= 42.0, -15.0, ROT= 108.0, 15.0 Ygot valid direction response: 22:46:59.8861 LVL= 21808, 19233, 19954, 26067, AGC= 59, IDX= 462, 0.49,-2.602,-2.948, 1.427, 2.537, PHS= 1.232, 0.846,-1.113, RAW= 38.8, -8.9, CAL= 42.0, -15.0, ROT= 108.0, 15.0 PDAT read: Bearing 108.0, 15.0 (Local) ~Local bearing/azimuth received: Bearing 108.0, 15.0 (Local) DAT read: Range 10 to 50 : 89.2 m (Round-trip 119.0 ms) speed 0.0 m/s ٢Q :=9Q > G٣yp= > -Nusing accuracyPremultiplier from config-p59'Ր?5p5Yj ik@155@^E;@;Mp5=,DAT read: user:2879> EBDAT read: Tx time:22:47:01.0129 MB MAMMEJe@AJe?A$Ping request sent.AAEA5)i?I_=|ÿ)EVIE >iE?EzAA-:publishing transmit ping timeA-Fpublishing direction and range infoA9EqSi ?Ɩs?:M]?yAAAA A)AIAiAAAAA A)AIAiAAAEhN?xצ?f}?"kEPB*kEC,AkEn`?kEdB 2kECkEn`?kEdB kECkE.UBkE(?] addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.789546 s, deltaX: 1.299995 m, approachRate: 0.343048 m/s, rangeRepo size: 4 EA5)i?I_=|ÿ)AIAiAAAA Added new target pos. range: 89.199997 m, bearing: 78.345022 deg, lat: 36.904998 deg, lon: -122.119584 deg, deltaT: 7.318038 s, deltaX: 2.500000 m, approachRate: 0.341622 m/s, posRepo size: 4 zKK9KKWK ZjDNOT Ignoring new targets: 89.20 m.BjJj% ProNav: ac range: 89.199997 m, nav range: 53.295223 m, bearing: 78.344839 deg, approach rate: 0.000000 m/s, LOS rate: 1.530256 deg/s, cmd heading: 24.170771 deg, new cmd heading: 26.282765 deg. 2j!-HeadingCmd: 0.458721 target range: 89.199997 and range: 89.20 m. j-t>j)j1j1i1h1h1hyhyfyfyfyrfLV@bf`>?ɛsB =kI j<ɚ1i1I5צ2=I=t>i9i9)=t>)AEIEI*EI"EI Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:47:01.0122 *Fu ?2Fq :Fq BF} ^0JFy GY)  GAuNGByO ?U{cw,AtA:A N99YRtAyR(1Bf@Yf=f\ɽ9fb>yfH?y#`|?+?2ӿ'?@B?h?ɨf@fo;fCyrBr7I~Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YK7A?Zd;OL7A`堿y ?j+2A V@)x AIAyzAII(*JJtJJJJ9JJ٢-ߘ< -=95ȼQ 5>19 =G٣9y=,= => MNusing accuracyPremultiplier from configAMp59E된?Up5YEA iEk@Un?U:UPU@E^EE;E;Ep5Y ewAa u$?Iqk1F?k k k:kBkZk6ҷ?"̅/@~Q@ -pI@qSi ?Ɩs?:M]?JkRkH>I IIIBI&I.I6I<:If FBIJIRIZIbIjIZ4*3p@@OQ1J@Y[Q@5?Ym?h5?"kTB*kr@kʩJ?kx4~ 2kCkkx4~ kCkXBk?ZjDNOT Ignoring new targets: 89.20 m.Bj%<Jj%< ProNav: ac range: 89.199997 m, nav range: 53.272892 m, bearing: 78.635025 deg, approach rate: -0.044539 m/s, LOS rate: 0.579012 deg/s, cmd heading: 26.282766 deg, new cmd heading: 27.153620 deg. 2j<HeadingCmd: 0.473920 target range: 89.199997 and range: 89.20 m. j>jjjihhhhBfffrfbf ?ɛ pB ! < ii)>)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >9iw,HlA:a@Y:r=:ӽ9:a>y:H ?j@.|"?b?iӿf?@\F?U?ɨ:a@:M݉;:CyJBN>III̍٢< %^=9%`YQ ->)1 5G٣5OGy== E> UNusing accuracyPremultiplier from configI]p59M?ep5YM iMvk@aem@M^EMoq;M`a;Mp5}B UAJEZjDNOT Ignoring new targets: 89.20 m.Bj <Jj < ProNav: ac range: 89.199997 m, nav range: 53.252762 m, bearing: 78.840477 deg, approach rate: -0.055033 m/s, LOS rate: 0.561892 deg/s, cmd heading: 27.153620 deg, new cmd heading: 27.770185 deg. 2j<HeadingCmd: 0.484681 target range: 89.199997 and range: 89.20 m. j!(>jjjihhhhfffrfbf3"?ɛnB A< cIWill construct direction to contact in vehicle frame from tetrahedron phase data. /<ɚAiIIMC0=IM!(>iQiQ)U!(>)Q qIq*F=?2F9:F9BFE{0JFAzKKKKKXK$('$$"! " Ga G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.-pw,KARZ@YR=R*۽9R>yRHB?Y/G泿?@a?&gӿ p??@pd?ɨRZ@R;RCyZB^@IMMb@Mb@Mb@III I)IYM)\(?B`"۹ rhyMG?MνMC M-0A I)M AIMAIyMAImImV8٢} < }D=9^ Q > G٣yc= > Nusing accuracyPremultiplier from configp59 ?p5Y3 iAk@ ?:@^E;;p5 FAZjQUDNOT Ignoring new targets: 89.20 m.Bj]<Jj]jyjyjyiyhyhhh Bfffrfbfr?ɛlB0< aI 1<ɚiI70=I G>i i ) G>)EQ*F?2F:FBFV5JFGqA GmAWill construct direction to contact in vehicle frame from tetrahedron phase data. U$?IQJ]tJ]nJYJYJ];N:J]99JYJYZHRHHI IIIBI&I.I6I<:IA FGG B O >vw,A6X@Y6=64Q߽96\C>y6H?@u?@4W?F:ӿ`ۻ?@?n?ɨ6X@6⁊;4yPR?ITVAIZ"IZq3٢f fW=9fjQ j>hh jG٣hyn}o= r> vNusing accuracyPremultiplier from configtzp59vj?zp5Yv ivk@xzz@v^Ev:v3:vp5 MAGEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.20 m.Bj<Jj< ProNav: ac range: 89.199997 m, nav range: 53.205517 m, bearing: 79.279313 deg, approach rate: -0.063732 m/s, LOS rate: 0.547846 deg/s, cmd heading: 28.455483 deg, new cmd heading: 29.087214 deg. 2j<HeadingCmd: 0.507668 target range: 89.199997 and range: 89.20 m. j?jjjihhhhfffrfbfZ?ɛ%jB%h@ )-`I) -<ɚ)i)I-*q/=I5?i9i9)=?)9}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.E*FQ2FY:FYBFe0JFa5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987743 A IA JM AAJM AAGU G1 BA zKU  MKU +9KQ KU YKU RKe ?JKe ?Om >k}w, KAJS@YJ>J9J/>yJHU?@ÿ`c??@?`D5ӿ&?d? .s?ɨJS@Jx;JCynBnMIeMb@Mb@Mb@aaa a)aYeGz?e̽ete.A e@)edAIe(AayeAI}I}M3٢@= 0=9YQ > G٣OGyN= > Nusing accuracyPremultiplier from configup59c2?up5Y ij@}?}:}3)}@^EӼ<º<)p5B ADEZjDNOT Ignoring new targets: 89.20 m.Bj^<Jj^< ProNav: ac range: 89.199997 m, nav range: 53.171574 m, bearing: 79.532193 deg, approach rate: -0.071476 m/s, LOS rate: 0.532837 deg/s, cmd heading: 29.087214 deg, new cmd heading: 29.846290 deg. 2j׶< HeadingCmd: 0.520916 target range: 89.199997 and range: 89.20 m. jMZ?jQjQjQiYhYhYhaheBfafafirfbf @ɛgBK YI =iy<ɚiI=I.=I Z?ii)Z?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.237365EMt<*F?2F:FBFP5JFG G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490890Om >6ew,zoA R$?IPJbsJbkJb1J`JbK:Jb9Jb3J`H%>I! I%II%#BI% =&I!.I!6I%4<:I%x Fm @Ym>mJ9m3>ymHo?@ƿ@v?a? ?Oӿ?He?r?ɨm @mYʼn;mCyޝ€Bޝ_II,I3٢-= D=9/Q > G٣yVu= > Nusing accuracyPremultiplier from configp59D?p5Y ij@@^E\ ; ;p5 AZjDNOT Ignoring new targets: 89.20 m.Bj| <Jj| < ProNav: ac range: 89.199997 m, nav range: 53.137379 m, bearing: 79.754484 deg, approach rate: -0.086279 m/s, LOS rate: 0.561236 deg/s, cmd heading: 29.846291 deg, new cmd heading: 30.513561 deg. 2j<HeadingCmd: 0.532562 target range: 89.199997 and range: 89.20 m. jU?jjjihhhhfffrfbfM@ɛeBD/ 隵~QI n<ɚiIqi-=IU?ii)U?)E)E)*E1"E1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741196E%qAE!*F ?2F :F BF a3JF "G ?G ?G G ?G>GWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:22:47:03.5375 5TRx dataTimestamp_ set to:1736376424.785054Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000513BO?;w,L3A IV@YV28>Vݽ9VG>yVHL?`ɿܩ@1??`3Iӿ ?I?I= ==mMb@Mb@Mb@iii i)iYmZd;?Cl绿 rhym>m;߽mC m-A m@)mAIiiymAI=I=3٢ < =9;Q > G٣yL= > Nusing accuracyPremultiplier from configp594[?p5Y iBj@zKKKKZK?:һ@^E;;{p5B `AAEZjaeDNOT Ignoring new targets: 89.20 m.Bjm<Jjm< ProNav: ac range: 89.199997 m, nav range: 53.090839 m, bearing: 80.047252 deg, approach rate: -0.085408 m/s, LOS rate: 0.537754 deg/s, cmd heading: 30.513563 deg, new cmd heading: 31.392566 deg. 2j<HeadingCmd: 0.547904 target range: 89.199997 and range: 89.20 m. jjC ?jjjihhhhBfffrfbfXY @ɛbBm eMI  W`<ɚ i I q$,=IjC ?ii)=jC ?)I*F?2F:FBF%5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246143G5 G B O= >Kw,IMAM@@YM\R>Mڽ9MA>yMH &?̿Q`@??`pӿJ?  ?`?ɨM@@MC;MCyeҀBerII$I<3٢U= Z=9;Q >    G٣ OGy= > Nusing accuracyPremultiplier from config%p59k?%p5Y ij@!%u<%@^EH:j:p51 5A1ZjYeDNOT Ignoring new targets: 89.20 m.Bje <Jjm <uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:47:03.5375 LVL= 13904, 19041, 18322, 30883, AGC= 58, IDX= 461,-0.05, 2.967, 2.058, 0.541, 1.575, PHS= 1.481, 0.530,-1.037, RAW= 52.0, -8.9, CAL= 58.7, -15.5, ROT= 91.3, 15.5 Ygot valid direction response: 22:47:03.5375 LVL= 13904, 19041, 18322, 30883, AGC= 58, IDX= 461,-0.05, 2.967, 2.058, 0.541, 1.575, PHS= 1.481, 0.530,-1.037, RAW= 52.0, -8.9, CAL= 58.7, -15.5, ROT= 91.3, 15.5 PDAT read: Bearing 91.3, 15.5 (Local) ~Local bearing/azimuth received: Bearing 91.3, 15.5 (Local) DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.0 m/s ,DAT read: user:2880> BDAT read: Tx time:22:47:04.6630 $Ping request sent.qqu]7ޓ?:.AcR/=ÿ)uaIu>iu9?u'SqqE:publishing transmit ping timeEFpublishing direction and range infohIhIfIfIfQrfU@3V@bfU`ē?jHbHH>I III3BI =&I.I6I<:Ia Fq9uWa3hh?-DV+?&`a?yqqqq q)qIqiqqqqq q)qIqiqqqu]7ޓ?:.AcR/=ÿ)qIqiqqqqɛ`B7$ hGI V<ɚiI[:+=I$ ?ii)]$ ?)Y*F?2F:FBF4JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:22:47:04.6623 Gq G1 BA O] >Kw,?fAj:jս9j b>yjH@R?Ͽ@22F?ۤ?%ӿǖ?`<?s?ɨj:QQ ]G٣Yy]= e> Nusing accuracyPremultiplier from configp59Z|?p5Y ii@Q9=@^E+;ȗ;6p5 bA>Ek C?k k k-RA:kBBkfBZkc?"8MZb+@ XM@*U^P@Wa3hh?-DV+?&`a?Jk9?Rk'S*Y 6 /vPC@-(AbT@v(-`?p?"kB*knkD$A?k 2kCkkkkWBk? addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.529794 s, deltaX: 1.100006 m, approachRate: 0.311635 m/s, rangeRepo size: 4  Added new target pos. range: 90.300003 m, bearing: 95.518121 deg, lat: 36.904998 deg, lon: -122.119574 deg, deltaT: 3.529794 s, deltaX: 1.100006 m, approachRate: 0.311635 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.30 m.BjJj  ProNav: ac range: 90.300003 m, nav range: 53.912468 m, bearing: 80.624433 deg, approach rate: 0.000000 m/s, LOS rate: 0.561896 deg/s, cmd heading: 32.015678 deg, new cmd heading: 32.709302 deg. 2j  HeadingCmd: 0.570885 target range: 90.300003 and range: 90.30 m. j%?jjjihhhhffAfArfAbf]?ɛ_B& 隍^;I +M<ɚiIs*=I%?iiAm~)%?)*FE?2FI:FIBFM_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G GrA )I1JrJzJ0JJG:J9Jـ3JJ_;aJ_;aJQ:aJR:azK RIK 9K K [K "  6hocWOKG Gq B O >,w,AF=YF?>FDϽ9F>yFH@R?nѿ㕿=?In?+ӿ?`T?م?ɨF=F;FCnWill construct direction to contact in vehicle frame from tetrahedron phase data.pirAy~BI) AMb@Mb@Mb@ )Yx?I +X9vyK>9G+A p@)AIAyQAIIF٢= ?=9;Q > G٣ym}= > Nusing accuracyPremultiplier from configp59f?p5Y  ii@> : _= @^E;(=p51 5A9UB*** querying acoustic contact ***jQjQZjYeDNOT Ignoring new targets: 90.30 m.Bjey <Jjmy <} ProNav: ac range: 90.300003 m, nav range: 53.859097 m, bearing: 80.833120 deg, approach rate: -0.124618 m/s, LOS rate: 0.487749 deg/s, cmd heading: 32.709301 deg, new cmd heading: 33.335956 deg. 2j}^<}HeadingCmd: 0.581822 target range: 90.300003 and range: 90.30 m. jM?jjjihhhhBfffrfbf )?ɛ]BP 3I C<ɚiI)=I%M?i!i%2r)-M?)I*F?2F:FBFJFGqGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 1 I1 H I  I II LBI &I .I 6I F<:I FWw,pAyBIII(*٢=< =T=9EQ E>AI MG٣MOGyM M> UNusing accuracyPremultiplier from configQ]p59UH?ep5YU iUqi@aae@U^EU;U;U0p5mB uAu;EZjDNOT Ignoring new targets: 90.30 m.Bj <Jj < ProNav: ac range: 90.300003 m, nav range: 53.810017 m, bearing: 81.027914 deg, approach rate: -0.141357 m/s, LOS rate: 0.561546 deg/s, cmd heading: 33.335957 deg, new cmd heading: 33.920852 deg. 2j<HeadingCmd: 0.592031 target range: 90.300003 and range: 90.30 m. jP?jjjihhhhfffrfbf?ɛ \B I8(  E0I  ;<ɚiI?(=IP?iiL})P?)!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245068GM ~G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.յ w?յ X? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500443 = $?I9 Vw,AJ>tJ>mJ<J<J>;N:J>&9J<J<J>{j;J>~j;J>:J>:m=Ym3.>m9m臕>ymHu?hտ{?%??>ӿh?}Y?=?ɨm=m;mCyޅBޅI=Mb@Mb@Mb@999 9)9Y=v?{GzV-y=>=ף==+A =C@)=7AI=A9y=AIUIU@٢m= m8=9uqy }G٣yy}[9> }> Nusing accuracyPremultiplier from configp59]?p5Yb iEi@>:8L>@^E;g;p5 AZjDNOT Ignoring new targets: 90.30 m.Bj <Jj < ProNav: ac range: 90.300003 m, nav range: 53.734104 m, bearing: 81.246707 deg, approach rate: -0.171702 m/s, LOS rate: 0.495573 deg/s, cmd heading: 33.920850 deg, new cmd heading: 34.578126 deg. 2j <HeadingCmd: 0.603502 target range: 90.300003 and range: 90.30 m. j?jjjihhhhBfffrf bf *?zK-M;MK)K)K-\K-HB><=83.' ɛZBw 隵`"I e2<ɚiI'=I?iif<)?)*F]?2FY:FaBFe0JFa"Gm>Gm>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748320G Z4~Gy B O >E Ghw,#LA*vA6A JYv˺>v 9v5>yvHf?Y׿͚?? U?,ӿA ?tp?ل?ɨv>vF;vCy~+B~I = p=I3Iʴ3٢%= %b=9%ms)) -G٣)y-= 5> =Nusing accuracyPremultiplier from config1Ep595?Mp5Y5U i5i@IMg>M@5^E5>;5/;57p5UB ]JA]8EZj%DNOT Ignoring new targets: 90.30 m.Bj%c<Jj%c<]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000240e ProNav: ac range: 90.300003 m, nav range: 53.668591 m, bearing: 81.423045 deg, approach rate: -0.171793 m/s, LOS rate: 0.462969 deg/s, cmd heading: 34.578126 deg, new cmd heading: 35.107772 deg. 2jeݞ Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252432ȕw,3A6.>Y6>6ا96I>y6H`V}? kؿ?6U;6Cyr3BvII%I)3٢== =H=9E*QY ]G٣]OGy]π= e> }Nusing accuracyPremultiplier from configyp59}Α?p5Y} i}h@>@}^E};}u;}p5  AZjDNOT Ignoring new targets: 90.30 m.Bj <Jj < ProNav: ac range: 90.300003 m, nav range: 53.589207 m, bearing: 81.623609 deg, approach rate: -0.200457 m/s, LOS rate: 0.507204 deg/s, cmd heading: 35.107773 deg, new cmd heading: 35.710332 deg. 2j <HeadingCmd: 0.623263 target range: 90.300003 and range: 90.30 m. j(?jjjihhh h f f frfbf!l@ɛWB=< I #<ɚiiiIm&=Im(?iqiuU')u(?)qmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507342*F?2F:FBF@5JF IJJBAJJGq+NJJJJJJJJJJGBO>zK 0RMK K K ]K    RK ?JK ?zw,A6EH>Y6j>6Lq96ٗ>y6H@t,? ڿ@E2? ?@?ӿ3?*?3?ɨ6EH>6;6 CyBLBBIbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756393-Mb@Mb@Mb@))) )))Y-`"?/$y->-L--)A -Z@))I-rA)y-AIE,IE3٢m= mH=9}Ky G٣y?= > Nusing accuracyPremultiplier from configp59dޑ?p5YL ih@[>:>@^E;;ap5B JA5EZjDNOT Ignoring new targets: 90.30 m.Bj<;Jj<; ProNav: ac range: 90.300003 m, nav range: 53.498444 m, bearing: 81.812146 deg, approach rate: -0.209441 m/s, LOS rate: 0.435798 deg/s, cmd heading: 35.710333 deg, new cmd heading: 36.276884 deg. 2j<HeadingCmd: 0.633151 target range: 90.300003 and range: 90.30 m. j0"?jj j)i)h1h1h1h5 Bf9f9f9rf9bfE@ɛVBbҼ I uW<ɚiI%=I0"?ii)0"?)*F?2F:FBF4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008128 $?IH I  I SII BI &I .I 6I ޯ<:I 7 FG O?G pAG rAG B O >w,A6b>Y6p>6;96I>y6HL? aۿh?E?f?άҿ@R?q? [?ɨ6b>6֊;6CyRPBR IIZ/IZ3٢b< bV=9f@dd fG٣hyj*= j> rNusing accuracyPremultiplier from configlvp59n표?zp5Yn inh@xz>z@n^Enx1;n*(;np5 %A3EB*** querying acoustic contact ***j!j!Zj)-DNOT Ignoring new targets: 90.30 m.Bj5<Jj5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514651 I JK KKK"KJ J zJ J J J 9J J J J J Q:J R:Kw,Y7AygB*IzKugLKuh9KqKu^Ku   BKqA:KqAMb@Mb@Mb@ )YV-?A`"Yt(A @)IAyp AII3٢= "=9Q > G٣OGy > Nusing accuracyPremultiplier from configp59?p5Y` i;i@k>:Z>@^EW; ;p5 pA0EZj)-DNOT Ignoring new targets: 90.30 m.Bj5<Jj5 mBDAT read: Tx time:22:47:08.3130 m$Ping request sent.m(|c? m0v?)9I6?i9>{ H?pGͽ6C))I-h=i|??O:publishing transmit ping timeiFpublishing direction and range info9 ?<0ܗ?Ǿ8?y )Ii )Ii{ H?pGͽ6C)IiGBGBO>$w,aQA6Fn>Y6Nf>6D96tQ>y6H1?ݿ@???ѿ??Ԩ?ɨ6Fn>6Nj;4y>yBB?IIHIH٢rz= rr=9r z? Nusing accuracyPremultiplier from config%p59 ?%p5Y iei@!%|>-@^E::p51 5A1]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:22:47:08.3123 $?Ik=ꪌ?k=q k9 k=%DA:k=3BBk=BZk=?"=WD9T @#{%ZN@on?oP@= ?<0ܗ?Ǿ8?Jk=|??Rk=O*=hty0~V;B@eX.1?1T@=%Fǿ7?a\!?"k=^B*k=̓k=?k=C  2k=Ck=ʩJ?k=dB k=Ck=OBk=D̿?H=>I9 I=II=BI= =&I9.I96I=/<:I=q F] addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.780758 s, deltaX: 0.299995 m, approachRate: 0.079348 m/s, rangeRepo size: 4 m Added new target pos. range: 90.599998 m, bearing: 113.666074 deg, lat: 36.904968 deg, lon: -122.119584 deg, deltaT: 3.780758 s, deltaX: 0.299995 m, approachRate: 0.079348 m/s, posRepo size: 4 ZjiDNOT Ignoring new targets: 90.60 m.BjJj ProNav: ac range: 90.599998 m, nav range: 51.962624 m, bearing: 85.853213 deg, approach rate: 0.000000 m/s, LOS rate: 0.475401 deg/s, cmd heading: 37.515777 deg, new cmd heading: 38.034945 deg. 2jHeadingCmd: 0.663835 target range: 90.599998 and range: 90.60 m. j)?jjjihhhhff!f!rf%`fV@bf%@?ɛ}RB}6E y}nپIy }f <ɚiI$=I)?iiG))?)*FE?2FA:FABFE_0JFAG 2  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >$Nw,*9kA:>Y:\?:lr9:=>y:HC?@߿`?}H??80ѿj??E??ɨ:>:⢋;8yFBFQI Jp=Ja=ININF3٢Z= ZM=9^\` bG٣`ybh= b> jNusing accuracyPremultiplier from configdjp59f$?jp5Yf ifi@ln>n@f^Ef;fs;fp5vB vwAv-EZj DNOT Ignoring new targets: 90.60 m.Bj{<Jj{< ProNav: ac range: 90.599998 m, nav range: 51.871391 m, bearing: 86.044391 deg, approach rate: -0.245689 m/s, LOS rate: 0.515748 deg/s, cmd heading: 38.034943 deg, new cmd heading: 38.609465 deg. 2j<HeadingCmd: 0.673862 target range: 90.599998 and range: 90.60 m. j=,?jjjihhhhfffrfbfm?ɛ]QB]R9 Ye$ʾIa eP<ɚaiaIe0#=Im=,?iiim}ܽ)m=,?)q*F ?2F :F BF o0JF }Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IhG?GBOmW>zKM LKM 9KI KM _KM  Will construct direction to contact in vehicle frame from tetrahedron phase data.<6w,8ABo@>YB<?B7a9B)>yBH?`߿?%?\?ڊп1?'? J?ɨBo@>Bx;BCy^Bb]IMb@Mb@Mb@ )Y^I +?{Gz?{GztyX>#<ף%A @)AIAyz AII٢*= 9=9 G٣OGy'= > Nusing accuracyPremultiplier from configq59,?q5Y i>j@h>:b ?@^E[;;_q5 ,A Zj)5DNOT Ignoring new targets: 90.60 m.Bj57;Jj=7;E ProNav: ac range: 90.599998 m, nav range: 51.746830 m, bearing: 86.237495 deg, approach rate: -0.282664 m/s, LOS rate: 0.439260 deg/s, cmd heading: 38.609465 deg, new cmd heading: 39.190150 deg. 2jM}Will construct direction to contact in vehicle frame from tetrahedron phase data. IH9I9 I=II=ˁBI9&I9.I96I=<:I=J FJuJjJJJ[Q:J9JJJo;Jo;J:J:`w,Ay~B~tII I ٢6= %V=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1Eq5959?Eq5Y5 i5j@AAE@5^E5: ;5 :5q5MB UAU*EmB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 90.60 m.Bj-;Jj-; ProNav: ac range: 90.599998 m, nav range: 51.639721 m, bearing: 86.405026 deg, approach rate: -0.280208 m/s, LOS rate: 0.439189 deg/s, cmd heading: 39.190150 deg, new cmd heading: 39.693774 deg. 2j<HeadingCmd: 0.692787 target range: 90.599998 and range: 90.60 m. j~Z1?jjjihhhhfffrfbf?ɛOBS I ;ɚiIG"=Iu~Z1?iyi})}~Z1?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF W5JFPExceeded connect timeout, disconnecting.G-G B1 O] > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756081w,ZԸA6v>Y6?C?6+796KP>y6H@F?@ չ?.?{?οl?V?`?ɨ6v>6;4yBBBI)D DHJAMb@Mb@Mb@ )YV-? rh?y>C<b&A -@) AI Ay AI5I5[3٢E0= EH=9EII UG٣Yy]F= ]> eNusing accuracyPremultiplier from configamq59eG?mq5Ye iek@u>u:u?u@e^Ee;e;eH q5y }QAZjDNOT Ignoring new targets: 90.60 m.Bj;Jj;= ProNav: ac range: 90.599998 m, nav range: 51.515282 m, bearing: 86.582436 deg, approach rate: -0.304433 m/s, LOS rate: 0.435069 deg/s, cmd heading: 39.693774 deg, new cmd heading: 40.227271 deg. 2j=JLrw,]A66>Y6N?6$96>y6H ?Q y??@?)Ϳ?#?q?ɨ66>6;K;4yBBBIIJ'IJ@3٢R= RU=9V@TT VG٣ZOGy^ = ^> bNusing accuracyPremultiplier from config`fq59bT?fq5Yb. ib l@hj?j@b^Eb:b:b q5l nAr(E E$?IA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258982ZjDNOT Ignoring new targets: 90.60 m.Bj[;Jj[; ProNav: ac range: 90.599998 m, nav range: 51.397285 m, bearing: 86.746929 deg, approach rate: -0.294527 m/s, LOS rate: 0.411531 deg/s, cmd heading: 40.227270 deg, new cmd heading: 40.721872 deg. 2j7<HeadingCmd: 0.710731 target range: 90.599998 and range: 90.60 m. js5?jjjiZHRHHI IIIBI&I.I6Iȯ<:I$ FhhhhfffrfbfV@J}rJ}mJ}1JyJ}G:J}&9J}3JyJ}_;J}_;J}:J}:ɛNBpW I A;ɚiI!=Is5?iiݥ)s5?)*Fm?2Fi:FiBFmP0JFiGEӽGM?GM?GB)OMR>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511089  nManaging dock network, ignoring radio surface power offٜw,IA2Ţ>Y2g?2g92ez>y2H,s?*`}?`??R&̿[? ??ɨ2Ţ>2P ;2CyVBVIIb0Ib(3٢f < jG=9j-ll nG٣lyr= r> vNusing accuracyPremultiplier from configtzq59vb?zq5Yv  ivl@x~Z!?~@v^Ev;vS;v4q5 AZj)5DNOT Ignoring new targets: 90.60 m.Bj5Y;Jj=Y;M ProNav: ac range: 90.599998 m, nav range: 51.269379 m, bearing: 86.921480 deg, approach rate: -0.326360 m/s, LOS rate: 0.446485 deg/s, cmd heading: 40.721871 deg, new cmd heading: 41.246815 deg. 2jM5zK% BHK% 9K! K% aK%  $&(*)('= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE BDAT read: Rx Time:22:47:10.8379 E TRx dataTimestamp_ set to:1736376432.096933M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016420w,aA^p>Y^E4?^`9^u>y^H=6?`M?@S?U?@˿@Y?m??ɨ^p>^j;\y=āB=IiE,>IEp= E=Ep=Mb@Mb@Mb@ )Yx&1?X9v?yA?<"A @)AI Ay AI9I3٢% = -*=95 ;Q =>AA MG٣Qy]< ]> mNusing accuracyPremultiplier from configa)y yq59er?-GAY /#YyBq5Ye ienm@?:+?@e^EeH=eH=erq5B A%EZ'@p BZjIUDNOT Ignoring new targets: 90.60 m.BjU;JjU; ProNav: ac range: 90.599998 m, nav range: 51.108448 m, bearing: 87.125949 deg, approach rate: -0.298532 m/s, LOS rate: 0.380491 deg/s, cmd heading: 41.246816 deg, new cmd heading: 41.862130 deg. 2j<HeadingCmd: 0.730632 target range: 90.599998 and range: 90.60 m. j ;?jjjihhhhBfffrfbf@ @ɛ=MBE`. AEIA Ed;ɚIiIIM!=IM ;?iQiU[꙽)U ;?)Q M$?IMhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268087HI IIIBI&I.I6I<:Ia FBIJIRIZI =bI =jIDz5JtJJJJ;N:JJJJ{j;J~j;JJ*F?2F:FBF3JFG zG qAG G B O >w,#ABa.>YB4?BC9Bap>yBH`?V?$?C%?>ʿ|'? ? ?ɨBa.>B;@yJՁBNIIV$IV<3٢bЮ= bW=9f&dh jG٣jOGyj= j> rNusing accuracyPremultiplier from configlrq59n?rq5Yn inm@tv.?v@n^En ;n? ;nq5x ~A|B*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 90.60 m.Bj5 <Jj5 <UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:47:10.8379 LVL= 20848, 26785, 21042, 26035, AGC= 59, IDX= 449,-0.32, 1.600, 0.711,-0.468, 0.427, PHS= 1.261, 0.331,-0.898, RAW= 55.4, -7.5, CAL= 62.1, -13.6, ROT= 87.9, 13.6 Ygot valid direction response: 22:47:10.8379 LVL= 20848, 26785, 21042, 26035, AGC= 59, IDX= 449,-0.32, 1.600, 0.711,-0.468, 0.427, PHS= 1.261, 0.331,-0.898, RAW= 55.4, -7.5, CAL= 62.1, -13.6, ROT= 87.9, 13.6 PDAT read: Bearing 87.9, 13.6 (Local) ~Local bearing/azimuth received: Bearing 87.9, 13.6 (Local) DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.0 m/s ,DAT read: user:2882> BDAT read: Tx time:22:47:11.9630 $Ping request sent.UTeUw?U  U?)UsIU^?iUs>QQU`?? (ߧ쿇 4<)U AIU1>iU ?U,%bQQ]:publishing transmit ping timeر]Fpublishing direction and range infoQ9U{O?e?;P?yQQQQ Q)QIQu ProNav: ac range: 90.599998 m, nav range: 50.982857 m, bearing: 87.282747 deg, approach rate: -0.391088 m/s, LOS rate: 0.489467 deg/s, cmd heading: 41.862130 deg, new cmd heading: 42.333671 deg. iQQQQQ Q)QIQiQQQU`?? (ߧ쿇 4<)QIQiQQQQ2ju<HeadingCmd: 0.738862 target range: 90.599998 and range: 90.60 m. j&=?jjjihhhhff f rfbf`xz?ɛp+ ToI 5;ɚiI =I &=?i i 8C) &=?)*F?2F:FBFT0JFGGBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. < <- JDAT read: TxSync time:22:47:11.9623 w,j=Ay~ҁB~IMb@Mb@Mb@ )YX9v?{Gz?~jthy>#=DA @) AI AyQAI-)I-W3zKUgLKU9KQKUbKU%%#! !    8HNLEB><875/,((('% ٢eR e3=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configyq59}?q5Y} i}n@>:3?@}^E};};}q5 1Ak/h?kz k kf&A:kBkZkkl?"G-s%@Hq=L@R&KQ@{O?e?;P?Jk ?Rk,%b*]Bv/'hw$B@^9Y`T@xFm9ƿ8'?w-S?"k#B*k{k_?k  2klCkD$A?k kCkBk? addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.535199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 90.599998 m, bearing: 113.438264 deg, lat: 36.904885 deg, lon: -122.119738 deg, deltaT: 3.535199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.BjJj ProNav: ac range: 90.599998 m, nav range: 37.777725 m, bearing: 100.638048 deg, approach rate: 0.000000 m/s, LOS rate: 0.489467 deg/s, cmd heading: 42.333673 deg, new cmd heading: 43.008116 deg. 2jHeadingCmd: 0.750633 target range: 90.599998 and range: 90.60 m. j)@?jjjihhhh‚Bfffrfbf?ɛLBH5( tI ;ɚ!i!I%4 =IU)@?iQi]ᨽ)])@?mWill construct direction to contact in vehicle frame from tetrahedron phase data.)*F=?2F9:F9BF=_0JFAGe 4G9 BA Oe > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H= >I9  I=  II= BI=  =&I9 .I9 6I= O<:I= Fw,{JWA2T >Y2%?2C92h>y2H?*?E?@1?,ȿ@!~??g+?ɨ2T >2?d;2Cy>ہB>IDFAIJ$IJ<3٢RS= Vk=9VvuWill construct direction to contact in vehicle frame from tetrahedron phase data.aw, qA:>Y:|'?:89:y:HZ?'@iS? `?A?Cǿ ?`*?t5?ɨ:>:Kd;:Cy^BbIIjIjb٢r = rG=9r;Q r>tt zG٣zOGyz< z> Nusing accuracyPremultiplier from config q59@? q5Yn iZo@  ^ Will construct direction to contact in vehicle frame from tetrahedron phase data."w,AyzBzIMb@Mb@Mb@ )YMb?Q?~jthy?<+A -@)IAyAII(٢ <  9=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-q59%_?=q5Y% i%o@=?=:E+7?E@%^E%;%;%1&q5MB UAUEZjy}DNOT Ignoring new targets: 90.60 m.Bj><Jj>< ProNav: ac range: 90.599998 m, nav range: 37.473053 m, bearing: 101.424577 deg, approach rate: -0.247795 m/s, LOS rate: 0.664713 deg/s, cmd heading: 44.488342 deg, new cmd heading: 45.373967 deg. 2j<HeadingCmd: 0.791925 target range: 90.599998 and range: 90.60 m. jJ?jjjihhhhBfffrfbf?ɛY]F aeVNIa ey;ɚiI' =IJ?ii)J?)*F?2F:FBF_5JF  5$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I II,BI =&I.I6Iگ<:I1 FG4GBOk>n(w,֤A6>Y6N,?6;g96[>y6HF?i V?.?`U?`ƿ?A?@CC?ɨ6>68;6CyNBNIIZ'IZ@3٢f< fb=9fhh jG٣hynv_= n> rNusing accuracyPremultiplier from configpvq59r¾?vq5Yr_ iro@tz=1w,*6AzKBHK+9KKdKBKpA:KpA:[>Y:)/?:M59:ΝX>y:H`?N`!Կ?9?|2?ſ??H?ɨ:[>:G։;8yFBFI]Mb@Mb@Mb@YYY Y)YY]+?~jt?MbP?y]v>]D=]:]XA ]@)]AI]MAYy]fAIu<Iu3٢! =9z;Q > G٣OGy< >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512099 Nusing accuracyPremultiplier from configq59-Β?q5Y ip@>:*G?@_El;;-q5 AZj9EDNOT Ignoring new targets: 90.60 m.BjU<<JjU< IHA IA  IE ( IIE 6BIE  =&IA .IA 6IE <:IE  F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760145g!7w,KABJ>YBY1?B}9BlMW>yBH? U?v??)ſd?`Ѷ?XK?ɨBJ>B;BCyJBNIIV/IV3٢Z< ^Z=9^ `` bG٣`yfC< f> jNusing accuracyPremultiplier from confighnq59jMْ?nq5Yj! ijp@prI?r@j_Ej ;j? ;j!1q5zB zAzEZj%DNOT Ignoring new targets: 90.60 m.Bj%6><Jj%6><5 ProNav: ac range: 90.599998 m, nav range: 37.139469 m, bearing: 102.238193 deg, approach rate: -0.279743 m/s, LOS rate: 0.665181 deg/s, cmd heading: 47.094967 deg, new cmd heading: 47.822118 deg. 2j5A<=HeadingCmd: 0.834653 target range: 90.599998 and range: 90.60 m. j=٫U?j9jAjAiAhAhAhIhIfIfIfIrfQbfU G@ɛ%  !%EI! %u;ɚ!i!I- =I-٫U?i)i5)5٫U?)1E9E9*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:47:14.4875 TRx dataTimestamp_ set to:1736376435.624795checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013254*Fu?2Fq:FyBF}P5JFy $?I G !̥Gy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265073B O >z=w,YAF>YF3?Fծ9FkV>yFH j?A?@? ?Ŀu?a?@L?ɨF>F ى;FCyRBRIIZ(IZ̍3J J qJ J J J q9J J ٢ a 3=9-;Q ->ii uG٣y< > Nusing accuracyPremultiplier from configq59璜?q5Y iQq@K?@ _E!;7;\5q5 AZjYeDNOT Ignoring new targets: 90.60 m.Bje6<Jjm6< ProNav: ac range: 90.599998 m, nav range: 37.006950 m, bearing: 102.550599 deg, approach rate: -0.270213 m/s, LOS rate: 0.639291 deg/s, cmd heading: 47.822119 deg, new cmd heading: 48.762604 deg. 2j^<HeadingCmd: 0.851068 target range: 90.599998 and range: 90.60 m. jY?jjjihhhhfffrfbf`@ @ɛMB/ hGI S;ɚiI& =I%Y?i!i%Qɽ)%Y?)I*F?2F:FBFP0JFzK%BIK%9K!K%eK%G籽}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516926GBO%>bDw,EeAyBIMb@Mb@Mb@ )YRQ?J +? Iy?H=A -@)I7AyAI6Im3٢}; J=9Q > G٣OGy] ]> mNusing accuracyPremultiplier from configamq59e=?uq5Yeֱ ieq@u)?u:}K?}@e _Ee;e;e8q5 AEH>IC III&I.I6I<:I? FZjDNOT Ignoring new targets: 90.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:47:14.4876 LVL= 15008, 30769, 20674, 31027, AGC= 59, IDX= 444, 0.13,-1.798,-2.992, 2.431,-2.980, PHS= 1.269, 0.035,-0.875, RAW= 65.0, -4.6, CAL= 71.9, -10.3, ROT= 78.1, 10.3 Ygot valid direction response: 22:47:14.4876 LVL= 15008, 30769, 20674, 31027, AGC= 59, IDX= 444, 0.13,-1.798,-2.992, 2.431,-2.980, PHS= 1.269, 0.035,-0.875, RAW= 65.0, -4.6, CAL= 71.9, -10.3, ROT= 78.1, 10.3 %PDAT read: Bearing 78.1, 10.3 (Local) %~Local bearing/azimuth received: Bearing 78.1, 10.3 (Local) 5DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.1 m/s 5,DAT read: user:2883> =BDAT read: Tx time:22:47:15.6131 =$Ping request sent.=˜I?)n!$"ô)uIL=i?<:publishing transmit ping time9Fpublishing direction and range info9Rj?tZJ ?"?y )Ii )Iiɛ FI ѝ;ɚiI =˜I?)n!$"ô)IiI-X]?i)i-)5X]?)1*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:47:15.6124 G ?G ?G *?G B O >-Jw,w-A^j?Y^;?^$9^{EY>y^H@??Jo?9?`ĿA? ?IH?ɨ^j?^ʉ;^CyjBhIrIr(1٢z7 zQ=9z|I|| ~G٣|y<= >  Nusing accuracyPremultiplier from config q59 L?q5Y  i q@S?@ _E U: 3: * 6HI ;ɚiI4 =I `?i i ) `?)*F?2F:FBF_0JF $?IhGUWill construct direction to contact in vehicle frame from tetrahedron phase data.GYBaO<>JsJrJ1JJK:J9J3JzK +LK 9K K fK     &CjQw,"GA2?Y2>?292u_>y2H?@*@O?խ?`?@bĿ ޺>?=?ɨ2?2;2CyBBBIbWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMb?Q?y?\=A @)AIAyI)I)٢}+< G=9:Q > G٣yp< > Nusing accuracyPremultiplier from configq59 ?q5Y ir@ ? : O? @_E;;?q5Q UtAYB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.30 m.BjHA<JjHA< ProNav: ac range: 90.300003 m, nav range: 38.415371 m, bearing: 113.989939 deg, approach rate: -0.189362 m/s, LOS rate: 0.675920 deg/s, cmd heading: 50.305880 deg, new cmd heading: 51.203837 deg. 2j<HeadingCmd: 0.893676 target range: 90.300003 and range: 90.30 m. jd?jjjihhhhBfffrfbf?H~GtA 7!YtAy1Bɛ%NBMY IM EII M+;ɚIiQIU"T =IUd?iYi]˽)]d?)Y*F?2F:FBFJF I!jHbH4<HI III&I.I6I4<:Iq FBIJIǫCRIZI =bI =jI<4Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G ݽG B O >,Ww,>aA2:?Y2>\A?2Â92^>y2H=L?wk???Z'Ŀ{X0? ?>?ɨ2:?21;2CyNBNIIZIZF٢^; bR=9b>Q b>dd fG٣fOGyf< j> =Nusing accuracyPremultiplier from configh=q59jv?Eq5YjZ ijIr@AER?E@j_EjT:j:jCq5MB MnAUEZjyDNOT Ignoring new targets: 90.30 m.BjH<JjH< ProNav: ac range: 90.300003 m, nav range: 38.343128 m, bearing: 114.243355 deg, approach rate: -0.199043 m/s, LOS rate: 0.699525 deg/s, cmd heading: 51.203838 deg, new cmd heading: 51.965472 deg. 2j <HeadingCmd: 0.906969 target range: 90.300003 and range: 90.30 m. j/h?jjjihhhhfffrfbf`?ɛOB( \CI ;ɚiI p =I/h?iiAν)/h?) *F2F:FBF!1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252338Gg׽GYBiO9> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5032261 ^w,SzAJ J"pJ"0J J J"^9J"ـ3J  ?YC?#:9 h`>yH ]?Uc?@,? ?`aÿ`vS? G٣y< > Nusing accuracyPremultiplier from configq59$?q5YG ir@z?:hV?@_E;;iGq5 AZjDNOT Ignoring new targets: 90.30 m.BjP<JjP< ProNav: ac range: 90.300003 m, nav range: 38.239483 m, bearing: 114.598922 deg, approach rate: -0.211520 m/s, LOS rate: 0.727605 deg/s, cmd heading: 51.965473 deg, new cmd heading: 53.034933 deg. 2j<HeadingCmd: 0.925634 target range: 90.300003 and range: 90.30 m. j]l?jjjihhhhBfffrfbf "'?ɛ  hTI9 =j;ɚ9iAIE& =IE]l?iIiM;Fݽ)M]l?)IzK]MKYKYK]gK],MYTE6G!xR3!v]5](rU@'RKm ?JKm?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756565*F 2F :F BF 0JF G JʽG B O >7$ew,A $?I>=?Y>F?>,;9> b>y>H`??K?@|k?I?@ÿ@` o ?` 9?ɨ>=?>׃;>CyFBFIIR5IR3٢Vq< ~=9~;Q ? G٣y =  ? Nusing accuracyPremultiplier from configq59-?q5Y ir@!%"Y?%@_E:e:FJq5) -A)HYIY I]! II]1BIY&IY.IY6I]M<:I] FZjyDNOT Ignoring new targets: 90.30 m.BjH<JjH< ProNav: ac range: 90.300003 m, nav range: 38.170826 m, bearing: 114.831466 deg, approach rate: -0.206837 m/s, LOS rate: 0.701826 deg/s, cmd heading: 53.034933 deg, new cmd heading: 53.733784 deg. 2j<HeadingCmd: 0.937831 target range: 90.300003 and range: 90.30 m. jp?jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007287ɛPBF PI Hl;ɚiI =I p?i i 5޽) p?)*F2F:FBF 5JFG}ѽGqBO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259703Hkw,TA: n?Y:I?://;9:d>y:HG?`- W? ڳ?n?μÿ de`W?4?ɨ: n?:;:Cy^BbIInGIn3٢vɣ vG=9v^:Q z>xx zG٣zOGy~< ~> Nusing accuracyPremultiplier from config q598? q5Yʙ i0s@O\?@!_E7:":Mq5 A%EZjIUDNOT Ignoring new targets: 90.30 m.BjU*M<Jj]*MzKU OKU 9KQ KU hKU qf\XTNJE@>;75430.-,)%&%%$$ " ! 6rw,$FABK:K.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763124>0~?Y>4L?>rc;9>f>y>HUG?`a?@?&?ÿmc@?` 2?ɨ>0~?>;>CyFBFIMb@Mb@Mb@ )Yy&1?X9v?~jth?y`?<D;A @) AIyI-I3٢ 9=9=Q  >   G٣y< > Nusing accuracyPremultiplier from configq59E?q5Y3 ins@?:{[?@%_Eڙ<<Qq5 AB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 90.30 m.Bj-=C<Jj-=C< ProNav: ac range: 90.300003 m, nav range: 37.992325 m, bearing: 115.432450 deg, approach rate: -0.199892 m/s, LOS rate: 0.682764 deg/s, cmd heading: 54.586899 deg, new cmd heading: 55.540820 deg. 2jI<HeadingCmd: 0.969370 target range: 90.300003 and range: 90.30 m. j(x?jjjihhhh{Bfffrfbf i@ɛRB ) 隍aI o;ɚiI!!=I(x?iiXe)(x?) $?I!*F?2F:FBF4JFZHIRHIHU>IUC IU IIU'BIQ&IQ.IQ6IU<:IUY F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:47:18.1366 TRx dataTimestamp_ set to:1736376439.408762checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016292G cG B O >c\xw,oA>?Y>dP?>^u;9>h>y>HY?`?D?k?Ƈÿ.cn?`.?ɨ>?>6Љ;>CyJ݁BJIIV:IV3٢^˼ ^b=9bfZQ b>`` bG٣`yfx= f> jNusing accuracyPremultiplier from confighnq59jO?nq5Yjh ijs@pr^?r@j(_Ej ;j ;jTq5t vAtZjDNOT Ignoring new targets: 90.30 m.BjR<JjR< ProNav: ac range: 90.300003 m, nav range: 37.914757 m, bearing: 115.691510 deg, approach rate: -0.220205 m/s, LOS rate: 0.736937 deg/s, cmd heading: 55.540820 deg, new cmd heading: 56.319540 deg. 2j<HeadingCmd: 0.982961 target range: 90.300003 and range: 90.30 m. j\{?jjjihhhhfffrfbf @ɛESBE|h AElIA Me;ɚIiIIMgO!=IU\{?iQiU)U\{?)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268721*F%?2F!:F)BF-_0JF)G=GBOF>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 22:47:18.1366 LVL= 15648, 31409, 22930, 32755, AGC= 58, IDX= 434,-0.07,-1.308,-2.769, 3.066,-2.447, PHS= 1.226,-0.275,-0.773, RAW= 76.2, -2.0, CAL= 82.9, -7.2, ROT= 67.1, 7.2 ] Ygot valid direction response: 22:47:18.1366 LVL= 15648, 31409, 22930, 32755, AGC= 58, IDX= 434,-0.07,-1.308,-2.769, 3.066,-2.447, PHS= 1.226,-0.275,-0.773, RAW= 76.2, -2.0, CAL= 82.9, -7.2, ROT= 67.1, 7.2 e PDAT read: Bearing 67.1, 7.2 (Local) m ~Local bearing/azimuth received: Bearing 67.1, 7.2 (Local) u DAT read: Range 10 to 50 : 89.4 m (Round-trip 119.3 ms) speed 0.2 m/s } ,DAT read: user:2884>  BDAT read: Tx time:22:47:19.2631  $Ping request sent. kTŗ'w?; ?y ̲B  = z  Y) I :i ? ̌ TE ;? 5  L3?) I ?i >   L>?C*6*' ݡ) CI =i ?    :publishing transmit ping time؁  Fpublishing direction and range info 9 >kTŗ'w?; ?y     ) I i      ) I i    L>?C*6*' ݡ) I i    ~w,(Ay޵B޵IMMb@Mb@Mb@III I)IYM r?{Gz?Mb`?yM?M#=M;MA M@)IIMAIyMAImDIm3٢}< } =zKPCNK+9KKiK  Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:47:19.2624 9}Q > G٣OGy > %Nusing accuracyPremultiplier from config!-q59%4`?-q5Y% i%t@5?5:5c?5@%-_E%<;%;%Zq5]B ]Ae Ekv}?k9 k k\A:k̲BBkBZk$@"-9 fu >@HI$ U@>kTŗ'w?; ?Jk?Rk*KL!@t@gG/1V@lEZ?7?"k}@*k4 kex?kH7 2kCkk  klCk4BkW@ addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.531954 s, deltaX: -0.900002 m, approachRate: -0.254817 m/s, rangeRepo size: 4 E Added new target pos. range: 89.400002 m, bearing: 146.844665 deg, lat: 36.904821 deg, lon: -122.119747 deg, deltaT: 3.531954 s, deltaX: -0.900002 m, approachRate: -0.254817 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 89.40 m.BjMJjI ProNav: ac range: 89.400002 m, nav range: 37.550926 m, bearing: 116.288825 deg, approach rate: 0.000000 m/s, LOS rate: 0.736937 deg/s, cmd heading: 56.319541 deg, new cmd heading: 57.649331 deg. 2jHeadingCmd: 1.006171 target range: 89.400002 and range: 89.40 m. j3ʀ?jjjihhhhBfff!rf%YV@bf%`?ɛMUBu% queIq uS;ɚqiqI}!=I}3ʀ?ii )3ʀ?)*FA 2FI :FI BFM 5JFI e $?Im hH >I  I I I &I .I 6I <:I M F Will construct direction to contact in vehicle frame from tetrahedron phase data.GiJK(3 K(.KK"KJJnJJJJ99JJJe;aJe;aJR:aJS:aG)B1OM?6w,@AF?YF6W?F@Z:9Fj>yFH`W?6`???UÿHK? x)?ɨF?FJ;FCyfBfII~I~(٢ E  f=9 犻Q 5>11 5G٣1y== =? MNusing accuracyPremultiplier from configIuq59MDi?uq5YMl iM Y IY [w,8AyvBvIxxI9I3٢ Q< K=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5q59-s?=q5Y-! i-t@9AE@-3_E-kS;-T;-z`q5I MAME]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjyDNOT Ignoring new targets: 89.40 m.Bj6Q<Jj6Q< ProNav: ac range: 89.400002 m, nav range: 37.384106 m, bearing: 116.814219 deg, approach rate: -0.230270 m/s, LOS rate: 0.731636 deg/s, cmd heading: 58.377162 deg, new cmd heading: 59.228934 deg. 2j<HeadingCmd: 1.033740 target range: 89.400002 and range: 89.40 m. jQ?jjjihhhhfffrfbfQ?ɛWBV dI q>;ɚiI!=IQ?ii+ )Q?)*F?2F:FBF_0JFGGBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM {]LKM 9KI KM jKM Cw,"QAy=B=IMb@Mb@Mb@ )Y'1Z?Zd;O?~jth?y?j<=D;XA @)IyA III٢, 5=9Q > G٣OGy > Nusing accuracyPremultiplier from configq59?q5Y=~ it@X?:Am?@6_EA;;ndq5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.40 m.Bj]K<Jj]K< ProNav: ac range: 89.400002 m, nav range: 37.281918 m, bearing: 117.133976 deg, approach rate: -0.226658 m/s, LOS rate: 0.711176 deg/s, cmd heading: 59.228935 deg, new cmd heading: 60.190739 deg. 2j  <HeadingCmd: 1.050527 target range: 89.400002 and range: 89.40 m. jw?jjjihhh!h%Bf!f!f)rf)bf-?ɛUYBU;3L Y]kIY ]0;ɚYiYI]"=Iew?iaim)mw?jHqbHup<H}>Iy I} II}!BIy&Iy.Iy6I}<:I}A F)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:F BF `0JF JtJjJJJ;N:J9JJJ{j;J~j;J:J:G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751865knw,kA6 *?Y6b?6i96y6HD??@W??1ÿ?m??`n?ɨ6 *?6;6CyBBBIIJ6IJm3٢R: Vn=9V Z? bNusing accuracyPremultiplier from config`fq59b뇓?fq5Ybkz ib8u@dfx?j@b9_Eb:b:blgq5l =AAZjDNOT Ignoring new targets: 89.40 m.Bj=<Jj=< ProNav: ac range: 89.400002 m, nav range: 37.198437 m, bearing: 117.371773 deg, approach rate: -0.232701 m/s, LOS rate: 0.664343 deg/s, cmd heading: 60.190742 deg, new cmd heading: 60.905697 deg. 2j<HeadingCmd: 1.063005 target range: 89.400002 and range: 89.40 m. j?jjjihhhhfffrfbf@f?ɛMZBuZp q}JrI X%;ɚiIe8"=I?ii[)?)*F-?2F):F)BF-0JF) $?IGY GBOI>uWill construct direction to contact in vehicle frame from tetrahedron phase data.u>q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003527Uw,[A6]-?Y6e?6[96s>y6H?XVQH?`?`[?:ÿ`sKq?#1?`?ɨ6]-?6,;4yRBRIiV)>IVt> V=V=5Mb@Mb@Mb@111 1)1Y5%C?J +?:v?y5Z?5H=5T<5A 5@)1I5 A1y1IKI4٢y< ;=9úQ > G٣y&< > Nusing accuracyPremultiplier from configq59y?q5Yuu iu@?:{?@=_Ew;;;kq5 AEZjDNOT Ignoring new targets: 89.40 m.Bj P<Jj P<% ProNav: ac range: 89.400002 m, nav range: 37.089325 m, bearing: 117.677365 deg, approach rate: -0.260070 m/s, LOS rate: 0.730523 deg/s, cmd heading: 60.905698 deg, new cmd heading: 61.825088 deg. 2j%<-HeadingCmd: 1.079051 target range: 89.400002 and range: 89.40 m. j-[?j)j)j)i)h)h1h9h=Bf9f9f9rfAbfE@ɛu\BuZ qugIy }4<;ɚyiyI}W"=I[?iiW)[?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268715zKUBoJKQKQKUkKU) hC*Fu?2Fq:FyBF}P5JFyNG5vAI "YvAyVB IGm ,H I  I I I &I .I 6I <:I  FBI1JI5ɬCRI1ZI1bI1jI5ɠP4G) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519339J vJ lJ 1J J {T:J 9J 3J J Gu;J Ju;J (:J ):w,tAynBnIIz1Iz3٢%E= -S=9-Q ->)1 5G٣OGy > Nusing accuracyPremultiplier from configq59%?q5Yp iv@@@_E::nq5 WAZjDNOT Ignoring new targets: 89.40 m.BjPJ<JjPJ< ProNav: ac range: 89.400002 m, nav range: 36.990276 m, bearing: 117.958966 deg, approach rate: -0.248191 m/s, LOS rate: 0.707508 deg/s, cmd heading: 61.825090 deg, new cmd heading: 62.672089 deg. 2j<HeadingCmd: 1.093834 target range: 89.400002 and range: 89.40 m. j?jjjihhh h f f f rfbf@,@ɛE]BE8)O AEWIA MAB;ɚIiIIMs"=IU?iQiU& )U?)Y*F?2F:FBF4JFGGBOA>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354 I ĩw,NAB4?YBGm?B9B{>yBH5?``Ne?\?    G٣y0= > %Nusing accuracyPremultiplier from config!-q59%(?-q5Y%gl i%Uw@15?5@%C_E%L:%:%rq59 =AEEZjamDNOT Ignoring new targets: 89.40 m.Bjm3H<Jjm3H< ProNav: ac range: 89.400002 m, nav range: 36.889595 m, bearing: 118.230349 deg, approach rate: -0.259033 m/s, LOS rate: 0.700118 deg/s, cmd heading: 62.672088 deg, new cmd heading: 63.488400 deg. 2j><HeadingCmd: 1.108082 target range: 89.400002 and range: 89.40 m. jՍ?jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:47:21.7852 TRx dataTimestamp_ set to:1736376442.949157checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024887fffrfbf bQ@ɛ_B7j "lI Ka;ɚiI"=IՍ?iiU)Ս?)*F2F:FBFP0JFG GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277345zKm &`KKm s9Ki Km lKm w,'Ay~B~I)   A qIuhMb@Mb@Mb@ )Y!rh?p= ף? rh?yl?=C<nA @)AI7AyAI,I3٢\< ;=9Q >    G٣ y > Nusing accuracyPremultiplier from config%q59?%q5Y&g iWx@%?-:-ׄ?-@G_E;;uq51 5A1}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 89.40 m.BjG<JjG< ProNav: ac range: 89.400002 m, nav range: 36.770058 m, bearing: 118.538897 deg, approach rate: -0.269731 m/s, LOS rate: 0.698485 deg/s, cmd heading: 63.488398 deg, new cmd heading: 64.416964 deg. 2j<HeadingCmd: 1.124288 target range: 89.400002 and range: 89.40 m. j?jjjihhhhBfffrfbf @H>I I II'BI =&I.I6I<:I Fɛ5aB5/$\ 15&jI1 =-A:ɚ9i9I="=IE?iAiEE)E?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540293JuJmJJJ[Q:J&9JJJo;Jo;J:J:*F 2F :F BF JF G G B O >0w,QAWill construct direction to contact in vehicle frame from tetrahedron phase data.>DAT read: 22:47:21.7852 LVL= 17440, 26593, 21810, 28275, AGC= 59, IDX= 420,-0.38,-2.205, 2.435, 2.286, 2.903, PHS= 1.262,-0.422,-0.620, RAW= 84.5, -2.5, CAL= 92.2, -8.3, ROT= 57.8, 8.3 BYgot valid direction response: 22:47:21.7852 LVL= 17440, 26593, 21810, 28275, AGC= 59, IDX= 420,-0.38,-2.205, 2.435, 2.286, 2.903, PHS= 1.262,-0.422,-0.620, RAW= 84.5, -2.5, CAL= 92.2, -8.3, ROT= 57.8, 8.3 FPDAT read: Bearing 57.8, 8.3 (Local) F~Local bearing/azimuth received: Bearing 57.8, 8.3 (Local) NDAT read: Range 10 to 50 : 88.4 m (Round-trip 117.9 ms) speed 0.3 m/s N,DAT read: user:2885> RBDAT read: Tx time:22:47:22.9131 R$Ping request sent.V Ȃ??5l܏3G6)I1=im?.n:publishing transmit ping timePrFpublishing direction and range info94}g{9p?7O Y?y )Ii )Ii Ȃ??5l܏3G6)I5=?Y5u?5fE951&>y5H2^?p@?W3?@? lÿų??)?ɨ5=?5;5Ciy]B]IIm'Im@3٢< ;=94Q >II MG٣MOGyU= U> eNusing accuracyPremultiplier from configaq59e?q5Yea iety@?@eK_Ee;e<;eyq5B uAE M$?IIkh;?k_ k k!A:k̰BBkBZk^@"Ǯ& NHȑ1@\$ZU@4}g{9p?7O Y?Jkm?Rk.*Kg-?b^ V@҈ ?ftί{ވ?"k*kQ?kK;?k)V 2k.CkkGB kCk=AkC@ addTargetRange:: Added new target pos. range: 88.400002 m, deltaT: 3.800076 s, deltaX: -1.000000 m, approachRate: -0.263153 m/s, rangeRepo size: 4  Added new target pos. range: 88.400002 m, bearing: 285.831009 deg, lat: 36.904821 deg, lon: -122.119877 deg, deltaT: 3.800076 s, deltaX: -1.000000 m, approachRate: -0.263153 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 88.40 m.BjJjE ProNav: ac range: 88.400002 m, nav range: 27.154856 m, bearing: 130.626483 deg, approach rate: 0.000000 m/s, LOS rate: 0.698485 deg/s, cmd heading: 64.416962 deg, new cmd heading: 65.407785 deg. 2jAMHeadingCmd: 1.141581 target range: 88.400002 and range: 88.40 m. jMU?jIjIjQiQhQhQhYhififqfqrfuV@bfu?ɛcBR jI c:ɚiI+"=I U?i i )U?)E!*F2F:FBFJFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.GVJJBAGI Bi O >ʤw,A6A?Y6 z?6Ok96>y6H?`r?у?`2@?IVÿi?@??ɨ6A?6I;6CyNBNIMb@Mb@Mb@ )YK7A`?x&?~jt?y ?7=<A @)IAyII(٢E< MW=9MŻQ M>QQ UG٣Qy]?= ]> eNusing accuracyPremultiplier from configamq59e?mq5Ye\ ieyz@m% ?:(?@eN_EeI!  I% ! II% 1BI! &I! .I! 6I% ¯<:I% FGe  Gm ?Gm ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Om >w, A:F?Y:?:w9:L>y:H d?`@??`s? ÿ굒???ɨ:F?:;8yBBFIININ٢ZvQ= Zi=9ZP6Q Z>\\ ^G٣\yba= b> fNusing accuracyPremultiplier from configdjq59fǓ?jq5YfkX if{{@hj?n@fQ_Ef:f :f#q5p r ApZj  DNOT Ignoring new targets: 88.40 m.BjP<JjP<% ProNav: ac range: 88.400002 m, nav range: 27.008373 m, bearing: 131.400388 deg, approach rate: -0.222138 m/s, LOS rate: 1.156215 deg/s, cmd heading: 66.604262 deg, new cmd heading: 67.735449 deg. 2j-`F=-HeadingCmd: 1.182207 target range: 88.400002 and range: 88.40 m. j-R?j1j1j1i1h1h1h9h9f9fAfArfAbfE?ɛmgBmar{ quWIq u:ɚqiqI}נ"=I}R?ii?)R?)*F2F:FBF0JFGu GBO">]Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) Gw,0:AyrBrIII(*٢E: EA=9MQ M>II UG٣QyU U> eNusing accuracyPremultiplier from configYeq59]Г?mq5Y]R i]|@iim@]U_E]:]n:]փq5q }A}EZjDNOT Ignoring new targets: 88.40 m.Bjߙ<Will construct direction to contact in vehicle frame from tetrahedron phase data.Jjߙ< ProNav: ac range: 88.400002 m, nav range: 26.922634 m, bearing: 131.856205 deg, approach rate: -0.201792 m/s, LOS rate: 1.076194 deg/s, cmd heading: 67.735450 deg, new cmd heading: 69.106977 deg. 2j8=HeadingCmd: 1.206144 target range: 88.400002 and range: 88.40 m. jb?jjjihhhhfffrfbfB?ɛ%iB%] !%\I! 5"U:ɚ9i9IEԏ"=I]b?iYi])]b?)aEiEiJsJnJ0JJK:J99Jـ3Ja@a@a@a@*Fm?2Fq:FqBF}O1JFy"G>G>GmGA BQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ou >zK (MK 9K K nK #"%%"#')(!%.9EIOUXWWWVQQMHJIGJJGIHC>@B@=862-*(%Bw,{TA b$?I`yBIMb@Mb@Mb@ )Y(\?sh|???y?=<A x@)AIAy=AII?13٢U= ]:=9YQ ]>Ya eG٣eOGya e> uNusing accuracyPremultiplier from configiuq59mfٓ?}q5Ym M im=~@}?}:}?}@mY_Em;m;mq5  AEB*** querying acoustic contact ***jHI I. II;BI =&I.I6I<:I; FjZj)5DNOT Ignoring new targets: 88.40 m.Bj=<JjEw,|enAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003863F3S?YF?FrFҼ9F^8>yFH ?`<??^?¿ H??`?ɨF3S?FJ;FCyNBNI)P PTTI^#I^%x3٢b< fg=9fHQ f>hh jG٣hynh> n> rNusing accuracyPremultiplier from configpvq59rߓ?vq5YrPH ir@tv?z@r\_Er;rX;rĊq5| ~ A|Zj!%DNOT Ignoring new targets: 88.40 m.Bj-<Jj-!w,-A:W?Y:T"?:9:N>y:H?@/uY?? ?`¿@ =? ??ɨ:W?:;:Cy^B^IeMb@Mb@Mb@aaa a)aYe"~?{Gz?~jt?ye?eף=e=9;Q > G٣y= > Nusing accuracyPremultiplier from configq59瓜?q5Y1B i@?:?@`_E3;;q5q u AyZjDNOT Ignoring new targets: 88.40 m.Bj<Jj< ProNav: ac range: 88.400002 m, nav range: 26.638323 m, bearing: 133.209643 deg, approach rate: -0.232892 m/s, LOS rate: 1.074666 deg/s, cmd heading: 71.713318 deg, new cmd heading: 73.180983 deg. 2jb8=HeadingCmd: 1.277249 target range: 88.400002 and range: 88.40 m. j|?jjjihh5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507252h h=Bf9f9fArfAbfE v-@ɛpBV ^RI i:ɚiI!"=I|?iizK _*NK +9K K oK ''&'&!   )|?)I*F?2F:FBF3JF IG5GBO>HI IA IIJBI&I.I6I<:IH F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758905w,A6h[?Y66%?696Ձ>y6H1?k@A?@2??e¿ b? ?@?ɨ6h[?6@;6Cy``IjCIj3٢r: rX=9r>Q v>tt vG٣vOGyz*= z> Nusing accuracyPremultiplier from config|%q59~T?-q5Y~< i~W@15?5@~d_E~;~ ;~ّq5A E AAZjimDNOT Ignoring new targets: 88.40 m.Bju<Jju< ProNav: ac range: 88.400002 m, nav range: 26.543539 m, bearing: 133.638297 deg, approach rate: -0.263034 m/s, LOS rate: 1.193792 deg/s, cmd heading: 73.180983 deg, new cmd heading: 74.471306 deg. 2jL=HeadingCmd: 1.299770 target range: 88.400002 and range: 88.40 m. j^?jjjihhhhfffrfbfo@ɛrB| U4VIQ U<9ɚQiQI]!=I]^?iaiev )e^?)a*F=?2F9:F9BF=^0JF9=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:47:25.4336 MTRx dataTimestamp_ set to:1736376446.736678Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012089Gm GI Ba $?I O >Ew,ݻA2Q`?Y2f?2=92%>y2HD1? ?@ou??RT¿f?4??ɨ2Q`?2;2CyRBRIiV0>IVp< V=V=IZ)IZW3٢r"= vK=9zHQ z>xx ~G٣|yU-= U> eNusing accuracyPremultiplier from configYmq59]S?mq5Y]6 i]*@qu(?u@]g_E]1;]1;]{q5}B p AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263233ZjDNOT Ignoring new targets: 88.40 m.Bj<Jj< ProNav: ac range: 88.400002 m, nav range: 26.437548 m, bearing: 134.107745 deg, approach rate: -0.256391 m/s, LOS rate: 1.140122 deg/s, cmd heading: 74.471308 deg, new cmd heading: 75.884993 deg. 2jC=HeadingCmd: 1.324443 target range: 88.400002 and range: 88.40 m. jY?jjjihhhhfffrfbfYK @ɛuB%K[ !%KI! %9ɚ!i!I- !=I-Y?i)i5&)5Y?)1J}rJ}iJ}1JyJ}G:J}ڈ9J}3Jy*F?2F:FBF_0JFG)IGBO%n>= H~GU Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:47:25.4336 LVL= 15152, 30769, 23074, 32755, AGC= 60, IDX= 420, 0.25, 2.708, 1.144, 1.276, 1.806, PHS= 0.990,-0.615,-0.533, RAW= 92.6, 2.1, CAL= 100.7, -0.5, ROT= 49.3, 0.5  Ygot valid direction response: 22:47:25.4336 LVL= 15152, 30769, 23074, 32755, AGC= 60, IDX= 420, 0.25, 2.708, 1.144, 1.276, 1.806, PHS= 0.990,-0.615,-0.533, RAW= 92.6, 2.1, CAL= 100.7, -0.5, ROT= 49.3, 0.5  PDAT read: Bearing 49.3, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 49.3, 0.5 (Local)  DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.3 m/s  ,DAT read: user:2886>  BDAT read: Tx time:22:47:26.5131  $Ping request sent. yfH@? $ͷ?`?J?`¿@E?\??ɨfi?fh;fCyr BrIHYIY I]M II]TBI] =&IY.IY6I] <:I]T FBI!JI!RI!ZI% =bI% =jI%º4Mb@Mb@Mb@ )Yd;O?kt?{Gz?y? =ף<A @) AIAyAI6Im3٢Zg .=9+Q > G٣y = > MNusing accuracyPremultiplier from configA]q59E8?]q5YE/ iE@q?:$?@El_EEHw,ARn?YR?RT%9R>yRH ? +\@S?;?@b?"9¿,?`6??ɨRn?R;RCynBnIIv*Iv3٢~ a=9eQ  >    G٣OGym= > Nusing accuracyPremultiplier from config%q59?%q5Y* i؃@)-?-@o_E;8;q51 = A9UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 87.30 m.Bjme=Jjme=} ProNav: ac range: 87.300003 m, nav range: 10.939232 m, bearing: 168.899924 deg, approach rate: 0.049586 m/s, LOS rate: 3.216476 deg/s, cmd heading: 77.541007 deg, new cmd heading: 80.772854 deg. 2j >HeadingCmd: 1.409752 target range: 87.300003 and range: 87.30 m. jr?jjjihhhhfffrfbf`}?ɛ{Bq gI  ĸɚiI!=Iʰ?i iIiimA&)mr?)q*Fu?2Fy:FyBF}0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.JuJkJ0JJ[Q:J9Jـ3JGBG B O >Ow,_ A2KKs?Y2?2^192t>y2H`??@r?@N`?%`*? ??ɨ2KKs?2[ ;2CyN BRI)T TTVA5Mb@Mb@Mb@111 1)1Y59v?/$?y&1?y5?5=5`e<5A 5x@)5AI5A1y5=AIMIM٢U*< ]E=9]"Q ]>aa eG٣aym+= m>  Nusing accuracyPremultiplier from config q59 ?q5Y F$ i @?:?%@ s_E ?F; &D; pq5) - A)ZjQUDNOT Ignoring new targets: 87.30 m.Bj]Y=Jj]Y=m ProNav: ac range: 87.300003 m, nav range: 10.960670 m, bearing: 170.218738 deg, approach rate: 0.049569 m/s, LOS rate: 3.043068 deg/s, cmd heading: 80.772854 deg, new cmd heading: 84.714976 deg. 2jm>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=}:?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995465HeadingCmd: 1.478555 target range: 87.300003 and range: 87.30 m. jLA?jjjihhhhBfffrfbfP0?ɛ~B' biI 诘ɚiI{ =I(?iiQ)LA?)zKJQJKKKqK   *F?2F:FBFP1JF iIiGm:2G9BIOeU>HI IZ II^BI =&I.I6IЯ<:I* F% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246772 w,$ A6/x?Y6H?6:96]9>y6H@H? @?q? E?fP?`? ?ɨ6/x?6Ɋ;6CyNBNIIZIZ2٢rE rR=9vPQ v>tt vG٣tyzD= z> ~Nusing accuracyPremultiplier from config|q59~2 ?q5Y~ i~j@  G? @~w_E~7:~z:~q5  AZj9=DNOT Ignoring new targets: 87.30 m.BjEY=JjEY=] ProNav: ac range: 87.300003 m, nav range: 10.979554 m, bearing: 171.344045 deg, approach rate: 0.051193 m/s, LOS rate: 3.045196 deg/s, cmd heading: 84.714973 deg, new cmd heading: 88.080994 deg. 2j]>eHeadingCmd: 1.537303 target range: 87.300003 and range: 87.30 m. je[?jajajiiihihihihqfqfqfyrfybf}`?ɛBx 隭oI ɚiI;] =I!?iiI)[?)*Fm?2Fq:FqBFu)5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498720G/" YIYGqByO>w,s> A65|?Y6X?6>96Ɇ>y6H@F?9?@,?@T?B*ԧ? ?0?ɨ65|?6c;4y> B>IIF,IF3٢R-2< RO=9R&Q R>XX ZG٣ZOGyZ&= ^> bNusing accuracyPremultiplier from config`fq59b?fq5Yb ib5@dfY?f@bz_EbL:b:b"q5nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750727p v AtZj DNOT Ignoring new targets: 87.30 m.BjW=JjW=- ProNav: ac range: 87.300003 m, nav range: 11.000762 m, bearing: 172.548257 deg, approach rate: 0.053223 m/s, LOS rate: 3.016010 deg/s, cmd heading: 88.080993 deg, new cmd heading: 91.681650 deg. 2j-]>=HeadingCmd: 1.600147 target range: 87.300003 and range: 87.30 m. j=?j9j9j9i9h9hAhAhAfAfIfIrfIbfM@To?ɛ}B}֌ y}dqIy *ɚiI,=I?ii )?)*F?2F:FBFg1JF GmeJ.G9BQOmW>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002658zK] ^LKY KY K] rK] =^RKm ?JKm ? A IA w,+OX A>Vt?Y>X?>B9>"u>y>Hp?Z/|??@Vt?>|;>Cy^B^Iib >Ib> f=fp=He>Ia Ie` IIedBIa&Ia.Ia6Ie<:IeQ FMb@Mb@Mb@ )Y9v?ʡE?Mb?y-=< @)AIAyAI JI )4٢} %4=9%Q %>)) -G٣)y5=&= 5> =Nusing accuracyPremultiplier from config9Eq59=D?Eq5Y= i= @E?E:M?M@=_E=f;=;=q5UB U AUEZjy}DNOT Ignoring new targets: 87.30 m.BjUY=JjUY= ProNav: ac range: 87.300003 m, nav range: 11.024107 m, bearing: 173.920884 deg, approach rate: 0.051820 m/s, LOS rate: 3.040121 deg/s, cmd heading: 91.681650 deg, new cmd heading: 95.783398 deg. 2jf>HeadingCmd: 1.671736 target range: 87.300003 and range: 87.30 m. jo?jjjihhhhBfffrfbf@ɛB UI MgɚiIk=IY?ii)o?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254732JsJmJJJK:J&9JJJe;aJe;aJaJa*Fe?2Fa:FaBFeO0JFaG=[GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506836w, 'r A2?Y25?2K92䭈>y2H?]?uD?`?ԣ`?@??ɨ2?2;2CyrBrIIEI3٢~r ]=9Q > %G٣!y%Y= %> -Nusing accuracyPremultiplier from config)5q59-?5q5Y-`  i-@9='?=@-_E-;-8;-Oq5A M AMEeB*** querying acoustic contact ***jajaZjq}DNOT Ignoring new targets: 87.30 m.BjW=JjW= ProNav: ac range: 87.300003 m, nav range: 11.043633 m, bearing: 175.038830 deg, approach rate: 0.052772 m/s, LOS rate: 3.015948 deg/s, cmd heading: 95.783397 deg, new cmd heading: 99.127288 deg. 2j]>HeadingCmd: 1.730098 target range: 87.300003 and range: 87.30 m. js?jjjihhhhfffrfbf}@ $?IhɛBi I ɚiI0=Ic?i i ) s?) *F-?2F):F)BF-]0JF)"G5;>G5>G6qGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758728"w, A: ?Y:%?: CT9:9>y:Hk"? ``3? }?•?}zW?T?`?ɨ: ?:C;:CyFBFIMb@Mb@Mb@ )Ykt?/$?Mb?y ?=A x@)QAIdAypAI8I3٢~ ?=9}Q > G٣OGy[= > Nusing accuracyPremultiplier from config]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:47:29.0319 mTRx dataTimestamp_ set to:1736376450.266116mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013215q59?q5Y i@?:?@_E.==q5 AZjimDNOT Ignoring new targets: 87.30 m.Bju|@=Jju|@= ProNav: ac range: 87.300003 m, nav range: 11.065194 m, bearing: 176.291795 deg, approach rate: 0.046429 m/s, LOS rate: 2.692570 deg/s, cmd heading: 99.127287 deg, new cmd heading: 102.873213 deg. 2j=HeadingCmd: 1.795476 target range: 87.300003 and range: 87.30 m. j+?jjjihhhhBfffrfbf@5@zKRMK9KKsK|ujbQLLE@;<8500-)*'#"#!!*K1}~[6 Kr? }S0 rV:ɛ-B5 15_I1 5vɚ1i1I==I=/0?i9iA)E+?)a I*F?2F:F BF JF HYIY I]Z II]^BIY&IY.IY6I]ʯ<:I]& F Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265306G% IxJ uJ {J J J [Q:J -9J J J o;J o;J :J :G B O5 >N)w,ڥ A6 ?Y6J?6_96Ǒ>y6H? q[?@?`?@yXq߫?@G??ɨ6 ?6׉;6CybBbI)d ddfAIj9Ij3٢v  vZ=9vQ z>xx zG٣xy~= ~> Nusing accuracyPremultiplier from config q59? q5Y iO@?@_E:a:Sq5 /A!ZjDNOT Ignoring new targets: 87.30 m.Bj)[=Jj)[=E ProNav: ac range: 87.300003 m, nav range: 11.083240 m, bearing: 177.383240 deg, approach rate: 0.050773 m/s, LOS rate: 3.065710 deg/s, cmd heading: 102.873215 deg, new cmd heading: 106.138483 deg. 2jE>MHeadingCmd: 1.852466 target range: 87.300003 and range: 87.30 m. jM?jQjYjYiYhYhahahafififirfqbf}`r @ɛB I XκɚiIK=I"?ii)?)eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:47:29.0319 LVL= 17136, 32753, 30130, 32755, AGC= 60, IDX= 417,-0.04, 2.978, 1.421, 1.759, 2.189, PHS= 0.877,-0.721,-0.433, RAW= 99.7, 3.8, CAL= 109.9, 1.9, ROT= 40.1, -1.9 Ygot valid direction response: 22:47:29.0319 LVL= 17136, 32753, 30130, 32755, AGC= 60, IDX= 417,-0.04, 2.978, 1.421, 1.759, 2.189, PHS= 0.877,-0.721,-0.433, RAW= 99.7, 3.8, CAL= 109.9, 1.9, ROT= 40.1, -1.9 PDAT read: Bearing 40.1, -1.9 (Local) ~Local bearing/azimuth received: Bearing 40.1, -1.9 (Local) DAT read: Range 10 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.4 m/s ,DAT read: user:2887> BDAT read: Tx time:22:47:30.1132 $Ping request sent.0/w, A6?Y6ɽ?6-j96W>y6H ? B4?D?`U?A?/?Ύ?ɨ6?6;6CyRBRIIZ6bWill construct direction to contact in vehicle frame from tetrahedron phase data.bJDAT read: TxSync time:22:47:30.1125 IZm3٢r< rK=9vۻQ v>tt zG٣xyzֈ= z> %Nusing accuracyPremultiplier from config!-q59%?-q5Y% i%&@)5s?5@%_E%:%":%q5Y ]AYk ݛ?k5  k k* A:kBBkuBZk[m@"ʐ$-U RU@|ƿw?Jk4Rkϫ*#J7@8:RPܐS@zm"?JIe[eӿ;sm0?"k*k\AkI]ꛜ?k, 2kACkK;?k)V kkAk@] addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.527347 s, deltaX: -1.500000 m, approachRate: -0.425249 m/s, rangeRepo size: 4 m Added new target pos. range: 85.800003 m, bearing: 312.310633 deg, lat: 36.904994 deg, lon: -122.120170 deg, deltaT: 3.527347 s, deltaX: -1.500000 m, approachRate: -0.425249 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 85.80 m.BjJj ProNav: ac range: 85.800003 m, nav range: 9.412741 m, bearing: 272.036857 deg, approach rate: 0.000000 m/s, LOS rate: 3.065710 deg/s, cmd heading: 106.138483 deg, new cmd heading: 109.963231 deg. 2jHeadingCmd: 1.919220 target range: 85.800003 and range: 85.80 m. j?jjjihhhhfffrf@3sU@bf X?ɛB 隕ӕI ɚiI^=I?ii)?)*FM?2FI:FQBFUp0JFQuWill construct direction to contact in vehicle frame from tetrahedron phase data.G S I G zK /OK 9K K tK  |ytqnedb^XVVUTPLKGCA5%    RK- >JK- ?BI Om >6w,w AbOh?YbP?b|9b*ǜ>ybH@O ?@9?'?? `?{?A?)t?ɨbOh?b;bCynBnIZH|RH~AAH>I III&I.I6Iׯ<:I/ FMb@Mb@Mb@ )YK7?K?:v?yI ?^=T<&A K@)@IAyAI-I-m?3٢=)< E6=9MQ U>QY ]G٣]OGyeV= m> uNusing accuracyPremultiplier from configqq59u0!?q5Yu iu3@??:?@u_Euh;ug;uͼq5  AZjDNOT Ignoring new targets: 85.80 m.BjͻJjͻ ProNav: ac range: 85.800003 m, nav range: 9.658031 m, bearing: 271.881275 deg, approach rate: 0.580124 m/s, LOS rate: -0.358612 deg/s, cmd heading: 109.963232 deg, new cmd heading: 109.508350 deg. 2jvHeadingCmd: 1.911281 target range: 85.800003 and range: 85.80 m. jݤ?jjjihhhhBfffrfbf`PQ?ɛB%궼 %ue<%tI! %^ɚ)i)I-~Q=I5g?i1i1)5ݤ?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.JK3 K.KK"KJJpJJJJ^9JJJJJ}:J~:*FE?2FA:FABFE0JFAGe :G9 BI Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data.D<w,Ou AJ:>?YJ;|?JV焽9J:>yJH_?` ?X?@???Ab?ɨJ:>?J;JCy^B^IibR=Ib=If If(2٢rjջ rc=9vQ v>tt zG٣xyz;= z> Nusing accuracyPremultiplier from config|q59~!?q5Y~ i~@  ? @~_E~:~z:~q5B  AE 9IEhEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 85.80 m.Bj]̄Jj]̄m ProNav: ac range: 85.800003 m, nav range: 9.853421 m, bearing: 271.796779 deg, approach rate: 0.547820 m/s, LOS rate: -0.232206 deg/s, cmd heading: 109.508348 deg, new cmd heading: 109.259889 deg. 2jm\uHeadingCmd: 1.906945 target range: 85.800003 and range: 85.80 m. j}?jyjyjyiyhyhyhhfffrfbf "`?ɛ5B5"ż 15ɖI9 = ɚ9i9I==IE?iAiA)E?)I*Fi2Fi:FiBFm@5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.AiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gk G B O >50Cw,l_ !A)P P^ޗ?Y^?^W9^'>y^H?b?? +?6T??X?ɨ^ޗ?NG^;^C5tA=A e&Ym5tAym*ByޭBޭI-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492713UMb@Mb@Mb@QQQ Q)QYUJ +?RQ? rh?yU?U=UC G٣y}= > Nusing accuracyPremultiplier from configq59!?q5Yj iB@ ?:z?@_E{;;q5 s AZjDNOT Ignoring new targets: 85.80 m.BjJj ProNav: ac range: 85.800003 m, nav range: 10.098197 m, bearing: 271.746897 deg, approach rate: 0.537593 m/s, LOS rate: -0.106898 deg/s, cmd heading: 109.259886 deg, new cmd heading: 109.113868 deg. 2jHeadingCmd: 1.904396 target range: 85.800003 and range: 85.80 m. jB?jjjihhhhBfffrfbf?ɛB+5 I ^$ɚiI =I B?ii)B?) !I!zKΉNKh9KKuK BKpA:KoA*F?2F:FBF 5JFH>I III =&I.I6I<:Ic FBIJIRIZI =bI =jIƺ:4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745936G [J rJ qJ J J G:J q9J J J _;J _;J :J :G BA O >=TIw, '!ABo,?YBoj?B+9BTɡ>yBH@?8"?џ?g ?@N.#B? ? X?ɨBo,?Bˉ;BCy\bIIj0Ij(3٢r ; ri=9rjR:Q r>tt vG٣vOGyv%= z> ~Nusing accuracyPremultiplier from config| q59~!? q5Y~w i~,@ ?@~_E~`;~.a;~q5! %p A)ZjiuDNOT Ignoring new targets: 85.80 m.BjulJj}l󹝊 ProNav: ac range: 85.800003 m, nav range: 10.286015 m, bearing: 271.737258 deg, approach rate: 0.527973 m/s, LOS rate: -0.026602 deg/s, cmd heading: 109.113870 deg, new cmd heading: 109.085480 deg. 2j HeadingCmd: 1.903901 target range: 85.800003 and range: 85.80 m. j?jjjihhhhfffrfbfm?ɛB-ѻ 隝I 1ɚiI=I?ii)?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995993 I!E-r =*F?2F:FBFP5JFG J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248122Gq B O >5Pw,C!A^⍞?Y^˺?^9^>y^Hh?SQ5??ֵ???]?ɨ^⍞?^̉;\yfBf I)l lIr5Ir3٢zx= z5=9~:Q ~>|| ~G٣yo= >  Nusing accuracyPremultiplier from config q59  ?q5Y  i W@.?@ _E  ; ? ; q5) - A1ZjDNOT Ignoring new targets: 85.80 m.Bj^:Jj^: ProNav: ac range: 85.800003 m, nav range: 10.528093 m, bearing: 271.760307 deg, approach rate: 0.523513 m/s, LOS rate: 0.048698 deg/s, cmd heading: 109.085477 deg, new cmd heading: 109.153033 deg. 2j;HeadingCmd: 1.905080 target range: 85.800003 and range: 85.80 m. j?jjjihhhh f f fQrfQbf]7@ɛB&D 隥nI 2?ɚiI=I?ii)?))EM<*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500043 IzK -LK 9K K vK      RK ?JK ?G :G B O >H >I  I ` II dBI  =&I .I 6I <:I 9 F%Ww,]!A2?Y2+?2]92#>y2H?`"l7?`?k9?ݙo԰?u?`i?ɨ2?29?;2Cy>!B> IMb@Mb@Mb@ )YˡE?T㥛 ?X9v?y?><#A @)@I AyAI=>I=3٢]c< ]B=9] ;Q e>aa eG٣aym= > Nusing accuracyPremultiplier from configq59<?q5Y iȐ@ ?:?@_E;;q5   A5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753577ZjamDNOT Ignoring new targets: 85.80 m.Bj}q;Jj}q; ProNav: ac range: 85.800003 m, nav range: 10.762313 m, bearing: 271.874837 deg, approach rate: 0.549930 m/s, LOS rate: 0.263056 deg/s, cmd heading: 109.153035 deg, new cmd heading: 109.489144 deg. 2j4<HeadingCmd: 1.910946 target range: 85.800003 and range: 85.80 m. j?jjjihhhhނBfffrfbfT@ɛB v~I wMɚiI==I?ii)?)EE*E"E*F2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:47:32.6294  TRx dataTimestamp_ set to:1736376453.792617 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005090 y Iy G [Gi By O >]w,wz!A2?Y2?2ބ92 >y2H`>+?~ ,?n? ܡ?5Ř? H?6q?ɨ2?2);0y>6B>) IIN8IN3٢R= VB=9V ;Q V>XX ZG٣ZPGyZ= ^> bNusing accuracyPremultiplier from config\bq59^{?fq5Y^E i^@dfV?j@^_E^ ;^ ;^Eq5l n6 Al~B*** querying acoustic contact ***j|j|ZjDNOT Ignoring new targets: 85.80 m.Bj%;Jj%;% ProNav: ac range: 85.800003 m, nav range: 10.978685 m, bearing: 272.008556 deg, approach rate: 0.540139 m/s, LOS rate: 0.327228 deg/s, cmd heading: 109.489141 deg, new cmd heading: 109.882385 deg. 2j%`<-HeadingCmd: 1.917809 target range: 85.800003 and range: 85.80 m. j-z?j)j)j)i)h1h1h1h1f9f9f9rf9bf=\| @ɛ B 唼 *XI XɚiI=Iz?i!i!)%z?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256124*FU?2FQ:FQBFU_0JFQJ%sJ%pJ!J!J%K:J%^9J!J!a-@a-@a-@a-@GBGa B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. = < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512638ydw,$B!A lIl]?Y]W?]9];y>y]Hx?q@??о?7̱S??Jy?ɨ]?];]Cym>Bm2 Ii}!>I}< Mb@Mb@Mb@    ) Y Zd;O?Pn?~jt?y ~ ? > = f A @) 3@I zA y GAI%?I%T3zK-YmLK-9K)K-wK-٢E= E3=9M;Q M>IQ UG٣QyU|= U> eNusing accuracyPremultiplier from configYeq59]?eq5Y] i]@?:?@]_E]~<]]<]Aq5  AEZj9=DNOT Ignoring new targets: 85.80 m.BjeT;JjeT;u ProNav: ac range: 85.800003 m, nav range: 11.225496 m, bearing: 272.188264 deg, approach rate: 0.518904 m/s, LOS rate: 0.369518 deg/s, cmd heading: 109.882383 deg, new cmd heading: 110.409639 deg. 2ju}<}HeadingCmd: 1.927012 target range: 85.800003 and range: 85.80 m. j}R?jyjyjihhhh͂Bfffrfbfc[ @HI Iy IIxBI =&I.I6Iԯ<:I- Fɛ]B]= Y]OIY e6'fɚaiaIe=ImR?iiii)mR?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:47:32.6294 LVL= 28784, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.05, 0.809,-0.611, 0.042, 0.295, PHS= 0.602,-0.859,-0.256, RAW= 114.3, 8.1, CAL= 123.7, 4.9, ROT= 26.3, -4.9 UYgot valid direction response: 22:47:32.6294 LVL= 28784, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.05, 0.809,-0.611, 0.042, 0.295, PHS= 0.602,-0.859,-0.256, RAW= 114.3, 8.1, CAL= 123.7, 4.9, ROT= 26.3, -4.9 ]PDAT read: Bearing 26.3, -4.9 (Local) e~Local bearing/azimuth received: Bearing 26.3, -4.9 (Local) DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.7 m/s *F?2F:FBF^0JF,DAT read: user:2888> BDAT read: Tx time:22:47:33.7132 $Ping request sent. , @)%=I>i%rN?[wh>R@?)ͽIin&j:publishing transmit ping time Fpublishing direction and range info9u@UMѿ_Neӿ[=?y )Ii )IirN?[wh>R@?)IiG J Gq B O >:kw,!AyuWBuQ IIKI4Will construct direction to contact in vehicle frame from tetrahedron phase data.٢*= J=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5q59-q?5q5Y- i-#@99=@-_E-j;-#;-q5A E1 AAk~fD?kR k k!A:kBBkBZk@"U6]dzu9+rw,~!A6*?Y6*?6}96ߘ>y6H`a F`?`u?@MV@R? ^??ɨ6*?6%;6CyBbBB_ IIJIJM3٢Rb= Vb=9Vܲ;Q V>XX ZG٣ZPGyZW-> ^> rNusing accuracyPremultiplier from confighvq59j?vq5Yj ij]@xzj?z@j_Ej};jd;jq5a m AqZjDNOT Ignoring new targets: 84.00 m.Bj Jj   ProNav: ac range: 84.000000 m, nav range: 25.811153 m, bearing: 289.867911 deg, approach rate: 0.492162 m/s, LOS rate: -0.120244 deg/s, cmd heading: 110.865254 deg, new cmd heading: 110.723545 deg. 2j HeadingCmd: 1.932490 target range: 84.000000 and range: 84.00 m. j[?jjjihhhhfff rf bf `v?ɛUBUH` Y]IY ]F vɚYiYI]=Ie[?i}fH;xw,ׇ!ABWill construct direction to contact in vehicle frame from tetrahedron phase data.R?YR?Rx9Rz>yRH` @g?`?K u ?W?/q?ɨR?R;Py^rB^r I}Mb@Mb@Mb@yyy y)yY}|?5^?S㥛?kt?y} ?}$>} 0=}A }@)}@I}Ayy}AII ٢ɋ= 9=9.4;Q U>YY ]G٣Yy]d= ]> mNusing accuracyPremultiplier from configamq59e ?q5Ye| ie@&?:?@e_Ee;e;eq5B T AEZjDNOT Ignoring new targets: 84.00 m.BjJj- ProNav: ac range: 84.000000 m, nav range: 26.065212 m, bearing: 289.820502 deg, approach rate: 0.614197 m/s, LOS rate: -0.113497 deg/s, cmd heading: 110.723548 deg, new cmd heading: 110.582706 deg. 2jMțeHeadingCmd: 1.930032 target range: 84.000000 and range: 84.00 m. jeL ?jajajaiahhhhӂBfffrfbf?ɛB(A 隽LI ni|ɚiI =I L ?i 1JFGG ?G?5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Q IQ d~w,^!A:?Y:?:K;s9:䃛>y:HJyZ`d??༜b?`?`:{?ɨ:?:Jg;:CyBBF IININ̍٢Z?= Z^=9Zg;Q ^>\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdjq59f;?jq5Yf ifL@ln?n@f_EfU>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739283 A IA Ow,5D"A25?Y2s?2Q=h92R>y2HڧE G?˷? WJ?`?!?ɨ25?2;2Cy^B^ I]Mb@Mb@Mb@YYY Y)YY]I +?L7A`?Mb?y]9?]+>]@=]A ]@)YIYYy]\AIuAIuk3٢= ==9u;Q > G٣PGy؅= > Nusing accuracyPremultiplier from configq59?q5Y3 i@?:*?@_E $;";q5 > AEZjDNOT Ignoring new targets: 84.00 m.BjAJjA ProNav: ac range: 84.000000 m, nav range: 26.513853 m, bearing: 289.780557 deg, approach rate: 0.613132 m/s, LOS rate: -0.042295 deg/s, cmd heading: 110.516094 deg, new cmd heading: 110.463875 deg. 2j7躝HeadingCmd: 1.927958 target range: 84.000000 and range: 84.00 m. jW?jjjihh!h!h%Bf!f)f)rf)bf-@?ɛUB]F Y]mIY ]ɚaiaIe=IeW?im9I=C I= II=BI= =&I9.I96I= <:I=R F*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991819GMGqG) BI Ou >h{w,(0"A6?Y6?6K[96>y6Hv¿*2??Eÿ)u} "f?.?@?ɨ6?6O;4y>BB IIF(IF̍3٢R6Q= RZ=9R6 TT VG٣TyVȓ= Z> ^Nusing accuracyPremultiplier from config\bq59^?bq5Y^è i^I@`f?f@^_E^X:^z:^q5h jAhZjDNOT Ignoring new targets: 84.00 m.Bj ۸Jj ۸% ProNav: ac range: 84.000000 m, nav range: 26.732885 m, bearing: 289.778282 deg, approach rate: 0.583148 m/s, LOS rate: -0.006008 deg/s, cmd heading: 110.463878 deg, new cmd heading: 110.457108 deg. 2j%򃹝-HeadingCmd: 1.927840 target range: 84.000000 and range: 84.00 m. j-x?j)j)j)i)h)h1h1h1f9f9f9rf9bfE @ɛuBuB qu2Iy }ƒɚyiyI}K%=Ix?i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495336J uJ rJ J J [Q:J 9J J aw,3I"A6D?Y6?6_4Q96ʘ>y6H BNƿ Y`?@w?O=ǿtx zG٣xyz= ~> Nusing accuracyPremultiplier from config| q59~0?q5Y~բ i~ȝ@!-@?-@~_E~;~q;~q59 =jAAZjiuDNOT Ignoring new targets: 84.00 m.Bj}:Jj}: ProNav: ac range: 84.000000 m, nav range: 26.974016 m, bearing: 289.790315 deg, approach rate: 0.578282 m/s, LOS rate: 0.028599 deg/s, cmd heading: 110.457109 deg, new cmd heading: 110.492884 deg. 2j:5HeadingCmd: 1.928465 target range: 84.000000 and range: 84.00 m. j=?j9jAjAiAhc~GvAUAh! 6YvAy/Bhhf f f rf bf@ɛB 隅I 2%ɚiId=I?iR= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747864 Ih*F}?2Fy:FyBF}Z0JFyGU}<GBO5>zKNK9KKzK! !!#"$"  RK?JK>jH) bH- <H- >I)  I- II- ݂BI-  =&I) .I) 6I- <:I-  FBIJIRIZIbIjIȮ5w,c"A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:47:36.2269 6TRx dataTimestamp_ set to:1736376457.572591:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000347y=ɂB= IIMIM(*3٢B= A=9Q > G٣PGy > Nusing accuracyPremultiplier from configq59rꓜ?q5Y i\@  @_Ei::zq5UB UAUEZjDNOT Ignoring new targets: 84.00 m.Bja9Jja9 ProNav: ac range: 84.000000 m, nav range: 27.228804 m, bearing: 289.802797 deg, approach rate: 0.575037 m/s, LOS rate: 0.027909 deg/s, cmd heading: 110.492885 deg, new cmd heading: 110.529983 deg. 2j::%HeadingCmd: 1.929112 target range: 84.000000 and range: 84.00 m. j%%?j)j)j)i)h1h1h9h9f9fAfArfIbfM@ɛBD. Pw,{}"Ay΂B  II$I<3٢=< EQ=9AQ E>II MG٣IyI U> ]Nusing accuracyPremultiplier from configYeq59]㓜?eq5Y] i]@aae@]_E]z:] :]q5q ulAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.00 m.BjO:JjO: ProNav: ac range: 84.000000 m, nav range: 27.451138 m, bearing: 289.813500 deg, approach rate: 0.596463 m/s, LOS rate: 0.028482 deg/s, cmd heading: 110.529980 deg, new cmd heading: 110.561830 deg. 2j_:HeadingCmd: 1.929668 target range: 84.000000 and range: 84.00 m. j\?jjjihhhhfffrfbf @ɛ5B5,p 15=I9 =ɚ9i9I=5=IE\?iEEB =BDAT read: Tx time:22:47:37.3132 *FE?2FA:FABFE0JFIGQ GQ$Ping request sent.iڍ¸2=ډډۍk"?Ќu?Ӭ.2?)ۍs >Iۍiۍۍvۉۉ:publishing transmit ping timeءFpublishing direction and range info؉9؍mɿ#-ڟ:L?y؉؉؉؉ ى)ىIىJJnJJJJ99JJiىىىىى ډ)ډIډiډډډۍk"?Ќu?Ӭ.2?)ۉIۉiۉۉۉۉGB!OEQ>= Will construct direction to contact in vehicle frame from tetrahedron phase data. I Dw,jM"A6?Y6#?6E596K`>y6H`Vп@r}?@yy }G٣yy@> >zKMK9KK{K  , A!eA,BKqA:KqA bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configHI I(!IIBI =&I.I6I<:ID F-q59%ړ?Mq5Y iF@M+:IM:M{@M@_E<>q5Y ]AYk/Ϩ?kri k k"A:k3BBkBZk"@"Ro0WEdP@mɿ#-ڟ:L?JkRkv*}= P@mejI@)p;?iDEtw,F'"Ay~B~!II-I-(1٢UU= U_=9]Q ]>YY ]G٣ePGye e> }bBottom track data is 0.8 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq}q59u5ғ?q5Yuۋ iu@ :i:@u_Eu:;u?P?u q5 AEZjDNOT Ignoring new targets: 82.10 m.Bj)Jj) ProNav: ac range: 82.099998 m, nav range: 35.970741 m, bearing: 313.126789 deg, approach rate: 0.610090 m/s, LOS rate: -0.301028 deg/s, cmd heading: 110.601875 deg, new cmd heading: 110.297194 deg. 2jNHeadingCmd: 1.925049 target range: 82.099998 and range: 82.10 m. jh?jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf 5?ɛ-‚B-: )-ȋ=I1 5}3}ɚ1i1I5=I=h?i9i=Z'n)=h?)A YI]h*F2F:FBF4JFGGqAGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,"A6R?Y6?65$96mw>y6H`~lӿO?v?`eӿ?T?@?a?ɨ6R?6=;6CyRBV!II^I^٢v v< zQ=9z.|| ~G٣|yu> > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config q59 ȓ?q5Y  i פ@9=:@%@ _E 9; ? q5) -A-EZjQ]DNOT Ignoring new targets: 82.10 m.Bje逻Jje逻u ProNav: ac range: 82.099998 m, nav range: 36.192852 m, bearing: 313.038196 deg, approach rate: 0.568601 m/s, LOS rate: -0.225403 deg/s, cmd heading: 110.297194 deg, new cmd heading: 110.033050 deg. 2juHeadingCmd: 1.920439 target range: 82.099998 and range: 82.10 m. j?jjjihhhhfffrfbf`e?ɛłB@P: =I  yɚiI=I?iGC>Will construct direction to contact in vehicle frame from tetrahedron phase data. M$?IIGGBO^>ZHRHHI IM!II%BI&I.I6I<:I9 FzK qMK 9K K |K "Ǹw,"A6Will construct direction to contact in vehicle frame from tetrahedron phase data.4i4b8?Yb7 ?b$9b>>ybH ֿ V?~?`տK@??0?`?ɨb8?bj|;bCyjBj !IJJsJJJJ9JJJo;aJo;aJ<:aJ=:a        Mb@Mb@Mb@ )Yv/?B`"۹?L7A`?yx)?=+= @)@I~AyAIEIEƲ٢m< 4=9+ G٣y=  > ENusing accuracyPremultiplier from config9Er59=c?Mr5Y=4 i=@MT:m+?m:m@u@=_E=;=#;=r5y }gAyZjDNOT Ignoring new targets: 82.10 m.BjJj ProNav: ac range: 82.099998 m, nav range: 36.498543 m, bearing: 312.907986 deg, approach rate: 0.631740 m/s, LOS rate: -0.266839 deg/s, cmd heading: 110.033050 deg, new cmd heading: 109.645695 deg. 2j!7-HeadingCmd: 1.913678 target range: 82.099998 and range: 82.10 m. j-j?j)j)j1i1h1h1h1h=Bf9fAfArfabfmH?ɛȂBzp: 隵=I 4tɚiI=IEj?iMX(w,"AJ?YJ?JM!9J>yJH^ֿp?`?aֿخ?~???ɨJ?J;JCyVBV!II^)I^W3٢f = fi=9f?GQ By O > ! I) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233470w,#Ab?Yb?b 9buju>ybH*׿=?ͳ?6x׿!? ?T_??ɨb?bČ;`ynBn!IMb@Mb@Mb@ )YV-?y&1?I +?y-?`=9<A @)@IQAy @I6Im3٢[ :=9( G٣PGy= > Nusing accuracyPremultiplier from configr59?r5YRs iӧ@0?:@@_E$; $;r5B 6AEZj!%DNOT Ignoring new targets: 82.10 m.Bj-̀Jj-̀= ProNav: ac range: 82.099998 m, nav range: 37.004616 m, bearing: 312.724936 deg, approach rate: 0.670922 m/s, LOS rate: -0.225211 deg/s, cmd heading: 109.397125 deg, new cmd heading: 109.100370 deg. 2j=EHeadingCmd: 1.904161 target range: 82.099998 and range: 82.10 m. jE?jAjAjAiIhIhIhQhUʂBfYfYfYrfabfe+@H}>Iy I}m!II}>BIy&Iy.Iy6Iy:I}8 Fɛ͂B(: 隵=I 'mɚiIV%=I?i4]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.483788J}xJ}rJyJyJ}Z:J}9JyJyJ} ;J} ;J}:J}:3w,f2#A6?Y6?6[¼96ki>y6H@Wؿ ?@&?`̕? { ؿ? J?`?)?ɨ6?6;6CyRBR!IIZ0IZ(3٢vh=< v\=9vV5xx zG٣xyz< ~> Nusing accuracyPremultiplier from config r59? r5Ym i@  H@@_Eq:: r5 #AEZjAEDNOT Ignoring new targets: 82.10 m.BjMqJjMqe ProNav: ac range: 82.099998 m, nav range: 37.253529 m, bearing: 312.646264 deg, approach rate: 0.671449 m/s, LOS rate: -0.210800 deg/s, cmd heading: 109.100367 deg, new cmd heading: 108.865931 deg. 2jemHeadingCmd: 1.900069 target range: 82.099998 and range: 82.10 m. jmv5?jijijiiihqhqhqhqfyfyfyrfybfI@ɛςB: 隭l=I iɚiI= $?IhIv5?iԑ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987669+w, BL#A:?Y:?:9:[>y:H@ؿV? x|? ؿ?%??A?@|B?ɨ:?:;8y^B^!IIf7If3٢r_^ rK=9r tt vG٣tyzƧ< z> ~Nusing accuracyPremultiplier from configxr59zh?r5Yzfg izT@@ @z_Ez~ ;z:z{r5B 4AEZjAEDNOT Ignoring new targets: 82.10 m.BjM@bJjM@b] ProNav: ac range: 82.099998 m, nav range: 37.524410 m, bearing: 312.565763 deg, approach rate: 0.670434 m/s, LOS rate: -0.197803 deg/s, cmd heading: 108.865934 deg, new cmd heading: 108.626176 deg. 2j]eHeadingCmd: 1.895884 target range: 82.099998 and range: 82.10 m. jeW?jajajaiihihihihifqfqfqrfybf}M @ɛтB܂: 隥=I "fɚiI7=IW?i˒jH<bH<H>I I!IIMBI =&I.I6I<:I1 FzK K 59K K ~K ?w,)f#AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4916786?{?Y6>?6B|96c?L>y6H !ٿ?l?ؿ ^?? [?\?ɨ6?{?6;4yNBN!IiTIVp< ba=`MMb@Mb@Mb@III IJaJexJaJaJaJe9JaJaJe ;JaJe&:Je':)IYMV-?S㥻?I +?yIM/=M94 G٣PGyX1< > Nusing accuracyPremultiplier from configr59.? r5Y<` i@ /? : @ @_E5;;r5 ,A!ZjDNOT Ignoring new targets: 82.10 m.BjWJjWe ProNav: ac range: 82.099998 m, nav range: 37.838955 m, bearing: 312.475446 deg, approach rate: 0.662542 m/s, LOS rate: -0.188658 deg/s, cmd heading: 108.626174 deg, new cmd heading: 108.357478 deg. 2jeymHeadingCmd: 1.891195 target range: 82.099998 and range: 82.10 m. jm?jijijiiihihqhqhuBfqfyfyrfybf@] @ɛ ԂB 9  @y=I  "bɚiIKL=I?]PExceeded connect timeout, disconnecting.ie@4G> $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743734G -=G B O >@w,v#A2V?Y2U?2'92f:>y2H 2ٿ:D?i?ؿ@??"?x?ɨ2V?2Ć;2CyBBB!IHJ@AIJFIJ%3٢R=. Vq=9Vy)A ING YyB I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.250828X)w,י#A6څ?Y6?6 96.R%>y6Hh'ٿ,?l?5ؿC? u?@@?\?ɨ6څ?6G;6CyBBB!I Mb@Mb@Mb@    ) Y ?S㥻?{Gzt?y ,?  ף; I A @) @I @ y @I-ZI-4٢ͼ ;=92? G٣y > Nusing accuracyPremultiplier from configr59i?r5YwT i@/?:U@@_E;;Jr5B AEZjDNOT Ignoring new targets: 82.10 m.Bj dPJj dP ProNav: ac range: 82.099998 m, nav range: 38.356945 m, bearing: 312.332423 deg, approach rate: 0.672414 m/s, LOS rate: -0.182189 deg/s, cmd heading: 108.169351 deg, new cmd heading: 107.931358 deg. 2j%HeadingCmd: 1.883758 target range: 82.099998 and range: 82.10 m. j%?j!j!j!i)h)h)H=>I=C I9I9I= =&I9.I=?D6I=ͯ<:I= FBICJICRIZI =bI =jI<`5h)h]fBfafafarfabfm-@ɛ؂B#Ǻ 隝]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.499643JKـ3 KKK"KJzJvJJJ`:Jϣ9JJJp;Jq;J:J: ] nManaging dock network, ignoring radio surface power off`Rw,h#A6O ?Y6NH?6j 996>y6Hؿ`r. ?x?@eؿ ?@!`v?.?ɨ6O ?6 ;4ynBr IIzBIz3٢% -R=9-^)1 5G٣5PGy5 5> IIQ ]Nusing accuracyPremultiplier from configYer59]]?er5Y]zN i]@am!@m@]_E]:];]r5q uAuEZjDNOT Ignoring new targets: 82.10 m.BjQJjQ ProNav: ac range: 82.099998 m, nav range: 38.620216 m, bearing: 312.260318 deg, approach rate: 0.674297 m/s, LOS rate: -0.183417 deg/s, cmd heading: 107.931360 deg, new cmd heading: 107.716522 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.753748HeadingCmd: 1.880008 target range: 82.099998 and range: 82.10 m. j?jjjihhhhfffrfbf,@ɛڂB4 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.004014:w, #A>TT?Y>S?> ;9>|x=y>Hؿ7V?P?`cؿ?@,Av&?`?ɨ>TT?>;> CyV؂BV II^VI^n4٢f\ fP=9j)]hh nG٣lyng n> vNusing accuracyPremultiplier from configpvr59rR?vr5YrH ir&@xz@z@r`Er7:r:r r5| AZj1=DNOT Ignoring new targets: 82.10 m.Bj=SJj=SM ProNav: ac range: 82.099998 m, nav range: 38.881638 m, bearing: 312.187709 deg, approach rate: 0.668658 m/s, LOS rate: -0.184470 deg/s, cmd heading: 107.716523 deg, new cmd heading: 107.500160 deg. 2jM3UHeadingCmd: 1.876232 target range: 82.099998 and range: 82.10 m. j]](?jYjYjYiYhYhYhahafafafirfibfm 3@ɛ܂B A=隥 I `^ɚiIK=I](?iHE>IA IEs!IIECBIE =&IA.IA6IEݯ<:IE& FzK m$JK 9K K K Pe(uT4n1D]V'n]O=.# RK- ?JK- ?lw,#AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.509147B\?YBܚ?BS/<9B]=yBH'ؿ`|[??R׿` ?_ꅿ@??ɨB\?B^;BCyZтBZ I=Mb@Mb@Mb@999 9)9Y=E?Q?y=&?====A =K@)=@I=p@9y=@IUBIU3٢e] m2=9m:<qq uG٣qyu }> Nusing accuracyPremultiplier from configyr59}AD?r5Y}A i};@v)?:@@}`E}-;};}$r5B 1AEZjDNOT Ignoring new targets: 82.10 m.Bj7Jj7 ProNav: ac range: 82.099998 m, nav range: 39.180737 m, bearing: 312.113558 deg, approach rate: 0.652506 m/s, LOS rate: -0.160532 deg/s, cmd heading: 107.500163 deg, new cmd heading: 107.279408 deg. 2jWܻHeadingCmd: 1.872379 target range: 82.099998 and range: 82.10 m. j?jjjihhhhBfffrfbf @ɛm߂Bm iuԼIq  `ɚiI=I?i= K w,)>$AyrÂBv Iiz=IxI~LI~4٢ "  e=9Q > G٣PGy > %Nusing accuracyPremultiplier from config!-r59%9?-r5Y%< i%K@115@% `E%:%:%='r59 =AAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.10 m.Bj,Jj , ProNav: ac range: 82.099998 m, nav range: 39.414238 m, bearing: 312.056462 deg, approach rate: 0.621999 m/s, LOS rate: -0.151188 deg/s, cmd heading: 107.279404 deg, new cmd heading: 107.109134 deg. 2jϻ%HeadingCmd: 1.869407 target range: 82.099998 and range: 82.10 m. j%H?j!j!j!i!h!h)h)h)f)f1f1rf1bf=@ɛeBeK imjIi ubɚqiqIu=I}H?i}P> E $?II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.266232`v w,$AyǂB IMb@Mb@Mb@ )Y+?333333?Mb`yv?>QA @)@IC@y3@IHI<3٢d< @=9Q > G٣H>IC IZ!II/BI&I.I6I<:I5 Fy > Nusing accuracyPremultiplier from config r59+? r5Y6 ic@  #? : t @ @`Ej;;+r5 ~AEZjDNOT Ignoring new targets: 82.10 m.BjJj纝 ProNav: ac range: 82.099998 m, nav range: 39.687778 m, bearing: 312.012779 deg, approach rate: 0.638327 m/s, LOS rate: -0.101237 deg/s, cmd heading: 107.109135 deg, new cmd heading: 106.978987 deg. 2j􊻝HeadingCmd: 1.867136 target range: 82.099998 and range: 82.10 m. j L?j j j i h)h1h1h5Bf1f9f9rf9bf=D@ɛBK 隵WI =<94332--+)++)&$" BK:KrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.515682EM<*F ?2F :F BF _0JF 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770121G- =GB)O?8 w,;$A2?Y2?2io<92Ѯ=y2Hfֿ@??@@ֿ2d?,m`1??ɨ2?2v#;2Cy:B: IIFJIF)4٢VU V,=9V=Q Z>XX ZG٣Xyj| j> nNusing accuracyPremultiplier from configlrr59n?rr5Yn0 inE@tv @v@n`En:n:n"/r5x zA|ZjDNOT Ignoring new targets: 82.10 m.Bj, Jj,  ProNav: ac range: 82.099998 m, nav range: 39.985096 m, bearing: 311.953561 deg, approach rate: 0.624331 m/s, LOS rate: -0.123424 deg/s, cmd heading: 106.978985 deg, new cmd heading: 106.802655 deg. 2jiHeadingCmd: 1.864058 target range: 82.099998 and range: 82.10 m. jt?jjjihhhhfffrfbf@ɛ-B-q 15HI1 5wjɚ1i1I5z=I=t?i=]JJ=J=J=0J9J=̈́:J=9J=ـ3J9p  w,ÀU$A \I\Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.274616=J?Y=݈?=<9=:y=y=HտL ?@?@տ@a'?6??ɨ=J?= ;9yII)Q QYYMb@Mb@Mb@ )YGz?ʡE?Mbpyp?>3@ @)I@y@IEI3٢AO: )=9 G٣ PGyj %> -Nusing accuracyPremultiplier from config!5r59%?5r5Y%s) i%@5M"?5:5x @=@%`E%;%;%Q3r5EB EAEEZjq}DNOT Ignoring new targets: 82.10 m.Bj}%Jj}%  ProNav: ac range: 82.099998 m, nav range: 40.285755 m, bearing: 311.893551 deg, approach rate: 0.653782 m/s, LOS rate: -0.129519 deg/s, cmd heading: 106.802657 deg, new cmd heading: 106.623969 deg. 2j ƱHeadingCmd: 1.860939 target range: 82.099998 and range: 82.10 m. jC3?jjjihhh!h%Bf!f)f)rf)bf- #@ɛ}B}?jHbH<H|>I IA!IIBI&I.I>D6I<:I? F 䶽I pɚiI*=IC3?i5=9zd|| ~G٣|y7ռ >  Nusing accuracyPremultiplier from config r59 ?r5Y R# i ֪@ @@ `E ; 8; (7r5) -A)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.775777ZjaeDNOT Ignoring new targets: 82.10 m.BjmRJjmR} ProNav: ac range: 82.099998 m, nav range: 40.561050 m, bearing: 311.834879 deg, approach rate: 0.624989 m/s, LOS rate: -0.132294 deg/s, cmd heading: 106.623973 deg, new cmd heading: 106.449154 deg. 2j}HeadingCmd: 1.857888 target range: 82.099998 and range: 82.10 m. jH?jjjihhhhfffrfbfG@ɛB# UA=hI ԋuɚiI=IH?iޞ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.027580J J J% J% J! J! J% s:J% 9J! J! # w,]$A2i?Y2ҧ?2j=92Y=y2HjԿ`M͋?M?GԿ.?'.?`w?ɨ2i?2؉;2Cy>BB IIJDIJ3٢z* zF=9~| G٣ PGy ߼  > Nusing accuracyPremultiplier from configr59?r5Y i@!% @%@"`E^;::r5) -2A)MB*** querying acoustic contact ***jIjIZjYeDNOT Ignoring new targets: 82.10 m.Bje!Jjm!} ProNav: ac range: 82.099998 m, nav range: 40.814323 m, bearing: 311.777601 deg, approach rate: 0.628249 m/s, LOS rate: -0.141199 deg/s, cmd heading: 106.449154 deg, new cmd heading: 106.278385 deg. 2j}HeadingCmd: 1.854908 target range: 82.099998 and range: 82.10 m. jm?jjjihhhhfffrfbft @ɛBW= 0I {ɚiI*r=I m?i QjH}y>Iy I}(!II}BI} =&Iy.Iy6I}<:I}P FzK lOMK 9K K K    Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.532595) w,$A%?Y%'?%g+=9%Q=y%H@ӿlB?`j?`wӿ@i?`n ?'?ɨ%?% ;%Cy=B= I]Mb@Mb@Mb@YYY Y)YY]v?w/?~jtxy]?]&>]Ļ]@ ]@)]@I]@Yy]=@Iu7Iu3٢Ќ 4=9 G٣yӼ > Nusing accuracyPremultiplier from configr59钜?r5Ys iA@o?: @@&`Ew;';>r5B 5AEZjDNOT Ignoring new targets: 82.10 m.Bj PJj P ProNav: ac range: 82.099998 m, nav range: 41.091824 m, bearing: 311.719496 deg, approach rate: 0.606668 m/s, LOS rate: -0.126169 deg/s, cmd heading: 106.278386 deg, new cmd heading: 106.105250 deg. 2j-%HeadingCmd: 1.851886 target range: 82.099998 and range: 82.10 m. j% ?j!j!j)i)h)h)h1h5Bf1f1f9rf9bf=`Z\!@ɛeBe > amIi m1ɚiiiIm<=Iu ?iuy0 w,$A6?Y6?66=96RO=y6H-ӿc??vҿ? ަ`?X?ɨ6?6>;4yBBB IIJCIJ3٢R Vn=9V6 w,:$A6_?Y6?6W}B=96$-W=y6H|ҿ`ҷ? (?JTҿ?@TMڪ?`z?ɨ6_?6;6CyBBB IH=v>I=C I=!II=BI= =&I9.I96I=0<:I=\ FBICJICRIZI =bI =jI85Mb@Mb@Mb@ )Y`"?I +?{Gzt?y?94>ף;@ -@)3@Iy3@IJI)4٢Ϩ= 9=9;Q > G٣ PGy > Nusing accuracyPremultiplier from configr59Ӓ?r5Y  iʩ@[?: @@.`Ew;;Er5 AEZj9EDNOT Ignoring new targets: 82.10 m.BjM9 JjU9 e ProNav: ac range: 82.099998 m, nav range: 41.571018 m, bearing: 311.618556 deg, approach rate: 0.612238 m/s, LOS rate: -0.123467 deg/s, cmd heading: 105.967393 deg, new cmd heading: 105.804192 deg. 2jexHeadingCmd: 1.846632 target range: 82.099998 and range: 82.10 m. jl^?jjjihhhhՁBfffrfbfG"@ɛMBUJv. QUŽIQ ]V ɚYiYI]=Iel^?i=r?B>>ACA>?>=89RK>JK>*F?2F:FBFP0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.546165G= 7=G1 B9 O] >= w,C$A 4I4>-?Y>k?>K=9>4^=y>Hѿ f?`?ѿ`?|G??ɨ>-?>q;>CyFBF IIVQIV4٢j> j^=9j;Q n>ll rG٣pyr=ϼ r> vNusing accuracyPremultiplier from configtzr59vRɒ?zr5Yv iv@|~ @~@v1`Ev? ;v ;vHr5B A EZj1=DNOT Ignoring new targets: 82.10 m.BjEJjEU ProNav: ac range: 82.099998 m, nav range: 41.796341 m, bearing: 311.570407 deg, approach rate: 0.611771 m/s, LOS rate: -0.130023 deg/s, cmd heading: 105.804193 deg, new cmd heading: 105.660526 deg. 2jUwUHeadingCmd: 1.844124 target range: 82.099998 and range: 82.10 m.}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.795677 j]B ?jjjihhhhfffrfbf#@ɛ]B]HN aeIa eމɚaiaIm`=ImB ?imG=GrAGrA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 "D w,%Ar;?Yry?r@W=9r}=yrH@+п@Ht?`?gп'?䪿 7??ɨr;?rs;rCyzB~ IIAIk3٢%= %E=9-;Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9Er59=佒?Er5Y= i=i@IM#@M@=6`E=:=X:=ZLr5Q UAYuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 82.10 m.Bj_!Jj_! ProNav: ac range: 82.099998 m, nav range: 42.049515 m, bearing: 311.511491 deg, approach rate: 0.609927 m/s, LOS rate: -0.141081 deg/s, cmd heading: 105.660527 deg, new cmd heading: 105.484843 deg. 2jHeadingCmd: 1.841058 target range: 82.099998 and range: 82.10 m. jȧ?jjjihhhhfffrfbfj}$@ɛB ; dнI ɚiIX=Iȧ?iI9 I= !II=BI= =&I9.I96I=.<:I=Z FG =GiByO>zKu 8NKu s9Kq Ku Ku 6430/*!      BK :K 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= `;@ )@I-@y@I6Im3٢w; 1=99Q > G٣ PGyR > Nusing accuracyPremultiplier from config r59? r5YI i4@!?:@@:`E:;;dPr5 A!ZjYeDNOT Ignoring new targets: 82.10 m.BjmAJjmA ProNav: ac range: 82.099998 m, nav range: 42.335323 m, bearing: 311.432356 deg, approach rate: 0.615882 m/s, LOS rate: -0.169375 deg/s, cmd heading: 105.484840 deg, new cmd heading: 105.249039 deg. 2j{軝HeadingCmd: 1.836942 target range: 82.099998 and range: 82.10 m. j ?jjjihhhhBfffrfbf@k%@ɛB1 隝ϽI _ɚiIY=I ?i BDAT read: Tx time:22:47:48.2633 $Ping request sent.Q w,D%A:?Y:?:X=9:T=y:H =п@? ?4Ͽ@ ߱?t`h߲?1?ɨ:?:C];:CyBBF IIJKIJ4٢Rf; Vx=9VLK:Q V?XX ZG٣XyZ ^? fNusing accuracyPremultiplier from config`jr59b󨒜?jr5Yb ib@ln@n@b>`EbF;b\G;bFSr5p rAvEZj DNOT Ignoring new targets: 82.10 m.BjGJjG- ProNav: ac range: 82.099998 m, nav range: 42.539326 m, bearing: 311.374759 deg, approach rate: 0.621237 m/s, LOS rate: -0.174555 deg/s, cmd heading: 105.249042 deg, new cmd heading: 105.077081 deg. 2j-ﻝ5HeadingCmd: 1.833941 target range: 82.099998 and range: 82.10 m. j5?j1j1j1i1h1h9h9h9f9fAfArfAbfE x&@ɛuB}<7L y}4νIy ɚiI=I?i r M $?IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.յ <յ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5042359BW w,q^%A:?Y:?:P=9:ے=y:H8п`&@T?@?NϿ ^?@C ?;?ɨ:?:3;8yN‚BN IHry>Ip IpIpIr =&Ip.Ip6Ir<:Ir9 F]Mb@Mb@Mb@YYY Y)YY]x&1?jt?Mb?y]!?] >]<]~@ ]C@)]AI]C@Yy]@ImIm0٢P< ==9*Q > G٣y`= > Nusing accuracyPremultiplier from configr59?r5Y i@y&?:l@@B`E;{; Wr5 AZjDNOT Ignoring new targets: 82.10 m.Bj'[Jj'[ ProNav: ac range: 82.099998 m, nav range: 42.812828 m, bearing: 311.291455 deg, approach rate: 0.633097 m/s, LOS rate: -0.191598 deg/s, cmd heading: 105.077078 deg, new cmd heading: 104.828765 deg. 2j}HeadingCmd: 1.829607 target range: 82.099998 and range: 82.10 m. j0?jjjihhhh$Bfffrfbf7&@ɛ By+ hI AvɚiI=I50?i5|i 9 I= hk] w,Ix%A6Q{?Y6O?6I=96=y6H }"п " &? ?SϿ9?#6`R??ɨ6Q{?6R;4y>B> IIJ6IJm3٢R RZ=9VcQ V>TT VG٣XyZv Z> bNusing accuracyPremultiplier from config\br59^ٓ?fr5Y^^ i^Ө@dfR@f@^F`E^:^":^SZr5h jAnEZj|DNOT Ignoring new targets: 82.10 m.Bj[Jj[ ProNav: ac range: 82.099998 m, nav range: 43.050900 m, bearing: 311.219303 deg, approach rate: 0.636740 m/s, LOS rate: -0.191909 deg/s, cmd heading: 104.828767 deg, new cmd heading: 104.613509 deg. 2j%%HeadingCmd: 1.825850 target range: 82.099998 and range: 82.10 m. j%u?j)j)j)i)h)h)h1h1f1f1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004364f1rfbf'@ɛAU; Q]½IY ]іɚYiYI]k=Ieu?iei Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256323Sd w,>&%A2?Y2?2`@=92=y2H,п@??Ͽ?@d@9ʸ?`?ɨ2?2ֺ;2Cy\b IIjIj3٢r:; rF=9v㬻Q v>tt zG٣z PGy~2: ~> Nusing accuracyPremultiplier from config r59 ? r5Y& i@Z@@J`E:L:]r5B AE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 82.10 m.BjU.WJjU.We ProNav: ac range: 82.099998 m, nav range: 43.312912 m, bearing: 311.141021 deg, approach rate: 0.633485 m/s, LOS rate: -0.188124 deg/s, cmd heading: 104.613506 deg, new cmd heading: 104.380080 deg. 2jemHeadingCmd: 1.821776 target range: 82.099998 and range: 82.10 m. jm/?jijijiiihihqhyhyfffrfbfD(@ɛB; 隽½I 8ɚiIk=I/?iVyIC III =&I.I6I<:I& FG}<GqAGqAGQBYO}>zK LK 9K K K  +w1-A'#$#% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761126J}j w,%AB'?YB$V?B?=9B =yBHϿ`@8?H?2Ͽ`L?`0q?n?ɨB'?B;BCJbxJbrJ`J`JbZ:Jb9J`J`Jb ;Jb ;Jb:Jb:ynƂB~ I-Mb@Mb@Mb@))) )))Y-(\?S?I +?y-'?->-94<-QA --@)-AI-p@)y-@I=EI=3٢M}< M5=9U,Q ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiur59ma}?ur5Ym im@},?}:}@}@mO`Emh;m;mar5 fAZjDNOT Ignoring new targets: 82.10 m.BjpJjp ProNav: ac range: 82.099998 m, nav range: 43.606518 m, bearing: 311.045750 deg, approach rate: 0.653493 m/s, LOS rate: -0.210620 deg/s, cmd heading: 104.380078 deg, new cmd heading: 104.096194 deg. 2jHeadingCmd: 1.816821 target range: 82.099998 and range: 82.10 m. j?jjjihhhh;eq w,U%A6?Y6?6 <=96=y6H@zϿ@? z?οdDZ?`+?h?ɨ6?6?;6CyBĂBB IIJFIJ%3٢RH Rj=9V<#Q V>TT VG٣Ty^ b> fNusing accuracyPremultiplier from configdjr59fVt?jr5Yf if@hn@n@fS`Ef  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520085w w,*%A6_?Y6ם?6Y6=96A=y6H}4Ͽ?v?~ο w?5ɦ`M??ɨ6_?6$r;6CZH<RH<HB~>I@ IB!IIBBIB =&I@.IB?D6IB߯<:I@y^B^ IMMb@Mb@Mb@III I)IYMB`"?Dl?I +?yM.?MO >IMA I)IIM@IyM=@IeOIe 4٢}.ȼ }==9}QTQ }> G٣PGy > Nusing accuracyPremultiplier from config-r59i?-r5Y i@5g2?5:5@5@X`E;u;hr5=B =AEEZjDNOT Ignoring new targets: 82.10 m.BjJj ProNav: ac range: 82.099998 m, nav range: 44.135471 m, bearing: 310.862674 deg, approach rate: 0.693365 m/s, LOS rate: -0.249251 deg/s, cmd heading: 103.873934 deg, new cmd heading: 103.550353 deg. 2j+HeadingCmd: 1.807295 target range: 82.099998 and range: 82.10 m. jnU?jj j i h hhhIBff!f)rf1bf54 +@ɛy} ? y}ҽI  ɚiI=InU?iJˠ I hй} w,%AF?YF;?F+0=9F-=yFH ο X??_!ο y ?`f? ?ɨF?F;FCyLLTVAAIZTIZ49b0Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighrr59j`?rr5Yj ij@pr@r@j\`EjX;j;jlr5x zAzE]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:47:50.7641 eTRx dataTimestamp_ set to:1736376471.944696mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025538ZjDNOT Ignoring new targets: 82.10 m.BjׅJjׅ ProNav: ac range: 82.099998 m, nav range: 44.378941 m, bearing: 310.774640 deg, approach rate: 0.650792 m/s, LOS rate: -0.234026 deg/s, cmd heading: 103.550353 deg, new cmd heading: 103.287700 deg. 2j HeadingCmd: 1.802710 target range: 82.099998 and range: 82.10 m. j7?jjjihhhhfffrfbf c+@ɛae@M im\ӽIi mņɚiiiImCv=Iu7?iu) U ~Gi Y y n Bg w,"p&A6s?Y6p?6"(=96C=y6HοN? ?Ϳ?@ (??ɨ6s?6>;6CybBb IIjEIj3٢H; <9Q %>!! %G٣!y-= -> 5Nusing accuracyPremultiplier from config1=r595U?=r5Y5/ i5z@AE@E@5a`E5;5[;5or5I MAIuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 82.10 m.BjgJjg ProNav: ac range: 82.099998 m, nav range: 44.657990 m, bearing: 310.674277 deg, approach rate: 0.696664 m/s, LOS rate: -0.248997 deg/s, cmd heading: 103.287698 deg, new cmd heading: 102.988494 deg. 2j*HeadingCmd: 1.797488 target range: 82.099998 and range: 82.10 m. j?jjjihhhhfffrfbf@",@ɛvIC I!IIBI =&I.I6I<:I1 FBIAJIARIAZIE =bIE =jIEƄ5UDAT read: 22:47:50.7641 LVL= 25040, 32753, 27314, 32755, AGC= 65, IDX= 282, 0.38,-0.440,-1.891,-1.008,-0.833, PHS= 0.481,-1.010,-0.178, RAW= 123.8, 10.9, CAL= 131.1, 6.5, ROT= 18.9, -6.5 Ygot valid direction response: 22:47:50.7641 LVL= 25040, 32753, 27314, 32755, AGC= 65, IDX= 282, 0.38,-0.440,-1.891,-1.008,-0.833, PHS= 0.481,-1.010,-0.178, RAW= 123.8, 10.9, CAL= 131.1, 6.5, ROT= 18.9, -6.5 PDAT read: Bearing 18.9, -6.5 (Local)  ~Local bearing/azimuth received: Bearing 18.9, -6.5 (Local) 5DAT read: Range 10 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.5 m/s =,DAT read: user:2891> EBDAT read: Tx time:22:47:51.8633 E$Ping request sent.EUGUE6U3I @UB> Up@)UV=IU[>iUVQQUYY?8nP̰?WEF?)U|=IUaCiUF U]hzQQ:publishing transmit ping timeAFpublishing direction and range infoQ9U[qտ/ziܿ-?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUYY?8nP̰?WEF?)QIQiQQQQG5<GB O >zK #PK h9K K K eAb+qI,{uqkhb_]XTPPOKJD@@=:9528̊ w,I-&A2m?Y2̫?2%J =92=y2HKο _??yͿ??`?ɨ2m?2ǐ;2Cy>BB I)D DRWill construct direction to contact in vehicle frame from tetrahedron phase data.RJDAT read: TxSync time:22:47:51.8625 Mb@Mb@Mb@ )Y+?/$? rh?y?1>C =A )l@I@y@IAIk3٢  2=9Q > G٣PGy > Nusing accuracyPremultiplier from config r59J?-r5Y# iӨ@5#?5:5@5@e`E;;sr5=B =A=EklM?k! k kO&A:k̐BBkՏBZk~v@"zC7 U2U@'N@[qտ/ziܿ-?JkF Rk]hz*sZMlE@$ݩ'$L@? 4Ŀ: HFC?"k<*kb+Bk De?kt 2kBk De?kk9Ck![Bk@= addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 14.401110 s, deltaX: -9.699997 m, approachRate: -0.673559 m/s, rangeRepo size: 4 u Added new target pos. range: 72.400002 m, bearing: 344.603415 deg, lat: 36.905326 deg, lon: -122.120312 deg, deltaT: 14.401110 s, deltaX: -9.699997 m, approachRate: -0.673559 m/s, posRepo size: 4 ZjquDNOT Ignoring new targets: 72.40 m.Bj}Jjy ProNav: ac range: 72.400002 m, nav range: 54.782692 m, bearing: 321.454344 deg, approach rate: 0.000000 m/s, LOS rate: -0.248997 deg/s, cmd heading: 102.988495 deg, new cmd heading: 102.621632 deg. 2jHeadingCmd: 1.791085 target range: 72.400002 and range: 72.40 m. jIB?jjjihhhhBfffrfR@bf7? 1I9ɛJ 隭I Z ɚiI=IIB?is w,G&A6/]?Y6,?6Iz=96p=y6H ^<ο@?@?`Ϳ:t?`IN??ɨ6/]?6Ɖ;6CyBBB IIJIJM3٢R> Rk=9RqQ R?TT VG٣TyZUº ^? fNusing accuracyPremultiplier from config`fr59bC?jr5Yb ib@hj@j@bi`Eb5;b;bvr5p r*ApZj DNOT Ignoring new targets: 72.40 m.Bj (Jj( ProNav: ac range: 72.400002 m, nav range: 54.979828 m, bearing: 321.353500 deg, approach rate: 0.628314 m/s, LOS rate: -0.320256 deg/s, cmd heading: 102.621632 deg, new cmd heading: 102.320190 deg. 2j[HeadingCmd: 1.785824 target range: 72.400002 and range: 72.40 m. j?jjjihhhhfffrfbf`?ɛ!%R imIi m6ܬɚqiqIu9=Iu?i}f I Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH p<H >I  I I I =&I .I 6I <:I R F w,a&AFsH?YFp?FfW =9F=yFH (οӶ? ?`Ϳ`Ƭ?@J@?]?ɨFsH?F(;FCy^B^ I}Mb@Mb@Mb@yyy y)yY}#~j?A`"?Q?y}%?}=}u<} A }@)}Ʒ@I}@yy}Q@II3٢ͼ ;=9Q > G٣y4 > Nusing accuracyPremultiplier from configr599?r5Y i(@"(?:?@m`E;;zr5 VAEZjDNOT Ignoring new targets: 72.40 m.BjJj= ProNav: ac range: 72.400002 m, nav range: 55.231770 m, bearing: 321.211050 deg, approach rate: 0.576477 m/s, LOS rate: -0.324458 deg/s, cmd heading: 102.320188 deg, new cmd heading: 101.894796 deg. 2j=^EHeadingCmd: 1.778400 target range: 72.400002 and range: 72.40 m. jE?jAjAjAiAhIhIhIhMBfQfQfQrfYbf]@?ɛϼ 隅I ɚiIr7 =I?ii#7=)?)*F5?2F1:F9BF=P0JF9zK^OK9KKK4/,+,*&#""    #@^u]Will construct direction to contact in vehicle frame from tetrahedron phase data.GQGqGu?GI BY O > $?I : w,ҫ{&A2 =?Y2{?2<92=y2H@οt`z??Ϳ@w?`?q@ ?@?ɨ2 =?2,;2Cy>B> IIJIJ(*2٢RE R\=9VcQ V>TT VG٣VPGyZ$u Z> ^Nusing accuracyPremultiplier from config\br59^1?br5Y^  i^9@df?f@^q`E^:^:^}r5h jAlZjyDNOT Ignoring new targets: 72.40 m.BjWill construct direction to contact in vehicle frame from tetrahedron phase data.Jj ProNav: ac range: 72.400002 m, nav range: 55.445354 m, bearing: 321.091332 deg, approach rate: 0.554203 m/s, LOS rate: -0.309444 deg/s, cmd heading: 101.894797 deg, new cmd heading: 101.537031 deg. 2j^TUHeadingCmd: 1.772156 target range: 72.400002 and range: 72.40 m. jU?jQjQjQiQhYhYhYhYfafafarfabfe`?ɛ)5mX 15+I1 5щɚ9i9I= =I=?iEe2e Will construct direction to contact in vehicle frame from tetrahedron phase data.J#K+m3 K+S}-K#K#"K#J wJ tJ J J W:J 9J J { w,x&A6?Y6?6<96;=y6H qͿ`9? ?A̿?@4Q`?`?ɨ6?61;6CyRBR IIZNIZ@ 4٢~g ~E=9-Q > G٣ y V  > Nusing accuracyPremultiplier from configr59)?r5Yj iO@!% ?%@v`E ;. ;Zr5) -A-E AIEhB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.40 m.BjJj  ProNav: ac range: 72.400002 m, nav range: 55.684155 m, bearing: 320.957001 deg, approach rate: 0.568377 m/s, LOS rate: -0.318355 deg/s, cmd heading: 101.537032 deg, new cmd heading: 101.135773 deg. 2j|ZWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EHeadingCmd: 1.765152 target range: 72.400002 and range: 72.40 m.H>I I!IIBI =&I.I6I<:IJ F jE?jjjihhhhfffrfbf`S@ɛquBʼn quBIq }9¼ɚyiyI}!=I?i$B> IeMb@Mb@Mb@aaa a)aYe}?5^I?A`"?Zd;O?yeM"?aej G٣y-1 > Nusing accuracyPremultiplier from configr59?r5Y i@$?:?@{`E];;r5 U A Zj)5DNOT Ignoring new targets: 72.40 m.Bj5⹻Jj=⹻E ProNav: ac range: 72.400002 m, nav range: 55.990795 m, bearing: 320.784979 deg, approach rate: 0.582564 m/s, LOS rate: -0.325021 deg/s, cmd heading: 101.135772 deg, new cmd heading: 100.622547 deg. 2jM_HeadingCmd: 1.756195 target range: 72.400002 and range: 72.40 m. j?jjjihhhhBfffrfbf@ɛBh[ 隝XI ɚiI?Y"=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.455109I]?iai_ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707617 w,&AJ vJ vJJJ {T:J ϣ9JJne!?Ynb_?n<9n=ynH̿8? 5?_˿ ?aBȸ??ɨne!?n'.;nCyzqBzq II^I&4٢Eؽ P=9Q >!! %G٣%PGy-Y -> 5Nusing accuracyPremultiplier from config1=r595?=r5Y5̔ i5ȩ@AE?E@5`E5;5^;5|r5I M AQZjq}DNOT Ignoring new targets: 72.40 m.Bj}wJjw ProNav: ac range: 72.400002 m, nav range: 56.209244 m, bearing: 320.662282 deg, approach rate: 0.570244 m/s, LOS rate: -0.319046 deg/s, cmd heading: 100.622545 deg, new cmd heading: 100.255890 deg. 2jZHeadingCmd: 1.749795 target range: 72.400002 and range: 72.40 m. jL?jjjihhhhfff rf bf D@ɛy}=ɼ y}#Iy ǻɚiID"=IL?ii\=)L?) $?I*FU?2FQ:FQBFU_0JFQMWill construct direction to contact in vehicle frame from tetrahedron phase data.U>U%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.964487ZH!RH%?AHE>IA IE IIE݂BIA&IA.IA6IE<:IEA FG5 'K=G B O5 >:( w,$&AJA?YJ?Jʴ<9J=yJH&8˿$A?A?`ʿ+?U`02? ?ɨJA?Jhg;JCyVdBVa I=Mb@Mb@Mb@999 9)9Y=V-?y&1?Mb?y=|?=`==<9 =-@)=l@I=@9y=Q@IUWIU44٢e| eF=9mUQ m>ii mG٣qyut u> Nusing accuracyPremultiplier from config r59 ?r5Yl i@"?:?@`E<y<r5B %` A%EZjIMDNOT Ignoring new targets: 72.40 m.BjUJjUe ProNav: ac range: 72.400002 m, nav range: 56.439354 m, bearing: 320.536177 deg, approach rate: 0.534782 m/s, LOS rate: -0.291876 deg/s, cmd heading: 100.255894 deg, new cmd heading: 99.879127 deg. 2jeOHmHeadingCmd: 1.743220 target range: 72.400002 and range: 72.40 m. jm!?jijijiiihqhqhqhuπBfyfyfyrfybf( @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:47:54.3611 TRx dataTimestamp_ set to:1736376475.752837checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212281ɛB6 ϼ I ~qϻɚiIۨ#=I!?ize Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465365 w,Q'A2c?Y2_?2p<92=y2H@ʿv/֫? K? 1ʿ²?|q?`5?ɨ2c?2;2CyBUBBN IIJHIJ<3٢R RY=9RGQ V>TT VG٣TyZ` Z> bNusing accuracyPremultiplier from config\fr59^>?fr5Y^ i^@df4?f@^`E^:^:^br5h n AlZj  DNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 56.648907 m, bearing: 320.420979 deg, approach rate: 0.580913 m/s, LOS rate: -0.318167 deg/s, cmd heading: 99.879127 deg, new cmd heading: 99.534814 deg. 2jZZHeadingCmd: 1.737210 target range: 72.400002 and range: 72.40 m. j\?jjjihhhhfffrfbf@3 @ɛ)- )5I1 }׻ɚyiyI}P$=I\?iU BDAT read: Tx time:22:47:55.4634 $Ping request sent.}1 w,+'A6?Y6?6<96v=y6HɿJ;@E?`V?Blɿ炤?`"#}??ɨ6?6:;6CyZKBZB IIjVIjn4٢r{6 rF=9v[Q v>tt vG٣zPGyz~ z> Nusing accuracyPremultiplier from config|r59~!? r5Y~4 i~6@  e? @~`E~:~.:~r5 # A-Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC I IIĂBI&I.I@D6I<:I/ FB*** querying acoustic contact ***jje addTargetRange:: Added new target pos. range: 70.199997 m, deltaT: 3.779948 s, deltaX: -2.200005 m, approachRate: -0.582020 m/s, rangeRepo size: 4 ZjamDNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 56.877964 m, bearing: 320.294285 deg, approach rate: 0.477820 m/s, LOS rate: -0.263221 deg/s, cmd heading: 99.534817 deg, new cmd heading: 99.156273 deg. 2j4HeadingCmd: 1.730603 target range: 72.400002 and range: 70.20 m. jj?jjjihhhhfffrf̌Q@bf ?ɛmBu= quyIq uɚqiyI}U%=I}j?iѯ Y IY a w,S 8'Ay9B, IMb@Mb@Mb@ )Yx&?i|?5?Mb`y7)?= p@)I@y@II2٢D <=9Q > G٣y > Nusing accuracyPremultiplier from configr59?r5Y { i@+?:?@`E.<<ʗr5  AZj DNOT Ignoring new targets: 72.40 m.BjPɻJjPɻM ProNav: ac range: 72.400002 m, nav range: 57.134686 m, bearing: 320.154142 deg, approach rate: 0.647734 m/s, LOS rate: -0.352007 deg/s, cmd heading: 99.156274 deg, new cmd heading: 98.737740 deg. 2jMqMHeadingCmd: 1.723299 target range: 72.400002 and range: 70.20 m. jU ?jQjQjQiQhQhQhYh]BfYffrfbf}?ɛBN I 5ɚiI%=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750761I= ?iAiEz=)E ?)A*F?2F:FBFP5JFG ^=G B O > tA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004808 N w,R'A sYtAyBJ%xJ%qJ!J!J%Z:J%q9J!J!y+B III0٢ N  E=9Q > G٣y! 5> UNusing accuracyPremultiplier from configQ]r59U=쑜?er5YU)t iU @aae@U`EU;U$;Utr5mB m Au EZjDNOT Ignoring new targets: 72.40 m.Bj»Jj» ProNav: ac range: 72.400002 m, nav range: 57.382458 m, bearing: 320.020246 deg, approach rate: 0.633598 m/s, LOS rate: -0.340916 deg/s, cmd heading: 98.737741 deg, new cmd heading: 98.337796 deg. 2jiHeadingCmd: 1.716318 target range: 72.400002 and range: 70.20 m. jR?jjjihhhhfffrfbf`? $?IhɛuBu y}¾Iy }/ZɚyiyI}c&=IR?izIIGB IM IIMBIM =&II.II6IM<:IM FBIǪCJIǪCRIZI =bI =jIlY5O] >om w,jk'A6?Y6C?6H<96X=y6HTȿ`U@a?l? vǿ[?h?D?ɨ6?6"%;4yRBR I5Mb@Mb@Mb@111 1)1Y5I +?/$?~jt?y59?51>5D<5 A 1)5@I5@1y5Q@IM IM<2٢] ]X=9e7Q e>aa mG٣mPGym m> }Nusing accuracyPremultiplier from configyr59}䑜?r5Y}n i}2@?:?@}`E};};}r5  A EZjDNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 57.581314 m, bearing: 319.922119 deg, approach rate: 0.533788 m/s, LOS rate: -0.262493 deg/s, cmd heading: 98.337799 deg, new cmd heading: 98.044435 deg. 2j%4HeadingCmd: 1.711198 target range: 72.400002 and range: 70.20 m. j?jjjihhhhBffqfqrfybf}?ɛB`Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514941 wϾI lɚiI"/'=I?iU  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766609U w,'A6,?Y6(?6<96=y6Hƿd @? {?`ƿ?l+P?`?ɨ6,?6{;6CyNBR IIZEIZ3٢^* bU=9bu9Q b>dd fG٣dyfǼ j> rNusing accuracyPremultiplier from configpvr59r2ݑ?vr5YrFi ir\@tv?v@r`Er:rC:rr5| ~ AyZjDNOT Ignoring new targets: 72.40 m.Bj^Jj^ ProNav: ac range: 72.400002 m, nav range: 57.785118 m, bearing: 319.819988 deg, approach rate: 0.498515 m/s, LOS rate: -0.248935 deg/s, cmd heading: 98.044435 deg, new cmd heading: 97.739128 deg. 2j*HeadingCmd: 1.705870 target range: 72.400002 and range: 70.20 m. jY?j j j i h h hhfffrfbf_?ɛEBE IM־II M2OɚIiIIM'=IUY?i]r w,?s'A6M?Y6I?6<96=y6Hſs j?T?@aſ?אX?@ ?ɨ6M?6h;6CyB BBIIJ8IJ3٢Rc VL=9VY:Q V>TX ZG٣\y^ͼ b> fNusing accuracyPremultiplier from config`jr59bՑ?jr5Yb{c ib@hja?n@b`EbR;bf;br5 & AZj)5DNOT Ignoring new targets: 72.40 m.Bj5Jj5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271075U ProNav: ac range: 72.400002 m, nav range: 57.996784 m, bearing: 319.712132 deg, approach rate: 0.556451 m/s, LOS rate: -0.282508 deg/s, cmd heading: 97.739126 deg, new cmd heading: 97.416743 deg. HI I IIBI&I.I6I<:I F2jEA}HeadingCmd: 1.700243 target range: 72.400002 and range: 70.20 m. j}?jjjihhhhfff rf1bf=@ɛBS I U ɚiI(=I?i-A4 I w,N'Ay%B%IMb@Mb@Mb@ )YV-?Q?Q?y ?\>u<A @)V@I@yG@I%;I%&3٢5 o =3=9=Q =>9A EG٣EPGyE E> UNusing accuracyPremultiplier from configIUr59M̑?]r5YM<] iMĪ@]?]:]%?]@M`EMt;M);Mr5mB m Au EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.40 m.Bj<Jj< ProNav: ac range: 72.400002 m, nav range: 58.229702 m, bearing: 319.600655 deg, approach rate: 0.507048 m/s, LOS rate: -0.241709 deg/s, cmd heading: 97.416741 deg, new cmd heading: 97.083650 deg. 2j%HeadingCmd: 1.694429 target range: 72.400002 and range: 70.20 m. j?jjjihhh h wBf ffrfbf@ɛEBE,X+ M|e=M%II MɚQiQIU}i)=IU?i]ǧ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:47:57.9579  TRx dataTimestamp_ set to:1736376479.288568 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027617O w,5'A2"?Y2`?2-#<92ܙ=y2H =ÿ@``?`ء? ÿ`V֛?6O6?`?ɨ2"?2=;2CyNBNIIVOIV 4٢EQ MZ=9M`_Q M>QQ }G٣yy}MJ }> Nusing accuracyPremultiplier from configr59ő?r5YW i@?@`El;;۬r5  AZj 5DNOT Ignoring new targets: 72.40 m.Bj=Jj=M ProNav: ac range: 72.400002 m, nav range: 58.422642 m, bearing: 319.504683 deg, approach rate: 0.510374 m/s, LOS rate: -0.253030 deg/s, cmd heading: 97.083653 deg, new cmd heading: 96.796692 deg. 2jM- U$?IYuHeadingCmd: 1.689421 target range: 72.400002 and range: 70.20 m. ju>?jqjqjqiqhyhyhhfffrfbf@+ @ɛB-- I 4ɚiI(*=I>?i)1?) *F2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH>I I` IIdBI&I.I?D6I<:I8 F%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.304300G} YW=Gi B O >» w,'A6??Y6;,?6׊<96 =y6H Q ¿` ? ?*?+@fѲ?@?ɨ6??6N;4yBBBIXXmMb@Mb@Mb@iii i)iYmx?(\?Mb`?ymK?mz>m;m A m@)mhAIiiym@I?IT3٢ؼ F=98Q > G٣y > Nusing accuracyPremultiplier from configr59彑?r5YQ i@?:?@`E-;;lr5  AZjDNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 58.642971 m, bearing: 319.391892 deg, approach rate: 0.548836 m/s, LOS rate: -0.279905 deg/s, cmd heading: 96.796690 deg, new cmd heading: 96.459592 deg. 2j@%HeadingCmd: 1.683537 target range: 72.400002 and range: 70.20 m. j%(~?j!j!j!i!h!h!h)h-Bf)f)f1rf9bf=Z% @ɛmBmTD1 iuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:47:57.9579 LVL= 18112, 32753, 28450, 32755, AGC= 65, IDX= 410, 0.14, 1.196,-0.248, 0.438, 0.692, PHS= 0.591,-0.893,-0.257, RAW= 115.3, 8.7, CAL= 124.4, 5.4, ROT= 25.6, -5.4 Ygot valid direction response: 22:47:57.9579 LVL= 18112, 32753, 28450, 32755, AGC= 65, IDX= 410, 0.14, 1.196,-0.248, 0.438, 0.692, PHS= 0.591,-0.893,-0.257, RAW= 115.3, 8.7, CAL= 124.4, 5.4, ROT= 25.6, -5.4 PDAT read: Bearing 25.6, -5.4 (Local) ~Local bearing/azimuth received: Bearing 25.6, -5.4 (Local)  DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed 0.6 m/s JvJoJJJ{T:JK9JJJGu;JIu;J:J:-,DAT read: user:2893> 5BDAT read: Tx time:22:47:59.0634 5$Ping request sent.5 ڵ @)ڵ=Iڵ>iڵڱڱ۵( ?*̴H"d?)۵㈨I۵i۵\۵ ۱۱]:publishing transmit ping time1]Fpublishing direction and range infoر9صOeOFҿ~mԿ%?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵( ?*̴H"d?)۱I۱i۱۱۱۱zK.KKh9KKKIq ɚiI*=I(~?iSe Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:47:59.0626  w,(AJ?YJ1?Ju<9J=yJH q@^@6?@?_п9?r ??ɨJ?J[;Hy|~II LI 4٢]@; eN=9eBQ e>ii mG٣mPGym m> Nusing accuracyPremultiplier from configqr59u?r5YuK iu@?@u`Eu:u:ur5  A Ekd蚜?k,g k ki'A:kfBBkBZks@"]MV3۞Fzӛ53'VN@OeOFҿ~mԿ%?Jk\Rk **|3<@-#MM@AEB^?ة˿eA?"kl*kAk{?kk 2kBkkt kBk=BkO@e addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.533840 s, deltaX: -2.500000 m, approachRate: -0.707446 m/s, rangeRepo size: 4  Added new target pos. range: 67.699997 m, bearing: 332.230538 deg, lat: 36.905326 deg, lon: -122.120061 deg, deltaT: 7.313788 s, deltaX: -4.700005 m, approachRate: -0.642622 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 67.70 m.BjJj ProNav: ac range: 67.699997 m, nav range: 47.408779 m, bearing: 340.202855 deg, approach rate: 0.000000 m/s, LOS rate: -0.279905 deg/s, cmd heading: 96.459592 deg, new cmd heading: 96.109978 deg. 2jHeadingCmd: 1.677436 target range: 67.699997 and range: 67.70 m. j5?jjjihhhhff frfP@bf7?ɛB#( 隝I K#ɚiI+=I-5?i-ڨI C I A II JBI  =&I .I 6I ʯ<:I  FG5/7=G1BaO?ߪ w,]((A~G?Y~?~1X<9~r=y~H`Sؾ˶M??@(Y?`U? ?ɨ~G?~P;~Cy5B=IMMb@Mb@Mb@III I)IYMzG?(\?y&1|?yM ?IM`;MA I)M@IM@IyMz@I}9I}3٢ =9MQ > G٣y > Nusing accuracyPremultiplier from configr59h?r5Y~C i2@?:9?@`E;;Ըr5B  A EZjIMDNOT Ignoring new targets: 67.70 m.BjU JjU e ProNav: ac range: 67.699997 m, nav range: 47.632343 m, bearing: 339.888562 deg, approach rate: 0.402067 m/s, LOS rate: -0.562581 deg/s, cmd heading: 96.109976 deg, new cmd heading: 95.171611 deg. 2je mHeadingCmd: 1.661058 target range: 67.699997 and range: 67.70 m. jm?jijijiiqhqhqhqh}Bfffrfbf-?ɛBl" $I  ,ɚiI,=I?iiw<=)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.J}wJ}tJyJyJ}W:J}9JyJyJ}z;J}z;J}:J}:zKMjIKM9KIKMKM $(*)'&%%$##!   BKUpA:KUlA m$?IiE}0f=*F 2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GOK=GBO>* w,BH(A6?Y6?6ŲE<96sr=y6HCRk? }? 3?`1@?+? ?ɨ6?6ِ;6CyBBBIININ3٢V< V<=9V./Q Z>XX ^G٣\y^eb ^> bNusing accuracyPremultiplier from config`fr59b?fr5Yb< ibR@hjq?j@b`Eb ;bK ;br5l n Al~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 67.70 m.Bja"Jja"- ProNav: ac range: 67.699997 m, nav range: 47.803516 m, bearing: 339.648309 deg, approach rate: 0.406040 m/s, LOS rate: -0.567862 deg/s, cmd heading: 95.171610 deg, new cmd heading: 94.453473 deg. 2j-¼HeadingCmd: 1.648524 target range: 67.699997 and range: 67.70 m. j?jjjihhhhfffrfbfSQ?ɛMBMd.- QUIQ U2ɚQiQIU p-=I]?iYieP=)e?)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. I*F2F:FBFi0JFG/=Gy B O >, w,| b(A6uk?Y6p?6C8<96D=y6H@%Nް?I?`亿M?`BD??ɨ6uk?6L;4yBBBI^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748291jHdbHf<Hj>Ih Ij4 IIj@BIh&Ih.Ih6Ij<:Ij5 FIHI<3٢; )=9M޺Q M>QQ UG٣UPGyUh U> eNusing accuracyPremultiplier from configYr59]:?r5Y]5 i]z@V?@]`E]"<]<<]r5  AZjY]DNOT Ignoring new targets: 67.70 m.BjJj ProNav: ac range: 67.699997 m, nav range: 47.995407 m, bearing: 339.377710 deg, approach rate: 0.375211 m/s, LOS rate: -0.526996 deg/s, cmd heading: 94.453470 deg, new cmd heading: 93.644974 deg. 2jִHeadingCmd: 1.634413 target range: 67.699997 and range: 67.70 m. js4?jjjihhhhfffrfbf`/b?ɛ߂B9# I k:ɚiIK.=Is4?ii!#b=)s4?)*F2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001106JE }JA JA JA JE [j:JA JA JA JE ;JE ;JA JA zK] MK] +9KY K] K] !)8Ncoiheeb^WOKIC>97:;4/)    I G >=G B O >{ w,0}(A6D?Y6?6F8<96=y6Hڸ@)!?@?f?@~??ɨ6D?6 ;6CyJBNI)P PPRA5Mb@Mb@Mb@111 1)1Y5v?V-?Mb?y5?5h>5<5A 1)5AI5$@1y5@IUOIU 4٢m|= u^=9u48Q u>yy }G٣yy}̼ }> Nusing accuracyPremultiplier from config r59핑? r5Y/ i@&?:?@`EQ;;/r5! %n A- EZjDNOT Ignoring new targets: 67.70 m.BjT%JjT% ProNav: ac range: 67.699997 m, nav range: 48.143044 m, bearing: 339.164505 deg, approach rate: 0.401589 m/s, LOS rate: -0.578162 deg/s, cmd heading: 93.644974 deg, new cmd heading: 93.007350 deg. 2jdƼHeadingCmd: 1.623284 target range: 67.699997 and range: 67.70 m. j?jjjihhhhBf!f!f!rf!bf%D@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260238ɛ݂B52 ݾI ?ɚiI.=I?iQiUHh=)U?)Y*F?2F:FBFP5JFGR`U=GBO>)! ! NG vA {Y vAy SB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504143JA JE BAk% w,I(A60?Y6n?61<96e=y6H@\`s'? 9?n?5y??ɨ60?6@;6Cy> B TIVhbIInMIn{4٢vX= vU=9vEQ z>xx zG٣xy~] ~> Nusing accuracyPremultiplier from config r59򏑜? r5Y4* i@?@`EC::gr5 % A%EZjAMDNOT Ignoring new targets: 67.70 m.BjU&JjU&e ProNav: ac range: 67.699997 m, nav range: 48.285957 m, bearing: 338.956677 deg, approach rate: 0.402321 m/s, LOS rate: -0.583330 deg/s, cmd heading: 93.007348 deg, new cmd heading: 92.385736 deg. 2je*ȼmHeadingCmd: 1.612435 target range: 67.699997 and range: 67.70 m. jmGd?jijqjqiqhqhqhyhyfyffrfbfX@ɛ܂B0 隵ѾI !DɚiI/=IGd?iiQq=)Gd?)*F=?2F9:F9BF=P0JF9HAIA IE. IIE;BIA&IA.IA6IE<:IEF FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757147BIJIRIZIbIjI5G5/_=GABqOe >+ w,c(A6&?Y6d?6$<96&؟=y6Ḥ l?@?``L?` ??ɨ6&?6h;6Cy=9<=A =@)=AI=3@9y=f@IULIU4٢eFs eC=9e{Q m>ii mG٣mPGyuu u> }Nusing accuracyPremultiplier from configyr59}Y?r5Y}v# i}O@#?:?@}`E}G;} ;}r5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:01.5547 TRx dataTimestamp_ set to:1736376482.816933checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009521ZjDNOT Ignoring new targets: 67.70 m.Bj'Jj' ProNav: ac range: 67.699997 m, nav range: 48.451332 m, bearing: 338.707532 deg, approach rate: 0.390651 m/s, LOS rate: -0.586526 deg/s, cmd heading: 92.385733 deg, new cmd heading: 91.640891 deg. 2jCɼHeadingCmd: 1.599435 target range: 67.699997 and range: 67.70 m. jL?jjjihhh h ցBf f f rfbf G@ɛڂB! ϾI (IɚiIA0=IL?ii=)L?)zKmJMKm 9KiKmKmBKy:K}qA $?I*F2F:FBF\0JFGap=u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261199G B O >~2 w,w(A :yA?Y:t?: <9:z=y:Hڲ?@t? ꟲ??fx)?@?ɨ:yA?:f;:CyFBFIIR[IRK!4٢V= ZV=9Z^Q Z>\\ ^G٣\yb$ b> fNusing accuracyPremultiplier from configdjr59f|?jr5YfP if@hn)?n@f`Ef;f>;ffr5p r ApB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 67.70 m.Bj*Jj*- ProNav: ac range: 67.699997 m, nav range: 48.601284 m, bearing: 338.481020 deg, approach rate: 0.396067 m/s, LOS rate: -0.596437 deg/s, cmd heading: 91.640894 deg, new cmd heading: 90.963489 deg. 2j-̼=HeadingCmd: 1.587612 target range: 67.699997 and range: 67.70 m. jE6?jAjAjIiIhQhahqhqfffrfbfd @ɛׂBԻ! !-ƾII UA)OɚQiQIU0=Ie6?iiiu=)6?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 22:48:01.5547 LVL= 24336, 32753, 32498, 32755, AGC= 65, IDX= 407, 0.17, 2.655, 1.082, 1.795, 2.130, PHS= 0.613,-1.001,-0.338, RAW= 114.1, 10.3, CAL= 123.0, 7.3, ROT= 27.0, -7.3 -Ygot valid direction response: 22:48:01.5547 LVL= 24336, 32753, 32498, 32755, AGC= 65, IDX= 407, 0.17, 2.655, 1.082, 1.795, 2.130, PHS= 0.613,-1.001,-0.338, RAW= 114.1, 10.3, CAL= 123.0, 7.3, ROT= 27.0, -7.3 5PDAT read: Bearing 27.0, -7.3 (Local) 5~Local bearing/azimuth received: Bearing 27.0, -7.3 (Local) EDAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.6 m/s M,DAT read: user:2894> MBDAT read: Tx time:22:48:02.6634 U$Ping request sent.U od @)w>I:F>iw9P?+]ιC?)?ҽId9iImFAe:publishing transmit ping timeQeFpublishing direction and range info9Fnьӿ_ҿBe?y )Ii )Ii9P?+]ιC?)I IiGM x}=G B O- >ZH9 RH9 HE >IA  IE : IIE EB98 w,S(AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:48:02.6626 JR?YJ?J2;9Ju=yJH@`??|̰V?5b}0?D?Iq&Iq.Iq6Iu(<:Iuc FɨJR?J 5;HyZBZ IIb@Ib3٢jg= jH=9nYQ n>lp rG٣pyr鑼 v> UNusing accuracyPremultiplier from configAr59E1}?r5YE iE@;?@E`EEG b=G B O5 >> w,/(A2yr?Y2t?2a;92vV=y2H}ȳ?Z?2@ԃ? 9t?@?ɨ2yr?2];2Cy>&B> IUMb@Mb@Mb@QQQ Q)QYU r?M?S㥛?yU#?Un>U/ G٣PGy > Nusing accuracyPremultiplier from configr59w?r5Y i|@'?:`?@`E;;r5B 1 A EZjDNOT Ignoring new targets: 65.40 m.BjUJjU ProNav: ac range: 65.400002 m, nav range: 48.930099 m, bearing: 337.982382 deg, approach rate: 0.494467 m/s, LOS rate: -0.747834 deg/s, cmd heading: 90.066679 deg, new cmd heading: 89.320344 deg. 2jNHeadingCmd: 1.558934 target range: 65.400002 and range: 65.40 m. j'?jjji!h!h!h!h-Bf)f1f1rf1bf5`y?ɛӂB=u"UWill construct direction to contact in vehicle frame from tetrahedron phase data. !]ƬIY e':XɚaiaIk 2=I'?iil=)'?)EE*F=?2F9:F9BFEt0JFAG=GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data.J yJ uJ /J J ]:J 9J (N3J E w,)A Iy1B%" II- I-2٢eS= eL=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configyr59}q?r5Y}  i}@@}`E}:}:}(r5  AZjDNOT Ignoring new targets: 65.40 m.Bj-Jj- ProNav: ac range: 65.400002 m, nav range: 49.091190 m, bearing: 337.740882 deg, approach rate: 0.406898 m/s, LOS rate: -0.607999 deg/s, cmd heading: 89.320344 deg, new cmd heading: 88.598261 deg. 2jмHeadingCmd: 1.546331 target range: 65.400002 and range: 65.40 m. j0?jjjihhhhfffrfbf@?ɛ-тB-_ )-ܟI) -qF\ɚ1i1I5Տ2=I=0?i9i==)=0?)A*F?2F:FBFP5JFH>I IS IIYBI&I.I6I <:IN FWill construct direction to contact in vehicle frame from tetrahedron phase data.ՅV?Յ!@G`=G BA O >K w,f1)A:?Y:?:~:9:ɧR=y:HD?@? Nl?`ԯS@Q?)?ɨ:?:b;:CyF2BF# IMb@Mb@Mb@ )Y(\?n?/$?y.?V><A @)Iy\@I=I=٢Eӟ; ML=9MQ M>QQ UG٣Qy]x ]> eNusing accuracyPremultiplier from configamr59eSk?mr5Ye ieH@m1?m:ml?u@e`Ee3;eo;er5y } A}EZjDNOT Ignoring new targets: 65.40 m.Bj69Jj69 ProNav: ac range: 65.400002 m, nav range: 49.256073 m, bearing: 337.480559 deg, approach rate: 0.411619 m/s, LOS rate: -0.647702 deg/s, cmd heading: 88.598263 deg, new cmd heading: 87.819959 deg. 2jA޼HeadingCmd: 1.532747 target range: 65.400002 and range: 65.40 m. j1?jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhBfffrfbf^E?ɛ΂BR LI {`ɚiIE3=I1?i IhiG#=)1?)!zK K K K K BKqA:K*F?2F:FBF R5JF G=GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data.R w,PK)Ab {?Yb?bt9bM=ybH`8??̷X?5?}?`?ɨb {?b;bCy~=B~1 II+In3٢-[= -L=9-xQ ->11 5G٣5PGy=ֲ => ENusing accuracyPremultiplier from configAMr59Ee?Mr5YE iE@IUO?U@E`EEm ;E;E(r5Y ]w AY}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 65.40 m.BjK9JjK9 ProNav: ac range: 65.400002 m, nav range: 49.420353 m, bearing: 337.219799 deg, approach rate: 0.409595 m/s, LOS rate: -0.647983 deg/s, cmd heading: 87.819956 deg, new cmd heading: 87.040327 deg. 2jZ޼HeadingCmd: 1.519140 target range: 65.400002 and range: 65.40 m. j0s?jjjihhhhfffrfbfફ?ɛ̂B$ ꎾI bcɚiIny3=I0s?ii&=) 0s?)!*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JKـ3 K .KK"KJezJevJe0JaJe`:Jeϣ9Jeـ3Ja $?IG=G?G ?GBO>jH bH H >I  I s II sBI &I .I 6I @<:I s FOX w,Xe)A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255105>lA?Y>f?>9>>L=y>H{`A? ?ي@~@|6^?@??ɨ>lA?>;>CyFIN>IV!IVi3٢ZȤ ^R=9=yQ =>AA EG٣AyE M> eNusing accuracyPremultiplier from configI}r59M`?r5YM iM@?@M`EMEoJKU ?G =G B O >_ w,2:)Ay5?B=3 IMb@Mb@Mb@ )YtV?Dl?Zd;O?y2?O >j< A @)QAI@yAI%I)3٢5a< 54=9=Q E>II UG٣QyU U> mNusing accuracyPremultiplier from configaur59eZ?ur5Ye ieu@u=6?u:u@?u@e`EeV;e;er5 d A EZjDNOT Ignoring new targets: 65.40 m.BjxaJjxa ProNav: ac range: 65.400002 m, nav range: 49.768047 m, bearing: 336.663947 deg, approach rate: 0.495013 m/s, LOS rate: -0.788486 deg/s, cmd heading: 86.253548 deg, new cmd heading: 85.378742 deg. 2jHHeadingCmd: 1.490140 target range: 65.400002 and range: 65.40 m. j꼾?jjjihhhh%Bfffrfbf@ɛƂB   'I  pkɚiIS4=I꼾?ii=)꼾?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760225*Fe?2Fa:FiBFmV0JFiG g=Gq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:48:05.1519  TRx dataTimestamp_ set to:1736376486.349570 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012982J {J {J J J d:J -9J J I 1e w, )Avح?Yv?v9v~O=yvH]bB??ހ`BCrs?ݩ? q?ɨvح?v Ŝ;ty~GB~= II 5I 3٢-= %^=9%Q %>)) -G٣-PGy-R 5> Nusing accuracyPremultiplier from configQr59UVV?r5YU iUگ@?@U`EUQU;UAU;Ur5 $ AZjDNOT Ignoring new targets: 65.40 m.Bj8Jj8 ProNav: ac range: 65.400002 m, nav range: 49.918488 m, bearing: 336.416962 deg, approach rate: 0.394266 m/s, LOS rate: -0.645331 deg/s, cmd heading: 85.378744 deg, new cmd heading: 84.640068 deg. 2jqݼHeadingCmd: 1.477248 target range: 65.400002 and range: 65.40 m. ju?jjji!h!h!h!h)f)f)f)rf)bf5! @ɛeĂBm" imyIi mW}nɚiiiIu4=Iuu?iyi}`=)}u?)y*F-?2F):F)BF-_0JF)GB=H>I I IIBI =&I.I6IA<:IGBOH>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262924A&l w,Z)AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:48:05.1519 LVL= 24304, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.38,-2.594, 2.062, 2.778,-3.122, PHS= 0.616,-1.053,-0.387, RAW= 113.4, 11.3, CAL= 122.1, 8.4, ROT= 27.9, -8.4 Ygot valid direction response: 22:48:05.1519 LVL= 24304, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.38,-2.594, 2.062, 2.778,-3.122, PHS= 0.616,-1.053,-0.387, RAW= 113.4, 11.3, CAL= 122.1, 8.4, ROT= 27.9, -8.4 %PDAT read: Bearing 27.9, -8.4 (Local) %~Local bearing/azimuth received: Bearing 27.9, -8.4 (Local) ]DAT read: Range 10 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.4 m/s ],DAT read: user:2895> eBDAT read: Tx time:22:48:06.2650 e$Ping request sent.e c@)Q >IQ>iQ ~W*??"f=[ ?)JIxTJi5폿:publishing transmit ping timeaFpublishing direction and range info95Կ*ѿwn?y )Ii )Ii~W*??"f=[ ?)IiMb@Mb@Mb@ )Y(\?Zd;?{Gz?yz4?=#<A @)~@Ih@y@AAIM-IM3٢]Yۼ ] =zK~NK9KKK,T9;<>@81*(& BK:KrA9]Q > G٣y > Nusing accuracyPremultiplier from configr59P?r5Y4 i-@%.7?%:%?%@`E)<*)<Kr5) -\ A)k?kȇ k k䢶)A:k|BBk{BZkޯ@"W@R4D01BHL@5Կ*ѿwn?Jk5Rk폿*g4@5,z4BK@P*?=)տ)NqR?"k*kAkz-&?k2 2k Bk{?kkBkBk@ addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.532336 s, deltaX: -2.200001 m, approachRate: -0.622818 m/s, rangeRepo size: 4  Added new target pos. range: 63.200001 m, bearing: 314.892692 deg, lat: 36.905178 deg, lon: -122.120061 deg, deltaT: 3.532336 s, deltaX: -2.200001 m, approachRate: -0.622818 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 63.20 m.BjJj ProNav: ac range: 63.200001 m, nav range: 35.686363 m, bearing: 325.258666 deg, approach rate: 0.000000 m/s, LOS rate: -0.645331 deg/s, cmd heading: 84.640066 deg, new cmd heading: 83.610714 deg. 2jHeadingCmd: 1.459282 target range: 63.200001 and range: 63.20 m. jɺ?jjjihhhhBfffrfO@bf@?ɛB 隵~I sɚiID5=Iɺ?ii5=)ɺ?)m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:22:48:06.2642 *F ?2F :F BF P0JF G -=c~G|uA Y|uAyNBGB O->4xt w,#)Abg?Yba:?b*39b3=ybH`?@*_?? H7? Q?`|??ɨbg?bW;bCyr?Br4 II5<I53٢EB EN=9MCQ M>qq uG٣qy}% }> Nusing accuracyPremultiplier from configr59SM?r5Y is@?@Will construct direction to contact in vehicle frame from tetrahedron phase data.`Ewq<q<r5B EEB*** querying acoustic contact ***jAjAZjquDNOT Ignoring new targets: 63.20 m.Bj}LnJj}Ln Ih ProNav: ac range: 63.200001 m, nav range: 35.876999 m, bearing: 324.935984 deg, approach rate: 0.494958 m/s, LOS rate: -0.833340 deg/s, cmd heading: 83.610716 deg, new cmd heading: 82.647911 deg. 2jHeadingCmd: 1.442478 target range: 63.200001 and range: 63.20 m. j ?jjjihhh h f f f rfbfB?ɛ}B} 隥zI vɚiI g5=I ?ii=) ?)*F92F9:F9BF=_0JF9GK=GBOi>ZHRHH>I I IIBI&I.I6I-<:Ic FBIJIRIZIbI =jI5 Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.šz w,)A-̨?Y- ?-o<9-mA $@)Q@IVAy\@I:I3٢ü @=9Q > G٣PGy > Nusing accuracyPremultiplier from configr59I?r5Y; i@%4?%:%D?%@`E];;`r5) - A5EZjQ]DNOT Ignoring new targets: 63.20 m.Bj]rJj]ru ProNav: ac range: 63.200001 m, nav range: 36.082935 m, bearing: 324.594392 deg, approach rate: 0.514886 m/s, LOS rate: -0.849177 deg/s, cmd heading: 82.647912 deg, new cmd heading: 81.629096 deg. 2ju}HeadingCmd: 1.424696 target range: 63.200001 and range: 63.20 m. j}t\?jyjyjyiyhyhhhBfff rf bf )?ɛ]B] Ye~I WyɚiI5=It\?iik=)t\?)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987305*F=?2F9:F9BF=o0JF9 yIJJsJJJJ9JJJ#;aJ$;aJ<:aJ=:azKMK9KKK G= =G9 BQ Ou >t w,|a*A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2376476 XX ZG٣\yb b> Nusing accuracyPremultiplier from configyr59}tF?r5Y}0 i}İ@?@}aE}q:}:}r5  AZjDNOT Ignoring new targets: 63.20 m.BjcJjc ProNav: ac range: 63.200001 m, nav range: 36.268627 m, bearing: 324.284018 deg, approach rate: 0.478590 m/s, LOS rate: -0.795835 deg/s, cmd heading: 81.629093 deg, new cmd heading: 80.702827 deg. 2j%HeadingCmd: 1.408530 target range: 63.200001 and range: 63.20 m. j%J?j!j!j!i!h)h)h)h)f1fQfQrfQbf]`V(?ɛBN 隝$I |ɚiI5=IJ?ii=)J?)*Fm?2Fi:FiBFm!2JFiGEqe=GB!OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490495 qIq w,8 *A6?Y6?6%j96Ddd fG٣dyj j> rNusing accuracyPremultiplier from configpvr59rC?vr5Yr! ir@tv?z@raEr:r:rr5|  AZj)5DNOT Ignoring new targets: 63.20 m.Bj5JhJj5JhM ProNav: ac range: 63.200001 m, nav range: 36.452946 m, bearing: 323.973211 deg, approach rate: 0.484187 m/s, LOS rate: -0.812330 deg/s, cmd heading: 80.702824 deg, new cmd heading: 79.775202 deg. 2jM_ UHeadingCmd: 1.392340 target range: 63.200001 and range: 63.20 m. jU28?jQjQjQiQhYhahahafafifirfibfm#?H~>IC I IIBI =&I.I6Ig<:I FɛUBy I ,ɚiI 56=I28?iiž=)28?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742691*F?2F:FBFP5JFGy=GA GE pAG B! O= >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993829 e $?Ia J J {J J J J -9J J J ";J J :J :؍ w,:*A6Ԃ?Y6?6 _96 F G٣PGy4 > Nusing accuracyPremultiplier from configs59=A?s5Y| i@ /?:k?@ aE;-;s5 ^ AZjDNOT Ignoring new targets: 63.20 m.Bj%cJj%c ProNav: ac range: 63.200001 m, nav range: 36.646969 m, bearing: 323.632190 deg, approach rate: 0.454346 m/s, LOS rate: -0.794341 deg/s, cmd heading: 79.775202 deg, new cmd heading: 78.757668 deg. 2jIHeadingCmd: 1.374581 target range: 63.200001 and range: 63.20 m. jB?jjjih h h h BffzKĂKKh9KKK  $%$""f!rf!bf-@ɛUBUx Q]KIY ]ɚYiYI]6=IeB?iaie9=)eB?)i*F2F:FBF 4JFGe=GABIOmW>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245823 w,S*A:?Y:ٽ?:}>b9:6qtt vG٣tyzE z> ~Nusing accuracyPremultiplier from config|s59~n??s5Y~ i~@ ? @~aE~:~7:~+s5  A EZjAMDNOT Ignoring new targets: 63.20 m.BjMdJjMd] ProNav: ac range: 63.200001 m, nav range: 36.820377 m, bearing: 323.323239 deg, approach rate: 0.451325 m/s, LOS rate: -0.800306 deg/s, cmd heading: 78.757668 deg, new cmd heading: 77.835264 deg. 2jeO eHeadingCmd: 1.358482 target range: 63.200001 and range: 63.20 m. je?jijijiiihihihqhqfqfyfyrfybf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497815 IhɛeBeNN im|Ii m݃ɚiiiImC6=I}?iyi}=)}?)*F)2F):F1BF5P0JF1GMu=HI I IIBI =&I.I6I<:I FG) B1 Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749838 w,+m*Ae?Yeջ?e`\_9eQQ UG٣QyU U> eNusing accuracyPremultiplier from configYes59]=?ms5Y]ҧ i] @m'?m:m?u@]aE];];]s5y  AB*** querying acoustic contact ***jjZj)5DNOT Ignoring new targets: 63.20 m.Bj5SJj5SM ProNav: ac range: 63.200001 m, nav range: 37.012741 m, bearing: 322.976248 deg, approach rate: 0.411246 m/s, LOS rate: -0.737956 deg/s, cmd heading: 77.835265 deg, new cmd heading: 76.799823 deg. 2jM9UHeadingCmd: 1.340410 target range: 63.200001 and range: 63.20 m. jU?jQjQjQiQhYhYhYh]ׁBfaffrfbf @ɛB: /I 0ɚ iI 7=I?ii=)?)I IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:08.7506 TRx dataTimestamp_ set to:1736376489.878702checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005481J~J}J1JJ{m:JS9J3JJ<;J=;J:J:*F?2F:FBFJF!zKMlLKM9KIKMKM  Z%atJbRK]?JK]?G} =G ?G >GQ BY O} >fҡ w,8*A&Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261358j?Yj?j`9j] G٣PGyg$ > Nusing accuracyPremultiplier from configs59 w,*A6x?Y6q?6e96klTX ZG٣XyZ$ Z> fNusing accuracyPremultiplier from config`fs59b;?js5YbԚ ib@hj?j@baEb ;b":bs5p r ApZj  DNOT Ignoring new targets: 63.20 m.BjhJjh% ProNav: ac range: 63.200001 m, nav range: 37.329205 m, bearing: 322.392389 deg, approach rate: 0.439648 m/s, LOS rate: -0.814332 deg/s, cmd heading: 75.915203 deg, new cmd heading: 75.055828 deg. 2j% -HeadingCmd: 1.309971 target range: 63.200001 and range: 63.20 m. j-$?j)j)j)i)h1h1h1h1fAfIfIrfIbfM @ɛB8+ I ɚiId7=I $?i i =) $?)H|>I I IIBI&I.I>D6Ic<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:48:08.7506 LVL= 14432, 31665, 26450, 32755, AGC= 61, IDX= 415,-0.50,-1.993, 2.546,-3.010,-2.671, PHS= 0.766,-1.019,-0.342, RAW= 112.1, 7.7, CAL= 122.0, 4.7, ROT= 28.0, -4.7 Ygot valid direction response: 22:48:08.7506 LVL= 14432, 31665, 26450, 32755, AGC= 61, IDX= 415,-0.50,-1.993, 2.546,-3.010,-2.671, PHS= 0.766,-1.019,-0.342, RAW= 112.1, 7.7, CAL= 122.0, 4.7, ROT= 28.0, -4.7 PDAT read: Bearing 28.0, -4.7 (Local) ~Local bearing/azimuth received: Bearing 28.0, -4.7 (Local) DAT read: Range 10 to 50 : 61.0 m (Round-trip 81.4 ms) speed 0.5 m/s ,DAT read: user:2896> BDAT read: Tx time:22:48:09.8635 $Ping request sent. ]{F@)]=I]5>i]YY];h?^Vp?)]/ I]/ i]5]+YY:publishing transmit ping timeFpublishing direction and range infoY9]M턤пLCѿo^?yYYYY Y)YIYiYYYYY Y)YIYiYYY];h?^Vp?)YIYiYYYYGQG) BA Ou > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. %= a= JDAT read: TxSync time:22:48:09.8627 J J J 0J J v:J y9J ـ3J J U;J V;J ::J <:' w,_*Ay~B~IMb@Mb@Mb@ )YZd;?RQ?:vy?=T )Q@Ih@yp@zKUNKQKQKUKU9' yrnhcVNKIEB=<7613/-,($! BKY:K]pAIWI44٢> .=9Q > G٣y > Nusing accuracyPremultiplier from configs59S;?s5Y> i@?:? @"aE;;s5  AkYO-?kmD k kf*A:ktBBk^rBZkr@"T#e/p,J0\;SML@M턤пLCѿo^?Jk5Rk+*[Ϻ?.@2uۖL@?107ӿ4妻mb?"k*kqAk5?kEf 2kBk|:ə?kkk Bkֱ@ addTargetRange:: Added new target pos. range: 61.000000 m, deltaT: 3.779511 s, deltaX: -2.200001 m, approachRate: -0.582086 m/s, rangeRepo size: 4  Added new target pos. range: 61.000000 m, bearing: 308.768165 deg, lat: 36.905146 deg, lon: -122.120061 deg, deltaT: 3.779511 s, deltaX: -2.200001 m, approachRate: -0.582086 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 61.00 m.BjJj ProNav: ac range: 61.000000 m, nav range: 34.754921 m, bearing: 318.414575 deg, approach rate: 0.000000 m/s, LOS rate: -0.814332 deg/s, cmd heading: 75.055829 deg, new cmd heading: 73.860841 deg. 2jHeadingCmd: 1.289115 target range: 61.000000 and range: 61.00 m. j?jjjih!h!hIhMBfQfQfYrfeN@bfA?ɛB aeqIa e錼ɚaiaIe-8=Im?iiiu_>)u?)q]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG =G rAG rAG B O >ST w,dZ*A2?Y26?2x92MTX ZG٣ZPGy^8 ^> bNusing accuracyPremultiplier from config`fs59bo;?fs5Yb ib @hjO?j@b&aEbe";b";bs5l n*An E IhZj DNOT Ignoring new targets: 61.00 m.Bj%_Jj%_5Will construct direction to contact in vehicle frame from tetrahedron phase data.= ProNav: ac range: 61.000000 m, nav range: 34.896675 m, bearing: 318.149871 deg, approach rate: 0.420768 m/s, LOS rate: -0.782523 deg/s, cmd heading: 73.860839 deg, new cmd heading: 73.070007 deg. 2j=BEHeadingCmd: 1.275312 target range: 61.000000 and range: 61.00 m. jEn=?jAjAjAiIhhhhfffrfbf?ɛB6 隍%I oΎɚiI|8=In=?iidE=)n=?)*F]?2FY:FYBF]2JFYG5>GBO=P>Hw>IC Il IInBI =&I.I6Io<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.i^| w,,*A="?Y=`?=H9="5!! %G٣!y%y %> 5Nusing accuracyPremultiplier from config1=s595;?=s5Y5 i5@=?=:=?=@5*aE5#;5;5s5I MVAIuB*** querying acoustic contact ***jqjqZjyDNOT Ignoring new targets: 61.00 m.BjOJjO ProNav: ac range: 61.000000 m, nav range: 35.071087 m, bearing: 317.821802 deg, approach rate: 0.386871 m/s, LOS rate: -0.724082 deg/s, cmd heading: 73.070006 deg, new cmd heading: 72.090794 deg. 2jwHeadingCmd: 1.258222 target range: 61.000000 and range: 61.00 m. ji ?jjjihhhhBfffrfbf\S?ɛ]B]) Y]NI ZɚiI8=Ii ?ii_>)i ?) I EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F]?2FY:FYBFeW5JFazKEZNKE9KAKEKE RKU?JKU>G}  >GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491685_ w,I +AF:?YFx?F39F G٣y > Nusing accuracyPremultiplier from configs59k)-?))A ANGtA MYUtAyUB*F]?2FY:FYBFeA4JFa@`BG >G9BIOmV> I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743701JJJJJJ9JJa@a@a@a@ w,#+A64?Y6,ӭ?6_j96[ll nG٣nPGyrK^ r> vNusing accuracyPremultiplier from configtzs59vi=?zs5Yvz iv%@xzX?z@v1aEv:v(;v s5 AZj15DNOT Ignoring new targets: 61.00 m.HEs>IA IES IIEYBIE =&IA.IE=D6IE><:IEe FBICJICRIZI =bI =jI5BjeQJjmQ} ProNav: ac range: 61.000000 m, nav range: 35.361256 m, bearing: 317.260141 deg, approach rate: 0.375592 m/s, LOS rate: -0.734313 deg/s, cmd heading: 71.251659 deg, new cmd heading: 70.412869 deg. 2j}HeadingCmd: 1.228936 target range: 61.000000 and range: 61.00 m. jM?jjjihhhhfffrfbf?ɛBD3 I ̕ɚiIP9=IM?iiK=)M?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996744*F?2F:FBFP0JFGu>GiBO> I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247769 PExceeded connect timeout, disconnecting. w,=+AyفBIi%8>I%p< -p=-a=Mb@Mb@Mb@ )Yn?B`"۹?MbpyV?=h@ Q@)I~@y@IPI 4٢-8+< 56=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUs59M>?Us5YM t iM:@U?U:]?]@M5aEM;M;Ms$s5a eAazKuKKus9KqKuKuBK}pA:K}rAZjDNOT Ignoring new targets: 61.00 m.BjCJjC ProNav: ac range: 61.000000 m, nav range: 35.527729 m, bearing: 316.950626 deg, approach rate: 0.369465 m/s, LOS rate: -0.683705 deg/s, cmd heading: 70.412871 deg, new cmd heading: 69.488760 deg. 2j꼝HeadingCmd: 1.212808 target range: 61.000000 and range: 61.00 m. jH=?jjjihhhhBfffrfbf@b@ɛBn* I NRɚ i I 9=IH=?iiW >)H=?)*F?2F:FBFY0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501754G=G B O >ț w,W+A2Ƥ?Y2?23>92_u9A EG٣AyEԽ E> MNusing accuracyPremultiplier from configIUs59Mb??]s5YMn iMF@Y]?]@M8aEM ;Mm ;M's5a eAmEZjDNOT Ignoring new targets: 61.00 m.Bj9JJj9J ProNav: ac range: 61.000000 m, nav range: 35.660175 m, bearing: 316.688085 deg, approach rate: 0.358093 m/s, LOS rate: -0.707188 deg/s, cmd heading: 69.488760 deg, new cmd heading: 68.704115 deg. 2j򼝊HeadingCmd: 1.199113 target range: 61.000000 and range: 61.00 m. j|?jjjihhhhfffrfbfV@JJJJJ=:J9JJɛ B3 I XnɚiIZ:=I%|?i!i%s=)-|?))E1*F?2F:FBF_0JFG>GyBO^>jH=<bH9HEq>IEC IE: IIEEBIE =&IA.IA6IE<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:12.3464 TRx dataTimestamp_ set to:1736376493.657670checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006208 w,q+Aeq>?Yei|?eb-9e*Z?ez;eCyu΁B}I5Mb@Mb@Mb@111 1)1Y5 rh?S㥻?y5C ?5/=55Q@ 1)1I5h@1y5z@IMUIM4٢]L ]8=9e;Q m>ii mG٣m PGyu, u> }Nusing accuracyPremultiplier from configys59}@?s5Y} h i}`@ ?:?@}G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:48:12.3464 LVL= 14240, 25201, 19874, 30995, AGC= 54, IDX= 419, 0.32, 1.790,-0.214, 0.194, 0.680, PHS= 1.198,-0.847,-0.489, RAW= 99.4, 1.5, CAL= 109.5, -1.5, ROT= 40.5, 1.5 % Ygot valid direction response: 22:48:12.3464 LVL= 14240, 25201, 19874, 30995, AGC= 54, IDX= 419, 0.32, 1.790,-0.214, 0.194, 0.680, PHS= 1.198,-0.847,-0.489, RAW= 99.4, 1.5, CAL= 109.5, -1.5, ROT= 40.5, 1.5 5 PDAT read: Bearing 40.5, 1.5 (Local) 5 ~Local bearing/azimuth received: Bearing 40.5, 1.5 (Local) E DAT read: Range 10 to 50 : 59.1 m (Round-trip 78.8 ms) speed 0.4 m/s w,K;+A,DAT read: user:2897> BDAT read: Tx time:22:48:13.4635 $Ping request sent. G٣y&1 > Nusing accuracyPremultiplier from configs59B? s5Ya iw@  @?-@@aE1;;=/s59 =AAk pǑ?k Z?K k  k .;+A:k flBBk jBZk n@" R%lf ݉d#CM@ 㫳IRziI;{;?Jk [.Rk S/* Bc?PB!!Jgz3M@ ;޽y~?+ NÿV(E?"k *k ?k sqȑ?k o>L 2k Bk z-&?k k k Bk Ak @] addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.526659 s, deltaX: -1.900002 m, approachRate: -0.538754 m/s, rangeRepo size: 4  Added new target pos. range: 59.099998 m, bearing: 280.092628 deg, lat: 36.905101 deg, lon: -122.120047 deg, deltaT: 3.526659 s, deltaX: -1.900002 m, approachRate: -0.538754 m/s, posRepo size: 4 ZjeDNOT Ignoring new targets: 59.10 m.RjeePowering the camera and arming the capture device at range: 59.10 m."jmBjmJji} ProNav: ac range: 59.099998 m, nav range: 31.606901 m, bearing: 311.459861 deg, approach rate: 0.000000 m/s, LOS rate: -0.685562 deg/s, cmd heading: 67.789149 deg, new cmd heading: 66.856906 deg. 2jyHeadingCmd: 1.166873 target range: 59.099998 and range: 59.10 m. j\?jjji"jhhhhfffrf̌M@bfe?ɛM|BMp$ QUJIQ UɚQiQIU9O;= aIaIm\?iiim=)m\?)q#&Changing to mode: 2#Armed mode.=Will construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:48:13.4627 JJJJJs:JJJ#2Commanding negative:54303*FI 2FI :FI BFI JFI G% C=G B O% > w,+A:я?Y:͡?:D9:hOIp Ir. IIr;BIp&Ip.Ip6Ir{<:Ir FII2٢<< _=9;Q > G٣yP > Nusing accuracyPremultiplier from configs59D?s5Y\ i@?@CaE7:;k2s5 AZjWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.10 m.RjPowering the camera and arming the capture device at range: 59.10 m."jBjp^Jjp^% ProNav: ac range: 59.099998 m, nav range: 31.742748 m, bearing: 311.190100 deg, approach rate: 0.393412 m/s, LOS rate: -0.777877 deg/s, cmd heading: 66.856904 deg, new cmd heading: 66.051142 deg. 2j%v-HeadingCmd: 1.152810 target range: 59.099998 and range: 59.10 m. jF?jjji"jhhhhfffrfbf`0?ɛxBz. 隕I 0bɚiI;=IF?ii=)F?)EE*Fe>2Fi:FiBFm0JFq Q IQ E Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge =J J @AG9 BI Oe > w,+A2L?Y2D?2B92qڏy2H@L?@X(}X?M?@σ?@q?ɨ2L?2.;2CyBBBIMb@Mb@Mb@ )Y(\?Cl?Mbp?y?;=; $@)Iy@I-I-4٢=< EO=9Eo Q E>II MG٣M!PGyM( U> Nusing accuracyPremultiplier from configQs59UF?s5YU'W iU@ ?:?@UGaEU;Uj;U5s5 ^AZjY]DNOT Ignoring new targets: 59.10 m.RjYePowering the camera and arming the capture device at range: 59.10 m."jaBjeIJjeI ProNav: ac range: 59.099998 m, nav range: 31.884151 m, bearing: 310.908078 deg, approach rate: 0.355453 m/s, LOS rate: -0.705788 deg/s, cmd heading: 66.051139 deg, new cmd heading: 65.208889 deg. 2j0򼝊HeadingCmd: 1.138110 target range: 59.099998 and range: 59.10 m. j?jjji"jhhhhBfzKBoHK9KKKffrfbfq?ɛ=tB=) AEWIA EɚAiAIM<=Iu?iqiuC@=)u?)y*F<2F :F BF &5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G?=GBOb> = $?IA w,l+A>~`?Y>v?>W9>'MDy>HSN? ,`än`^,? N?㪂?bH@?ɨ>~`?>;`d fG٣dyf/ f> vNusing accuracyPremultiplier from configpvs59r&I?zs5YrQ ir@xz?z@rJaEr.:r:r;9s5Will construct direction to contact in vehicle frame from tetrahedron phase data.  HA Zj15DNOT Ignoring new targets: 59.10 m.Rj1=Powering the camera and arming the capture device at range: 59.10 m."j9BjEe\JjEe\U ProNav: ac range: 59.099998 m, nav range: 32.023617 m, bearing: 310.624532 deg, approach rate: 0.380754 m/s, LOS rate: -0.770734 deg/s, cmd heading: 65.208888 deg, new cmd heading: 64.362020 deg. 2jU<eHeadingCmd: 1.123329 target range: 59.099998 and range: 59.10 m. je@ɏ?jajajaii"jihihihqhqfqfqfqrfybf}`Xi?ɛpB& 隭I $ɚiIn<=I@ɏ?JJJJJ}:J9JJii/=)@ɏ?)*F}92Fy:FyBF}P0JFyZHRHAAHo>I I( II6BI&I.I6I_<:Iz FG[=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >t w,E+AM?Y?9ȕ;yH?EPT? ?? U1@1?r??ɨM?;騹yeMb@Mb@Mb@aaa a)aYe/$?S㥻?ye1?e/=eeh@ eQ@)aIaayez@I}I}49$:Q > G٣y > Nusing accuracyPremultiplier from configs59[L?s5YK iԱ@ ?:?@NaEKb; a;D=s5 IB FAEB*** querying acoustic contact ***jj Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ZjIMDNOT Ignoring new targets: 59.10 m.RjIMPowering the camera and arming the capture device at range: 59.10 m."jQBjU_>JjU_> ProNav: ac range: 59.099998 m, nav range: 32.187412 m, bearing: 310.285925 deg, approach rate: 0.323692 m/s, LOS rate: -0.665747 deg/s, cmd heading: 64.362020 deg, new cmd heading: 63.351477 deg. 2jr伝HeadingCmd: 1.105692 target range: 59.099998 and range: 59.10 m. jP?jjji"jhhhhBfffrfbf?ɛ-jB5 15_I1 5ɚ1iyI};<=IP?iiA=)P?)E>E?*F562F1:F1BF51JF1zK% /KK! K! K% K% )nweUG8(Xvzwrmkgca``^[[YTIEGJJGU m= Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iյ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994643G) B9 O >1 w,Ac ,AVw7{?YVٙ?VK$9V@tx zG٣xyz<4 z> Nusing accuracyPremultiplier from config|s59~$O?s5Y~F i~@  |? @~QaE~ ;~y;~o@s5  AZjDNOT Ignoring new targets: 59.10 m.Rj!-Powering the camera and arming the capture device at range: 59.10 m."j)Bj5^Jj5^} ProNav: ac range: 59.099998 m, nav range: 32.314518 m, bearing: 310.018617 deg, approach rate: 0.372058 m/s, LOS rate: -0.779369 deg/s, cmd heading: 63.351480 deg, new cmd heading: 62.552766 deg. 2j}HeadingCmd: 1.091752 target range: 59.099998 and range: 59.10 m. j?jjji"jhhhhfffrfbf,@ɛfB .pI bɚiIG==I?ii)=)?)! aIeh*FO42F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246683G C=G B O >`T w,!',AHI I. II;BI&I.Ipp vG٣v"PGyv v> ~Nusing accuracyPremultiplier from configxs59z~R? s5Yz^@ iz@  ?@zUaEzh;zh;zCs5B  AE%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499999ZjY]DNOT Ignoring new targets: 59.10 m.RjYePowering the camera and arming the capture device at range: 59.10 m."jaBjeKJjmK ProNav: ac range: 59.099998 m, nav range: 32.453297 m, bearing: 309.721853 deg, approach rate: 0.335039 m/s, LOS rate: -0.713380 deg/s, cmd heading: 62.552764 deg, new cmd heading: 61.666355 deg. 2jHeadingCmd: 1.076281 target range: 59.099998 and range: 59.10 m. jÉ?jjji"jhhhhfffrf bfi@ɛeaBe imcIi "ʩɚiIɩ==IÉ?iix=)É?)*Fe22Fa:FaBFm_0JFiGpA G QIYG q'= Will construct direction to contact in vehicle frame from tetrahedron phase data. > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752312J#K+m3 K+S}-K#K#"K#J J J J J =:J 9J J J ԥ;a J ե;a J ;a J ;a G B O >= w,A,A6s?Y6ɕ?6G96d G٣y) > Nusing accuracyPremultiplier from configs59V?s5YG: i@{ ?:?@YaE;B;Gs5  AZjDNOT Ignoring new targets: 59.10 m.RjPowering the camera and arming the capture device at range: 59.10 m."jBjlJjl ProNav: ac range: 59.099998 m, nav range: 32.601051 m, bearing: 309.397566 deg, approach rate: 0.379180 m/s, LOS rate: -0.828436 deg/s, cmd heading: 61.666356 deg, new cmd heading: 60.698001 deg. 2j#HeadingCmd: 1.059380 target range: 59.099998 and range: 59.10 m. jÙ?j!j!j!i!"j!h!h!h)h-Bf)f)f9rfAbfMjq@zKOKKKKGGECA@>>:8<;8641/./+++-*,.(''''%#  #&'$#  ɛ\B VXI dɚiI >=I%Ù?i!i%T=)%Ù?)!EQ*F/2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:48:15.9441 ETRx dataTimestamp_ set to:1736376497.186928Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006327GQ R.Yy&BG [=G B O > A IA ff w,Z,A6($o?Y6 Г?6˔96\\ ^G٣\ybU( b> fNusing accuracyPremultiplier from configdjs59fUZ?js5Yf4 if*@hn?n@f\aEf;f6);fJs5t vX AtZjDNOT Ignoring new targets: 59.10 m.RjPowering the camera and arming the capture device at range: 59.10 m."jBj%XJj%X5 ProNav: ac range: 59.099998 m, nav range: 32.729294 m, bearing: 309.111404 deg, approach rate: 0.340767 m/s, LOS rate: -0.757410 deg/s, cmd heading: 60.697999 deg, new cmd heading: 59.842943 deg. 2j5HeadingCmd: 1.044456 target range: 59.099998 and range: 59.10 m. j?jjj i "j1h1h9h9h9f9fAfArfAbfE`Ӫ @ɛWB] 隵.,I 4ɚiIk>=I?iiU=)?)*F-2F:FBF3JFjHAbHE<Hem>Ia Ie4 IIe@BIa&Ia.Ia6Ie`<:Iey FBIŧCJIŧCRIZI =bI =jIL45Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 22:48:15.9441 LVL= 12736, 23345, 15346, 22451, AGC= 56, IDX= 411, 0.20, 0.998,-0.961,-0.860,-0.162, PHS= 1.247,-0.752,-0.701, RAW= 91.3, 2.1, CAL= 98.9, -0.5, ROT= 51.1, 0.5 Ygot valid direction response: 22:48:15.9441 LVL= 12736, 23345, 15346, 22451, AGC= 56, IDX= 411, 0.20, 0.998,-0.961,-0.860,-0.162, PHS= 1.247,-0.752,-0.701, RAW= 91.3, 2.1, CAL= 98.9, -0.5, ROT= 51.1, 0.5 PDAT read: Bearing 51.1, 0.5 (Local) ~Local bearing/azimuth received: Bearing 51.1, 0.5 (Local) DAT read: Range 10 to 50 : 57.3 m (Round-trip 76.4 ms) speed 0.3 m/s ,DAT read: user:2898> BDAT read: Tx time:22:48:17.0635 $Ping request sent.I1i1111o w,t,A Ih5}7g?Y5ُ?5rz95yii mG٣m#PGyuq u> }Nusing accuracyPremultiplier from configys59}v`?s5Y}{- i}I@;?:ި?@}aaE};};}Os5 T AEJJJJJ:J9JJJ!;J";J\ ;J] ;k][S?k](3͸ kY k]l,A:k]3eBBk]cBZk]Kv@"]^-%C >i @ n`NL@]SE۟KU9d?6s?Jk]"@Rk]6*]8AW@KlZL@]A@%ɷTT#?"k]]*k]k]wP?k]7 2k]kBk]5?k]Ef k]kBk]?Ak]K,@e addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 3.528047 s, deltaX: -1.799999 m, approachRate: -0.510197 m/s, rangeRepo size: 4  Added new target pos. range: 57.299999 m, bearing: 220.329595 deg, lat: 36.905048 deg, lon: -122.120014 deg, deltaT: 3.528047 s, deltaX: -1.799999 m, approachRate: -0.510197 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBjJj ProNav: ac range: 57.299999 m, nav range: 27.031038 m, bearing: 302.903125 deg, approach rate: 0.000000 m/s, LOS rate: -0.757410 deg/s, cmd heading: 59.842941 deg, new cmd heading: 58.602008 deg. 2jHeadingCmd: 1.022798 target range: 57.299999 and range: 57.30 m. j ?jjji"j h h h)h5Bf1f1f1rf=`fL@bf=`)?ɛPB 隭I ɚiIl>=I ?ii=) ?)EpAEpA*F*2F:FBF0JFzK% U NK% 9K! K% K%   = Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 7=G! B9 Oe >e$ w,,AJPd?YJgf?J?䝻9J,S=yJHP?nA??J?s?i??ɨJPd?J{x;JCyRBVII^I^4٢fz= f=9fKQ f ?hY ]G٣Yy]I ]? mNusing accuracyPremultiplier from configams59ed?us5Ye( ie`@quj?@edaEe);e};eRs5 " AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBjJj- ProNav: ac range: 57.299999 m, nav range: 27.157110 m, bearing: 302.608929 deg, approach rate: 0.387146 m/s, LOS rate: -0.899230 deg/s, cmd heading: 58.602005 deg, new cmd heading: 57.723587 deg. 2j-HuHeadingCmd: 1.007467 target range: 57.299999 and range: 57.30 m. ju?jqjyjyiy"jyhyhyhhfffrfbf?ɛ5LB55 1=I9 =Eɚ9i9I=,?=IE?iAiE]=)E?) I*F%/(2F!:F!BF-4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ=Յ4=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Go=GBOf>H k>I C I A II JBI  =&I .I 6I Q<:I k F4* w,dΪ,AJl`?YJ/?J9Jg=yJH{?|??!?`-Qv??`?ɨJl`?J.|;JCyVBVII^I^4٢f= fJ=jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9881379f˺Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|s59~i?s5Y~2# i~{@  ? @~gaE~D;~;~Us5  AZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBjMToJjMTo] ProNav: ac range: 57.299999 m, nav range: 27.301743 m, bearing: 302.267432 deg, approach rate: 0.356358 m/s, LOS rate: -0.836951 deg/s, cmd heading: 57.723588 deg, new cmd heading: 56.704636 deg. 2j]eHeadingCmd: 0.989683 target range: 57.299999 and range: 57.30 m. je[}?jajaji"jhhhhfffrfbf#?ɛGB8;   ޽I  ɚ i Ia{?=I[}?ii8=)[}?)*F4%2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240840G=J J J J J :J 9J J J n;J o;J ;J ;G B O= >1 w,,A6z]?Y6?6Դ96 =y6H}? O: ?`S? ?]v?3R?/?ɨ6z]?6hf;6!CyRBRITVA=Mb@Mb@Mb@999 9)9Y=v/?B`"۹?y&1|y=x ?===`=@ =$@)=;@I=h@9y=z@IUxIUT4٢mB< mA=9ut-Q u>qq uG٣}$PGy}u }> Nusing accuracyPremultiplier from configs59Bo?s5Yi iy@ ?:?@kaEf;;Ys5  AZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBjJj ProNav: ac range: 57.299999 m, nav range: 27.451981 m, bearing: 301.903867 deg, approach rate: 0.377999 m/s, LOS rate: -0.909716 deg/s, cmd heading: 56.704637 deg, new cmd heading: 55.620050 deg. 2jHeadingCmd: 0.970753 target range: 57.299999 and range: 57.30 m. jEx?jjji"jhhh h Bf f frfzK*eMK9KKK     &r9bf z?ɛBB |I ɚiI?=IEx?ii8k=)Ex?)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495058*F"2F:FBFJFGe=GABaOY> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744058@7 w, k,A>*Y?Y>?>o9>nZ=y>Hn?`?y?@z?_q?`N ??ɨ>*Y?>s;QQ UG٣Qy]L# ]> eNusing accuracyPremultiplier from configams59et?ms5Ye ieu@qu?u@enaEe:e:e]s5}B }l A}EZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBj wJj w ProNav: ac range: 57.299999 m, nav range: 27.593212 m, bearing: 301.557156 deg, approach rate: 0.353718 m/s, LOS rate: -0.863899 deg/s, cmd heading: 55.620051 deg, new cmd heading: 54.585359 deg. 2j8HeadingCmd: 0.952694 target range: 57.299999 and range: 57.30 m. js?jjji"jhhhhfffrfbf ?ɛM=BMyѼ IMhmIQ U$ɚiI5 @=Is?iiX=)s?)ZHRH@AHi>I IS IIYBI =&I.I6Io<:I F*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995937G=G?G>G B O >-u= w,r,A 4I8yޥ Bޥ I=Mb@Mb@Mb@99EWill construct direction to contact in vehicle frame from tetrahedron phase data.E>E=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2483509 9)9Y= rh?~jt?Mb`?y= ?===;9 9)9I99y9IeIe 4٢mЬ; u8=9uQ u>qy }G٣yy > Nusing accuracyPremultiplier from configs59{?s5Y i@?:4?@raE;o;`s5 b AZjDNOT Ignoring new targets: 57.30 m.RjPowering the camera and arming the capture device at range: 57.30 m."jBj{Jj{ ProNav: ac range: 57.299999 m, nav range: 27.752445 m, bearing: 301.162909 deg, approach rate: 0.357350 m/s, LOS rate: -0.879683 deg/s, cmd heading: 54.585359 deg, new cmd heading: 53.409580 deg. 2jHeadingCmd: 0.932173 target range: 57.299999 and range: 57.30 m. jn?jjji"jh h hh΁BffJeJeJaJaJe:Je59JaJaJe!;Je";Je;Je;frfbf @ɛ%7B%zǼ )-84I) -Lɚ)i)I-*[@=IUn?iYi] >)]n?)Y*F 2F :F BF `0JF G?=GBO>zK}NK}9KyK}K}yy))C<(?Ifhu2`oM0xn`XNE>701.-*$ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500017SD w,#-AJR?YJ?Ja9J9<=yJH`[?द?6?u? -IV%= Z=Za=I^`I^(*4٢f= fk=9f;Q j?hh jG٣j%PGyn֛ n? rNusing accuracyPremultiplier from configpvs59rI?vs5Yr  ir@xzћ?z@ruaEr7:rz:rds5B , AEZj)-DNOT Ignoring new targets: 57.30 m.Rj)-Powering the camera and arming the capture device at range: 57.30 m.5lFinal approach. Armed for intercept at range: 57.30 m.5\Transitioning guidance mode to: FINAL_APPROACH*j5@Bj=~Jj=~e ProNav: ac range: 57.299999 m, nav range: 27.873262 m, bearing: 300.852689 deg, approach rate: 0.348425 m/s, LOS rate: -0.890764 deg/s, cmd heading: 53.409579 deg, new cmd heading: 52.483037 deg. 2jm}HeadingCmd: 0.916002 target range: 57.299999 and range: 57.30 m. j}j?jyjyjihhhhfffrfbf@ 3@ɛ3BI I lɚiI@=I j?i i=)j?) Ih*F2F:FBFi4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752044G5?E=G B! O= >H h>I  I f II iBI  =&I .I 6I <:I 9 FE}J w,+-A6iO?Y6,?6P96=y6H`j?rI? w?f?C Qj???ɨ6iO?6;6CyR(BR IIZfIZ44bWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`fBDAT read: Rx Time:22:48:19.5427 fTRx dataTimestamp_ set to:1736376500.712961jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005390٢; >=9 :Q > G٣yI > Nusing accuracyPremultiplier from configs59?s5Y i@;?@yaE :.:gs5 # AmB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 57.30 m.RjBjysJjys ProNav: ac range: 57.299999 m, nav range: 28.022470 m, bearing: 300.466449 deg, approach rate: 0.330684 m/s, LOS rate: -0.851443 deg/s, cmd heading: 52.483037 deg, new cmd heading: 51.330651 deg. 2jHeadingCmd: 0.895889 target range: 57.299999 and range: 57.30 m. jXe?jjjihhhhfffrfbfq@ɛ-B( 隝%I ɚiIE@=IXe?iiu>)Xe?)*F2F:FBFS5JF I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258324J J J J J J J :J H9J J J ;J ;J Q;J R;G =G pAG G B O >eQ w,E-A6M?Y6]?67u[96P#=y6H@?E?`J?@?Lnk?x? g?ɨ6M?6׊;6CyR.BR I-jonly read 0 of 1 data item for BIT error. Device response is::TS,25010814492620,35.0, +11.0, 0., 0  j@j j@j j@n  n@n IrdIr?14٢v9= zV=9zQ z>|| G٣yؼ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configs59p?s5Y iڲ@+::?@}aEm(;>js5  AZjDNOT Ignoring new targets: 57.30 m.RjBjGJjG ProNav: ac range: 57.299999 m, nav range: 28.160152 m, bearing: 300.108858 deg, approach rate: 0.360681 m/s, LOS rate: -0.932184 deg/s, cmd heading: 51.330651 deg, new cmd heading: 50.263252 deg. 2j HeadingCmd: 0.877259 target range: 57.299999 and range: 57.30 m. j `?j jjihhhhff!f!rf!bf%I @ɛ])B]oթ Y]5)m`?)izKuJEPKu9KqKuKu#    BK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511167*F2F:FBF3JFG>GYBaO}Y> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:48:19.5427 LVL= 12000, 24961, 18242, 25427, AGC= 56, IDX= 429,-0.26, 0.477,-1.126,-1.398,-0.442, PHS= 1.007,-0.637,-0.959, RAW= 81.2, 6.5, CAL= 86.3, 7.1, ROT= 63.7, -7.1  Ygot valid direction response: 22:48:19.5427 LVL= 12000, 24961, 18242, 25427, AGC= 56, IDX= 429,-0.26, 0.477,-1.126,-1.398,-0.442, PHS= 1.007,-0.637,-0.959, RAW= 81.2, 6.5, CAL= 86.3, 7.1, ROT= 63.7, -7.1  PDAT read: Bearing 63.7, -7.1 (Local)  ~Local bearing/azimuth received: Bearing 63.7, -7.1 (Local)  DAT read: Range 10 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.1 m/s  ,DAT read: user:2899>  BDAT read: Tx time:22:48:20.6635  $Ping request sent.  G٣&PGys > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configs59֖?s5Y i@ :  y: Q? @aEy);Q?ls5UB U AUEkf^;?k,@ k k]-A:k`BBkH_BZk5S@") v%h$j6?-@7:bJ@ tȿ$u.?X8=.H?JkM/ @Rkힿ*[]b0mkJ@ϋYҿIUݧORPŒ?"k'*kk 2?kq[@ 2kBksqȑ?ko>L k BkLAkD@ addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.780020 s, deltaX: -1.099998 m, approachRate: -0.291003 m/s, rangeRepo size: 4 jHIbHM<HUg>IQ IUy IIUxBIQ&IQ.IQ6IU(<:IUJ Fm Added new target pos. range: 56.200001 m, bearing: 189.082794 deg, lat: 36.904927 deg, lon: -122.119881 deg, deltaT: 3.780020 s, deltaX: -1.099998 m, approachRate: -0.291003 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 56.20 m.RjqBjuJjq ProNav: ac range: 56.200001 m, nav range: 12.800391 m, bearing: 272.635836 deg, approach rate: 0.000000 m/s, LOS rate: -0.932184 deg/s, cmd heading: 50.263253 deg, new cmd heading: 48.971207 deg. 2jHeadingCmd: 0.854709 target range: 56.200001 and range: 56.20 m. j2Z?jjjihhh h fffrfL@bf?ɛ#Bn? `0=I ɚiISA=I2Z?iixz>)2Z?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF+5JFG >G ?G ? I G B O= >[4^ w,{-A5oG?Y5?595=y5HSL?`w?? G?|јSsp?? ?ɨ5oG?54;5CEWill construct direction to contact in vehicle frame from tetrahedron phase data.ye:Be- I m m mm mm  m m mMb@Mb@Mb@iii i)iYmGz?bX9ȶ?Mbp?ym?mE=m;mVA m@)iIiiym(@I:I3٢; -=9 Q > G٣yǧ > Nusing accuracyPremultiplier from configs59Ɵ?s5Y i@T:m?:?@aE;;qs5  AZjDNOT Ignoring new targets: 56.20 m.RjBjJj ProNav: ac range: 56.200001 m, nav range: 13.036258 m, bearing: 272.121745 deg, approach rate: 0.572192 m/s, LOS rate: -1.224557 deg/s, cmd heading: 48.971206 deg, new cmd heading: 47.457213 deg. 2jR%HeadingCmd: 0.828285 target range: 56.200001 and range: 56.20 m. j%v T?j!j!j!i!h!h)h)h-Bf)f1f1rf1bf=Y-?ɛB3я X\=I ٽɚiId~A=Iv T?ii("$>)v T?)*F2F:FBFO0JFG5 >G9BIOex>zKdMK9KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data.i)i i c~G 5tA m KYm 5tAym XBBe w,fL-A2yDE?Y2g}?2{q92Y =y2H?lI?$??5^ m/n?V?"?ɨ2yDE?27;2CyZDBZ: IIj+Ijn3٢5i= 5f=9=It:Q =>99 =G٣AyE¼ E> UNusing accuracyPremultiplier from configIUs59MҦ?Us5YM iM3@Y]Ւ?]@MaEM;M;Mts5a eD AaZjDNOT Ignoring new targets: 56.20 m.RjBjNJjN ProNav: ac range: 56.200001 m, nav range: 13.218812 m, bearing: 271.729696 deg, approach rate: 0.512881 m/s, LOS rate: -1.086231 deg/s, cmd heading: 47.457213 deg, new cmd heading: 46.297475 deg. 2j^:HeadingCmd: 0.808043 target range: 56.200001 and range: 56.20 m. jN?jjjihhhhfffrfbfP?ɛBPvy \=I Hɚ QIQi IA=IN?ii,>)N?)*F2F:FBF]0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ̈́:JJJa@a@a@a@GM>G! B) OM >Hm f>Ii  Im IIm BIm  =&Im GD.Im ;D6Im b<:Im s FBI-ɦCJI-ɦCRI)ZI- =bI- =jI-ɃY5 Will construct direction to contact in vehicle frame from tetrahedron phase data.9k w,j-A6!C?Y6{?6S96=y6H?@ E?u??`nq?Yޡ??ɨ6!C?6s;6CyNCBN8 IIV0IV(3٢b  bS=9bx޺Q b>dd fG٣f'PGyj j> nNusing accuracyPremultiplier from configlvs59n?vs5Ynj inQ@tvÑ?v@naEn=;nl0;nws5x ~P A~EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 56.20 m.RjBj,Jj, ProNav: ac range: 56.200001 m, nav range: 13.417847 m, bearing: 271.307060 deg, approach rate: 0.492056 m/s, LOS rate: -1.029338 deg/s, cmd heading: 46.297474 deg, new cmd heading: 45.048583 deg. 2j0HeadingCmd: 0.786246 target range: 56.200001 and range: 56.20 m. jmGI?jjjihhhhf f f rf bf ?[?ɛB={ 隭Գ=I ɚiIA=ImGI?ii7>)mGI?)*Fu2Fq:FyBF}_0JFyGm=> IhGqAGpAGqBOn>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode."r w,-A6s??Y6w?6T96W=y6H@!?Z u?~^?^?4`?j???ɨ6s??6Oi;4yNKBNB I-Mb@Mb@Mb@))) )))Y-i|?5?ʡE?Mbp?y-?--=)) -@))I))y-z@IMsIMK4٢]= ]A=9]C);Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}s59u?}s5Yu iup@\?:X?@uaEu1;u;u4{s5  AEzK+LKKKKZj)5DNOT Ignoring new targets: 56.20 m.Rj1Bj=țJj=țM ProNav: ac range: 56.200001 m, nav range: 13.635371 m, bearing: 270.839463 deg, approach rate: 0.515085 m/s, LOS rate: -1.089567 deg/s, cmd heading: 45.048584 deg, new cmd heading: 43.668453 deg. 2jM:}HeadingCmd: 0.762158 target range: 56.200001 and range: 56.20 m. j}C?jyjyjihhhhBfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751193rfbfI?ɛB_ 隅x=I ޭɚiIA=IC?iiB?>)C?)*Fe2Fa:FaBFem0JFa u$?IqG X,,>GY Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002009O >J J J J J J 59J J Jx w,m-A6;?Y6t?6W96#=y6H "?! l?s??@u)=b??t?ɨ6;?6^ҋ;4yNQBRI IIZwIZR4٢zi< zQ=9~+;Q ~> G٣y  > Nusing accuracyPremultiplier from config s59 #?s5Y U i @b?%@ aE  ;  ; ~s5) - A)ZjQUDNOT Ignoring new targets: 56.20 m.RjYBj]Jj]m ProNav: ac range: 56.200001 m, nav range: 13.835329 m, bearing: 270.408271 deg, approach rate: 0.532337 m/s, LOS rate: -1.131336 deg/s, cmd heading: 43.668452 deg, new cmd heading: 42.393795 deg. 2jmBuHeadingCmd: 0.739911 target range: 56.200001 and range: 56.20 m. juj=?jyjyjyiyhyhhhfffrfbf@@ɛ BX8 V>I u ɚiIB=Ij=?iiE>)j=?)ZHRH?A*F2F:FBFQ5JFHMd>IMC IM IIMBII&II.II6IMQ<:IMe FGmw>1>GABQOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254198 I *~ w,-Ajl7?Yjo?j U9j G٣(PGy9 > Nusing accuracyPremultiplier from configs599ʑ?s5Yb i@?:?@aE;;is5  AZj%DNOT Ignoring new targets: 56.20 m.Rj!Bj%5Jj%5 ProNav: ac range: 56.200001 m, nav range: 14.060831 m, bearing: 269.913865 deg, approach rate: 0.519416 m/s, LOS rate: -1.120525 deg/s, cmd heading: 42.393796 deg, new cmd heading: 40.934700 deg. 2j@@HeadingCmd: 0.714445 target range: 56.200001 and range: 56.20 m. j6?jjjihhhhBf f frfbf`@ɛ] B]57 Yeh>Ia ezɚaiaIe,B=I6?ii$sL>)6?)*FE2FA:FABFES5JFAzKLK59KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759442RK?JK?G% '=>G B O% >` w,.Af3?Yf}k?fj"9fn!! %G٣!y-: -> Nusing accuracyPremultiplier from configys59}ӑ?s5Y} i}@v?@}aE}6;};}Ѕs5B  AEZjDNOT Ignoring new targets: 56.20 m.RjBj Jj !I!5 ProNav: ac range: 56.200001 m, nav range: 14.262370 m, bearing: 269.469164 deg, approach rate: 0.511392 m/s, LOS rate: -1.112443 deg/s, cmd heading: 40.934700 deg, new cmd heading: 39.619693 deg. 2j5>=HeadingCmd: 0.691494 target range: 56.200001 and range: 56.20 m. j=1?j9j9j9i9hAhAhAhAfIfIfIrfIbfU@ɛ}Bv 隅F)>I KɚiIFB=I1?iiQ>)1?)*F!2F!:F!BF%Z3JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.U>U%=]BDAT read: Rx Time:22:48:23.1416 eTRx dataTimestamp_ set to:1736376504.495295echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013640GD>JJJJJ:J9JJGBOE>H b>I  I II BI  =&I .I 6I !<:I @ F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2669261 w,2Z0.Ay S IIUcIUy/4٢8 D=9Q > G٣y > Nusing accuracyPremultiplier from configs59ݑ?s5Yn iг@@aEC<<ts5B  AE%B*** querying acoustic contact ***j!j!ZjQ]DNOT Ignoring new targets: 56.20 m.RjYBjeJje ProNav: ac range: 56.200001 m, nav range: 14.478765 m, bearing: 269.007445 deg, approach rate: 0.481441 m/s, LOS rate: -1.011884 deg/s, cmd heading: 39.619694 deg, new cmd heading: 38.255511 deg. 2j-HeadingCmd: 0.667685 target range: 56.200001 and range: 56.20 m. ja*?jjjihhhhfffrfbf`F @ɛBE 81>I ɚiIgB=I%a*?i1i=8df>)=a*?)i $?I *F2F:FBF4JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:48:23.1416 LVL= 8688, 21121, 14066, 22051, AGC= 54, IDX= 432,-0.27,-0.631,-2.099,-2.797,-1.654, PHS= 1.112,-0.398,-1.146, RAW= 71.0, 4.4, CAL= 73.7, 3.5, ROT= 76.3, -3.5 Ygot valid direction response: 22:48:23.1416 LVL= 8688, 21121, 14066, 22051, AGC= 54, IDX= 432,-0.27,-0.631,-2.099,-2.797,-1.654, PHS= 1.112,-0.398,-1.146, RAW= 71.0, 4.4, CAL= 73.7, 3.5, ROT= 76.3, -3.5 PDAT read: Bearing 76.3, -3.5 (Local) ~Local bearing/azimuth received: Bearing 76.3, -3.5 (Local) DAT read: Range 10 to 50 : 55.3 m (Round-trip 73.8 ms) speed 0.2 m/s ,DAT read: user:2900> BDAT read: Tx time:22:48:24.2636 $Ping request sent.G B O > w,MK.AyUVBUO I ]=]=zKmKKm}9KiKmKmBKuqA:KupA}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:48:24.2628 Mb@Mb@Mb@ )YX9v? ףp= ?MbP?y?Q=:~@ $@)IyIFI%3٢] 1=9 Q  >    G٣)PGy > Nusing accuracyPremultiplier from configEs59H葜?Es5Y@ i޳@M?M:M?M@aE;S;qs5Q U AQkED>T?kEޑ kA kE?.A:kE3]BBkE[BZkE'4@"E:'g/³?D7@8DH@E'k*2N?,q?JkE<;?RkEΑ*E5 B}[@{ I@E?qfٿ2uǀ6?̵ ?"kE@*kEkE[,Ӯ?kEzsR 2kEBkEwP?kE7 kEBkE@AkE@M addTargetRange:: Added new target pos. range: 55.299999 m, deltaT: 3.532010 s, deltaX: -0.900002 m, approachRate: -0.254813 m/s, rangeRepo size: 4  Added new target pos. range: 55.299999 m, bearing: 161.281012 deg, lat: 36.904859 deg, lon: -122.119818 deg, deltaT: 3.532010 s, deltaX: -0.900002 m, approachRate: -0.254813 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 55.30 m.RjBjJj ProNav: ac range: 55.299999 m, nav range: 12.060961 m, bearing: 229.187336 deg, approach rate: 0.000000 m/s, LOS rate: -1.011884 deg/s, cmd heading: 38.255510 deg, new cmd heading: 36.896815 deg. 2jHeadingCmd: 0.643971 target range: 55.299999 and range: 55.30 m. jG$?jjjihhh h f f f rf`fK@bf>?ɛB 隝3>I ]ɚiIB=IG$?iiy>)G$?)*FM2FI:FIBFM0JFI IhG%U>GBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.J] J] J] 1JY J] :J] 9J] 3JY Ș w,d.A6- %?Y6]?6kKA:96a4I ɚiIB=I #?i)&?)jHYbH]<Hma>Ii Im IImBIm =&Ii.Ii6Im<:Im* F*F2F:FBF]0JFGmb>G!B1OU2>Will construct direction to contact in vehicle frame from tetrahedron phase data. I } w,m~.AzWill construct direction to contact in vehicle frame from tetrahedron phase data.z>z@yuVBuP I=Mb@Mb@Mb@999 9)9Y=m?~jt?~jthy=?===D9 =;@)9I=;@9y9IUIUT3٢ef< e5=9mQ m>iq uG٣qyu u> }Nusing accuracyPremultiplier from configys59}?s5Y} i}ٳ@?:?@}aE}xP;}_N;}Ss5  AZjDNOT Ignoring new targets: 55.30 m.RjBj;Jj; ProNav: ac range: 55.299999 m, nav range: 12.506102 m, bearing: 229.539239 deg, approach rate: 0.555717 m/s, LOS rate: 0.441798 deg/s, cmd heading: 37.332561 deg, new cmd heading: 37.933165 deg. 2j<HeadingCmd: 0.662059 target range: 55.299999 and range: 55.30 m. j|)?jjjihhhhfffrfbfeE?ɛ5B5 9=C>I9 =6#ɚ9i9I=B=IM)?iIiMX;>)M|)?)I*F2F:FBF_0JFGqA GmAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK JK 9K K K  G %d>GA BI Om >ޥ w,.AB0?YB|S?B;9Bv $?I!! %G٣%*PGy%j -> 5Nusing accuracyPremultiplier from config)=s59-8?=s5Y- i-ѳ@9=1?=@-aE-X:-:-zs5EB M AIZjiuDNOT Ignoring new targets: 55.30 m.RjqBj} ;Jj} ; ProNav: ac range: 55.299999 m, nav range: 12.708369 m, bearing: 229.660510 deg, approach rate: 0.563183 m/s, LOS rate: 0.332288 deg/s, cmd heading: 37.933163 deg, new cmd heading: 38.291183 deg. 2j d<HeadingCmd: 0.668307 target range: 55.299999 and range: 55.30 m. j/+?jjjihhhhfffrfbf?ɛ]Beջ aeBA>Ia /ɚiIB=I/+?ii>)/+?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFE0JFAG% _>GBO%M>H] _>I] C I] II] BIY &IY .IY 6I] '<:I] A F Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iյ A w,^e.AR?YRs0M?R-q;9R0Qtt vG٣tyv~ v> ~Nusing accuracyPremultiplier from configxs59z?s5Yz izij@x?@zaEz;zZ;zs5 # AZj1=DNOT Ignoring new targets: 55.30 m.Rj9BjE&;JjE&;U ProNav: ac range: 55.299999 m, nav range: 12.930702 m, bearing: 229.764822 deg, approach rate: 0.561792 m/s, LOS rate: 0.259043 deg/s, cmd heading: 38.291185 deg, new cmd heading: 38.598736 deg. 2jU1I 8壼ɚiIB=Iu,?iwGBO[>-Will construct direction to contact in vehicle frame from tetrahedron phase data.J1J1J9J=J=/J9J9J=9J=(N3J9J=l;aEJ=m;aEJ=;%;aMJ=<%;aM w,!@.AybFBb< ImMb@Mb@Mb@iii i)iYmq= ףp?RQ?y&1|ym ?m=m`m$@ i)iImQ@iym@IWI44٢4 @=9Q > G٣y > Nusing accuracyPremultiplier from configs59?s5Y i@ ?:ey?@aE >;;;s5B - AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 55.30 m.RjBj1;Jj1;  ProNav: ac range: 55.299999 m, nav range: 13.165465 m, bearing: 229.873157 deg, approach rate: 0.548568 m/s, LOS rate: 0.248630 deg/s, cmd heading: 38.598738 deg, new cmd heading: 38.917943 deg. 2j *<HeadingCmd: 0.679246 target range: 55.299999 and range: 55.30 m. j-?jjjihhh!h%Bf!f!f)rf)bf- @ɛ]B]& aez8>Ia eɚaiaIeC=Im-?im.- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507460Ga Bq O > w,?.A:؞?Y:A?:Ɂ;9:d^;y:HQ?-?`?Q?`Ie?'P~@k??ɨ:؞?:(;:Cyb=Bb2 IIj^Ij&4٢v7 vV=9vxx zG٣z+PGy~ ~> Nusing accuracyPremultiplier from config s59%? s5Y i@  Lm?@aE:":s5! %r A%EZjIMDNOT Ignoring new targets: 55.30 m.RjIBjU;JjU;e ProNav: ac range: 55.299999 m, nav range: 13.376875 m, bearing: 229.924375 deg, approach rate: 0.553078 m/s, LOS rate: 0.131877 deg/s, cmd heading: 38.917943 deg, new cmd heading: 39.069170 deg. 2je;mHeadingCmd: 0.681886 target range: 55.299999 and range: 55.30 m. jm.?jijijiiihqhqhqhyfyffrfbf)@ɛB*ZHRH@A y}->Iy ㏡ɚiIkPC=I.?i&I I IIBI =&I.I:D6IT<:Ia FBI¥CJI¥CRIZI =bI =jI'5*FI2FQ:FQBFU2JFYGEq4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758971GB)OEQ> $?I  w,</AnWill construct direction to contact in vehicle frame from tetrahedron phase data.nBDAT read: Rx Time:22:48:26.7404 rTRx dataTimestamp_ set to:1736376508.029333rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012492%?Y%;?%";<9%=$ 99 EG٣Ay%6 %> -Nusing accuracyPremultiplier from config)5s59-2?5s5Y- i-C@5m?=:=h?=@-aE- ;-] ;-+s5A M AMEZjDNOT Ignoring new targets: 55.30 m.RjBjٷ:Jjٷ: ProNav: ac range: 55.299999 m, nav range: 13.626760 m, bearing: 229.963750 deg, approach rate: 0.519571 m/s, LOS rate: 0.080367 deg/s, cmd heading: 39.069170 deg, new cmd heading: 39.185127 deg. 2j\;HeadingCmd: 0.683909 target range: 55.299999 and range: 55.30 m. j/?jjjihhh!h%فBf!f!f!rf)bf-` @ɛBE %>I :ɚiIUC=I/?iGaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262709O>zK] >LK] 9KY K] K]  !$OlHQU)U `RKe ?JKe >( w,N/A HINhR>YRi`7?RF<<9RvR?;RCyn.Bn IIvdIv?14٢~' ~b=9f;Q >   G٣ y }K  > Nusing accuracyPremultiplier from configs59;?%s5YH i@)-d?-@aE`;n;s5A M AIZj DNOT Ignoring new targets: 55.30 m.RjBj0:Jj0:- ProNav: ac range: 55.299999 m, nav range: 13.802065 m, bearing: 229.977519 deg, approach rate: 0.497500 m/s, LOS rate: 0.038579 deg/s, cmd heading: 39.185127 deg, new cmd heading: 39.225909 deg. 2j-:EHeadingCmd: 0.684621 target range: 55.299999 and range: 55.30 m. jMWC/?jIjIjQiQhYhYhahafififqrfqbf} @ɛBu|^ qu>Iy }iaɚyiyI}C=IWC/?izQ =BDAT read: Tx time:22:48:27.8136 E$Ping request sent.EI I IIBI =&I.I6Ip<:Is FGM =G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:48:27.8128 R w,y3/A6N>Y62?6`<9646I;6CyB&BB IIJ[IJK!4٢R RP=9V;Q V>TT ZG٣Z,PGyZ7 Z> eNusing accuracyPremultiplier from configYes59]G?ms5Y] i]ײ@im_?m@]aE]:]\:]s5y }0 Ay addTargetRange:: Added new target pos. range: 54.400002 m, deltaT: 3.532973 s, deltaX: -0.899998 m, approachRate: -0.254742 m/s, rangeRepo size: 4 Zj 5DNOT Ignoring new targets: 55.30 m.Rj1Bj=O8JjEO8 ProNav: ac range: 55.299999 m, nav range: 14.019154 m, bearing: 229.978662 deg, approach rate: 0.547351 m/s, LOS rate: 0.002838 deg/s, cmd heading: 39.225910 deg, new cmd heading: 39.229287 deg. 2jP8HeadingCmd: 0.684680 target range: 55.299999 and range: 54.40 m. j4G/?jjjihhhhfffrf@33K@bfع? u$?Iqɛ ܁B  ">I WɚiIk,D=I4G/?i]JJJJJM:JJJJ;J ;JJ9 w,M/Ay~B~ IMb@Mb@Mb@ )Y\(\?L7A`?y&1y>+=`eI@ @)`@I@y=@I5I3٢# :=9Q > G٣y > Nusing accuracyPremultiplier from configs59vS?s5Yښ i@?>:SU?@aE;+;^s5B } AEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 55.30 m.Rj)Bj5vJj5vUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 55.299999 m, nav range: 14.226387 m, bearing: 229.946114 deg, approach rate: 0.501209 m/s, LOS rate: -0.077574 deg/s, cmd heading: 39.229287 deg, new cmd heading: 39.133064 deg. 2jTHeadingCmd: 0.683001 target range: 55.299999 and range: 54.40 m. j$.?jjjihhhhBfffrfbf`)?zKMOKM9KIKMKM ~6?uY?*}smiaZUTOKIGC@A@=;8523/+((%$# BK]qA:K]qAɛفBD! N>I  zɚiI {D=I$.?i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997941_e w,hg/A2m>Y2j+?2x<92M=y2H /?@@Ӧ?`? _?@ @{?r?ɨ2m>2];0yB BBIIJ1IJ3٢b f[=9fhh jG٣hyj n> vNusing accuracyPremultiplier from configtzs59v=^?~s5YvZ iv[@N?@vaEv;v ;vs5jHbH<  AZj%DNOT Ignoring new targets: 55.30 m.Rj!Bj%Jj-HU\>IQ IUy IIUxBIQ&IQ.IQ6IU<:IU F ProNav: ac range: 55.299999 m, nav range: 14.410469 m, bearing: 229.897058 deg, approach rate: 0.455233 m/s, LOS rate: -0.119765 deg/s, cmd heading: 39.133063 deg, new cmd heading: 38.987776 deg. 2jcHeadingCmd: 0.680465 target range: 55.299999 and range: 54.40 m. j2.?jjjihhhhfffrfbf`1?ɛցB7> !-L=Ii mVϜɚiiiImD=Iu2.?iu I IQ W w,p/A LZWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505304N@=>Y= )?=#7<9=i=y=H@D?` # ?@?@@?zF`6?Y?ɨ=>=Z=;=Cy]B]IJJJJJ:J9JJJl;Jm;J;J;Mb@Mb@Mb@ )Y?v/?xi=t@ @)IyI"Iq3٢D +=9:Q > G٣-PGy؞  > Nusing accuracyPremultiplier from config s59 k?s5Y O i @l>:I?@ aE ߆< < ̷s5 K AZjDNOT Ignoring new targets: 55.30 m.RjBj*Jj* ProNav: ac range: 55.299999 m, nav range: 14.626081 m, bearing: 229.827295 deg, approach rate: 0.468358 m/s, LOS rate: -0.149307 deg/s, cmd heading: 38.987775 deg, new cmd heading: 38.781572 deg. 2j̻HeadingCmd: 0.676866 target range: 55.299999 and range: 54.40 m. jG-?jjjihhhhBfffrfbf@?ɛ-ӁB-QP )-=I1 5Nɚ1i1I5HE=I=G-?i=X - $?I5 hEv w,/A2}>Y2غ&?2z<92A"=y2Hq?ST?e?`k?@9`k?` ?ɨ2}>2 ;2Cy:B:IIFWIF44٢Jٖ N}=9R;Q R ?PP VG٣TyVp V ? ZNusing accuracyPremultiplier from configX=s59Zs?=s5YZ iZı@9EG?E@ZaEZ?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007502*F%2F!:F!BF%B5JF)G =GBOm>H]>I IM IITBI =&I.I6I<:I9 F} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258011` w,/A6H>Y6f %?6<96x=y6H@?#&`?6-;6CyBBBIIJoIJD4٢R  VI=9V'E;Q V>XX ZG٣XyZ} ^> bNusing accuracyPremultiplier from config`fs59b~?fs5Yb4 ibv@dfF?j@baEb:b:b,s5nB n An۳EZj DNOT Ignoring new targets: 55.30 m.Rj Bj nFJjnF- ProNav: ac range: 55.299999 m, nav range: 14.955445 m, bearing: 229.709214 deg, approach rate: 0.480638 m/s, LOS rate: -0.173482 deg/s, cmd heading: 38.629559 deg, new cmd heading: 38.431311 deg. 2j-5HeadingCmd: 0.670753 target range: 55.299999 and range: 54.40 m. j5v+?j1j1j1i1hhhhfffrfbf[@ɛ ́BGd U=Iy }=ɚyiyI}F=Iv+?ig<GBIO[>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513344T w,/A2w >Y2'$?2`<92b=y2H ?ݜ?D??*Щ|E?K?ɨ2w >2;;2CyNBNIPRAeMb@Mb@Mb@aaa a)aYe{Gz?/$?Mbye>e G٣.PGy-% > Nusing accuracyPremultiplier from configs59?s5Y i!@=>:0?@aE;;s5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 55.30 m.RjBjaJja5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762066E ProNav: ac range: 55.299999 m, nav range: 15.145866 m, bearing: 229.580354 deg, approach rate: 0.437997 m/s, LOS rate: -0.292672 deg/s, cmd heading: 38.431309 deg, new cmd heading: 38.049594 deg. 2jEHMHeadingCmd: 0.664091 target range: 55.299999 and range: 54.40 m. jM*?jIjIjIiIhQhQhQhUBfYfYfYrfYbf]]6@ɛɁB?$h 隝=I ÚɚiIF=I*?inJ J J J J -:J J J a @a @a @a @\ w,ū/AFg#>YF #?F<9F$-=yFH5?@???cORZ??ɨFg#>F;DyrBrIIYI4٢  S=9%۹Q %>)) -G٣)y5r 5>ZHARHA ]Nusing accuracyPremultiplier from configQms59U햒?ms5YU  iU԰@iu/?u@UaEU7@;U?;Ufs5}B }oA}سEZjDNOT Ignoring new targets: 55.30 m.RjBjJjHI I( II6BI =&I.I6I-<:IF F ProNav: ac range: 55.299999 m, nav range: 15.317881 m, bearing: 229.464422 deg, approach rate: 0.437353 m/s, LOS rate: -0.291452 deg/s, cmd heading: 38.049594 deg, new cmd heading: 37.705707 deg. 2jHHeadingCmd: 0.658089 target range: 55.299999 and range: 54.40 m. jx(?jjjihhhhfffrfbf ҏ @ɛ%ƁB%]o| !-(O=I) - jɚ)iqIu G=I}x(?i}" IN w,0ARWill construct direction to contact in vehicle frame from tetrahedron phase data.jDAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.0 m/s r,DAT read: user:2902> BDAT read: Tx time:22:48:31.3636  $Ping request sent.MĻIMA MC@)M@IM@IyIIaIa٢uO' u=9}Q }>y G٣y > Nusing accuracyPremultiplier from configs59*?s5Y ig@>:Z ?@aE;;s5 A addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.529779 s, deltaX: -0.400002 m, approachRate: -0.113322 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 55.30 m.RjBjDջJjDջ} ProNav: ac range: 55.299999 m, nav range: 15.534973 m, bearing: 229.271161 deg, approach rate: 0.424824 m/s, LOS rate: -0.372902 deg/s, cmd heading: 37.705708 deg, new cmd heading: 37.134048 deg. 2j}HeadingCmd: 0.648111 target range: 55.299999 and range: 54.00 m. j%?jjjihhhhtBfffrfK@bf[?ɛeBe qu=Iq }ɚyiyI}G=I%?ii[<)%?))A Ac~G 5!Y1y5BMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:48:31.3628 *F2F:FBFO0JF"GG=zK5 NK5 59K1 K5 K5   I G G B O > w,G0A>E>Y>x#?>r<9>=y>Hp?E@*?`??} ??ɨ>E>>ۊ;I I II!BI&I.I6IM<:I] FBIŤCJIŤCRIZI =bI =jIJ5G2<GBOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,>90A2>Y2#?2Z<92>5=y2H`u?L\???@ϴ  ּ??ɨ2>2Ɗ;0y>ЁBBIIJEIJ3٢R! RM=9VaƻQ V>TT ZG٣XyZk Z> bNusing accuracyPremultiplier from config\bs59^?fs5Y^~ i^د@df ?f@^aE^j;^;^Fs5h r$?Ip jApZjDNOT Ignoring new targets: 55.30 m.RjBjػJjػ- ProNav: ac range: 55.299999 m, nav range: 15.846817 m, bearing: 229.004264 deg, approach rate: 0.451259 m/s, LOS rate: -0.378666 deg/s, cmd heading: 36.769080 deg, new cmd heading: 36.341342 deg. 2j-5HeadingCmd: 0.634276 target range: 55.299999 and range: 54.00 m. j=_"?j9j9j9i9h9h9hAhAfAfAfIrfIbfM@"?ɛ}B}= y}0=I KɚiIH=I_"?ii<)_"?)*F2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJQGu7+\<GIBYOu> w,3nS0A6K>Y6#?6Q<96-=y6H`?r1m?-?@ ? @h9 ӽ??ɨ6K>6<;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yBՁBFIMb@Mb@Mb@ )YA`"?I +y>̼947A )@I@y(@AAI,I3٢V< <=9kڻQ > G٣yr; > Nusing accuracyPremultiplier from configs59Ȓ?s5Y{ i@>:?@aEp;;s5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 55.30 m.RjBjJj滝% ProNav: ac range: 55.299999 m, nav range: 16.024555 m, bearing: 228.827953 deg, approach rate: 0.410088 m/s, LOS rate: -0.402282 deg/s, cmd heading: 36.341343 deg, new cmd heading: 35.818293 deg. 2j% MHeadingCmd: 0.625147 target range: 55.299999 and range: 54.00 m. jM ?jIjQjQiYhYhahihm~Bfqfyfyrfybf}`&?zK#LK9KKKɛB*x 隕pa=I :8ɚiIgH=I ?ii =) ?) I*F 2F :FBF0JFGd<GBOc>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.JQ JU JU 0JQ JQ JU 9JU ـ3JQ jH bH H _>I  I II BI &I .I 6I Q<:I a FY w,RFm0AJ>YJt#?J~G<9JP=yJH ?L@ߛ???`ْ)h?e?ɨJ>Jc;JCynӁBnIIv^Iv&4٢e T=9VֺQ >    G٣ y ' > Nusing accuracyPremultiplier from config%s59uԒ?%s5Yy iW@!%D?%@aE\ ; ;ns51 5A5ҳEZjaeDNOT Ignoring new targets: 55.30 m.RjaBjmJjm⻝} ProNav: ac range: 55.299999 m, nav range: 16.181988 m, bearing: 228.674256 deg, approach rate: 0.409647 m/s, LOS rate: -0.396037 deg/s, cmd heading: 35.818294 deg, new cmd heading: 35.361698 deg. 2j}凼HeadingCmd: 0.617178 target range: 55.299999 and range: 54.00 m. jb?jjjihhhhfffrfbf &?ɛBU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004646I! w,*0Ayu؁B}IMb@Mb@Mb@ )YS?:v~jtxy/>ԼĻMA @)v@I@yIE\IE#4٢U< U6=9UQ ]>YY ]G٣]0PGye e> mNusing accuracyPremultiplier from configius59m⒜?us5Ymv im#@u>}:}?}@maEm;m;mWs5 AZjDNOT Ignoring new targets: 55.30 m.RjBjOJjO㻝 ProNav: ac range: 55.299999 m, nav range: 16.368799 m, bearing: 228.494006 deg, approach rate: 0.416684 m/s, LOS rate: -0.397458 deg/s, cmd heading: 35.361699 deg, new cmd heading: 34.827139 deg. 2jbHeadingCmd: 0.607848 target range: 55.299999 and range: 54.00 m. j?jjjihhhhBfffrfbfQ+@ɛ%B-R` 15=I1 5Xɚ9i9I=ɠI=I=?iAiEC@=)E?)A*F2F:FBF@5JFG{=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258760GqByO~>zK k3IK K K K  #%!  *Lgj*VERK ?JK > I ' w,T0AV>YV."?V%<9VH=yVH ?@a?`,?@R?`AHsվ??ɨV>V +;VCybBbIIviIv:4٢5:.= =_=9=Q =>AA EG٣AyE! E> UNusing accuracyPremultiplier from configIUs59MU풜?]s5YMt iM@Y]?]@MaEM ;M2 ;Ms5a mwAiZjDNOT Ignoring new targets: 55.30 m.RjBjJj⻝ ProNav: ac range: 55.299999 m, nav range: 16.522161 m, bearing: 228.347653 deg, approach rate: 0.419542 m/s, LOS rate: -0.396651 deg/s, cmd heading: 34.827138 deg, new cmd heading: 34.392163 deg. 2jHeadingCmd: 0.600257 target range: 55.299999 and range: 54.00 m. ji?jjjihhhhfffrfbf 1@Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511199ɛUB]T> aep=Ia m@—ɚqiqIuuI=Ii?ii:N=J=J=J9J9J=}:J=9J9J9)i?)i*F2F:FBFP0JFHUa>IUC IU IIUBIU =&IQ.IU;D6IU<:IU FG5 =G= pAG= qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761814Ga Bq O >. w,غ0A 4I4>a>Y>,"?>./<9>=y>H ;?q踳?@;? ?@Hcڅ ?J?ɨ>a>>‰;>CyJBJIIVLIV4٢Z= ^S=9 ݩQ  >   G٣y%7 -> =Nusing accuracyPremultiplier from config9Es59=?Es5Y=r i=Ѯ@AMP?M@=aE=7:=X:=s5UB U?AUϳEZjDNOT Ignoring new targets: 55.30 m.RjBj޻Jj޻ ProNav: ac range: 55.299999 m, nav range: 16.689642 m, bearing: 228.189593 deg, approach rate: 0.415681 m/s, LOS rate: -0.388362 deg/s, cmd heading: 34.392164 deg, new cmd heading: 33.922755 deg. 2jCHeadingCmd: 0.592064 target range: 55.299999 and range: 54.00 m. j~?jjjihhhhfffrfbfO@ɛB' X=I ɚiI!J=I ~?i i zb=) ~?) *Fu2Fq:FyBFyJFyG}7=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=>9UBDAT read: Rx Time:22:48:33.8401 mTRx dataTimestamp_ set to:1736376515.094269}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007GBOmW>4 w,0A6$>Y6~!?6,M;96ݿ=y6H ?L ,?? )?{`y E?\?ɨ6$>6*;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265463yrBrIMb@Mb@Mb@ )Yw/?tD;~A )VAI$@y@IeI34٢U= 9=9Q > G٣1PGyk > Nusing accuracyPremultiplier from configs59?s5Y-o iʮ@>:p?@aE`;a;s5   A ͳEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 55.30 m.RjBjλJjλzKOK59KKKGV@[q]H0|{xqoje^YUQOMJD?:400.)&' ProNav: ac range: 55.299999 m, nav range: 16.876629 m, bearing: 228.027886 deg, approach rate: 0.422500 m/s, LOS rate: -0.361331 deg/s, cmd heading: 33.922756 deg, new cmd heading: 33.443021 deg. 2jw U$?IUh]HeadingCmd: 0.583691 target range: 55.299999 and range: 54.00 m. j]l?jYjYjYiYhahahaheBfif)f)rf)bf5w. @ɛBv 隝<>I ?וɚiIaJ=Il?i  BDAT read: Tx time:22:48:34.9637  $Ping request sent. I=N0=i=D?=+u99 :publishing transmit ping timeؙ % Fpublishing direction and range info99=[|t?:JIg?v+?y9999 9)9I9i99999 9)9I9HM c>II  IM ! IIM 1BIM  =&II .II Ga Bq 6IM W<:IM j FO >i999=#$9?zZ^ HC)9I9i9999N; w,}0A6>Y6 ?6N;96W=y6HZ?j`"?j??,)`&>q`e??ɨ6>6u;6Cy~BIIJI)4٢E= ET=9MQ M>II UG٣QyU+ U> Nusing accuracyPremultiplier from configys59}m?s5Y}l i}Ǯ@h?@}aE}a:}:}2s5 \ AʳEkmtri?kmn e8 ki km0A:kmfXBBkmVBZkm@ @"má'?*=?@F@m[|t?:JIg?v+?JkmD?Rkm+u*m[`WՇ,45@OfG@m2пgׁ? ? ?"km~A*km>dkmmI  ɚiI]~J=I ?i i T=) ?)*F2F:FBF^0JF IIIG]f=GB!OMt>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju Ju Jq Jq Ju :Ju 59Jq Jq Ju S;a Ju T;a Ju ;a Ju ;a >B w,k 1A2 q>Y2t4 ?2I:92x=y2H`?@3 g?`m??2;0yBBBI)H HuMb@Mb@Mb@qqq q)qYu/$?ut G٣y > Nusing accuracyPremultiplier from config%s59d!?%s5YXi i@%@>%:%u$?-@aE;; s51 5 A1ZjTStopped intercept timer at range: 54.10 m.DNOT Ignoring new targets: 54.10 m.RjBj|q;Jj|q; ProNav: ac range: 54.099998 m, nav range: 16.590170 m, bearing: 209.558531 deg, approach rate: 0.480549 m/s, LOS rate: 0.211124 deg/s, cmd heading: 33.012230 deg, new cmd heading: 33.282791 deg. 2j<HeadingCmd: 0.580894 target range: 54.099998 and range: 54.10 m. j}?jjjih h h h ˁBf1f1f1rf1bf=?ɛBAm 隅S>I OɚiIՏJ=IU}?iUKZH w,#1AB:>YB?B ֺ9B՞=yBH?@ b???.aZ?ճ? ]?ɨB:>B;BCyNBN IIVKIV4٢^G= ^a=9b Q b>`` bG٣b2PGyfl f> rNusing accuracyPremultiplier from configlzs59n,?~s5Ynf in @|Q#?@naEnT;n;n-s5   AZj==VStarting intercept timer at range: 54.10 m.EDNOT Ignoring new targets: 54.10 m.RjABjEac;JjMac;U ProNav: ac range: 54.099998 m, nav range: 16.758286 m, bearing: 209.629036 deg, approach rate: 0.478809 m/s, LOS rate: 0.198792 deg/s, cmd heading: 33.282791 deg, new cmd heading: 33.492185 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.2jm<HeadingCmd: 0.584549 target range: 54.099998 and range: 54.10 m. j?jjjihhh)h)f1fIfQrfQbf ?ɛB@ rv>I  ϑɚiIIJ=I-?i-IC IG IIOBI =&IFD.I6IQ<:Ig F*F2F!:F!BF%0JF!M Will construct direction to contact in vehicle frame from tetrahedron phase data.GE KXi=G B) O] > I #N w,<1A6k>Y6e?6gj96坛=y6H`#?iu?`Ju?5?fLm? n?`O?ɨ6k>6|;4yV%BV II^"I^q3٢fl%= fI=9fgQ j>hh jG٣hynf n> vNusing accuracyPremultiplier from configpzs59r9?zs5Yrc ir6@xz!?~@raErC;rD;rs5B _ AdzEZj)5DNOT Ignoring new targets: 54.10 m.Rj1Bj5P;Jj5P;E ProNav: ac range: 54.099998 m, nav range: 16.947947 m, bearing: 209.703192 deg, approach rate: 0.471581 m/s, LOS rate: 0.182320 deg/s, cmd heading: 33.492184 deg, new cmd heading: 33.712160 deg. 2jM?;MHeadingCmd: 0.588388 target range: 54.099998 and range: 54.10 m. jU?jQjQjQiQhQhYhYhYfYfafarfabfeu?ɛB|: 隥>I CɚiIs|J=I?iF>JJJJJ]:JH9JJJ:;J;;JQ;JR;m NG Y y B] Will construct direction to contact in vehicle frame from tetrahedron phase data.8qU w,V1A2>Y2o?2h92=y2HF??`oC VУ?@M?)?ɰ`dw? o?@7?ɨ2>2ߘ;2CynIrx>mMb@Mb@Mb@iii i)iYmZd;O?ˡE?m'=mt G٣y^ > Nusing accuracyPremultiplier from configs59G?s5Y$` i@t>:`0?@bE/; ;|s5  AB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 54.10 m.DNOT Ignoring new targets: 54.10 m.RjBj#;Jj #; U$?IQ ProNav: ac range: 54.099998 m, nav range: 17.158123 m, bearing: 209.824046 deg, approach rate: 0.486843 m/s, LOS rate: 0.276511 deg/s, cmd heading: 33.712161 deg, new cmd heading: 34.070276 deg. 2j=<HeadingCmd: 0.594639 target range: 54.099998 and range: 54.10 m. j;:?jjjihhhhBfffrfbfX?zK%3ZMK%59K!K%K% BK1:K5nAɛEBMjK; M2@=Mw>II MɚIiQIUzZJ=IU;:?i]~I  I  II }BI  =&I .I ؗ[ w, p1A6P>Y6T?696=y6H@V?L#?,???R???@?ɨ6P>6&^;6Cy>KB>B IIJZIJ4٢R= R\=9RQ V>XX ZG٣Z3PGyZW ^> bNusing accuracyPremultiplier from config`fs59bS?fs5Yb] ibׯ@df/?f@bbEb:bU:bs5l n4 AnijEZjVStarting intercept timer at range: 54.10 m.DNOT Ignoring new targets: 54.10 m.RjBj $;Jj $; ProNav: ac range: 54.099998 m, nav range: 17.339827 m, bearing: 209.923090 deg, approach rate: 0.489972 m/s, LOS rate: 0.264278 deg/s, cmd heading: 34.070278 deg, new cmd heading: 34.364294 deg. 2j_5<%HeadingCmd: 0.599770 target range: 54.099998 and range: 54.10 m. j%?j)j)j)i1h1h1h9h9f9f9f9rfAbfE`@ɛmBma< im>Iq uɚqiqIu*J=I}?i}Y Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477824J J J J J =:J 9J J J ԥ;J ե;J F;J G;b w,1Ay޵XB޵R IUMb@Mb@Mb@QQQ Q)QYUy&1?#~j??yU`?U=Uy G٣y > Nusing accuracyPremultiplier from configs59b?s5YX i]@!?:A?@bE;<;s5  AZjTStopped intercept timer at range: 54.10 m.DNOT Ignoring new targets: 54.10 m.RjBj;Jj; ProNav: ac range: 54.099998 m, nav range: 17.577909 m, bearing: 210.106422 deg, approach rate: 0.512579 m/s, LOS rate: 0.389358 deg/s, cmd heading: 34.364294 deg, new cmd heading: 34.906824 deg. 2j<HeadingCmd: 0.609239 target range: 54.099998 and range: 54.10 m. j?jjjihhh h  Bf ffrfbfS`@ɛEBEP; IMU>II M4ɚIiQIUI=IU?iYi]S<)]?)Y*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%?%C=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727878 5$?I1G% l=zK KK 9K K K G B O% >hh w,HP1A2'.>Y2?2(<92 =y2H*i?>`C??@M? )I?`Z?@?ɨ2'.>2%;2Cy:jB:h I)@ @HHIVCIV3٢~= ~g=9,Q > G٣ y @  > Nusing accuracyPremultiplier from configt59I ëɚiIlI=IN?i i ;) N?) H5g>I1 I5 II5BI1&I1.I16I5J<:I5c FE]зe=*F2F:FBFJFG <- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230563G B O > ) I) vn w,Q/1A6>Y6E?6<[U96G=y6Hc?```-??D?  6???ɨ6>6 \;6CyBoBBo IIJFIJ%3٢R< RP=9R{Q V>TT VG٣V4PGyZ:; Z> ^Nusing accuracyPremultiplier from config\bt59^z?bt5Y^Q i^G@df)@?f@^ bE^;^<;^Qt5nB n AnEZj DNOT Ignoring new targets: 54.10 m.Rj Bj;Jj; ProNav: ac range: 54.099998 m, nav range: 17.961300 m, bearing: 210.385906 deg, approach rate: 0.515918 m/s, LOS rate: 0.368646 deg/s, cmd heading: 35.303930 deg, new cmd heading: 35.736247 deg. 2j|<HeadingCmd: 0.623715 target range: 54.099998 and range: 54.10 m. j̫?jjjihhh h f ffrf!bf%  @ɛB"fX< 隝>I WɚiICI=I̫?iio5;)̫?)ESE=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.5 ms) speed 0.0 m/s ,DAT read: user:2904> BDAT read: Tx time:22:48:38.5137 $Ping request sent.= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:22:48:38.5129 6u w,1Ay~vB~w I I-U G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configt59:?mt5Y(M iݱ@u+:qu:qu@bE<>t5y } A}EB*** querying acoustic contact ***jjzKk3IK9KKK'++'$""     addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.529357 s, deltaX: 0.200001 m, approachRate: 0.056668 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 54.10 m.Rj!Bj- ;Jj- ;= ProNav: ac range: 54.099998 m, nav range: 18.202888 m, bearing: 210.556135 deg, approach rate: 0.482954 m/s, LOS rate: 0.335784 deg/s, cmd heading: 35.736246 deg, new cmd heading: 36.240142 deg. 2j=rfI 2ɚiI=H=I)!?iit))!?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ee $?=ZH! RH! H1 I1  I5 II5 ĂBI1 &I1 .I1 6I5 V<:I5 k F*F 2F :F BF P0JF G g;G ?G ?Gq By ! bCommunications Fault in component: RDI_PathfinderO > | w,|1A6hH>Y6! ?696=y6H^L?E.ѥ?@8?"?`#ҷ@~?ɹ??ɨ6hH>6;6Cy>|B> IF@FPowering downFF JJIN4INV3٢R= Vj=9VlQ V>XX ZG٣Xy^g< ^> bbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jt59bw?jt5YbI ibV@n :ln:n@A?n@bbEb{r;bLR?b t5p r AvEZj DNOT Ignoring new targets: 54.10 m.RjBj;Jj;% ProNav: ac range: 54.099998 m, nav range: 18.381556 m, bearing: 210.681568 deg, approach rate: 0.562453 m/s, LOS rate: 0.391029 deg/s, cmd heading: 36.240140 deg, new cmd heading: 36.612774 deg. 2j-.<HeadingCmd: 0.639013 target range: 54.099998 and range: 54.30 m. jc#?jjjihhhhfffrfbf@g?ɛMBM !< IU>IQ Ul{ɚQiQIUxqH=I]c#?iYi]A)ec#?)aEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746374 m$?Imh*F2F:FBFg0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998343G !j;J J J J J :J 59J J J ;J ;J ;J ;G B O > w, 2AFA>YF؜?F9FD=yFH )C? :눦?E?6?U`?9??ɨFA>F;DyRwBRx IIZIZF2٢b.Ƽ bC=9b"Q f>dd jG٣j5PGynf; n> rbBottom track data is 1.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpvt59r?zt5YrE ir@z9x~U:~A?~@rbErJ;r۞?r t5  AZj)-DNOT Ignoring new targets: 54.10 m.Rj)Bj5;Jj5;E ProNav: ac range: 54.099998 m, nav range: 18.597275 m, bearing: 210.830825 deg, approach rate: 0.514090 m/s, LOS rate: 0.351575 deg/s, cmd heading: 36.612775 deg, new cmd heading: 37.055344 deg. 2jEHqI) 5Euɚ1i1I5G=I=%?i9i=$&)=%?)A*F2F:FBF05JFG}:mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252201GBOD> IzK= nMK= 9K9 K= K= RKM >JKM ?D w,&2AbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502323y%xB%y IIMIM[3٢ \e;  8=9Q >!) -G٣)y= => ebBottom track data is 1.7 s old, using for 20.0 s. eNusing accuracyPremultiplier from configI}t59M?}t5YMA iM@}9y}-:y}@MbEM6;M?MHt5  AEZjDNOT Ignoring new targets: 54.10 m.RjBj;Jj; ProNav: ac range: 54.099998 m, nav range: 18.828117 m, bearing: 210.986665 deg, approach rate: 0.510096 m/s, LOS rate: 0.340139 deg/s, cmd heading: 37.055344 deg, new cmd heading: 37.517120 deg. 2joi<HeadingCmd: 0.654797 target range: 54.099998 and range: 54.30 m. jˠ'?jjjihhhhfffH9I9 I= II=؂BI9&I9.I96I=_<:I=q Frfybf}@R?ɛB< 6>I VUnɚiIfG=Iˠ'?ii<)ˠ'?)*F2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754426G HG qAG pA $?I G B ! dClearing failed state for component RDI_Pathfinder O >`- w,Q@2A6E>Y6A?6:Fɼ964}=y6H6?J?V?}?`!(?`۽??ɨ6E>6);6CyB{BB} I)D D=J:Expecting PD13 message formatIRDIR3٢Z < Zc=9ZR9Q Z>\\ bG٣`yb4; b> jbBottom track data is 2.0 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnt59f輓?nt5Yf3> if@n9lr :r%B?r@fbEf06;f@f\t5t v AtZjDNOT Ignoring new targets: 54.10 m.RjBj;Jj; ProNav: ac range: 54.099998 m, nav range: 19.010265 m, bearing: 211.107997 deg, approach rate: 0.495874 m/s, LOS rate: 0.327146 deg/s, cmd heading: 37.517119 deg, new cmd heading: 37.877623 deg. 2j`<HeadingCmd: 0.661089 target range: 54.099998 and range: 54.30 m. j%=)?jjjihhhhfffrfbf:?ɛeBe< eS=e>Ia mhɚiiiImF=I%=)?ii2)%=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007103*Fm2Fi:FiBFmP0JFiGEK7GB O%M>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} 8?y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258583 W w,Z2A DIDJq>YJ?JT2м9JdQ=yJH].?T q?a?x?*[?jS?ſ?ɨJq>J(;JCynsBnt IItIt٢ %D=9%Q %>)) -G٣-6PGy-; -> ]bBottom track data is 2.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1et595Oʓ?et5Y58: i5@mo9im9mB?m@5"bE5G;5@5dt5q  AZjDNOT Ignoring new targets: 54.10 m.RjBj!;Jj!; ProNav: ac range: 54.099998 m, nav range: 19.224575 m, bearing: 211.248671 deg, approach rate: 0.517564 m/s, LOS rate: 0.335945 deg/s, cmd heading: 37.877623 deg, new cmd heading: 38.294935 deg. 2jf<%HeadingCmd: 0.668373 target range: 54.099998 and range: 54.30 m. j%y+?j!j!j!i!h)h)h)h)f1fQfQrfQbf]`:@ɛB< .>I bɚiIHF=zK-uJK-+9K)K-K-Iuy+?iugII  II II II &IM GD.II 6IM |<:IM FG ňG B O >ꀜ w,qt2A2i>Y20?2j׼92D>y2HK%?_DȪ?Fn??@?[??ɨ2i>2E;2Cy>fB>d IIFRIFW4٢Ng NS=9NNQ R>PP RG٣PyV; V> ^bBottom track data is 2.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXbt59Z֓?bt5YZ6 iZX@bB9`b9bB?f@Z%bEZ'8;Z\6@Z*t5jB jd AjEuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 54.10 m.RjBj;Jj; ProNav: ac range: 54.099998 m, nav range: 19.423346 m, bearing: 211.377256 deg, approach rate: 0.507053 m/s, LOS rate: 0.324657 deg/s, cmd heading: 38.294934 deg, new cmd heading: 38.676736 deg. 2j^<HeadingCmd: 0.675036 target range: 54.099998 and range: 54.30 m. j/,?jjjihhhhfffrfbf@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762500ɛ]Be*֎< im>Ii m\ɚiiiIu^E=I/,?iij^)/,?) }$?I*Fm2Fi:FiBFm_0JFiGE8GB O-N> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:48:40.9906  TRx dataTimestamp_ set to:1736376522.144799 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015547j w,T2A:*>Y:_?:o9:( >y:H@?@u@A???t֜?`U??ɨ:*>:곉;:Cy^]B^X Iib>IbIjEIj3٢r9 rE=9rːQ v>tt vG٣tyz< z> bBottom track data is 3.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|t59~㓜? t5Y~2 i~@ 9  9 C? @~)bE~&;~P@~t5  AZjIMDNOT Ignoring new targets: 54.10 m.RjIBjUg;JjUg;e ProNav: ac range: 54.099998 m, nav range: 19.635773 m, bearing: 211.513731 deg, approach rate: 0.534888 m/s, LOS rate: 0.339924 deg/s, cmd heading: 38.676735 deg, new cmd heading: 39.081724 deg. 2jeIiI WɚiI'E=Ik.?iiD)k.?)) cCc~G -"Y)y-=BMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267821E@>= aIa*F2F:FBFP0JFzK jIK 59K K K G EG  Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531172B O>JEJEJAJAJEM:JE9JAJA w,2AH^e>I^C I^ II^ɂBI^ =&I\.I^;D6I^<:I^ FBIuCJIuCRIqZIu =bIu =jIu5U:>YUh?U9UE >yUHZ?R ??઱?S{?l??ɨU:>U%@;UCyޥQBޭI IIWI44٢= !=9Q > G٣7PGy< > bBottom track data is 3.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configt59?%t5Y- i׶@%8)-q9-D?-@-bEÜ;wq@t51 5 A5EZjY]DNOT Ignoring new targets: 54.10 m.RjYBjj;Jjj; ProNav: ac range: 54.099998 m, nav range: 19.896269 m, bearing: 211.679979 deg, approach rate: 0.511969 m/s, LOS rate: 0.322458 deg/s, cmd heading: 39.081724 deg, new cmd heading: 39.573924 deg. 2jL]<HeadingCmd: 0.690695 target range: 54.099998 and range: 54.30 m. jh0?jjjihhhhfffrfbf W @ɛ%B-LA< )-,>I) -Pɚ)i1I5QsD=I5h0?i=! BDAT read: Tx time:22:48:42.1137 $Ping request sent.]\direction in FSK: [0.036201,0.645648,0.762777]]:publishing transmit ping time؉eFpublishing direction and range info195v-N?0%? w۪h?y5ZB15 )5!; 55)5II57i5E?5}>5h5s?54QO 5.?)5ϢI5?3?i5Ϣ=115_`8m?W(uGF@)5递I5ʰO=i5~?5^11}:publishing transmit ping time؉}Fpublishing direction and range info195v-N?0%? w۪h?y1111 1)1I1i11111 1)1I1i1115_`8m?W(uGF@)1I1i1111e w,2A66>Y6N ?6V96>y6H|?|?'???`p`ޟ? ?*?ɨ66>6;6 CyNABR6 IIVgIV64٢fL fe=9f[Q j>hh jG٣hyn1< n> vbBottom track data is 4.1 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzt59ro?zt5Yr:* irp@z8xzC9zE?~@r0bErg5;r@rt5  AkعT?kX Will construct direction to contact in vehicle frame from tetrahedron phase data.k k2A:kZBBkXBZkQ^ @"n%a>?UK A@^~!D@v-N?0%? w۪h?Jk~?Rk^*&EW0?Du7@) C?G@Dagӿ*!=? kS ?"kmA*k2k펎?k- 2kBkkzsR kBkAkC@E addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.778020 s, deltaX: 0.200001 m, approachRate: 0.052938 m/s, rangeRepo size: 4  Added new target pos. range: 54.500000 m, bearing: 124.769096 deg, lat: 36.904834 deg, lon: -122.119632 deg, deltaT: 7.307377 s, deltaX: 0.400002 m, approachRate: 0.054739 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 54.50 m.RjBjJj ProNav: ac range: 54.500000 m, nav range: 17.123386 m, bearing: 175.307255 deg, approach rate: 0.000000 m/s, LOS rate: 0.322458 deg/s, cmd heading: 39.573925 deg, new cmd heading: 39.948892 deg. 2jHeadingCmd: 0.697240 target range: 54.500000 and range: 54.50 m. jM~2?jjjihhhhfffrf@K@bf?ɛeBe]< aem>Ia mzKɚiIC=IM~2?i\vv w,~2AzKK9KKK    BK:KqAB>YBN"?B%9B >yBH?@%?? g? @@?:g??ɨB>B};BCyN3BN$ I)P PIV6IVm3٢^r ^1=9bQ b>`d fG٣dyf< f> nbBottom track data is 4.6 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrt59j ?rt5Yj% ij<@r8tv9vH?v@j4bEj7;jؒ@jGt5x z AxZjDNOT Ignoring new targets: 54.50 m.RjBj-<Jj-<= ProNav: ac range: 54.500000 m, nav range: 17.281359 m, bearing: 175.918323 deg, approach rate: 0.368796 m/s, LOS rate: 1.413507 deg/s, cmd heading: 39.948892 deg, new cmd heading: 41.764694 deg. 2j=r=EHeadingCmd: 0.728931 target range: 54.500000 and range: 54.50 m. jE@:?jAjAjAiAhIhIhIhIfQfQfQrfQbfU@eQ?ɛUBU9< QU>Iy  GɚiI6C=I r:?ii7w_)@:?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFJYJ]JYJYJYJ]9JYJYG HEb>IA IE IIEBIE =&IA.IA6IEW<:IEh FGBO?> Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,'2A>v>Y>f$?>y<9>>y>H?@"?b/?S=?]c {Ƣ?`v>>㎍;>CyNBR IIVIV3٢~qŽ ~H=9Q >  G٣ 8PGy <  > bBottom track data is 5.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%t59?%t5Y! i@-8)-9-5J?-@8bED;@t55B 5 A5E]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 54.50 m.RjiBjuǸ<JjuǸ< ProNav: ac range: 54.500000 m, nav range: 17.422024 m, bearing: 176.453976 deg, approach rate: 0.342151 m/s, LOS rate: 1.292373 deg/s, cmd heading: 41.764694 deg, new cmd heading: 43.358245 deg. 2j]=HeadingCmd: 0.756744 target range: 54.500000 and range: 54.50 m. jA?jjjihhhhfffrfbf@?ɛB6'< >I N%CɚiIB=IA?ii)A?)PExceeded connect timeout, disconnecting.*Fu2Fq:FqBFuP5JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G_GQBYO}>| w,!3A6v>Y6&?6)96>y6Hn?R@w?@b?G?¿#?&? ?ɨ6v>6Vv;4yN BNIIZIZ?13٢b` bN=9fDQ f>dd jG٣hyj< j> rbBottom track data is 5.4 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpvt59r&?vt5Yr ir@z[8xz8zL?z@r;bErP';r@rt5| 6 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467411ZjDNOT Ignoring new targets: 54.50 m.RjBjc<Jjc< ProNav: ac range: 54.500000 m, nav range: 17.558966 m, bearing: 176.969392 deg, approach rate: 0.330359 m/s, LOS rate: 1.233680 deg/s, cmd heading: 43.358246 deg, new cmd heading: 44.892050 deg. 2jS=HeadingCmd: 0.783514 target range: 54.500000 and range: 54.50 m. jaH?jjjihhh h f f f rf =$?I9bf k?ɛB; 隝)>I E?ɚiIB=IaH?iiy)aH?)*F2F:FBF05JFGelL=GaGaGB)OMS>zKGMK9KKK.M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720972J J J /J J J J (N3J HE _>IE C IE IIE BIE  =&IA .IA 6IE &<:IE A F w,03A2>Y2Nc(?2=92O>y2HoN?y xȰ?Ɍ?`?x¿ qբ?? p?ɨ2>24ˍ;2CyNBNIiR=IRJ>IVeIV34٢^Qּ ^K=9^:Q b>`` bG٣`yfÄ< f> nbBottom track data is 5.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighnt59jG3?rt5Yj ijg@r18pr8rM?r@j>bEj9;j@jt5zB zf AzEZj!%DNOT Ignoring new targets: 54.50 m.Rj!Bj-<Jj-<= ProNav: ac range: 54.500000 m, nav range: 17.698210 m, bearing: 177.486428 deg, approach rate: 0.361848 m/s, LOS rate: 1.333010 deg/s, cmd heading: 44.892050 deg, new cmd heading: 46.430564 deg. 2j=d=EHeadingCmd: 0.810366 target range: 54.500000 and range: 54.50 m. jE)tO?jAjAjAiAhIhIhIhIfQfQfQrfQbf]@R?ɛ}~BE< 隅>I ;ɚiI-tA=I5)tO?i1i5ӽ)5)tO?)9*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972346Gr )I)GBOA> mnManaging dock network, ignoring radio surface power offU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223296 w,,J3Ay5B5IIEVIEn4٢uܫ u?=9uQ u>yy }G٣}9PGy > bBottom track data is 6.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configt59o@?t5Y i,@88@BbE0;@@!t5  AZjDNOT Ignoring new targets: 54.50 m.RjBjQ<JjQ< ProNav: ac range: 54.500000 m, nav range: 17.847897 m, bearing: 178.027564 deg, approach rate: 0.349861 m/s, LOS rate: 1.254161 deg/s, cmd heading: 46.430564 deg, new cmd heading: 48.039908 deg. 2j.W=HeadingCmd: 0.838455 target range: 54.500000 and range: 54.50 m. jV?jjjihhh h f f frfbf@k@ɛ=}B=N; AE4p>IA E8ɚAiAIM@=IMV?iIiU)UV?)Q*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475541 $?IG GU?GU#?G B) OE > w,d3AzKN0/MKN9KLKNKN  ~K>Y~\+?~I9~T*>y~H@?@?`?B? ÿ?-?X?ɨ~K>~%t;|yBIIEBIE3٢U UM=9U0~Q ]> G٣y3< > bBottom track data is 6.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configt59L?t5Yu i@7]8qP?@EbEG;E@@t5 bAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728213ZjAMDNOT Ignoring new targets: 54.50 m.RjIBj<Jj< ProNav: ac range: 54.500000 m, nav range: 17.988270 m, bearing: 178.532637 deg, approach rate: 0.312652 m/s, LOS rate: 1.116151 deg/s, cmd heading: 48.039907 deg, new cmd heading: 49.542937 deg. 2j?=HeadingCmd: 0.864687 target range: 54.500000 and range: 54.50 m. j'\]?jjjihhhhfQfQfQrfQbf]`2@H]>I IZ II^BI =&I.I:D6I,<:ID Fɛ-|B5% ; 15W>I1 5?5ɚ1i9I=_;@=I='\]?iAic )'\]?)*F2F:F BF JF G&GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. %> 4= BDAT read: Rx Time:22:48:44.5908  TRx dataTimestamp_ set to:1736376525.924889 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980736 I w,n~3A:Z>Y:V)-?:9:0>y:H?2?`?qt?YĿ`?A?`?ɨ:Z>:;8y^B^I)` `IfEIf3٢ʼ  O=9 ;Q  > G٣y< > %bBottom track data is 7.0 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-t59%kX?5t5Y%  i%@=79=38= R?=@%HbE%p;%@%Xt5A MAMEeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 54.50 m.RjqBj}<Jj}< ProNav: ac range: 54.500000 m, nav range: 18.124601 m, bearing: 179.017397 deg, approach rate: 0.395436 m/s, LOS rate: 1.395476 deg/s, cmd heading: 49.542938 deg, new cmd heading: 50.985958 deg. 2jlo=HeadingCmd: 0.889873 target range: 54.500000 and range: 54.50 m. jc?jjjihhhhfffrfbf@I @ɛ`; N>I L3ɚiIu?=Ic?ii{)c?)q*F-2F):F)BF-`0JF)GGBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231387JYJ]J]1JYJYJ]9J]3JYJ];amJ] ;amJ]p#;amJ]q#;am w,K3A:u>Y:6/?:F9:+;>y:HP?`O@?@l7?@==?ſ?`=?`q?ɨ:u>:,;:CyF܁BFIIR[IRK!4٢V ZP=9Z/5Q Z>\\ ^G٣^:PGyb< b> fbBottom track data is 7.4 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdjt59f)d?nt5Yf  ifb@r7pr8rS?r@fLbEfX;f8@flt5t vAtZj%DNOT Ignoring new targets: 54.50 m.Rj!Bj%w<Jj%w<5 ProNav: ac range: 54.500000 m, nav range: 18.261992 m, bearing: 179.501126 deg, approach rate: 0.349208 m/s, LOS rate: 1.220244 deg/s, cmd heading: 50.985959 deg, new cmd heading: 52.425908 deg. 2j=\Q=EHeadingCmd: 0.915005 target range: 54.500000 and range: 54.50 m. jE=j?jAjAjAiAhAhAhIhIfIfIfQrfQbfU - @}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.0 m/s ,DAT read: user:2906> $?IBDAT read: Tx time:22:48:45.6637 $Ping request sent.I 0ɚiIJ?=IUg+g?iYie)e=j?)*F-2F):F)BF-~0JF)zKLK9KKKRK?JK?GmGyG}rA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:22:48:45.6629 Ga Bq O >H Z>I  I : II EBI  =&I .I 6I <:I F w, /3A:f>Y:2/2?:kW$9:^G>y:Hj?Rs? N?`? ;ƿ@? ?@^?ɨ:f>:U;:CyfׁBfIII(*3٢& 8=9~Q > G٣yL< > bBottom track data is 7.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config t59Gq?t5Y i@@w77V?@PbE<;k@~t5B %A%EU addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.527409 s, deltaX: 0.099998 m, approachRate: 0.028349 m/s, rangeRepo size: 4 ZjQUDNOT Ignoring new targets: 54.50 m.RjQBj] <Jj] I `@.ɚiI>=IL/q?iIiM7)MVuq?)I IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG`GYBaOY>U Will construct direction to contact in vehicle frame from tetrahedron phase data.# w,3A2>Y2Ǿ5?2,92ٱI>y2HF??`?`?@?sƿ? ?sZ?ɨ2>2Jf;2Cy^ہB^IibR=IbC=InCIn3٢%џ< %W=9-Q ->J=J=J=0J9J=ݒ:J==9J=ـ3J9J=;J=;J=*;J=*;)I UG٣Qy]= ]> mbBottom track data is 8.2 s old, using for 20.0 s. mNusing accuracyPremultiplier from configaut59es|?ut5Ye ie@}H7y}7}FZ?}@eSbEeZ;eAet5 AZjDNOT Ignoring new targets: 54.50 m.RjBj<Jj< ProNav: ac range: 54.500000 m, nav range: 18.550259 m, bearing: 180.512598 deg, approach rate: 0.346442 m/s, LOS rate: 1.208240 deg/s, cmd heading: 54.041188 deg, new cmd heading: 55.435776 deg. 2jMO=HeadingCmd: 0.967537 target range: 54.500000 and range: 54.60 m. j~w?jjjihhhhfffrfbf`?ɛzBA; @>I! %+ɚ!i!I%s>=Iu?ii4)~w?)~GtA  YtAyB*F!2F!:F!BF%H5JF! }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.??GE>GA BI Oe > w,{3A6%?Y6:?67961X>y6H`?\k?`K?`?"? Lǿ??pA?ɨ6%?6@;6Cy@@IJ!IJi3٢R RT=9RQ R>TT VG٣V;PGyZM= Z> fbBottom track data is 8.6 s old, using for 20.0 s. fNusing accuracyPremultiplier from configdjt59fY?jt5Yf ifп@n"7lr7r^?r@fVbEfa];f Aft5t vAtZjDNOT Ignoring new targets: 54.50 m.zKJK9KKK !" ! RjBj- <Jj- < ProNav: ac range: 54.500000 m, nav range: 18.681581 m, bearing: 180.979847 deg, approach rate: 0.342576 m/s, LOS rate: 1.210312 deg/s, cmd heading: 55.435776 deg, new cmd heading: 56.827382 deg. 2jO=HeadingCmd: 0.991825 target range: 54.500000 and range: 54.60 m. j=}?jjjihhhhfffrf9bf=?ɛ Will construct direction to contact in vehicle frame from tetrahedron phase data.-_; )5,A>IQ ]$6)ɚaiaIeZs==I=}?iiB)=}?)HY>IC I. II;BI =&I.I6I<:I/ FBIUĤCJIUĤCRIQZIU =bIU =jIUS 6*F2F:FBF35JFG]YD$G1BAOew> i Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data.c0 w,3A63?Y6>?6<>960g>y6H`?bP?`)?`?ȿѧ?p?u'?ɨ63?6;4yVBVII^YI^4٢fMG= fH=9j.Q j>hh nG٣lync= r> vbBottom track data is 9.0 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzt59r?zt5Yr ir@z7x~y7~b?~@rYbEr9;rArt5 A EUB*** querying acoustic contact ***jYjYZjDNOT Ignoring new targets: 54.50 m.RjBj8<Jj8< ProNav: ac range: 54.500000 m, nav range: 18.820208 m, bearing: 181.475848 deg, approach rate: 0.331276 m/s, LOS rate: 1.176550 deg/s, cmd heading: 56.827382 deg, new cmd heading: 58.304077 deg. 2jI=HeadingCmd: 1.017598 target range: 54.500000 and range: 54.60 m. j@?jjjihhhhfffrf bf %?ɛ]; V>I x&ɚiI<=I@?ii!K)@?)*F2F:FBFO0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.JYJ]J]/JYJYJ]u9J](N3JYJYJYJ]/;J]/;G '/G B O > w,h4A6:O ?Y6&B?6CF96[Aq>y6H`%???u ?I?-ɿн??@b?ɨ6:O ?6r`;6Cy^B^I)` `IjJIj)4٢r= rI=9rQ r>tt vG٣tyv!= z> I  bBottom track data is 9.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config t59 ?t5Y ! i @%6!%J7%f?%@ ]bE OJ; A t5) -"A)ZjQ]DNOT Ignoring new targets: 54.50 m.RjYBj])<Jj])I 0#ɚiIu<=Iu?iyi}R)}?)*F)2F):F)BF-P0JF)G,7GBOI>zKuMKu9KqKuKu    5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268582H X>I  I 4 II @BI &I .I 6I S<:I ] FcB w,Yk34ARZ?YRF?RfN9R|>yRH`E?/^r? f?>? ʿ`ʩ?e6??ɨRZ?Rg;Py^B^IIfFIf%3٢ni= rJ=9rRQ r>tt vG٣v ~bBottom track data is 9.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxt59z?t5Yz izz@ 6  #7 gj? @z`bEz9;zyAzt5  AEZj9EDNOT Ignoring new targets: 54.50 m.RjABjE<JjEIi m ɚiiqIuN;=IɈ?ii~Z)Ɉ?) $?Ih*F2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519395GAG G qAGBOE>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770555K+ w,JM4A6o1?Y6YK?6\X96 D>y6H]?,iBBII^VI^n4٢f = fK=9jлQ j>hh nG٣lyns@= r> vdBottom track data is 10.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzt59r@?zt5YrK irh@z6|~7~ o?~@rdbEr<;r#Art5B ' A EJMJMJM0JIJMm:JM9JMـ3JIJM;JM;JM1;JM1;ZjDNOT Ignoring new targets: 54.50 m.RjBj[<Jj[<% ProNav: ac range: 54.500000 m, nav range: 19.225250 m, bearing: 182.945615 deg, approach rate: 0.311843 m/s, LOS rate: 1.135533 deg/s, cmd heading: 61.229374 deg, new cmd heading: 62.681192 deg. 2j%B=-HeadingCmd: 1.093993 target range: 54.500000 and range: 54.60 m. j-?j)j)j)i)hQhQhYhYfYfYfarfabfe@ɛ2< >I ɚiIjp:=I?ii6X_)?)*F2F:FBF_0JF"Gx>G> IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:48.1411 TRx dataTimestamp_ set to:1736376529.459851checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026739G AG B O >*U w,$g4A>?Y>OP?>Ue9>%>y>H}?#r?8??˿ ???ɨ>?>x;>Cy^ B^ Iib,>Ib%=IjSIj4٢rՉ= rI=9rQ r>tt vG٣tyv6= z>  dBottom track data is 10.6 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configt59?%t5Y i`@%b6)-6-s?-@gbEh;w*At59 E AAzK}LK}9KyK}K}ZjDNOT Ignoring new targets: 54.50 m.RjBj<Jj< ProNav: ac range: 54.500000 m, nav range: 19.358318 m, bearing: 183.439132 deg, approach rate: 0.337533 m/s, LOS rate: 1.243208 deg/s, cmd heading: 62.681192 deg, new cmd heading: 64.151225 deg. 2jLU=uHeadingCmd: 1.119650 target range: 54.500000 and range: 54.60 m. juP?jqjqjqiqhqhyhyhyfyffrfbfQ @ɛZ< "8<>I ɚiI9=IP?iie)P?)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274777H=W>I9 I=Z II=^BI9&I9.I96I=N<:I=X F*Fu2Fq:FqBFu0JFqGe'JGIBqOm> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:48:48.1411 LVL= 16448, 25713, 22850, 30707, AGC= 57, IDX= 442,-0.31, 0.805,-0.057,-1.461,-0.336, PHS= 1.229, 0.326,-1.127, RAW= 52.3, -4.2, CAL= 55.9, -8.7, ROT= 94.1, 8.7  Ygot valid direction response: 22:48:48.1411 LVL= 16448, 25713, 22850, 30707, AGC= 57, IDX= 442,-0.31, 0.805,-0.057,-1.461,-0.336, PHS= 1.229, 0.326,-1.127, RAW= 52.3, -4.2, CAL= 55.9, -8.7, ROT= 94.1, 8.7  PDAT read: Bearing 94.1, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 94.1, 8.7 (Local)  DAT read: Range 10 to 50 : 54.8 m (Round-trip 73.1 ms) speed 0.0 m/s  ,DAT read: user:2907>  BDAT read: Tx time:22:48:49.2638  $Ping request sent. ٥ A٥ i?٥ Q ڥ |y?)ڥ |Iڥ 8?iڥ |>ڡ ڡ ۥ R>?hyI,>~ò)ۥ 0Iۥ A=iۥ ?ۥ oUۡ ۡ 5 :publishing transmit ping time = Fpublishing direction and range infoء 9إ 9V ?5{h?,?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ R>?hyI,>~ò)ۡ Iۡ iۡ ۡ ۡ ۡ < w,i4A2(?Y2U?2t92i>y2Hau?`o/@b??V?`g̿~??u?ɨ2(?2N;2CyN5BR' IIZ>IZ3٢%;= -F=9-?Q ->11 5G٣5=PGymG= m> dBottom track data is 11.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from configqt59uȔ?t5Yu iug@766x?@ujbEu>;u/1Aut5  AkP?kd' k ko}4A:k3[BBkYBZkL@">N @ETB@yID@9V ?5{h?,?Jk?RkoU*8T1|0@-4H@9$=ԿK?@쓉?"kOA*kҍkn+?k-]$ 2k>Bkk 4 k>BkAkj@E addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 3.531880 s, deltaX: 0.200001 m, approachRate: 0.056627 m/s, rangeRepo size: 4 u Added new target pos. range: 54.799999 m, bearing: 136.346199 deg, lat: 36.904834 deg, lon: -122.119433 deg, deltaT: 7.059289 s, deltaX: 0.299999 m, approachRate: 0.042497 m/s, posRepo size: 4 Zjq}DNOT Ignoring new targets: 54.80 m.RjyBj}Jjy5 ProNav: ac range: 54.799999 m, nav range: 25.374096 m, bearing: 140.031807 deg, approach rate: 0.000000 m/s, LOS rate: 1.243208 deg/s, cmd heading: 64.151227 deg, new cmd heading: 65.852658 deg. 2j1=HeadingCmd: 1.149346 target range: 54.799999 and range: 54.80 m. j=?j9j9j9i9h9hAhAhifffrf`ffK@bf`\U?ɛuo< 2>I ɚiI_8=I?ii6m)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:48:49.2630 *F=2FA:FABFMo0JFIG}qA G}qAG VG ?G ?GY Ba O} >|& w,44A $?I =Will construct direction to contact in vehicle frame from tetrahedron phase data.yVBP III ٢> <=9Q > G٣y >  dBottom track data is 11.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config t59 Ҕ?t5Y  i t@66@ nbE *; 7A t5! M AMEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 54.80 m.RjBj|<Jj|< ProNav: ac range: 54.799999 m, nav range: 25.353148 m, bearing: 140.535346 deg, approach rate: -0.053928 m/s, LOS rate: 1.297325 deg/s, cmd heading: 65.852661 deg, new cmd heading: 67.364156 deg. 2j^=HeadingCmd: 1.175726 target range: 54.799999 and range: 54.80 m. j3~?jjjihhhhf f f rf bf  ?ɛY]ڻ< 隅>I } ɚiIc7=I3~?iiՂ)3~?)EE*F2F:FBFP5JFGm^G)B9zKmBoHKms9KiKmKmKoaRE;1'! O|>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H I  I II BI &I .I 6I <:I FJSK[|3 K[L.KSKS"KSJe Je Ja Ja Je :Je :Ja Ja Je ;Je ;Je oN;Je oN;', w,4A.q3(?Y.\`?.v9.܇>y.He? @i??I?`˿ :???ɨ.q3(?.BΊ;.CybjBbi I)l lIrTIr4٢zz= z]=9zƼQ ~>|| G٣yx= > dBottom track data is 11.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config t59 G۔?t5Y  i i@5d6?@ qbE )< #>A t5 e AZjDNOT Ignoring new targets: 54.80 m.RjBjA<JjA< ProNav: ac range: 54.799999 m, nav range: 25.328199 m, bearing: 140.968129 deg, approach rate: -0.066160 m/s, LOS rate: 1.148818 deg/s, cmd heading: 67.364155 deg, new cmd heading: 68.663548 deg. 2jE=HeadingCmd: 1.198405 target range: 54.799999 and range: 54.80 m. jVe?jjjihhhhfff rf bf  ?ɛ9=< 9=>IA EYɚAiAIEA6=IMVe?iIiMn)MVe?)Q 9I9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995304Er =*F2F:FBF3JFG "eG pAG mA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248688G B O >&3 w,.=4A! /?Y g?u59>yHf? wf???9S̿_²? ?@?ɨ! /?]/;Cy5B5 IIEIEF2٢U= U-=9Uw%Q ]>YY ]G٣]>PGymh= m> dBottom track data is 12.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configyt59}唜?t5Y}- i}@596U?@}ubE}N;}yEA}t5  AZjAMDNOT Ignoring new targets: 54.80 m.RjIBjM<JjM< ProNav: ac range: 54.799999 m, nav range: 25.292015 m, bearing: 141.520174 deg, approach rate: -0.076291 m/s, LOS rate: 1.165581 deg/s, cmd heading: 68.663550 deg, new cmd heading: 70.321564 deg. 2jG=HeadingCmd: 1.227343 target range: 54.799999 and range: 54.80 m. j?jjjihhhhfffrfbfx?ɛ{B_< a?I hɚiI64=I=?i9i=r)=?)AEE < IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500740*F2F:FBF35JF"G>G>G  eG B O- >n: w,j4Af5?Yf7n?fY9fV>yfH@?,?,??̿ݝ??P?ɨf5?fg%;fCyvBv IzK~ȿMK|K|K~K~%  ! X2$0crVI FI %3٢= b=9%Q %>!! %G٣!y-= -> =dBottom track data is 12.7 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1Et595d픜?Et5Y5 i5@E5AE6E?M@5xbE59;5;KA5t5Q U AUEZjy}DNOT Ignoring new targets: 54.80 m.RjyBjѮ<JjѮ< ProNav: ac range: 54.799999 m, nav range: 25.261303 m, bearing: 141.939563 deg, approach rate: -0.089432 m/s, LOS rate: 1.222708 deg/s, cmd heading: 70.321565 deg, new cmd heading: 71.581047 deg. 2jQ=HeadingCmd: 1.249325 target range: 54.799999 and range: 54.80 m. j?jjjihhhhfffrfbf1?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751060ɛQ]a = ]>~<] ?IY ]RɚYiaIez3=Ie?iiimn)m?)iEE*E"EH-V>I) I- II-ӂBI- =&I).I-9D6I-N<:I-V FJJJ1JJ :J 9J3JJ;J;JO>;JP>;*F2F:FBF4JF $?Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003167G 6lG B O >*A w,5A2Wy2Hc?k`r??!?`^̿ P?`?i?ɨ2WINx>IV;IV&3٢^$> ^H=9^ۻQ b>`` bG٣`yfw= f> ndBottom track data is 13.1 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrt59j?rt5Yj ij@r5pr5rߋ?r@j{bEj+;jQAjt5zB uAuEZjDNOT Ignoring new targets: 54.80 m.RjBj<Jj< ProNav: ac range: 54.799999 m, nav range: 25.222807 m, bearing: 142.414089 deg, approach rate: -0.089809 m/s, LOS rate: 1.108715 deg/s, cmd heading: 71.581045 deg, new cmd heading: 73.006486 deg. 2j9>=HeadingCmd: 1.274204 target range: 54.799999 and range: 54.80 m. j?jjjihhh h)f1f1f9rf9bf=@ɛ|B^ = 隅@?I BɚiI1=I?iiLFn)?)*Fm2Fi:FqBFuP0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255406GEukG9Bi) GO>|uA %.Y%|uAy%['B I U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507108xYG w,t5A2 B?Y2E{?2]Y92>y2Hz?Ђ??`q?p̿6? ?`?ɨ2 B?2v;0y:҂B> IIJ'IJ@3٢N{> RK=9RaQ R>PT VG٣xyzE{= z> dBottom track data is 13.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|t59~?t5Y~ i~@%O5!%5%?%@~bE~;~_XA~t5i m/AiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 54.80 m.RjBj-<Jj-< ProNav: ac range: 54.799999 m, nav range: 25.180626 m, bearing: 142.890200 deg, approach rate: -0.104036 m/s, LOS rate: 1.176247 deg/s, cmd heading: 73.006485 deg, new cmd heading: 74.436898 deg. 2jI=-HeadingCmd: 1.299169 target range: 54.799999 and range: 54.80 m. j-+K?j)j1j1i1h9h9hihifqfqfyrfbf @ɛ}BZ= y*?I ̻ɚiI0=I+K?ii-n)-+K?))*F)2F):F)BF)JF)G9 G=rAzK OK K K K ?.  !;mRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759062HS>IC IA!IIBI =&I.I6IW<:IY FBIUȣCJIUȣCRIQZIU =bIU =jIUK5J J J 0J J L:J :J ـ3J J P;J Q;J J;J J;GU 5`kG) BA O] >"}M w,}85AJwHI?YJ2?J 9Js>yJH@ ?V19?@N?`J?@m"̿z?`? ?ɨJwHI?J‹;JCyVBV!II^8I^3٢f= fH=9f߷Q f>hh jG٣j?PGyn#= n> vdBottom track data is 13.9 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzt59r?~t5Yrֿ ir&@~(5|~5~N?rbErZ;r^Art5 uA Zj)5DNOT Ignoring new targets: 54.80 m.Rj1Bj5"<Jj=" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263225eT w,qR5A%P?Y%M?%I9%4>y%HP?Y?{d?@?E˿[?X@??ɨ%P?%Y;%Cy5B5!I)9 =AIIII٢e= e3=9mcQ m>iq uG٣qyuo= u> dBottom track data is 14.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy9} ?Y} i}}@55?@}bE}/;}fAy AZjDNOT Ignoring new targets: 54.80 m.RjBji<Jji< ProNav: ac range: 54.799999 m, nav range: 25.081163 m, bearing: 143.878926 deg, approach rate: -0.120483 m/s, LOS rate: 1.156899 deg/s, cmd heading: 75.824430 deg, new cmd heading: 77.408278 deg. 2j~F=HeadingCmd: 1.351029 target range: 54.799999 and range: 54.80 m. j?jjjihhhhfffrf bf@m @ $?Iɛ ~B b'= U=?I ɚiIX,=IE?iAiERm)E?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:48:51.7412 LVL= 25648, 30193, 29314, 32755, AGC= 61, IDX= 442,-0.09,-2.547, 2.940, 1.699, 2.661, PHS= 1.164, 0.326,-0.965, RAW= 53.0, -5.7, CAL= 57.8, -11.0, ROT= 92.2, 11.0 ]Ygot valid direction response: 22:48:51.7412 LVL= 25648, 30193, 29314, 32755, AGC= 61, IDX= 442,-0.09,-2.547, 2.940, 1.699, 2.661, PHS= 1.164, 0.326,-0.965, RAW= 53.0, -5.7, CAL= 57.8, -11.0, ROT= 92.2, 11.0 ePDAT read: Bearing 92.2, 11.0 (Local) m~Local bearing/azimuth received: Bearing 92.2, 11.0 (Local) DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed 0.0 m/s ,DAT read: user:2908> BDAT read: Tx time:22:48:52.8638 $Ping request sent.+?jњOs)I=iu??X:publishing transmit ping time؉Fpublishing direction and range info9v]ӞL??#4 ?+JGN?y )Ii )Ii+?jњOs)IiE <*FU 2FQ :FY BFe P0JFa zK- gAMK- 9K) K- K-   Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:48:52.8630 jHbH<HQ>I I!II\BI =&I.I6I<:I- FJ9J=J=1J9J9J=:J=3J9J9J9J=oN;J=oN;GDjkGqAGrAGBO ?S\ w,u5ABQ^?YBf?B&R9B=є>yBHY?@!???w?+ʿЂ? 2E??ɨBQ^?B柋;BCy^B^aa eG٣e@PGye= e> udBottom track data is 14.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}t59mB?}t5Ymk im@4Q5Μ?mbEm 7;mNnAmt5 AEkp׎?k'䓐 k kW?_5A:k[BBkZBZk(@"@% B@%݆D@v]ӞL??#4 ?+JGN?Jku?Rk?X*"P3 B:&@AH@?u@׿:s)?cߞ?"k1A*kkg?kX˕ 2kBkg?kkknAk @U addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.528334 s, deltaX: 0.100002 m, approachRate: 0.028343 m/s, rangeRepo size: 4 e Added new target pos. range: 54.900002 m, bearing: 150.871786 deg, lat: 36.904838 deg, lon: -122.119433 deg, deltaT: 3.528334 s, deltaX: 0.100002 m, approachRate: 0.028343 m/s, posRepo size: 4 Zji IDNOT Ignoring new targets: 54.90 m.RjBjJj- ProNav: ac range: 54.900002 m, nav range: 24.678955 m, bearing: 143.924400 deg, approach rate: 0.000000 m/s, LOS rate: 1.156899 deg/s, cmd heading: 77.408276 deg, new cmd heading: 79.268443 deg. 2j)5HeadingCmd: 1.383495 target range: 54.900002 and range: 54.90 m. j5`?j1j9j9i9h9h9hAhAfAfAfirfm@3sK@bfm)?ɛBfv5= NK?I ͪɚiIB*=I%`?i)i-Y)-`?))Will construct direction to contact in vehicle frame from tetrahedron phase data.Er<*F2F:FBF]0JFG ukG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU Apc w,5Ab-e?Yb?b(9bo.>ybH ?3V???!ȿ?` %G٣!y5R= => }dBottom track data is 15.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configa9e?Ye+ ie5@4)5?ebEe8i w,{5AJl?YJ?J@9J.f>yJH`D?``+?( ??@P ȿ@?@C?@?ɨJl?JY;JCy^4B^a!I         Mb@Mb@Mb@ )Yv?Pn?&1?y?>P=A &@)@I Ay(@IIF٢I= >=9X;Q > G٣y͋= > Nusing accuracyPremultiplier from configt59?t5Y i@T:?:z?@bE;;mt5  A%B*** querying acoustic contact ***j!j!Zj55TStopped intercept timer at range: 54.90 m.=DNOT Ignoring new targets: 54.90 m.Rj9Bj=<JjEI I!IIBI =&I.I6I<:I& F*Fe2Fi:FiBFm0JFi  I hG s ZG ?G ?Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497704p w,dZ5A6Ot?Y6?6ꮽ96>y6H@z?3 9?p?E?ǿ`sֵ?X?@n?ɨ6Ot?6l;6CyZ?B^n!IIfIfb٢no= rZ=9v};Q v>tt zG٣zAPGyz= ~> Nusing accuracyPremultiplier from config|t59~"? t5Y~ i~@  `? @~bE~:~*:~t5 AZjEEVStarting intercept timer at range: 54.90 m.MDNOT Ignoring new targets: 54.90 m.RjIBjM<JjM<] ProNav: ac range: 54.900002 m, nav range: 24.435438 m, bearing: 145.415698 deg, approach rate: -0.233347 m/s, LOS rate: 1.298832 deg/s, cmd heading: 82.302031 deg, new cmd heading: 83.756187 deg. 2je^=mHeadingCmd: 1.461821 target range: 54.900002 and range: 54.90 m. jm?jijqjqiqhqhqhyhyfyfyfrfbf`?ɛ-BMkz= IU^?IQ UɚQiQIU$=I]?iYi]OR)]?)a*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749948J}J}J}0JyJ}l:J} :J}ـ3Jya@a@a@a@GYG B O > I v w,,)5Ay-DB-t!I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001794Mb@Mb@Mb@ )YX9v?jt?I +?y? >94=rA @)IAy@I=I=3٢q< :=9Q > G٣y   > Nusing accuracyPremultiplier from configt59&?t5Yޚ i@%_#?%:%r?%@bE;;t5) -A)Zj]]TStopped intercept timer at range: 54.90 m.eDNOT Ignoring new targets: 54.90 m.RjaBje*<Jje*<} ProNav: ac range: 54.900002 m, nav range: 24.321520 m, bearing: 146.000024 deg, approach rate: -0.259455 m/s, LOS rate: 1.337042 deg/s, cmd heading: 83.756185 deg, new cmd heading: 85.516788 deg. 2j}fe=}HeadingCmd: 1.492550 target range: 54.900002 and range: 54.90 m. j ?jjjihhhhBfffrfbfi@ɛeBed+h= ae_?Ia mqɚiiI"=I ?ii]p) ?)*Fe2Fa:FaBFe4JFi- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253838zKM FLKM 59KI KM KM BK] pA:KY G TH K>I C I !II BI =&I .I 8D6I <:I FGa Bi O >(} w,5AB8?YBv?B'砽9BE>yBH@ ?H h?@&?X?Ŀ@?? 6?ɨB8?B9;BCybFBbw!IIjKIj4٢rP< r^=9rYtt vG٣tyzE*> z>  Nusing accuracyPremultiplier from configt59(?%t5YՔ i)@!%$?%@bEr;g;"t5) 5A1ZjeeVStarting intercept timer at range: 54.90 m.eDNOT Ignoring new targets: 54.90 m.RjiBjm3<Jjm3<% ProNav: ac range: 54.900002 m, nav range: 24.215046 m, bearing: 146.482339 deg, approach rate: -0.286236 m/s, LOS rate: 1.302301 deg/s, cmd heading: 85.516789 deg, new cmd heading: 86.969768 deg. 2j-p_=]HeadingCmd: 1.517909 target range: 54.900002 and range: 54.90 m. j]J?jajajaiihi Ihhhfff rfIbfUm@ɛB8r= ,`?I BɚiI =IJ?iiJ)J?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507054E<*F 2F :F BF P5JF Ge PaGm pAGm qAG9 Ba O} >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757666 w,n6A6,?Y6j?6v96$>y6H7? 2?@/w??kÿ"J?`?"?ɨ6,?6-;6Cy~KB~}!II6JEJEJAJAJEL:JE :JAJAIm3٢E< A=9;Q > G٣BPGy= > eNusing accuracyPremultiplier from configYt59]{*?t5Y] i] @?@]bE]p<]D<]&t5 cA%EZjDNOT Ignoring new targets: 54.90 m.RjBj<Jj< ProNav: ac range: 54.900002 m, nav range: 24.080652 m, bearing: 147.063496 deg, approach rate: -0.279737 m/s, LOS rate: 1.216392 deg/s, cmd heading: 86.969769 deg, new cmd heading: 88.722392 deg. 2jP=HeadingCmd: 1.548498 target range: 54.900002 and range: 54.90 m. j.5?jjjihhhhff)f)rf)bf-SK@ɛB,t= 隝a?I {_7ɚiIK=I .5?i i =/O) .5?) IEX;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:55.3405 TRx dataTimestamp_ set to:1736376536.512672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010848*F2F:FBFP0JFG fG B O >2 w,V,6AB?YB#?B֑9Bʐ>yBH 3?t?? s? ¿6?>??ɨB?B?:;BCyNBBNr!IEMb@Mb@Mb@AAA A)AYE^I +?333333?X9v?yEX?E>Eqq uG٣qy}= }> Nusing accuracyPremultiplier from configt59x+?t5Y i@G?:?@bEB;W;.*t5 AB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 54.90 m.DNOT Ignoring new targets: 54.90 m.RjBj<Jj<-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262847HI>I I "IIBI&I.I6I(<:I- FzKK9KKKAn{RK>JK> ProNav: ac range: 54.900002 m, nav range: 23.958885 m, bearing: 147.568087 deg, approach rate: -0.330962 m/s, LOS rate: 1.378431 deg/s, cmd heading: 88.722395 deg, new cmd heading: 90.243487 deg. 2jl=HeadingCmd: 1.575046 target range: 54.900002 and range: 54.90 m. j?jjjihhhhтBff f rf bf n @ɛuBu@|= y}\?Iy }x4:ɚyiyI}W>=I?ii"M)?) IhE;*F 2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516899G ,bG B O >u w,F6A2g?Y2]?27992>y2H`y?@T?@Y?*;?ఢ`C??`?ɨ2g?2P;2Cy<<IF;IF&3٢R; VX=9V!TX ZG٣XyZ= Z> bNusing accuracyPremultiplier from config`ft59b+?ft5Yb ib@df?f@bbEb :b:b{-t5h nAlZjVStarting intercept timer at range: 54.90 m.DNOT Ignoring new targets: 54.90 m.RjBj <Jj <% ProNav: ac range: 54.900002 m, nav range: 23.840025 m, bearing: 148.039660 deg, approach rate: -0.316764 m/s, LOS rate: 1.262998 deg/s, cmd heading: 90.243485 deg, new cmd heading: 91.664949 deg. 2j%X=-HeadingCmd: 1.599855 target range: 54.900002 and range: 54.90 m. j-?j)j)j1i1h1h1h1h9fAfAfArfAbfEg0 @ɛB?= \?I nĩ:ɚiI[=I%?i!i%H)%?))E1E1*EQ"EQEWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:48:55.3405 LVL= 18528, 28593, 17458, 22835, AGC= 53, IDX= 434, 0.28,-2.371, 2.696, 1.769, 2.437, PHS= 1.563, 0.306,-0.671, RAW= 64.1, -12.3, CAL= 75.6, -20.9, ROT= 74.4, 20.9 Ygot valid direction response: 22:48:55.3405 LVL= 18528, 28593, 17458, 22835, AGC= 53, IDX= 434, 0.28,-2.371, 2.696, 1.769, 2.437, PHS= 1.563, 0.306,-0.671, RAW= 64.1, -12.3, CAL= 75.6, -20.9, ROT= 74.4, 20.9 PDAT read: Bearing 74.4, 20.9 (Local) ~Local bearing/azimuth received: Bearing 74.4, 20.9 (Local) DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.5 ms) speed 0.3 m/s ,DAT read: user:2909> BDAT read: Tx time:22:48:56.4638 $Ping request sent.E+Ef3?E[ E[?)EúIE6?iEú>AAErh?aSE鿈]\N˿)E yIE$\>iEՙ?ELjAA:publishing transmit ping timeرFpublishing direction and range info*F2F:FBFO0JF A9EOFqy?8ڥ?Hm!?yAAAA A)AIAiAAAAA A)AIAiAAAErh?aSE鿈]\N˿)AIAiAAAA I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 OG= ?G= *?G B O>Q w,Tc6Ayv;Bvj!I~A~A%Mb@Mb@Mb@!!! !)!Y%V-?M?~jt?y%h?%n>%D<%A %@)%@I%I@!y%@I=HI=<3٢UҼ U=9UQ U>YY ]G٣]CPGye e> mNusing accuracyPremultiplier from configiut59m,?ut5Ym$y imZ@u?u:}?}@mbEmQ;m;m1t5 Ak| ?k%y k kB&Q6A:k3YBBkWBZkLF@"T$@>ؒ:@&G@OFqy?8ڥ?Hm!?Jkՙ?RkLj*!2|%hԾT$#@BS4$J@7xQCɿ(/ ?C=?"kA*k.keŔ?kQcw 2kBk펎?kkkAk%@  addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.779719 s, deltaX: -0.600002 m, approachRate: -0.158743 m/s, rangeRepo size: 4 - Added new target pos. range: 54.299999 m, bearing: 138.113807 deg, lat: 36.904839 deg, lon: -122.119433 deg, deltaT: 3.779719 s, deltaX: -0.600002 m, approachRate: -0.158743 m/s, posRepo size: 4 Zj-5TStopped intercept timer at range: 54.30 m.5DNOT Ignoring new targets: 54.30 m.Rj1BjEJjA] ProNav: ac range: 54.299999 m, nav range: 23.568842 m, bearing: 148.483930 deg, approach rate: 0.000000 m/s, LOS rate: 1.262998 deg/s, cmd heading: 91.664950 deg, new cmd heading: 93.659800 deg. 2jamHeadingCmd: 1.634672 target range: 54.299999 and range: 54.30 m. jmIC I!IIBI! =&I.I6Iz<:Ig FBIơCJIơCRIZI =bI =jI+5zK o#NK K K K rjc[UNFA953,%    G%LKGBO > I f w,z}6AVVC?YVL?V s9V}*>yVHb?i?@|g?>?ߺ]?@(??ɨVVC?V?v;VCyb/Bb[!IIj9Ij3٢rԈ re=9vItt zG٣xyz(> z> Nusing accuracyPremultiplier from config|t59~0+? t5Y~s i~M@  ~? @~bE~:~:~5t5 CAZjEMVStarting intercept timer at range: 54.30 m.MDNOT Ignoring new targets: 54.30 m.RjIBjU<JjU Will construct direction to contact in vehicle frame from tetrahedron phase data.J- J- J) J) J- :J- :J) J) w,雗6A qIuho?YeA?j^9%>yH@β?9:h?0? +?Qɷ ɫ?`4??ɨo?=;騝Cy5$B5N!I)A AWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-? rh?Mb`?y-f?-C >-;-/A -@)-@I-@)y-z@IEIE 3٢U* U=9]YY eG٣ayeX= e> mNusing accuracyPremultiplier from configi}t59m(?}t5Ymk im|@} ?:?@mbEmY@;m+?;m9t5 AEZjTStopped intercept timer at range: 54.30 m.DNOT Ignoring new targets: 54.30 m.RjBj<Jj< ProNav: ac range: 54.299999 m, nav range: 23.277700 m, bearing: 149.491908 deg, approach rate: -0.315899 m/s, LOS rate: 1.075351 deg/s, cmd heading: 94.916612 deg, new cmd heading: 96.702437 deg. 2j8=HeadingCmd: 1.687776 target range: 54.299999 and range: 54.30 m. j ?jjjihhhhSBfffrfbf`?ɛ%B%N= )-I?I) -k;ɚ)i)I\=I ?iiH) ?)*Fu2Fq:FqBFu_0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ AG WDH D>I  I !II BI " =&I .I 7D6I a<:I R FG qAG zKe '~MKe s9Ka Ke Ke G B O >" w,iƴ6AF6?YF+*?F״N9Fl>yFH ?@@?`?? 紿@ө?GC??ɨF6?FS;FCyNBRE!IIZAIZk3٢bfA b=9bsM]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.w w,6A2M??Y2B}?25920d>y2H`? ???㡱v?`P?B?ɨ2M??2e;2CyBBB>!IIJ@IJ3٢V8м VM=9VXX ZG٣Xy^"= ^> Nusing accuracyPremultiplier from configt59$?t5Ya i@%?%@bEd*;=;2@t51 5A1ZjQ]DNOT Ignoring new targets: 54.30 m.RjYBje~<Jje~m Will construct direction to contact in vehicle frame from tetrahedron phase data.m I?m 4=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254530 w,m6A6w?Y6鵿?6k96>y6H?@7 >?`?5?8?`;?>?ɨ6w?6r;6CybBb*!IijR>Ij;Mb@Mb@Mb@ )YV-?rh|?Mb`y>=d A @)x@I@yQ@IBI3٢A :=9cV G٣y4j= > Nusing accuracyPremultiplier from configt59x!?t5Y\ i@>:?@bE;8;Ct5 AZjTStopped intercept timer at range: 54.30 m.DNOT Ignoring new targets: 54.30 m.RjBjx<Jjx<% ProNav: ac range: 54.299999 m, nav range: 22.909519 m, bearing: 150.638257 deg, approach rate: -0.289256 m/s, LOS rate: 0.870698 deg/s, cmd heading: 98.971961 deg, new cmd heading: 100.159580 deg. 2j%c=-HeadingCmd: 1.748114 target range: 54.299999 and range: 54.30 m. j-7?j)jIjIiIhhhhBfffrfbf @ɛB>hR= 隭s8?I h;ɚiIj=I7?ii/}6)7?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506448HA>I I!II{BI&I.I6I<:Iv F)zKBHK9KKK*F2F:FBF@5JFG=GqBO> I w,E7AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758337:$Ʀ?Y:?: 9:N)>y:H8)?@`\/?;?`?8?J?@~?ɨ:$Ʀ?:ݓ;:CyF BF,!IIVHIV<3٢f; f\=9fRhh jG٣jEPGyn= n> MNusing accuracyPremultiplier from configAMt59ET?Ut5YEW iE/@QU:?U@EbEE:E:EQGt5Y ewAaZjVStarting intercept timer at range: 54.30 m.DNOT Ignoring new targets: 54.30 m.RjBj<Jj<  ProNav: ac range: 54.299999 m, nav range: 22.789185 m, bearing: 150.986599 deg, approach rate: -0.330548 m/s, LOS rate: 0.961911 deg/s, cmd heading: 100.159581 deg, new cmd heading: 101.210003 deg. 2j  %=HeadingCmd: 1.766448 target range: 54.299999 and range: 54.30 m. j?jjjihhh!h!f!f!f!rf)bf-@@ɛBIp= 7?I (;ɚiIrQ=I%?i!i%C0)%?))*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:48:58.9390 TRx dataTimestamp_ set to:1736376540.292721checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011461G b=G B OU >s w,#7A (I,~?Y~@?~QM9~>y~Hrt?@XzX? ?e?J(?a??ɨ~?~W;~Cy%B%!IMb@Mb@Mb@ )YzG?y&1?y&1|y >`=`7 A M@)@IC@y@IRIW4٢~ :=9@ G٣yk= > Nusing accuracyPremultiplier from configt59?t5YR i@>:?@bEV;;G=,>G\3GBO>H @>I C I !II \BI $ =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:48:58.9390 LVL= 13920, 28609, 18242, 29491, AGC= 52, IDX= 420,-0.15, 1.731, 0.212, 0.050, 0.618, PHS= 1.200,-0.359,-0.571, RAW= 83.7, -3.3, CAL= 91.8, -9.5, ROT= 58.2, 9.5 % Ygot valid direction response: 22:48:58.9390 LVL= 13920, 28609, 18242, 29491, AGC= 52, IDX= 420,-0.15, 1.731, 0.212, 0.050, 0.618, PHS= 1.200,-0.359,-0.571, RAW= 83.7, -3.3, CAL= 91.8, -9.5, ROT= 58.2, 9.5 - PDAT read: Bearing 58.2, 9.5 (Local) - ~Local bearing/azimuth received: Bearing 58.2, 9.5 (Local) = DAT read: Range 10 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.3 m/s E ,DAT read: user:2910> M BDAT read: Tx time:22:49:00.0638 M $Ping request sent.M {Z?aȻ `!) ("I <+i=i ? ĭ } :publishing transmit ping timeI  Fpublishing direction and range info 9 Lډ3 D ?j~oF?y  ) I i ) I i {Z?aȻ `!) I i J] J] JY JY J] l:J] :JY JY J] ;am J] ;am J] nN;am JY am X w,e867AzK2K29K0K2K2R3?YR}q?R9RE>yRHfh@`H??` v/? uF??ɨR3?RX;RCy]Be$!I)i mAIu\Iu#4٢= J=9C G٣yy= > -Nusing accuracyPremultiplier from config!]t59%?]t5Y%sN i%@Y]4?]@%bE%;%h;%Nt5mB mAmEkr$?kў k k27A:kTBBkWSBZk@"2i`}cƲez&@^YI@Lډ3 D ?j~oF?Jk?Rkĭ*;hZ2 @ ;[%kJ@d ?Sph3o?"k?*kAN@kq&?k  2k%Bkn+?kQcw kBkAki.@ IIUh addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.527939 s, deltaX: -1.099998 m, approachRate: -0.311796 m/s, rangeRepo size: 4  Added new target pos. range: 53.200001 m, bearing: 329.267606 deg, lat: 36.904849 deg, lon: -122.119462 deg, deltaT: 3.527939 s, deltaX: -1.099998 m, approachRate: -0.311796 m/s, posRepo size: 4 Zj--VStarting intercept timer at range: 53.20 m.5DNOT Ignoring new targets: 53.20 m.Rj1Bj5Jj1E ProNav: ac range: 53.200001 m, nav range: 20.370209 m, bearing: 156.375833 deg, approach rate: 0.000000 m/s, LOS rate: 0.806660 deg/s, cmd heading: 102.304390 deg, new cmd heading: 103.334920 deg. 2jimHeadingCmd: 1.803535 target range: 53.200001 and range: 53.20 m. ju9?jqjqjqiqhqhqhyhyfyfyfrfJ@bfdq?ɛBY= 02?I I;ɚiI=I9?ii^N%)9?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:49:00.0630 *F2F:FBFP0JFG oo1Gy B O > w,P7Arf?Yr?r9r?>yrH@ڤ7?X?@apG>?`0??ɨrf?r`;rC=Will construct direction to contact in vehicle frame from tetrahedron phase data.yEBE*!II}I}?13٢g< I=9C G٣FPGy~= > Nusing accuracyPremultiplier from configt59?t5YJ i@f?@bE";R; Rt5 AmB*** querying acoustic contact ***jqjqZjy}DNOT Ignoring new targets: 53.20 m.RjyBjj<Jjj< ProNav: ac range: 53.200001 m, nav range: 20.260267 m, bearing: 156.749259 deg, approach rate: -0.293726 m/s, LOS rate: 1.003073 deg/s, cmd heading: 103.334922 deg, new cmd heading: 104.461125 deg. 2j,=HeadingCmd: 1.823191 target range: 53.200001 and range: 53.20 m. jO^?jjjihhhhfffrfbfG?ɛmBmx= qu3?Iq u;ɚqiqIu=I}O^?ii`!)O^?)*F2F:FBF_0JF !I)Gpq,GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.! w,j7AN>?YN3M?N9Nb>yNH@m ?`?@|"lP֐?w??ɨN>?Nќ;NCyVBV2!IMb@Mb@Mb@ )YJ +?y&1?Mbp?y>;3 A E@)@I-@y@IAIk3٢< G=9;Q > G٣y͎= > Nusing accuracyPremultiplier from configt59Y?t5YE i@>;w?@bE;';Ut5 GAEZj%TStopped intercept timer at range: 53.20 m.%DNOT Ignoring new targets: 53.20 m.Rj!Bj-<Jj-< ProNav: ac range: 53.200001 m, nav range: 20.149771 m, bearing: 157.102085 deg, approach rate: -0.282585 m/s, LOS rate: 0.907265 deg/s, cmd heading: 104.461125 deg, new cmd heading: 105.525279 deg. 2j=HeadingCmd: 1.841764 target range: 53.200001 and range: 53.20 m. j?jjjihhhhցBfffrfbf`?ɛBi= 5?IjH <bH <H ?>I  I !II RBI &I .I 6I <:I i F -R<ɚ)i)I- =I5?i1i5z)5?)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995079JK3 K.-KK"KJJJJJܫ:J :JJJ;J;JS;JS;zKBHK59KKKEr;EEqA 1 I1 *FE 2FA :FA BFE P0JFA GM rA GM rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247070G%C'GB O%>s w,AF7A:u6?Y:it?:1f9:y`>y:H c m`ސ??@Y@ܓ?l??7?ɨ:u6?:Tw;8yBBB8!IiF=IF;?HHIN#IN%x3٢Z9< Z1=9^F\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdjt59f?jt5YfUA if@ln?n@fbEf ;f? ;fYt5p r"ApZjVStarting intercept timer at range: 53.20 m.DNOT Ignoring new targets: 53.20 m.RjBj=h<Jj=h< ProNav: ac range: 53.200001 m, nav range: 20.019409 m, bearing: 157.487249 deg, approach rate: -0.273107 m/s, LOS rate: 0.812164 deg/s, cmd heading: 105.525282 deg, new cmd heading: 106.688128 deg. 2jX =HeadingCmd: 1.862059 target range: 53.200001 and range: 53.20 m. jW?jjjihhhhfffrfbf6?ɛ}B}Ve= y}6?Iy  <ɚiIg, =IW?iiL)W?)Ev<)Q UhCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500093.~G*F=2FA:FABFEo0JFAQ}A $YyBGP!GBOj> e $?Ia 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751008 w,j7A6ɼ?Y6z?6 196>y6H`ڿ@y RI?`P? E`?>f?@d??ɨ6ɼ?6;4y>$BBM!IMb@Mb@Mb@ )Yp= ף?A`"?I +?y>=94< A /@)@I@y@I_Ib(4٢Q= ;=9G G٣GPGy<= > Nusing accuracyPremultiplier from configt594?t5Y= i@>;t?@bE1;U;]t5 AZjTStopped intercept timer at range: 53.20 m.%DNOT Ignoring new targets: 53.20 m.Rj!Bj%t<Jj%t<= ProNav: ac range: 53.200001 m, nav range: 19.898819 m, bearing: 157.845775 deg, approach rate: -0.285892 m/s, LOS rate: 0.855127 deg/s, cmd heading: 106.688129 deg, new cmd heading: 107.770088 deg. 2j===HeadingCmd: 1.880943 target range: 53.200001 and range: 53.20 m. jE?jAjAjAiAhAhAhIhMׁBfIfIfrfbf:?ɛeB$r= 隕=?I <ɚiIOI =I?iiJ)?)EE*E"EH=A>I9 I=!II=WBI=% =&I9.I96I=S<:I=F FBIǟCJIǠCRIZI$ =bI# =jI5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004566*F2F:FBF_0JFJ J J /J J :J :J (N3J J ;J ;J Z;J Z;zKI KM 9KI KM KM RK] ?JK] ? q Iq G L>G pAG G B O >R w,[7A2K3?Y2?q?2;92>y2H9Q¿??੫?cģ?bYH?@k?ɨ2K3?2r;0yZ7B^e!IIr\Ir#4MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255784٢ (= ]<=9eW8aa mG٣iym*-= u> }Nusing accuracyPremultiplier from configq}t59ul?t5Yu8 iu@?@ubEuq:u:uuat5 AZjVStarting intercept timer at range: 53.20 m.DNOT Ignoring new targets: 53.20 m.RjBjEk<JjEk< ProNav: ac range: 53.200001 m, nav range: 19.773998 m, bearing: 158.209892 deg, approach rate: -0.280278 m/s, LOS rate: 0.822761 deg/s, cmd heading: 107.770085 deg, new cmd heading: 108.869191 deg. 2j) =HeadingCmd: 1.900126 target range: 53.200001 and range: 53.20 m. jS7?jjjihhhhfffrfbf@Q@ɛ-B-j= )-6F?I1 5]&<ɚ1i1I5s =I=S7?i9i=)=S7?)A*F2F:FBFQ5JFG6QGYBaO}7> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507338w w,7A?Y ?;9N> IyH Ŀ`;}??Ŀ`K ?qy?@-?ɨ?;Cy=GBEy!I)Q Q ]=]=Mb@Mb@Mb@ )Y-?A`"?{Gz?y5>ף<A \@)I@y=@IXI4٢-= --=95% 11 5G٣9y=3= => ENusing accuracyPremultiplier from configAUt59E?Ut5YE3 iEE@U>]:]S?]@EbEE`F;EE;E}et5a e|AaB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 53.20 m.DNOT Ignoring new targets: 53.20 m.RjBj<Jj< ProNav: ac range: 53.200001 m, nav range: 19.632317 m, bearing: 158.642150 deg, approach rate: -0.306156 m/s, LOS rate: 0.940786 deg/s, cmd heading: 108.869192 deg, new cmd heading: 110.175086 deg. 2ji!=HeadingCmd: 1.922918 target range: 53.200001 and range: 53.20 m. j-"?jjjihhhhҁBfffrfbf@ɛB= L?I y2<ɚ i I + =I -"?ii)-"?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759142*F2F:FBFT5JFGm :GA BI Om >H @>I C I !II qBI " =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:49:02.5372 % TRx dataTimestamp_ set to:1736376543.820628% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012088 w,7AJ=J=J=0J9J=ܫ:J=/:J=ـ3J9J=;J=;J=^;J=^;e??Ye}?e '<9e!>yeHWLǿ@#?v?Aƿ@ ?I?`?ɨe??e|;eCyޝgBޝ!IzKQJK9KKKBK:KI[IK!4٢}:$> }V=9}' G٣HPGyvK= > Nusing accuracyPremultiplier from configt599?t5Y/ i@?@bEn::ht5 AEZj55VStarting intercept timer at range: 53.20 m.=DNOT Ignoring new targets: 53.20 m.Rj9Bj=<Jj=<ɚiI=I  ?i i O)  ?)Ey*F%2F!:F1BF5P5JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263294G= ϳG B1 Ou >w,~;8AF??YF3?F[<9F!z>yFH@ɿm e ?V?Mȿ M?{`? ?ɨF??F;;FCyNtBR!IIZ>IZ3٢b= bh=9bdd fG٣dyjj= n> rNusing accuracyPremultiplier from configl]t59n딜?]t5Yn+ in8@aer?e@nbEnb 5BDAT read: Tx time:22:49:03.6139 5$Ping request sent.5U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:49:03.6131 $ w,(8Ay=B=!IiM=IMp=QQMb@Mb@Mb@ )YX9v?X9v?X9v?y>=<zA E@)@Ib@yITI4٢ =  8=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-t59%G䔜?-t5Y%& i%@->5:5?@%bE%˷<%<%ot5 JAk?k<ѹ k k 8A:kOBBk-NBZk@"5pY#ɘe o`JmI@Lǿa3hZ?Jk"1RkjQ*>I-C I-!II-BI-# =&I).I)6I-<:I-j FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=2FA:FABFAJFAzKK}9KKKRK?JK? u $?Iy G ]G qAG Gy B O >w,(B8AB-+?YB!i?B끔<9B$s>yBH Ͽ;5 ?; ?Ϳ6???ɨB-+?B9;@yNBN!IIVNIV@ 4٢^> ^b=9bT`` fG٣fIPGyf= f> nNusing accuracyPremultiplier from confighnt59jݔ?rt5Yj" ij@pr@r@jbEj;j;:jrt5| yA %Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjimDNOT Ignoring new targets: 51.90 m.RjiBju<Jju< ProNav: ac range: 51.900002 m, nav range: 11.448530 m, bearing: 150.633436 deg, approach rate: -0.429015 m/s, LOS rate: 1.433260 deg/s, cmd heading: 113.469086 deg, new cmd heading: 114.946695 deg. 2ju=HeadingCmd: 2.006198 target range: 51.900002 and range: 51.90 m. je@jjjihhhhfffrfbf?ɛuBu)= q}w?Iy }R`<ɚyiyI}c=Ie@ii0>)e@)*FE2FA:FABFM_0JFI"GQGU=GGBOEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.JA JE JA JA JA JE :JA JA aU @aU @aU @aU @sw,\8AV?YV?VĠ<9V_Tq>yVH п`i+?\? Ͽ?@3??ɨV?V;TyzBz"I 9I9II3٢]˟= ]3=9eƸ;Q m>yy }G٣yy3= > Nusing accuracyPremultiplier from configt59Ԕ?t5YD i>@@@bEo;;vt5 @B*** querying acoustic contact ***jjZj15DNOT Ignoring new targets: 51.90 m.Rj1Bj=H<Jj=H-=5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Im@iiim>)m@)i*F2F:FBFJFG% <G B H! I!  I% "II% ̃BI% $ =&I! .I! 6I% \<:I% J FOM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493872w,wv8AVsE?YVg?V'<9Vo>yVH@ѿq??,ѿ?Ֆ?@}?ɨVsE?Vڊ;VCyb҃Bb#"I)d d f=fp=Mb@Mb@Mb@ )Y/$?)\(?Q?y1?G=<A \@)Iy@IIm?3٢(> U=9;Q > G٣yU= > Nusing accuracyPremultiplier from configt59̔?t5Yl i@H ?:@@bEi;8;Jzt5B 6@EzKBoHKKKKZj9=DNOT Ignoring new targets: 51.90 m.Rj9BjE<JjE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746972#w,Y8A6?Y6?6^<96o>y6H@ ӿ@&b?? \*ҿ@ַ?`*??ɨ6?6ҍ;6CyR݃BR0"IIZAIZk3٢bc= b[=9jhh jG٣nJPGyn?= n> vNusing accuracyPremultiplier from configpvt59rĔ?vt5Yr irA@xz@z@rbEr:rL:r}t5| @Zj!-DNOT Ignoring new targets: 51.90 m.Rj)Bj-<Jj-E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249794)*w,,J8ANn?YNb?N<9Ns>yNH)ԿI{?`?[? i0ӿ@ֹ?@៝;$??ɨNn?N;NCy^B^R"IMMb@Mb@Mb@III I)IYM\(\?"~j?I +?yM?MS=M9 u?=9uY;Q u>yy }G٣yy}y0= > Nusing accuracyPremultiplier from config5t59j?5t5Y  i@5?5:5@=@bEչ<<Ft5A E@EEZjimDNOT Ignoring new targets: 51.90 m.RjiBjuj=Jjuj= ProNav: ac range: 51.900002 m, nav range: 10.707466 m, bearing: 153.237449 deg, approach rate: -0.481026 m/s, LOS rate: 1.810282 deg/s, cmd heading: 120.463951 deg, new cmd heading: 122.888900 deg. 2jL=HeadingCmd: 2.144816 target range: 51.900002 and range: 51.90 m. jD @jjjihhhhnBfffrfbf;d@ɛÁB= :?I O}<ɚiI!=ID @iia<)D @)*Fa2Fa:FaBFm05JFiHI I`"IIBI&I.I6Iv<:I] FG=bGEpAGErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501994GBO=Q>zKKKKK % $?I! 0w,R8A~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753585y B Z"Ii%>IR=IYI4٢< C=9Q > G٣y >  Nusing accuracyPremultiplier from config t59 6?t5Y  i @%@ bE ,; h-; t5) -i@)ZjQ]DNOT Ignoring new targets: 51.90 m.RjYBj]#=Jj]#=m ProNav: ac range: 51.900002 m, nav range: 10.497815 m, bearing: 154.050239 deg, approach rate: -0.524061 m/s, LOS rate: 2.072223 deg/s, cmd heading: 122.888900 deg, new cmd heading: 125.374325 deg. 2jmı=uHeadingCmd: 2.188195 target range: 51.900002 and range: 51.90 m. j}b @jyjyjyiyhyhyhhfffrfbf 5@ɛǁB%= !% ?I! %<ɚ!i)I-b=Imb @iqiub)ub @)*FM2FI:FIBFM3JFQ~GA @#YyBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:49:06.0852 TRx dataTimestamp_ set to:1736376547.349432checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007627G YD$J5 J5 J5 1J1 J5 :J5 :J5 3J1 Ga Bq O >$"7w,d8AF?YFR?FkT=9F'v>yFH ,ֿc) ??bտ]J? t? ?ɨF?FS@;FC lIrhy%B=r"IIiI:4٢= @=9}& G٣KPGy= > Nusing accuracyPremultiplier from configt59줔? t5Y ir@c@@bE;;t5 -@%E]B*** querying acoustic contact ***jajaZjDNOT Ignoring new targets: 51.90 m.RjBj=Jj= ProNav: ac range: 51.900002 m, nav range: 10.278159 m, bearing: 154.872058 deg, approach rate: -0.494427 m/s, LOS rate: 1.889311 deg/s, cmd heading: 125.374324 deg, new cmd heading: 127.890764 deg. 2j=HeadingCmd: 2.232115 target range: 51.900002 and range: 51.90 m. j@jjjihhhh Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257892ffIfIrfIbfUIF @ɛEʁBE;= IM?II M<ɚIiIIU&=IU@iYi]_)]@)aEq*F2F:FBFB4JFGz/GB Oe >ZH RH AAH B>I C I "II -BI # =&I .I 6I Q<:I D FBIJIʟCRIZI# =bIjI5 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:49:06.0852 LVL= 24176, 32753, 29170, 32755, AGC= 62, IDX= 428, 0.14,-2.788, 1.837, 2.486, 2.841, PHS= 0.742,-0.957,-0.358, RAW= 110.4, 7.7, CAL= 120.4, 5.0, ROT= 29.6, -5.0  Ygot valid direction response: 22:49:06.0852 LVL= 24176, 32753, 29170, 32755, AGC= 62, IDX= 428, 0.14,-2.788, 1.837, 2.486, 2.841, PHS= 0.742,-0.957,-0.358, RAW= 110.4, 7.7, CAL= 120.4, 5.0, ROT= 29.6, -5.0  PDAT read: Bearing 29.6, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 29.6, -5.0 (Local)  DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s  ,DAT read: user:2912>  BDAT read: Tx time:22:49:07.1639  $Ping request sent. iٽ =?ٽ tٽ Kٽ Ϣ?ٽ > ڽ |@)ڽ ¸=Iڽ A?iڽ ¸ڹ ڹ ۽ `kB?{GIſo4>7?)۽ ӭ,I۽ % i۽ ۽ ۹ ۹ M :publishing transmit ping time M Fpublishing direction and range infoع 9ؽ }пA?dοN$$6?yع ع ع ع ٹ )ٹ Iٹ K=wi )Ii`kB?{GIſo4>7?)Ii,8AmG?Ym;?m>=9mv>ymH`׿@?`?ֿ׾?ơ ^?!?ɨmG?mn;zKBoHK59KKKiyBv"I IMb@Mb@Mb@ )Y/$?!rh?Mb?y1(?l=<MA r@)@I@y@I-RI-W4٢J< "=9!<;Q > G٣y/= > Nusing accuracyPremultiplier from configt59\?t5Y i@*?:=@@cE";j!;t5) -@)kr윜?k2 k k8A:k3IBBkGBZkW@"≒P0*5'JSG@}пA?dοN$$6?JkRk*'~t9@*CbztE@J9?D\b8?"k *kAkW?k D3 2kBkq&?k D3 kk@kS@ addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.527835 s, deltaX: -1.600002 m, approachRate: -0.453537 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:49:07.1631 5 Added new target pos. range: 50.299999 m, bearing: 355.129651 deg, lat: 36.905046 deg, lon: -122.119542 deg, deltaT: 3.527835 s, deltaX: -1.600002 m, approachRate: -0.453537 m/s, posRepo size: 4 Zj9=DNOT Ignoring new targets: 50.30 m.Rj9BjEJjAM ProNav: ac range: 50.299999 m, nav range: 5.221380 m, bearing: 335.407022 deg, approach rate: 0.000000 m/s, LOS rate: 1.889311 deg/s, cmd heading: 127.890757 deg, new cmd heading: 130.761230 deg. 2jQHeadingCmd: 2.282214 target range: 50.299999 and range: 50.30 m. j@jjjihhhhBfffrf`f&I@bf`N?ɛU΁BUغ= Y]?IY ]*<ɚYiYI]7=Ie@iaieFz)m@)i*F 2F :F BF 5JF G UG B O >4Dw,{9AF?YF?F=9Fy>yFHN:ٿ ?@c?@׿A? 6?j?ɨF?F8;DyN$B^"I)` ` fp=dIjIj?13٢v^= v=9v `;Q v4?xx zG٣xy~= 4? %Nusing accuracyPremultiplier from config!-t59%玔?-t5Y%V i%@)-@5@%cE%q;%;%Et5eB e @eEZjDNOT Ignoring new targets: 50.30 m.RjBjJj ProNav: ac range: 50.299999 m, nav range: 5.360703 m, bearing: 334.443575 deg, approach rate: 0.583764 m/s, LOS rate: -3.931749 deg/s, cmd heading: 130.761226 deg, new cmd heading: 127.948399 deg. 2j(HeadingCmd: 2.233121 target range: 50.299999 and range: 50.30 m. jt@jjji!h!h)hQhQfYfafarfibfm?}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ ЁB > 5֔?I1 5Y<ɚ1i1I5% Will construct direction to contact in vehicle frame from tetrahedron phase data.QaJw,+9A6?Y6~ @6V=96s>y6H dڿa`:??Cnٿ?`)n.?`?ɨ6?6(0;4y>!B>"IMb@Mb@Mb@ )Y|?5^?A`"?II MG٣IyUo= U> ]Nusing accuracyPremultiplier from configYet59]?et5Y] i] @m/?m:mx @m@] cE];]I;]ߒt5 7@ZjaeDNOT Ignoring new targets: 50.30 m.RjaBjmpJjp ProNav: ac range: 50.299999 m, nav range: 5.604508 m, bearing: 332.935666 deg, approach rate: 0.569156 m/s, LOS rate: -3.366645 deg/s, cmd heading: 127.948404 deg, new cmd heading: 123.630160 deg. 2jgHeadingCmd: 2.157753 target range: 50.299999 and range: 50.30 m. j @jjjihhhhBfffrfbf u?ɛmԁBm= quE?Iq u1n<ɚqiqIuY@a) @)EEpAH}D>Iy I}"II}FBI}! =&Iy.I}8D6I}{<:I}e F*F]2FY:FYBF]`0JFYGeqA GemAWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 eGBO%o>zK! K! K! K% K%   I ILQw,qE9A:?Y:@@:=9:{>y:H!ܿ/{?स?qڿ?@ҡ u&?@?ɨ:?:S?;:Cy@F"IHJ@AIN INb3٢VG; VT=9VQ Z>\\ bG٣bLPGybM= f>nWill construct direction to contact in vehicle frame from tetrahedron phase data. zNusing accuracyPremultiplier from configt~t59vu?~t5YvC iv.@ @@v cEv[;vbY;vGt5  *@EZj1=DNOT Ignoring new targets: 50.30 m.Rj9Bj='jJj='jU ProNav: ac range: 50.299999 m, nav range: 5.841670 m, bearing: 331.684006 deg, approach rate: 0.646924 m/s, LOS rate: -3.275384 deg/s, cmd heading: 123.630153 deg, new cmd heading: 120.032641 deg. 2jU} UHeadingCmd: 2.094965 target range: 50.299999 and range: 50.30 m. j]@jYjYjYiYhYhYhahafafafirfibfm x?ɛ5ׁB5k= 15?I1 =)Y<ɚ9i9I=*$?IyjH@ۮݿ *`>?IT?Aܿ;?Zg ?@i?ɨj?j;jCyv&Bv"II=1I=3٢ul< }?=9LQ > G٣yP= > Nusing accuracyPremultiplier from config t59Gf?%t5Y iZ@ @@cE==t5B @%EeB*** querying acoustic contact ***jajaZjDNOT Ignoring new targets: 50.30 m.RjBjO,JjO,Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.% ProNav: ac range: 50.299999 m, nav range: 6.112082 m, bearing: 330.473366 deg, approach rate: 0.563340 m/s, LOS rate: -2.410316 deg/s, cmd heading: 120.032638 deg, new cmd heading: 116.565896 deg. 2j-ν-HeadingCmd: 2.034459 target range: 50.299999 and range: 50.30 m. j54@j1j1j1i1h1h1h9h9f9f9fArfabfm{?ɛہB= 隵?I s<ɚiIjHe <bHe =Hm E>Ii  Im "IIm PBIm " =&Ii .Ii 6Im K<:Im A F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004385]w,Iy9AJbJbJ`J`Jb:Jb :J`J`Jb;ajJb;ajJbcW;ajJbdW;ajyrBr"IMb@Mb@Mb@ )Y-?y&1?Mb`y?5?`= A )Z@Iy@INI@ 4٢ D=9Q > G٣y > Nusing accuracyPremultiplier from configt59W?t5Y ia@ 7? : - @ @cE;j;t5 T@ZjAMDNOT Ignoring new targets: 50.30 m.RjIBjMJJjMJe ProNav: ac range: 50.299999 m, nav range: 6.379849 m, bearing: 329.402806 deg, approach rate: 0.741180 m/s, LOS rate: -2.838778 deg/s, cmd heading: 116.565894 deg, new cmd heading: 113.492141 deg. 2je󽝊eHeadingCmd: 1.980812 target range: 50.299999 and range: 50.30 m. jmG->GmJGGBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.K?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256796/dw,9A2t?Y2@2 =92a>y2HC<))? ύ?޿?[x@hh jG٣jMPGyn > n> rNusing accuracyPremultiplier from configpvt59rI?vt5YrT irl@tzU@z@rcEre:r:r٠t5| ~;@~EZj!-DNOT Ignoring new targets: 50.30 m.Rj)Bj5ZJj5ZE ProNav: ac range: 50.299999 m, nav range: 6.627951 m, bearing: 328.616149 deg, approach rate: 0.675387 m/s, LOS rate: -2.061230 deg/s, cmd heading: 113.492144 deg, new cmd heading: 111.221774 deg. 2jEӰMHeadingCmd: 1.941186 target range: 50.299999 and range: 50.30 m. jMx?jIjIjIiIhQhQhQhQfffrfbf@ɛ-B5b=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508629 i隕\?I :<ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761607 jw,ˬ9A2 ?Y2~^@2 =92`>y2H`D$??!@ο?@2??ɨ2 ?2I;2CyNBN["I V=V=-Mb@Mb@Mb@))) )))Y-X9v?K7A?~jthy-3?- >-D-3 A -E@)-p@I-K@)y-p@ILI4٢0 ==9 Q > G٣y^= > Nusing accuracyPremultiplier from configt59!8?t5YA i@6?:x@@cE;j;t5 8@ZjQUDNOT Ignoring new targets: 50.30 m.RjQBj]Jj]⼝m ProNav: ac range: 50.299999 m, nav range: 6.925843 m, bearing: 327.883199 deg, approach rate: 0.673709 m/s, LOS rate: -1.586290 deg/s, cmd heading: 111.221776 deg, new cmd heading: 109.118506 deg. 2jmuHeadingCmd: 1.904477 target range: 50.299999 and range: 50.30 m. ju?jqjqjqiqhyhyhhBfffrfbf`9t@ɛBB= 隽k?I <ɚiIR I IM hzKU JKU }9KQ KU KU RK] ?JK] >y2H (?@z?` ? Hנ X??ɨ2y?2;2!C^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264386yfBfM"IIn>In3٢veg vW=9zYQ z>xx ~G٣|y~*= >  Nusing accuracyPremultiplier from config t59(?t5Y i@!@@$cE :n:t5}B }@EZjDNOT Ignoring new targets: 50.30 m.RjBjBJjB% ProNav: ac range: 50.299999 m, nav range: 7.187100 m, bearing: 327.350088 deg, approach rate: 0.676732 m/s, LOS rate: -1.330697 deg/s, cmd heading: 109.118508 deg, new cmd heading: 107.577705 deg. 2j%Od]HeadingCmd: 1.877585 target range: 50.299999 and range: 50.30 m. j]T?jYjajaiahihihhfffrfbf @ɛ B5= ?I ó<ɚiI{)%T?)!*F2F:FBFZ0JFG GrAG%h GaBOc>uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:49:09.6329 LVL= 22416, 32753, 31986, 32755, AGC= 59, IDX= 419, 0.13,-0.664,-2.210,-1.549,-1.185, PHS= 0.608,-0.978,-0.367, RAW= 112.4, 10.7, CAL= 121.5, 7.9, ROT= 28.5, -7.9 Ygot valid direction response: 22:49:09.6329 LVL= 22416, 32753, 31986, 32755, AGC= 59, IDX= 419, 0.13,-0.664,-2.210,-1.549,-1.185, PHS= 0.608,-0.978,-0.367, RAW= 112.4, 10.7, CAL= 121.5, 7.9, ROT= 28.5, -7.9 PDAT read: Bearing 28.5, -7.9 (Local) ~Local bearing/azimuth received: Bearing 28.5, -7.9 (Local) DAT read: Range 10 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.7 m/s ,DAT read: user:2913> - BDAT read: Tx time:22:49:10.7139 - $Ping request sent.- u@)u0 >Iu>iu0 qquO-?27qٚ[?)uIu [>iu uqqu :publishing transmit ping time) u Fpublishing direction and range infoq9uV)Կa%{nѿbn$?yqqqq q)qIqiqqqqq q)qIqiqqquO-?27qٚ[?)qIqiqqqq = $?IA ww,=9A6P?Y6l @6P=96J>y6H@EhZ@?'?M'0?@FN?I?ɨ6P?6W;6CyJBJA"IIbFIb%3٢~zD ~I=9~Q ~> G٣NPGy = > Nusing accuracyPremultiplier from configt59?t5Y_ i@AM@U@)cEl<<t5 w@kE?k+ k kO9A:kfBBBkABZkr="Zc.V9)6*S!F@V)Կa%{nѿbn$?Jk Rk*%<@X@9C@~qY?Yzu?Ž ?"k&@*kAk U?kԳ 2kBk *?kkBk\Akg@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:49:10.7131  addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.528043 s, deltaX: -1.700001 m, approachRate: -0.481854 m/s, rangeRepo size: 4 % Added new target pos. range: 48.599998 m, bearing: 5.300085 deg, lat: 36.905169 deg, lon: -122.119542 deg, deltaT: 3.528043 s, deltaX: -1.700001 m, approachRate: -0.481854 m/s, posRepo size: 4 Zj!EDNOT Ignoring new targets: 48.60 m.RjABjMJjIe ProNav: ac range: 48.599998 m, nav range: 20.295319 m, bearing: 348.358638 deg, approach rate: 0.000000 m/s, LOS rate: -1.330697 deg/s, cmd heading: 107.577706 deg, new cmd heading: 105.681357 deg. 2jiuHeadingCmd: 1.844488 target range: 48.599998 and range: 48.60 m. ju,?jqjqjihhhhfffrfLH@bf`o?ɛ]B]F= Y]}?Ia e߇<ɚaiaIe)m,?)*F52F1:F1BF5W0JF1G^G qAG GBO>ZH RH H I  I "II (BI &I .I 6I p<:I ] Fu Will construct direction to contact in vehicle frame from tetrahedron phase data. }w,X9AJVJVJTJTJV:JV9:JTJTJV;JV;JVX`;JVY`;yn؃Br*"Iiv=Iv A r@)@Ib@y@I IV2٢ :=9Q >!) -G٣)y5 5> =Nusing accuracyPremultiplier from config9Et59=S?Et5Y= i=@E5?M:M@M@=-cE= ;=;=Zt5UB U@UEuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 48.60 m.RjBjJj ProNav: ac range: 48.599998 m, nav range: 20.544167 m, bearing: 347.913873 deg, approach rate: 0.697442 m/s, LOS rate: -1.231424 deg/s, cmd heading: 105.681359 deg, new cmd heading: 104.363471 deg. 2jGSHeadingCmd: 1.821486 target range: 48.599998 and range: 48.60 m. jv&?j $?Ij j i hhhhBfffrfbf@CF?zKBHKs9KKK BKqA:KɛBx= 隥r?I <ɚiII0)! ! Bфw,4:A2~G:tAD ^c*YbtAyb"B53*@55#ByƒB"II$I<3٢%ڽ %I=9)Q ->)) -G5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.952233٣9yA E> MNusing accuracyPremultiplier from configIUt59M?Ut5YM iM@YY]@M2cEM ;Mm ;Mt5a e@aZjDNOT Ignoring new targets: 48.60 m.RjBj}Jj} ProNav: ac range: 48.599998 m, nav range: 20.788811 m, bearing: 347.489039 deg, approach rate: 0.601119 m/s, LOS rate: -1.031573 deg/s, cmd heading: 104.363474 deg, new cmd heading: 103.104185 deg. 2j0HeadingCmd: 1.799507 target range: 48.599998 and range: 48.60 m. jCV?jjjihhhhfffrfbf`o?ɛB= e?I t<ɚiIG)>Ge,; IGB)OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204170w, .:AyB!IMb@Mb@Mb@ )Ysh|??㥛 ?~jthy)?>D A /@)C@IK@y@II2٢Ơ P=9Q > G٣OPGy > Nusing accuracyPremultiplier from configt59gⓜ?t5Yӷ iB@  .? : 0@ @6cE;;Wt5 @EZjDNOT Ignoring new targets: 48.60 m.RjBj~Jj~ ProNav: ac range: 48.599998 m, nav range: 21.020153 m, bearing: 347.120537 deg, approach rate: 0.566062 m/s, LOS rate: -0.891744 deg/s, cmd heading: 103.104185 deg, new cmd heading: 102.010985 deg. 2jHeadingCmd: 1.780428 target range: 48.599998 and range: 48.60 m. j ?jjjihhh h VBf)f1f1rf1bf5?ɛBّ= 隅[?I ҆<ɚHC>I If"II BI&I.I7D6IT<:IH FBI}àCJI}àCRIyZI}! =bI}! =jI}4i)I-JK >G =<G B O >Gw,G:A2@Y2@23 =92Kg>y2Hq@& P?ݖ?޻?`h?i*?ɨ2@2):;2CyNBRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.708226N!I Z=XIbkIb=4٢j j\=9rFTxx zG٣yyP> > Nusing accuracyPremultiplier from configt59Г?t5Yr iS@{@@;cE<<M<̹t5 jAZjIeDNOT Ignoring new targets: 48.60 m.RjiBjmI`JjmI`} ProNav: ac range: 48.599998 m, nav range: 21.263933 m, bearing: 346.811261 deg, approach rate: 0.625414 m/s, LOS rate: -0.784342 deg/s, cmd heading: 102.010986 deg, new cmd heading: 101.093879 deg. 2jHeadingCmd: 1.764421 target range: 48.599998 and range: 48.60 m. j?jjjihhhhfffrfbf  {?ɛB= R?I <ɚiIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960188 I he w,a:AJN^@YJH}@JCH=9J =>>yJH@0%?e?f?p?@ji?ɨJN^@Jnj;JCyVBV!IIbbIb-4٢ju jJ=9jll nG٣lyr< r> vNusing accuracyPremultiplier from configtzt59vo?zt5YvU iv8@xz'@~@v?cEv:vG;vt5%B %A-EZjIUDNOT Ignoring new targets: 48.60 m.RjQBj]BVJj]BVm ProNav: ac range: 48.599998 m, nav range: 21.497667 m, bearing: 346.529912 deg, approach rate: 0.629312 m/s, LOS rate: -0.749272 deg/s, cmd heading: 101.093876 deg, new cmd heading: 100.259069 deg. 2jmuHeadingCmd: 1.749851 target range: 48.599998 and range: 48.60 m. ju?jqjji hh9hIhIfyffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213338ɛB = |J?I =ɚi)I-jH <bH <H B>I  I ."II ܃BI " =&I .I 6I <:I  F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4640789w,{:A2p@Y2@2W:_=92.-*>y2H` G@d?O]?2EEA E\@)E-@IE@AyE@I]aI]+4٢m% u@=9}W G٣PPGy*; > Nusing accuracyPremultiplier from configt592?t5YӪ i@w)?:@@CcEc; ;t5B =AE E$?IAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 48.60 m.RjBj-37Jj-37= ProNav: ac range: 48.599998 m, nav range: 21.759829 m, bearing: 346.231672 deg, approach rate: 0.570033 m/s, LOS rate: -0.640667 deg/s, cmd heading: 100.259070 deg, new cmd heading: 99.375202 deg. 2j=ۼEHeadingCmd: 1.734424 target range: 48.599998 and range: 48.60 m. jE?jAjAjaiihihihihuBfqfqfqrfqbf}zS@zKyRMK}9KKKɛBp== @?I (=ɚiI'vw,yx:A6m1@Y6fP@6 x=96>y6H@'g }?|o?`.-^?A?`?ɨ6m1@6;6CyBsBB!IiF!>IF4XX ZG٣XyZ ) Z> bNusing accuracyPremultiplier from config\ft59^?ft5Y^ i^@df@f@^GcE^;:^\:^t5h nAlZj DNOT Ignoring new targets: 48.60 m.Rj Bj wSJjwS% ProNav: ac range: 48.599998 m, nav range: 21.985985 m, bearing: 345.978493 deg, approach rate: 0.667454 m/s, LOS rate: -0.739518 deg/s, cmd heading: 99.375202 deg, new cmd heading: 98.623523 deg. 2j%-HeadingCmd: 1.721305 target range: 48.599998 and range: 48.60 m. j-S?j)j)j)i)h)h1h1h1f1f9f9rf9bfE`@ɛ B~;= 5?I $=ɚiI\ 5$?I1GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224893Hw,S:A6'@Y6 @6+=96<=y6H 7h 9??>@{l?=@Z?q?ɨ6'@6Ҍ;4yBmBB!IEMb@Mb@Mb@AAA A)AYEʡE?(\?Mb`?yE?E.>E;Ev@ E@)E@IE@AyEf@I]eI]34٢mc m>=9uaqy }G٣yy}r > Nusing accuracyPremultiplier from configt59?t5YǢ i@#?:!@@LcEn$;"";t5 AEZjDNOT Ignoring new targets: 48.60 m.RjBj[&Jj[& ProNav: ac range: 48.599998 m, nav range: 22.242386 m, bearing: 345.725749 deg, approach rate: 0.597066 m/s, LOS rate: -0.581763 deg/s, cmd heading: 98.623526 deg, new cmd heading: 97.874080 deg. 2jǼHeadingCmd: 1.708225 target range: 48.599998 and range: 48.60 m. j?jjjihhhhBf f f rf bf i @ɛ= B=蓤= =|7<= 0?I9 Elz=ɚAiAIEuIq Iu!IIuBIu# =&Iq.Iq6Iu<:Iui F*F2F:FBFo0JF"G >G>GQ>EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:49:13.1799 LVL= 19520, 30705, 26482, 32755, AGC= 57, IDX= 404, 0.05,-0.202,-1.735,-1.146,-0.737, PHS= 0.624,-0.951,-0.412, RAW= 109.7, 10.7, CAL= 118.9, 8.3, ROT= 31.1, -8.3 Ygot valid direction response: 22:49:13.1799 LVL= 19520, 30705, 26482, 32755, AGC= 57, IDX= 404, 0.05,-0.202,-1.735,-1.146,-0.737, PHS= 0.624,-0.951,-0.412, RAW= 109.7, 10.7, CAL= 118.9, 8.3, ROT= 31.1, -8.3 PDAT read: Bearing 31.1, -8.3 (Local) ~Local bearing/azimuth received: Bearing 31.1, -8.3 (Local) GBO J>DAT read: Range 10 to 50 : 46.4 m (Round-trip 61.9 ms) speed 0.6 m/s %,DAT read: user:2914> %BDAT read: Tx time:22:49:14.2639 -$Ping request sent.-IM ?iMVIIM??cƿѫV?)Mވ8IM>iM!MܖII=:publishing transmit ping time)=Fpublishing direction and range infoI9MEӿ`T*1̿]6j?yIIII I)IIIiIIIII I)IIIiIIIM??cƿѫV?)IIIiIIII IzK >`JK @9K K K RK ?JK ? 1w,'1:AJ@YJ3@RWill construct direction to contact in vehicle frame from tetrahedron phase data.RJDAT read: TxSync time:22:49:14.2631 Jo=9Jt=yJH ~ @#?@?13#?@@D?@8?ɨJ@J W;JCrPExceeded connect timeout, disconnecting.y=\B=!IIMRIMW4٢} }I=9}v G٣QPGy^޼ > Nusing accuracyPremultiplier from configt59v?t5YО iG@X!@@PcE>c<Gc<ft5 A ku>hvw?kuO kq ku5_:A:ku9BBkuT8BZku&<"uU-5,qp$ApE@uEӿ`T*1̿]6j?Jku!Rkuܖ*u*[2@ kY?BtNE@uGbR?rnp?YI_cc?"ku>>*kuߒAku( ?kuK 2kuBkqkqkuBku߳Aku@ addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 3.532206 s, deltaX: -2.199997 m, approachRate: -0.622839 m/s, rangeRepo size: 4 5 Added new target pos. range: 46.400002 m, bearing: 0.580880 deg, lat: 36.905169 deg, lon: -122.119542 deg, deltaT: 3.532206 s, deltaX: -2.199997 m, approachRate: -0.622839 m/s, posRepo size: 4 Zj15DNOT Ignoring new targets: 46.40 m.Rj1Bj=Jj9M ProNav: ac range: 46.400002 m, nav range: 22.483898 m, bearing: 345.486212 deg, approach rate: 0.000000 m/s, LOS rate: -0.581763 deg/s, cmd heading: 97.874077 deg, new cmd heading: 97.102482 deg. 2jiuHeadingCmd: 1.694758 target range: 46.400002 and range: 46.40 m. ju?jqjqjqiqhyhhhfffrf@33G@bf`?ɛB:= %?I  =ɚiIGBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J :J 3J  $?I ^w,:A2Y@Y2x@2+a=92->=y2H` U @w?`E? EX?dzv?_?ɨ2Y@2Sb;2 Cy>UB>!IIFFIF%3٢b bV=9bzKdd fG٣dyj j> nNusing accuracyPremultiplier from configlrt59nbf?rt5Yn in@tv @v@nTcEn:n:nt5zB ~A~EZj!-DNOT Ignoring new targets: 46.40 m.Rj)Bj-9Jj-9] ProNav: ac range: 46.400002 m, nav range: 22.710506 m, bearing: 345.259514 deg, approach rate: 0.656214 m/s, LOS rate: -0.649924 deg/s, cmd heading: 97.102484 deg, new cmd heading: 96.429206 deg. 2j]߼HeadingCmd: 1.683007 target range: 46.400002 and range: 46.40 m. jl?jjj ihh!hQhQfYfafrfbf 7?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBen= aeC ?Ia m =ɚiiiIm$II  IM !IIM BII &II .II 6IM O<:IM D F] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu K>GI BY Ou >$w,::A6R-@Y6KL@6=969=y6H]@Vx/ `V?qQ ??`?ɨ6R-@6!";6CyBHBBz!IUMb@Mb@Mb@QQQ Q)QYUX9v?(\?MbyU?QUU@ U=@)UC@IU@QyU@Ie'Ie@3٢}]i }==9$2 G٣ Iy|- > Nusing accuracyPremultiplier from configt59T?t5Y i3@?: @@XcE0;;t5 1AZjDNOT Ignoring new targets: 46.40 m.RjBjJj  ProNav: ac range: 46.400002 m, nav range: 22.952696 m, bearing: 345.023009 deg, approach rate: 0.557791 m/s, LOS rate: -0.538949 deg/s, cmd heading: 96.429205 deg, new cmd heading: 95.727214 deg. 2j 𸼝HeadingCmd: 1.670755 target range: 46.400002 and range: 46.40 m. jM?jjjihhhh{Bf!f!f!rf!bf%?ɛUBU.= Y]~?IY ] =ɚYiYI]՝= nManaging dock network, ignoring radio surface power offE }U<EEpA*F2F:FBF0JFGrA GpAG F>G B O >Nw,t;A*Will construct direction to contact in vehicle frame from tetrahedron phase data.>?Y> @>l1=9>wH_y\?`?@^?>*;|| ~G٣~RPGy~_@ >  Nusing accuracyPremultiplier from configt59&C?t5YВ ir@h@@\cEH;WH;Vt5! -OA-EEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 46.40 m.RjQBj]Jj]JJJ0JJ̶:J/:Jـ3J ProNav: ac range: 46.400002 m, nav range: 23.194988 m, bearing: 344.777598 deg, approach rate: 0.555000 m/s, LOS rate: -0.556270 deg/s, cmd heading: 95.727212 deg, new cmd heading: 94.998710 deg. 2jᾼHeadingCmd: 1.658040 target range: 46.400002 and range: 46.40 m. j:?jjjihhhhfffrf bf  ?ɛ]B]= Y]n?IY eb=ɚaiI4aGQ Ba O} >qw,14;A67?Y6m @6>=96!$IA IE!IIEqBIE" =&IA.IE8D6IEU<:IEL FMb@Mb@Mb@ )YMbX?ʡE?Mby ?-2>@ @)p@IyIoID4٢$ ?=9m G٣yh > Nusing accuracyPremultiplier from configt592?t5Y i@?:j@@`cE/;!.;t5B AEZjDNOT Ignoring new targets: 46.40 m.RjBj%`Jj%`5 ProNav: ac range: 46.400002 m, nav range: 23.419588 m, bearing: 344.555100 deg, approach rate: 0.525296 m/s, LOS rate: -0.515389 deg/s, cmd heading: 94.998711 deg, new cmd heading: 94.337649 deg. 2j5ڰ=HeadingCmd: 1.646503 target range: 46.400002 and range: 46.40 m. j=?jAjAjAiAhAhAhIhMnBfIfIfIrfQbfU9?ɛ=B=켕= = ==R?I9 E=ɚAiAIEG>zKM KM }9KI KM KM % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239530G K>G B O >w,;Q;Ay 8Be!II%jI%;4٢5i =;=9=Q =>AA EG٣AyE M> Nusing accuracyPremultiplier from configqiG t5|uA9u%"?t5Yu )iu@)9=@udcEu(< ]#Y]|uAy]'BuG) B9 O} >Bw,) k;A6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746542u?YY@\=9ȿ yH& @x%?12?_K@?ɨu?ξ;騕 Cyޭ4Bޭa!I=Mb@Mb@Mb@999 9)9Y="~j?Q?:vy=S?=(>=T=b@ =@)=@I=j@9y=@IUgIU64٢e≼ e9=9eVqq uG٣uSPGyu޽ }> Nusing accuracyPremultiplier from configyt59}?t5Y} i}@ ?:h@@}hcE}J;}-;}t5 AZjDNOT Ignoring new targets: 46.40 m.RjBjJj ProNav: ac range: 46.400002 m, nav range: 23.865705 m, bearing: 344.098148 deg, approach rate: 0.497496 m/s, LOS rate: -0.534107 deg/s, cmd heading: 93.668217 deg, new cmd heading: 92.979728 deg. 2jFHeadingCmd: 1.622802 target range: 46.400002 and range: 46.40 m. j?jjjihhhhvBfffrfbf!@ɛM%BMb= QUo?IQ ]=ɚYiYIeۂIC I!II\BI =&I.I6I<:I FBIJIRIZI" =bI" =jIț5*F2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:49:16.7268 TRx dataTimestamp_ set to:1736376557.936703checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996397 E $?IA G P>G B O >&w,5ӄ;A6p?Y6@6q=96v+y6HJmwQ`'T?@tj $?`MO?ɨ6p?6낊;6Cyv1Bv]!II~jI~;4٢ ~  d=93 G٣y3| %> -Nusing accuracyPremultiplier from config!-t59%?5t5Y% i%@1=@=@%kcE%A;%PB;%t5EB MAMEZjiuDNOT Ignoring new targets: 46.40 m.RjqBju$Jju$ ProNav: ac range: 46.400002 m, nav range: 24.039278 m, bearing: 343.902455 deg, approach rate: 0.512421 m/s, LOS rate: -0.573553 deg/s, cmd heading: 92.979727 deg, new cmd heading: 92.396909 deg. 2jļHeadingCmd: 1.612630 target range: 46.400002 and range: 46.40 m. jj?jjjihhhhfffrfbf8 @ɛ'B,^= ?I &=ɚiI#GQBaO}>% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! U DAT read: 22:49:16.7268 LVL= 14880, 24305, 20818, 28659, AGC= 62, IDX= 405, 0.14, 2.736, 0.657, 1.501, 1.703, PHS= 1.120,-0.999,-0.205, RAW= 111.8, 0.9, CAL= 121.3, -4.5, ROT= 28.7, 4.5 e Ygot valid direction response: 22:49:16.7268 LVL= 14880, 24305, 20818, 28659, AGC= 62, IDX= 405, 0.14, 2.736, 0.657, 1.501, 1.703, PHS= 1.120,-0.999,-0.205, RAW= 111.8, 0.9, CAL= 121.3, -4.5, ROT= 28.7, 4.5 m PDAT read: Bearing 28.7, 4.5 (Local) m ~Local bearing/azimuth received: Bearing 28.7, 4.5 (Local) } DAT read: Range 10 to 50 : 43.9 m (Round-trip 58.6 ms) speed 0.4 m/s } ,DAT read: user:2915>  BDAT read: Tx time:22:49:17.8140  $Ping request sent. i% )\?% w% Q% |?% < % P~@)% |٠I% ;?i% |٠=! ! % (?O\S¿θ'f?)% )!I% 2i% l<% O! !  :publishing transmit ping time؁  Fpublishing direction and range info! 9% 6֣\5a-P}ѿ( }$2~?y! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! % (?O\S¿θ'f?)! I! i! ! ! ! Pw,;A tIt=E?Y=u@==9=Uy=H@L߿p*筿`ʯ?W߿@(?P"r?ɨ=E?=,;=CyM+BMV!III٢E¼ E,=9U;Q U>QQ UG٣Yy]GF ]> eNusing accuracyPremultiplier from configa}t59e?t5Ye ie @@@eocEeT;e;et5  AkUuy?kU\E kQ kU*;A:kU/BBkUf.BZkU>"U)Q's D@U6֣\5a-P}ѿ( }$2~?JkUl<RkUO*UBcoH%@`wc@ZF["E@Uky?/D? /?"kU@*kU"-AkU.݆?kUYf 2kUBkQkUK kUBkUtAkUC@ addTargetRange:: Added new target pos. range: 43.900002 m, deltaT: 3.528033 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, rangeRepo size: 4  Added new target pos. range: 43.900002 m, bearing: 24.131732 deg, lat: 36.905169 deg, lon: -122.119477 deg, deltaT: 3.528033 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 43.90 m.RjBj%Jj) ProNav: ac range: 43.900002 m, nav range: 23.306864 m, bearing: 357.498959 deg, approach rate: 0.000000 m/s, LOS rate: -0.573553 deg/s, cmd heading: 92.396907 deg, new cmd heading: 91.529810 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:49:17.8132 HeadingCmd: 1.597497 target range: 43.900002 and range: 43.90 m. jz?jjjihhhhff f rf @3E@bf F?ɛ]+Be*= aeh>Ia eW=ɚaiiImI C I !II MBI  =&I .I 9D6I u<:I k F*Fu 2Fq :Fq BFu @5JFq 5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJJ;aJ;aJ\;aJ\;a !I)G]A>G1B9O]?:w,';ABe?YB@B=9B9EDA E@)E@IAAyE@I]I][3٢mT= u=9u{yy }G٣}TPGy}C > Nusing accuracyPremultiplier from configt59撜?t5Yy i@s?:J@@scE|4;,3;t5 AEB*** querying acoustic contact ***jjZjQUDNOT Ignoring new targets: 43.90 m.RjQBj]|Jj]|zKiKm}9KiKmKmRKu?JKu ? ProNav: ac range: 43.900002 m, nav range: 23.508999 m, bearing: 357.027642 deg, approach rate: 0.381236 m/s, LOS rate: -0.881272 deg/s, cmd heading: 91.529808 deg, new cmd heading: 90.128310 deg. 2j3HeadingCmd: 1.573036 target range: 43.900002 and range: 43.90 m. j`w,;A2k?Y2T@2=921zTX ZG٣XyZ| Z> b$?I` fNusing accuracyPremultiplier from configdjt59fے?jt5Yfu if@ln@n@fvcEf ;f;ft5p rAtZjDNOT Ignoring new targets: 43.90 m.RjBjmJju ProNav: ac range: 43.900002 m, nav range: 23.648703 m, bearing: 356.693713 deg, approach rate: 0.385408 m/s, LOS rate: -0.915778 deg/s, cmd heading: 90.128308 deg, new cmd heading: 89.132546 deg. 2jHeadingCmd: 1.555656 target range: 43.900002 and range: 43.90 m. j?jjjihhhhfffrfbfN?ɛ-1B-R= )-?I) 5=ɚ1iI-3I  I y!II HBI  =&I .I 6I <:I FG F>G B O >iGw,;A6a?Y6?6u=96QD@ @)3@Iy=@I8I3٢L7= '=9;Q > G٣JJJJJ:J:JJJ;J;JzE;JzE;yE > Nusing accuracyPremultiplier from config t59BΒ? t5Yp i!@ q? : @@zcE;;et5B WAE =$?I9ZjDNOT Ignoring new targets: 43.90 m.RjBj}Jj} ProNav: ac range: 43.900002 m, nav range: 23.819479 m, bearing: 356.243721 deg, approach rate: 0.339423 m/s, LOS rate: -0.887951 deg/s, cmd heading: 89.132548 deg, new cmd heading: 87.792510 deg. 2jYHeadingCmd: 1.532268 target range: 43.900002 and range: 43.90 m. j_!?jjjihhhhˁBfffrfbf~?ɛM4Bm{= qu?Iq }(=ɚyiyI}G= ?G= ?G B O= >.w,xx zG٣zUPGyzҗ ~> mNusing accuracyPremultiplier from configamt59e+Ē?ut5Yel iea@quM@u@e~cEe7:e:et5y [AEZjDNOT Ignoring new targets: 43.90 m.RjBj뇼Jj뇼 ProNav: ac range: 43.900002 m, nav range: 23.949657 m, bearing: 355.888619 deg, approach rate: 0.350405 m/s, LOS rate: -0.950635 deg/s, cmd heading: 87.792513 deg, new cmd heading: 86.733125 deg. 2j#HeadingCmd: 1.513779 target range: 43.900002 and range: 43.90 m. j?jjjihhhhfffrfbf`_?ɛ 6B K= ?I [ =ɚiIM Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2597279X w,1/9k=yH` ׿ O@q?@H׿S?o[)R?@?ɨ7?[;騉yޥDBޥu!I]Mb@Mb@Mb@YYY Y)YY]Mb?p= ף?y]?]>]]-@ Y)]I@I]@Yy]@Iu`Iu(*4٢< 3=98 G٣yh > Nusing accuracyPremultiplier from configt59?t5Yg i@;?:i @@cE(;0;t5 7AZjDNOT Ignoring new targets: 43.90 m.RjBj߇Jj߇ ProNav: ac range: 43.900002 m, nav range: 24.099428 m, bearing: 355.463366 deg, approach rate: 0.336791 m/s, LOS rate: -0.950320 deg/s, cmd heading: 86.733123 deg, new cmd heading: 85.465511 deg. 2j #HeadingCmd: 1.491655 target range: 43.900002 and range: 43.90 m. j?jj j i h hhhBfffrfbf%>@ɛU9BU*= U2=U?IY ]"=ɚYiYI]mI III =&I.I6I<:I F*F2F:FBFm0JFGpA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507856JJJJJܫ:J:JJJ;J;JC;JC; IhG 2>G B O >Bw,g{I92GB>y!IIJiIJ:4٢R< Rn=9R%G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A BDAT read: Rx Time:22:49:20.2743  TRx dataTimestamp_ set to:1736376561.465695 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013723  I yjw,LcIp=  AII٢%w< %C=9%Q ->)) -G٣-VPGy5 5> =Nusing accuracyPremultiplier from config9Eu59=?Eu5Y=^ i=@AIM@=cE=T:=;=Ju5Q UAUEZj!%DNOT Ignoring new targets: 43.90 m.Rj!Bj-Jj-= ProNav: ac range: 43.900002 m, nav range: 24.351927 m, bearing: 354.729546 deg, approach rate: 0.316640 m/s, LOS rate: -0.907450 deg/s, cmd heading: 84.474537 deg, new cmd heading: 83.275889 deg. 2j=EHeadingCmd: 1.453438 target range: 43.900002 and range: 43.90 m. jEE ?jAjIjIiIhIhIhQhQfYfYfYrfYbf] u @ɛ=Bc= 隕?I ~%=ɚiI>4G) B1 OQ jH <bH <H Q>I  I !II MBI &I .I 6I Ű<:I Fuw,3} %BDAT read: Tx time:22:49:21.3640 %$Ping request sent.%9}B==p@ =@)=hAI=@9y= @IurIuJ4٢8 =9F# G٣y# > Nusing accuracyPremultiplier from configu59?u5YW i@?:!@@cE;/;(u5! -A)k6{?k6}V k4 k6 ~GBO%?9)w,:9ZBYY ]G٣eWPGye e> }Nusing accuracyPremultiplier from configyu59}ɍ?u5Y}WQ i}V@@@}cE}:b;}P|;} u5B FAEZjDNOT Ignoring new targets: 42.00 m.RjBjJj % ProNav: ac range: 42.000000 m, nav range: 21.209208 m, bearing: 354.932053 deg, approach rate: 0.306078 m/s, LOS rate: -1.312678 deg/s, cmd heading: 81.749318 deg, new cmd heading: 79.832664 deg. 2j%8a=HeadingCmd: 1.393343 target range: 42.000000 and range: 42.00 m. j=Y?j9j9j9i9hAhAhahafifqfyrfybf} ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛCB](ѓ= Y]>IY ey*=ɚaiaIe Ii IiIiIm =&Ii.Ii6Im<:Im FBI5ȢCJI5ȢCRI1ZI5 =bI5 =jI5ȋ;5E 4=U Will construct direction to contact in vehicle frame from tetrahedron phase data.] Ai] A*Fu 2Fq :Fq BFu P0JFy i Ii J- J- J- 0J) J- :J- :J- ـ3J) J- i;J- k;J- oN;J- oN;G:>GqBO ? J2w,c92@H G٣yW- > Nusing accuracyPremultiplier from configu59T?u5YI i@?:@@cED;B;[u5 5AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 42.00 m.RjBjJj  ProNav: ac range: 42.000000 m, nav range: 21.371754 m, bearing: 354.197183 deg, approach rate: 0.299369 m/s, LOS rate: -1.343115 deg/s, cmd heading: 79.832665 deg, new cmd heading: 77.645945 deg. 2j qfHeadingCmd: 1.355177 target range: 42.000000 and range: 42.00 m. jtv?jjjihhhh>BzK%KK%9K!K%K%!##!  RK)JK->eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.fffrfbf D?ɛEB= >I w,=ɚiIjG B O% >8w,(92'n9B>g!IIJ,IJ3٢RBB RJ=9Vh;Q V>TT VG٣Ty^p ^> bNusing accuracyPremultiplier from config`fu59bWz?fu5Yb)D ib@df?j@bcEb;b;bu5l nAlZjDNOT Ignoring new targets: 42.00 m.RjBj㵼Jj㵼 ProNav: ac range: 42.000000 m, nav range: 21.488535 m, bearing: 353.657498 deg, approach rate: 0.276785 m/s, LOS rate: -1.272144 deg/s, cmd heading: 77.645946 deg, new cmd heading: 76.036137 deg. 2jCZHeadingCmd: 1.327081 target range: 42.000000 and range: 42.00 m. jݩ?jjjihh1h1h9f9f9fArfAbfE ?ɛGBy-= >I R.=ɚiIoIQ  IU s!IIU CBIU  =&IQ .IQ 6IU Ȱ<:IU FG9 GA GE pAG B O5 >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991021?w,̼@ @)AI@yp@IkI=4٢ 8=9Q > G٣XPGy > -Nusing accuracyPremultiplier from config)5u59-q?5u5Y-= i-@5!?5:5?5@-cE-H;-;-u5A EAAZjDNOT Ignoring new targets: 42.00 m.RjBjȼJjȼ ProNav: ac range: 42.000000 m, nav range: 21.626186 m, bearing: 353.038825 deg, approach rate: 0.313378 m/s, LOS rate: -1.399483 deg/s, cmd heading: 76.036138 deg, new cmd heading: 74.192607 deg. 2jpHeadingCmd: 1.294905 target range: 42.000000 and range: 42.00 m. ju?jjjihh h hrBfffrfbf r@ɛIBy= >I /=ɚiI=Iu?i!i!)%u?)!*F2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242985zK3LKŷ9KKKG :>G B O >^Ew,=Ay~'BP!IIsIK4٢-$ -W=9)Q ->11 5G٣1y1 => ENusing accuracyPremultiplier from configAMu59Eqi?Mu5YEC8 iE@IIU@EcEEe:EP:Eu5]B eAeEZjDNOT Ignoring new targets: 42.00 m.RjBj5żJj5ż ProNav: ac range: 42.000000 m, nav range: 21.741917 m, bearing: 352.533110 deg, approach rate: 0.317342 m/s, LOS rate: -1.379314 deg/s, cmd heading: 74.192609 deg, new cmd heading: 72.683908 deg. 2jlHeadingCmd: 1.268574 target range: 42.000000 and range: 42.00 m. j`?jjjihhhhfffrfbf6@ɛKBu0= >I <$1=ɚiI=I`?ii)`?) Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495948 I*F2F:FBF5JFJ3K;3 K;.K3K3"K3JuJuJu1JqJuL:Ju:Ju3Jqa@a@a@a@GQG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749695\Lw,2=A^׼?Y^{?^>9^sǶ`@ @)AI@y@IcIy/4٢Y A=9 G٣y> > Nusing accuracyPremultiplier from configu59sa?u5Y1 i5@y ?:?@cE#;;u5 !AZjDNOT Ignoring new targets: 42.00 m.RjBj% ɼJj% ɼ= ProNav: ac range: 42.000000 m, nav range: 21.868767 m, bearing: 351.934021 deg, approach rate: 0.299476 m/s, LOS rate: -1.406140 deg/s, cmd heading: 72.683909 deg, new cmd heading: 70.897679 deg. 2j=AqEHeadingCmd: 1.237398 target range: 42.000000 and range: 42.00 m. jEc?jAjAjAiAhIhIhIhUwBfQfQfQrfQbf]2@ɛMB = ?W=隍>I /2=ɚiI=Ic?ii)c?)HT>IC I`!II4BI&I.I6I<:I F*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:49:23.8223 %TRx dataTimestamp_ set to:1736376564.992893%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000294 $?IhG% 2>G% ?G% (?G B O5 >XRw,L=A6?Y6?6?>96#B>4!I)D DINfIN44٢VL V^=9Zu;Q Z>XX ^G٣^YPGy^ˊ b> fNusing accuracyPremultiplier from config`fu59bZ?ju5Yb<, ib@hj?j@bcEb:b:b"u5p rArE}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250865B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 42.00 m.RjBjJj ProNav: ac range: 42.000000 m, nav range: 21.976128 m, bearing: 351.411322 deg, approach rate: 0.278216 m/s, LOS rate: -1.347895 deg/s, cmd heading: 70.897678 deg, new cmd heading: 69.337646 deg. 2jCgHeadingCmd: 1.210170 target range: 42.000000 and range: 42.00 m. j?jjjzKBoHKK9KKKihIhqhyhyfffrfbf y @ɛ5OB=b= 9=@>I9 ='3=ɚ9iAIE=IE?iIiI)M?)q*F2F:FBF05JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508920 I G :>J J J J J ,:J :J J G B) OM >%Yw,_]f=A>]?Y>ʛ?>@>9>Hز@?`k?8`^?@bÿ @?@W?ɨ>]?> ;>CyJBJ'!IIVvIV&Q4٢Z%Y ^J=9^W;Q ^>`` bG٣`yfU f> jNusing accuracyPremultiplier from confighnu59jIT?nu5Yj& ijM@lr@?r@jcEj ;jy;j&u5t v#AtZjDNOT Ignoring new targets: 42.00 m.RjBjӼJj%Ӽ- ProNav: ac range: 42.000000 m, nav range: 22.090628 m, bearing: 350.834802 deg, approach rate: 0.295464 m/s, LOS rate: -1.479957 deg/s, cmd heading: 69.337649 deg, new cmd heading: 67.617601 deg. 2j5}5HeadingCmd: 1.180150 target range: 42.000000 and range: 42.00 m. j5&?j9j9j9i9h9hAhAhAfAfIfIrfIbfM` @ɛQBTݏ= 隕P>I 4=ɚiI=I&?ii)&?)*F52F1:F1BF5P0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:49:23.8223 LVL= 13296, 23281, 18802, 24531, AGC= 54, IDX= 423,-0.34,-2.841, 1.426, 1.475, 2.320, PHS= 1.210,-0.847,-0.849, RAW= 90.0, 4.8, CAL= 97.3, 3.6, ROT= 52.7, -3.6 Ygot valid direction response: 22:49:23.8223 LVL= 13296, 23281, 18802, 24531, AGC= 54, IDX= 423,-0.34,-2.841, 1.426, 1.475, 2.320, PHS= 1.210,-0.847,-0.849, RAW= 90.0, 4.8, CAL= 97.3, 3.6, ROT= 52.7, -3.6 PDAT read: Bearing 52.7, -3.6 (Local) ~Local bearing/azimuth received: Bearing 52.7, -3.6 (Local) DAT read: Range 10 to 50 : 40.5 m (Round-trip 54.1 ms) speed 0.4 m/s E,DAT read: user:2917> ]BDAT read: Tx time:22:49:24.9140 $Ping request sent.jH<bH<HW>I IA!IIBI =&I.I:D6Iڰ<:I F= Will construct direction to contact in vehicle frame from tetrahedron phase data. `w,:=A 0I4y~B~!IMb@Mb@Mb@ )YGz?sh|??Q롿yp?)>\@ @) AIK@y@ITI4٢ŝ 7=9Q >    G٣ y  > Nusing accuracyPremultiplier from config%u59XL?%u5Y i@%R#?%:%*?-@cE;<;o*u51 5A5Ek(?k1 = k ko=A:k"BBk BZki`]@"ҝ`yA@@?ʷOC@޺5kƿj2Aiؼ?gO XL?Jkz$@Rk4*ony 8> 0SO e*D@KDfN < LN?"k*k_kY&?k=@= 2kBk.݆?k9{V kBkFPAk@ addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 3.779412 s, deltaX: -1.500000 m, approachRate: -0.396887 m/s, rangeRepo size: 4  Added new target pos. range: 40.500000 m, bearing: 198.186636 deg, lat: 36.905056 deg, lon: -122.119448 deg, deltaT: 3.779412 s, deltaX: -1.500000 m, approachRate: -0.396887 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 40.50 m.RjBjJj ProNav: ac range: 40.500000 m, nav range: 13.017165 m, bearing: 350.703485 deg, approach rate: 0.000000 m/s, LOS rate: -1.479957 deg/s, cmd heading: 67.617602 deg, new cmd heading: 65.613415 deg. 2jHeadingCmd: 1.145170 target range: 40.500000 and range: 40.50 m. j?jjjihhIhQhUsBfQfQfYrf]@D@bf]S?ɛTB{"= 隵>I 6=ɚiIl%=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.E·3=zKMBHKM9KIKMKM*FM 2FI :FQ BFU 05JFQ G B>G G rAGiBqO>:Wgw, ʞ=ABGE?YB6?BXk>9B&hh jG٣jZPGyn޽ n> rNusing accuracyPremultiplier from configpvu59rE?vu5Yr. ir@xz ?z@rcEr ;r;rB.u5| ~#A| IZj9=DNOT Ignoring new targets: 40.50 m.Rj9BjEK.JjEK.U ProNav: ac range: 40.500000 m, nav range: 13.140739 m, bearing: 349.633282 deg, approach rate: 0.284208 m/s, LOS rate: -2.438069 deg/s, cmd heading: 65.613413 deg, new cmd heading: 62.436441 deg. 2jU'ѽ]HeadingCmd: 1.089721 target range: 40.500000 and range: 40.50 m. j]{?jYjYjYiahahahahifififirfqbfu?ɛVBJ= 隥>I W 7=ɚiIma=Iߋ?ii){?)JJJ0JJ :J9Jـ3JEQ=*Fe2Fa:FaBFeP0JFamWill construct direction to contact in vehicle frame from tetrahedron phase data.G2>G B O >vzmw,H=AH6X>I4 I6!II6BI6 =&I4.I46I6ݰ<:I6 FFGI?YF6?F},>9F*utq u@)qIu5@qyu@I*I3٢Ƚ >=9Q > G٣y] > Nusing accuracyPremultiplier from configu59]??u5Y i @#?:"?@cE/;;2u5 AZj  DNOT Ignoring new targets: 40.50 m.Rj Bj=$Jj=$M ProNav: ac range: 40.500000 m, nav range: 13.260191 m, bearing: 348.635619 deg, approach rate: 0.278590 m/s, LOS rate: -2.305716 deg/s, cmd heading: 62.436439 deg, new cmd heading: 59.473204 deg. 2jMŽ]HeadingCmd: 1.038003 target range: 40.500000 and range: 40.50 m. j]J݄?jYjYjYiYhYhahaheTBfafifirfibfm j?ɛYBw= 隭k>I 7=ɚiIm=I5?i1i1)5J݄?)9Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IhEhW=*F2F:FBFO0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K K G :>RK ?JK ? c~GG |uA BO> /&Y|uAy\B՜uw,=A:i?Y:X9?:/U>9:{hXX ^G٣\y^޽ ^> fNusing accuracyPremultiplier from config`fu59b9?ju5Yb  ibE@hj?j@bcEbL:b:b5u5nB rjArE}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 40.50 m.RjBjJj ProNav: ac range: 40.500000 m, nav range: 13.378052 m, bearing: 347.581028 deg, approach rate: 0.251943 m/s, LOS rate: -2.234337 deg/s, cmd heading: 59.473203 deg, new cmd heading: 56.340605 deg. 2jHeadingCmd: 0.983329 target range: 40.500000 and range: 40.50 m. jt{?jj j i h h hQhQfQfQfYrfYbf]!?ɛ[Bwi= 隥?>I 8=ɚiIJ =Imc}?iqiq)ut{?)yEE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. IJJJJJ\:J9JJ*F2F:FBFP0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984128G B>G B O%>|w,O=AU[?YUJ?U>9UoIC I IIɂBI =&I.I6I|<:I| FBICJICRIZI =bI =jI5 )YV-?kt?Mby ? 0>I@ @)I AI@y@IEeIE34٢U U=9]L?:Q ]>YY eG٣e[PGyeL m> uNusing accuracyPremultiplier from configiuu59m4?}u5Ym imb@}{?}:c?%@mcEm+IY e79=ɚaiaIek =Im1t?iiii)m/l?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232329 I*FQ2FQ:FQBFQJFYGu :>GQ BY Ou >+w,,>A6m?Y6ȫ?6QA>96P bNusing accuracyPremultiplier from config\bu59^0?fu5Y^ i^@df*?f@^cE^ ;^~ ;^=u5l rApzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484227ZjDNOT Ignoring new targets: 40.50 m.RjBj%#Jj%#5 ProNav: ac range: 40.500000 m, nav range: 13.597354 m, bearing: 345.700789 deg, approach rate: 0.266268 m/s, LOS rate: -2.287402 deg/s, cmd heading: 52.998057 deg, new cmd heading: 50.752666 deg. 2j5:Ľ=HeadingCmd: 0.885801 target range: 40.500000 and range: 40.50 m. j=b?j9jAjAiAhAhAhIhIfIfIfQrfQbfU@e@@zK K  9K K K ;]loiBKoA:Kɛ_B-AV= )-t=I) -Vt9=ɚ1i1I5 =I5#j?i9i9)=b?)9*F2F:FBF`0JFG IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:49:27.3703 TRx dataTimestamp_ set to:1736376568.524247checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740605GBOm >Éw,M(>An-?Ynk?n>9nQQ UG٣Qy]~u ]> eNusing accuracyPremultiplier from configamu59e,?mu5Ye ie@im?u@ecEe:eX:eCAu5y } A}EZjYeDNOT Ignoring new targets: 40.50 m.RjaBjeJje} ProNav: ac range: 40.500000 m, nav range: 13.700895 m, bearing: 344.786845 deg, approach rate: 0.233097 m/s, LOS rate: -2.041879 deg/s, cmd heading: 50.752667 deg, new cmd heading: 48.033714 deg. 2j}*HeadingCmd: 0.838346 target range: 40.500000 and range: 40.50 m. jV?jjjihhhhfffrfbfu@ɛaBӯB= i\|==I a9=ɚiI=I+]X?ii)V?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993408*FE2FA:FABFM0JFIH\>I I IIBI =&I.I6Iz<:IGM2>G! B1 OM > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 39.0 m (Round-trip 52.1 ms) speed 0.3 m/s  ,DAT read: user:2918> - X#Rx 1: Read range message, but no direction. y B  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.w,B>AJbJbJ`J`Jb<:Jb:J`J`Jb;ajJb;ajJb@;ajJb@;an?Y"?s>9(?ÿ5ϛ?K?ɨ?:;Cy}]B}Y Ii%>I4=Mb@Mb@Mb@ )YS㥛?~jt?S㥛y?>/ݼv@ `@) AIy @IrIJ4٢5I 5/=9U%Q U>QQ UG٣]\PGy]` ]> eNusing accuracyPremultiplier from configa}u59e)?}u5Ye@ ie@ ?:i?@ecEeʇ;e;e]Eu5 R A addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 3.280966 s, deltaX: -1.500000 m, approachRate: -0.457182 m/s, rangeRepo size: 4 Zj!%DNOT Ignoring new targets: 40.50 m.Rj!BjMJjM] ProNav: ac range: 40.500000 m, nav range: 13.802007 m, bearing: 343.836280 deg, approach rate: 0.219952 m/s, LOS rate: -2.052565 deg/s, cmd heading: 48.033715 deg, new cmd heading: 45.205340 deg. 2j]eHeadingCmd: 0.788982 target range: 40.500000 and range: 39.00 m. jeI?jajjihhhh5BfffrfC@bfB?ɛecBm@6= im@/Ii m9=ɚqiqIu ^=IuJ?iyiy)}I?)a=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Tx time:22:49:28.4640 M$Ping request sent.MG :>G B O >aw,L`>AB?YB?B>9BadnWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251230d rG٣pyr v> zNusing accuracyPremultiplier from configt~u59v'?~u5Yv iv@|~6?~@vcEv ;v ;vHu5   A E1J% %Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqJ%5Entering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ).qJ=J==B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 40.50 m.RjIBj]Jj]m ProNav: ac range: 40.500000 m, nav range: 13.882210 m, bearing: 343.066596 deg, approach rate: 0.217037 m/s, LOS rate: -2.070743 deg/s, cmd heading: 45.205341 deg, new cmd heading: 42.910925 deg. 2jmuHeadingCmd: 0.748937 target range: 40.500000 and range: 39.00 m. juU??jqjqjqiqhyhyhyhyfffrfbf?ɛdBƵ*= 隵CI e9=ɚiI=I\}E?ii)U??)*F2F:FBF%_2JF!Ge2>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504477G B O= >؝w,z>AjHbHH^>I I` IIdBI&I.I6IL<:I] FJi?YJX"?J>9J|M>MtMQA I)IIM@IyM@IYI4٢CϽ :=9޻Q > G٣yM > Nusing accuracyPremultiplier from config u59%? u5Y2 i@]?:]?@cE0;$;Lu5 % A!k=^@J=J=ZjYeDNOT Ignoring new targets: 40.50 m.RjaBjeZJjeZ} ProNav: ac range: 40.500000 m, nav range: 13.970792 m, bearing: 342.238377 deg, approach rate: 0.202299 m/s, LOS rate: -1.879384 deg/s, cmd heading: 42.910926 deg, new cmd heading: 40.443636 deg. 2j}9HeadingCmd: 0.705875 target range: 40.500000 and range: 39.00 m. j34?jjjihhhhBfffrfbf ?ɛfB= ýI 9=ɚiI6=I$7?ii)34?) IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755866J-J-J)J)J-M:J-*9J)J)J-;J- ;J-(;J-(;Eu)2X=EyE}nA*F 2F :F BF o0JF G rA G rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006886G zK5 %MK5 9K1 K5 K5 8]V '  lV7[%}U. v[># G B O >uw,>A2?Y2?2>92BB> I)@ @IF7IF3٢N NG=9RQ R>PP VG٣V]PGyVz V> ^Nusing accuracyPremultiplier from configX^u59Z1$?bu5YZ iZ@`b#?b@ZcEZ:Z:ZPu5d fV AhktJv1KvZjyDNOT Ignoring new targets: 40.50 m.RjBjJj ProNav: ac range: 40.500000 m, nav range: 14.051681 m, bearing: 341.463154 deg, approach rate: 0.190438 m/s, LOS rate: -1.814557 deg/s, cmd heading: 40.443637 deg, new cmd heading: 38.132680 deg. 2jHeadingCmd: 0.665541 target range: 40.500000 and range: 39.00 m. j`*?jjjihhhhf f)f1rf1bf5q?ɛhB= 隝TI 58=ɚiI=I0?ii)`*?)EPz= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260275*F52F1:F1BF54JF9G] :>G1 BA Oe >Ȧw,ް>A>窍?Y>?>k>9>#H ?`@??:?Be?¿ȕ?`?ɨ>窍?>;>Cyj BjIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAirArchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511217I~.I~3٢ 榽 D=9%|Q ->99 EG٣AyMc M> UNusing accuracyPremultiplier from configQ]u59U#?]u5YU4 iUZ@ae?e@UcEU;UV;USu5i m Aik1KCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1J Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLZjDNOT Ignoring new targets: 40.50 m.RjBj Jj  ProNav: ac range: 40.500000 m, nav range: 14.133046 m, bearing: 340.665968 deg, approach rate: 0.199670 m/s, LOS rate: -1.944958 deg/s, cmd heading: 38.132680 deg, new cmd heading: 35.756332 deg. 2j٦HeadingCmd: 0.624066 target range: 40.500000 and range: 39.00 m. j?jjjihhhhfffrfbf%?Hf>IC I! II1BI =&IFD.I;D6Ic<:Iu FɛiBJ= !-D;I) -7=ɚ)i)I-=I5B!?i1i9)=?)9EIEI*EI"EI IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763158J J J J J J m9J J J J !;J ;J ;*F 2F :F BF 0JF GGBO?>Jw,]>AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017819І?Y?jP>9}ڭI5%=Mb@Mb@Mb@ )Y?ʡE?Qyf>=uhA v@)I AI@yAIsIK4٢ =9|xQ > G٣^PGy0˽ > Nusing accuracyPremultiplier from configu59#? u5Y i@/>:%?@cEv;t;Xu5!zKeOKe9KaKeKesmjea][UQNKHBB?;951/-,+)#! % AZjDNOT Ignoring new targets: 40.50 m.RjBj<Jj<򼝊  ProNav: ac range: 40.500000 m, nav range: 14.207951 m, bearing: 339.711894 deg, approach rate: 0.133724 m/s, LOS rate: -1.694220 deg/s, cmd heading: 35.756331 deg, new cmd heading: 32.911669 deg. 2j W HeadingCmd: 0.574417 target range: 40.500000 and range: 39.00 m. j ?jjjihhhhBffAfArfAbfEr@ɛkBlv< 隥iI 6=ɚiIe=I?ii) ?)*FU2FQ:FQBF]O5JFY I-Will construct direction to contact in vehicle frame from tetrahedron phase data.-0?-<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267900G Gq B O >mw,>AF톃?YFğ?F=>9F6dd jG٣hyj j> rNusing accuracyPremultiplier from configlvu59n$?vu5YnE in%@tv?v@ncEn:n:n[u5| CAB*** querying acoustic contact ***jjxZj)-DNOT Ignoring new targets: 40.50 m.Rj)Bj5Jj5 ProNav: ac range: 40.500000 m, nav range: 14.256883 m, bearing: 339.065172 deg, approach rate: 0.141972 m/s, LOS rate: -1.869919 deg/s, cmd heading: 32.911669 deg, new cmd heading: 30.978938 deg. 2jiHeadingCmd: 0.540684 target range: 40.500000 and range: 39.00 m. jLj ?jjjihhhhfffrfbf @ɛ-lB-< )-GI) -6=ɚ1i1I5!=I]S?iYiY)]Lj ?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520102*F2F:FBFP0JFZHARHEAAHMl>IMC IMIIMBIM =&II.IM I E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771919UYw,m?AJJJJJ:J9JJJ;J;J!;J!;]yc?Y]h?]>9]щ=y]H@u?o@㪳?`n? ;?? Y`џ?H?ɨ]yc?];]CyḿBmI-Mb@Mb@Mb@))) )))Y--?RQ?-=-t) -@)-vAI--@)y-AIExIET4٢UƟ U3=9]Q ]>aa eG٣aye\ m> uNusing accuracyPremultiplier from configq}u59u&?}u5Yu iu-@}>:?@ucEu/;u;u_u5 AEZjDNOT Ignoring new targets: 40.50 m.RjBj?Jj? ProNav: ac range: 40.500000 m, nav range: 14.305244 m, bearing: 338.284355 deg, approach rate: 0.106170 m/s, LOS rate: -1.708309 deg/s, cmd heading: 30.978938 deg, new cmd heading: 28.645768 deg. 2jHeadingCmd: 0.499963 target range: 40.500000 and range: 39.00 m. j%>jjjihhhhBfffrfbfK> @ɛ%mB%n< !%I! -5=ɚ)i)I-2o=I5%>i1i1)5%>)9*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:49:30.9190 TRx dataTimestamp_ set to:1736376572.304879checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024197)9 =hCNG  ]'YaGiGqGuqAye BzKoNKU9KKK    GA BI Oe >w,t?A2EGz?Y2a?2Z >92 =y2H?`ٴ?&?@|??`K3??ɨ2EGz?2;2CyBBBI)P PIZIZa4٢f` fg=9jĻQ j>hh jG٣n_PGynr n> vNusing accuracyPremultiplier from configpvu59r(?vu5Yr irp@xzW?z@rcErL:r:rbu5| ~AZj!-DNOT Ignoring new targets: 40.50 m.Rj)Bj-nJj5n AIEhM ProNav: ac range: 40.500000 m, nav range: 14.340578 m, bearing: 337.681228 deg, approach rate: 0.100404 m/s, LOS rate: -1.709583 deg/s, cmd heading: 28.645767 deg, new cmd heading: 26.841475 deg. 2jMUHeadingCmd: 0.468472 target range: 40.500000 and range: 39.00 m. jU>jQjYjYiYhYhYhahafafafirfibfm @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275045ɛnBr?< I 3=ɚiI[=Iy>ii)>)*F2F:FBFZ0JFGB>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.1 m/s  ,DAT read: user:2919>  BDAT read: Tx time:22:49:32.0141  $Ping request sent. Dzw,~t9?AHjm>Ih IjIIjՁBIj =&Ih.Ih6Ij@<:Ijd FBICJICRICZI =bI =jI֍6yeBeI Mb@Mb@Mb@    ) Y zG? rh?y&1|y  > C= ` A A) ` AI C@ y fAI%kI%=4٢5 5(=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configIUu59M,?]u5YM iMy@]>]:e5?e@McEM@#;M!;Mgu5i mAi addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.780197 s, deltaX: -1.000000 m, approachRate: -0.264536 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 40.50 m.RjBjbJjb꼝 ProNav: ac range: 40.500000 m, nav range: 14.378505 m, bearing: 336.880335 deg, approach rate: 0.077839 m/s, LOS rate: -1.639319 deg/s, cmd heading: 26.841475 deg, new cmd heading: 24.446607 deg. 2jHeadingCmd: 0.426674 target range: 40.500000 and range: 38.00 m. jt>jjjihhhhBfffrfC@bfۂ?ɛ oB њ<  !I!XI! %q2=ɚ)i)I-h=I5t>i1i1)5t>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.<*F2F:FBF^0JFG 2>Gq By O >w,E+S?A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:n?Y:g?:~>9:j)j)j)i)h1zKWLKж9KKKRK?JK?hhhfffrfbf?ɛAM >< 隕I 1=ɚiI0 =INe>ii)Ne>)EEqA*F2F:FBF_0JF !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JQ JQ JU ݒ:JU 9JQ JQ ae @ae @ae @am @Gm J>GA BI Om >w,m?A 6g?Y6;?6g>96Rdd fG٣dyj` j> 5Nusing accuracyPremultiplier from config1=u5953?=u5Y5ܹ i5@9E?E@5cE5 ;5 ;5rmu5I MAMEmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 40.50 m.RjBjJj𼝊 ProNav: ac range: 40.500000 m, nav range: 14.423168 m, bearing: 335.658862 deg, approach rate: 0.058773 m/s, LOS rate: -1.684971 deg/s, cmd heading: 22.761165 deg, new cmd heading: 20.789213 deg. 2jHeadingCmd: 0.362840 target range: 40.500000 and range: 38.00 m. j1ƹ>jjjihhhhfffrfbf[?ɛpBT<< $I x/=ɚiIɔ!=I1ƹ>ii)1ƹ>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.*F2F:FBF2JFjHbHH g>I C I yII BI  =&I .I 6I O<:I k FG2>GqBO>  I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252572Tw,{.?AF(a?YF?Fb>9FaU/]=UUA UA)QIUZ@QyU AImFIm%3٢ 9=9'ۻQ > G٣`PGyi > Nusing accuracyPremultiplier from configu59H8?u5Y iK@8>;J?@cE@;;4qu5 AZjYeDNOT Ignoring new targets: 40.50 m.RjaBjm3߼Jjm3߼ ProNav: ac range: 40.500000 m, nav range: 14.439879 m, bearing: 334.974687 deg, approach rate: 0.038175 m/s, LOS rate: -1.561086 deg/s, cmd heading: 20.789212 deg, new cmd heading: 18.739986 deg. 2j녽HeadingCmd: 0.327074 target range: 40.500000 and range: 38.00 m. jMv>jjjihhhhBfffrfbf`E?ɛqB+< I -=ɚiIK#=I>ii)Mv>)*F2F:FBF1JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505054zK% >`JK% K9K! K% K% BK5 pA:K5 pAG :>Ga B O >w,Ժ?AJiOZ?YJe?J2=9Jll rG٣pyr r> Nusing accuracyPremultiplier from config u59 jjjihhhhfffrfbf@T ?ɛp; ,͐=I l,=ɚiI$=I2>ii)Ï>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756516)JJJJJ:J9JJ*F 2F:FBF4JFG%qA G%qAGmB>GI Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008601O >w,?AHNe>IL INMIINBIN =&IL.IN;D6IN<:IND Fy WBI ==Mb@Mb@Mb@ )YL7A`?X9v?~jtxy+><Ļ7A  A) AI@yAInIB4٢ -=9Q > G٣y > Nusing accuracyPremultiplier from configu59B? u5Y} iҹ@ > ; ?@cE];[;xu5 AEZjAMDNOT Ignoring new targets: 40.50 m.RjIBjMۼJjMۼ] ProNav: ac range: 40.500000 m, nav range: 14.458465 m, bearing: 333.663612 deg, approach rate: 0.014231 m/s, LOS rate: -1.535312 deg/s, cmd heading: 16.960622 deg, new cmd heading: 14.810889 deg. 2j]mHeadingCmd: 0.258499 target range: 40.500000 and range: 38.00 m. jmY>jijijiiihihihqhuBfqfyfyrfybf}5@ $?IɛrB; r I -K*=ɚiI:&=IY>ii)Y>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261696*F}2Fy:FyBF})3JFyG j>Gy B O >w,r?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512521>L?Y>O?>=9>H ?@I1L??@?`?7 ?Z?ɨ>L?>8;>CyjJBjIIzsIzK4٢   n=9 Q  ? G٣aPGy! ? %Nusing accuracyPremultiplier from config!-u59%H?-u5Y%_ i%?@)-ь?5@%cE% :%n:%{u59 =A9ZjiuDNOT Ignoring new targets: 40.50 m.RjqBju8ۼJj}8ۼ ProNav: ac range: 40.500000 m, nav range: 14.457615 m, bearing: 333.137970 deg, approach rate: -0.002478 m/s, LOS rate: -1.533259 deg/s, cmd heading: 14.810890 deg, new cmd heading: 13.234291 deg. 2jHeadingCmd: 0.230982 target range: 40.500000 and range: 38.00 m. jl>jjjihhhhfffrfbf@B@ɛ ) I H(=ɚiI'=Ik>ii)l>)zK5:KK5ж9K1K5K5.[*m Fo`RD:4/*%"  0geL=. RKM ?JKM?*F]2FY:FaBFeT0JFa IG:>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766263GBO >JKm3 KS}-KK"KJ1 J5 J1 J1 J1 J5 9J1 J1 w,UL?A2*E?Y2h~?2=92dd fG٣hyjd j> rNusing accuracyPremultiplier from configlru59n$N?vu5Ynզ in@tv?v@ncEn:n:nu5x zGA|B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 40.50 m.RjBjѼJjѼ ProNav: ac range: 40.500000 m, nav range: 14.454217 m, bearing: 332.532719 deg, approach rate: -0.008237 m/s, LOS rate: -1.467507 deg/s, cmd heading: 13.234291 deg, new cmd heading: 11.418753 deg. 2j{HeadingCmd: 0.199295 target range: 40.500000 and range: 38.00 m. jL>jjjihhhhfffrfbf@@ɛ!%/8 !%I! -B&=ɚ)i)I-{)=I5L>i1i1)5L>)9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:49:34.4688 eTRx dataTimestamp_ set to:1736376575.833374echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018259E]=ZH?ARH@AHf>I I!II`BI&I.I6I <:IF F*Fu2Fq:FqBFuO0JFq"G>G> I h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268614G A>G ?G ?Gq B O >w,^ @ABV??YB3w?B=9B]5<51 5~A)5vAI5@1y5QAIEIEkf4٢Ui U0=9]]Q ]>YY eG٣iyml m> uNusing accuracyPremultiplier from configq}u59u#V?}u5Yu iu˷@>;?@udEur#;u/#;uu5 fAEZjDNOT Ignoring new targets: 40.50 m.RjBj Jj 漝U ProNav: ac range: 40.500000 m, nav range: 14.442637 m, bearing: 331.813721 deg, approach rate: -0.025892 m/s, LOS rate: -1.608925 deg/s, cmd heading: 11.418753 deg, new cmd heading: 9.261104 deg. 2jU]HeadingCmd: 0.161637 target range: 40.500000 and range: 38.00 m. j]%>jYjYjYiYhahihihuBfqfqfqrfybf} @ɛsB3: I QM$=ɚiI]+=I=%>iAiA)E%>)AE~4=Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 37.8 m (Round-trip 50.5 ms) speed -0.1 m/s =,DAT read: user:2920> EBDAT read: Tx time:22:49:35.5641 M$Ping request sent.MG B O > 9 I9 cw,O$@ABWill construct direction to contact in vehicle frame from tetrahedron phase data.BJDAT read: TxSync time:22:49:35.5633 Fchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.246480N^8?YNp?Nw=9N=yNH ?H'o?@[?@?) ? ݽ֠??ɨN^8?N;NCyM6BMII}I]4٢ڼ G=9聻Q > G٣bPGy >JJJJJM:J9JJ Nusing accuracyPremultiplier from configu59w]?u5Y8 i@~?@dE|;;u5 A addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 3.527094 s, deltaX: -0.200001 m, approachRate: -0.056704 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 40.50 m.RjBj%,ۼJj%,ۼ ProNav: ac range: 40.500000 m, nav range: 14.430186 m, bearing: 331.181327 deg, approach rate: -0.030156 m/s, LOS rate: -1.532926 deg/s, cmd heading: 9.261104 deg, new cmd heading: 7.363018 deg. 2jHeadingCmd: 0.128509 target range: 40.500000 and range: 37.80 m. jח>jjjihhhhff!f!rf%`fB@bf- |?ɛ# 隥]I %"=ɚiI.-=Iח>ii)ח>)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=1, elapsed TxPingTime=0.498244*F 2F :F BF O0JF G rA G rAH] k>IY  I] II] GBI]  =&IY .I] G B O>w,*B@A I >=2?Y>j?>=9>tHV? Y?)=2?>-|;QQ ]G٣Yy]X ]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=0.749837 Nusing accuracyPremultiplier from configau59ee?u5Ye` ien@>;x?@edEe@;e#;eu5  A ZjQUDNOT Ignoring new targets: 40.50 m.RjQBj]{ԼJj]{Լ ProNav: ac range: 40.500000 m, nav range: 14.414127 m, bearing: 330.481945 deg, approach rate: -0.034087 m/s, LOS rate: -1.486134 deg/s, cmd heading: 7.363018 deg, new cmd heading: 5.263529 deg. 2j~HeadingCmd: 0.091866 target range: 40.500000 and range: 37.80 m. j2$=jjjihhhhBfffrfbfZ?ɛQG 隝#I F=ɚiI.=I2$=ii)2$=)*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=1, elapsed TxPingTime=1.003606 c~G tA G% <> U #YU tAyU BG) B9 OU >w,[@A6x,?Y6xd?6L=96Z G٣y l  > Nusing accuracyPremultiplier from configu59dm?u5Y iݵ@!%r?%@dEN;;u5) -A)ZjQUDNOT Ignoring new targets: 40.50 m.RjYBj]Jj]꼝m ProNav: ac range: 40.500000 m, nav range: 14.398538 m, bearing: 329.876989 deg, approach rate: -0.042262 m/s, LOS rate: -1.641701 deg/s, cmd heading: 5.263529 deg, new cmd heading: 3.447336 deg. 2jmՌuHeadingCmd: 0.060167 target range: 40.500000 and range: 37.80 m. jurv=jqjyjyiyhyhyhhfffrfbfA`?ɛ5! 隽%I =ɚiI$0=Irv=ii)rv=) $?I!*FU2FQ:FQBFUP2JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=1.254171G5Z >GBO5>w,u@A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=1, elapsed TxPingTime=1.506644:&?Y:rs_?:=9:hl nG٣ncPGyn\ r> vNusing accuracyPremultiplier from configpzu59rGu?zu5YrҔ irL@xzI]C I]II]8BI] =&IY.IY6I]<:I]N FBIJIRIÓCZI =bI =jIÿ6*F2F:FBFy1JF I hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=1.757758J] J] JY JY J] :J] 9JY JY J] ;a} J] ;a} J] ;a} J] ;a G <>G G ?G B O >ζ#w,@Ay~"B~IMb@Mb@Mb@ )YMbX? rh?Mb`?y>C =; A )I@yAIIr4٢%0 ;=9Q > G٣y > Nusing accuracyPremultiplier from configu59}?u5Y i@>;ru?@ dE;;Ru5 4A Zj9=DNOT Ignoring new targets: 40.50 m.Rj9BjEJjE༝U ProNav: ac range: 40.500000 m, nav range: 14.368956 m, bearing: 328.572714 deg, approach rate: -0.027445 m/s, LOS rate: -1.572568 deg/s, cmd heading: 1.595692 deg, new cmd heading: 359.532151 deg. 2jU熽]HeadingCmd: 6.275020 target range: 40.500000 and range: 37.80 m. j]@jYjYjYiYhahahaheBfififirfibfm I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=1, elapsed TxPingTime=2.261772])w,}@AV?YVq%R?V=9V(Ir=tvAI~xI~T4٢L W=9UK~Q U>YY ]G٣Yye( e> mNusing accuracyPremultiplier from configiuu59m?uu5Ym im>@qu"h?}@mdEm ;m ;mu5 ;AEZjDNOT Ignoring new targets: 40.50 m.RjBjJj༝ ProNav: ac range: 40.500000 m, nav range: 14.352078 m, bearing: 327.964185 deg, approach rate: -0.043570 m/s, LOS rate: -1.572809 deg/s, cmd heading: 359.532142 deg, new cmd heading: 357.705060 deg. 2j솽HeadingCmd: 6.243131 target range: 40.500000 and range: 37.80 m. j@jjjihhhhfffrfbfC@ɛtg %Y(I! %W=ɚ!i!I%4=I-$i)i1)5@)1*F2F:FBFP0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.513679G <>GB HM t>IM C IM IIM .BIM =&II .IM =D6IM <<:IM g FO > I 0w,K@A2?Y2 K?2=921EL=E;EdA EA)AIEI@AyE=AIUrIUJ4٢e*< mE=9m^Q u>qy }G٣}dPGy} > Nusing accuracyPremultiplier from configu59`?u5Y] ió@>:i?@dE ;;Eu5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=2.765998ZjDNOT Ignoring new targets: 40.50 m.RjBjJj켝 ProNav: ac range: 40.500000 m, nav range: 14.336297 m, bearing: 327.288379 deg, approach rate: -0.038633 m/s, LOS rate: -1.656170 deg/s, cmd heading: 357.705066 deg, new cmd heading: 355.676313 deg. 2jHeadingCmd: 6.207723 target range: 40.500000 and range: 37.80 m. j@jjjih h h h ՁBfffrfbfd@ɛh4 %I =ɚiI\j6=JJJJJ:J9JJJn;Jo;J\ ;J] ;I"ii)@)E!*F2F:FBFJFGGGm Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:22:49:38.0193 } TRx dataTimestamp_ set to:1736376579.361631 checking for new query: numPingsReceived=1, elapsed TxPingTime=3.020184G B O >6w,)@Ay~)B~II I _v4zKKŷ9KKK٢U?< UK=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiuu59m?uu5Ym imK@yy}@mdEm ;m;mşu5 AEZjDNOT Ignoring new targets: 40.50 m.RjBjkJjk= ProNav: ac range: 40.500000 m, nav range: 14.322715 m, bearing: 326.621870 deg, approach rate: -0.034093 m/s, LOS rate: -1.674543 deg/s, cmd heading: 355.676309 deg, new cmd heading: 353.675744 deg. 2jHeadingCmd: 6.172806 target range: 40.500000 and range: 37.80 m. j@jjjihhhhfffrfbfp @ɛ qB % ;$I =ɚiIh7=I`ii!)%@)! $?I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=3.269787GJ>GBO >=w,@AWill construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: 22:49:38.0193 LVL= 14032, 16881, 13938, 20691, AGC= 50, IDX= 422, 0.28, 2.182, 2.359, 0.180, 1.639, PHS= 0.631, 0.767,-1.462, RAW= 26.9, 0.6, CAL= 26.2, -0.5, ROT= 123.8, 0.5 BYgot valid direction response: 22:49:38.0193 LVL= 14032, 16881, 13938, 20691, AGC= 50, IDX= 422, 0.28, 2.182, 2.359, 0.180, 1.639, PHS= 0.631, 0.767,-1.462, RAW= 26.9, 0.6, CAL= 26.2, -0.5, ROT= 123.8, 0.5 FPDAT read: Bearing 123.8, 0.5 (Local) F~Local bearing/azimuth received: Bearing 123.8, 0.5 (Local) nDAT read: Range 10 to 50 : 38.2 m (Round-trip 51.0 ms) speed -0.1 m/s n,DAT read: user:2921> rBDAT read: Tx time:22:49:39.1141 r$Ping request sent.vii mG٣i6A r6)PI2i7!?ZD?"va>+ Nusing accuracyPremultiplier from config  >)5I3I @i5<uܫXiᅱ qHi?)пIK+i5?=>Ҿ:publishing transmit ping timepFpublishing direction and range info9Zl@?-S?0!L?y )Ii )Iiu59v?u5Ys iӲ@[?@dE;;^u5ZH@ARH?AHv>I III3BI =&I.I6I <:IG FuܫXiᅱ qHi?)Iichecking for new query: numPingsReceived=2, elapsed TxPingTime=0.071797 %A!k&u?k  Ik kJ@A:kBBkBZkh@"ߙ?$yA@z.@Zl@?-S?0!L?Jk5?Rk=>Ҿ*臌N;M5d:d;@쾷/@Il&ῂh?Yr?"k!A*kik%j?k?̱ 2kBkZ~?k=@= kkAkb|@ addTargetRange:: Added new target pos. range: 38.200001 m, deltaT: 3.526923 s, deltaX: 0.400002 m, approachRate: 0.113414 m/s, rangeRepo size: 4  Added new target pos. range: 38.200001 m, bearing: 127.871300 deg, lat: 36.905001 deg, lon: -122.119437 deg, deltaT: 14.115180 s, deltaX: -2.299999 m, approachRate: -0.162945 m/s, posRepo size: 4 ZjVStarting intercept timer at range: 38.20 m.DNOT Ignoring new targets: 38.20 m.RjBj%Jj!5 ProNav: ac range: 38.200001 m, nav range: 9.053678 m, bearing: 308.834772 deg, approach rate: 0.000000 m/s, LOS rate: -1.674543 deg/s, cmd heading: 353.675747 deg, new cmd heading: 350.981382 deg. 2j1]HeadingCmd: 6.125781 target range: 38.200001 and range: 38.20 m. j]e@jYjYjaiahahahahifififirfmC@bfu@m?ɛpB A6  S%I  /=ɚ i I)9=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:49:39.1133 checking for new query: numPingsReceived=2, elapsed TxPingTime=0.228697I.!ii)5e@)9J J J J J s:J ľ9J J J ;J ;J ;J ;*F 2F :F BF P0JF G-R>G-?G-6?GBO->qEw,AA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=2, elapsed TxPingTime=0.4793485>Y0?=9j^W;Cy-$B-I]Mb@Mb@Mb@YYY Y)YY]jt?ˡE?{Gz?y]>]=]#<]A ]7A)]AI]v@Yy]AIIV83٢ջ =9IQ > G٣ePGy Ž > Nusing accuracyPremultiplier from configu59R?u5Y~ iP@>:I_?@dE;N;u5 +A5B*** querying acoustic contact ***j1j1ZjemTStopped intercept timer at range: 38.20 m.mDNOT Ignoring new targets: 38.20 m.RjiBju6zJju6z} ProNav: ac range: 38.200001 m, nav range: 9.102494 m, bearing: 307.369310 deg, approach rate: 0.117233 m/s, LOS rate: -3.500055 deg/s, cmd heading: 350.981374 deg, new cmd heading: 346.617500 deg. 2j HeadingCmd: 6.049617 target range: 38.200001 and range: 38.20 m. jv@jjjihhhhBfffrfbf@`?ɛ)-g, )5%I1 5. =ɚ1i1I5S>;=I=^Tiaii)mv@)izKBHK@9KKKxc $?I*F2F:FBFO0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%>%=?-checking for new query: numPingsReceived=2, elapsed TxPingTime=0.734975G= J>G B! O= >Kw,0AAF>YF/P*?F=9FNYFݒ;FCyR1BRIIb0Ib(3٢f= jo=9j[Q j?hl nG٣lyn׆ r? vNusing accuracyPremultiplier from configpvu59rҵ?zu5Yr{ ir@xzxY?z@rdEr:r:ru5B AEZj-5VStarting intercept timer at range: 38.20 m.=DNOT Ignoring new targets: 38.20 m.RjABjE^HJjE^HU ProNav: ac range: 38.200001 m, nav range: 9.133663 m, bearing: 306.429613 deg, approach rate: 0.093288 m/s, LOS rate: -2.802782 deg/s, cmd heading: 346.617511 deg, new cmd heading: 343.810413 deg. 2jUp𽝊HeadingCmd: 6.000624 target range: 38.200001 and range: 38.20 m. j@jjjihhhhf f f rf bf ?ɛoBG 隥EI ' =ɚiIiw<=Iii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=2, elapsed TxPingTime=0.988359*Fi2Fi:FiBFmf0JFiH z>I C I II =BI  =&I .I >D6I 2<:I f F IG:>G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239155Ju }Ju |Ju 1Jq Ju [j:Ju @9Ju 3Jq Ju ;Ju ;Ju {:Ju |:'Rw,JAA:;>Y:c$?:L+=9: =y:Hڄ?`!U??^??]y?q?ɨ:;>:c;:CyB4BFIMb@Mb@Mb@ )Y rh?zG?I +?y> =94< A )IQAyAI+In3٢GZ< :=9Q > G٣yW > Nusing accuracyPremultiplier from configu591?u5Yxw tIi@>:t]?@"dE;;ڮu5 AZjTStopped intercept timer at range: 38.20 m.%DNOT Ignoring new targets: 38.20 m.Rj!Bj-KJj-K5 ProNav: ac range: 38.200001 m, nav range: 9.183178 m, bearing: 305.165335 deg, approach rate: 0.112204 m/s, LOS rate: -2.849272 deg/s, cmd heading: 343.810413 deg, new cmd heading: 340.043773 deg. 2j=mEHeadingCmd: 5.934884 target range: 38.200001 and range: 38.20 m. jE@jAjAjAiAhIhIhIhM BfQfQfQrfQbf]?ɛnB 隕[I  =ɚiI=4==IEmiAiA)M@)I*F2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.491710GU J>G] pAG] pAG) B9 OU >zK }OK ŷ9K K K UEU2 sZC.  e] d  Yv_  Q IQ #Xw,CdAAZ>YZf?ZT=9Z Z܊;ZCyb    G٣ fPGy > Nusing accuracyPremultiplier from config%u59I˒?%u5Ys iE@!-V?-@$dEU::*u51 5rA1Zj]eVStarting intercept timer at range: 38.20 m.eDNOT Ignoring new targets: 38.20 m.RjaBjmLJjmL} ProNav: ac range: 38.200001 m, nav range: 9.224913 m, bearing: 304.079959 deg, approach rate: 0.110657 m/s, LOS rate: -2.864631 deg/s, cmd heading: 340.043782 deg, new cmd heading: 336.806028 deg. 2j}HeadingCmd: 5.878374 target range: 38.200001 and range: 38.20 m. j@jjjihhhhfffrfbfQ*?ɛT! I  B=ɚiI ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=2, elapsed TxPingTime=1.743358I¾ii)@)*FM2FQ:FQBFU.5JFQGB>Gi Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=2, elapsed TxPingTime=1.995344O >jH bH H }>I C I II LBI  =&I .I 6I <:I FC^w,em~AAB>YBln?BD=9B_<Bd;BCyN0BNIIVcIVy/4٢vYk vL=9~;Q > G٣yk > I MNusing accuracyPremultiplier from configAu59Eaג?u5YEo iE@P?@E(dEE) rCG B O > NG |uA  Z"Y |uAy B[ew,sIAA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=2, elapsed TxPingTime=2.499314 >Y @? j=9  ; Cy%8B-I)) ) 5p=1Mb@Mb@Mb@ )Ygfffff? rh?C >t<3 A A)AIhAyAI^I&4٢= ;=9 G٣y{ > Nusing accuracyPremultiplier from config u59K⒜? u5Yl i@>:]X?@+dE<<|u5 AB*** querying acoustic contact ***jjZj TStopped intercept timer at range: 38.20 m.-DNOT Ignoring new targets: 38.20 m.Rj)Bj5PJj5PE ProNav: ac range: 38.200001 m, nav range: 9.327162 m, bearing: 301.663589 deg, approach rate: 0.138392 m/s, LOS rate: -2.920294 deg/s, cmd heading: 333.046772 deg, new cmd heading: 329.606747 deg. 2jEMHeadingCmd: 5.752723 target range: 38.200001 and range: 38.20 m. jmN@jqjqjqiqhqhqhyh}8Bfyfyfrfbf @ɛkBP# I =ɚiI A=IM UiIiI)MN@)QzKrPK}9KKKt+ywgZPF>-   $?Ih*F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=2, elapsed TxPingTime=2.751330J% {J! J% 0J! J% d:J! J% ـ3J! a5 @a5 @a5 @a5 @G A>G B O- >kw,>AAy &BII%oI%D4٢5T 5V=95Q 5>99 =G٣=gPGyE E> MNusing accuracyPremultiplier from configIUu59M쒜?Uu5YMch iM#@QY]@M.dEM\ ;M ;MҼu5a e&AaZjVStarting intercept timer at range: 38.20 m.DNOT Ignoring new targets: 38.20 m.RjBjPJj%P5 ProNav: ac range: 38.200001 m, nav range: 9.383192 m, bearing: 300.562679 deg, approach rate: 0.149622 m/s, LOS rate: -2.922103 deg/s, cmd heading: 329.606734 deg, new cmd heading: 326.327511 deg. 2j5=HeadingCmd: 5.695489 target range: 38.200001 and range: 38.20 m. j=sA@j9j9j9i9h9hAhAhAfIfIfIrfIbfMb@ɛjBxx 隍M"I m=ɚiIC=I*ii)sA@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:49:41.5701 ]TRx dataTimestamp_ set to:1736376582.893777echecking for new query: numPingsReceived=2, elapsed TxPingTime=3.005768*F=2F9:F9BFEP0JFAH~>I III&I.I6I7<:Im FBIEũCJIEũCRIAZIE =bIE =jIEz6 I GGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=2, elapsed TxPingTime=3.255342rw,AARE>YR?R?=9RRx;RCyZBZIMb@Mb@Mb@ )YI +?㥛 ?~jth?y9>>D; A A)AI~AyG AIrIJ4٢ ?=9˻Q >  G٣ y Y  > Nusing accuracyPremultiplier from configu59!?%u5YJd i@-i>-:5%Q?=@1dE ;?;u5MB MhAMEZjTStopped intercept timer at range: 38.20 m.DNOT Ignoring new targets: 38.20 m.RjBjSJjS ProNav: ac range: 38.200001 m, nav range: 9.445111 m, bearing: 299.319895 deg, approach rate: 0.148733 m/s, LOS rate: -2.965419 deg/s, cmd heading: 326.327505 deg, new cmd heading: 322.629032 deg. 2jdHeadingCmd: 5.630939 target range: 38.200001 and range: 38.20 m. j0@jjjihhhh-BfffrfbfM @ɛiBW %I Ę<ɚiITvD=I wR i i ) 0@)*F2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 38.7 m (Round-trip 51.7 ms) speed -0.2 m/s ,DAT read: user:2922> BDAT read: Tx time:22:49:42.6642 $Ping request sent.Ga B O >  $?I zK} OK} `9Ky K} K} /yw,AA2>Y2>2=92s2! ;2Cy:B:I@BAIFjIF;4٢N Nd=9R%Q R>PT VG٣TyVׄ V> ^Nusing accuracyPremultiplier from configXfu59Z?fu5YZ` iZJ@hn)K?v@Z4dEZ;Z;Zu5A EAIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:49:42.6634 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.248513 addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 3.532452 s, deltaX: 0.500000 m, approachRate: 0.141545 m/s, rangeRepo size: 4 ZjVStarting intercept timer at range: 38.70 m.DNOT Ignoring new targets: 38.20 m.RjBj%?Jj%?m ProNav: ac range: 38.200001 m, nav range: 9.496315 m, bearing: 298.285270 deg, approach rate: 0.133586 m/s, LOS rate: -2.684549 deg/s, cmd heading: 322.629040 deg, new cmd heading: 319.545051 deg. 2jmL潝HeadingCmd: 5.577113 target range: 38.200001 and range: 38.70 m. jw@jjjihhhJ}JyJJJ[j:J9JJhfffrfYC@bf?ɛ hB c^ &I <ɚi!I%0E=I-y|*i1i9)=w@)A*Fe2Fa:FaBFeU0JFam Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=3, elapsed TxPingTime=0.498718G A>ZH RH @AH >I  I II GBI  =&I .I ?D6I <:I P FG B O >)1w,RAA>E>Y>>>=9>3=y>H]?`ݿ ?o'?}|?z?. + ??ɨ>E>>!M;> CyVBVII^3I^ʴ3٢fb fG=9jQ j>hl nG٣nhPGyrmV r> vNusing accuracyPremultiplier from configtzu59v ?zu5Yv-] iv@x~E?~@v7dEv];v1l;vJu5) 5A I5EZj15DNOT Ignoring new targets: 38.20 m.Rj1Bj=v;Jj=v;M ProNav: ac range: 38.200001 m, nav range: 9.554567 m, bearing: 297.104988 deg, approach rate: 0.130223 m/s, LOS rate: -2.622256 deg/s, cmd heading: 319.545045 deg, new cmd heading: 316.030450 deg. 2jeཝHeadingCmd: 5.515772 target range: 38.200001 and range: 38.70 m. j4@jjjihhhhfffrfbf?ɛfB +I %"~<ɚ!i!I%.G=I5@9i1i1)54@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=0.751693*F2F:FBF_0JFG <>G B O >w,?BAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=3, elapsed TxPingTime=1.002573fpj>Yf%0>fr̤=9f)=yfH@? ۿ`e?T?`m?m?ݓš??ɨfpj>fk;dyrBrIMb@Mb@Mb@ )Yi|?5?Q?~jthy>\>D zA)/AI Ay AI5>I53٢E. E5=9E Q E>II MG٣IyUd U> ]Nusing accuracyPremultiplier from configYeu59]?eu5Y]?Y i][@e>m:m=?m@];dE];]:];u5q uXAyB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 38.70 m.DNOT Ignoring new targets: 38.20 m.RjBjBjJjBj ProNav: ac range: 38.200001 m, nav range: 9.615073 m, bearing: 295.831906 deg, approach rate: 0.156738 m/s, LOS rate: -3.276853 deg/s, cmd heading: 316.030449 deg, new cmd heading: 312.241083 deg. 2j HeadingCmd: 5.449635 target range: 38.200001 and range: 38.70 m. jic@jjjihhhh)BfffrfbfI?ɛeB穼 &2I 7<ɚiIlH=I%VKi!i!)%ic@))*F2F:FBF0JF $?IzK% OK% 9K!K%K%tS-   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=1.255388GF>J J }J J J J S9J J G B O >SBw,k3BA6S>Y6>6J=96:=y6H?@;`ڿ }?8u?)#?h?`sL ??ɨ6S>6Lċ;6Cy>B>I F=F=IJ0IJ(3٢j. ne=9rHQ r>pp rG٣tyv{ v> zNusing accuracyPremultiplier from configx~u59z)?~u5Yz4V iz@7?@z>dEzh;z;z[u5  2A Zj55VStarting intercept timer at range: 38.70 m.=DNOT Ignoring new targets: 38.20 m.Rj9BjEHJjEHU ProNav: ac range: 38.200001 m, nav range: 9.662763 m, bearing: 294.826188 deg, approach rate: 0.133700 m/s, LOS rate: -2.805532 deg/s, cmd heading: 312.241087 deg, new cmd heading: 309.241722 deg. 2jU𽝊]HeadingCmd: 5.397286 target range: 38.200001 and range: 38.70 m. je@jajajaiahahihihififqfqrfqbfu`-E?ɛcB3+׼ 隭?I <ɚiIBI=IXii)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=3, elapsed TxPingTime=1.506508*FU2FQ:FQBFU@5JFQHM>II IMIIM3BII&II.II6IM<:IMJ FG=A> IG ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=3, elapsed TxPingTime=1.7583160*w,,FMBA:+a:>Y:M(>:Ţ=9:q??@u?j?`8S@X?`?ɨ:+a:>:C;:CyFӀBFtIMb@Mb@Mb@ )YQ?q= ףp?y&1y>=`eI A dA)AIAy AI-kI-=4٢EY ED=9M'9Q M>II UG٣UiPGyUu U> eNusing accuracyPremultiplier from configYeu59]6?mu5Y]S i]S@md>m:m&?m@]AdE];]<;]u5uB }A}EZjTStopped intercept timer at range: 38.70 m.DNOT Ignoring new targets: 38.20 m.RjBjj?Jjj? ProNav: ac range: 38.200001 m, nav range: 9.707007 m, bearing: 293.701666 deg, approach rate: 0.105840 m/s, LOS rate: -2.677593 deg/s, cmd heading: 309.241732 deg, new cmd heading: 305.887595 deg. 2j彝HeadingCmd: 5.338746 target range: 38.200001 and range: 38.70 m. jת@jjjihhhhBfffrfbf?ɛbB_s )GI @<ɚiI*%K=I6}oii)ת@)*F2F:FBF5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=3, elapsed TxPingTime=2.010379GG B O > I zK oNK 9K K K LTw,>!gBA2#>Y2>2'==922;2CyNBRWIIZIZ1h4٢V  N=9 ),Q > G٣y%b -> ENusing accuracyPremultiplier from config9Uu59=B?Uu5Y=/P i=@aeL!?m@=DdE=;=E;=u5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=2.263822ZjVStarting intercept timer at range: 38.70 m.DNOT Ignoring new targets: 38.20 m.RjBj8Jj8% ProNav: ac range: 38.200001 m, nav range: 9.748845 m, bearing: 292.628858 deg, approach rate: 0.101114 m/s, LOS rate: -2.581500 deg/s, cmd heading: 305.887590 deg, new cmd heading: 302.686499 deg. 2j%uݽ-HeadingCmd: 5.282876 target range: 38.200001 and range: 38.70 m. j-R @j)j)j)i)h)h1h1h1f9f9f9rf9bf= -N@JxJvJJJZ:Jϣ9JJɛ%`B% !-(RI) -<ɚ)i)IM`L=IUMiQiY)]R @)Y*F2F:FBFO0JFGJ>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=3, elapsed TxPingTime=2.514446G B O >jHA bHA HI II  IM IIM BIM  =&II .II 6IM V<:IM F?w, BA2 >Y2>2.=922Ë;2Cy>BB8IIF|IF[4٢R RP=9RQ R>TT VG٣TyZu Z> fNusing accuracyPremultiplier from config`ru59b_O?vu5YbtM ib'@tvR?v@bGdEbi;b';bu5| ~IAEZj)-DNOT Ignoring new targets: 38.20 m.Rj)Bj5CJj5CE ProNav: ac range: 38.200001 m, nav range: 9.788647 m, bearing: 291.589084 deg, approach rate: 0.104853 m/s, LOS rate: -2.727871 deg/s, cmd heading: 302.686499 deg, new cmd heading: 299.583071 deg. 2jE u$?I}hHeadingCmd: 5.228711 target range: 38.200001 and range: 38.70 m. jQ@jjjihhhYhYfaffrfbf@ɛ^B  隥]I <ɚiIl&N=I֢ii)Q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=2.767630*Fi2Fi:FiBFuP0JFqG}qA GyPExceeded connect timeout, disconnecting.G 2>G qAG qAG9 BI Oe >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:49:45.1211 ] TRx dataTimestamp_ set to:1736376586.420544] checking for new query: numPingsReceived=3, elapsed TxPingTime=3.019312nqw,6BA6.=Y6s>6=96B=y6H r!?iԿ?@?;?)r`:? ?ɨ6.=6;ߋ;6CyVBVI=Mb@Mb@Mb@999 9)9Y=S?T㥛 ?~jty=/>===ļ= A =A)9I= A9y= AI{IZ4٢eѽ e%=9eոQ e>ii mG٣mjPGym8 u> Nusing accuracyPremultiplier from configyu59}k_?u5Y}J i}E@>:>@}JdE}L;};};u5 AEB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 38.70 m.DNOT Ignoring new targets: 38.20 m.RjBj5Jj5 ProNav: ac range: 38.200001 m, nav range: 9.813622 m, bearing: 290.340968 deg, approach rate: 0.050829 m/s, LOS rate: -2.533435 deg/s, cmd heading: 299.583080 deg, new cmd heading: 295.853832 deg. 2jUٽHeadingCmd: 5.163623 target range: 38.200001 and range: 38.70 m. jg<@jjjihhhhBfffrfbf@B @ɛ-\B5 15iI9 =O<ɚ9i9I=O=IEiAiA)Eg<@)I ]$?IYzKiJKKKK  */.,( BK:K*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.յ>յ<checking for new query: numPingsReceived=3, elapsed TxPingTime=3.274928JчKՇ3 KՇ.-KчKч"KчJq Ju Ju 1Jq Jq Ju 9Ju 3Jq G J>Gq By O >rw,BA2Ƹ=Y2r)>2s=92=y2H_?`(jӿ^??@y?s|@;ϳ`th?7?ɨ2Ƹ=2B;2CyflBfIInlInm?4٢vY2 v=9z޺Q z ?xx zG٣|y~" ~ ?  Nusing accuracyPremultiplier from config u59i? u5Y5I i@>@MdE:z:u5 %A!ZjMUVStarting intercept timer at range: 38.70 m.UDNOT Ignoring new targets: 38.20 m.RjQBj]T3Jj]T3m ProNav: ac range: 38.200001 m, nav range: 9.828912 m, bearing: 289.536068 deg, approach rate: 0.047726 m/s, LOS rate: -2.508526 deg/s, cmd heading: 295.853824 deg, new cmd heading: 293.444381 deg. 2jm2׽uHeadingCmd: 5.121571 target range: 38.200001 and range: 38.70 m. ju@jqjqjqiqhyhyhyhyfffrfbfC @ɛZBM ۨ=隵wI B<ɚiIQ=Iy琿ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: Range 10 to 50 : 39.6 m (Round-trip 52.8 ms) speed -0.4 m/s =,DAT read: user:2923> =BDAT read: Tx time:22:49:46.2142 E$Ping request sent.EIC IrIIҀBI&I.I6I<<:Iv F IGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:49:46.2134  checking for new query: numPingsReceived=4, elapsed TxPingTime=0.247691xw,BA6=Y6X>6=96n =y6H`l?`m ҿ6?`'??@;Lm ?`?ɨ6=6;6CyVMBVI Z=Za=EMb@Mb@Mb@AAA A)AYE(\?~jthQyEz>EDEEI A EzA)AIAAyEf AI]zI]=X4٢mr mB=9m4Q u>qq uG٣qy} Z }> Nusing accuracyPremultiplier from configu59w?u5YG iߩ@ >::>@OdEo;:u5B AE addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.528344 s, deltaX: 0.899998 m, approachRate: 0.255077 m/s, rangeRepo size: 4 ZjTStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 38.20 m.RjBjx+Jjx+ ProNav: ac range: 38.200001 m, nav range: 9.820524 m, bearing: 288.528869 deg, approach rate: -0.019958 m/s, LOS rate: -2.398561 deg/s, cmd heading: 293.444379 deg, new cmd heading: 290.423161 deg. 2jͽHeadingCmd: 5.068841 target range: 38.200001 and range: 39.60 m. j3@jjjihhh h Bf f f rfC@bf@>? 5nManaging dock network, ignoring radio surface power offɛXB\1 ؂I E<ɚiIR=I)ii)3@)c~G%5tAi*F2F:FBFx0JF $Y5tAyB%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=4, elapsed TxPingTime=0.499027GB>Gi Bq O > I zK] $MK] K9KY K] K]     Ew,BARK>JK?>w8=Y>>>m=9>1=y>H?пF???ͳ@`X??ɨ>w8=>;>CyN4BNIIbsIbK4uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=0.752029٢( G=9Q > G٣kPGya > Nusing accuracyPremultiplier from configu59څ?u5YF i@>@RdE;);Vu5 AZj==VStarting intercept timer at range: 39.60 m.=DNOT Ignoring new targets: 38.20 m.Rj9BjEP*JjEP*U ProNav: ac range: 38.200001 m, nav range: 9.811421 m, bearing: 287.529748 deg, approach rate: -0.021686 m/s, LOS rate: -2.382387 deg/s, cmd heading: 290.423168 deg, new cmd heading: 287.425913 deg. 2j]`̽]HeadingCmd: 5.016529 target range: 38.200001 and range: 39.60 m. j]g@jYjajaiahhhhfffrfbf?ɛuVBuG y}mIy }l<ɚiIBT=I?ii)g@)*Fa2Fa:FaBFe0JFa% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=4, elapsed TxPingTime=1.003284G :>Gq B O >ZH RH H >I  I !II BI &I .I 6I |<:I FBIʪCJIʪCRIZI =bI =jI<4w,VECAFFL=9Fz%=yFH@p?ο ̴? i?@w?0-`6岿p??ɨFdd fG٣dyjI j> nNusing accuracyPremultiplier from confighru59jP?ru5YjE ijX@tvq>v@jTdEj.;j.;ju5zB zpAzE =$?I9ZjQUDNOT Ignoring new targets: 38.20 m.RjQBj]]*Jj]]*u ProNav: ac range: 38.200001 m, nav range: 9.801995 m, bearing: 286.642656 deg, approach rate: -0.025299 m/s, LOS rate: -2.383088 deg/s, cmd heading: 287.425917 deg, new cmd heading: 284.764104 deg. 2juo̽}HeadingCmd: 4.970071 target range: 38.200001 and range: 39.60 m. j} @jyjyjyihhhhfffrfbf5?ɛTBкg I! %؞<ɚ)iQI]"V=Iii) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=1.255106J{JvJ0JJd:Jϣ9Jـ3JJ#;aJ$;aJ:aJ:aEH=*FI 2FI :FI BFM n0JFI GQ  GU pA= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=4, elapsed TxPingTime=1.506956G B>G B O->+w,` CA 2]@Y2[>2m\=92A(=y2H`/?ʿ@\?@/? MC?>$f @ע??ɨ2]@2Ր;0yBBFvIiJp=IJ=MMb@Mb@Mb@III I)IYM|?5^?~jtMbyM>MMM` A I)MAIMAIyM AIeSIe4٢}9۽ }'=9Y@Q > G٣yQY > Nusing accuracyPremultiplier from configu59?u5YE iX@>;a<@XdE;:u5 GAB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 38.20 m.RjBj'Jj' ProNav: ac range: 38.200001 m, nav range: 9.752597 m, bearing: 285.516249 deg, approach rate: -0.102318 m/s, LOS rate: -2.344771 deg/s, cmd heading: 284.764110 deg, new cmd heading: 281.371962 deg. 2j&ɽHeadingCmd: 4.910867 target range: 38.200001 and range: 39.60 m. j %@j j j i h hhhBBfffrfbfO?ɛEQBM\ I QIYMIY ]<ɚYiaIeX=Ieiiii)m%@)iEMR5=zK%jLK%@9K!K%K%*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=1.759128GE :>G! B) OE >w,U9CA6@Y6`V@>6=96"c=y6HZ? DǿN? ?_o?(@Ȑ@? J?ɨ6@6ߐ;6Cy>B>RIIJIJ4٢R RZ=9Rh9Q R>TT VG٣VlPGyZ Z> ^Nusing accuracyPremultiplier from config\bu59^د?bu5Y^E i^@`b:f@^ZdE^:^:^u5h j/AhZj VStarting intercept timer at range: 39.60 m. DNOT Ignoring new targets: 38.20 m.Rj Bj%Jj%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=4, elapsed TxPingTime=2.010954- ProNav: ac range: 38.200001 m, nav range: 9.713305 m, bearing: 284.651456 deg, approach rate: -0.104494 m/s, LOS rate: -2.309039 deg/s, cmd heading: 281.371965 deg, new cmd heading: 278.768982 deg. 2j5ƽ=HeadingCmd: 4.865437 target range: 38.200001 and range: 39.60 m. jE@jAjAjIiIhQhYhahafififyrfybf}@C8@ɛ]OB]- aeIa m<ɚiiiImY=Ixii)@)HI IIINBI&I.I6IG<:I F M$?IIEUp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=2.262978*F2F :F BF 0JF J yJ wJ 1J J ]:J 9J 3J J ;J ;J :J :G) G BO5>9w,QWCA6&@Y6`$>6=96EO E̼E A E A)EAIAAyE AI]nI]B4٢u} u&=9u7Q }>yy }G٣yy_ > Nusing accuracyPremultiplier from configu59p?u5YF i@E>;;@]dE;M;lu5 AEZjTStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 38.20 m.RjBjJj ProNav: ac range: 38.200001 m, nav range: 9.629908 m, bearing: 283.572906 deg, approach rate: -0.169362 m/s, LOS rate: -2.209147 deg/s, cmd heading: 278.768980 deg, new cmd heading: 275.509024 deg. 2jHeadingCmd: 4.808539 target range: 38.200001 and range: 39.60 m. jߙ@jjjih h h h Bfffrfbf @ɛELBMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.514915U/v QU휿IQ U֡<ɚYiYI][=I]ii) ߙ@) EE*E"E QIQ*F2F:F BF 1JF zK&`KK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=4, elapsed TxPingTime=2.766759GU R>G! B1 OM >Iw,wsCA>O@Y> >>=9>H?`?$? ?M-? ?ɨ>O@>;>CyvBz(IIId4٢u u;=9}~Q }>y G٣yv > Nusing accuracyPremultiplier from configu59ϓ?u5YG i@V@`dE:@:;u5 EAZjVStarting intercept timer at range: 39.60 m.DNOT Ignoring new targets: 38.20 m.RjBjJj ProNav: ac range: 38.200001 m, nav range: 9.554642 m, bearing: 282.613105 deg, approach rate: -0.173168 m/s, LOS rate: -2.225552 deg/s, cmd heading: 275.509013 deg, new cmd heading: 272.609542 deg. 2j쾽HeadingCmd: 4.757934 target range: 38.200001 and range: 39.60 m. j@@jjjihh h h f ffrfbf@ɛ}IBlℽ 隥ܠI <ɚiI]=IN¿ii)@@)*F=2F9:F9BFEP0JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:49:48.6728 uTRx dataTimestamp_ set to:1736376589.950610}checking for new query: numPingsReceived=4, elapsed TxPingTime=3.022005jHbH<HI IIIBI =&I.I6Ix<:I FGe:> ]$?IqGY Ba O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=4, elapsed TxPingTime=3.274955M;w,CAJ@YJ@T=J&=9J;Q8I A  A)AI7Ay AI}I]4٢ R  @=9 #3Q > G٣mPGy|q %> -Nusing accuracyPremultiplier from config)5u59-ݓ?=u5Y-I i-1@=>=:==@-cdE-;-_;-u5EB MAMEZj}}TStopped intercept timer at range: 39.60 m.}DNOT Ignoring new targets: 38.20 m.RjyBj"Jj" ProNav: ac range: 38.200001 m, nav range: 9.461280 m, bearing: 281.648825 deg, approach rate: -0.218004 m/s, LOS rate: -2.273745 deg/s, cmd heading: 272.609543 deg, new cmd heading: 269.690822 deg. 2jýHeadingCmd: 4.706993 target range: 38.200001 and range: 39.60 m. j@jjjihhhhBfffrfbf( @ɛFBB I 0<ɚiIg_=Ihǿii)@)*F!2F!:F!BF!JF!G) G-rAuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.4 ms) speed -0.6 m/s ,DAT read: user:2924> BDAT read: Tx time:22:49:49.7642 $Ping request sent.GQ GQ G! B) OM > A IA Qdw,odCA:\@Y:@=:vj=9:=y:H?G=J?`õ??Κ` o?@??ɨ:\@:ȏ;:Cy``IjIjm4٢v.: z^=9zmQ ~>  G٣ y q  > %Nusing accuracyPremultiplier from config-v59ꓜ?-v5YJ i@)5O5@fdEH;H;/v5A MAI}B*** querying acoustic contact ***jyjyzKa3JK@9KKK addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.531086 s, deltaX: 1.200001 m, approachRate: 0.339839 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 38.20 m.RjBj!Jj! ProNav: ac range: 38.200001 m, nav range: 9.379412 m, bearing: 280.811439 deg, approach rate: -0.218442 m/s, LOS rate: -2.253745 deg/s, cmd heading: 269.690812 deg, new cmd heading: 267.158466 deg. 2jWuHeadingCmd: 4.662795 target range: 38.200001 and range: 40.80 m. j}5@jyjyjyiyhyhyhhfffrf`ffD@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:49:49.7634 checking for new query: numPingsReceived=5, elapsed TxPingTime=0.250146ɛmCBm qu4Iq u_<ɚqiqI}ca=I}hϿii)5@)*FM2FI:FIBFIJFQGm Z >GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=0.503083H >I  I YII BI &I .I 6I <:I FKw,d=CAjQ$@Yj=jk =9j G٣y%2 %> -Nusing accuracyPremultiplier from config)5v59-[?5v5Y-KL i-@1=Ǿ=@-hdE- ;- ;-v5A EAEEqKAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRKResuming normal ranging with 1.000000 count pings 40.799999 m (mode 2.000000 count ).KK $?IZjDNOT Ignoring new targets: 38.20 m.RjBjJj5 ProNav: ac range: 38.200001 m, nav range: 9.284198 m, bearing: 279.900915 deg, approach rate: -0.228418 m/s, LOS rate: -2.206659 deg/s, cmd heading: 267.158478 deg, new cmd heading: 264.401137 deg. 2j5M=HeadingCmd: 4.614670 target range: 38.200001 and range: 40.80 m. j=a@jQjQjQiQhYhYhYhYfafafarfibfm?ɛ@B I x~<ɚiIbc=I=ӿiAiA)Ma@)a*Fe2Fa:FaBFe_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=0.759359J{JrJ0JJd:J9Jـ3JJ#;J$;J:J:G <>Ga Bi O >~w,G=CABZi@YBQ<B<{=9BuFutu` A q)qIqqyu AIOI 4٢@ A=9ʻQ > G٣nPGyN\ > Nusing accuracyPremultiplier from configv59%?v5YhN ib@4>:2۾@ldE$;;qv5 A l?K1LZj DNOT Ignoring new targets: 38.20 m.Rj Bj 0Jj 0 ProNav: ac range: 38.200001 m, nav range: 9.176510 m, bearing: 278.907441 deg, approach rate: -0.264540 m/s, LOS rate: -2.469021 deg/s, cmd heading: 264.401131 deg, new cmd heading: 261.388665 deg. 2jӽ%HeadingCmd: 4.562093 target range: 38.200001 and range: 40.80 m. j-@j)j)j)i)h)h)h1h5Bf9f9f9rfAbfEIJ?ɛm>Buym quIq u n<ɚqiyI}&e=I}2ڿii)@)*F2F:FBF0JF IhzK=&(KK=9K9K=K=RKM?JKM#?G]7>Ge?Ge? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=1.261616G9 BA Oe >w, CA:@Y:@:u=9:dd fG٣dynw n> vNusing accuracyPremultiplier from configpzv59r ?~v5Yr[P ir@澑@rndEr8;r;r v5B xA%ElY1L]qLeZjquDNOT Ignoring new targets: 38.20 m.RjqBj}%Jj}% ProNav: ac range: 38.200001 m, nav range: 9.080744 m, bearing: 278.026052 deg, approach rate: -0.249033 m/s, LOS rate: -2.316070 deg/s, cmd heading: 261.388662 deg, new cmd heading: 258.718648 deg. 2jƽHeadingCmd: 4.515492 target range: 38.200001 and range: 40.80 m. j~@jjj)i)h)h1h1h1f1f1f9rf9bf=X!?ɛe;BeV 隍qI Z]<ɚiICf=I`߿ii)~@)*FE2FA:FABFEO1JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.514939ZHaRHaHaIa IeLIIeBIe =&Ia.Ia6Ie<:Ie F $?IG(>GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=1.765089 w,4DA2@Y2@2s=92}=y2H@?~¢?@ح?ġZ?L[vr@G?`Z?ɨ2@2̔;2CyjBj(I)l l r=r=Mb@Mb@Mb@ )Y(\?sh|?ſ~jtx?yz>); zA)IMAy3 AII4٢ < <=9`Q > G٣yjk > Nusing accuracyPremultiplier from configv59"?v5YjR i@>:վ@qdE;#;v5 RAlqLCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRqK Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRZjDNOT Ignoring new targets: 38.20 m.RjBj%F2Jj%F25 ProNav: ac range: 38.200001 m, nav range: 8.980158 m, bearing: 276.978155 deg, approach rate: -0.236736 m/s, LOS rate: -2.493781 deg/s, cmd heading: 258.718659 deg, new cmd heading: 255.543189 deg. 2j=ս=HeadingCmd: 4.460070 target range: 38.200001 and range: 40.80 m. j=帎@jAjAjAiAhAhAhIhMBfIfQfQrfQbfU`?ɛ}7B}%+ 隅vI BxM<ɚiIh=Iii)帎@)) ]~G}|uA*Fm2Fy:FBFP5JF $Y|uAy%BuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=5, elapsed TxPingTime=2.017205GJ>G B O > I w,(DA>!@Y>*1@>p=9>=y>H?`ݮ?? x٭?@Wo`? ?ɨ>!@>?;>CyZBZ;II%nI%B4٢E2= ER=9MQ M>QQ UG٣UoPGy]&x e> uNusing accuracyPremultiplier from configiuv59mG0?}v5Ym`T imF@y}$ᾑ@mtdEm;m ;mv5 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 38.20 m.RjBj*0Jj*0 ProNav: ac range: 38.200001 m, nav range: 8.888280 m, bearing: 276.023996 deg, approach rate: -0.234873 m/s, LOS rate: -2.464276 deg/s, cmd heading: 255.543195 deg, new cmd heading: 252.653713 deg. 2jfӽHeadingCmd: 4.409639 target range: 38.200001 and range: 40.80 m. j@jjjihhhhfffrfbf@M@ɛ%4B%W !-֗I) -69><ɚ)i)I-Vj=zK5k3IK5ŷ9K1K5K5BK9:K9IE4 iIiI)M@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.269884JyJsJ1JJ]:J9J3Ja@a@a@a@*F2F:FBF 4JFGB>GGrAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=2.521151H I  I YII BI &I .I 6I <:I FBI%˫CJI%˫CRI!ZI!bI% =jI%4w,BDA2wU@Y2d@2mk=92 =y2H? Zε?=ǫ?Gc?``\7??ɨ2wU@2;0yjBnLIIvyIvxV4٢z= ~O=9~fQ ~> G٣y ܁  > Nusing accuracyPremultiplier from configv59u=?v5YqV i@%%@wdE ; ;Yv5) -nA) E$?IAZjamDNOT Ignoring new targets: 38.20 m.RjiBjmT0JjuT0 ProNav: ac range: 38.200001 m, nav range: 8.795125 m, bearing: 275.064177 deg, approach rate: -0.236892 m/s, LOS rate: -2.466546 deg/s, cmd heading: 252.653724 deg, new cmd heading: 249.746403 deg. 2jӽHeadingCmd: 4.358897 target range: 38.200001 and range: 40.80 m. j|@jjjihhhhfffrfbf@ɛ1B! I  i/<ɚiIlk=Iqii)|@)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.773608GGBO>'w,,a\DAF0@YF@F5e=9F=yFH ? 8?@0ª?`v ?k n%r? ?ɨF0@FL;DynBnfIirR>Ir=xzAEWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:49:52.2250 UTRx dataTimestamp_ set to:1736376593.485787echecking for new query: numPingsReceived=5, elapsed TxPingTime=3.028634Mb@Mb@Mb@ )YʡE?rh| rh?y>C<A  A)EAIy( AIIb4٢<= /=9N;Q > G٣yI > Nusing accuracyPremultiplier from configv59M?v5YX iР@>:ľ@zdEI;;lv5Q UAQZjDNOT Ignoring new targets: 38.20 m.RjBj:Jj: ProNav: ac range: 38.200001 m, nav range: 8.701584 m, bearing: 273.832783 deg, approach rate: -0.196533 m/s, LOS rate: -2.614805 deg/s, cmd heading: 249.746413 deg, new cmd heading: 246.018080 deg. 2jPཝHeadingCmd: 4.293826 target range: 38.200001 and range: 40.80 m. jg@jjjihhhh cBf f frfbfE@ 1I1ɛ]-B]jw ae_Ia eI<ɚiIwm=IXii)g@)*FE2FA:FABFIJFIzKBoHK59KKK$39;;84/($$"RK?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=3.277101J wJ vJ 0J J W:J ϣ9J ـ3J G Z >G B) OE >3w,;vDA>н@Y>q@>`=9>1ZH`ӭ?m?>??@Y ?]?ɨ>н@>;>CyNBNII%{I%Z4٢Uy> eg=9u5^Q u> G٣pPGyي > Nusing accuracyPremultiplier from configv59Z?v5Y:Z i@Ѿ@}dE5;;v5B  A|EZj!-DNOT Ignoring new targets: 38.20 m.Rj)Bj-CJj5CE ProNav: ac range: 38.200001 m, nav range: 8.627835 m, bearing: 272.865324 deg, approach rate: -0.206769 m/s, LOS rate: -2.735516 deg/s, cmd heading: 246.018086 deg, new cmd heading: 243.093583 deg. 2jE꽝MHeadingCmd: 4.242784 target range: 38.200001 and range: 40.80 m. jMć@jIjIjIiIhIhQhhfffrfbf @ɛ*B8 隝I I"<ɚiIsRo=Iii)ć@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.U8DAT read: $Error in header U*Received a bad headerchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.544431jH bH <H>I IIIBI&I.I6I<:I F*F2F:FBFJF $?I!G% A>GE ?GE ?G! BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=5, elapsed TxPingTime=3.784709#w,DAy]B]I Mb@Mb@Mb@    ) Y S?:v?y > T < A  A) /AI A y  AI%_I%b(4٢5w= 5==95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUv59M^i?Uv5YMn[ iM@U>]:]]@MdEM[;M!;MI!v5a eAaZjDNOT Ignoring new targets: 38.20 m.RjBjpGJjpG ProNav: ac range: 38.200001 m, nav range: 8.575276 m, bearing: 271.706017 deg, approach rate: -0.125718 m/s, LOS rate: -2.789810 deg/s, cmd heading: 243.093591 deg, new cmd heading: 239.598931 deg. 2jS}HeadingCmd: 4.181790 target range: 38.200001 and range: 40.80 m. j:х@jjjihhhhBfffrfbf`@ɛ'B I  <ɚ i I p=I^ii):х@)*F2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=5, elapsed TxPingTime=4.033152G <> 1 I9 G B O >e*w,DDAJ`@YJ*p@JgV=9Je5   G٣ y b  > }Nusing accuracyPremultiplier from configv59v?v5Y\ i@Ę@dE=o<:y$v5B JAyEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 38.20 m.RjBj>Jj> ProNav: ac range: 38.200001 m, nav range: 8.525915 m, bearing: 270.706023 deg, approach rate: -0.131092 m/s, LOS rate: -2.670985 deg/s, cmd heading: 239.598938 deg, new cmd heading: 236.584524 deg. 2j"彝HeadingCmd: 4.129179 target range: 38.200001 and range: 40.80 m. j<"@jjjihhhhfffrfbf @ɛ%#B%*$ )-w}I) -b;ɚ)i)I-Lr=I5i9i9)=<"@)9zK%MKŷ9KKK   LvJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=4.294620*F2F:FBF0JFJyJtJJJ]:J9JJGF>GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=4.545139H I  I II :BI &I .I 6I <:I F0w,DA dIdy~9B~II|I[4٢-= -H=9=Q E>AA EG٣MqPGyM M> UNusing accuracyPremultiplier from configQ]v59UP?]v5YU^ iU@aae@UdEU;U;U(v5i mAiZjDNOT Ignoring new targets: 38.20 m.RjBjNJjN ProNav: ac range: 38.200001 m, nav range: 8.473377 m, bearing: 269.564134 deg, approach rate: -0.131840 m/s, LOS rate: -2.883066 deg/s, cmd heading: 236.584530 deg, new cmd heading: 233.141999 deg. 2jSHeadingCmd: 4.069096 target range: 38.200001 and range: 40.80 m. j6@jjjihhhhfffrfbf@ɛBu %sI f;ɚ i I cs=Im ii)6@)*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=4.797422GA>GrAGqAGBO >7w,DA>@Y> @>:oL=9>5H:2??ur?˿5?@&0@??ɨ>@>V;>CyVNBVIEMb@Mb@Mb@AAA A)AYEOn?y&1|?:v?yE>E`;E G٣y4׽ > Nusing accuracyPremultiplier from configv59̒?v5Y^ iʠ@>:fQ@dE ;;+v5 !AvEZjDNOT Ignoring new targets: 38.20 m.RjBj@Jj@ ProNav: ac range: 38.200001 m, nav range: 8.440792 m, bearing: 268.395437 deg, approach rate: -0.074970 m/s, LOS rate: -2.699067 deg/s, cmd heading: 233.142005 deg, new cmd heading: 229.627038 deg. 2j罝HeadingCmd: 4.007748 target range: 38.200001 and range: 40.80 m. jx?@jjjihhhhBfffrfbfk@ɛEBEЁ] AMfII m5;ɚiiiImHu=Iuiqiq)}x?@)y $?I*FE2FA:FABFET5JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. 4= 4= checking for new query: numPingsReceived=5, elapsed TxPingTime=5.301503zK- !NK- 9K) K- K- -FAP 6*'+H*h#fY $ xqnhgfdddcaZGe 7>J wJ uJ J J W:J 9J J Ga Bq O >>=w,֎DA:N@Y:^@:]AI=9:=y:H ?E?U?qο@ ? `%{?@?ɨ:N@: Y;:CyFTBFIiJ=IJ;HJAIVrIVJ4٢f= fV=9-Q ->)) 5G٣1y5d^ => ENusing accuracyPremultiplier from config9Ev59=o?Mv5Y=_ i=۠@IMjgM@=dE=H:=:=/v5Q ]AYZjyDNOT Ignoring new targets: 38.20 m.RjBjQVJjQV ProNav: ac range: 38.200001 m, nav range: 8.409704 m, bearing: 267.286056 deg, approach rate: -0.083706 m/s, LOS rate: -2.997927 deg/s, cmd heading: 229.627026 deg, new cmd heading: 226.290566 deg. 2jHeadingCmd: 3.949515 target range: 38.200001 and range: 40.80 m. j|@jjjihhhhfffrfbf@@ɛ=BEI IIIgBI&I.I6IE<:I F*F2F:FBF4JF $?IG 2>G B O% >% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=5, elapsed TxPingTime=5.808321'Dw,DnEAJPJRBAvɨ@YvD@v`E=9v:=yvH ?`?|? zп?l yT?`)?ɨvɨ@v;vCy]BIMb@Mb@Mb@ )Y> ףp=?T㥛 ?/$?y>=<EA I A)AIyAIkI=4٢&= 9=9yQ > G٣rPGyA > Nusing accuracyPremultiplier from config v59`?v5Yu` i@>:ὑ@dEt;;2v5 A!ZjIUDNOT Ignoring new targets: 38.20 m.RjQBj]IJj]Im ProNav: ac range: 38.200001 m, nav range: 8.400397 m, bearing: 266.071701 deg, approach rate: -0.021627 m/s, LOS rate: -2.824797 deg/s, cmd heading: 226.290560 deg, new cmd heading: 222.648646 deg. 2jmT򽝊uHeadingCmd: 3.885952 target range: 38.200001 and range: 40.80 m. jupx@jqjqjyiyhyhyhh Bfffrfbf (@ɛB] 隽[I ";ɚiIx=IJii)px@)*F2F:FBFP0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=5, elapsed TxPingTime=6.057267GeA>Gu?Gu#?GA BI Om > I &NJw,29+EA:@Y:@:8C=9:[pp rG٣pyvBp v> zNusing accuracyPremultiplier from configtzv59v"?~v5Yv` iv@|~@vdEv ;v ;v6v5 B aA sEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 38.20 m.RjBj@Jj@ ProNav: ac range: 38.200001 m, nav range: 8.392172 m, bearing: 265.031044 deg, approach rate: -0.021269 m/s, LOS rate: -2.693403 deg/s, cmd heading: 222.648649 deg, new cmd heading: 219.526882 deg. 2j罝HeadingCmd: 3.831467 target range: 38.200001 and range: 40.80 m. j6u@jjjihhhhfffrfbf $@ɛ-B-]d 15UI1 =Rt;ɚ9i9I=Qy=IEiAiI)M6u@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=6.310373zKPKK9KKKVQRMHHBB;863..*%*F2F:FBF]0JFG1G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=6.561074H >I  I II BI &I .I 6I g<:I F16Qw, EEA IBO@YB^@Bɰ@=9B311 5G٣1y5 L 5> ENusing accuracyPremultiplier from configAMv59Ewʔ?Mv5YEa iE@IMM@EdEEj;E;E9v5]B ]AYZjDNOT Ignoring new targets: 38.20 m.RjBjTJjT ProNav: ac range: 38.200001 m, nav range: 8.382686 m, bearing: 263.857404 deg, approach rate: -0.024045 m/s, LOS rate: -2.977969 deg/s, cmd heading: 219.526883 deg, new cmd heading: 216.006661 deg. 2jxHeadingCmd: 3.770027 target range: 38.200001 and range: 40.80 m. j!Hq@jjjihhhhfffrfbfn@ɛeBe#Za ae3WIi mF;ɚiiiImz=I ii)!Hq@)*F2F:FBF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=6.816394JyJwJJJ]:J9JJJ;aJ;aJ:aJ:aG](>NGvA = YE vAyE AGi Bq O >`Ww,^EA2梷@Y2b@2I>=92í;2 CyB\BBI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=5, elapsed TxPingTime=7.065152Mb@Mb@Mb@ )Y> ףp=?I +?I +?y9=94<A  A)\AI Ay3AIuIaO4٢ @=9^Q > G٣sPGyHJ > Nusing accuracyPremultiplier from configv59gٔ?v5Y4b i@>:*轑@dE5;E;j=v5B A pEZj)5DNOT Ignoring new targets: 38.20 m.Rj1Bj=yLJj=yLM ProNav: ac range: 38.200001 m, nav range: 8.383487 m, bearing: 262.638078 deg, approach rate: 0.001879 m/s, LOS rate: -2.860227 deg/s, cmd heading: 216.006659 deg, new cmd heading: 212.354261 deg. 2jM^UHeadingCmd: 3.706281 target range: 38.200001 and range: 40.80 m. jU3m@jQjQjQiQhYhYhYh])Bfafafarfabfml@ɛ B]d 隝HWI n;ɚiI|=Ia#ii)3m@) -$?I)*F2F:FBFJFGms>GqGurAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=7.317595Gi Bq zK dMK 9K K K O >l]w,:xEA27@Y2@2;=92ֆhh jG٣hynh n> rNusing accuracyPremultiplier from configpvv59rf攜?vv5Yrb irנ@xz z@rdEr:r:r@v5| ~*AZjDNOT Ignoring new targets: 38.20 m.RjBjDJjD ProNav: ac range: 38.200001 m, nav range: 8.384019 m, bearing: 261.574665 deg, approach rate: 0.001378 m/s, LOS rate: -2.754202 deg/s, cmd heading: 212.354256 deg, new cmd heading: 209.167692 deg. 2jE콝HeadingCmd: 3.650665 target range: 38.200001 and range: 40.80 m. j~i@jjjihhhhfffrfbf`@ɛuB}r 隅+]I :ɚiI l}=ICs'ii)~i@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=5, elapsed TxPingTime=7.570698jHm<bHiH}>Iy I}-II}BI} =&Iy.I}@D6I}<:I} FBIJIRIZIbIjIļ4*F2F:F BF 0JF  !I!G- B>G B OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=7.824399ivdw,EAJK3 K.KK"KJ@JBqJ@J@J@JBq9J@J@J@J@JB:JB:J@YaZ@*:=9!=A ` A)I AyAIIkf4٢B .=9_Q > G٣yo6 > Nusing accuracyPremultiplier from configv59 ?v5Yc iy@]>;U@dE;;Dv5 AmEZj%DNOT Ignoring new targets: 38.20 m.Rj!Bj-mLJj-mLM ProNav: ac range: 38.200001 m, nav range: 8.374419 m, bearing: 260.279113 deg, approach rate: -0.021166 m/s, LOS rate: -2.859595 deg/s, cmd heading: 209.167686 deg, new cmd heading: 205.282870 deg. 2jMPUHeadingCmd: 3.582862 target range: 38.200001 and range: 40.80 m. jUMe@jQjQjQiQhQhYhYh]BfYfafarfbf`m@ɛBef %aI E]:ɚAiAIE~=IMC*iIiQ)UMe@)Q*FQ2FQ:FQBFU0JFY]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=5, elapsed TxPingTime=8.074957 $?I G= 2>G B) OU >vjw,EAyr=BrIIzIzHo4٢- -h=95Q 5>11 =G٣9yE E> MNusing accuracyPremultiplier from configIUv59M?Uv5YMd iM2@QY@MdEMtJj>  ProNav: ac range: 38.200001 m, nav range: 8.370035 m, bearing: 259.306186 deg, approach rate: -0.012022 m/s, LOS rate: -2.669337 deg/s, cmd heading: 205.282865 deg, new cmd heading: 202.365221 deg. 2j 佝HeadingCmd: 3.531940 target range: 38.200001 and range: 40.80 m. jL b@jjjih!h!h)h)f)f1f1rf1bf5 @ɛeBeۇ aebIa mTr9ɚiiiIm=Iu$[-iqiq)uL b@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=8.325054zKLK9KKK     %**'$ %(19:84121/00-)BKqA:K*F2F:FBF/5JFGF>G?G?GB O- >HU >IQ  IU !IIU BIQ &IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=5, elapsed TxPingTime=8.577269.IQ 6IU H<:IU F  I qw,lEAz@Yzf@zr7=9z99 =G٣=tPGy=7ս E> MNusing accuracyPremultiplier from configAMv59E?Uv5YEe iE@QUU@EdEE ;E ;E]Kv5a euAaZjDNOT Ignoring new targets: 38.20 m.RjBjKJjK ProNav: ac range: 38.200001 m, nav range: 8.361108 m, bearing: 258.187882 deg, approach rate: -0.022703 m/s, LOS rate: -2.846777 deg/s, cmd heading: 202.365227 deg, new cmd heading: 199.010785 deg. 2j6HeadingCmd: 3.473393 target range: 38.200001 and range: 40.80 m. jL^@jjjihhhhfffrfbfg!@ɛB0X 4mI Gɚi I Ԁ=I12ii)L^@)*F 2F :F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=8.832500JxJrJJJZ:J9JJJ ;J ;J:J:GMA>G! B1 OM >{ww,8EA: 9@Y:H@:At5=9:;:CyFBFI)H H N=N=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=5, elapsed TxPingTime=9.081169UMb@Mb@Mb@QQQ Q)QYUn?Ut=UU/A Q)UAIUI AQyU\AIuIuk4٢ E=9Q > G٣y_ > Nusing accuracyPremultiplier from configv59g?v5Yg is@Q>;%@dEI;;Nv5B AjEZjDNOT Ignoring new targets: 38.20 m.RjBj<Jj< $?I ProNav: ac range: 38.200001 m, nav range: 8.340402 m, bearing: 257.048330 deg, approach rate: -0.047825 m/s, LOS rate: -2.638364 deg/s, cmd heading: 199.010785 deg, new cmd heading: 195.587944 deg. 2jU⽝HeadingCmd: 3.413654 target range: 38.200001 and range: 40.80 m. jMyZ@jjjihhhhBfffrfbf J"@ɛEBEVe AEbtIA Mb/ɚIiIIUq=Iud 6iqiq)}MyZ@)y*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=9.333282G- F>zK MK ж9K K K )''(#!     RK ?JK ?GA BI Om >}w,EA2#@Y2@2D4=92Uhl rG٣tyz^ z> Nusing accuracyPremultiplier from config v59(? v5Yh i @@dE:a:WRv5 A!ZjAMDNOT Ignoring new targets: 38.20 m.RjIBjM3PJjM3Pe ProNav: ac range: 38.200001 m, nav range: 8.321002 m, bearing: 255.991362 deg, approach rate: -0.053332 m/s, LOS rate: -2.912354 deg/s, cmd heading: 195.587945 deg, new cmd heading: 192.413082 deg. 2jeeHeadingCmd: 3.358242 target range: 38.200001 and range: 40.80 m. jmoV@jijijiiihihihqhqfqfqfrfbf<#@ɛEBE E|=E II MЕɚIiIIMX=Iu/P:iqiq)uoV@)yZHRH?AH>IC IIImBI =&I.I6I@<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=5, elapsed TxPingTime=9.585204*F12F9:F9BF=\0JF9 IGM7>GUqAGUqAG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=9.840399Ąw,eFAJ:wJ:sJ8J8J:W:J:9J8J8J:z;J:z;J:<:J:>:Բ@Y@@2=9IMb@Mb@Mb@ )Yx&1?Q롿QyA>\EA  A)IyAI}I]4٢ -=9.Q > G٣uPGyH > Nusing accuracyPremultiplier from configv59$7?v5YXk iO@~>:S @dE;;aVv5B AgEZjDNOT Ignoring new targets: 38.20 m.RjBjOJjO5 ProNav: ac range: 38.200001 m, nav range: 8.261971 m, bearing: 254.653215 deg, approach rate: -0.127178 m/s, LOS rate: -2.903247 deg/s, cmd heading: 192.413082 deg, new cmd heading: 188.377013 deg. 2j==HeadingCmd: 3.287799 target range: 38.200001 and range: 40.80 m. j=MkR@jAjAjAiAhAhIhIhMBfIfQfQrfQbfU1#@ɛBғ %I! -Hɚ)i)I-8=I5=i1i1)5MkR@)9*Fu2Fq:FqBF}U0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=5, elapsed TxPingTime=10.090099 m$?IqG} F>GQ Ba O} >hw,,-FAy5B5$IiEC=IE=AEAIIIMIM<4٢4 ^=9Q > G٣y > Nusing accuracyPremultiplier from configv59B?v5Ym i@@dE ;~ ;Yv5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 38.20 m.RjBjRJjR ProNav: ac range: 38.200001 m, nav range: 8.218310 m, bearing: 253.576492 deg, approach rate: -0.119050 m/s, LOS rate: -2.951369 deg/s, cmd heading: 188.377013 deg, new cmd heading: 185.133346 deg. 2j/HeadingCmd: 3.231186 target range: 38.200001 and range: 40.80 m. jN@jjjihh!h!h!f!f)f)rf)bf-$@ɛ]B]f Y]IY e{ɚaiaIe=ImAiiii)mN@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=10.343042zK?YMKKKK *F2F:FBF o0JF GMA>G! B1 OM >H >I  I II 5BI &I .I 6I =<:I  FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=5, elapsed TxPingTime=10.593169 Y Ia ґw,GFA6f@Y6,v@6d.=96-    G٣y > Nusing accuracyPremultiplier from config%v59mN?%v5Yp i@)--@dE::\v51 5 A5iEZjYeDNOT Ignoring new targets: 38.20 m.RjaBjmRJjmR ProNav: ac range: 38.200001 m, nav range: 8.168480 m, bearing: 252.451465 deg, approach rate: -0.129742 m/s, LOS rate: -2.946875 deg/s, cmd heading: 185.133343 deg, new cmd heading: 181.741856 deg. 2jHeadingCmd: 3.171994 target range: 38.200001 and range: 40.80 m. j%K@j!j!j!i!h!h!h)h)f)f)f1rf1bfU@z%@ɛB 隭ÓI a͜ɚiI҄=IDii)K@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2926>  BDAT read: Tx time:22:50:00.7143 $Ping request sent.w,kIeFA Iy% B-IMb@Mb@Mb@ )YV-?B`"۹~jty>νA  A)EAI AyfAIIt4٢ &=9Q > G٣vPGy >  Nusing accuracyPremultiplier from config v59 ]?%v5Y +t i &@%>%:-R;-@ dE ; ; Eav59 E!AEfEZj DNOT Ignoring new targets: 38.20 m.RjBj=\RJjE\R} ProNav: ac range: 38.200001 m, nav range: 8.074963 m, bearing: 250.943059 deg, approach rate: -0.180364 m/s, LOS rate: -2.942564 deg/s, cmd heading: 181.741854 deg, new cmd heading: 177.174456 deg. 2j}nHeadingCmd: 3.092278 target range: 38.200001 and range: 40.80 m. jE@jjjihhhh7Bfffrfbf[&@ɛB MBIQ UĻɚQiQIU.څ=I]ϡG@iYiY)]E@)aEU䪿=*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. = < checking for new query: numPingsReceived=5, elapsed TxPingTime=0.495157JJrJJJJ9JJa@a@a@a@zK}KK9KKKGM 7>G! B1 Oe >5w, XFA2@Y2f@2A(=92=y2Hd?h+?~? `>?nШx? ?ɨ2@2ۍ;2Cy:~B:I)< < B=@IFqIFJH4٢Z? ^]=9^wQ ^>`` bG٣`yf f> nNusing accuracyPremultiplier from configlrv59n|g?rv5Ynbw inq@pr0Gr@ndEn>;n;n|dv5x z"AxZjDNOT Ignoring new targets: 38.20 m.RjBj%lJj%l5 ProNav: ac range: 38.200001 m, nav range: 8.001616 m, bearing: 249.820007 deg, approach rate: -0.213658 m/s, LOS rate: -3.301242 deg/s, cmd heading: 177.174451 deg, new cmd heading: 173.778613 deg. 2j5 =HeadingCmd: 3.033009 target range: 38.200001 and range: 40.80 m. j=B@j9j9j9i9hAhAHI I_IIBI&I.I6I<:I Fh!h!f!f)f)rf)bf-5'@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.747092ɛuBuν y}lIy }oɚyiI=IǠD@ii)B@)EE*E"E $?I h*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=1.001013J @AJ @A)) - hC G tA % Y% tAy- AG J>GA BI Oe >w,tFA6@Y6"$@6լ!=96~BBI-Eonly read 0 of 1 data item for altitude. Device response is::BD, +5.85, , +0.03, 800  E@E M@M M@M  M@M IUYIU4٢e e1=9u'|Q }> G٣yc > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configv59mt?v5Y{ i@+::M@dE<>gv5 B &#AcEZjaDNOT Ignoring new targets: 38.20 m.RjBjXJjX ProNav: ac range: 38.200001 m, nav range: 7.907481 m, bearing: 248.377133 deg, approach rate: -0.195575 m/s, LOS rate: -3.033072 deg/s, cmd heading: 173.778618 deg, new cmd heading: 169.407429 deg. 2j-HeadingCmd: 2.956717 target range: 38.200001 and range: 40.80 m. j-:=@j)j)j)i1h1h1h1h1f9f9f9rf9bfe*(@ɛB  隵kI يɚiIZ=I>@ii):=@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=5, elapsed TxPingTime=1.250295 I*F=2F9:F9BF=P5JF9G] s>Ga Ge rAG1 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=1.502203Hw,@FAJ2vJ0J0J0J2{T:J0J0J0JV@YJe@J=9JG=hh jG٣jwPGyn| n> rbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpvv59r~?zv5Yr irۙ@z :xz:zS~@rdErA;rX?riv5  9$A EB*** querying acoustic contact ***jAjAzKk3IKŷ9KK KZjDNOT Ignoring new targets: 38.20 m.RjBjZJjZ ProNav: ac range: 38.200001 m, nav range: 7.831968 m, bearing: 247.208198 deg, approach rate: -0.195833 m/s, LOS rate: -3.060487 deg/s, cmd heading: 169.407433 deg, new cmd heading: 165.871557 deg. 2jFHeadingCmd: 2.895005 target range: 38.200001 and range: 40.80 m. jG9@jjj!i!h!h!h)h)f)f)fQrfQbfU(@ɛBܽ =隥EI ɚiIi=I@/;@ii)G9@)*Fe2Fi:FiBFm4JFiHI IIIWBI&I.I6I<:I FBIeƬCJIeƬCRIaZIe =bIe =jIe%4UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=5, elapsed TxPingTime=1.754450 $?IG7>G B O >ϗw,FA:摭@Y:b@:=9:S$HHININ{4٢V& VL=9Z%Q Z>XX ZG٣\y^u ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jv59b ?jv5Ybł ib@j9hjl:nYn@bdEb';b{?bkv5| v$A Zj15DNOT Ignoring new targets: 38.20 m.Rj1Bj=mJj=mM ProNav: ac range: 38.200001 m, nav range: 7.751043 m, bearing: 245.952122 deg, approach rate: -0.211875 m/s, LOS rate: -3.322692 deg/s, cmd heading: 165.871554 deg, new cmd heading: 162.069876 deg. 2jMUHeadingCmd: 2.828653 target range: 38.200001 and range: 40.80 m. jU5@jQjQjYiYhYhahqhyfffrfbf)@ɛBY޽ dI 8&ɚiIw=Iq6@ii)5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.011414*Fm2Fi:FqBFuP0JFqGGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=2.262346 I ƹw,FAf @YfW0@f =9f=yfH?@ :?k;z?@f2S?@dDࡿ`??ɨf @fS;fCyz&~BzLI        Mb@Mb@Mb@ )Y|?5^?mͿ G٣y ͽ > %Nusing accuracyPremultiplier from config!-v59%?-v5Y% i%6@5T:5!?5:5Y5@%dE%#;%";%ov59 =%A=`EZjiuDNOT Ignoring new targets: 38.20 m.RjqBjuJju ProNav: ac range: 38.200001 m, nav range: 7.588682 m, bearing: 244.347236 deg, approach rate: -0.364424 m/s, LOS rate: -3.678808 deg/s, cmd heading: 162.069871 deg, new cmd heading: 157.164864 deg. 2jHeadingCmd: 2.743044 target range: 38.200001 and range: 40.80 m. j /@jjjihhhhƀBfffrfbf`C*@ɛ݁BQ^ս ~I :ɚiIy=Iw2@ii) /@)*F=2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.515530J}uJyJ}1JyJ}[Q:JyJ}3JyzK%RIK%9K!K% K%6KQSRRQNMHGFA==99<:2*$#$""RK5>JK5>G] A>GA BQ Om >w,GAZHRHHI III~BI&I.I6Ii<:I FZN^@YZm@Z{ =9Z =yZHxO??h? @ I?`2 ?v?ɨZN^@Zm;ZCyf~Bf@IInIn4٢~YS \=9 jQ > G٣xPG5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=5, elapsed TxPingTime=2.767918 aIayu u> Nusing accuracyPremultiplier from configv59q? v5Yr iq@  ] @dE7<B<sv5 k%AZjamDNOT Ignoring new targets: 38.20 m.RjiBju|Jju| ProNav: ac range: 38.200001 m, nav range: 7.450396 m, bearing: 242.945214 deg, approach rate: -0.342172 m/s, LOS rate: -3.533168 deg/s, cmd heading: 157.164866 deg, new cmd heading: 152.889115 deg. 2jHeadingCmd: 2.668418 target range: 38.200001 and range: 40.80 m. j^*@jjjihhhhfffrfbf^+@ɛ=فB=1B߽ AEIA Eb NɚAiAIEFs=IegP-@iaia)e^*@)iE =Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:50:03.1812  TRx dataTimestamp_ set to:1736376604.340887E checking for new query: numPingsReceived=5, elapsed TxPingTime=3.029360*FY 2FY :FY BFa JFa G] <>G9BAOm>w, !GA2j@Y2槱@2K=92U=y2Ho?Kc?G\?{"?*?ɨ2j@2P;2Cy> ~BB;I)D FA HJa=]Mb@Mb@Mb@YYY Y)YY]-?K7ѿQy]??]]]A ]3 A)]AI]3 AYy]=AI}I} 4٢@x '=9:Q > G٣y3K > Nusing accuracyPremultiplier from configv59?v5Yҕ i@$?:۔@dE-;;Awv5B %AbEZjDNOT Ignoring new targets: 38.20 m.RjBj3Jj3 ProNav: ac range: 38.200001 m, nav range: 7.259897 m, bearing: 241.089718 deg, approach rate: -0.417665 m/s, LOS rate: -4.174151 deg/s, cmd heading: 152.889113 deg, new cmd heading: 147.196366 deg. 2j 3HeadingCmd: 2.569061 target range: 38.200001 and range: 40.80 m. jk$@jjjihh!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=5, elapsed TxPingTime=3.270366h1h5Bf1f9f9rf9bf=D,@ M$?IMhɛuՁB}۽ y}Iy bɚiIw=I r)@ii)k$@)E==*F2F:FBFX0JFG A> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 47.0 m (Round-trip 62.7 ms) speed -0.4 m/s  ,DAT read: user:2927> - X#Rx 6: Read range message, but no direction. y w,:GAzKMK59KK K&/5:88-/-)#    BK$:K&qA^ѩ@Y^]@^X<9^*9=y^H`hG??/aEC@? b@C?@?ɨ^ѩ@^;^Cyv ~Bv=II I d4٢; S=9%fQ %>!) -G٣)y- -> =Nusing accuracyPremultiplier from config1=v595x?Ev5Y5 i5Օ@AEE@5dE5;5B;5zv5I U%AQmB*** querying acoustic contact ***jiji addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 14.385062 s, deltaX: 6.200001 m, approachRate: 0.431003 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 38.20 m.RjBjiJji ProNav: ac range: 38.200001 m, nav range: 7.105861 m, bearing: 239.535884 deg, approach rate: -0.397489 m/s, LOS rate: -4.096085 deg/s, cmd heading: 147.196369 deg, new cmd heading: 142.445319 deg. 2j/HeadingCmd: 2.486140 target range: 38.200001 and range: 47.00 m. j@jjjihhhhfffrfG@bfK?ɛҁB ʲI -tɚ i I a=Iك$@ii)@)H5>I1 I5II5~BI1&I1.I16I5<:I5 F YIamWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:50:04.2643 $Ping request sent.GY G] qA% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=6, elapsed TxPingTime=0.251570GA Bq O >w,WGAu} @Yu@uX<9u =yuH? ?sj:~q? GS??ɨu} @u!C;uCyޅ~Bޅ7IEMb@Mb@Mb@AAA A)AYEOn?HzGѿMbyE?E=EE/A E A)EAIEI AAyE AI]I]r4٢m m%=9u3cQ u>qy }G٣}yPGy}G }> Nusing accuracyPremultiplier from configv59A?v5Yߣ i)@'?::@dE;;~v5 %A_EZjDNOT Ignoring new targets: 38.20 m.RjBjߛJjߛ ProNav: ac range: 38.200001 m, nav range: 6.908163 m, bearing: 237.430825 deg, approach rate: -0.398241 m/s, LOS rate: -4.360782 deg/s, cmd heading: 142.445316 deg, new cmd heading: 135.978474 deg. 2j ;HeadingCmd: 2.373272 target range: 38.200001 and range: 47.00 m. j@jjjihhhhɀBff f rf bf `6?ɛ5́B5~7ս 9=겿I9 = vɚ9i9Iw=I@ii)@)EqAEqA IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=0.500267E%6[=*F 2F :F BF JF G 2>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=0.752856GBO?sw,lxGAbD@Yb,T@bG<9b=JfxJfpJf1JdJfZ:Jf^9Jf3JdybH`0? ?j$ M)? 馿 t? ?ɨbD@bL;bCyr#~BrJIi-p=I-4<15AI=I=҅4٢m?= m,=9u͌Q u>qq }G٣yy}P }> Nusing accuracyPremultiplier from configv59?v5Y i@P@dE;;#v5 -%AzKMK9KK KZjDNOT Ignoring new targets: 38.20 m.RjBjCJjC ProNav: ac range: 38.200001 m, nav range: 6.722193 m, bearing: 235.341457 deg, approach rate: -0.388416 m/s, LOS rate: -4.483575 deg/s, cmd heading: 135.978480 deg, new cmd heading: 129.565311 deg. 2jP@HeadingCmd: 2.261341 target range: 38.200001 and range: 47.00 m. jѹ@jjj i h h h hfffrfbfP?ɛEȁBE9ֽ AEII M ɚIiIIM+~=IU@iQiQ)Uѹ@)YEeEe*Ea"EaHyIy I}II}~BI} =&Iy.Iy6I}<:I} F $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=1.005165*Fq2Fy:FyBF}O0JFyG <>Ga Bq O >vw, GA6 i@Y6x@6<96=y6H?d?ً@? ԥm??ɨ6 i@6';6Cy><~BBZIIJLIJ4٢R}= RT=9RnһQ R>TT VG٣ZzPGy^! ^> bNusing accuracyPremultiplier from config`fv59bǕ?fv5Yb ib@hjj@bdE`bg;bv5l r$AraEZj DNOT Ignoring new targets: 38.20 m.Rj Bj(Jj( ProNav: ac range: 38.200001 m, nav range: 6.572330 m, bearing: 233.590606 deg, approach rate: -0.391419 m/s, LOS rate: -4.676508 deg/s, cmd heading: 129.565314 deg, new cmd heading: 124.209485 deg. 2jHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=1.256450HeadingCmd: 2.167865 target range: 38.200001 and range: 47.00 m. jK @jjj i)h1h9J}AAJ}AAhyhfffrfbf@?ɛÁBӽ 隥vI ~ɚiI=I<@ii )K @)*Fq2Fq:FqBFu_0JFq I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=6, elapsed TxPingTime=1.508443G A>G ?G ?G B O >Мw,#GA>@Y> @><9>=y>Hl?@"?À@a `"?棿 ?[?ɨ>@>R;>CybW~BbjIMMb@Mb@Mb@III I)IYMOn?Zd;Ͽ{GztyIMyMףMEA I)MAIIIyIIeIe{4٢uy= u>=9uQ }>yy G٣y]_ > Nusing accuracyPremultiplier from configv59ϕ?v5YǸ i@$?:@dE}G; F;Bv5 _$AZjuDNOT Ignoring new targets: 38.20 m.RjqBj}ZJj}Z ProNav: ac range: 38.200001 m, nav range: 6.418946 m, bearing: 231.568582 deg, approach rate: -0.357303 m/s, LOS rate: -4.821790 deg/s, cmd heading: 124.209490 deg, new cmd heading: 118.023897 deg. 2jNHeadingCmd: 2.059906 target range: 38.200001 and range: 47.00 m. j~@jjjihhhhBfffrfbf@w-?ɛ B5` 15I1 5ɚ1i9I=O=I=Qy @iAiA)E~@)AWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=6, elapsed TxPingTime=1.760477*F2F:FBF0JFG>GBOb>zK}KK@9KK K  HE >IA  IE IIE ~BIA &IA .IA 6IE <:IA A IA цw,4gGA.Will construct direction to contact in vehicle frame from tetrahedron phase data.0i02checking for new query: numPingsReceived=6, elapsed TxPingTime=2.012709:&@Y:@:y<9:"=y:Ht??,`n? Nb?`?ɨ:&@:Y;:Cy^~B^I)h jA ==II%x4٢= F=9ÀQ > G٣yYb > Nusing accuracyPremultiplier from configv59Օ?v5Yp iT@@dE` ; ;ۍv5B #A^EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 38.20 m.RjBjݱJjݱ- ProNav: ac range: 38.200001 m, nav range: 6.274310 m, bearing: 229.563830 deg, approach rate: -0.350988 m/s, LOS rate: -4.976065 deg/s, cmd heading: 118.023893 deg, new cmd heading: 111.895728 deg. 2j-pU5HeadingCmd: 1.952949 target range: 38.200001 and range: 47.00 m. j5;?j1j1j1i1h9h9h9h9fAfAfArfAbfE~@ɛB߽ I 婼ɚiI =I)@ii) ;?)I*F2F:FBF_5JFG_>GyBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data.JwJsJ0JJW:J9Jـ3JJaJaJaJa  checking for new query: numPingsReceived=6, elapsed TxPingTime=2.328918 |uA) U b&YU |uAyU BѮw,m9GA63@Y6FC@6l<96Behh jG٣j{PGynEz r> vNusing accuracyPremultiplier from configtzv59v{ە?zv5Yv iv @xz餿z@vdEv:v:v"v5 "AZj)-DNOT Ignoring new targets: 38.20 m.Rj)Bj5oJj5o ProNav: ac range: 38.200001 m, nav range: 6.144756 m, bearing: 227.683449 deg, approach rate: -0.346338 m/s, LOS rate: -5.131919 deg/s, cmd heading: 111.895731 deg, new cmd heading: 106.155964 deg. 2j\HeadingCmd: 1.852771 target range: 38.200001 and range: 47.00 m. j'?jjjihhhhfff!rf!bf%`@ IɛBѽ  I  UɚQiQIU =I]s@iYiY)]'?)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=6, elapsed TxPingTime=2.517147*F 2F :F BF @5JF GM.>GBOf>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:50:06.7332 - TRx dataTimestamp_ set to:1736376607.868549- checking for new query: numPingsReceived=6, elapsed TxPingTime=2.769347"w,]GA^g@Y^㓫@^4<9^S8 G٣yU > Nusing accuracyPremultiplier from config v59 4ᕜ?v5Y ? i @@ dE  ; ; v5! -8"A)ZjDNOT Ignoring new targets: 38.20 m.RjBjJj ProNav: ac range: 38.200001 m, nav range: 6.006541 m, bearing: 225.570821 deg, approach rate: -0.328377 m/s, LOS rate: -5.133596 deg/s, cmd heading: 106.155961 deg, new cmd heading: 99.701154 deg. 2j2\HeadingCmd: 1.740113 target range: 38.200001 and range: 47.00 m. j ?jjjihhhhf f f rf bf   @zKdLK9KKKɛB"Խ 隝I )ɚiIc=I?ii) ?)*F2F:FBFP0JFZHRHHI III~BI&I.I6I]<:I FBIJIRIZI =bI =jI4Gk> IhGYBiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս>Ս<checking for new query: numPingsReceived=6, elapsed TxPingTime=3.024275Ob>w,HA6t@Y6@6z<968=y6H??`k\? Zos?@?ɨ6t@6(*;6CyRBRIiVa>IVphh jG٣hynH n> rNusing accuracyPremultiplier from configpvv59r`敜?vv5Yr irw@xz$z@rdEr:r:r0v5| ~!A`EZj)-DNOT Ignoring new targets: 38.20 m.Rj)Bj5ȽJj5ȽE ProNav: ac range: 38.200001 m, nav range: 5.875661 m, bearing: 223.442396 deg, approach rate: -0.337834 m/s, LOS rate: -5.615073 deg/s, cmd heading: 99.701152 deg, new cmd heading: 93.203150 deg. 2jEpMHeadingCmd: 1.626702 target range: 38.200001 and range: 47.00 m. jM7?jIjQjQiQhQhQhYhYfYfYfarfabfe @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=3.275743J}vJ}uJyJyJ}{T:J}9JyJyJ}Hu;J}Ju;J}g:J}h:ɛB̓ý I kɚ!i!IU =Ie%?ii)7?)*F2F:F!BF!JF!Gx=GBO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 48.5 m (Round-trip 64.7 ms) speed -0.4 m/s  ,DAT read: user:2928>  BDAT read: Tx time:22:50:07.8143  $Ping request sent.  UB=9UQ u>yy G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configv59땜?v5Y i*@+::@dE$3<>4v5  A addTargetRange:: Added new target pos. range: 48.500000 m, deltaT: 3.783154 s, deltaX: 1.500000 m, approachRate: 0.396495 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 38.20 m.RjZTarget missed at range: 48.50 m. Rolling out."jNTransitioning guidance mode to: ROLLOUT*j@ jjjji"jhhhhfffrf@H@bf (?ɛ5B=z< ==GI9 ={Ǽɚ9iE;IAIE?iIii)i)m#}&Changing to mode: 1#}Standby mode.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=0.248715#e2Commanding positive:54389*F2F:FBF%^0JF!G <GBOzKMk3IKM}9KIKMKMBKY:KYH >I  I II vBI  =&I .I 6I o<:I F I w,qGHAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=0.502214r?@Yr@r<9rhl=yrHu?[?`F c ?@o٤ ?`?ɨr?@r5;pyzvB~II UI 4٢5= 5J=9Es`Q M>QQ ]G٣]|PGye m> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configv59?v5Y i֑@ :X:@dE\;W?v5B A]ELu }Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL}Entering Midcourse tracking update period 60.000000 s sec at 48.500000 m (mode 5.000000 count ).L1MB*** querying acoustic contact ***jjDNOT Ignoring new targets: 38.20 m. jjjji"jhhhh:uAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1; v@Uninitialize Buoyancy Component.ffrfbf@?U< QU!I]9 ]ɚYi]DNNw,aHA6@Y6<©@6;96jh=y6H %?? ??S>ѓsD ??ɨ6@6?;6CybBf5I)h h j=j= ] ] ]] ]]  ] e eMb@Mb@Mb@aaa a)aYev?zGếe ׽et G٣y઼ > Nusing accuracyPremultiplier from configv59?v5Y i@T:>:@dEr;; v5 AA2lN@1MqM DNOT Ignoring new targets: 38.20 m. jjjji"jhhhhBf!f!rf!bf%%? 9I9]>]>]@@]@%; !%QxI%9 )ɚ)i-t Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=7, elapsed TxPingTime=1.256626'w, \{HA2J@Y2ƣ@2/ì92=y2H?ڈ?H?beU??(?ɨ2J@2˛;2Cy>B>PIIFIF)4٢V\= VZ=9VQ V>XX ZG٣Xy^R" ^> bNusing accuracyPremultiplier from config`fv59b?fv5Yb ib@df0j@beEb:b:bRv5l nAl:lxqMzMz DNOT Ignoring new targets: 38.20 m. j j j j i "j hhhhffrfbf/o?]]]]â@/ì mI9 ɚijl%w,EHA2@Y2@2F 92==y2H`?p?l(3? k2?@fIIFIF?4٢N2= RJ=9RQ R>TT VG٣TyV t; Z> ^Nusing accuracyPremultiplier from config\bv59^?bv5Y^ i^=@`b b@^eE^:^:^٧v5d jAhBlpMvvtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseLv vAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 38.20 m. jjj j i "j h h hhffrfbf% ]?]]]]d̢@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=1.761684F 隝dI^9 ɚni Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=7, elapsed TxPingTime=2.012621c9+w,HA6(@Y6@6w96p=y6H`C?@b9?f[q,?E?`z??ɨ6(@6;6CyNBNrIiR>IRp=TTMb@Mb@Mb@ )Yjt?v/Mb?y>xi<XA  A)AIAyAIIy4٢'6= :=9e{Q > G٣y< > Nusing accuracyPremultiplier from configv59 ?v5Y iv@>:w@eE;;v5 A_EDNOT Ignoring new targets: 38.20 m. jjj!j!i!"j!h!h!h)h-&Bf)f)rf1bf5v@]U>]U>]U@]U@ew aeImݎ9 iɚLiJ;II!i!i!)))iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=2.264552D9*E="E=zKJK@9KKKE8<BKoA:KpA*F +2F :F BF 0JF H >I  I II 0BI &I .I 6I <:I i F  $?I hG "eB O >i$2w,3HAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=2.516652:&:@Y:I@:¼9: >y:H M?W? <@;8?Xϗ?`q?_?ɨ:&:@:m;8yBBBIIbIb4٢n= nY=9n Q r>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~v59z?~v5Yz{ iz@@z eEz;z:zv5  \A \EDNOT Ignoring new targets: 38.20 m. jjjji"jh hhhffrfbf@]Y]Y]Y]]@¼ 隕I9 ɚ>DiIIii))DEeX;*F,2F:FBFP0JFGzBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=2.768623;L8w,HAN@@YNWP@Nu9N2>yNHP ? ? Ŀ?@?X䲿U?;?d}?ɨN@@NkŊ;NCy^BbIUMb@Mb@Mb@QQQ Q)QYUGz?MbMbp?yUp>UU;U A UA)UAIUAQyUfAImIm4٢}< }A=9Q > G٣y= > I 5Nusing accuracyPremultiplier from config=v59?=v5Y iْ@E(>E;EE@ eE<;v5I M7AQDNOT Ignoring new targets: 38.20 m. jjjji"jhhhhFBffrfbf @5Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:50:10.2848 ETRx dataTimestamp_ set to:1736376611.650273Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=3.023767]}(>]}(>]}M@]}@u 隥̌IM9 ɚZiIIii))D9E"*F} 02F :F BF 5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=7, elapsed TxPingTime=3.273036Jm yJm rJm 1Ji Jm ]:Jm 9Jm 3Ji au @au @au @au @GmCByO>5T@w,1aIAzKFLKF9KDKFKF'24<` 2g|qi^SI<) y- B-II=I=P4٢M߼ M-=9UQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configamv59eE?mv5Ye ie @qqu@eeEel;e;e˶v5y }lAyDNOT Ignoring new targets: 38.20 m. jjjji"jhhhhffrfbfM @]]]]ZH)RH-@AH1I1 I5II5XBI5 =&I1.I16I57<:I5z F III sI9 ɚiIIii))2DqA*DqAD9EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 49.7 m (Round-trip 66.3 ms) speed -0.2 m/s -,DAT read: user:2929> =BDAT read: Tx time:22:50:11.3644 E$Ping request sent.E}Gw,yfH\? ?@ȿ &6?@NX[X?T?`=?ɨf@f8;fCyn Bn}I}Mb@Mb@Mb@yyy y)yY}MbX9?}t}ף}%A } A)}^AI}Ayy}AII4٢mɻ  =9Q > G٣y= > Nusing accuracyPremultiplier from configv59A'?v5Y] i'@>';Hq@eEU;;?v5 yA YIY addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 3.529614 s, deltaX: 1.200001 m, approachRate: 0.339981 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjji"jhhhhqBffrfH@bfi?]->]->]-=@]-@5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=8, elapsed TxPingTime=0.497166uJ y}I}Đ9 yɚ}ٵiIIii))D9E?E?*F% O62F! :F! BF- 5JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=8, elapsed TxPingTime=0.747882J] xJ] pJ] 0JY J] Z:J] ^9J] ـ3JY G CB!O=>$ Ow,?IAB%@YB/5@B^9Bg>yBH ֗?@? Eʿvne?@ qի??~$?ɨB%@Be;B CyNBNsIIVIV4٢^y ^;=9^6Q b>`` bG٣`yf19= j> nNusing accuracyPremultiplier from confighnv59jL.?rv5YjE ijE@tv lz@jeEjV;j8W;jv5~B ~A|-DNOT Ignoring new targets: 38.20 m. j)j)j)j)i1"j1h1h1h1h9f9f9rf9bf=@5?]Y]Y]Y]]ʋ@u^ y}I}A9 yɚ}MiyIyIii))zK8MOK9KKKyohd`ZYQOORVSPPKGFCA?=;:9762330.-'$!  e$?IaH}>I}C I}II}gBIy&Iy.Iy6I}M<:I} FBIJIRIZI =bI =jIh5UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=8, elapsed TxPingTime=1.000416D9*Fe82Fi:FiBFmP0JFiGM MBQ O} >`Uw,XIA6@Y6-@6h96FQq>y6H`&? ?˿ ?R@??@?ɨ6@6 I;6Cy>B>cIDFADDIJIJ4٢Rz RM=9R5˻Q V>TT VG٣TyZn= Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.252023 Nusing accuracyPremultiplier from config\%v59^4?%v5Y^ i^b@)-f-@^eE^p<^q<^v5A E&AMYEDNOT Ignoring new targets: 38.20 m. jjjji "j hh9hIhIfyfyrfbf?] ] ] ] L@5h 15̞I59 9ɚ=ti9I9Iqiqiy)y)y aIauWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=8, elapsed TxPingTime=1.504871D @9*F ;2F :F BF O0JF GBO>Ua]w,xIA6֨@Y6R@6=Xm96Sx>y6H@M?z?n˿@ujutuG+A u~A)u/AIuAqyuAII4JJsJ1JJJ9J3J٢] =9Q > G٣y:= > Nusing accuracyPremultiplier from configv59=?v5Y'  iK@ߜ>-;a@eE;[;'v5 A=DNOT Ignoring new targets: 38.20 m. j9j9j9j9i9"j9hAhAhAhEBfIfIrfIbfMf?]-ߜ>]-ߜ>]-C@]-֬@e=Xm amIm9 iɚm5-iiIiIqiqiq)q)yzKM)NKM 9KIKMKM     D]ZPHB<:96663...+,*$  $.654/+($ IjHbH<HI III]BI =&I.I?D6IK<:I FD9Will construct direction to contact in vehicle frame from tetrahedron phase data.u?=checking for new query: numPingsReceived=8, elapsed TxPingTime=2.009287*F] n>2Fa :Fa BFa JFi G >B O >ew, IAyB*II-I-4٢E E<=9EQ M>II MG٣y > Nusing accuracyPremultiplier from configv59D?v5Y  i8@@eE1;g1;v5 ADNOT Ignoring new targets: 38.20 m. jjjji"jhhhhffrfbf E@]]]]! )-I-v{9 )ɚ5i1I1I1i9i9)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=8, elapsed TxPingTime=2.260637DM9*F?2F:FBF_0JF )I)G% /B) OM >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=8, elapsed TxPingTime=2.512404p+kw,ZٮIA6@Y6t@6"f[96x>y6H`5e?j?@ʿ@ )?`b¿hi?`{??ɨ6@6/;6CyFLBFI Jp=J=Mb@Mb@Mb@ )Yw/?ˡEQ롿y>'\-0A A)^AI(Ay AI5]I5$4٢E& EK=9E2II MG٣IyU>> U> eNusing accuracyPremultiplier from configYev59]L?mv5Y]y i]@m->m ;mWm@]eE];];]yv5y } A}[EDNOT Ignoring new targets: 38.20 m. jjjjihhhhmBffrfbf @]->]->]@]@u"f[ qu뱿Iuu9 yɚyiyIyIii))2DpA*DrADm9*F?2F:FBFy0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763895JewJeqJe0JaJeW:Jeq9Jeـ3JaG s%B O5 >zK MK 9K K K   ! I! He >Ia  Ie IIe :BIa &Ia .Ia 6Ie Q<:Ie Frw,aIA2g@Y2ɱ@2Q92?̀>y2H;? M?@ɿL?`l? ÿ3??@?ɨ2g@2;2CyNBNIIbRIbW4٢jK jR=9jA;Q n> G٣!y%b= %> -Nusing accuracyPremultiplier from config)5v59-S?5v5Y- i-@1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:50:13.8360 MTRx dataTimestamp_ set to:1736376615.176792Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=3.017108=QR]@-eE-;-;-v5eB e!AeXEDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf Y@]Q]Q]Q]UŮ@eQ imImr9 iɚiiiIiIii))D]9*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=8, elapsed TxPingTime=3.269120G J B O >X?xw,IAy5~B5I $?IhMb@Mb@Mb@ )Yoʡ?+ηA`"y>vY.A A)AIy=AIbI-4٢I 7=9Q > %G٣!y% %> 5Nusing accuracyPremultiplier from config1=v595&[?=v5Y5G i5@=>=;=r=@5!eE5;5;5v5Q Uq"AQDNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbfJ @]>]>]Ex@]=@ I+9 ɚiIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed -0.2 m/s ,DAT read: user:2930> BDAT read: Tx time:22:50:14.9144 $Ping request sent.~w,4IA HHf @Yf@f89f}>yfH ? sa?42ȿr@(:?Ŀ@? Z??ɨf @f;fCy ~BII-7I-3٢5 =T=9=҄AA EG٣AyM= M> UNusing accuracyPremultiplier from configQ]v59Ub?ev5YU iU@imhm@U#eEUn;Un;U"v5q u:#Ay addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.527611 s, deltaX: 0.799999 m, approachRate: 0.226782 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf@I@bf ?]]]]^@8 ұIyx9 ɚiIIii)) BD<:Dp; YIYzKLKKKKZHRH?AH>I IlIIBI =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=0.495071D%ɺ9*F?2F:FBF0JFG >B O- >'w,CJABf@YB㟳@B+9Bk|>yBH@?1?@xǿ \?IAſUr?`4?`d?ɨBf@B;@yNp~BNzIIZ@IZ3٢^ bD=9b ;Q b>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlrv59ni?rv5Yn in5@tzdz@n%eEn;nƒ;nv5 $A-DNOT Ignoring new targets: 38.20 m. j)j)j)j)i1h1h1h1h1f9f9rf9bf=@i?]Y]Y]Y]]}@}+ y}I}m9 ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.745768Iii))J xJ oJ J J Z:J K9J J J  ;a%J  ;a%J :a-J :a-De9*Fe?2Fi:FiBFuP0JFq qIqGBBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=9, elapsed TxPingTime=0.999351w,#f2JA:1@Y:,@:9:u>y:H#g?'?@*Jƿk@?Hſ`b?@al??ɨ:1@:;8yFF~BF`IMMb@Mb@Mb@III I)IYMMb?sh|?ſ333333yM>M)MM-A M A)MAIMAIyMAIuIu3٢Ľ ?=9 G٣y%= > Nusing accuracyPremultiplier from configv59q?v5Y iߎ@>:@(eE;;v5 $AUEDNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf?]%>]%>]%@]%@= 9=I=x9 AɚEiAIAIIiIiI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=1.249323D5~9E9*F?2F:FBFA5JF"G>G? u $?Iq H >I  I II lBI &I .I 6I <:I FzK} BHK} 9Ky K} K} ":&fws h<- H"[#-$$o$#4#<"i! zKNJ&7Y a Z ] e Will construct direction to contact in vehicle frame from tetrahedron phase data.i m T?m checking for new query: numPingsReceived=9, elapsed TxPingTime=1.503300G B O >1w,eMJA2]@Y2ڼ@2>92Jp>y2H ?[E?|Ŀ`X2?Jſ ꑠ??P?ɨ2]@2 5;2Cy>~B>GI B=B=IF0IF(3٢zDʽ zK=9zw|| ~G٣|y2= > -Nusing accuracyPremultiplier from config 5v59 y?5v5Y # i @1=v=@ +eE ; : v5EГB E &AADNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbff?]]]]!@M> IMIM(9 IɚMf(iIIQIQiYiY)Y)Y)MvAq t/YvAy)BD+95Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=9, elapsed TxPingTime=1.755020JwJuJJJW:J9JJJz;Jz;Jf:Jh: PExceeded connect timeout, disconnecting.*F?2F:FBFJ4JF I G [B O >ҽw,hJAVJ@YVvZ@Vʼ9V2k>yVH??Mdÿz?ƿ`Q?|4?X%?ɨVJ@V[ň;V Cyf}Bj1IMb@Mb@Mb@ )Yn?"~j̿MbX9yV>Scʡ,A A)ICAyQAIvI&Q4٢ߚ 4=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=2.0055659 G٣y+= > Nusing accuracyPremultiplier from configv59d?v5YX( iދ@>:@.eE = =v5 &A UDNOT Ignoring new targets: 38.20 m. jQjQjQjqiqhyhyhyh}nBffrfbf@i@]>]>]@]Ӧ@ʼ (Ip9 ɚ~iIIii ) ) DUD9u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=2.258399*F ?2F :F BF 4JF IGJ B!OE> w,8JAjH,bH.<H0I0 I2II2~BI0&I0.I06I2<:I2 FBI-CJI-CRI)ZI- =bI- =jI-u5zKvv|QKv`9KtKvKvMf,cg@! jN3yncSG8)!}vrj`YTϮ@Yߵ@ō9h>yH~i?~?@¿ W?`ƿ`??+?ɨϮ@왈;Cy=}B=IImfIm44٢}U }2=9 G٣yj= > Nusing accuracyPremultiplier from configv59?v5Y- i@@1eE;;v5 u'ADNOT Ignoring new targets: 38.20 m. jjjjih!h!hAhAfIfIrfIbfM@]]]]K@ō Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=2.511860 I |9 ɚiIIAiAiI)I)ID9ErAErA*F= ?2F9 :F9 BF= 2JF9 GE rA GE sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=2.761444J vJ mJ J J {T:J &9J J J Gu;J Iu;J :J : M nManaging dock network, ignoring radio surface power offG k B O->w,GJA tIxmFY@Ymh@m9mgh>ymH`??@?dmǿgt? ?-?ɨmFY@m_;mCyޅ}BޅIi8>I<A%Mb@Mb@Mb@!!! !)!Y%> ףp=?|?5^ѿ#~jy%>%ҍ%㥽%(A % A)%AI%A!y%AI=oI=D4٢U굻 U&=9]ii mG٣iy}0 = }> Nusing accuracyPremultiplier from configv59?v5Y2 i@Z?:琿%@5eE<K<Yv5=ѓB ='A=TEDNOT Ignoring new targets: 38.20 m. jjjjihhhh#Bffrfbf@]Z?]Z?]m @]֤@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:50:17.3870 TRx dataTimestamp_ set to:1736376618.704900checking for new query: numPingsReceived=9, elapsed TxPingTime=3.0147195 15I=ϓ9 9ɚ=i9I9IAiAiA)A)IDm9*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=3.265414G:B1O>w,oJAy=}BEIIU^IU&4٢e; e7=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyv59}$?v5Y}7 i}@@ $?Ih}8eE}ڪ;};}6v5 {'ADNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf 0o @] ] ] ] ! )-=I-O9 )ɚ-i)H=>I9 I=~II=x~BI= =&I9.I96I=<:I= FI)Iii))zK(PK9KKKMC;3,%" |xwvsrqpnmiffdaBKqA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerechecking for new query: numPingsReceived=9, elapsed TxPingTime=3.533022DUV9*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՑ  checking for new query: numPingsReceived=9, elapsed TxPingTime=3.769509J yJ pJ /J J ]:J ^9J (N3J J ;J ;J |:J ~:G- J BI Om >ow,1JAN@YNķ@Nwm<9Ng>yNH`3o?&?u깿`v?\ɿv?`-?ɨN@N;NCyz}BzII-`I-(*4٢eK< e:=9mls=Q m>iq uG٣qyuG= u> Nusing accuracyPremultiplier from configv59h?v5Y< iރ@  @E>*F ?2F :F BF 5JF GM:BYOu>w,JAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=4.273630f@Yf+@f<9fh>yfHv??O@?|ʿhݚ@?+?ɨf@fʉ;fCy~}B(I = a=Mb@Mb@Mb@ )Y rh?ClӿʡEyC>;3'A )/AI^Ay=AIMI{4٢= (=9 G٣y< > Nusing accuracyPremultiplier from configv59O?v5YyB i}@e?m:mm@@eE~<R<Lv5q u&AqDNOT Ignoring new targets: 38.20 m. jjjjihhhh$Bffrfbf $@]?]?]̳@] @5< 9=I=p9 9ɚ=ti=I9IIiIiI)I)I aIaHI I_IIE~BI&I.I6IW<:I FzKm OKm9KiKmKm^`_\Z[YVTSPQMKKIKIC><:985230,(&#"" RK>JK>DM9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=4.526103*F?2F:FBFO0JFG BB O% >iw,KA6@Y6~@6o=966]g>y6H ?#?1gx߿?`%,˿l? *?ɨ6@6;4yB ~BB;IIJ]IJ$4٢R9= VO=9VXX ZG٣Xybi = b> fNusing accuracyPremultiplier from configdjv59f?jv5YfG if~@hjj@fCeEf :f:fv5rғB rf&ArQE DNOT Ignoring new targets: 38.20 m. j j j jihhhhffrfbf%@]A]A]A]Euk@Uo= Y]I]9 Yɚ]PieC Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=5.029582*#w,d2KAy~<~BZIMb@Mb@Mb@ )Y+?jtԿL7A`尿yv>Ġ+(A )AIAyAIsIK4٢= :=9Q > G٣y > Nusing accuracyPremultiplier from configMw59z?Mw5YL iz@U>U:UU@FeE<<w5Y e%AaDNOT Ignoring new targets: 38.20 m. jjjjihhhh`Bffrfbf@]>]>]٠@]`!@ I9 ɚiI1  I1 I1 I1 &I1 .I1 6I5 j<:I5 FzK= (NK= 9K9 K= K=       G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=5.533471B! O= >~w,ߩNKA2Y@Y2Di@2%4d=92c>y2H`_4? ?@J]@޿@M_?@̿`0?*?ɨ2Y@2;2 Cy>}~B>IiB=IB4=@BAIFaIF+4٢V|"> ZM=9^I=Q b>dd fG٣hyn= n> zNusing accuracyPremultiplier from configx~w59zý?~w5YzP izv@|~@zIeEzP:z:zw5  $A SEDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf`o@]]]]ɣ@e%4d= amIm9 iɚiiqIqIii))DS9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=5.786296*Fa2Fa:FaBFaJFa $?I G) BY O >w,hKAyޕ~BޕI5Mb@Mb@Mb@111 1)1Y5%C?Dlѿkty5Z>5O5 05(A 1)5AI5 A1y5 AIURIUW4٢e^ > e/=9eQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configyw59}Ö?w5Y}=U i}Cs@>:ꖿ@}LeE}J;};}& w5 #AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=6.037667DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf6@]>]>]2V@]'U@ 둿I9 ɚi!I!I)i)i)))))D$9*F?2F:FBF0JFGA BQ Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=9, elapsed TxPingTime=6.289435J J vJ 1J J J ϣ9J 3J w,TǂKA6"@Y62@6Dә=96]>y6H?Z?! ܿC?\̿5Eq?`)?ɨ6"@60;6CyRBVII^II^d4٢fE> fi=9j)b=Q j>hh nG٣lyn= r> vNusing accuracyPremultiplier from configpvw59rȖ?zw5YrX irsp@xz]z@rNeEr:r:r7w5 "A5DNOT Ignoring new targets: 38.20 m. j1j1j1j1i1h1h9h9h9fAfArfAbfE@]a]a]a]eu@uDә= y}DI}9 yɚyiIIii)) !I!D9EEH>IC III~BI&I.I>D6Iq<:I F*F-?2F):F)BF-O5JF)"G5>G5>zK%MK%U9K!K%K% Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=6.541461GIBaO>) c~G vA yY vAy aAw,'KA6Nj@Y6D@6=965\>y6H?8V?2ۿ@&?V>Ϳ@2A?@%?ɨ6Nj@6?u;6CyN@BRI)T TIZbIZ-4٢b> bK=9fdd fG٣dyj= j> nNusing accuracyPremultiplier from configlrw59nHΖ?rw5Yn\ in(m@tvv@nQeEn ;n":nw5x z!AxeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiamchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.802196DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbfN@]]]]O@-= 15āI59 QɚQiYIYIYiaia)a)a )I)De9*F?2F:FBF~1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=7.053424G= [BI Oe >yw,ˡKA6|@Y6@6=a=96R[>y6H@?a?hK|5ۿ?Ϳ"?@(!?ɨ6|@6w;6Cy>B>1I Mb@Mb@Mb@    ) Y ?Fxɿ rhy ̌> K C  A) AI I A y zAI!I!٢5W> 5B=9599 =G٣9yE`< E> UNusing accuracyPremultiplier from configQ]w59UԖ?]w5YU_ iUj@e>e;eSe@USeEU%]>]F@];@=a= pI9 ɚiIIii))!]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=9, elapsed TxPingTime=7.305499JJpJ0JJJ^9Jـ3JDL9 I HI IIIBI =&I.I?D6IJ<:I FBIiJIiRIiZIm =bIm =jImά4*F9 2F9 :F9 BF= m3JF9 zKm LKm #9Ki Km Km BKu rA:Kq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=7.557365Ge BBq O >w,YKABg@YB%w@BB=9B Z>yBH@B??bu?V=ڿ@4?Ϳ`_ ??ɨBg@B=݊;BCy^B^bIIfFIf%3٢n7> n==9rQpp vG٣tyv= v> zNusing accuracyPremultiplier from configx~w59z ږ?~w5Yz c izxh@@zUeEz~ ;z;z2w5  AUDNOT Ignoring new targets: 38.20 m. jQjYjYjYiYhYhYhahafifirfibfm B@]]]]$@B= 隥}Iӊ9 ɚiIIii))D-B95Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=9, elapsed TxPingTime=7.810167E=i>E=>*F2F:FBF45JFG G I G :B O >w,KA2Ҵ@Y2@2==92Y>y2H`@#?@o?ѐ?@tٿ[?@?gο׼?j?ɨ2Ҵ@2@;2 Cy:B>IiFM Mף;Mv*A M~A)MlAIM AIyMAIe]Ie$4٢u 0> uB=9u\ G٣y< > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=8.061560w59)ߖ?w5Y@e i9g@Q>S;q@WeE;;w5 ADNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbfa* @]%Q>]%Q>]% @]%Ҫ@5== 9=I=Ą9 9ɚ9i9I9IAiAiA)I)ID9*FU?2FQ:FQBFU3JFQM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=9, elapsed TxPingTime=8.313361J zJ uJ 1J J `:J 9J 3J Gu 3B O >Ew,:LA $?I:H@Y:W@:sB=9:yY>y:HI? ?Q?ؿ?@ο? ?ɨ:H@:ۊ;:CyZ1BZIIb8Ib3ZHhRHj@AHn>Il In-IInBIn =&Il.Il6In;<:Inx F٢~= ~M=9~ G٣y V=  > Nusing accuracyPremultiplier from configw59P䖜?w5Ykg ie@pn@YeE ; ; w5 ADNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf`N @]!]!]!]%A@esB= a}ϜIo9 ɚiIIii))AzKBIK-9KKK #4=?RK ?JK ?eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=9, elapsed TxPingTime=8.565769Du9*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=8.817352G 4B O- >Ow,3"LA2@Y2ļ@2?>92X>y2Hj?i? ?׿?ο? ?ɨ2@2;2Cy>TB>IIF9IF3٢nb%> n?=9rpt vG٣tyv< v> ~Nusing accuracyPremultiplier from configx~w59zs閜?w5Yzi izd@Hk@zZeEzB;z;z$w51 5A9eDNOT Ignoring new targets: 38.20 m. jajajajaiahahahihififqrfqbfuD!@]]]]@?> 隽I܊9 ɚiIIii)) YIYD9EWill construct direction to contact in vehicle frame from tetrahedron phase data.՝<՝=checking for new query: numPingsReceived=9, elapsed TxPingTime=9.070758*F?2F:FBFJF"G>G>G BB O >uw,j96U>y6H5?K?<?ֿ?ο}D??ɨ6,0@6;4y>pB>I)D D J=J=Mb@Mb@Mb@ )YˡE?Zd;OI +?y'>j<9<K+A SA)!AI AyAIJI)4٢> ==9ݙ G٣yj= > Nusing accuracyPremultiplier from configw59_?w5Yj iZd@/>;)@[eEj;;'w5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=9.321642 A5DNOT Ignoring new targets: 38.20 m. j1j1j9j9i9h9h9hAhE)BfAfArfAbfMd"@]m/>]m/>]mO@]mܳ@}? > 隅I9 ɚiIIii1)1)9D-9 IIQ*F?2F:FBF_0JFHIC IIIBI&I.I6I<:I] FzKe 5LKe 9Ka Ke Ke ::73/.'" BKu qA:Ku qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=9.573979G HB O >\w,}VLA6@Y67@6#>96R>y6H ? ?ʯ?:ֿ@ ? Uο ¿M?,?ɨ6@6aڊ;6CyNBRIIbHIb<3٢j!= j[=9jll nG٣lyr-= r> vNusing accuracyPremultiplier from configtzw59v?zw5Yvk ivd@xz&z@v\eEv<:v:v+w5 |AME-DNOT Ignoring new targets: 38.20 m. j)j)j)j)i1h1h1h1hAfIfQrfabfe8n#@]]]] O@#> 隭:Iqy9 ɚiIIii))DM9*F)2F):F)BF-r1JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=9, elapsed TxPingTime=9.825481Jm{JiJm0JiJmd:JiJmـ3JiJm#;auJm$;auJmf:a}Jmh:a} 9I9GiBO>w,XpLA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=9, elapsed TxPingTime=10.078394R쒷@YRi@R#>9ReS>yRH ? ?\޴?`:ԿhW?B/ϿILĿ(? ?ɨR쒷@R;RCyZB^&IMb@Mb@Mb@ )Y?Mb?Q?y>=<,A A)#AI9AyAIfI44٢(= 9=9  G٣y n=  > Nusing accuracyPremultiplier from configw59?w5Yk id@%>%;%r%@]eE ;h;.w5) -A)DNOT Ignoring new targets: 38.20 m. jjjjihhhhkBffrfbfY$@]M>]M>]MP>]MH@e#> imµIm~9 ɚĴiIIii))D 9EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=10.329330*F 2F :F BF `0JF G  G ! I! jH <bH <H >I  I II NBI &I .I 6I i<:I FG MB O>:K#w,ЍLA6 @Y6E@6T(>96tT>y6H ?:?s?@RSӿq{?`YϿwſ?3?ɨ6 @6;6CyNBN2IiR=IR<IVLIV4٢b2= bB=9b[dd fG٣dyj= j> nNusing accuracyPremultiplier from configlrw59n'?rw5Ynl ind@tvvv@n^eEnI;nI;n2w5x zAxWill construct direction to contact in vehicle frame from tetrahedron phase data.չս<checking for new query: numPingsReceived=9, elapsed TxPingTime=10.581748zKCLK#9KK KDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf bf 3%@]A]A]A]EB@]T(> Y]hI]y9 aɚe?iaIaIiiiii)i)D9*Fm?2Fi:FiBFmo0JFim Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Response Not Received u *response not receivedu ,DAT read: user:2932> } BDAT read: Tx time:22:50:25.8645 } $Ping request sent.} \)w,LA-x@Y-@-T.>9-}/S>y-H)?@j?@Z?iҿ?`?FϿ Ƕſ?.?ɨ-x@-_؊;-CyB6IImfIm44٢^< '=9; G٣y%< %> -Nusing accuracyPremultiplier from config)5w59-?5w5Y-Kl i-]e@1=Խ=@-_eE-:-':-6w5A EAIDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf&&@]]]]@-T.> )-I-9 1ɚ5i1I1I9i9iA)A)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:50:25.8637 uchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.252526D}9*F ?2F :F BF n0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=9, elapsed TxPingTime=0.502165GBO->{1w,7LA6A@Y6@61>96 EP>y6HA?*?@E? ѿ!?οƿ )w?d?ɨ6A@6 ;4y>B>3I ^$?I^hMb@Mb@Mb@ )YEԸ?V-?{Gz?y=h=ף<,A A)3'AI AyzAI5#I5%x3٢EK EH=9E%IQ UG٣QyU@< U> ]Nusing accuracyPremultiplier from configYew59]?ew5Y]k i]e@H>I IIIrBI =&I.I6I]<:I F-=-;->5@]`eE].<]<]:w59 =A9DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf`G'@]=]=]7!?]>-1> )-pI-|p9 1ɚ5^µi1I1I9i9i9)9)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=0.754064zKBHKk9KK!KD%[9~GtA = Y= tAy= A*F 2F :F BF o0JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=9, elapsed TxPingTime=1.006591G RJ J J J J J J J J J J J B O >p8w,{gLAfN@Yf^@fW5>9f I>yfH W??@>A?п(?Tο rƿ f??ɨfN@fga;fCy B .II%!I%i3٢5 54=95-99 =G٣9y=< E> MNusing accuracyPremultiplier from configAUw59E ?Uw5YEk iEAf@Q]T>]@EaeEE;Eo;Ev>w5i uAqDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf@'@ Ih])])])]-=T>=W5> AEpIEn9 AɚMiIIIIiiiii)q)qD;9*F=?2F9:FABFE05JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=1.257993G MB O >#>w,%LA6ǹ@Y6A@6M8>96JJ>y6H's???Ͽ?οƿh??ɨ6ǹ@6褋;4ybBfIeMb@Mb@Mb@aaa a)aYe(\µ?333333?ye=e=ee-A eA)eG+AIaayeAI Ib3٢ν E=9;Q > G٣y*= > Nusing accuracyPremultiplier from configw59 ?w5Yj i@beEk; ;Bw5 qADNOT Ignoring new targets: 38.20 m. jjjjihhhhBff rf bf f(@]-(=]-(=]-/9?]-e>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=9, elapsed TxPingTime=1.510111M8> =ʿI_9 ɚiIIii))D9 I*F?2F:FBF-3JFZH-?ARH-AAH1I1 I1I1I1&I1.I16I5O<:I5 FBIJIRIZIbIjIʼn4G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=9, elapsed TxPingTime=1.762220zK IKK 9K K "K  #! RK >JK ?{Ew,MANH@YNwX@Ntl<>9N'K>yNH? 9?E? ο@d0?@AͿkǿc? ?ɨNH@NU5;NCyZ|BZ IIn`In(*4٢v; vU=9z ,x| ~G٣|y~|(= >  Nusing accuracyPremultiplier from config w59?w5Yrj i5f@>@j;I;oEw5ԓB AKEDNOT Ignoring new targets: 38.20 m. jjjjihhh h ffrfbf%~)@]Y]Y]Y]]>}tl<> 隅}̿I^9 ɚдiIIii)))1D 9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=2.014261*F?2F:FBFP0JFJxJpJ0JJZ:J^9Jـ3JJ ;J ;J|:J~: IG HB O >Kw,U0MA2V@Y2@2h@>92|L>y2H?@w??]̿H?|ο Eǿ?@?ɨ2V@2ފ;2Cy>dB>IiB=IB>nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=9, elapsed TxPingTime=2.266144-Mb@Mb@Mb@))) )))Y-ˡE?A`"?~jty-=-Y=-ļ-,A -hA)-K+AI-9A)y-AI=VI=n4٢M MD=9U YY ]G٣Yy]= e> mNusing accuracyPremultiplier from configamw59e?uw5Yej ieve@u=u@eceEeK%h@> !%ȿI%d9 !ɚ%i!I)I1i1i1)1)1BD=<:D=<DUg9Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:28.0650 TRx dataTimestamp_ set to:1736376629.045743DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.1 -Z#Rx 10: Read range message, but no direction.ءyإfVBءchecking for new query: numPingsReceived=10, elapsed TxPingTime=2.524013*F?2F:FBFO0JF I H% >I!  I% II% XBI! &I! .I! 6I% Z<:I% FG MB O >>Sw,MMA6; @Y6/@6kC>960N>y6H? P}??Yʿ_?ο`Oȿ="?k?ɨ6; @6э;6CyVKBZIIbeIb34٢j j==9n;Q n>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtzw59v"?~w5Yvi ivd@|~>~@vdeEv(;v(;vLw5 CA E addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 13.364486 s, deltaX: 3.099998 m, approachRate: 0.231958 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 38.20 m. jAjAjAjIiIhIhIhQhQfQfQrf]J@bf]?]y]y]y]}>kC> 隕)ϿIhZ9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=10, elapsed TxPingTime=2.770464zKeLKe9KaKe#Ke  BKq:KqDUL~9*F?2F:FBFJF= Will construct direction to contact in vehicle frame from tetrahedron phase data.M DDAT read: Rx Time:22:50:28.5649 U TRx dataTimestamp_ set to:1736376629.550291m DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 -} Z#Rx 11: Read range message, but no direction.Q yU UBQ  checking for new query: numPingsReceived=11, elapsed TxPingTime=3.031301J J uJ J J J 9J J J J G cB O= >[Yw,=gMA IJf:Jh:jz@Yj@@j9jM>yjH@?@2?v?blɿwu?`hͿ`ȿ`P?O?ɨjz@j;j Cyr-BrIIexIeT4٢  ?=9;Q > G٣y< > -Nusing accuracyPremultiplier from config)5w59-f?5w5Y-!i i-c@15>5@)-U:-:-Pw5A E3AA- addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504548 s, deltaX: -0.199997 m, approachRate: -0.396388 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 38.20 m. jajajajiiihqhqhhffrf@3J@bf?]]]]> ֿI k9 !ɚ!i!I!I)i1i1)Q)Q2D]qA*D]sAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=11, elapsed TxPingTime=3.274185D} y9E E *F ?2F :F BF P0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.m DDAT read: Rx Time:22:50:29.0649 u TRx dataTimestamp_ set to:1736376630.052890} DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 - Z#Rx 12: Read range message, but no direction.i yi i  checking for new query: numPingsReceived=12, elapsed TxPingTime=3.529902G]{*Ba yIO?]aw,ڇMAjHAbHE4<HQIQ IUIIU%BIU =&IQ.IQ6IU3<:IUs Fyޅ Bލ|I) UMb@Mb@Mb@QQQ Q)QYURQ?Mb`?yU=U;ULU,A UA)Uz*AIUhAQyUAImhImV84٢; =9Q > G٣y > Nusing accuracyPremultiplier from configw59"?w5Y3i ia@=;@eeE;;JUw5 PA addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.502599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf?]%=]%=]%o<]%L@1 1=¿I=]q9 9ɚ9i9I9IAiAiA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=12, elapsed TxPingTime=3.778130zKlLK9KK$KD]Iu9*F?2F:FBFJF= Will construct direction to contact in vehicle frame from tetrahedron phase data.E DDAT read: Rx Time:22:50:29.5650 E TRx dataTimestamp_ set to:1736376630.556690M DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 -U Z#Rx 13: Read range message, but no direction.A yE fVBA ] checking for new query: numPingsReceived=13, elapsed TxPingTime=4.033421G] 3B O >hw,ԶMAz9zZK>yzH`?U?`?ſ@?$Ϳ ɿ??7?ɨz G٣yc= > Nusing accuracyPremultiplier from configw59!?w5Y;i i_@3 @feEZ;s;Xw5  `A  addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503800 s, deltaX: 0.199997 m, approachRate: 0.396977 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf J@bf gϽ?]]]]t@{J> 5˿I5.l9 9ɚAiAIAI1i9i9)9)Q-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=13, elapsed TxPingTime=4.282855*F%?2F!:F!BF!JF!G% :B1 OM >bnw,MA6ڲ@Y6W@6ԾJ>96Q`L>y6H?Y?c'?@Ŀ`?Ϳ@-ɿ??ɨ6ڲ@6-;4y>BB.IUMb@Mb@Mb@QQQ Q)QYU:v?㥛 333333yU=UUU)A UA)Uv*AIUAQyU(AImjIm;4٢}1 }K=9}:Q > G٣y< > Nusing accuracyPremultiplier from configw59#?w5Yi i]@>;sA@9;;\w5 I AWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:30.0649 TRx dataTimestamp_ set to:1736376631.060894DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 -Z#Rx 14: Read range message, but no direction.ؑyؕUBؑchecking for new query: numPingsReceived=14, elapsed TxPingTime=4.537752J wJ J J J W:J J J a@a@a@a@U addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504204 s, deltaX: -0.199997 m, approachRate: -0.396659 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 38.20 m. jYjYjYjYiYhYhahhBffrf@3J@bf@1]?]>]>]9z@][@%ԾJ> !%ếI%q9 !ɚ!i)I)I)i1i1)1)1 e$?IaHI IFIIBI =&I.I6I@<:I~ F*F?2F:FBF_0JFG GG B) = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=14, elapsed TxPingTime=4.786027Ou >zK /KK 9K K %K dd[VRNKGEEB>;87>B>;863/-*&#%)%!   -uw,HMA2@Y2_@2vK>92q;N>y2H`N?ȅ?*l?ÿ@?$Ϳ %9ɿ a?` ?ɨ2@2쒊;0y:dB:IiBPP RG٣TyV < V> ZNusing accuracyPremultiplier from configX^w59Z%?^w5YZj iZZ@`b>b@ZgeEZ ;Z ;Z_w5d f!AdzDNOT Ignoring new targets: 38.20 m. jxjxj|j|i|h|h|hhffrf bf @7?]]]]o5@ vK>  I W9 ɚ i II1i9i9)9)9*F?2F:FBFE2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiաDDAT read: Rx Time:22:50:30.5651 TRx dataTimestamp_ set to:1736376631.565680DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.1 -Z#Rx 15: Read range message, but no direction.رyصVBرchecking for new query: numPingsReceived=15, elapsed TxPingTime=5.042422 YIaGBBO>+{w, 4MAB@@YB P@B9BJN>yBH???@N¿?F̿<ɿ?1?ɨB@@B%C;BCyJ8BJIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=15, elapsed TxPingTime=5.291804-Mb@Mb@Mb@))) )))Y-q= ףp?DlI +y-=-O -9-v*A )))I))y-QAIEIE%x4٢UM U1=9]ӄ9Q ]>YY eG٣ayeK< e> uNusing accuracyPremultiplier from configi}w59m(?}w5Ym;l imV@L>;A@mheEmV5;m3;mcw5 !A addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504786 s, deltaX: 0.299999 m, approachRate: 0.594310 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfJ@bf&m?]L>]L>]0@]@ (Iny9 ɚ 5̴i I I ii))*F?2F:FBF 2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:31.0650 TRx dataTimestamp_ set to:1736376632.068688DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed -0.1 -Z#Rx 16: Read range message, but no direction.رyصfVBرchecking for new query: numPingsReceived=16, elapsed TxPingTime=5.545446JsK{(3 K{(.KsKs"KsJ5 xJ5 xJ1 J1 J5 Z:J5 9J1 J1 G% :B1 A IA O] >ZH @ARH H I  I II 9BI  =&I .I 6I 4<:I v F,܂w, NA6Vy@Y6ӈ@6J>96ZL>y6H?`ɣ?@?X?`̿ G٣y<< > -Nusing accuracyPremultiplier from config!-w59%*?-w5Y%vm i%S@15c5@%ieE%:%:%fw59 =}"AAu addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503008 s, deltaX: -0.100002 m, approachRate: -0.198809 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 38.20 m. jyjyjyjihhhhffrfJ@bfd?]]]]7@J> ¿IT9 ɚiIIii))*FU?2FQ:FQBFUO0JFQ"G]>G]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=16, elapsed TxPingTime=5.795181)F= wCzKoNKKK&K   RK?JK?EGUvAi YvAy AGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:31.5651  TRx dataTimestamp_ set to:1736376632.572790 DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 - Z#Rx 17: Read range message, but no direction. y VB  checking for new query: numPingsReceived=17, elapsed TxPingTime=6.049558w,%NA pIrh~@Y~@~J>9~FK>y~H???@ >?b̿`(ɿ?c?ɨ~@~ԉ;~ Cyޝ~BޝI) InIB4٢*  >=9}Q >   G٣ y< > ENusing accuracyPremultiplier from config9Mw59=-?Mw5Y=n i=O@qu^u@=jeE=';=p;=jw5 "A addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504102 s, deltaX: 0.100002 m, approachRate: 0.198377 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhh h f frfJ@bf`m?])])])]-%x@J> 隽)ĿI-|9 1ɚ]LiaIaIqii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=17, elapsed TxPingTime=6.298074*F?2F:FBF3JFG 3B! O= >bw,kANAf@YfI@fJ>9f|J>yfH] ?`?@7?`!Ϳ`? h̿ɿ??ɨf@fXh;fCyn~BrIWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:32.0651 TRx dataTimestamp_ set to:1736376633.076723DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -Z#Rx 18: Read range message, but no direction.ؑyؑؑchecking for new query: numPingsReceived=18, elapsed TxPingTime=6.553472J~JrJJJ{m:J9JJMMb@Mb@Mb@III I)IYM`"?ɿEԸyM=MLMƽM)A I)M)AIIIyMAImuImaO4٢u }4=9}zQ }>y G٣yvf< > Nusing accuracyPremultiplier from configw59_0?w5Y0q i>K@>Q; I͛%@keEy)<%)<nw5-ՓB -N#A-JE addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhLBffrfbf_C?]=>]=>]=5@]=o@UJ> y}QI}n9 yɚ}MiyIyIii))HI III~BI&I.I6I8<:Iz FBIaJIaRIaZIe =bIe =jIe4*FU?2FQ:FQBFU2JFQ= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=18, elapsed TxPingTime=6.802069Gu :B O >zK LK u9K K 'K  'BK rA:K rAw,Z[NA2,@Y2<@2MI>92MJ>y2H(? :? dX?Y?˿Fɿ9?6?ɨ2,@2;2Cy:~B:IIBIBq4٢J- Jp=9NQ N?PP RG٣TyZ.< Z? Nusing accuracyPremultiplier from config w59i2? w5Yr iG@̚@meEm ;: ;qw5 %#A!uDNOT Ignoring new targets: 38.20 m. jqjqjqjihhhhffrfbf?]A]A]A]E\@}MI> 隅+IK^9 ɚiIIii))EE*F?2F:FBFP0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:32.5651 TRx dataTimestamp_ set to:1736376633.582483DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed -0.1 -Z#Rx 19: Read range message, but no direction.عyععchecking for new query: numPingsReceived=19, elapsed TxPingTime=7.059247 IGiByO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] =Y e checking for new query: numPingsReceived=19, elapsed TxPingTime=7.306665?w,YuNA6_@Y6o@6pH>96tqI>y6H/?1 ?`m?yh0 ?`˿ȿa??ɨ6_@6"ʉ;6 CyB~BBIiFlj(A A)(AIAyAI-qI-JH4٢=w~ =?=9E}Q E>A G٣yd< > Nusing accuracyPremultiplier from config%w595?%w5Ycu ioC@-}>->;-6-@neE-;\;uw51 5#A1 addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBff rf bf  Po?]}>]}>](@]3@pH> \I9 !ɚ%(i!I!I)i)i))))1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:33.0652 TRx dataTimestamp_ set to:1736376634.087148DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -Z#Rx 20: Read range message, but no direction.yWBchecking for new query: numPingsReceived=20, elapsed TxPingTime=7.566595J%wJ%qJ%1J!J%W:J%q9J%3J! IG B! OE >H I  I rII d~BI &I .I 6I <:I a Fw,NA:@Y:8@:8G>9:wJ>y:H7?)?lt??˿ȿ`??ɨ:@:K;:Cy^~BbIIjIjb4٢r< rQ=9vGQ v>xx zG٣xyz%< ~> Nusing accuracyPremultiplier from config w59_7? w5Yw i?@  6 @oeE: :xw5 s#AM addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504665 s, deltaX: 0.200001 m, approachRate: 0.396304 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 38.20 m. jQjQjQjQiQhQhYhYhYfafarfe@3J@bfeK?]]]]!B@8G> 隥ϭIe9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=20, elapsed TxPingTime=7.810767*FM?2FI:FIBFMo0JFIzK]LK]-9KYK](K]! RKm ?JKm?GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:33.5653  TRx dataTimestamp_ set to:1736376634.589643 DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed -0.1 - Z#Rx 21: Read range message, but no direction. y XB  checking for new query: numPingsReceived=21, elapsed TxPingTime=8.066400 I f©w, NAjо@YjD@j,F>9jNK>yjH@B??`"P?o? T? t˿`ȿ?{?ɨjо@j;hy5~B5IIMtIMM4٢e< eB=9eQ e>ii mG٣iym< u> Nusing accuracyPremultiplier from configw59:?w5Yy iq;@>@qeE:z:w|w5 D#A- addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.502495 s, deltaX: 0.099998 m, approachRate: 0.199004 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 38.20 m. jYjYjYjYiYhYhYhahafafarfmK@bfm[v?]]]];@=,F> 9=\I=U9 9ɚ=u iAIAIAiIiI)I)i*F%?2F):F)BF50JF1"GU>GU>5Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=21, elapsed TxPingTime=8.320732Ga By O >며w,NAy~~B~I) }Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:34.0653 TRx dataTimestamp_ set to:1736376635.092773DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed -0.1 -Z#Rx 22: Read range message, but no direction.؁y؁؁checking for new query: numPingsReceived=22, elapsed TxPingTime=8.569510Mb@Mb@Mb@ )YX9v?ʡEͿˡEy=o什7'A A)(AISAyA YIYIIy4٢_= 5=9Q > G٣y >  Nusing accuracyPremultiplier from configMw59UA;UpU@seE)<*)<hw5Y e"Aa addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503130 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhh h "Bffrfbf?HQIQ IUeIIUO~BIQ&IQ.IQ6IU<:IU9 F]Ќ>]Ќ>]٥@]@  =IE9 ɚd"iI)IIiQiQ)Y)Y*F2F:FBF0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.- %=) 5 checking for new query: numPingsReceived=22, elapsed TxPingTime=8.818293G= 3BI Om >zK vKK `9K K )K  "$%%!!  BK :K qAӶw,UNA2x@@Y2O@2=C>92zJ>y2HqM? ? ?(?`˿Jȿ@ ?e?ɨ2x@@2;2Cy:B:IIFuIFaO4٢N= Nw=9NQ R?PP RG٣PyVz*= V? ZNusing accuracyPremultiplier from configX^w59Z>?^w5YZv~ iZ4@`bb@ZteEZ;Z-;ZDw5d fQ"AdDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf`K?]]]]/@ =C>  ɥI tl9 ɚiIIii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:34.5654 TRx dataTimestamp_ set to:1736376635.599135DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.2 -Z#Rx 23: Read range message, but no direction.ءyإXBءchecking for new query: numPingsReceived=23, elapsed TxPingTime=9.080552J {J xJ J J d:J 9J J J #;aJ $;aJ &:aJ ':a- IIIDEp9*F?2F:FBF0JFG :E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=23, elapsed TxPingTime=9.323002BQ Om >s w,GNA6Lu@Y6Ʉ@6A>96I>y6HFT?U? ɍ?! 0?@ʿȿ ??ɨ6Lu@6 ;6 CyB)BBIMb@Mb@Mb@ )Y"~j?A`"˿ rhyS=YC)A SA)7'AIyAI-pI-F4٢57= 5?=9=$}Q =>9 G٣yp< > Nusing accuracyPremultiplier from configw59A?w5Yʀ i0@~>U;@ueE,;k;w5 "Ae addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506362 s, deltaX: 0.200001 m, approachRate: 0.394976 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 38.20 m. jijijijiiihihqhqhu8BfqfyrfK@bf?]~>]~>]2;@]2@ A>  I Q9 ɚViIIii))!*F2F:FBFF3JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁDDAT read: Rx Time:22:50:35.0654 TRx dataTimestamp_ set to:1736376636.101086DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 -Z#Rx 24: Read range message, but no direction.؉y؉؉checking for new query: numPingsReceived=24, elapsed TxPingTime=9.577820 IIIGBO>ZH1 RH5 ?AH9 I9  I= xII= n~BI=  =&I9 .I9 6I= <:I= _ Fw,)ZOAynrBnIipIr -M=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAMw59EC?Mw5YEׂ iEe-@QQU@EweEE_/;EA;E}w5a e Aa addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.501951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbfg?]]]]  蟿I9 ɚi!I!I)i)i1)1)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=24, elapsed TxPingTime=9.826263*F2F:FBFO0JFzK 4MKk9KK*K  G3BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:35.5655  TRx dataTimestamp_ set to:1736376636.605110 DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.2 - Z#Rx 25: Read range message, but no direction.ة yح 3YBة  checking for new query: numPingsReceived=25, elapsed TxPingTime=10.082922 A IA J= |J9 J= 0J9 J= ;g:J9 J= ـ3J9 J= ֊;J= ׊;J9 J9 +w,m9*OA,@Y@>>9-I>yHva?y??@HE p>?oʿǿ?s?ɨ,@C>;yޅBޅ(IIUbIU-4٢em= e8=9m߻Q m>i G٣y= > Nusing accuracyPremultiplier from config w59F?w5Y; i)@j@xeET&<\&<tw5 w A! addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.504024 s, deltaX: 0.099998 m, approachRate: 0.198400 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 38.20 m. j)j)j1j1i1h1h1h9h9f9fArf`f&K@bf ? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=25, elapsed TxPingTime=10.332902]]]]4u@]>> Y]I]9 aɚeXiaIaIiiiii)i)iEE*FM ?2FI :FI BFM 4JFI "G] >GY Gi By O >Fw,иFOAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:36.0655 TRx dataTimestamp_ set to:1736376637.108878DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.2 -Z#Rx 26: Read range message, but no direction.ychecking for new query: numPingsReceived=26, elapsed TxPingTime=10.585620 LIL5@YD@h,=>9 I>yH`g?@z:??3E?79ʿ -ǿ@??ɨ5@3!;騝Cy-B-MIH>I III~BI =&I.I6I<:IA FMb@Mb@Mb@ )YK?S㥛ĿMby^=$@(A  A)3'AIAy=AImI3A4٢ =  /=9 UQ  > G٣yG< > %Nusing accuracyPremultiplier from config-w59]I?5w5Y i&@MeC>M;UOU@zeE;;rw5i mAi addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 38.20 m. j!j!j!j!i!h)h)h)h-Bf1f1rf1bf5@&?]eC>]eC>]GB@]@h,=> 隭Iu9 ɚiIIii))*Fu?2Fq:FqBFuO0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=26, elapsed TxPingTime=10.834157G E YA yE AGU :By O >zK <LK -9K K +K w,E`OAz?m@Yz|@zd;>9zrH>yzHEm?h?@?è`K?ɿ0Oǿz?0?ɨz?m@zV;zCyBxI)! ! %=%%=I-BI-3٢=+I> =l=9EӘQ E?II UG٣QyU١< U? ]Nusing accuracyPremultiplier from configYew59]ZK?ew5Y]v i]$@imUm@Y]? ;]` ;]zw5q usAyeDNOT Ignoring new targets: 38.20 m. jajajajaiahahihihififqrfqbfu`&?]]]]g:@d;> ѢIz9 ɚ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-DDAT read: Rx Time:22:50:36.5656 -TRx dataTimestamp_ set to:1736376637.6128955DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.3 -=Z#Rx 27: Read range message, but no direction.)y-ZB)Mchecking for new query: numPingsReceived=27, elapsed TxPingTime=11.090349iIYIaiaii)i)i2Dq*DqBDq:Dq $?IJ}J|J1JJ[j:J@9J3JJ;J;J{:J|:*Fu?2Fq:FqBFu]0JFqG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=27, elapsed TxPingTime=11.349355Pw,UzOA6@Y6@69>96H>y6Hs???LP? jɿ+ǿ@5? (?ɨ6@6Q~;6Cy^B^IuMb@Mb@Mb@qqq q)qYuDl?MbyuO=u̽uuv*A q)u%AIuAqyuAIIId4٢= F=9-Q > G٣y< > Nusing accuracyPremultiplier from configw59DM?w5Y} iI#@>;p@{eE;{;w5 A addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504017 s, deltaX: 0.200001 m, approachRate: 0.396814 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. j j j j i hhhh΂Bffrf@K@bf%ଈ?]E>]E>]E@]E@]9> Y]I]u9 YɚejiaIaIaiiii)i)i*Fq2Fy:FyBF}~0JFyG G IWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:37.0655 TRx dataTimestamp_ set to:1736376638.126226DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.1 -Z#Rx 28: Read range message, but no direction.ؑyؕ3YBؑchecking for new query: numPingsReceived=28, elapsed TxPingTime=11.603030jHbHp<HI III9BI&I.I6I:I@ FBIyJIyRIyZIybI} =jI}884GI BY O} >Jw,4OA6@Y6@67>96 jG>y6H w?)? њ?)`^W?ɿ ƿ^??ɨ6@6,Q;6CyV3BVII^VI^n4٢f> fX=9jQ j>hh nG٣lyn^< n> vNusing accuracyPremultiplier from configpvw59r O?vw5Yrk ir!@xznz@r|eEr:r:rbw5  A= addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.513331 s, deltaX: -0.200001 m, approachRate: -0.389614 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 38.20 m. j9j9j9jAiAhAhAhAhIfIfIrfM`f&K@bfM@?]i]i]i]m%@7> 隍I|9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=28, elapsed TxPingTime=11.849995*F?2F:FBFT5JFzKRIK9KK,KGQBaO}{> i Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:37.5657  TRx dataTimestamp_ set to:1736376638.628861 DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.1 - Z#Rx 29: Read range message, but no direction.ؑ yؕ fZBؑ  checking for new query: numPingsReceived=29, elapsed TxPingTime=12.105608J J zJ 0J J J 9J ـ3J J J J Q:J R:|w, OA69@Y6RI@6{ 6>96K F>y6H |??@X? Wl'^? "ɿƿ 6??ɨ69@6AG;6CyZEBZIi\I^=`bAIfCIf3٢jԫ= nJ=9n-Q r>tt vG٣tyv<< z> ~Nusing accuracyPremultiplier from configxw59zP?w5Yzk iz, @4@z}eEz ;z ;zw5 AGE addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502635 s, deltaX: 0.299999 m, approachRate: 0.596853 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfLK@bf?]1]1]1]5B@U{ 6> Q]GI]9 Yɚ]iYIYIaiaia)i)i*F-?2F1:F1BF=A5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=29, elapsed TxPingTime=12.359884G1B9O]> Y IY `w,eOAWill construct direction to contact in vehicle frame from tetrahedron phase data."DDAT read: Rx Time:22:50:38.0656 "TRx dataTimestamp_ set to:1736376639.133011&DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -*Z#Rx 30: Read range message, but no direction. y"ZB .checking for new query: numPingsReceived=30, elapsed TxPingTime=12.609738J8J:AAfz@YfY@fU4>9f^D>yfH8?L??md?ȿlƿP ?.?ɨfz@f=;f Cy`BIHU>IQ IUFIIUBIU =&IQ.IQ6IU=<:IUz F Mb@Mb@Mb@    ) Y I +?~jt99 =G٣9ye< e> mNusing accuracyPremultiplier from configiuw59mR?uw5Ym܋ im+@uHy=uZ 隍fI9 ɚiIIii))*Fu?2Fq:FqBFuP5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=30, elapsed TxPingTime=12.858146GQ Bi O >zK5 k3IK5 9K1 K5 -K5 BK9 :K9 nw, OAyvBIIKI4٢= _=9Q > G٣y >  Nusing accuracyPremultiplier from config w59 S?w5Y 0 i l@!!%@  T{; {; Ww59 =A9mDNOT Ignoring new targets: 38.20 m. jqjqjqjqiqhqhqhyhyfyfyrfbf?]]]] 隽IK{9 ɚiIIii) I)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5DDAT read: Rx Time:22:50:38.5658 =TRx dataTimestamp_ set to:1736376639.636873EDAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.2 -MZ#Rx 31: Read range message, but no direction.1y53[B1Mchecking for new query: numPingsReceived=31, elapsed TxPingTime=13.113627*Fm?2Fi:FiBFmP0JFiGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.  checking for new query: numPingsReceived=31, elapsed TxPingTime=13.367735T:w,OA2@Y2@n:20>92D>y2Ho?M??`VM?i? dȿſ ?@L?ɨ2@2緈;0yRBVI)X XMb@Mb@Mb@ )Y:v?~jt?I +y<<94)A )%AIAyAISI4٢x= O=9{Q > G٣y2= > Nusing accuracyPremultiplier from configw59T?w5Y i!@b =<4?@;>;ʪw5 AA5 addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503862 s, deltaX: 0.299999 m, approachRate: 0.595400 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 38.20 m. j9j9j9j9i9hAhAhAhE6BfIfrf`ffK@bf@?]Ub =]Ub =]Uk!?]Uc4?0> 隕=Ie9 ɚiIIii)) I*F!2F!:F!BF%O0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:22:50:39.0657 eTRx dataTimestamp_ set to:1736376640.140820mDAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.2 -uZ#Rx 32: Read range message, but no direction.ayefZBa}checking for new query: numPingsReceived=32, elapsed TxPingTime=13.617575J|J|JJJ;g:J@9JJa@a@a@a@ZHIRHMAAHQIQ IUIIU BIU =&IQ.IQ6IU<:IUF FG B O% >|w,xPA>R@Y>d#<>).>9>E>y>H?Z?ː? ?i?"^ȿ@ֹſ9? ?ɨ>R@>CyFBF"IIZWIZ44٢b՛< b]=9b᪻Q b>dd fG٣dyj < j> nNusing accuracyPremultiplier from confighrw59jIU?rw5Yjŋ ij@tv6?v@j~eEjR;jk;jw5! %$A!U addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.503947 s, deltaX: -0.200001 m, approachRate: -0.396869 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 38.20 m. jYjYjYjYiYhYhahahafifirfuLK@bf}?]]]]6?).> 隵VI;r9 ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=32, elapsed TxPingTime=13.874707i1I1I9i9i9)A)A*F?2F:FBF]0JFzKAKAKAKE.KE  -^yvmhhklnpruRKIJKM?GBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:39.5658  TRx dataTimestamp_ set to:1736376640.653554 DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 - Z#Rx 33: Read range message, but no direction.ع yؽ 3[Bع  checking for new query: numPingsReceived=33, elapsed TxPingTime=14.131679hH w,R/PA6@Y6;<6>->96E>y6H`͉?]? ?ݓ?ik?#$ȿ`ſ?6? M?ɨ6@6쪉;4yBBB8IIJNIJ@ 4٢ ^=  F=9Q > G٣y6< > %Nusing accuracyPremultiplier from config!-w59%V?-w5Y% i%@15Z9?5@!%<:%:%w59 =AA} addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.512734 s, deltaX: 0.200001 m, approachRate: 0.390067 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 38.20 m. jyjyjyjihhhhffrf`ffK@bfgz?]]]]Z9?>-> I9 ɚ#iIIii))*F]?2FY:FYBFeo0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=33, elapsed TxPingTime=14.381785GuBBO~> I 1w,D1IPA6Will construct direction to contact in vehicle frame from tetrahedron phase data.FDDAT read: Rx Time:22:50:40.0657 JTRx dataTimestamp_ set to:1736376641.161742JRJPJR1JPJR}:JPJR3JPfDAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -fZ#Rx 34: Read range message, but no direction.HyJfZBHjchecking for new query: numPingsReceived=34, elapsed TxPingTime=14.643982z3@Yz=zv)>9zıC>yzHf?Ʋve?`%?n?ǿ ſ"? ?ɨz3@z;zCy}B}=Ii4=I=H>I IIISBI =&I.I6Iۯ<:I1 FMb@Mb@Mb@ )Y{Gzt?Mb?Mbyף;=(A $A)$AIAyA  AAI=SI=4٢M< m+=9uQ u>qq }G٣yy}u= }> Nusing accuracyPremultiplier from configw59AV?w5Y i@}=M<?@};;׵w5 xA5 addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.508188 s, deltaX: -0.200001 m, approachRate: -0.393557 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 38.20 m. jAjAjAjaiahihihihmJBfqfqrfuLK@bfu R?]}=]}=] ?] ?v)> I9 ɚriIIii))IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=34, elapsed TxPingTime=14.882286*F- ?2F) :F) BF- P0JF) zK v7NK k9K K /K qqolg`OHDEIHE?972.-.,)(&$!  BK qA:K G :B O5 >w,6dPArx@Yr<=r'>9r$B>yrHӉ?h/?/?`$o?@ǿyĿ+?X?ɨrx@rщ;py5B5CIIEYIE4٢] < ]]=9]Q ]>aa eG٣aym< m> yIy Nusing accuracyPremultiplier from configyw59}VV?w5Y} i}@?@}eE} ;} ;} w5 QAMDNOT Ignoring new targets: 38.20 m. jQjQjQjQiQhYhYhYhafafarfibfu`C?Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:40.5658 TRx dataTimestamp_ set to:1736376641.663052DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -Z#Rx 35: Read range message, but no direction.ءyإ3[Bءchecking for new query: numPingsReceived=35, elapsed TxPingTime=15.142711]A]A]A]E?U'> Y]§I]{9 Yɚ]iYIYIii))*F?2F:FBF0JFG B1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=35, elapsed TxPingTime=15.388937O >2w,l~PAF@YF\e=F%>9FB>yFH?`O @S?G?`Pm? ǿĿ??ɨF@FH;FCybBbAI]Mb@Mb@Mb@YYY Y)YY]Mbsh|??y&1y]]=]`e]f&A Y)]#AI]AYy]AIBI3٢ E=9uQ > G٣y< > Nusing accuracyPremultiplier from configw59U?w5Y, i@)=<?@;:w5  YA  addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.501310 s, deltaX: 0.200001 m, approachRate: 0.398956 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhihm*Bfqfqrfu`ffK@bfu}?])=])=]}\?]?%> I9 ɚӵiIIii)) iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:41.0657 TRx dataTimestamp_ set to:1736376642.165280DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -Z#Rx 36: Read range message, but no direction.ةyحfZBةchecking for new query: numPingsReceived=36, elapsed TxPingTime=15.642037*F?2F:FBF1JFJJJ0JJ̈́:Jy9Jـ3JjHbH<HI IIIwBI&I.I6I <:Ic FG B O- >F%w,PA) CJ~GT` vYxyzAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=36, elapsed TxPingTime=15.8903685^@Y5=5et$>95B>y5H h?@CI L? v?k?DƿwĿ ?o?ɨ5^@5 H;5!CyޭBޭDI)  ==IVIn4٢-< I=9kQ > G٣y%< > Nusing accuracyPremultiplier from configw59vU?w5YJ i@?@eED;K;6w5  HA = addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502228 s, deltaX: -0.200001 m, approachRate: -0.398227 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 38.20 m. jAjAjAjAiAhAhAhIhIfIfIrfULK@bfU?]q]q]q]u?et$> 隍sI~9 ɚiIIii))E*F?2F:FBF4JFG GsAzK NK9KK0K yIG!BAOm>Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:41.5658 TRx dataTimestamp_ set to:1736376642.669747DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -Z#Rx 37: Read range message, but no direction.y3[Bchecking for new query: numPingsReceived=37, elapsed TxPingTime=16.148212,w,AePA6c@Y6Θ=6">96B>y6H,?- S?ײ?g?9ƿ@CĿ ?v?ɨ6c@6/;6CyRBREIIZDIZ3٢f; f\=9jQ j>hl nG٣lyr< r> vNusing accuracyPremultiplier from configtzw59vU?zw5Yvy iv@x~?~@tv;v;vvw5 @A5 addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504467 s, deltaX: 0.200001 m, approachRate: 0.396460 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 38.20 m. j9j9j9j9i9hAhAhAhAfIfIrfM`ffK@bfM w?]i]i]i]m?"> 隅3IK9 ɚEiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=37, elapsed TxPingTime=16.396940*FU?2FY:FYBF]P0JFaGBO> i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:42.0658  TRx dataTimestamp_ set to:1736376643.172801 DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.1 - Z#Rx 38: Read range message, but no direction. y   checking for new query: numPingsReceived=38, elapsed TxPingTime=16.649544J J JK KKK"KJ J J J J s:J 9J J K2w,BPAJ@YJd=J9JA>yJH ~?l?`?`e?@\ƿ@GĿ`V?`% ?ɨJ@J;HHb>IbC IbIIbBI`&I`.I`6Ib<:Ib_ FBIJIRIZI =bI =jI4yB?ImMb@Mb@Mb@iii i)iYm~jt(\µ?:vymDm=mԼm$A mOA)m|!AImAiymAITI4٢ ,=9TQ > G٣y< >  Nusing accuracyPremultiplier from configw594T?w5Yc i@=<?@eE/#;!;w51 5hA1 addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf%?]=]=]?]0?= 9= I=9 9ɚ=_%i9IAIiiiii)i)i*F?2F:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=38, elapsed TxPingTime=16.898029G BA O >zK= &(KK= k9K9 K= 1K= 9w,vPA2@Y2л=2u>92A>y2Hz?7}?(?b?`|ƿ"ÿ}?( ?ɨ2@2;2Cy:B:/IIF]IF$4٢J Nz=9RۚQ R?TX ZG٣Xyb< f? vNusing accuracyPremultiplier from configlzw59nS? I~w5Yn in@  ? @neEnԳ;nq;nw5 ADNOT Ignoring new targets: 38.20 m. jjjj i h h hh9f9fArfIbfM@E?}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:42.5658 TRx dataTimestamp_ set to:1736376643.677788DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -Z#Rx 39: Read range message, but no direction.؁y؁؁checking for new query: numPingsReceived=39, elapsed TxPingTime=17.155546]]]]?%u> !%=I-G9 IɚU8iQIQIYiYiY)Y)Y2DerA*DerAD-bn9*F ?2F :F BF 4JF "G >G >= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=39, elapsed TxPingTime=17.406357G B O >&@w,;mQA>9@Y>@H=>Q>9>A>y>H@Bu? 鱿.?Eo?']?0ſÿ`Q?@ ?ɨ>9@>;>!CyZBZ!I=Mb@Mb@Mb@999 9)9Y=~jtV-?~jty=ļ=m===M"A =~A)= AI99y==AIU@IU3٢m0? m(=9u/Q u>qq }G٣yy}< }> Nusing accuracyPremultiplier from configw59:R?w5Yۄ i@F=4<&@@(;t;w5 +A IIIu addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 38.20 m. jqjqjqjqiqhyhyhyh}Bffrfbfb?]F=]F=]H?]|&@Q> 隥I9 ɚJiIIii)Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:43.0657 TRx dataTimestamp_ set to:1736376644.182007DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -Z#Rx 40: Read range message, but no direction.yfZB checking for new query: numPingsReceived=40, elapsed TxPingTime=17.658993)ZHRH@AH->I) I-II-BI- =&I).I->D6I-X<:I- FD]n9*F?2F:FBFP0JFG BB O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=40, elapsed TxPingTime=17.906792Fw,#QAZw@YZ=Z>9Z"A>yZHxp?`ܳ?Y?@W?:ſ/ÿ@I?@5?ɨZw@Z؈;ZCyjBjIIrSIr4٢z zT=9~~[Q ~>| G٣y< >  Nusing accuracyPremultiplier from config w59 Q?w5Y = i Z@@@  V; ; w5! -A)e addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504219 s, deltaX: -0.200001 m, approachRate: -0.396655 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 38.20 m. jajajajaiihihihihifqfqrfuLK@bfu ۇ?]]]]@> 隭xI^9 ɚ[iII9iAiA)I)qDun9zKRIK9KK2KRK>JK?*F?2F:FBF_0JF IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:43.5657 TRx dataTimestamp_ set to:1736376644.687107-DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -5Z#Rx 41: Read range message, but no direction.J=~J=J9J9J={m:J=ľ9J9J9J=<;aMJ==;aMJ=;aMJ=;aMy]checking for new query: numPingsReceived=41, elapsed TxPingTime=18.169094G:B O5 >Mw,7QA2@Y2h=2Nj>92nB>y2Hj??9d?YQ?`ſ@Z^ÿ??ɨ2@2L;0yBwBBIIJeIJ34٢R? RP=9RkQ V>TT ZG٣XyZn< ^> bNusing accuracyPremultiplier from config`fw59bO?fw5Yb ib@hj@j@beEbn:b:bw5l nArJE  addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.505100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhh!f!f!rf!bf%,?]I]I]I]M@Nj> ґI9 ɚmiIIii))BD=:D?>mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=41, elapsed TxPingTime=18.413574D=l9*F?2F:FBF[0JFG GrA 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:44.0656  TRx dataTimestamp_ set to:1736376645.188682 DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.1 -% Z#Rx 42: Read range message, but no direction. y ZB - checking for new query: numPingsReceived=42, elapsed TxPingTime=18.665449H= >I9  I= II= rBI= =&I9 .I9 6I= I<:I= | FG 3B) B- 'JOM >Tw,PQA D@Y 9= P>9 (A>y He?Tð? ?`L?xſl7ÿ? L?ɨ D@ ڇ; Cy%kB%IMb@Mb@Mb@ )YZd;O:v?S㥫yjT</]#A A)I AyAIEbIE-4٢MQ U3=9U,Q U>YY ]G٣Yye}q< m> Nusing accuracyPremultiplier from configyw59}N?w5Y}a i}k@ 隕I]9 Yɚ]biYIYIaiaia)a)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=42, elapsed TxPingTime=18.914860D5 jl9zK- K- 9K) K- 3K- BKE rA:KA *F ?2F :F BF P0JF 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DDAT read: Rx Time:22:50:44.5657 - TRx dataTimestamp_ set to:1736376645.6926925 DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -= Z#Rx 43: Read range message, but no direction.! y% fZB! E checking for new query: numPingsReceived=43, elapsed TxPingTime=19.169470Je Je Je 1Ja Je }:Je 9Je 3Ja Je ;Je ;Je ;Je ;G:BO>)l[w,oQAb/@Yb>b>9bXA>ybH_?`䲹@??G?``ſ`0ÿ?@?ɨb/@bى;bCyn[BnIIvfIv44٢뉽 7=9:Q >!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=w595nM?=w5Y5) i5@9E'@E@15:5:5iw5I MAI addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504010 s, deltaX: 0.099998 m, approachRate: 0.198406 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfLK@bfZ?]]]]p'@%> !%όI-9 IɚMiIIIIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=43, elapsed TxPingTime=19.421274D5l9*F2F:FBF_0JF I G B O= >Hbw,QA2e@Y2 >2,>92{@>y2H`iY?@hhr?U?B? +ſ¿K??ɨ2e@2;2Cy>EBBIMMb@Mb@Mb@III I)IYMI ++ rhyM9MMCMA M A)MlAIMOAIyM(AIYIYmWill construct direction to contact in vehicle frame from tetrahedron phase data.uDDAT read: Rx Time:22:50:45.0656 }TRx dataTimestamp_ set to:1736376646.196975DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -Z#Rx 44: Read range message, but no direction.qyuZBqchecking for new query: numPingsReceived=44, elapsed TxPingTime=19.674435٢*ؽ C=9Q > G٣yh< > Nusing accuracyPremultiplier from configw59iL?w5Y} i7@="<@eE;B;w5 A addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504283 s, deltaX: -0.099998 m, approachRate: -0.198298 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhh%0Bf)f)rf-@K@bf-i?]M=]M=]Mn\@]MR|@],> Y]ujHabHe<Hm}>ImC ImIImSBIi&Ii.Ii6Im<:Im< FI}9 yɚ}iIIii))2D*DqADbn9% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=44, elapsed TxPingTime=19.922895*F 2F :F BF JF "G >G >G B O >*:iw,QAzKBoIKKK4KRK"?JK"?>@Y>@>>>9>@>y>HQ?;@?=?`;? ſ¿`2?`?ɨ>@>~݉;>CyF:BFIIRqIRJH4٢ZWO \I\ ZA=9bOQ b>dd fG٣dyjg< j> nNusing accuracyPremultiplier from configlrw59naK?rw5YnӃ inN@prRv@ln:nv:nw5x zAxDNOT Ignoring new targets: 38.20 m. jjj!j!i!h!h!h)h)f)f)rfbf?]9]9]9]=@|@> 隭B{I9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.iADDAT read: Rx Time:22:50:45.5657 TRx dataTimestamp_ set to:1736376646.701378DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 - Z#Rx 45: Read range message, but no direction.yfZB checking for new query: numPingsReceived=45, elapsed TxPingTime=20.178114J1J5J1J1J1J559J1J1J1J1J5;J5;Dn9*F?2F:FBFT5JFG9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=45, elapsed TxPingTime=20.426136;!pw,aQA%K@Y%>%?>9%@>y%HAL?@ ?=?p6?@Ŀ¿ڳ??ɨ%K@%x;%Cy5=B=IMb@Mb@Mb@ )Y/$~jty̽A @)AIAy\AIeI34٢H< 7=9=Q > G٣yaH< > Nusing accuracyPremultiplier from configw59J?w5Y i@f>;翑@eE;;w5 A addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504403 s, deltaX: 0.099998 m, approachRate: 0.198251 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjj!i!h)h)h)h-Bf1f1rf5LK@bf5\?]}f>]}f>]}6,@]}8"@ I?> 隽hI9 ɚiIIii))DWill construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:46.0656 TRx dataTimestamp_ set to:1736376647.206625%DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 --Z#Rx 46: Read range message, but no direction. y ZB *FU?2FQ:FYBF]P5JFYmchecking for new query: numPingsReceived=46, elapsed TxPingTime=20.684776H|>I III5BI =&I.I6I <:I\ FG 3B O > .~G- |uA9 Ivw,[`QA Y|uAyFAR@YR` >Rl>9RA>yRH`D?@H3??`.?@ĿI¿@4? 8?ɨR@RŒ;RCy^2B^IIffIf44٢n~o n^=9rQ r>pp rG٣pyvQ< v> ~Nusing accuracyPremultiplier from configxw59zI?w5Yz iz@濑@xz+;z*;zw5  AM addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.505247 s, deltaX: -0.099998 m, approachRate: -0.197920 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 38.20 m. jIjIjIjQiQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=46, elapsed TxPingTime=20.930122hahahahafifirfm@K@bfm?]]]]a^@l> 隭unIܒ9 ɚ8iIIii))BD?:D?D=p9EAEAzK}K}9KyK}5K} I*F?2F:FBFO5JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:46.5657  TRx dataTimestamp_ set to:1736376647.708882 DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -% Z#Rx 47: Read range message, but no direction. y fZB - checking for new query: numPingsReceived=47, elapsed TxPingTime=21.185625JM JM JI JI JM :JM 9JI JI JM ;JM ;JM ;JM ;G B O >ms|w,9QA2?4@Y2 |&>2>92Q@>y2H`=?y? C?)? ͜Ŀ;¿?@?ɨ2?4@2D;2Cy>.BBIIJiIJ:4٢R1 RN=9RQ V>TT VG٣TyZc< Z> ^Nusing accuracyPremultiplier from config\bw59^@I?bw5Y^ i^h@`f忑f@^eE^:^:^Ww5h j7Ah  addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502257 s, deltaX: 0.099998 m, approachRate: 0.199098 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. j jjjihhYhYhYfafarfeLK@bfe ?]]]]q@> [pI"9 ɚviIIi!i!)!)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=47, elapsed TxPingTime=21.437237D-p9*Fm?2Fi:FiBFm5JFi I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:47.0656 % TRx dataTimestamp_ set to:1736376648.212691- DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -5 Z#Rx 48: Read range message, but no direction. y ZB = checking for new query: numPingsReceived=48, elapsed TxPingTime=21.690094G :B ZH RH H {>I  I II BI &I .I 6I 7<:I l FBI̩CJI̪CRIZI =bI =jIs5O >Bw,RAy3BIMb@Mb@Mb@ )Y:v@5^I ¿MbX9yTbʡA ~@)AIlAyAIgI64٢< $=9Q > G٣y > Nusing accuracyPremultiplier from configw59H?w5YK i3 @ &>;п@eE;;w5  A- addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503809 s, deltaX: -0.099998 m, approachRate: -0.198485 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 38.20 m. j1j1j1j1i9h9h9hAhEBfIfIrfM@K@bfM`?]m &>]m &>]mړ@]m'ߔ@ 隅(\I9 ɚHiIIii))Ds9*Fe?2Fa:FiBFmP0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=48, elapsed TxPingTime=21.938419G BB O > PExceeded connect timeout, disconnecting. I zKE BoIKE 9KA KE 6KE ߉w,Uj)RAZ@YZ6>Z$V>9Z@>yZH D)?¿ 7?e? ?`NRĿؙ¿3?!?ɨZ@Zr;Xyj=BjItvAxxI~vI~&Q4٢UnR= Ue=9]Q ]>aa eG٣ayeL.= m> uNusing accuracyPremultiplier from configiuw59mH?}w5Ym| im@y}ο}@meEm ;m ;mw5 ADNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbfD?%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DDAT read: Rx Time:22:50:47.5656 =TRx dataTimestamp_ set to:1736376648.718873MDAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -MZ#Rx 49: Read range message, but no direction.1y11echecking for new query: numPingsReceived=49, elapsed TxPingTime=22.196577]y]y]y]}V_@M$V> quuWIuR9 qɚuiqIyIyiyi))DI*F?2F:FBFV0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=49, elapsed TxPingTime=22.443211G B O- >w,CRAz@Yz`t;>z3>9z9@>yzH?!? vÿ`\? ??1Ŀ¿9?@?ɨz@z;zCy KBIMb@Mb@Mb@ )Y G٣yO< > Nusing accuracyPremultiplier from configw59H?w5Y  i:@ 8>;ƿ@eE;;pw5 OA qIq addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.506182 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBff rf bf?]U 8>]U 8>]U @]U@3> \OI9 ɚεiIIii))Dmu9=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDDAT read: Rx Time:22:50:48.0655 MTRx dataTimestamp_ set to:1736376649.220853UDAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 -]Z#Rx 50: Read range message, but no direction.AyE3YBA]checking for new query: numPingsReceived=50, elapsed TxPingTime=22.697577JyJyJJJJJ:J[9JJa@a@a@a@H y>I  I I*Fu?2Fq:FyBF}^0JFyI BI &I .I 6I :I k FG :B O >zw,]RA6@Y6?>6el>96w@>y6H?ÿi? ?@ ?RĿ@¿ ?1?ɨ6@6ɛ;6 Cy>]BBIJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=50, elapsed TxPingTime=22.946196INeIN34٢Z= Z]=9^!Q ^>\\ bG٣`yb2< b> fNusing accuracyPremultiplier from configdjw59fI?jw5Yf if@lnſn@df;f_;fw5t vAt addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.501980 s, deltaX: -0.200001 m, approachRate: -0.398424 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 38.20 m. j!j!j!j!i!h)h)h1h1f1f9rf=`f&K@bf=l?]Y]Y]Y]]l@uel> qu\FIu9 yɚ}iyIyIii))aDa }nManaging dock network, ignoring radio surface power off*F?2F:FBF0JF YIYzKMJKM89KIKM7KMBKeqA:KaMWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:22:50:48.5656 eTRx dataTimestamp_ set to:1736376649.726539mDAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.1 -mZ#Rx 51: Read range message, but no direction.Yy]ZBYuchecking for new query: numPingsReceived=51, elapsed TxPingTime=23.203592G] 3Bi O >w,vRA^(@Y^E>^>9^@>y^H?WĿ@? Z8? /?<Ŀ`¿??ɨ^(@^&;^CyruBrIIzOIz 4٢w= F=9 D:Q  >   G٣yemT< m> uNusing accuracyPremultiplier from configi}x59m-I?}x5Ym> im'@y}Ŀ}@meEm;m;:m^x5 A addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.505686 s, deltaX: 0.200001 m, approachRate: 0.395504 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf@K@bfF?]]]]ӗ@ >  u:I 9 ɚiIIii))Dmw9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=51, elapsed TxPingTime=23.450459*F%?2F):F1BF5R5JF9 QIQGe :By O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e DDAT read: Rx Time:22:50:49.0655 e TRx dataTimestamp_ set to:1736376650.228724m DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 -u Z#Rx 52: Read range message, but no direction.a ye 3YBa  checking for new query: numPingsReceived=52, elapsed TxPingTime=23.706488J J J 0J J :J 9J ـ3J jH <bH H v>I  I II +BI &I .I =D6I <:I F}w,RAfK@Yf@dI>f>9fF}@>yfH= ?&ſ@1??)?@WÿB¿??ɨfK@fy;fCy%B%I]Mb@Mb@Mb@YYY Y)YY] G٣y< > Nusing accuracyPremultiplier from configx59rI?x5Y iM?,>-;-¿-@eE1;x;_x51 5RA5LE addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.502185 s, deltaX: -0.200001 m, approachRate: -0.398261 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhh Bffrf`f&K@bf@4?],>],>]@]Q@5> 15@I5z9 9ɚ=Si9I9Iaiiii)i)iD=y9Will construct direction to contact in vehicle frame from tetrahedron phase data.ե=ե<checking for new query: numPingsReceived=52, elapsed TxPingTime=23.956137*F?2F:F1BF5S5JF1 1 I= hGU BBa O >!w,{RAzK^KKk9KK8K &01126;>=:941.,)('&"  RK* ?JK*>Ry@YR/O>R]>9RD>@>yRH?ſ$?Xr??߶ÿ ¿@ -k=9-9Q 5?11 =G٣9y=< =? ENusing accuracyPremultiplier from configAMx59EI?Mx5YER iE?IU@¿U@EeEE:E:E`x5Y ]hAYDNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf`6?]]]]@]> f1I9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.-DDAT read: Rx Time:22:50:49.5657 5TRx dataTimestamp_ set to:1736376650.735085MDAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.1 -eZ#Rx 53: Read range message, but no direction.1y5fZB1checking for new query: numPingsReceived=53, elapsed TxPingTime=24.233990DMy9*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=53, elapsed TxPingTime=24.459724GU :B O >^w,YRAy B WI QIQMb@Mb@Mb@ )Yy&1|Zd;ˡEy`廙'AA $@)EAIVAy AI`I(*4٢0= 6=9Q > G٣y > Nusing accuracyPremultiplier from configx59I?x5Y i ?>;o@eEW;`;J x5  A = addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.506361 s, deltaX: 0.299999 m, approachRate: 0.592461 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhABffrfLK@bf@ۣ?]>]>]_@]@I IMBIM9 QɚUTUiQIQIyii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.}DDAT read: Rx Time:22:50:50.0656 TRx dataTimestamp_ set to:1736376651.236906DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.1 -Z#Rx 54: Read range message, but no direction.؁y؅ZB؁checking for new query: numPingsReceived=54, elapsed TxPingTime=24.713690JJJ1JJm:J9J3JHs>IC IIISBI =&I.I6Iq<:I FD/|9E!E!*F ?2F :F BF JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=54, elapsed TxPingTime=24.962082G BO>mw,ZRA6@Y6 QZ>63>964&@>y6H`?o2ǿ?? RA=9V :Q V>TT ZG٣XyZ< ^> bNusing accuracyPremultiplier from config\bx59^6J?fx5Y^ i^?dff@^eE^:^:^x5l nAl  addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.501821 s, deltaX: -0.099998 m, approachRate: -0.199271 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf@K@bf Z?]]]]@ @ yIy3> 隝1I9 ɚiIIii))QzKdMK89KK9KBK :K oADWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:50.5658 TRx dataTimestamp_ set to:1736376651.741630DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 -Z#Rx 55: Read range message, but no direction.y3[Bchecking for new query: numPingsReceived=55, elapsed TxPingTime=25.220182*F=?2FA:FABFEO0JFAGY Bi O >w,+RA6@Y6@_>6'>96U@>y6H?Dǿ`?`o?*?`Zÿɳ¿??ɨ6@6;6 Cy>B>IIFPIF 4٢N2> NK=9RQ R>PP VG٣TyVS< V> ZNusing accuracyPremultiplier from configXbx59ZJ?bx5YZ iZ?`bdb@ZeEZD;Z+V;Zx5h nAl  addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504724 s, deltaX: 0.299999 m, approachRate: 0.594383 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. j j j jihhWill construct direction to contact in vehicle frame from tetrahedron phase data.<=%checking for new query: numPingsReceived=55, elapsed TxPingTime=25.466551h)h)f)f)rf5`ffK@bf5`@/?]Y]Y]Y]]6@'> 隕I9 1ɚ9iAIAIaiii))Dp~9 yIy*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:51.0658 TRx dataTimestamp_ set to:1736376652.244796DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 -Z#Rx 56: Read range message, but no direction.ychecking for new query: numPingsReceived=56, elapsed TxPingTime=25.722980J J J 0J J }:J 9J ـ3J ZH) RH- ?AH5 q>I1  I5 !II5 BI5 =&I1 .I1 6I5 <:I5 FG BI O |w,SA67;Y6Lf>6>96@>y6HQ?`ۡȿ`8?@z=?J?`Gÿ¿ P?@?ɨ67;6;4yN#BNI)P P V=Vp=)) )~G ! e YayeBMb@Mb@Mb@ )Y{GzMbZd;Oy#jA @)AIy AIZI4٢> +=9%Q > G٣y6_< > Nusing accuracyPremultiplier from configx59pJ?x5Y i?ƌ=A<=̿@;;x5  A E addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503166 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 38.20 m. jAjIjIjIiIhIhQhQhUBfQfYrfYbf]ϸ?]}ƌ=]}ƌ=]}(֑@]}@> 隕p=IΧ9 ɚiIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=56, elapsed TxPingTime=25.969904DL~9*F2F:FBFJF qIqzK rKK 9K K :K RK >JK >G= BBI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:51.5658  TRx dataTimestamp_ set to:1736376652.748726 DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 - Z#Rx 57: Read range message, but no direction. y   checking for new query: numPingsReceived=57, elapsed TxPingTime=26.225485w,0SAr`? >9@>yH ?@cɿuY?'?@Z?ÿe¿@:?%?ɨr`?<\3;Cy5EB5IIEXIE4٢UD> Ug=99Q > G٣y< > Nusing accuracyPremultiplier from configx59hJ?x5Yv i?C˿@::x5 }A addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf ټ?]9]9]9]=>@} > y隅 ,I79 ɚiIIii))DF9*F]?2FY:FYBF]^0JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=57, elapsed TxPingTime=26.477203Ga B O > a Ia [w,JSA2ܛ2Y>92<>y2HJ?rʿ@fL??M?d¿N¿!? ?ɨ2ܛ<2Y;2Cy>aB>"I=Mb@Mb@Mb@999 9)9Y=~jt~jtx? eJ=9e[Q e>ai mG٣iym< m> Nusing accuracyPremultiplier from configyx59}I?x5Y}k i}?X<M=6@@y};}';}Px5 ADNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf ެ?]X<]X<]tc+@]6@ Y> BI9 ɚi!I!Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:52.0658 TRx dataTimestamp_ set to:1736376653.253962DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -Z#Rx 58: Read range message, but no direction.ءyءHp>IC III܀BI =&I.Iqw,2fSA @B̖B\>9B٪9>yBH]?Nx˿X?`1??Ms¿S?@q$?ɨB̖hl nG٣lyn< n> vNusing accuracyPremultiplier from configpvx59rnI?zx5Yr_ irg?xzA7@z@reEr ;r ;r!x5| A 9I9E addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.505236 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 38.20 m. jAjIjIjIiIhIhQhQhQfQfYrfYbf]@?]]]]A7@\> 隵5Iڦ9 ɚiIIii))q2Dy*D}rAzKJK9KK;KWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:52.5659 TRx dataTimestamp_ set to:1736376653.756782DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.2 -Z#Rx 59: Read range message, but no direction.y[Bchecking for new query: numPingsReceived=59, elapsed TxPingTime=27.233568Dg9E*F ?2F :F BF _0JFGM :BY Ou >#w,DPSAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=59, elapsed TxPingTime=27.482067F=YF>F2>>9F9>yFH ?S̿]???8w¿ s?~%?ɨF=Fph;FCyMBU\IIPI 4٢= 9=9Q > G٣y z< > =Nusing accuracyPremultiplier from config)Mx59-H?Ux5Y-S i-?Ye7@%@)-=-=-%x5i m*Aq I % addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.502820 s, deltaX: 0.100002 m, approachRate: 0.198883 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 38.20 m. j)j)j)j)i)h)h)h1h1f1f1rf=@3sK@bf= g?]Y]Y]Y]]-7@u2>> qu+Iu9 qɚut@iyIyIii))Dy9*Fm?2Fi:FiBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.iDDAT read: Rx Time:22:50:53.0658 TRx dataTimestamp_ set to:1736376654.261216jH<bHHo>I III)BI =&I.I6IS<:Is F5DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 -=Z#Rx 60: Read range message, but no direction.y3[BEchecking for new query: numPingsReceived=60, elapsed TxPingTime=27.748470G1 BY O >H8w,SA6z*=Y6S>6|>96K==>y6H Õ?6_Ϳऊ?Lm??(¿F_¿F?@!!?ɨ6z*=6|;4y>B>zI Mb@Mb@Mb@    ) Y Q99 EG٣AyE< M> UNusing accuracyPremultiplier from configIx59MG?x5YM iM?=4<.@@IMD 5IO9 ɚiII)i)i))))1 IDM9*F ?2F :F BF 0JF zKe Ke 9Ka Ke <Ke =;# Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:53.5659  TRx dataTimestamp_ set to:1736376654.764676 DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.1 - Z#Rx 61: Read range message, but no direction. y [B  checking for new query: numPingsReceived=61, elapsed TxPingTime=28.241453J3K3 K.KK"KJ J J J J :J 9J J a @a @a @a @G BO5> Qw,ڷSABKP=YBH>BDs>9Bp_@>yBH ]?pο@\??`?@.9¿r>¿M??ɨBKP=Bi;BCyfBf}I jp=j=InKIn4٢v*6< v3=9vaQ >  G٣ y <  > %Nusing accuracyPremultiplier from config=x59F?=x5Y ic?9E@E@eEk;=;-x5Y ]RAY addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.503460 s, deltaX: 0.100002 m, approachRate: 0.198630 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrf@3sK@bf1?]]]]@Ds> v4I$9 ɚ15iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=61, elapsed TxPingTime=28.490278DU9*F?2F:FBF25JF %$?I) Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:54.0658  TRx dataTimestamp_ set to:1736376655.268826% DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -- Z#Rx 62: Read range message, but no direction. y 3[B 5 checking for new query: numPingsReceived=62, elapsed TxPingTime=28.745571G1 HE n>IA  IE .IIE kBIA &IA .IA 6IE t<:IE FBa O >Pw,SA6{q=Y6f/>6 >96u\@>y6Hs?@xxϿ?A}?@r? ¿ ¿I?}?ɨ6{q=6]q;6 CyBBBI Mb@Mb@Mb@    ) Y y&1`"?y&1|y `e = ` A $@) AI  y  AI]<I]3٢= .=9cXQ > G٣y؎< > Nusing accuracyPremultiplier from configx59D? x5Y iq? = ; 8?@eE=3; e;91x59 =A9 addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504150 s, deltaX: -0.100002 m, approachRate: -0.198358 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhh#Bffrf`ffK@bf?]=]=]h?]8?E > AE33IE9 AɚE iIIIIQiQiQ)Q)YD-9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:54.5659 TRx dataTimestamp_ set to:1736376655.533023checking for new query: numPingsReceived=62, elapsed TxPingTime=29.009090 I Ga Bq O >mw,DSA2=Y2>2@>92t>>y2H ^?Vп?A?0a?io?@Z#?ɨ2=2;2CyRBRIIZGIZ3٢bt< bt=9b`7Q f?dd fG٣dyj< j? vNusing accuracyPremultiplier from configlzx59nC?zx5Yn in-?|~x?@ln.;n_N;n4x5  A 5DNOT Ignoring new targets: 38.20 m. j1j1j1j1i9h9h9hAhAfAfArfAbfM3?] ] ] ] x?zKHLK9KK=KBK!:K%qA@> 隝1I 9 ɚ$iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed 0.0 -Z#Rx 63: Read range message, but no direction.y[B checking for new query: numPingsReceived=63, elapsed TxPingTime=29.256332J]J]J]0JYJ]M:J]=9J]ـ3JYD9*Fm?2Fi:FqBFu3JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:55.0658  TRx dataTimestamp_ set to:1736376656.035852 DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 - Z#Rx 64: Read range message, but no direction. y 3[B  checking for new query: numPingsReceived=64, elapsed TxPingTime=29.512484G} 3B O >Pw,TA I=Yx> >9:>yH9?rѿ*p? 5???@|@?0,?ɨ=r;yŁBIeMb@Mb@Mb@aaa a)aYe:v(\?QyeԼez>eueA e@)eAIe@aye\ AI}UI}4٢s< (=9kѻQ > G٣y= > Nusing accuracyPremultiplier from configx59@?x5Yِ i?>;@@eE ;2;Y8x5 }Au addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.767026 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf?]>]>]?]U@% > !%(I%i9 )ɚ-6i)I)I1i1i1)1)AZHRH@AHm>I IfIIBI&I.I6Ii<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=64, elapsed TxPingTime=29.758324D9*Fm ?2Fq :Fq BFu 5JFq "G} >G} > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:55.5658  TRx dataTimestamp_ set to:1736376656.537060 DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 - Z#Rx 65: Read range message, but no direction. y  % checking for new query: numPingsReceived=65, elapsed TxPingTime=30.013828G]:BiO>w, |%TA6]=Y67>6 >96̹<>y6H#? ҿ2y??&?B` T=? +?ɨ6]=6(;4yBBBIIJgIJ64٢R RF=9VyQ f>hh jG٣hyj< n> rNusing accuracyPremultiplier from configl5x59n>?=x5Ynh in?9EE@E@neEn{ 15/I59 1ɚ5ei1I1IYiYia)a)azKBHK9KK>KRK?JK?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=65, elapsed TxPingTime=30.262083JJJ1JJm:Jb9J3JDڄ9*FU ?2FY :FY BF] R4JFY GE BBi O >!w,6BTAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:56.0657 TRx dataTimestamp_ set to:1736376657.041119"DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 -&Z#Rx 66: Read range message, but no direction.yfZB&checking for new query: numPingsReceived=66, elapsed TxPingTime=30.517843-=Y-g>- >9-E?>y-H? ?ҿ@?@? ?0&"d?@ )?ɨ-=-~;-CyޥBޥIIJI)4٢֡<  %=9 OIQ  > G٣yJ< > Nusing accuracyPremultiplier from configx59;?x5Y i?@ @eE<<h@x5 qIyI A addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504059 s, deltaX: -0.200001 m, approachRate: -0.396780 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfLK@bf?]1]1]1]5R@E > AE)-Im9 iɚmiiIiIqiqiq)q)yBD5?:D!?Hk>IC IIIBI =&I.I6IW<:Ir FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=66, elapsed TxPingTime=30.766024D) vA*F ?2F :F BF P5JF G  G - Y- vAy- BWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:56.5658 TRx dataTimestamp_ set to:1736376657.544940DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 -Z#Rx 67: Read range message, but no direction.ؑyؕ3[Bؑchecking for new query: numPingsReceived=67, elapsed TxPingTime=31.022816G:BO ?ew,.cTAf=Yf~5>fwc>9fb@>yfH?v%ӿZ?9?@F?@a$`²?`)?ɨf=fz;fCyUBU{I)Y YeMb@Mb@Mb@aaa a)aYe rhL7A`?MbyeC e+>eeA e@)eAIe3@aye AIIId4٢" =9GvQ > G٣y< > Nusing accuracyPremultiplier from configx598?x5Y i?_>; @@eEw;=N;Ex5 \Ae addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503821 s, deltaX: 0.200001 m, approachRate: 0.396968 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 38.20 m. jijijijqiqhqhqhyh}҂Bffrf`ffK@bf?]E_>]E_>]ET?]E @Uwc> Y]zI]J9 yɚ}YiyIyIii))D}9zKJKk9KK?K*F-?2F):F)BF-P0JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=67, elapsed TxPingTime=31.274923JJJJJ:J9JJGQ Bi O >w,}TA^=Y^=1>^>9^?>y^H?@ӿ@]u?`|h??`?,?ɨ^=^K^;^CyfBfeIIrXIr4٢vJѽ zk=9z霻Q z?|| ~G٣|y"< ?  Nusing accuracyPremultiplier from configx595?x5Y i? @%@eEET;T;Hx5) -A)UDNOT Ignoring new targets: 38.20 m. jQjQjYjYiYhYhYhahafafarfabfm ?]]]] @> 隥I9 ɚiIIii))IWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:57.0656 TRx dataTimestamp_ set to:1736376658.053059DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -Z#Rx 68: Read range message, but no direction.عyؽZBعchecking for new query: numPingsReceived=68, elapsed TxPingTime=31.531199DM9*F2F:FBFY0JF IG3BO >jH bH H g>I  I rII BI &I .I 6I <:I @ FBIɧCJIɧCRIZI =bI =jI 5e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=68, elapsed TxPingTime=31.778027%w,ƆTAyBQIMb@Mb@Mb@ )YJ +Zd;O?J +yHj=HA @)AIyAIKI4٢͗ ==9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9Ex59=2?Ex5Y= i=J?E=M;M@M@9=;=;=Kx5Q UqAQ addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.508119 s, deltaX: -0.299999 m, approachRate: -0.590411 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrf@K@bf`?]=]=]$@]ͮ@ I-9 ɚ| iIIii))2D*DqAD-9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Rx Time:22:50:57.565e 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 TRx dataTimestamp_ set to:1736376658.557680checking for new query: numPingsReceived=68, elapsed TxPingTime=32.032162*F?2F:FBF_0JF"GG> IG% :B9 OU >k+w,1_TAzK&`KK9KK@K +00.("  ypB5IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=68, elapsed TxPingTime=32.282116i-=I-p=I=RI=W4٢M MS=9IQ M>QQ UG٣QyQ ]> eNusing accuracyPremultiplier from configamx59e0?mx5YeX utIie?qqu@eeEe;ae?Ox5y "ADNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfbf@?]]]]  I9 ɚiIIii))D9*F2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:58.0656 TRx dataTimestamp_ set to:1736376659.060956DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -Z#Rx 69: Read range message, but no direction.ychecking for new query: numPingsReceived=69, elapsed TxPingTime=32.537697 I G BI O >2w,TA>Y>\>9H<>yHi? /տ???EErI?`5?ɨ>k; Cy-\B-IMb@Mb@Mb@ )Y rh?p= ףyC<A @)AI@y\AII٢ <=9DQ > G٣y+T= > Nusing accuracyPremultiplier from config x59-? x5YC iP? W= < C@ @eE;; Sx5ԓB AMEM addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 1.007897 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 38.20 m. jQjQjQjQiQhQhYhYh].Bfafarfibfm ,*?]W=]W=]2@]C@H%e>I! I%SII%BI% =&I!.I%;D6I%:<:I%X F]\> Y]ѾI]9 aɚeݳiaIaIiiqiq)q)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=69, elapsed TxPingTime=32.788048JJ@AJ%J%J!J!J%:J%9J!J!J%8;a=J%9;a=J%:;a=J%:;aEDU9*F ?2F :F BF X0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:50:58.5657  TRx dataTimestamp_ set to:1736376659.565453 DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 - Z#Rx 70: Read range message, but no direction.ؑ yؕ fZBؑ  checking for new query: numPingsReceived=70, elapsed TxPingTime=33.042229GB)OM>4:w,wTA Ir>Yrƿ>r=9r?>yrH?AտX-? fr҈;rCy~KB~II ZI 4٢ %8=9%SQ %>)) -G٣)y-< 5> =Nusing accuracyPremultiplier from config1=x595)?Ex5Y5/ i5t?AEC@E@15L:5:5Vx5Q ]JAY addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504497 s, deltaX: 0.099998 m, approachRate: 0.198214 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhffrfLK@bf?]]]]C@= QI<9 ɚ gi I Iii))BD%J?:D%7?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=70, elapsed TxPingTime=33.290874zKuMKuu9KqKuAKuD])9*F2F:FBF_0JFG GG B! O= >@w,UUA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2DDAT read: Rx Time:22:50:59.0656 2TRx dataTimestamp_ set to:1736376660.0687146DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -:Z#Rx 71: Read range message, but no direction.0y2ZB0>checking for new query: numPingsReceived=71, elapsed TxPingTime=33.545460yU>BUI)Y Y m=m=IGI3٢5f =;=9=Q =>AA EG٣AyE > Nusing accuracyPremultiplier from configx5 AIA9&?x5Y i?@eE|<pC=Zx5q A  addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503261 s, deltaX: -0.099998 m, approachRate: -0.198701 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjih!h!h!h!f)f)rf-@K@bf-`y?]]]] 隽I9 ɚiIIii))H5d>I5C I5!II5`BI5 =&I1.I16I56<:I5T F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=71, elapsed TxPingTime=33.794102JUJUJQJQJU:JUU:JQJQJU;JU ;JUe;JUe;D M9*Fu ?2Fy :Fy BF} W0JFy G=J BIWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:50:59.5656 TRx dataTimestamp_ set to:1736376660.572731DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -Z#Rx 72: Read range message, but no direction.ychecking for new query: numPingsReceived=72, elapsed TxPingTime=34.049461O?Hw,%UAB0>YBk>Bc=9BqB>yBHW?`ֿ2?[?BM? `Q?t2?ɨB0>B);BCyJ6BNI-Mb@Mb@Mb@))) )))Y-K/$Q뱿y-^-,-\-A -p@)-AI-@)y-AIEDIE3I٢ =9ܻQ > G٣y/= > Nusing accuracyPremultiplier from config x59$#? x5Y i!?^=;R@eE;;}_x59 =A9 addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhhBffrfbf@x?]^=]^=]ld@]s@=c= 9=RI=9 9ɚE iAIAIAiIiI)I)QD5I9*F2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=72, elapsed TxPingTime=34.298431zK=BHK=9K9K=BK=RKE?JKE?G :B O >Nw,%>UA:Oi5>Y:z>:=9:@>y:HJ?@ ׿ I ??A?`Gsg ?6?ɨ:Oi5>::;:!CyFBFIIN`IN(*4٢V Vl=9VcvQ V?XX ZG٣Xy^ [< ^? bNusing accuracyPremultiplier from config`fx59b ?fx5Yb ibc?dfj@`b:b:b[bx5l nAl-DNOT Ignoring new targets: 38.20 m. j)j)j)j)i)h1h1h1h9fAfIrfIbfU ;?]9]9]9]=/t@}= y}ѾI}9 ɚiIIii))2D*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:00.0655 TRx dataTimestamp_ set to:1736376661.077771DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 -Z#Rx 73: Read range message, but no direction.y3YBchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.554535D*F-?2F):F1BF5P5JF1"G]>G]> $?IG B H b>I  I II 8BI &I .I 6I O<:I e FO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=73, elapsed TxPingTime=34.801983J J J 0J J ,:J :J ـ3J J ;J ;J I;J I;Uw,qXUA2:>Y22O>2 =92x?>y2H;?@_]׿2??(3?F?@8?ɨ2:>2;2CyNBNIiR G٣y>< > Nusing accuracyPremultiplier from configx59?x5Y i/?j1>;@eEb;$;6fx5 A = addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505040 s, deltaX: -0.200001 m, approachRate: -0.396010 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 38.20 m. j9j9j9jAiAhAhAhIhMBfIfIrfM`f&K@bfUd?]uj1>]uj1>]ujw@]uȄ@ = 隍uI9 ɚwziIIii))D9*FE?2FA:FABFE5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:00.5656  TRx dataTimestamp_ set to:1736376661.581341%DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -%Z#Rx 74: Read range message, but no direction. y ZB -checking for new query: numPingsReceived=74, elapsed TxPingTime=35.059055 IG1 BI Oe >\w,hrUA:>>Y:^>:$=9:QJ>>y:H1?q׿??`)?ſ`b|?@7;?ɨ:>>:^;:CyF"BFIINfIN44٢Vǂ< V_=9V Q Z>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`fx59b<?fx5Yb` ib?hjKj@beEb;bmC;bkix5p rAp addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503570 s, deltaX: 0.200001 m, approachRate: 0.397166 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjj!j!i!h!h!h)h)f)f)rf-@K@bf5uT?]I]I]I]MV@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=74, elapsed TxPingTime=35.306534u$= quoIu@9 yɚ}iyIyIii))zKK-9KKCKBK%pA:K%pADj9*F2F:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:01.0654  TRx dataTimestamp_ set to:1736376662.084859% DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 -% Z#Rx 75: Read range message, but no direction. y XB - checking for new query: numPingsReceived=75, elapsed TxPingTime=35.561592Gy B I O >%cw,UA}C>Y}w>}[=9}>>y}H!?{׿@?@e?@?@륿`?@/;?ɨ}C>}R;yyލ&BލIMb@Mb@Mb@ )YT㥛 ~jtÿDlyO3A @) AI@yAIdI?14٢<< *=9PQ > G٣y t"<  > Nusing accuracyPremultiplier from configx59\?%x5jH)bH)H-a>I) I-II-BI- =&I).I)6I-L<:I-c FY i?M)V>M};MM@eE;;mx5Q UmAQ addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.503518 s, deltaX: -0.299999 m, approachRate: -0.595806 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.20 m. jjjjihhhh}BffrfK@bfປ?])V>])V>]إ@]؊@[= .EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=75, elapsed TxPingTime=35.810181JJJJJ\:J :JJJ<J<JdW;JeW;I9 ɚ(iIIii))BDD?:DN?)Y a|uA 5Y5|uAy5BD= 9EA EE qA*F 2F :F BF R5JF G  G qA Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:01.5655  TRx dataTimestamp_ set to:1736376662.588700 DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 - Z#Rx 76: Read range message, but no direction. y 3YB  checking for new query: numPingsReceived=76, elapsed TxPingTime=36.065472 IGB!OE>@jw,UAB3vF>YB2>B׹=9Bd>>yBH "?@ؿ?{?? `彿`?@:?ɨB3vF>B%;BCyN,BRI)T TIZYIZ4٢b?< b==9f:Q f>dh jG٣hyj< n> rNusing accuracyPremultiplier from configlrx59n?vx5Yn inG?tvov@neEn:n:ndqx5~ՓB ~@A~OE- addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503841 s, deltaX: 0.099998 m, approachRate: 0.198472 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 38.20 m. j1j1j1j1i9h9h9h9h9fAfArfE`f&K@bfE`?]a]a]a]e@}׹= y}"I}9 yɚ}RiIIii))DM9*F?2F:FBFP0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.314957zKuBoHKu`9KqKuDKuG!B9O}> Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:02.0654 % TRx dataTimestamp_ set to:1736376663.093212- PDAT read: Bearing 143.6, 7.9 (Local) - ~Local bearing/azimuth received: Bearing 143.6, 7.9 (Local) = DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 qw,[UADAT read: 22:51:02.0654 LVL= 11728, 18337, 14418, 21651, AGC= 53, IDX= 504,-0.11, 1.266, 2.326,-0.159, 1.008, PHS= 0.346, 1.365,-1.170, RAW= 6.5, -4.9, CAL= 6.4, -7.9, ROT= 143.6, 7.9 FYgot valid direction response: 22:51:02.0654 LVL= 11728, 18337, 14418, 21651, AGC= 53, IDX= 504,-0.11, 1.266, 2.326,-0.159, 1.008, PHS= 0.346, 1.365,-1.170, RAW= 6.5, -4.9, CAL= 6.4, -7.9, ROT= 143.6, 7.9 FT#Rx 77: Read range and direction messages.J\direction in FSK: [0.169826,0.982744,0.073299]JFpublishing direction and range infoY9]ۼ?Y$r?ò?y]XBY]-]G ]R8)]TI]5i]&>]R?]•]V=]% ]=)]0 I]g @i]0 >YY]:wٿbm+:c*Uv)]ħI]۰=i](?]t@YYZchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.594990^qJ>Y^0>^O =9^e?>y^H ?zFؿR???Mн;? 9?ɨ^qJ>^XN;^"Cyj>BjII]NI]@ 4٢ ƚ=  8=9EDQ > 9IEhYY ]G٣Yye < e> mNusing accuracyPremultiplier from configix59m4?x5Ymٓ im?@meEmH蟅i?G?"k] NB*k]#2k]Ih?k]F 2k]Bk]Ih?k]Yf k]Bk]GAk]+@] addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.504512 s, deltaX: -0.099998 m, approachRate: -0.198208 m/s, rangeRepo size: 4  Added new target pos. range: 54.200001 m, bearing: 102.196528 deg, lat: 36.904971 deg, lon: -122.119411 deg, deltaT: 83.229278 s, deltaX: 16.000000 m, approachRate: 0.192240 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfK@bf@?]]]]P@HE`>IA IEIIEBIA&IA.IE:D6IE<:IE FBI ƥCJI ƥCRI ZI  =bI  =jI l5eO = aeXIm9 iɚmxiiIiIqiqiq)q)2DqA*DqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=77, elapsed TxPingTime=36.818172DQ9*F5 ?2F1 :F1 BF5 4JF1 "GA GE >GQ B O >qxw,]jUAMWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:22:51:02.5654 ]TRx dataTimestamp_ set to:1736376663.597395mPDAT read: Bearing 142.3, 7.7 (Local) m~Local bearing/azimuth received: Bearing 142.3, 7.7 (Local) }DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.1 y޵VB޵IDAT read: 22:51:02.5654 LVL= 13376, 19345, 15714, 23219, AGC= 54, IDX= 504,-0.29, 2.825,-2.448, 1.335, 2.535, PHS= 0.378, 1.348,-1.203, RAW= 7.9, -4.7, CAL= 7.7, -7.7, ROT= 142.3, 7.7 Ygot valid direction response: 22:51:02.5654 LVL= 13376, 19345, 15714, 23219, AGC= 54, IDX= 504,-0.29, 2.825,-2.448, 1.335, 2.535, PHS= 0.378, 1.348,-1.203, RAW= 7.9, -4.7, CAL= 7.7, -7.7, ROT= 142.3, 7.7 T#Rx 78: Read range and direction messages.\direction in FSK: [0.163422,0.981771,0.097049]Fpublishing direction and range infoY9]Ei?RRgj?2ظ?yYY]@4]K ]b=)]ZI]6i]7>]D?]]0 >] ] >)] I]\@i] >YY]ۑؿFQPl&)]l~I]i=i]?]ǽYY%checking for new query: numPingsReceived=78, elapsed TxPingTime=37.096176 I%Mb@Mb@Mb@!!! !)!Y%/$ˡEĿS㥫y%1%'%/]%A %@)% AI%@!y!IyIy٢ߴ= =9Q > G٣y > Nusing accuracyPremultiplier from configx59'?x5Y i?-_>s;@eE;;yx5 Ak]Tg?k]E[ kY k];UA:kYBk]TWBZk]?"]7x!@/"J@"!K @]Ei?RRgj?2ظ?Jk]?Rk]ǽ*]8]-_>]@]@ .I9 !ɚ%xi!I!I)i)i))))1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=78, elapsed TxPingTime=37.322971JE JE JA JA JE ܫ:JE :JA JA aM @aM @aM @aM @zK) K- 9K) K- EK- DM 9*F 2F :F BF 1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:03.0654 TRx dataTimestamp_ set to:1736376664.103164DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 -Z#Rx 79: Read range message, but no direction.ychecking for new query: numPingsReceived=79, elapsed TxPingTime=37.581799G3B O%?ρw,VA n@n@+bS>Y>N=9e@>yH?ؿ .?T?@?p b6? 9?ɨ+bS>;騅C IyޭxBޭ>Ii +=9zQ > G٣yޖ< > Nusing accuracyPremultiplier from configx59z ?%x5Y  iݿ?!%%@eE';?';)~x5-ԓB 5A5REu addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.505769 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhh ffrf!bf-a?]]]]@V@%N= AMԽIM9 IɚMiIIIIQiQiQ)Q)YZHRHAAH_>I III.BI =&IGD.I6I<:I5 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=79, elapsed TxPingTime=37.826385D ݍ9*Fm ?2Fi :Fi BFm 0JFi Gq  Gq Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:03.5655 TRx dataTimestamp_ set to:1736376664.604842DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 -Z#Rx 80: Read range message, but no direction.y3YBchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.081581GiBqO?w,!=(VA6MV>Y6~[>6=96i?>y6H?`ؿ@,?੅??@ v ? ;?ɨ6MV>6{ۈ;6CyFBFvI YIYMb@Mb@Mb@ )Yrh| =9%Q %>)) 5G٣1y5; 5> =Nusing accuracyPremultiplier from config9Mx59= ?Mx5Y= i=C?M4F>M;MsU@=eE=/;=.;=x5Y ]vAY addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.501678 s, deltaX: 0.099998 m, approachRate: 0.199328 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf`f&K@bf{F?]-4F>]-4F>]-,@]-@e= im#Im9 iɚiiiIiIqiqiq)y)Dˍ9Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.331604J5J5J51J1J5:J5q:J53J1*FM?2FI:FIBFMP5JFIzKy K} 9Ky K} FK}   RK JK ?G :B OM >w,;BVA:|Z>Y:26>:&=9: >>y:HN?2ٿJ7???ž@Ώ?;?ɨ:|Z>:҈;:!CyFсBFIIZYIZ4٢b^> fz=9f9Q f?dh jG٣hyn5< n? rNusing accuracyPremultiplier from configlrx59n?vx5Yn in?tvv@neEn:n;nͅx5| ~A|DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf r?]1]1]1]5@E&= AEIE9UWill construct direction to contact in vehicle frame from tetrahedron phase data.mDDAT read: Rx Time:22:51:04.0654 uTRx dataTimestamp_ set to:1736376665.111777DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 -Z#Rx 81: Read range message, but no direction.iymXBichecking for new query: numPingsReceived=81, elapsed TxPingTime=38.591537 ɚiIIii))D9 AII*F]?2FY:FYBF]P0JFYHIC I'IIfBI&I.I6I|<:I FG 3B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=81, elapsed TxPingTime=38.833969.w,D[VA:O\>Y:~e>:R_=9:'>>y:HG?Vٿ@V:? *??b} y?:V/;:CyFBFIMb@Mb@Mb@ )YB`"۹MbI +yν9A @)7 AIyAI-?I-T3٢Ex > EC=9E 9Q E>II MG٣IyUM; U> ]Nusing accuracyPremultiplier from configYex59]?ex5Y]{ i]?e>m;mUm@]eE] M;]K;]ux5y })Ay addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506935 s, deltaX: -0.099998 m, approachRate: -0.197261 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhh,BffrfK@bfl?]>]>]y@]O@R_= IQ9 ɚiII!i!i!)!)!D9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mDDAT read: Rx Time:22:51:04.5656 mTRx dataTimestamp_ set to:1736376665.612810}DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 *F?2F:FBFO0JF"G>G-Z#Rx 82: Read range message, but no direction.iymZBichecking for new query: numPingsReceived=82, elapsed TxPingTime=39.097713 IIIG B O >Μw,uVABra>YB9>B=9B>>yBH? KٿG?{?`?gJ ?@aBVv;BCyJ BJIIVHIV<3٢Zd> ^T=bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.3382269^TQ j>ll rG٣pyrQ<< r> vNusing accuracyPremultiplier from configtzx59v?zx5Yvß ivR?|JSK[O3 K[(.KSKS"KSJJJJJ|:JK:JJ~ @veEvO;vq;v݌x5! %9A!e addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.501033 s, deltaX: 0.299999 m, approachRate: 0.598761 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 54.20 m. jajijijiiihihihqhqfqfqrf}@K@bf} ?]]]] @= 隭x{I9 ɚiIIaiaia)a)izKuHLKu89KqKuGKu }AY?L\)tX07YD֏9*F?2F:FBF\0JF uWill construct direction to contact in vehicle frame from tetrahedron phase data.}DDAT read: Rx Time:22:51:05.0655 }TRx dataTimestamp_ set to:1736376666.116719DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 -Z#Rx 83: Read range message, but no direction.yy}3YBychecking for new query: numPingsReceived=83, elapsed TxPingTime=39.593460G B O > ) I) Yw,6VAy ,B  IH5]>I1 I5II5BI5 =&I1.I16I5<:I5 FMb@Mb@Mb@ )Y)\(L7A`堿y&1yGa+`eA @) AIyI>I3٢ \>  *=9Q > G٣y > %Nusing accuracyPremultiplier from config!5x59%r?5x5Y%h i%?5s=5J<5 =@%eE%,3;%J0;% x5A E> AA addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503909 s, deltaX: -0.200001 m, approachRate: -0.396899 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhiBffrf`f&K@bfR?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=83, elapsed TxPingTime=39.842182]s=]s=]k@]@ I9 ɚiIIii))D09*F 2F :F BF P0JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.} DDAT read: Rx Time:22:51:05.5656  TRx dataTimestamp_ set to:1736376666.621227 DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 - Z#Rx 84: Read range message, but no direction.؁ y؅ ZB؁  checking for new query: numPingsReceived=84, elapsed TxPingTime=40.098019  I G :B O >w,uZVAFi>YFR>F=9FO>>yFH?ڿK?`? ?`o~? =?ɨFi>Fࣉ;F Cy5YB5S IIE=IE=3٢ua> uN=9} Q }>y G٣y< > Nusing accuracyPremultiplier from configx59'?x5Y iѵ?m @;;x5  A addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504508 s, deltaX: 0.200001 m, approachRate: 0.396427 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjAjIjIiIhIhIhQhQfQfQrfU@K@bf] ?]]]]?Y@%= )-I-9 1ɚ1i1I1Iaiiii)i)qBDu4?:DuZ?}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=84, elapsed TxPingTime=40.346031JJJ0JJ :JJـ3JD,9zKOK9KKHK*F= ?2F9 :F9 BFA JFA G% 3- Will construct direction to contact in vehicle frame from tetrahedron phase data.- =- <= DDAT read: Rx Time:22:51:06.0656 = TRx dataTimestamp_ set to:1736376667.126095M PDAT read: Bearing 137.1, 7.3 (Local) M ~Local bearing/azimuth received: Bearing 137.1, 7.3 (Local) ] DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0  DAT read: 22:51:06.0656 LVL= 17616, 17569, 19026, 22979, AGC= 57, IDX= 505,-0.48,-2.615,-1.827, 1.994,-3.026, PHS= 0.499, 1.246,-1.267, RAW= 13.2, -4.3, CAL= 12.9, -7.3, ROT= 137.1, 7.3  Ygot valid direction response: 22:51:06.0656 LVL= 17616, 17569, 19026, 22979, AGC= 57, IDX= 505,-0.48,-2.615,-1.827, 1.994,-3.026, PHS= 0.499, 1.246,-1.267, RAW= 13.2, -4.3, CAL= 12.9, -7.3, ROT= 137.1, 7.3  T#Rx 85: Read range and direction messages. \direction in FSK: [0.145931,0.971759,0.185440] Fpublishing direction and range info9 9= {?*[罹?V3?y9 9 = D= D = RJ)= YI= 9i= |>= |?= -B O >Qw,VAٽk>ٽ` ڽf>)ڽwIڽf$@iڽw>ڹڹ۽ 6vxҿޛM)۽I۽=i۽?۽>۹۹*checking for new query: numPingsReceived=85, elapsed TxPingTime=40.635990 PIP1n>Y>=9=>yH?{SڿS???Ž hp?G>?ɨ1n>e;y-sB-t II7I3٢%= -*=9-WhQ ->11 5G٣1y=< => ENusing accuracyPremultiplier from config9Ex59=?Mx5Y= i=?IM# u@=eE=;=;=x5y } Ayk|͒?k`l k kVA:kZBBkXBZk?"=Q$@zJ@'ܷ6$@{?*[罹?V3?Jk?Rk>*~^)a~wJH@S` 2@|,\(οcY?|?"kJFB*krMkƒ?k 2k§Bkƒ?k kkLBk?HM\>II IMIIMBII&II.II6IM<:IM F addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.500000 m, bearing: 104.521906 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 3.528700 s, deltaX: 0.299999 m, approachRate: 0.085017 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.50 m. jjjjihhhhffrfbf?])])])]-I~@]= Y]9]NGy QYyB*F ?2F :F BF JF G :B O >.̸w,TVAFbs>YF.>F=9Fp =>yFH@?`ڿD?!??@v1`rZ?#@?ɨFbs>F`;FCy^Bb IWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:06.5656 TRx dataTimestamp_ set to:1736376667.628827DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 -Z#Rx 86: Read range message, but no direction.ؙyؙؙchecking for new query: numPingsReceived=86, elapsed TxPingTime=41.106274Mb@Mb@Mb@ )YQQ?Mbpy\=A @) AIp@yA II.I3٢-RM> -2=95KQ 5>99 =G٣Aye5< m> uNusing accuracyPremultiplier from configiux59m?}x5Ym` imY?}==}<}.@}@im/;m{;mœx5  AE addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.502732 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 54.50 m. jAjIjIjIiIhIhIhQhUBfQfQrfYbf]j?]==]==]@].@= uI9 ɚiIIii))D ;9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=86, elapsed TxPingTime=41.353962*F ?2F :F BF JF zK >`JK 9K K IK G3B1Ou?KHw,`WA6U~>Y6`>6=96C;>y6H,[?Lۿ 1? r?W[?@ȼ &Ӽ@-?`C?ɨ6U~>6d;4yBBB IIZ2IZ?3٢b'= b?=9f[^Q f>dd fG٣dyj< j> 5Nusing accuracyPremultiplier from config1=x595o?=x5Y5, i5?AEN/@M@15*^;5%g;5x5Y eAa}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:07.0655 TRx dataTimestamp_ set to:1736376668.134406PDAT read: Bearing 136.1, 7.1 (Local) ~Local bearing/azimuth received: Bearing 136.1, 7.1 (Local) DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.1 DAT read: 22:51:07.0655 LVL= 14192, 17729, 16530, 23619, AGC= 56, IDX= 504,-0.24,-2.623,-1.878, 1.957,-3.051, PHS= 0.517, 1.220,-1.278, RAW= 14.1, -4.2, CAL= 13.9, -7.1, ROT= 136.1, 7.1 Ygot valid direction response: 22:51:07.0655 LVL= 14192, 17729, 16530, 23619, AGC= 56, IDX= 504,-0.24,-2.623,-1.878, 1.957,-3.051, PHS= 0.517, 1.220,-1.278, RAW= 14.1, -4.2, CAL= 13.9, -7.1, ROT= 136.1, 7.1 T#Rx 87: Read range and direction messages.\direction in FSK: [0.141024,0.969255,0.201634]Fpublishing direction and range info؉9؍@ ?X##?i΍&?y؍3YBkp?k# k kWA:k3YBBkWBZk??"s[@iPJ@8&%@@ ?X##?i΍&?Jkp?RkO*5L"T\+.IlH@d]3@п'>?p ?"kfCB*kZk#|?k- 2ktBkkkkLBk*l?؉؍p7؍AE ٍ@)ٍC\Iٍ8iٍZ?ٍ(?ٍٍd{>ٍQ ڍUlx>)ڍIڍq@iڍ=ډډۍejѿF\\E)ۍpIۍR=iۍp?ۍOۉۉ $?I- addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505579 s, deltaX: -0.200001 m, approachRate: -0.395588 m/s, rangeRepo size: 4 = Added new target pos. range: 54.299999 m, bearing: 105.644770 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 1.008311 s, deltaX: -0.200001 m, approachRate: -0.198352 m/s, posRepo size: 4 EDNOT Ignoring new targets: 54.30 m. jAjAjAjAMchecking for new query: numPingsReceived=87, elapsed TxPingTime=41.632748iAhhhhffrf`f&K@bf ?]]]]N/@M= IM@IM9 IɚIiIIQIQiQiY)Y)Y2DrA*DHuZ>Iq IuZ IIu^BIu =&Iq.Iq6Iux<:Iuz FBIǤCJIǤCRIZI =bI =jIC5Dm_9- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=87, elapsed TxPingTime=41.858562J J J 1J J l:J :J 3J J Ww,y$WAym΂Bm IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:07.5656 TRx dataTimestamp_ set to:1736376668.637326PDAT read: Bearing 136.0, 7.4 (Local) %~Local bearing/azimuth received: Bearing 136.0, 7.4 (Local) 5DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 %DAT read: 22:51:07.5656 LVL= 15840, 16449, 19042, 22195, AGC= 57, IDX= 505,-0.29, 0.081, 0.824,-1.633,-0.360, PHS= 0.529, 1.230,-1.277, RAW= 14.3, -4.4, CAL= 14.0, -7.4, ROT= 136.0, 7.4 -Ygot valid direction response: 22:51:07.5656 LVL= 15840, 16449, 19042, 22195, AGC= 57, IDX= 505,-0.29, 0.081, 0.824,-1.633,-0.360, PHS= 0.529, 1.230,-1.277, RAW= 14.3, -4.4, CAL= 14.0, -7.4, ROT= 136.0, 7.4 -T#Rx 88: Read range and direction messages. )Y{GztEԸ?MbPyף= ) AIyAI(I̍3٢= =9Q > G٣y > mNusing accuracyPremultiplier from configux59?}x5Y֟ i?}=}<}@}@eE!<ɻ<ԥx5 1A\direction in FSK: [0.144334,0.968346,0.203650]Fpublishing direction and range info9>ry?? 3?yZB=A@ bJ)VI9il?p?tr>nF 5z>) AI@i A>J JѿpǶӛj)/I{=if?R -checking for new query: numPingsReceived=88, elapsed TxPingTime=42.245277k˳?k6 k k(WA:kZBBkXBZkU?"mnw@.cJ@+Vv2&@>ry?? 3?Jkf?RkR*?+{6H@I,p 3@Ͽr?|&?"k8DB*kyXk?kkr 2kթBkkk§BkLBk c?M addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.502920 s, deltaX: 0.200001 m, approachRate: 0.397679 m/s, rangeRepo size: 4 ] Added new target pos. range: 54.500000 m, bearing: 105.419359 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 0.502920 s, deltaX: 0.200001 m, approachRate: 0.397679 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 54.50 m. jYjYjYjihhhhBffrf@K@bf@?]=]=]n?]Y@a aeLIe'9 iɚmiiIiIqiqiq)q)q Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=88, elapsed TxPingTime=42.362156D m9E E rA'= TFailed to parse incomplete device message.*F?2F:FBFP5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDDAT read: Rx Time:22:51:08.0655 }TRx dataTimestamp_ set to:1736376669.141800PDAT read: Bearing 135.2, 7.3 (Local) ~Local bearing/azimuth received: Bearing 135.2, 7.3 (Local) DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 DAT read: 22:51:08.0655 LVL= 12768, 15601, 13810, 19875, AGC= 56, IDX= 504,-0.35,-0.130, 0.568,-1.835,-0.577, PHS= 0.534, 1.191,-1.261, RAW= 15.0, -4.3, CAL= 14.8, -7.3, ROT= 135.2, 7.3 Ygot valid direction response: 22:51:08.0655 LVL= 12768, 15601, 13810, 19875, AGC= 56, IDX= 504,-0.35,-0.130, 0.568,-1.835,-0.577, PHS= 0.534, 1.191,-1.261, RAW= 15.0, -4.3, CAL= 14.8, -7.3, ROT= 135.2, 7.3 T#Rx 89: Read range and direction messages. \direction in FSK: [0.141433,0.966215,0.215467] Fpublishing direction and range infoq9u^z?(:?zG3j?yu3YBqu1u< u5)uMIu8iu9?ur?ushu >u` u A>)uwIu@iuw>qquڢ?п\Fݬ )uUIuኘ=iu%u?ua^qq-checking for new query: numPingsReceived=89, elapsed TxPingTime=42.638817 aIaG9BAOu#?)w,CMWAJ>YJ>J=9Ja;>yJH? Daܿr??z?Y5&?F?ɨJ>JR;JCyRBR II^6I^m3٢-= -=9-Q ->11 5G٣1y== => eNusing accuracyPremultiplier from configamx59e?mx5Ye ie&?im@u@eeEe:e:elx5 wAkB?kƑ k k@IWA:k3YBBkWBZk$?"k"@#;J@ 1Rf'@^z?(:?zG3j?Jk%u?Rka^*6n[8,lS,H@D?4@]wп }?"?"kdAB*kfkPG:?k  2kBk?kkr ktBkYKBk*z?m addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.504474 s, deltaX: -0.200001 m, approachRate: -0.396454 m/s, rangeRepo size: 4  Added new target pos. range: 54.299999 m, bearing: 106.597301 deg, lat: 36.904947 deg, lon: -122.118928 deg, deltaT: 0.504474 s, deltaX: -0.200001 m, approachRate: -0.396454 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.30 m. j j jYjYiahiHV>IC I IIBI&I.I6I<:I FhIhYhYffrf`f&K@bf?]]]]b@= @In9 ɚ!i!I!Iaiiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=89, elapsed TxPingTime=42.866341JJJJJ:J$:JJJ<J<J~;J~;Dm 9*F ?2F :F BF 0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e DDAT read: Rx Time:22:51:08.5656 m TRx dataTimestamp_ set to:1736376669.646195} PDAT read: Bearing 135.1, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 135.1, 7.9 (Local)  DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0  DAT read: 22:51:08.5656 LVL= 13808, 15953, 14578, 21923, AGC= 53, IDX= 505,-0.20,-0.595, 0.082,-2.255,-1.046, PHS= 0.539, 1.175,-1.212, RAW= 15.1, -4.7, CAL= 14.9, -7.9, ROT= 135.1, 7.9  Ygot valid direction response: 22:51:08.5656 LVL= 13808, 15953, 14578, 21923, AGC= 53, IDX= 505,-0.20,-0.595, 0.082,-2.255,-1.046, PHS= 0.539, 1.175,-1.212, RAW= 15.1, -4.7, CAL= 14.9, -7.9, ROT= 135.1, 7.9  T#Rx 90: Read range and direction messages. \direction in FSK: [0.149987,0.964497,0.217371] Fpublishing direction and range info 9I9i 9m @r2?yC(?( ?ym ZBi m 5m Q> m 8)m UIm 5im ?m ff?m "m V>m m %>)m 0 Im }@im 0 >i i m  ihп ,ם;\ *$&)m []Im a=im P?m ``i i checking for new query: numPingsReceived=90, elapsed TxPingTime=43.161564G BO5>w,"mWAymBm!IMb@Mb@Mb@ )Y rh?x&?{GzyC<7 ># )IZ@ypAIU*IU3٢m_= m=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from configx59?x5Y˜ i? >;?@eE;;ax5 Ak[ c?k ʣ k kB[iWA:kZBBkXBZk?"ņ;Y @ԘuITHJ@''@@r2?yC(?( ?JkP?Rk``* +krA@SH@D04@gnпPn?k??"kBB*k_kJ[?k 2kVBk#|?k- kթBk1JBk?U addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504395 s, deltaX: 0.200001 m, approachRate: 0.396516 m/s, rangeRepo size: 4  Added new target pos. range: 54.500000 m, bearing: 106.048038 deg, lat: 36.904946 deg, lon: -122.118930 deg, deltaT: 0.504395 s, deltaX: 0.200001 m, approachRate: 0.396516 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.50 m. jjjjihhhh Bffrf@K@bf@_?] >] >]?]?   #Il9 ɚ5i1I9I9iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=90, elapsed TxPingTime=43.370720D i9zK GLK K K KK *FU ?2FY :FY BF] r0JFa "Gy G} > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:09.0655  TRx dataTimestamp_ set to:1736376670.149104 PDAT read: Bearing 133.5, 7.3 (Local)  ~Local bearing/azimuth received: Bearing 133.5, 7.3 (Local)  DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0  DAT read: 22:51:09.0655 LVL= 14304, 16849, 15602, 21011, AGC= 55, IDX= 504,-0.36,-1.329,-0.703,-3.098,-1.821, PHS= 0.579, 1.164,-1.280, RAW= 16.8, -4.2, CAL= 16.5, -7.3, ROT= 133.5, 7.3 %Ygot valid direction response: 22:51:09.0655 LVL= 14304, 16849, 15602, 21011, AGC= 55, IDX= 504,-0.36,-1.329,-0.703,-3.098,-1.821, PHS= 0.579, 1.164,-1.280, RAW= 16.8, -4.2, CAL= 16.5, -7.3, ROT= 133.5, 7.3 %T#Rx 91: Read range and direction messages.5\direction in FSK: [0.137484,0.959975,0.244019] IIIUFpublishing direction and range info؉ 9؍ 牆?K?9ٍ Q ڍ r>)ڍ wIڍ @iڍ w>ډ ډ ۍ bj#BͿ_[="yA貿)ۍ ۩Iۍ Ve=iۍ ڶ?ۍ l|ۉ ۉ checking for new query: numPingsReceived=91, elapsed TxPingTime=43.655029GqBO?Ow,WAFo>YF3?F=9Fl ;>yFH?@ݿ? ?`? ڻ@h? hI?ɨFo>F;F CynBr!II]CI]3٢mXs u7=9uQ u>y G٣y< > Nusing accuracyPremultiplier from configx59?x5YJ i̹??@eE;;Vx5 AjH<bH<HR>IC I II݂BI =&I.I9D6I<:Iz Fkuի?ku8wq kq ku슉WA:ku3YBBkuWBZkuC?"uuz@z6J@ &*@u牆?K?9B*kuKmku:+?ku( 2kuBkuJ[?ku kuBku>JBku{?  addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.502909 s, deltaX: -0.200001 m, approachRate: -0.397688 m/s, rangeRepo size: 4 = Added new target pos. range: 54.299999 m, bearing: 107.314643 deg, lat: 36.904943 deg, lon: -122.118931 deg, deltaT: 0.502909 s, deltaX: -0.200001 m, approachRate: -0.397688 m/s, posRepo size: 4 EDNOT Ignoring new targets: 54.30 m. jAjAjAjAiIhIhIhIhIfQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=91, elapsed TxPingTime=43.874233frf`f&K@bf&?JJJJJ[:Jh:JJJg<Jg<JNi;JNi;]!]!]!]%/?== 9=?I=,9 AɚE+iAIAIIiIiI)I)D 9*Fi 2Fi :Fi BFm ^0JFi M Will construct direction to contact in vehicle frame from tetrahedron phase data.] DDAT read: Rx Time:22:51:09.5655 ] TRx dataTimestamp_ set to:1736376670.654321m PDAT read: Bearing 132.0, 7.2 (Local) u ~Local bearing/azimuth received: Bearing 132.0, 7.2 (Local)  DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 I DAT read: 22:51:09.5655 LVL= 14576, 16545, 14834, 19635, AGC= 55, IDX= 504, 0.22,-2.595,-2.032, 1.872,-3.122, PHS= 0.615, 1.137,-1.292, RAW= 18.2, -4.2, CAL= 18.0, -7.2, ROT= 132.0, 7.2  Ygot valid direction response: 22:51:09.5655 LVL= 14576, 16545, 14834, 19635, AGC= 55, IDX= 504, 0.22,-2.595,-2.032, 1.872,-3.122, PHS= 0.615, 1.137,-1.292, RAW= 18.2, -4.2, CAL= 18.0, -7.2, ROT= 132.0, 7.2 T#Rx 92: Read range and direction messages.\direction in FSK: [0.133976,0.954108,0.267822]%Fpublishing direction and range infoY 9] Y>#&?aY ?^i#?yY Y ] 8] @ ] 9)] LIY i] p?] 7?] B`] >Y ] |٠>)] I] r@i] >Y Y ] oʿT:=44ο)] `I] =i] p4?] ъY Y Echecking for new query: numPingsReceived=92, elapsed TxPingTime=44.157757G:BO ?w,FWAN>YNkt?N3=9NU:>yNH@?`ݿ?@>D?෵?p`v ?L?ɨN>N;NCy B !I)  p=a=Mb@Mb@Mb@ )Y{Gz?㥛 ?{Gzy#<>ףzA x@)~AIyzAIU.IU3٢N<  =92Q > G٣y< > Nusing accuracyPremultiplier from configx59?x5Y> i8??>;@@eE7;@;mx5 Akb?kՊ# k keWA:kBkZki?"ù@q6*nI@-@Y>#&?aY ?^i#?Jkp4?Rkъ*9k.mG@J6@a ҿ'70?-}5?"kn;B*ktkK#ꑜ?k 2kBkPG:?k  kVBkHBkx? addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.299999 m, bearing: 108.062174 deg, lat: 36.904939 deg, lon: -122.118935 deg, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.30 m. jjjjihhhhBffrfbfs?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=92, elapsed TxPingTime=44.378120]=?>]=?>]=N?]=@M3= IM Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:10.0654  TRx dataTimestamp_ set to:1736376671.161051 PDAT read: Bearing 131.1, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 131.1, 7.5 (Local)  DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 = DAT read: 22:51:10.0654 LVL= 13712, 16673, 16546, 20627, AGC= 50, IDX= 503, 0.09, 1.229, 1.756,-0.622, 0.673, PHS= 0.645, 1.130,-1.297, RAW= 19.1, -4.3, CAL= 18.9, -7.5, ROT= 131.1, 7.5 I II w,kWA}Ygot valid direction response: 22:51:10.0654 LVL= 13712, 16673, 16546, 20627, AGC= 50, IDX= 503, 0.09, 1.229, 1.756,-0.622, 0.673, PHS= 0.645, 1.130,-1.297, RAW= 19.1, -4.3, CAL= 18.9, -7.5, ROT= 131.1, 7.5 T#Rx 93: Read range and direction messages.\direction in FSK: [0.134905,0.949791,0.282309]ZFpublishing direction and range info)9-|rVD?Td?[X?y-XB)-5-!A -@)-PI-2i-%?-ף?--㭪>-` -[>)- I-p@i- >))-tX$Sȿ2U￟md)-R`I-SJ=i-?-͈))fchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.672188->Y?9=9,:>yH?@a9޿?˞?@L?@t\3n?`AM?ɨ->;騵CyB!II=SI=4٢Ə O=9 G٣yf< > Nusing accuracyPremultiplier from configx59? x5Yԗ i?  -@ @eEh<i<x5ӓB iAUEk-Rm?k- k) k-NWA:k-XBBk-SWBZk-?"-q\?@UqDI@';..@-|rVD?Td?[X?Jk-?Rk-͈*-_婋.~2G@ve H~7@-ҿ=d?h?"k-9B*k-]tk-w葜?k-G 2k-Bk-:+?k-( k-Bk-FBk-?HO>I I!IIBI =&I.I6I<:I addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506730 s, deltaX: -0.099998 m, approachRate: -0.197341 m/s, rangeRepo size: 4  Added new target pos. range: 54.200001 m, bearing: 108.221233 deg, lat: 36.904935 deg, lon: -122.118942 deg, deltaT: 0.506730 s, deltaX: -0.099998 m, approachRate: -0.197341 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfK@bf?] -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=93, elapsed TxPingTime=44.882076] ] ] -@JuJuJqJqJu:Ju$:JqJqJu <Ju <Ju~;Ju~;E9= 隍@I=9 ɚiIIii))BD-?:D%?D 9*F 2F :F BF P0JF G  G Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:10.5654 TRx dataTimestamp_ set to:1736376671.662754 PDAT read: Bearing 131.3, 7.4 (Local)  ~Local bearing/azimuth received: Bearing 131.3, 7.4 (Local) %DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 AIIuDAT read: 22:51:10.5654 LVL= 13920, 17089, 15186, 21187, AGC= 53, IDX= 503,-0.10,-0.063, 0.466,-1.878,-0.604, PHS= 0.629, 1.117,-1.277, RAW= 18.9, -4.3, CAL= 18.7, -7.4, ROT= 131.3, 7.4 Ygot valid direction response: 22:51:10.5654 LVL= 13920, 17089, 15186, 21187, AGC= 53, IDX= 503,-0.10,-0.063, 0.466,-1.878,-0.604, PHS= 0.629, 1.117,-1.277, RAW= 18.9, -4.3, CAL= 18.7, -7.4, ROT= 131.3, 7.4 T#Rx 94: Read range and direction messages.\direction in FSK: [0.135058,0.950894,0.278495]Fpublishing direction and range info9C(I?3m?Z~?y`6B R;)RI5i%!??t[> >) AIܩ@i A>,û)ȿBOFYQ)Iq=i?checking for new query: numPingsReceived=94, elapsed TxPingTime=45.161381G:BO?w,\d A b@)AI@yf@I2I?3٢  =9Q > G٣y > Nusing accuracyPremultiplier from configx59얜?x5Y i? >;{@@eEN;K;x5 Akgz鑜?k k kjWA:kBkRWBZkU?"G@I@'W0.@C(I?3m?Z~?Jk?Rk*2|cW.Wxr]= >]=?]={@I IM=IMj9 QɚU2iQIQIyiyi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=94, elapsed TxPingTime=45.386238Dҕ9zK] K] 9KY K] MK] ?|gI2  RK >JK >*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:11.0653  TRx dataTimestamp_ set to:1736376672.165081 PDAT read: Bearing 130.9, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 130.9, 7.7 (Local) I  DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0  DAT read: 22:51:11.0653 LVL= 13808, 16561, 13762, 18931, AGC= 51, IDX= 502,-0.34,-2.000,-1.494, 2.469,-2.554, PHS= 0.642, 1.107,-1.263, RAW= 19.3, -4.5, CAL= 19.1, -7.7, ROT= 130.9, 7.7  Ygot valid direction response: 22:51:11.0653 LVL= 13808, 16561, 13762, 18931, AGC= 51, IDX= 502,-0.34,-2.000,-1.494, 2.469,-2.554, PHS= 0.642, 1.107,-1.263, RAW= 19.3, -4.5, CAL= 19.1, -7.7, ROT= 130.9, 7.7  T#Rx 95: Read range and direction messages. \direction in FSK: [0.137675,0.948330,0.285861] Fpublishing direction and range infoؑ 9ؕ E0U?ʫ+X?Z:K?yؕ XBؑ ؕ 5ؕ @ ٕ 5)ٕ IIٕ 3iٕ Z$?ٕ -?ٕ ٕ iw>ٕ |٠ ڕ 㭪>)ڕ Iڕ y7@iڕ >ڑ ڑ ە boߟǿ_YƝ))ە Iە ks=iە ?ە Vnۑ ۑ - checking for new query: numPingsReceived=95, elapsed TxPingTime=45.658615GBO>}w,MXA%3>Y%?%g=9%;>y%H`q?޿K?`[#?@Qk?@k@2̹j>?cM?ɨ%3>%t;%CyuƂBu IIVIn4٢˭ .=9sQ > G٣ym< m> Nusing accuracyPremultiplier from configZHRH@AHK>I I!IIBI&I.I8D6I<:I Fux59閜?x5Y} i?6@@eE<<]x5 gA!kYiё?k)~ k k XA:kXBBkVBZk#?"u_@ښI@3yRx.@E0U?ʫ+X?Z:K?Jk?RkVn*>SM,/6#F@.{g7@{geyҿŔ>?7 ?"k7B*kfykuȑ?k~< 2kBkw葜?kJ kuBk^CBkf?) Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=95, elapsed TxPingTime=45.891563 1c~GJJJJJ:J&:JJJZ<J[<J1;J1; EYIyM)B addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.502327 s, deltaX: -0.200001 m, approachRate: -0.398149 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 108.728982 deg, lat: 36.904930 deg, lon: -122.118952 deg, deltaT: 0.502327 s, deltaX: -0.200001 m, approachRate: -0.398149 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjjih!h!-}@- BhAhIfIfIrfMK@bfU ?]]]]$6@g= pv=I9 ɚ1iIIii))2D *D rAD- 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:11.5653 I  TRx dataTimestamp_ set to:1736376672.670712 PDAT read: Bearing 129.3, 7.4 (Local)  ~Local bearing/azimuth received: Bearing 129.3, 7.4 (Local) m DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0  DAT read: 22:51:11.5653 LVL= 13984, 16945, 14434, 18835, AGC= 51, IDX= 502, 0.08, 1.956, 2.400, 0.066, 1.362, PHS= 0.682, 1.085,-1.299, RAW= 20.9, -4.3, CAL= 20.7, -7.4, ROT= 129.3, 7.4 *F ?2F :F BF 05JF "G >G > Ygot valid direction response: 22:51:11.5653 LVL= 13984, 16945, 14434, 18835, AGC= 51, IDX= 502, 0.08, 1.956, 2.400, 0.066, 1.362, PHS= 0.682, 1.085,-1.299, RAW= 20.9, -4.3, CAL= 20.7, -7.4, ROT= 129.3, 7.4  T#Rx 96: Read range and direction messages.\direction in FSK: [0.130203,0.941475,0.310922]Fpublishing direction and range info 9 +z?ߏ ?xֻ$?y  6 1B b8) II i .? H? E ú> ` >) AI m@i A> ru'ĿݦR}) [ݿI ]=i x? ࡾ checking for new query: numPingsReceived=96, elapsed TxPingTime=46.202515G3BO? w,ȗ5XAZ c>YZp ?Z=9Z?<>yZHH?q߿@?'k?@?8l 2H]?M?ɨZ c>ZMh;ZCybBb I)x xMb@Mb@Mb@ )Yy&1K? ףp= y`弙^=Q8 K@)QAIy@I-I-V83٢=I = =9=G^Q =>Aa mG٣iymЌ< u> }Nusing accuracyPremultiplier from configq}x59u=斜?x5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=96, elapsed TxPingTime=46.394764Yur iu?=;@@ueEus;u;urx5 Aku.?kuP4 kq ku*XA:kqBkqZkul?"ur)@GdykI@|.0@u+z?ߏ ?xֻ$?Jkux?Rkuࡾ*uxp/WPdF@D1ڜ9@u1aҿ-R!?! H?"kul4B*kuku!M?ku 2kuBku ?kuG kuBkuBBkul? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.505631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 109.530305 deg, lat: 36.904929 deg, lon: -122.118954 deg, deltaT: 0.505631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjjihhhhBffrfbf`?]==]==]=E?]=1@M= IMH=IM 9 QɚU3iQIQIyiyiy)y)zK-ƺMK-9K)K-NK-  D 9 IA M Will construct direction to contact in vehicle frame from tetrahedron phase data.I M =e DDAT read: Rx Time:22:51:12.0653 e TRx dataTimestamp_ set to:1736376673.177326} PDAT read: Bearing 129.4, 7.5 (Local) } ~Local bearing/azimuth received: Bearing 129.4, 7.5 (Local)  DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 *F ?2F :F BF O5JF 5 DAT read: 22:51:12.0653 LVL= 14384, 15057, 14866, 22243, AGC= 51, IDX= 501,-0.12,-1.111,-0.661,-3.003,-1.707, PHS= 0.684, 1.093,-1.299, RAW= 20.8, -4.4, CAL= 20.6, -7.5, ROT= 129.4, 7.5 = Ygot valid direction response: 22:51:12.0653 LVL= 14384, 15057, 14866, 22243, AGC= 51, IDX= 501,-0.12,-1.111,-0.661,-3.003,-1.707, PHS= 0.684, 1.093,-1.299, RAW= 20.8, -4.4, CAL= 20.6, -7.5, ROT= 129.4, 7.5 = T#Rx 97: Read range and direction messages.M \direction in FSK: [0.131900,0.941807,0.309196]u Fpublishing direction and range infoa 9e (?w H#?ɊD?ya a e 08e : e :)e VIa ie /?e m?a e ޹>e nF e X>)e Ie @ie >a a e `-zfĿGB￾w)e ݿIe =ie V@?e *a a  checking for new query: numPingsReceived=97, elapsed TxPingTime=46.695030GBO=>U"w,UXAH"F>I"C I" II"؂BI" =&I .I 6I"q<:I"e FBICJICRICZI =bI =jI5>Y ?M=9/=>yH@7?ܫ߿@? !?@I/?[( tf?M?ɨ>炉;騝CyMBU IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=97, elapsed TxPingTime=46.902153JBAJBAMb@Mb@Mb@ )YV-{Gz?yh#=L A @)AI@yG@IXI4٢ =9cQ > G٣y; > Nusing accuracyPremultiplier from configx59$▜?x5Yh i?= <)G@@4; 3;7x5  A kx?k Q k kOYKXA:kBkVBZk5 ?"Je"}@,mI@uS0@(?w H#?ɊD?JkV@?Rk**rr#0gьF@-18@  ӿ9Uܹ?[?"kf4B*kkM0?kR&5 2ktBkuȑ?k~< kBkABkH? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.506614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 109.689048 deg, lat: 36.904927 deg, lon: -122.118957 deg, deltaT: 0.506614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjji9h9h9hAhEBfAfArfIbfM>?]=]=]9(@])G@M=  >I 9 1ɚ=iAIAIii))BDEC?:DEN?D 9*F ?2F :F BF JF I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:12.5654  TRx dataTimestamp_ set to:1736376673.683214 PDAT read: Bearing 129.3, 8.1 (Local)  ~Local bearing/azimuth received: Bearing 129.3, 8.1 (Local)  DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0  DAT read: 22:51:12.5654 LVL= 14560, 16529, 15010, 21923, AGC= 50, IDX= 502,-0.23,-1.052,-0.610,-2.913,-1.653, PHS= 0.689, 1.090,-1.263, RAW= 20.8, -4.8, CAL= 20.7, -8.1, ROT= 129.3, 8.1  Ygot valid direction response: 22:51:12.5654 LVL= 14560, 16529, 15010, 21923, AGC= 50, IDX= 502,-0.23,-1.052,-0.610,-2.913,-1.653, PHS= 0.689, 1.090,-1.263, RAW= 20.8, -4.8, CAL= 20.7, -8.1, ROT= 129.3, 8.1  T#Rx 98: Read range and direction messages. \direction in FSK: [0.139632,0.940432,0.309984] Fpublishing direction and range infoؙ 9؝ Tu? R?4?y؝ XBؙ ؝ 8؝ @ ٝ :)ٝ UIٝ 2iٝ Nb0?ٝ ?ٝ ٙ ٝ ڝ >)ڝ Iڝ m@iڝ >ڙ ڙ ۝ H;4QĿS+B{ܹsX)۝ ZݿI۝ n=i۝ 1?۝ ^ۙ ۙ = checking for new query: numPingsReceived=98, elapsed TxPingTime=47.177711G :B O >w,rXAyUB] IIuUIu4٢ܽ W=9Q > G٣y > Nusing accuracyPremultiplier from configx59Hߖ?x5Yb i?@eEe:q:x5  Ak5)?k5a k1 k5ǹkXA:k5XBBk5QWBZk5?"5/ 9F@t}9@5ɪYҿbS?--3"?"k55B*k5|k5?k5: 2k5Bk5?k5: k5tBk5V@Bk5? addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.505888 s, deltaX: 0.200001 m, approachRate: 0.395346 m/s, rangeRepo size: 4  Added new target pos. range: 54.200001 m, bearing: 109.179621 deg, lat: 36.904924 deg, lon: -122.118963 deg, deltaT: 0.505888 s, deltaX: 0.200001 m, approachRate: 0.395346 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfK@bfV?]]]]A IM>`>IM9 IɚIiIIIIQiQiQ)Y)YMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=98, elapsed TxPingTime=47.406982JmJmJm0JiJm:Jm%:Jmـ3Jiau@au@au@au@D}9*F?2F:FBFP0JFG! G!zK= MK= 9K9 K= OK=  G} 3B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:13.0653  TRx dataTimestamp_ set to:1736376674.185182 PDAT read: Bearing 129.6, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 129.6, 9.0 (Local) - DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.1 &"w,XADAT read: 22:51:13.0653 LVL= 14576, 16321, 14898, 21107, AGC= 49, IDX= 501,-0.31, 2.673, 3.123, 0.841, 2.064, PHS= 0.697, 1.106,-1.226, RAW= 20.6, -5.4, CAL= 20.4, -9.0, ROT= 129.6, 9.0 Ygot valid direction response: 22:51:13.0653 LVL= 14576, 16321, 14898, 21107, AGC= 49, IDX= 501,-0.31, 2.673, 3.123, 0.841, 2.064, PHS= 0.697, 1.106,-1.226, RAW= 20.6, -5.4, CAL= 20.4, -9.0, ROT= 129.6, 9.0 *T#Rx 99: Read range and direction messages.2\direction in FSK: [0.151643,0.939944,0.305792]2Fpublishing direction and range info99=2y i?M'?&?y=XB9=8=? =2:)=sRI=1i=n2?=h?=휿=X>= =K>)=| I=@i=| >99=D",Ŀl_k4)=-޿I="=i=}?=U99>checking for new query: numPingsReceived=99, elapsed TxPingTime=47.6843762!>Y ? 5=9h=>yH ?`@E?@??4+n m?@M?ɨ2!>V;騭 Cy޽tB޽t Ii G٣y2< > Nusing accuracyPremultiplier from configx59ۖ?x5Y[ i?!%G@%@eE9;.;|x5  Ak=KCƑ?k= k9 k=ڋXA:k=XBBk=VBZk==?"=BN4` @9(`I@pdF0@=2y i?M'?&?Jk=}?Rk=U*='/rzDF@ʲ8@==emҿOr? 8q5?"k=5B*k=xHB>I I IIBI&I.I7D6I<:I Fk=Pq?k= 2k=Bk9k9k9k=H@Bk=?5 addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.501968 s, deltaX: -0.200001 m, approachRate: -0.398433 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 108.880361 deg, lat: 36.904924 deg, lon: -122.118963 deg, deltaT: 0.501968 s, deltaX: -0.200001 m, approachRate: -0.398433 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjjihhhhffrfK@bf $`?]1]1]1]5 G@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=99, elapsed TxPingTime=47.910149m 5= quB>I9 ɚWd3iIIii))D 9*F5 ?2F1 :F1 BF= 3JF9 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.4=-DDAT read: Rx Time:22:51:13.5652 5TRx dataTimestamp_ set to:1736376674.691941EPDAT read: Bearing 128.2, 8.8 (Local) M~Local bearing/azimuth received: Bearing 128.2, 8.8 (Local) mDAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 DAT read: 22:51:13.5652 LVL= 14544, 15921, 15010, 22003, AGC= 50, IDX= 500, 0.20,-0.050, 0.345,-1.922,-0.684, PHS= 0.723, 1.076,-1.241, RAW= 21.9, -5.2, CAL= 21.8, -8.8, ROT= 128.2, 8.8 Ygot valid direction response: 22:51:13.5652 LVL= 14544, 15921, 15010, 22003, AGC= 50, IDX= 500, 0.20,-0.050, 0.345,-1.922,-0.684, PHS= 0.723, 1.076,-1.241, RAW= 21.9, -5.2, CAL= 21.8, -8.8, ROT= 128.2, 8.8 V#Rx 100: Read range and direction messages.\direction in FSK: [0.145516,0.933898,0.326588]Fpublishing direction and range info)9-OB?-~?mGv?y-WB)-8-1> -:)-UI-2i-9?-^?-ٞ-E>-޹ ->)-nFI-f3@i-nF>))-¿e>) [B)-[8ۿI-dX=i-F?-~V))checking for new query: numPingsReceived=100, elapsed TxPingTime=48.192703GBO?+w,ԹXAn\>Yn?nԃ=9nM=>ynH W?'+9?`T??` Ƹk? N?ɨn\>n;nCyzgBzd IMb@Mb@Mb@ )YA`" rh)\(yٽCGa7 A @)AIx@yQ@Im6Imm3٢}U5 }=9ټQ > G٣y; < > Nusing accuracyPremultiplier from configx59ז?x5YT i? =;!@eESI;G;x5  d A kA^u?k  k kHXA:kWBBk VBZk27?"u3_@uO&+I@Wc1@OB?-~?mGv?JkF?Rk~V*| qڹZ/X\F@V9@3G.gҿ,lT>?:d{?"k2B*kzkdDm?k 2kBkk kBk,?Bke? addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.506759 s, deltaX: -0.099998 m, approachRate: -0.197329 m/s, rangeRepo size: 4  Added new target pos. range: 53.900002 m, bearing: 109.316587 deg, lat: 36.904924 deg, lon: -122.118967 deg, deltaT: 0.506759 s, deltaX: -0.099998 m, approachRate: -0.197329 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.90 m. jjjjihhhhҁBf!f!rf%@3J@bf%9?]e =]e =]eJ=S@]eȐp@ԃ= 隝{>IW9 ɚV 4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=100, elapsed TxPingTime=48.414295JJJ1JJl:J$:J3JD*F 2F :F BF 1JF zKM KKM 9KI KM PKM #--*)$"! BK] qA:KY 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:14.0651  TRx dataTimestamp_ set to:1736376675.193229 PDAT read: Bearing 127.2, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 127.2, 7.7 (Local)  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0  DAT read: 22:51:14.0651 LVL= 14944, 16177, 15026, 20643, AGC= 50, IDX= 499,-0.00,-1.860,-1.501, 2.477,-2.507, PHS= 0.735, 1.052,-1.302, RAW= 22.9, -4.4, CAL= 22.8, -7.7, ROT= 127.2, 7.7  Ygot valid direction response: 22:51:14.0651 LVL= 14944, 16177, 15026, 20643, AGC= 50, IDX= 499,-0.00,-1.860,-1.501, 2.477,-2.507, PHS= 0.735, 1.052,-1.302, RAW= 22.9, -4.4, CAL= 22.8, -7.7, ROT= 127.2, 7.7  V#Rx 101: Read range and direction messages. \direction in FSK: [0.129095,0.930855,0.341823] Fpublishing direction and range infoع 9ؽ 1?1?3Pm?yؽ VBع ؽ `:ؽ 1? ٽ :)ٽ PIٹ iٽ (ٽ nF ڽ %>)ڽ Iڽ q@iڽ >ڹ ڹ ۽  bNN!Ҝeڱ/dz)۽ ؿI۽ f=i۽ >l?۽ A۹ ۹ - checking for new query: numPingsReceived=101, elapsed TxPingTime=48.681904GYBqO>3w,YRH?R=9RC~<>yRH@_?5@\??`#?ٺ>Q? P?ɨRF>R;PyzZBzT IIU=IU=3٢mk m9=9mAQ m>qq uG٣qy}5; }> Nusing accuracyPremultiplier from configx594Ԗ?x5Y i?t!@ ;J;Hx5  Ak#x?k~Z k k]XA:kVBBkTUBZkI_?" A_ʺ@^SH@^j[2@1?1?3Pm?Jk>l?RkA*2507I~E@Zf:@d0Qӿ/zc#?#ov?"ks/B*kk=~?k t H ?>I C I  II BI  =&I .I 6I <:I x F2k&BkkR&5 kk6?Bk? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501288 s, deltaX: -0.200001 m, approachRate: -0.398974 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 110.281935 deg, lat: 36.904924 deg, lon: -122.118967 deg, deltaT: 0.501288 s, deltaX: -0.200001 m, approachRate: -0.398974 m/s, posRepo size: 4 %DNOT Ignoring new targets: 53.70 m. j!j)j)j)i1hyhyhhffrfJ@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=101, elapsed TxPingTime=48.922482]]]]@p@= z>I%B9 !ɚ%Y4i!I!IIiIiI)I)QD5 09*F ?2F :F BF |0JF "G >G > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:14.5652  TRx dataTimestamp_ set to:1736376675.697232 PDAT read: Bearing 126.9, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 126.9, 7.5 (Local)  DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0  DAT read: 22:51:14.5652 LVL= 16240, 15041, 14482, 19235, AGC= 52, IDX= 500,-0.14,-1.508,-1.162, 2.813,-2.160, PHS= 0.740, 1.045,-1.313, RAW= 23.2, -4.3, CAL= 23.1, -7.5, ROT= 126.9, 7.5  Ygot valid direction response: 22:51:14.5652 LVL= 16240, 15041, 14482, 19235, AGC= 52, IDX= 500,-0.14,-1.508,-1.162, 2.813,-2.160, PHS= 0.740, 1.045,-1.313, RAW= 23.2, -4.3, CAL= 23.1, -7.5, ROT= 126.9, 7.5  V#Rx 102: Read range and direction messages. \direction in FSK: [0.126004,0.929589,0.346392] Fpublishing direction and range info؉ 9؍ (`# ?Q0?UJK+?y؍ WB؉ ؍ p?؍ : ٍ 8)ٍ #KIٍ 4iٍ p=?ٍ …?ٍ bٍ 4Q>ٍ ` ڍ pl>)ڍ Iڍ @iڍ >ډ ډ ۍ Pz6[#fS-)ۍ QؿIۍ v=iۍ ѷ?ۍ &ۉ ۉ  checking for new query: numPingsReceived=102, elapsed TxPingTime=49.186844G:BO?;w,ԂXAj>Yj?j3X=9j<>yjH@?E@?w??ź[?dO?ɨj>j ;jCyUBO I)  =p= Mb@Mb@Mb@    ) Y Onÿ rh:vy  C T ~A @) I @ y  @I5[I5K!4٢c  =9@9Q > G٣y; > Nusing accuracyPremultiplier from configx59%ϖ?x5Y! i8?/>;b@eE;;x5! % A-WEk5-Jp?k5Zn k1 k5sXA:k5WBBk5VBZk5?"5Ǩ*@R/k I@q2@5(`# ?Q0?UJK+?Jk5ѷ?Rk5&*5sm0E@k|"a>:@5H( ӿk? ?"k5?/B*k5lk5Qf?k5a- 2k5طBk1k5 k5Bk5=Bk5Z? addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504003 s, deltaX: 0.200001 m, approachRate: 0.396825 m/s, rangeRepo size: 4 % Added new target pos. range: 53.900002 m, bearing: 110.553943 deg, lat: 36.904924 deg, lon: -122.118971 deg, deltaT: 0.504003 s, deltaX: 0.200001 m, approachRate: 0.396825 m/s, posRepo size: 4 %DNOT Ignoring new targets: 53.90 m. j!j!j!j!i)h)h)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=102, elapsed TxPingTime=49.422916haheBfafirfm@3J@bfm`29?J}J}JyJyJ}<:J}:JyJy]/>]/>]vd@]ށ@3X= >I29 ɚ  4i IIii))D B9zK MK 9K K QK RK ?JK ?*F ?2F :F BF `0JF Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DDAT read: Rx Time:22:51:15.0651 - TRx dataTimestamp_ set to:1736376676.2040845 PDAT read: Bearing 126.8, 8.3 (Local) 5 ~Local bearing/azimuth received: Bearing 126.8, 8.3 (Local) E DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 m DAT read: 22:51:15.0651 LVL= 13808, 15297, 14098, 19827, AGC= 53, IDX= 499,-0.45,-1.279,-0.944, 3.092,-1.934, PHS= 0.742, 1.037,-1.260, RAW= 23.2, -4.8, CAL= 23.2, -8.3, ROT= 126.8, 8.3 u Ygot valid direction response: 22:51:15.0651 LVL= 13808, 15297, 14098, 19827, AGC= 53, IDX= 499,-0.45,-1.279,-0.944, 3.092,-1.934, PHS= 0.742, 1.037,-1.260, RAW= 23.2, -4.8, CAL= 23.2, -8.3, ROT= 126.8, 8.3 u V#Rx 103: Read range and direction messages. \direction in FSK: [0.136040,0.927756,0.347508] Fpublishing direction and range info! 9% y(Pi?-?]fM=?y% VB! % 5% ; % 7)% sMI% 5i% =?% j?% G! % % 4Q>)% VI%  @i% V>! ! % v(%UcbR)% J4ؿI% 1=i% l?% ! !  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.692692Gu3BO?]Dw,QYA>YM?%=9=>yH`?`4RE?[?`Z?kҺڸ@y?M?ɨ>O͉;CZH!RH!H-;>I-C I-f II-iBI- =&I).I-6D6I-<:I- FyQBJ IIeJIe)4٢ =9C:Q >!) -G٣)y]s; e> Nusing accuracyPremultiplier from configx59ʖ?x5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=103, elapsed TxPingTime=49.926365Y iޣ?IMEM@eEԴ<<2x5Y ] AYk8$?k k k YA:kVBBkSUBZkM?"GF8@=ƑH@!A2@y(Pi?-?]fM=?Jkl?Rk**7_/A\E@微:@^ҿ^he_?X]?"k0/B*k~k"D񌑜?kP 2kBk"D񌑜?k t k&Bk6;Bk}? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.506852 s, deltaX: -0.200001 m, approachRate: -0.394594 m/s, rangeRepo size: 4 - Added new target pos. range: 53.700001 m, bearing: 109.977717 deg, lat: 36.904920 deg, lon: -122.118981 deg, deltaT: 0.506852 s, deltaX: -0.200001 m, approachRate: -0.394594 m/s, posRepo size: 4 5DNOT Ignoring new targets: 53.70 m. j1j1j1j1i1h1h9h9h9f9fArfEJ@bfe?]]]]N@%= 隽¤>IO9 ɚ>4iII i i ))2D*DD P9 I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:15.5652  TRx dataTimestamp_ set to:1736376676.706550 PDAT read: Bearing 126.4, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 126.4, 8.2 (Local) *F ?2F :F BF P0JF  DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 G% qA G! U DAT read: 22:51:15.5652 LVL= 14528, 14929, 14626, 20675, AGC= 54, IDX= 499, 0.46,-1.030,-0.709,-2.958,-1.693, PHS= 0.751, 1.031,-1.268, RAW= 23.6, -4.8, CAL= 23.6, -8.2, ROT= 126.4, 8.2  Ygot valid direction response: 22:51:15.5652 LVL= 14528, 14929, 14626, 20675, AGC= 54, IDX= 499, 0.46,-1.030,-0.709,-2.958,-1.693, PHS= 0.751, 1.031,-1.268, RAW= 23.6, -4.8, CAL= 23.6, -8.2, ROT= 126.4, 8.2  V#Rx 104: Read range and direction messages.\direction in FSK: [0.134121,0.925875,0.353224]Fpublishing direction and range info 9 HS/*?\Ġ?'>il7?y WB 8 Q: "9) PI 6i A@? ? M B> B>) CI 0 @i C> v_33yQ@f{##V) `׿I =i ? ָ =checking for new query: numPingsReceived=104, elapsed TxPingTime=50.226212GeBBiO?V"Mw,7YA6%>Y6[?6=96#!>>y6H?RP?`?^?ٺ츿@?`L?ɨ6%>6;6CyBZBBU II@UMb@Mb@Mb@QQQ Q)QYUgfffffƿZd;OI +yU33UjU94Q U@)UlAIUb@QyU@ImAImk3٢}= }$=9}u:Q }> G٣y9 > Nusing accuracyPremultiplier from configx59NƖ?x5Y  iC?hO>; @eE;;Xx5  Ak ˎ?kw! k k8-YA:kWBBkVBZk?"Ϊњ@/H@P 3@HS/*?\Ġ?'>il7?Jk?Rkָ*Hg/(zE@$ 7|;@|]mhO>]m h@]mK@= 隥>I9 ɚ5iIIii))Db9zKyJK9KKRK*F% ?2F! :F! BF% T0JF! I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:16.0650  TRx dataTimestamp_ set to:1736376677.211082 PDAT read: Bearing 125.9, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 125.9, 8.8 (Local)  DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0  DAT read: 22:51:16.0650 LVL= 14800, 16529, 13906, 19299, AGC= 55, IDX= 498, 0.12, 0.036, 0.333,-1.874,-0.640, PHS= 0.764, 1.021,-1.237, RAW= 24.0, -5.2, CAL= 24.1, -8.8, ROT= 125.9, 8.8  Ygot valid direction response: 22:51:16.0650 LVL= 14800, 16529, 13906, 19299, AGC= 55, IDX= 498, 0.12, 0.036, 0.333,-1.874,-0.640, PHS= 0.764, 1.021,-1.237, RAW= 24.0, -5.2, CAL= 24.1, -8.8, ROT= 125.9, 8.8  V#Rx 105: Read range and direction messages. \direction in FSK: [0.140412,0.922222,0.360266] Fpublishing direction and range infoر 9ص H?BOUׂ?DW?yص fVBر ص 9ص @ ٵ R6)ٵ cKIٵ 7iٵ C?ٵ !?ٵ Vٵ Pw>ٵ ޹ ڵ \>)ڵ nFIڵ @iڵ nF>ڱ ڱ ۵ FʖȀ~nwz_2)۵ EdֿI۵ Ѹ=i۵ ո?۵ ۱ ۱ G :B O5 >xTw,˾RYA*checking for new query: numPingsReceived=105, elapsed TxPingTime=50.752525ydBa IiI<AI@H9>I IS IIYBI&I.I6I<:Is FI3٢=(= =3=9=Q E>AA eG٣iym m> uNusing accuracyPremultiplier from configq}x59u–?}x5Yu iu?y@ueEu:un:u^x5 u Ak ̷?k n݋* k  k ^MYA:k fVBBk TBZk ?"  P@n >-H@?lO3@ H?BOUׂ?DW?Jk ո?Rk * .tdI]9 Yɚ]5iYIYIaiaii)i)iD L9 I *FM ?2FI :FI BFM O0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:16.5651  TRx dataTimestamp_ set to:1736376677.714177 PDAT read: Bearing 125.1, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 125.1, 7.8 (Local)  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 5 DAT read: 22:51:16.5651 LVL= 14144, 16225, 18882, 19811, AGC= 56, IDX= 499, 0.05, 0.713, 0.979,-1.277, 0.020, PHS= 0.781, 1.006,-1.300, RAW= 24.9, -4.5, CAL= 24.9, -7.8, ROT= 125.1, 7.8 = Ygot valid direction response: 22:51:16.5651 LVL= 14144, 16225, 18882, 19811, AGC= 56, IDX= 499, 0.05, 0.713, 0.979,-1.277, 0.020, PHS= 0.781, 1.006,-1.300, RAW= 24.9, -4.5, CAL= 24.9, -7.8, ROT= 125.1, 7.8 = V#Rx 106: Read range and direction messages.E \direction in FSK: [0.125715,0.919014,0.373644]E Fpublishing direction and range info 9 qn?5h?A?y VB @7 a? I) cMI 8i G? Ā? ff /> |٠ />) 'g I @i 'g > [KpՐ ᅩ) gԿI ͟=i ? ľ e checking for new query: numPingsReceived=106, elapsed TxPingTime=51.204479GBO ?\w,uYAF"۰>YF{?F=9F/=>yFH ?wa- ? o??@`@*~?L?ɨF"۰>FcE;FCy~oB~o I @ @ @  @ IOI 4٢0&= =9n?:Q > G٣y=; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx59=?x5Yh i̛?%+:!%T;%d %@eE); ?)x5) 5 A1kdXփ?kE$< k kmYA:kVBBkSUBZk?"5@&?H@ަω4@qn?5h?A?Jk?Rkľ*4/wE@j9c<@ ɯ ӿE?]p?"k+B*kkz?k/b4 2k{Bkkn kBk:Bk[^? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503095 s, deltaX: 0.100002 m, approachRate: 0.198774 m/s, rangeRepo size: 4 % Added new target pos. range: 53.700001 m, bearing: 110.417603 deg, lat: 36.904920 deg, lon: -122.118985 deg, deltaT: 0.503095 s, deltaX: 0.100002 m, approachRate: 0.198774 m/s, posRepo size: 4 -DNOT Ignoring new targets: 53.70 m. j)j)j)j)i)h)h1h1h1f1f9rf=J@bf=Q?= 隭|>IV9 ɚ=5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=106, elapsed TxPingTime=51.438168Dp9*F! 2F! :F! BF% P0JF! zK BoIK 9K K SK  RK >JK ? 9 IA } Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:22:51:17.0650  TRx dataTimestamp_ set to:1736376678.220003 PDAT read: Bearing 124.3, 8.1 (Local)  ~Local bearing/azimuth received: Bearing 124.3, 8.1 (Local)  DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0  DAT read: 22:51:17.0650 LVL= 16880, 16689, 19282, 20979, AGC= 57, IDX= 498, 0.20,-2.795,-2.561, 1.489, 2.777, PHS= 0.800, 0.993,-1.290, RAW= 25.6, -4.6, CAL= 25.7, -8.1, ROT= 124.3, 8.1  Ygot valid direction response: 22:51:17.0650 LVL= 16880, 16689, 19282, 20979, AGC= 57, IDX= 498, 0.20,-2.795,-2.561, 1.489, 2.777, PHS= 0.800, 0.993,-1.290, RAW= 25.6, -4.6, CAL= 25.7, -8.1, ROT= 124.3, 8.1  V#Rx 107: Read range and direction messages.% \direction in FSK: [0.127354,0.914279,0.384546]% Fpublishing direction and range infoؑ 9ؕ y"M? A?Z e?yؕ fVBؑ ؕ Aؕ 1A ٕ RK)ٕ QIٕ 9iٕ L?ٕ ?5~?ٕ ٕ >ٕ l ڕ L>)ڕ Iڕ - @iڕ >ڑ ڑ ە rzp8l)ە ҿIە =iە X?ە &ʾۑ ۑ = checking for new query: numPingsReceived=107, elapsed TxPingTime=51.747974GA BQ Om >Gdw,YAM4>YMf?M+ =9M<>yMH?;g?@ ??d+`?N?ɨM4>MM;MCyB IIHI<3٢%K= -7=9m:Q m>qq uG٣qy}: }> bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from configjHbH<H6>I IZ II^BI&I.I6I<:Io FBIUŸCJIU CRIU“CZIU =bIU =jIU5yx59}?x5Y}d i}Q? :+;U @}eE}<;<}?}x5 \ Akԟ?kDE k kYA:kfVBBkTBZk}-?"rN@%$&H@ V4@y"M? A?Z e?JkX?Rk&ʾ*,}]/?$QE@Hkq<@sڹҿZtt?*X?"k*B*kzk:?kuA> 2kkBk"D񌑜?k;" kݸBk9Bk^D? addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.505826 s, deltaX: -0.100002 m, approachRate: -0.197701 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 110.194864 deg, lat: 36.904920 deg, lon: -122.118989 deg, deltaT: 0.505826 s, deltaX: -0.100002 m, approachRate: -0.197701 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. j j jjihhAhQhQffrfJ@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J:J3JJi;aJj;aJA;aJA;a%checking for new query: numPingsReceived=107, elapsed TxPingTime=51.955124U+ = Q]|>I]X9 Yɚ]iYIYIaiaia)a)i2D*DDQ*F2F:FBFJF  I! GI BQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.u DDAT read: Rx Time:22:51:17.5651 } TRx dataTimestamp_ set to:1736376678.721193 PDAT read: Bearing 124.2, 8.1 (Local)  ~Local bearing/azimuth received: Bearing 124.2, 8.1 (Local)  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0  DAT read: 22:51:17.5651 LVL= 17616, 15825, 17650, 22499, AGC= 58, IDX= 498, 0.46, 1.691, 1.922,-0.330, 0.971, PHS= 0.808, 0.998,-1.304, RAW= 25.7, -4.6, CAL= 25.8, -8.1, ROT= 124.2, 8.1  Ygot valid direction response: 22:51:17.5651 LVL= 17616, 15825, 17650, 22499, AGC= 58, IDX= 498, 0.46, 1.691, 1.922,-0.330, 0.971, PHS= 0.808, 0.998,-1.304, RAW= 25.7, -4.6, CAL= 25.8, -8.1, ROT= 124.2, 8.1  V#Rx 108: Read range and direction messages. \direction in FSK: [0.126190,0.913758,0.386163] Fpublishing direction and range infoq 9u _&?9=?,Ʀ?yu VBq u Du = u D)u WIu :iu N?u |?u y馿u L>q u >)q Iu @iq q q u !,<.^v)u dҿIu =iu ?u ʾq q  checking for new query: numPingsReceived=108, elapsed TxPingTime=52.210171O >Jkw,%\YA~->Y~?~5I=9~ý<>y~H`?`g??v?@S X?`N?ɨ~->~Y;|y B  I)1 5A        Mb@Mb@Mb@ )Ysh|?ſ&1Mby)нMA @)@IK@y=@I<I3٢= (=99Q > G٣y >  Nusing accuracyPremultiplier from config x59 c?x5Y  i C?T:.J>;^@ eE ; ; x5! % A!k( ?k bG k k(YA:kVBBkSUBZkJ?"m @iΈH@sP 4@_&?9=?,Ʀ?Jk ?Rkʾ*POۆw/[s<PTE@nǽv<@C|ҿ8k?].J>]'Sl@]@5I= 隽>I9 ɚB4iIIii))D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=108, elapsed TxPingTime=52.447353*Fu?2Fq:FqBFu^0JFqG}rA G}rAG9 BA Oe >F0rw,-YAzKn&(KKnu9KlKnTKn !x BKt:Kt $?Iy%B% IIU/IU3٢%> b=9Q > G٣y > Nusing accuracyPremultiplier from configx59?x5Y0 i?@eE؛;";x5 A=B*** querying acoustic contact ***j9j9MDNOT Ignoring new targets: 53.70 m. jIjIjIjIiIhIhQuWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:18.0650 TRx dataTimestamp_ set to:1736376679.225167PDAT read: Bearing 124.1, 8.3 (Local) ~Local bearing/azimuth received: Bearing 124.1, 8.3 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 DAT read: 22:51:18.0650 LVL= 17392, 15073, 17346, 22707, AGC= 57, IDX= 498,-0.30,-1.104,-0.877,-3.108,-1.824, PHS= 0.808, 0.994,-1.286, RAW= 25.8, -4.8, CAL= 25.9, -8.3, ROT= 124.1, 8.3 Ygot valid direction response: 22:51:18.0650 LVL= 17392, 15073, 17346, 22707, AGC= 57, IDX= 498,-0.30,-1.104,-0.877,-3.108,-1.824, PHS= 0.808, 0.994,-1.286, RAW= 25.8, -4.8, CAL= 25.9, -8.3, ROT= 124.1, 8.3 V#Rx 109: Read range and direction messages. \direction in FSK: [0.129232,0.912965,0.387033]Fpublishing direction and range info؁9؅ڮ?77?C&?y؅fVB؁؅C؅: مC)مXIم9iفمv~?مم>م څq>)څVIڅ @iڅV>ځځۅ[dK9)ۅxҿIۅQ=iۅ?ۅy˾ہہ-checking for new query: numPingsReceived=109, elapsed TxPingTime=52.720352hhffrfJ@bf?]]]]  ?I9 ɚiIIii))D*F?2F:FBF}0JFH5>I I II}BI" =&I.I6I<:I F= Will construct direction to contact in vehicle frame from tetrahedron phase data.Je Je Je 0Ja Je :Je ':Je ـ3Ja Je <Je <Je ;Je ;G 3 checking for new query: numPingsReceived=109, elapsed TxPingTime=52.970108B Om >_xw,qYAyޕЂBޕ IMMb@Mb@Mb@III I)IYMV-¿l/$yMhMMMQA Mr@)MAIM=@IyIIu!Iui3٢l= /=9Q > G٣y > Nusing accuracyPremultiplier from configy591?y5Yڦ i~?_%>;Y@eEr];Z;0y5 IғB  AZEkUޚ?kɎK k k#iYA:kfVBBkTBZk?"@SЪwH@<䶾4@ڮ?77?C&?Jk?Rky˾* D/ǑPE@hao<@giҿGr?, ?"k*B*kxk{ޑ?k C 2kBk:?kuA> kkBkV6Bkz? addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503974 s, deltaX: -0.100002 m, approachRate: -0.198427 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 110.027382 deg, lat: 36.904921 deg, lon: -122.119000 deg, deltaT: 0.503974 s, deltaX: -0.100002 m, approachRate: -0.198427 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhhہBf!f!rf!bf%t?]e_%>]e_%>]eg@]e@@}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:18.5651 TRx dataTimestamp_ set to:1736376679.729187PDAT read: Bearing 123.8, 8.7 (Local) ~Local bearing/azimuth received: Bearing 123.8, 8.7 (Local) DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 DAT read: 22:51:18.5651 LVL= 15200, 14577, 15602, 20739, AGC= 56, IDX= 499,-0.10, 0.482, 0.695,-1.522,-0.251, PHS= 0.821, 0.994,-1.274, RAW= 26.1, -5.0, CAL= 26.2, -8.7, ROT= 123.8, 8.7 Ygot valid direction response: 22:51:18.5651 LVL= 15200, 14577, 15602, 20739, AGC= 56, IDX= 499,-0.10, 0.482, 0.695,-1.522,-0.251, PHS= 0.821, 0.994,-1.274, RAW= 26.1, -5.0, CAL= 26.2, -8.7, ROT= 123.8, 8.7 V#Rx 110: Read range and direction messages.\direction in FSK: [0.133149,0.910506,0.391471]Fpublishing direction and range info؁9؅yZ ?"? ?y؅VB؁؅`;؅8 م<)مQIم8iم-R?فمoمZ;>PExceeded connect timeout, disconnecting.م¸ څ >)څ|Iڅ3I @iڅ|>ځځۅ5TCy ͨs$N)ۅѿIۅ=iۅy?ۅ;ہہ checking for new query: numPingsReceived=110, elapsed TxPingTime=53.2195851 15>I=9 9ɚ=4i9I9IAiAiA)A)IBDu'?:Du*?D} Þ9E qAE qA*F ?2F :F BF V0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A5 checking for new query: numPingsReceived=110, elapsed TxPingTime=53.454319G=BBQOm ?Rw,΋ZA6u>Y6%?6$=96<>y6H (? !@?@1??@Aڸ6R? O?ɨ6u>6Q;6!CyBBB!IiF R8=9VQ V>TX ZG٣XyZI< Z> ^Nusing accuracyPremultiplier from config\by59^?fy5Y^o i^Z?dff@^eE^N;^;^ y5h nAlk."?ktaM k kYA:kVBBkRUBZk?"Ebٷ@PtrH@α5@yZ ?"? ?Jky?Rk;*<.NE@$ׇ<@d|l7mҿ8^2e? @&?"kw*B*k`wkʃ.?ktE 2kBkk% ? k»BkI6BkJ?5 addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504020 s, deltaX: 0.100002 m, approachRate: 0.198409 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 109.940570 deg, lat: 36.904921 deg, lon: -122.119001 deg, deltaT: 0.504020 s, deltaX: 0.100002 m, approachRate: 0.198409 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhffrf%J@bf% P?]Y]Y]Y]]G@$= 隍 ?IT9 ɚiIIii)) IzK?NK9KKUK5Om%2 Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:19.0650 TRx dataTimestamp_ set to:1736376680.237944PDAT read: Bearing 122.8, 8.7 (Local) ~Local bearing/azimuth received: Bearing 122.8, 8.7 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 mDAT read: 22:51:19.0650 LVL= 16560, 16081, 17842, 21491, AGC= 57, IDX= 498, 0.13, 0.189, 0.362,-1.837,-0.565, PHS= 0.842, 0.974,-1.275, RAW= 27.0, -5.0, CAL= 27.2, -8.7, ROT= 122.8, 8.7 uYgot valid direction response: 22:51:19.0650 LVL= 16560, 16081, 17842, 21491, AGC= 57, IDX= 498, 0.13, 0.189, 0.362,-1.837,-0.565, PHS= 0.842, 0.974,-1.275, RAW= 27.0, -5.0, CAL= 27.2, -8.7, ROT= 122.8, 8.7 uV#Rx 111: Read range and direction messages.\direction in FSK: [0.131292,0.904572,0.405601]Fpublishing direction and range infoء9إ0?7EG@?_?yإfVBءإ@إ> ٥E)٥SI٥9i٥PW?٥Xy?٥33٥:F>١ ڥ>)ڡIڥ>+ @iڡڡڡۥl,nB$3/ԄP)ۥ9ϿIۥ9=iۥȜ?ۥuվۡۡchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.748627D*F?2F:FBF_0JFH4>IC I IIBI&I.I6I<:Ik F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.J] J] JY JY J] :J] q:JY JY J] ;J] ;J] k;J] k; checking for new query: numPingsReceived=111, elapsed TxPingTime=53.976673G} :B O >Nw,"ZAf>Y.?k=9;>yH ? ?6??%ø??P?ɨf>i; CyB 2!IMb@Mb@Mb@ )YMbXˡE rhyʽ'CA )@I&@y@!!I-CI-3٢E= M=9M)Q U>QY ]G٣Yyei: e> uNusing accuracyPremultiplier from configq}y59u?y5Yu iuV?2=; @ueEu[j;ur;u y5 Ak-WH@meI5@-0?7EG@?_?Jk-Ȝ?Rk-uվ*-C\N.s+`E@Hf=@-;H;ҿ$'? 5w?"k-(B*k-Mtk-d?k-S 2k-۽Bk-{ޑ?k- C  Ik-Bk-5Bk- ? addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508757 s, deltaX: -0.100002 m, approachRate: -0.196562 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 109.919239 deg, lat: 36.904921 deg, lon: -122.119003 deg, deltaT: 0.508757 s, deltaX: -0.100002 m, approachRate: -0.196562 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhhBffrfJ@bf@?]E2=]E2=]E0b@]E@Uk= QU?I}9 yɚyiyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:19.5652 TRx dataTimestamp_ set to:1736376680.737305PDAT read: Bearing 122.2, 8.4 (Local) ~Local bearing/azimuth received: Bearing 122.2, 8.4 (Local) DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 EnManaging dock network, ignoring radio surface power offeDAT read: 22:51:19.5652 LVL= 19712, 17601, 20610, 24211, AGC= 58, IDX= 499, 0.38, 1.480, 1.627,-0.586, 0.711, PHS= 0.857, 0.964,-1.300, RAW= 27.6, -4.8, CAL= 27.8, -8.4, ROT= 122.2, 8.4 mYgot valid direction response: 22:51:19.5652 LVL= 19712, 17601, 20610, 24211, AGC= 58, IDX= 499, 0.38, 1.480, 1.627,-0.586, 0.711, PHS= 0.857, 0.964,-1.300, RAW= 27.6, -4.8, CAL= 27.8, -8.4, ROT= 122.2, 8.4 mV#Rx 112: Read range and direction messages.\direction in FSK: [0.125635,0.901334,0.414504]Fpublishing direction and range info9)R?Һѹ?(\;?yWBMD P)^I:iZd[?v?ffϢ> Ul>)Q I@iQ > K^2d?8\ =)lοI9=iU?ھ5checking for new query: numPingsReceived=112, elapsed TxPingTime=54.253155De 9*F ?2F :F BF P0JF G  G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=112, elapsed TxPingTime=54.462173G3B1Ou?̐w,WCZAe>Ye5?eW=9eV<>yeH@Ͽ??@L?E?] a@W?P?ɨe>e͈;eCy}3B}`!II.I3٢#> 4=9_YQ > G٣y; > Nusing accuracyPremultiplier from configy59?y5Y i}? @eEz::y5 Ak ?kVa k k0/ZA:kWBBkVBZk_?"649@QV{JH@ }W6@)R?Һѹ?(\;?JkU?Rkھ*4h&*/ `D@Qg>@_Q.ҿ:bt?Vy?"k'B*kQykAЇ?k%Z 2k[BkktE kBk5Bku?- addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.499361 s, deltaX: 0.300003 m, approachRate: 0.600774 m/s, rangeRepo size: 4 = Added new target pos. range: 53.900002 m, bearing: 110.388745 deg, lat: 36.904921 deg, lon: -122.119004 deg, deltaT: 0.499361 s, deltaX: 0.300003 m, approachRate: 0.600774 m/s, posRepo size: 4 EDNOT Ignoring new targets: 53.90 m. jAjAjAjAiAhIhIhQhQfQfQrf]@3J@bf]M ?]y]y]y]}U4@W= 隕?I9 ɚiIIii)) )I)zK¸ 5>)nFI{F@inF>!=￴BH1z)οI =i?4mܾD9checking for new query: numPingsReceived=113, elapsed TxPingTime=54.753593*Fm?2Fi:FiBFmV0JFiH 3>I  I !II BI ! =&I .I 6I <:I FGU :Bi O >w,>]ZAnWill construct direction to contact in vehicle frame from tetrahedron phase data.pipJJJ1JJ:J:J3JJ <J <J t;Jt;]checking for new query: numPingsReceived=113, elapsed TxPingTime=54.982719%>Y%L?%F=9%<>y%H@W? ?U?`t?+x`n\?TQ?ɨ%>%!;%CyRB!I) AMb@Mb@Mb@ )YQ~jth~jtyuDDMA S@)v@I5@yG@I,I3٢e= =9 'Q  >   G٣yU,; > %Nusing accuracyPremultiplier from config!-y59%`?-y5Y%( i% ?5z=5X<5s#5@%eE%4;%;%Wy59 =AAkЗ+?kxf k ksOZA:kVBBkRUBZk ?"G@!%H@06Oi6@-?E?6q?ՙõ?Jk?Rk4mܾ*ޟJJ.V<}D@>@^>ҿw?~p?"k 'B*ktk]N?k-^ 2kBkʃ.?kS k۽Bk3Bk?} addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504095 s, deltaX: -0.200001 m, approachRate: -0.396752 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 110.132139 deg, lat: 36.904921 deg, lon: -122.119010 deg, deltaT: 0.504095 s, deltaX: -0.200001 m, approachRate: -0.396752 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. I jjjjihhhhMBffrfJ@bf@?]%z=]%z=]%_BL@]%n@=F= 9=?I=9 9ɚ9i9IAIaiiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:20.5652 TRx dataTimestamp_ set to:1736376681.745505PDAT read: Bearing 121.2, 8.2 (Local) ~Local bearing/azimuth received: Bearing 121.2, 8.2 (Local) DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 DAT read: 22:51:20.5652 LVL= 17520, 16081, 17394, 22147, AGC= 57, IDX= 500,-0.24, 1.432, 1.535,-0.661, 0.643, PHS= 0.877, 0.939,-1.307, RAW= 28.6, -4.6, CAL= 28.8, -8.2, ROT= 121.2, 8.2 Ygot valid direction response: 22:51:20.5652 LVL= 17520, 16081, 17394, 22147, AGC= 57, IDX= 500,-0.24, 1.432, 1.535,-0.661, 0.643, PHS= 0.877, 0.939,-1.307, RAW= 28.6, -4.6, CAL= 28.8, -8.2, ROT= 121.2, 8.2 V#Rx 114: Read range and direction messages.\direction in FSK: [0.121443,0.894810,0.429613]Fpublishing direction and range info؉9؍l?-H?,z~?y؍WB؉؍pD؍> ٍC)ٍVIٍ9iٍ`?ٍNbp?ٍKٍr>ٍl ڍ?)ڍCIڍa@iڍC>ډډۍ㻘 Ķj@w)ۍ*̿Iۍ<=iۍ˷?ۍX\ۉۉ checking for new query: numPingsReceived=114, elapsed TxPingTime=55.236118DM 9*F ?2F :F BF P0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=114, elapsed TxPingTime=55.469940G 3B9O?w,@ZA]/7>Y]?]/T=9]x=>y]H1?`V? |k?.?@(᷿Xg?Q?ɨ]/7>]z;]CymqBm!II-I3٢> 1=9Q > G٣y; > Nusing accuracyPremultiplier from configy59h?y5Y i?A#@::`y5 Aka&?kP>r k k[oZA:kWBBkVBZkw?"Ύ.@vEGxH@.~'7@l?-H?,z~?Jk˷?RkX\*PvW/D@Ԟ>@ċ:ҿBM?QtS?"k?%B*kzk$ty?k.k 2k/Bkk%Z k[Bk2Bk? addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504105 s, deltaX: 0.200001 m, approachRate: 0.396744 m/s, rangeRepo size: 4  Added new target pos. range: 53.900002 m, bearing: 110.772423 deg, lat: 36.904921 deg, lon: -122.119012 deg, deltaT: 0.504105 s, deltaX: 0.200001 m, approachRate: 0.396744 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.90 m. jjjjihhhhf!f!rf%@3J@bf%܁?]I]I]I]MAn@}/T= 隅)?I9 ɚiIIii)) IzKV$KK9KKWK RK>JK>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:22:51:21.0651 ]TRx dataTimestamp_ set to:1736376682.249160mPDAT read: Bearing 121.2, 9.2 (Local) m~Local bearing/azimuth received: Bearing 121.2, 9.2 (Local) }DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 DAT read: 22:51:21.0651 LVL= 14864, 14817, 14786, 21027, AGC= 56, IDX= 499,-0.26, 2.222, 2.327, 0.156, 1.423, PHS= 0.888, 0.952,-1.269, RAW= 28.5, -5.3, CAL= 28.8, -9.2, ROT= 121.2, 9.2 Ygot valid direction response: 22:51:21.0651 LVL= 14864, 14817, 14786, 21027, AGC= 56, IDX= 499,-0.26, 2.222, 2.327, 0.156, 1.423, PHS= 0.888, 0.952,-1.269, RAW= 28.5, -5.3, CAL= 28.8, -9.2, ROT= 121.2, 9.2 V#Rx 115: Read range and direction messages.\direction in FSK: [0.133064,0.893483,0.428931]Fpublishing direction and range infoY9])Ad>?s:j?- Cs?y]VBY]:]9 ]9)]#RI]8i]Sc?]Fs?]n]>]q Y)]l$IYi]l$>YY],z[ϙ&3ґ-Q6$)]]M̿I]XH=i]h#?]^YYchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.737831D 9*F ?2F :F BF O0JF jH] <bH] <Hm 2>Ii  Im f!IIm 9BIi &Ii .Ii 6Im װ<:Im F)  1 I Y y sBG  Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=115, elapsed TxPingTime=55.977402BaOe?Vw,ZAE >YEo?E=9E.;>yEHE?1@d?a?? ]@h:>?iU?ɨE >E;AyUB]!II9I3٢= =9ŘQ > G٣y:<  > ENusing accuracyPremultiplier from configMy59?Uy5Y i)?ae"e@eE;;2y5q }AykuC?ku!r kq ku=ZA:kuVBBkuRUBZku?"uV @ZrG@Ř7@u)Ad>?s:j?- Cs?Jkuh#?Rku^*u.LD@?s_z>@u#q)Qҿ7!?;>?"kug%B*kuuku9ː?kudj 2kuBku9ː?ku-^ kuBku!2Bkup+? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503655 s, deltaX: -0.200001 m, approachRate: -0.397099 m/s, rangeRepo size: 4 % Added new target pos. range: 53.700001 m, bearing: 110.391036 deg, lat: 36.904921 deg, lon: -122.119014 deg, deltaT: 0.503655 s, deltaX: -0.200001 m, approachRate: -0.397099 m/s, posRepo size: 4 -DNOT Ignoring new targets: 53.70 m. j)j)j)j)i)h1h1h1h1f9f9rf=J@bf= 2? YIY]i]i]i]m8o@}= y}]!?I9 ɚiIIii))2D*DDm9MWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:22:51:21.5651 eTRx dataTimestamp_ set to:1736376682.754870uPDAT read: Bearing 120.8, 9.1 (Local) u~Local bearing/azimuth received: Bearing 120.8, 9.1 (Local) DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 DAT read: 22:51:21.5651 LVL= 13600, 14481, 12210, 17491, AGC= 55, IDX= 499,-0.30, 3.002, 3.091, 0.942, 2.201, PHS= 0.889, 0.937,-1.262, RAW= 28.9, -5.2, CAL= 29.2, -9.1, ROT= 120.8, 9.1 *F2F:FBFP0JF Ygot valid direction response: 22:51:21.5651 LVL= 13600, 14481, 12210, 17491, AGC= 55, IDX= 499,-0.30, 3.002, 3.091, 0.942, 2.201, PHS= 0.889, 0.937,-1.262, RAW= 28.9, -5.2, CAL= 29.2, -9.1, ROT= 120.8, 9.1  V#Rx 116: Read range and direction messages.\direction in FSK: [0.131785,0.891118,0.434213]Fpublishing direction and range infoY9]\5ƥP?En ?a% &?yYY] 5]8 ]/)]SDI]7i]c?];o?]7]^ ?]޹ ]w?)]"I]V@i]">YY]SW|Oa*^)] ˿I] 4=i]D?]YYchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.274929G- :B1 OU >tw,¡ZAy~B~!III[3٢-> -l=95Q 5?11 =G٣iym u? Nusing accuracyPremultiplier from configy59?y5Yb iۏ?@i;4;D y5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=116, elapsed TxPingTime=56.478153 HAk'1?kWv JJJJJ:J:JJa @a @a @a @k kOZA:kBkZkʠ?")N@u40G@e!67Q7@\5ƥP?En ?a% &?JkD?Rk*,c.)[ݖD@5cG>@>Z?ҿ4ى?*cf?"k$B*ktkR?kӹo 2kkBkkdj kBk{0Bk)?m addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 110.396470 deg, lat: 36.904921 deg, lon: -122.119019 deg, deltaT: 0.505710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihqhyhhffrfbf"0?]9]9]9]9 隵-?I9 ɚiIIii)) D9E5rAE5rA aIi*F?2F:FBFR0JFGqA GzKKKk9KKXK )u&PpT-`2m Will construct direction to contact in vehicle frame from tetrahedron phase data.u DDAT read: Rx Time:22:51:22.0651 } TRx dataTimestamp_ set to:1736376683.257194 PDAT read: Bearing 121.0, 9.6 (Local)  ~Local bearing/azimuth received: Bearing 121.0, 9.6 (Local)  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0  DAT read: 22:51:22.0651 LVL= 13968, 14801, 12786, 17651, AGC= 54, IDX= 498,-0.27, 1.956, 2.054,-0.062, 1.163, PHS= 0.881, 0.938,-1.229, RAW= 28.7, -5.6, CAL= 29.0, -9.6, ROT= 121.0, 9.6  Ygot valid direction response: 22:51:22.0651 LVL= 13968, 14801, 12786, 17651, AGC= 54, IDX= 498,-0.27, 1.956, 2.054,-0.062, 1.163, PHS= 0.881, 0.938,-1.229, RAW= 28.7, -5.6, CAL= 29.0, -9.6, ROT= 121.0, 9.6  V#Rx 117: Read range and direction messages. \direction in FSK: [0.138362,0.891713,0.430934] Fpublishing direction and range infoy 9} w$ڵ?x"?Uuy y } ). 􄗿'h-8ظ)} ̿I} =i} [?} *y y  checking for new query: numPingsReceived=117, elapsed TxPingTime=56.745487G B O >dw,#ZAN`>YNd,?N˱=9NL;>yNH? F?i?~?@QL`XH0?V?ɨN`>N@;NCyfBf"IIn*In3٢p= C=96Q > G٣y; > Nusing accuracyPremultiplier from configy59؜?y5Y i~?"@;;#y5 AkOâ?kpr H1>I I!II{BI =&I.I6I<:I FBICJICk kuZA:kBkZk3?"7,^@?_,GG@'<"$7@w$ڵ?x"?Uu@O]$ҿR]R?`3G?"kv%B*kskC򙑜?k=xj 2kBkR?k=xj kBkg0Bkb? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 110.205627 deg, lat: 36.904921 deg, lon: -122.119020 deg, deltaT: 0.502324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfbfm?]]]]zio@E˱= AE6?IEm9 IɚM84iIIIIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=117, elapsed TxPingTime=56.985306D]m9*F ?2F :F BF _0JF  9 I9 G B1 OU > w,YZAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:22.5652 TRx dataTimestamp_ set to:1736376683.761195PDAT read: Bearing 120.3, 9.7 (Local) "~Local bearing/azimuth received: Bearing 120.3, 9.7 (Local) 2DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 BDAT read: 22:51:22.5652 LVL= 14720, 15793, 13586, 19187, AGC= 54, IDX= 499,-0.26, 2.428, 2.501, 0.398, 1.621, PHS= 0.895, 0.927,-1.226, RAW= 29.3, -5.6, CAL= 29.7, -9.7, ROT= 120.3, 9.7 FYgot valid direction response: 22:51:22.5652 LVL= 14720, 15793, 13586, 19187, AGC= 54, IDX= 499,-0.26, 2.428, 2.501, 0.398, 1.621, PHS= 0.895, 0.927,-1.226, RAW= 29.3, -5.6, CAL= 29.7, -9.7, ROT= 120.3, 9.7 JV#Rx 118: Read range and direction messages.J\direction in FSK: [0.138306,0.887505,0.439552]NFpublishing direction and range info9J?pf?0p!?yWB9= 5)JIie?Om?휿? m?)-\-I[`@i-\->bMmmC￲k)ŸʿIFF=iF?Zchecking for new query: numPingsReceived=118, elapsed TxPingTime=57.251766>Y?=9;>yH o? *?`?u`?C[c<+?+Y?ɨ>$;騍CyÃB"I  a=Mb@Mb@Mb@ )YI +ˡE?I +y9'=94A )`@IyIIm?3٢< =9Q > G٣yA< >  Nusing accuracyPremultiplier from config y59隖?y5Ym id?C=<j)@@eE;;(y59 E{AAk!i?kߜw k kkZA:kWBBkVBZk?"9bB@eG@OV/7@J?pf?0p!?JkF?Rk*5Y%.Z-"D@xO}8?@u,IOҿl? b9?"k$B*kvkLl{?k#p 2k4Bk9ː?k.k k/BkY0Bkt? addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504001 s, deltaX: 0.200001 m, approachRate: 0.396826 m/s, rangeRepo size: 4  Added new target pos. range: 53.900002 m, bearing: 110.546382 deg, lat: 36.904921 deg, lon: -122.119020 deg, deltaT: 0.504001 s, deltaX: 0.200001 m, approachRate: 0.396826 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.90 m. j j j j i h hh1h5Bf9f9rf=@3J@bf=?]C=]C=] @]j)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=118, elapsed TxPingTime=57.486214= ?I 9 ɚ?4iIIii)) J%J%J%0J!J%:J%B:J%ـ3J!BD8?:D 9 I9 D 39*FE?2FA:FABFEO0JFI"GU>GQWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:23.0651 TRx dataTimestamp_ set to:1736376684.265726PDAT read: Bearing 119.3, 9.4 (Local) ~Local bearing/azimuth received: Bearing 119.3, 9.4 (Local) DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 DAT read: 22:51:23.0651 LVL= 14992, 12657, 16610, 20691, AGC= 53, IDX= 498,-0.42, 1.203, 1.234,-0.907, 0.358, PHS= 0.933, 0.923,-1.268, RAW= 30.2, -5.4, CAL= 30.7, -9.4, ROT= 119.3, 9.4 Ygot valid direction response: 22:51:23.0651 LVL= 14992, 12657, 16610, 20691, AGC= 53, IDX= 498,-0.42, 1.203, 1.234,-0.907, 0.358, PHS= 0.933, 0.923,-1.268, RAW= 30.2, -5.4, CAL= 30.7, -9.4, ROT= 119.3, 9.4  V#Rx 119: Read range and direction messages.\direction in FSK: [0.132227,0.881248,0.453781]Fpublishing direction and range infoؑ9ؕ~O~?v/3?kM ?yؕVBؑؕ:ؕq1 ٕ@)ٕPIٕ5iٕn?ٕIl?ٕMٕV?ٕ ڕ>+ ?)ڕ'IڕgB@iڕ'>ڑڑەGL>p?m_y←(I,t )ەȿIەM=iە?ەj'ۑۑ5checking for new query: numPingsReceived=119, elapsed TxPingTime=57.759102'}TFailed to parse incomplete device message.GQBaO#? w,mS[AZHyRHyH(I( I*!II*BI(&I(.I(6I*<:I* Fr>Yrdž?rzm=9r:>yrHc?`|@?~?@S?@tb`ƵY? ![?ɨr>r,;r Cy҃B#"II->I-3٢l= !=9gQ > G٣y; > =Nusing accuracyPremultiplier from config9Ey59=?Ey5Y= i=K?AE)@E@9=:=:=-y5q uAqk[?kCH\ k k[A:kVBBkRUBZk(?"W$g@(SYG@7^8@~O~?v/3?kM ?Jk?Rkj'*. 1D@Ǖ?@nvҿT??"k!B*kwkk{?k1  2kuBkkӹo kkBk/Bk?E addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504531 s, deltaX: -0.200001 m, approachRate: -0.396409 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.994675E Added new target pos. range: 53.700001 m, bearing: 110.984616 deg, lat: 36.904921 deg, lon: -122.119022 deg, deltaT: 0.504531 s, deltaX: -0.200001 m, approachRate: -0.396409 m/s, posRepo size: 4 uDNOT Ignoring new targets: 53.70 m. jyjjjihhhhf)f1rfeJ@bfej?]]]]Z)@zm=  ?I9 !ɚ%4i!I!I)i)i))))1 I] Will construct direction to contact in vehicle frame from tetrahedron phase data.m DDAT read: Rx Time:22:51:23.5651 m TRx dataTimestamp_ set to:1736376684.769264u PDAT read: Bearing 118.6, 9.5 (Local) } ~Local bearing/azimuth received: Bearing 118.6, 9.5 (Local)  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0  DAT read: 22:51:23.5651 LVL= 14608, 14321, 12850, 17699, AGC= 54, IDX= 498, 0.15,-0.494,-0.491,-2.591,-1.342, PHS= 0.936, 0.898,-1.252, RAW= 30.9, -5.4, CAL= 31.4, -9.5, ROT= 118.6, 9.5  Ygot valid direction response: 22:51:23.5651 LVL= 14608, 14321, 12850, 17699, AGC= 54, IDX= 498, 0.15,-0.494,-0.491,-2.591,-1.342, PHS= 0.936, 0.898,-1.252, RAW= 30.9, -5.4, CAL= 31.4, -9.5, ROT= 118.6, 9.5  V#Rx 120: Read range and direction messages. \direction in FSK: [0.131110,0.876501,0.463202] Fpublishing direction and range infoi 9m Uź9?&VK ? ӹ?yi i m 9m 7 m 22)m #EIm 6im o?m Te?m Am  ?i m K ?)m )Im ;z@im )>i i m '.ZA?F t9,)m ǿIm =im ]?m i i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.D S9*Fu ?2Fy :Fy BF} )5JFy G3B!O=?<'w,?[AnWill construct direction to contact in vehicle frame from tetrahedron phase data.rYm7?m=9m]:>ymH`F?wp?`? 3?Tj?D]?ɨmw>m!;iy=փB=("IiYI]p;iiMb@Mb@Mb@ )YMbP?I +?~jty:9=A /@)@I@y@I-I-m?3٢E`E< E<9M }Q M>II UG٣QyU < U> eNusing accuracyPremultiplier from configYey59]??my5Y]Ϫ i] ?mc=m*P/#C@NIc %@@:ۨҿUߘU?6=?"kB*kzk~n?k,N 2kjBkLl{?k#p k4Bkp/Bk? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 53.700001 m, bearing: 111.400703 deg, lat: 36.904920 deg, lon: -122.119022 deg, deltaT: 0.503538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 53.70 m. j)j)j)j1i1h1h1h9h=Bf9f9rfAbfE P?]c=]c=]?]܉ @= 隽?IK9 ɚ-5iII Iii))Dt9Will construct direction to contact in vehicle frame from tetrahedron phase data.@DAT read: Rx Time:22:51:24.060 TRx dataTimestamp_ set to:1736376685.273261LDAT read: ering 117.3, 8.5 (Local) zLocal bearing/azimuth received: ering 117.3, 8.5 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 DAT read: 22:51:24.0650 LVL= 15248, 12881, 15970, 19523, AGC= 53, IDX= 497,-0.03, 3.123, 3.066, 0.933, 2.244, PHS= 0.967, 0.869,-1.314, RAW= 32.2, -4.7, CAL= 32.7, -8.5, ROT= 117.3, 8.5 Ygot valid direction response: 22:51:24.0650 LVL= 15248, 12881, 15970, 19523, AGC= 53, IDX= 497,-0.03, 3.123, 3.066, 0.933, 2.244, PHS= 0.967, 0.869,-1.314, RAW= 32.2, -4.7, CAL= 32.7, -8.5, ROT= 117.3, 8.5 R#Rx 1: Read range and direction messages.\direction in FSK: [0.115630,0.868514,0.481988]Fpublishing direction and range infoؑ9ؕFT??h4?yؕfVBؑؕ;ؕQ2 ٕb>)ٕCLIٕ5iٕPw?ٕv^?ٕ'1ٕ?ٕ ڕ?)ڕIڕ~@iڕ>ڑڑەؕ5lc?ڎmH)ەx2ĿIەը=iە?ەۑۑ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.*F! 2F! :F! BF% P5JF! zK- *NK) K) K- ZK-    HU 0>IQ  IU ("IIU փBIU " =&IQ .IQ 6IU Ѱ<:IU FG% BB9 O] >uw, [[AF[I>YF ?F=9Fe:>yFH 7?lS?L*?"?@hڴ`!?]?ɨF[I>Fll;FCyL`Ij5Ij3٢#: u=9%7CQ %?)1 5G٣1y]*< e? mNusing accuracyPremultiplier from configamy59e˔?uy5Ye$ ie?qu @u@eeEej:e:e5y5 @ksS?k k k}Q[A:kfVBBkTBZk;?"G@K FG@~89@FT??h4?Jk?Rk*!"0ڇGpC@ee ٛ@@R0ӿcq5?:Y?"kB*kkdJ?kU 2kEBkk{?k1  kuBk,Bkq?5 addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503997 s, deltaX: -0.100002 m, approachRate: -0.198418 m/s, rangeRepo size: 4 e Added new target pos. range: 53.599998 m, bearing: 112.458225 deg, lat: 36.904919 deg, lon: -122.119030 deg, deltaT: 0.503997 s, deltaX: -0.100002 m, approachRate: -0.198418 m/s, posRepo size: 4 eDNOT Ignoring new targets: 53.60 m. jajijijiiqhhhhffrfJ@bfG?Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:24.5651 TRx dataTimestamp_ set to:1736376685.528626%ډ ډ ۍ *Nj?e5s U:)ۍ rĿIۍ 2=iۍ :Ƕ?ۍ :ۉ ۉ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.G] :Bi O >hw,u[A~+>Y~?~"=9~~9>y~H`,?` |w?:??@T_~@? _?ɨ~+>~>;~ Cyލ׃Bލ)"IMb@Mb@Mb@ )YMb`Zd;O?y&1yj=`A E@)@Iyz@I%;I%&3٢5y; 5*=95@Q =>aa mG٣iyu ; u> Nusing accuracyPremultiplier from configy59y?y5Y* iC?= <c @@r <<$:y5 %@!kLb?k< k kq[A:kVBBkRUBZkJ?"gg@+5@zTG@;?"e>9@g?qT ? V$?Jk:Ƕ?Rk:*\ɟa/xC@,]Ԉ@@n"ҿfy$^?4:ݶ?"kB*k}kX?k 2kBk~n?k,N kjBkU+Bk?5 addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502552 s, deltaX: 0.100002 m, approachRate: 0.198989 m/s, rangeRepo size: 4 E Added new target pos. range: 53.700001 m, bearing: 112.035361 deg, lat: 36.904917 deg, lon: -122.119035 deg, deltaT: 0.502552 s, deltaX: 0.100002 m, approachRate: 0.198989 m/s, posRepo size: 4 MDNOT Ignoring new targets: 53.70 m. jIjIjIjIiIhWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:22:51:25.0650 TRx dataTimestamp_ set to:1736376686.032738J J J 0J J <:J p:J ـ3J EPDAT read: Bearing 117.1, 9.4 (Local) M~Local bearing/azimuth received: Bearing 117.1, 9.4 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 hhhBffrfJ@bf`\?5DAT read: 22:51:25.0650 LVL= 13200, 12913, 14930, 18803, AGC= 52, IDX= 496, 0.30,-1.442,-1.499, 2.696,-2.324, PHS= 0.969, 0.871,-1.266, RAW= 32.2, -5.3, CAL= 32.9, -9.4, ROT= 117.1, 9.4 =Ygot valid direction response: 22:51:25.0650 LVL= 13200, 12913, 14930, 18803, AGC= 52, IDX= 496, 0.30,-1.442,-1.499, 2.696,-2.324, PHS= 0.969, 0.871,-1.266, RAW= 32.2, -5.3, CAL= 32.9, -9.4, ROT= 117.1, 9.4 =R#Rx 1: Read range and direction messages.]M=]M=]M?]M c @\direction in FSK: [0.126152,0.866588,0.482815]Fpublishing direction and range info9x%?pǎ?>:Ӗp?yfVB3q2 R:)sII4ibx?^?J ?q ?)'IM@i'>jM>ǣ?uC4Tz)JĿIfq=i?a 2Acoustic response timeout]"= (?I19 ɚ5iIIii))BD F?:D @?= Querying Benthos address 50 with one ping in standard two-way mode. $?I D% 9e Will construct direction to contact in vehicle frame from tetrahedron phase data.m Y2?2=9239>y2H{? `h?Q??^==? f`?ɨ2k;>2;2Cy~ӃB~$"I)   a=I'I@3٢-s 5=95uQ =>99 =G٣9yE; E> MNusing accuracyPremultiplier from configIUy59Mۏ?Uy5YM iM?Y] @]@MeEM;M;M>y5eѓB e@e]Ek}3a?k} ky k}a[A:k}fVBBk}TBZk}{?"}b @*II}9G@>9@}x%?pǎ?>:Ӗp?Jk}?Rk}a*}T7//wY6?6D=96y:>y6H?]? v? ?*ѳ?O`?ɨ6*>6;6CyBуBF""IMb@Mb@Mb@ )YˡE(\µ?V-y'=lA @)I@y@I5*I53٢= E!=9E VQ M>II MG٣IyU0< U> ]Nusing accuracyPremultiplier from configYey59]3?ey5Y]l i]ߌ?1=<:(@@]eE]<5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDDAT read: Rx Time:22:51:26.0648 UTRx dataTimestamp_ set to:1736376687.040566}PDAT read: Bearing 116.4, 9.5 (Local) ~Local bearing/azimuth received: Bearing 116.4, 9.5 (Local) DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 ]<]PCy5 A-X#Rx 1: Read range message, but no direction.IyM3UBI -2Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.- addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 1.007828 s, deltaX: -0.299999 m, approachRate: -0.297669 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 53.60 m. jQjQjYjYiYhYhYhahe`Bfafarfe`fJ@bfm7?]1=]1=]fK@]:(@D= R8?I89 ɚS5iII i i ) )12D=qA*D=qAD 9EqAE I*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:51:26.0648 LVL= 13376, 12065, 11170, 15731, AGC= 50, IDX= 511,-0.20, 1.485, 1.398,-0.695, 0.577, PHS= 0.996, 0.868,-1.276, RAW= 32.9 5.4, CAL= 33.6, -9.5, ROT= 116.4, 9.5  9unknown deviceResponse_: 22:51:26.0648 LVL= 13376, 12065, 11170, 15731, AGC= 50, IDX= 511,-0.20, 1.485, 1.398,-0.695, 0.577, PHS= 0.996, 0.868,-1.276, RAW= 32.9 5.4, CAL= 33.6, -9.5, ROT= 116.4, 9.5  =>=861,)$"  G! B1 OM >w,[Aj >YjG?j*=9j;>yjHT?`@&p?`+?@o?@T@:>?@^?ɨj >jh͈;jCH/>I IG"IIBI&I.I5D6I<:I Fy޵B޵"ING9Q HYyBII3٢% 6=9pQ > G٣y; > %Nusing accuracyPremultiplier from config!-y59%݈?-y5Y%צ i%J?15X(@5@%eE%:%:%YGy59 =A9mDNOT Ignoring new targets: 53.60 m. jijijijiiihihqhqhqfqfyrfybf}`sG?]]]]X(@*= 隵k0?I: ɚf5iIIii))DƧ9MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQJJJ1JJ\:JU:J3JJ?|Uod?tML?U ?yUB0613 4)3@I3i%?5^Z?ʡ? Ľ @?)-\-I<@i-\->G?JNK(T>v)=I5=i8?` 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. I G B O >lw,gc[A6F>Y6 ?6#m=96?<>y6H@6;6Cy>B>"IiF    G٣ y; u> }Nusing accuracyPremultiplier from configyy59}҅?y5Y} i}f?D=<yA@@y};};}Jy5 AkM|g?kM9Y kI kMV[A:kMUBBkM!TBZkM?"Mb8x@#F@?2uN:@M 联>?|Uod?tML?U ?JkM8?RkM`*MΒ{N/3w'yC@A@MVҿY?V5g?"kM+B*kMwzkM^?kM[u 2kMBkIkM kM5BkM'BkM0? addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.527243 s, deltaX: 0.100002 m, approachRate: 0.189670 m/s, rangeRepo size: 4  Added new target pos. range: 53.400002 m, bearing: 112.366776 deg, lat: 36.904915 deg, lon: -122.119044 deg, deltaT: 1.535071 s, deltaX: -0.199997 m, approachRate: -0.130285 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhhhGBffrf@3J@bfQ0?]ED=]ED=]EL@]EyA@]#m= Y]:?I]: Yɚ]5iIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.}DDAT read: Rx Time:22:51:27.0647 TRx dataTimestamp_ set to:1736376688.049950PDAT read: Bearing 115.5, 9.6 (Local) ~Local bearing/azimuth received: Bearing 115.5, 9.6 (Local) DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.؁y؅fTB؁  2Acoustic response timeoutD= {9 Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF 0JF I G%3B1OM?+w,9~\A6a>Y6\?67=96<>y6H?\z? ?`5?@J@h?`]?ɨ6a>6;6 CyBBB!IIN5IN3٢Rhc V3=9ViZWill construct direction to contact in vehicle frame from tetrahedron phase data.rDAT read: 22:51:27.0647 LVL= 15056, 14113, 13394, 18355, AGC= 51, IDX= 510, 0.17,-2.940,-3.061, 1.159, 2.423, PHS= 1.008, 0.847,-1.267, RAW= 33.6, -5.4, CAL= 34.5, -9.6, ROT= 115.5, 9.6 vYgot valid direction response: 22:51:27.0647 LVL= 15056, 14113, 13394, 18355, AGC= 51, IDX= 510, 0.17,-2.940,-3.061, 1.159, 2.423, PHS= 1.008, 0.847,-1.267, RAW= 33.6, -5.4, CAL= 34.5, -9.6, ROT= 115.5, 9.6 vX#Rx 1: Read direction message, but no range.z\direction in FSK: [0.125107,0.855157,0.503045]X9Z\C}?tr]? a?XZ:Z!7 ZR4)ZGIXiXZX?Z-ZQ ?Z Z%?)Z+IZ@iZ+>XZN)?i8Ⱦ[)ZIZ =iZw?ZC  G٣yN; > Nusing accuracyPremultiplier from config 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.y59?y5Y iJ?zKtMK9KK]KRK>JK?A@ @eEMX<wX<Ny5 Ak2md?kj k ka2\A:kfTBBkRBZkp?"bK@XTF@32:@\C}?tr]? a?Jkw?RkC*n L/>"B@uQum@@s-ZҿuǺ??z?"kB*k`zk \[?kF 2kBkkU kEBk,'BkH? addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.482141 s, deltaX: -0.300003 m, approachRate: -0.622231 m/s, rangeRepo size: 4  Added new target pos. range: 53.099998 m, bearing: 112.550878 deg, lat: 36.904915 deg, lon: -122.119046 deg, deltaT: 0.482141 s, deltaX: -0.300003 m, approachRate: -0.622231 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.10 m. jjjji)h)h)h)h1f1f1rf5̌J@bf5?]]]]BA@ZH!RH%?AH1I1 I55"II5BI1&I1.I16I5<:I5s FBIJIRIZI" =bIjI5}7= 隅a4?I9 ɚ5iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.uDDAT read: Rx Time:22:51:27.5649 uTRx dataTimestamp_ set to:1736376688.549572}DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.qyuUBq 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.JKO3 K(.KK"KJJJJJ:J9:JJJ;J;D 9JX`;JY`;*F ?2F :F BF 0JF I GB!O=> w,u1\A6S>>Y6?6C=96W;>y6H? g???@Һ`L?^?ɨ6S>>6H;6CyHH)L LjWill construct direction to contact in vehicle frame from tetrahedron phase data.n11 5G٣9y= => ENusing accuracyPremultiplier from configAey59EW}?ey5YE iE?e=e;m16m@EeEEG;E;E\Sy5q uAq% addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.499622 s, deltaX: 0.300003 m, approachRate: 0.600460 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 53.10 m. j)j)j)j)i)h)h)h1h5%Bf1f1rf=@3J@bf=c?]}=]}=]}7@]}[@C= E?I9 ɚ 6iIIii))Du9*F ?2F :F BF Q5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՉ,DAT read: user:2933> Ew,;:K\A:ԋ>Y:A?:Y_=9:j;>y:H?"g?? ? F?"_?ɨ:ԋ>:; DID:CyNBN!IIV(IV̍3٢bґ be=9f9Q f>dd jG٣hyjZ: j> nNusing accuracyPremultiplier from configlry59nz?ry5YnV in?tv'6v@neEn":n:nzVy5x zyAx%DNOT Ignoring new targets: 53.10 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf=cN?]Y]Y]Y]]P[@mY_= qu>?IuL: qɚun6iqIIii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:51:28.4651 $Ping request sent.IA IE""IIEуBIE# =&IA.IA6IEŰ<:IE FGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250241J J J 0J J :J :J ـ3J J '<J (<J 9P;J :P;w,]e\Au>Yu?uٛ=9u{:>yuH?D?{??avZ?7a?ɨu>u;u!CyޕBޕ!I qIqMb@Mb@Mb@ )YM¿I +?V-yn94<@ )C@I@yf@II٢ <   =9 Q > G٣yk$ > -Nusing accuracyPremultiplier from config!5y59%t?5y5Y%K i%?5>5;5i(5@%eE%@;%.;%Zy5A EVAAmDNOT Ignoring new targets: 53.10 m. jijijijqiqhqhqhyh}Bfyfyrfybf^?]>]>]&D@]i@ٛ= 隽Y?I: ɚ%6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502463D 9*F ?2F :F! BF% P5JF! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754278GBO?i!w,\AN,g>YN/?N_=9NB>yNH '? !#?ූ?O?LG 5 ?V?ɨN,g>N ;NCyVBV!Ii^pp rG٣pyv ; v> ]Nusing accuracyPremultiplier from configQ]y59U%p?]y5YU iU?aeo(e@UeEU:U.:U^y5i vADNOT Ignoring new targets: 53.10 m. jjjjihhhhffrfbfѳ?]i]i]i]mi@}_= 隅W?IO: ɚ%46iIIii)) $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009880D(9zKJQJK-9KK_K   RK?JK>*F} ?2F :F BF O5JF H I  I "II ƒBI " =&I .I 6I <:I FGA BQ Om > (w,+\A^p>Y^"?^r=9^@>y^H?y ? ?J?1?X?ɨ^p>^b;^ CyfBf!IIrIr(1zWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258366٢vu 9=9 `Q  >   G٣y- > Nusing accuracyPremultiplier from config%y59k?%y5Y JUJUJQJQJU :JUU:JQJQJU<JU<JUe;JUe;i4?am(m@eE!<!<iby5q uAu`EDNOT Ignoring new targets: 53.10 m. jjjjihhhhffrfbf@CQ@]]]]ԟi@r= U?I: ɚB6i!I!I)i)i))1)1 IDe^9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764*F ?2F :F BF R5JF G  G qAG!B1OM>50w,\AyzB~!IMb@Mb@Mb@ )YOnÿ{GzS㥛y#/ݼ`@ @)@I@yz@IIV83٢O< &=9Q > G٣y > Nusing accuracyPremultiplier from configy59f?y5Y i?f>;Q@eEB;;fy5 sA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590DNOT Ignoring new targets: 53.10 m. jj!j!j!i!h!h)h)h-ЁBf)f1rf1bf5_/@]Uf>]Uf>]UYM@]U`r@   h?I (: ɚQ6iIIii))BDM.?:DM7? ID69*F9 2F9 :F9 BF= A5JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data. ? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015675zK LK 9K K `K H ,>I C I "II BI # =&I .I 6I A<:I FG% 3B1 OM >6w,\An9{>Yn?nX#=9n=>ynH ?K?p?`?@@3?\]?ɨn9{>nnu;nCy B !I)  =p=I%5I%3٢5< 5B=9=:Q =>99 =G٣AyE0 E> MNusing accuracyPremultiplier from configIUy59MOb?Uy5YM iM2?Y]]@MeEMG;M6;M\jy5a eQAaDNOT Ignoring new targets: 53.10 m. jjjjihhhhffrfbf`@]]]]r@UX#= QUk?IU: QɚUa6iQIYIYiaia)a)aDA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267476JaJeAA*F?2F:FBFP0JF IG:BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518379<w,M\Ay B !IMb@Mb@Mb@ )Y/$ÿQ~jtyuļv@ )Ij@yIIF3٢ < B=9Q > G٣y > Nusing accuracyPremultiplier from configy59^?y5Y+ id?T>;\@eE;; ny5 .A-DNOT Ignoring new targets: 53.10 m. j)j)j1jihhhhفBffrfbf` @]T>]T>]QO@] t@9 9=h?I=v: 9ɚ=p6i9IAIAiAiI)I)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:51:30.9404 J}J}J}1JyJ}\:J}:J}3Jya@a@a@a@TRx dataTimestamp_ set to:1736376692.082918checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780771D29*F?2F:FBFJF I GQ BY O} >LDw,]A2>Y2^?2*=92;>y2H ?,?u? ?M6 @H?`?ɨ2>29Y;2 Cy>B>!IIJ-IJ3٢R-m< RJ=9R8Q R>TT ZG٣XyZ: Z> ^Nusing accuracyPremultiplier from config\by59^Y?by5Y^5 i^?dfLf@^eE^ ;^ ;^qy5h jAlDNOT Ignoring new targets: 53.10 m. jj j j i hhhhffrfbf@$@]9]9]9]= t@M*= QUvj?IU: QɚU~6iQIQIYiYiY)a)amWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0223592D *D rAzKBoIK9KKaKHe->IeC IaIaIe" =&Ia.Ia6IeͰ<:Ie F)ſ= c~G) U;YYye4BD-D9*F?2F:FBFJF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275671 I G B O >Jw,),]A2^>Y2-+?21=92iW;>y2H?|`*(?@3|?`?!8?`?ɨ2^>2q;2Cy>ÃB>"IiN)>IN=Mb@Mb@Mb@ )Y(\¿Mb/$yz@ r@)@I=@y3@I,I3٢= 1=97Q > G٣y a; > Nusing accuracyPremultiplier from config%y59fU?%y5YG i?%@>-;--@eE;;uy51 5qA1]DNOT Ignoring new targets: 53.10 m. jYjYjajaiahahahihm܁Bfifirfibfu`@]@>]@>]L@]_r@1= 隭3s?I8: ɚ6iIIii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%=MDAT read: 22:51:30.9404 LVL= 16592, 13361, 13618, 19635, AGC= 54, IDX= 485, 0.12, 0.356, 0.185,-1.816,-0.589, PHS= 1.033, 0.821,-1.230, RAW= 34.9, -5.8, CAL= 36.0, -10.3, ROT= 114.0, 10.3 ]Ygot valid direction response: 22:51:30.9404 LVL= 16592, 13361, 13618, 19635, AGC= 54, IDX= 485, 0.12, 0.356, 0.185,-1.816,-0.589, PHS= 1.033, 0.821,-1.230, RAW= 34.9, -5.8, CAL= 36.0, -10.3, ROT= 114.0, 10.3 eDAT read: Range 10 to 50 : 53.3 m (Round-trip 71.1 ms) speed 0.0 m/s m,DAT read: user:2934> uBDAT read: Tx time:22:51:32.0651 u$Ping request sent.uG=7}?w lCRo)r1I=ifu?! :publishing transmit ping timeqFpublishing direction and range info9bu?s*?OrǙ?y )Ii )IiG=7}?w lCRo)IiD]/9*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:51:32.0643 J J J 0J J :J /:J ـ3J G B O >C;Rw, \I]A6U>Y6<?68=96H:>y6H ??1~?? r ?`b?ɨ6U>6DT;6Cy@B"IIJ"IJq3٢V7: VJ=9Z&Q Z>XX ZG٣Xy^<': ^> bNusing accuracyPremultiplier from config`fy59blQ?fy5Yb7 iba?hjj@beEby;bW;b$yy5l lnbE iIik_n?k+= k kQO5]A:k3UBBkSBZk ?"{u]@{^}F@DO;@bu?s*?OrǙ?Jkfu?Rk! * %-B@fB$gA@ P2ѿ/z?#"6)?"kB*k/oku&e?kp 2kaBk \[?k[u kBk%Bk? addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 4.283394 s, deltaX: -0.100002 m, approachRate: -0.023347 m/s, rangeRepo size: 4  Added new target pos. range: 53.299999 m, bearing: 111.738022 deg, lat: 36.904915 deg, lon: -122.119054 deg, deltaT: 4.783016 s, deltaX: 0.200001 m, approachRate: 0.041815 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjj i h h h hffrf`fJ@bfg?]9]9]9]=fr@U8= QUgs?IU: QɚU6iQIYIYiaia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.Dw9E*F]?2FY:FYBF]Y0JFYGa GazKBoHK9KKbKH,>IC I"IIǃBI&I.I6I<:I FBIaJIaRIaZIabIe" =jIeȻ5G B O >qXw,]d]A2c >Y2?2[=928>y2H?(? ??Vź L@?`e?ɨ2c >2m;2 Cy:˃B:"IIBIB#3٢J=NWill construct direction to contact in vehicle frame from tetrahedron phase data. RC=9RvQ R>TT VG٣TyZ; Z> bNusing accuracyPremultiplier from config`]y59bGM?]y5Yb3 ib?aee@beEb4^w, ,~]AyۃB/"I)  Mb@Mb@Mb@ )Y/$I +~jty194ļI@ E@)@I&@y@IIԲ٢d= 8=9Q > G٣y > Nusing accuracyPremultiplier from configy59WI?y5Y, i}? >;7@eE&;f;y5  Q@=DNOT Ignoring new targets: 53.30 m. j9j9jAjAiAhAhAhIhMBfQfarfibf}{?] >] >]WN@]s@ 隭q}?IX : ɚʟ6iIIii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.J5J5J1J1J5:J5:J1J1*F?2F:F BF R4JF  $?IGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.~ew,]AyEBE;"IIU#IU%x3٢eI= eR=9iQ m>ii mG٣iyq u> }Nusing accuracyPremultiplier from configyy59}E?y5Y} i}!|?@}eE}&:}i:}y5 @jH<bHp<H+>I I."II܃BI&I.I6I<:I FzK-K-9K)K-cK-}DNOT Ignoring new targets: 53.30 m. jjjjihhhhffrfbf?]]]] ,?I : ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D=9EYE]pA*F ?2F :F BF 0JF! "G= >G= > I Gq B O >Elw,u]A6>Y6o ?6=96Q:>y6H%? W? Ѹ??[Z`Pα &+?@d?ɨ6>6;6CyZBZ?"IjWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yv/{Gzt~jtyx齙ף@ /@)@IS@y@@AII3٢U\< 0=9ǻQ > G٣yE< >  Nusing accuracyPremultiplier from config y59 =B?y5Y ݳ i *z?=; @ eE ; w; %y5! %@)UDNOT Ignoring new targets: 53.30 m. jQjQjQjQiQhQhYhaheށBfafirfibfm@]=]=]K@]{q@= 隝?Il : ɚ6iIIii))De9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF J J J J J ,:J K:J J I hGa Bi O >| tw,U]AyzBzW"Ii~0>I~=||I (I ̍3٢= D=9%Q %>!! -G٣)y- 5> =Nusing accuracyPremultiplier from config1=y595>?=y5Y5 i5gx?AAE@5eE5:5z:5ɋy5Q UH@Q}DNOT Ignoring new targets: 53.30 m. jyjyjyjyiyhhhhffrfbf@@]]]] v?I1 : ɚ_6iIIiiWill construct direction to contact in vehicle frame from tetrahedron phase data.))D9*F=?2F9:F9BF=4JF9HIIMC IMG"IIMBIM =&II.II6IMͰ<:IM FzKBoIK-9KKdK %&&#   G= BBa O} >U Will construct direction to contact in vehicle frame from tetrahedron phase data.0zw,]A Ij\>YjB ?je3=9jBw9>yjH 5?@# ap?@ȴ?@?$Yb ?@eg?ɨj\>jc;j CyB_"IMb@Mb@Mb@ )Y:vMby&1yԽ`@ )@I&@y@I5I5F3٢=@< E-=9EcQ E>II MG٣IyUͿ U> ]Nusing accuracyPremultiplier from configQey59U;?ey5YUi iUu?e/=e;eIe@QU;U;Uy5q u@qDNOT Ignoring new targets: 53.30 m. jjjjihhhhBffrfbf`@]/=]/=]M@]?r@e3= ?I : ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:51:34.5404 TRx dataTimestamp_ set to:1736376695.856578D9*F% ?2F! :F! BF% 3JF! u Will construct direction to contact in vehicle frame from tetrahedron phase data.GM3BQJmJmJiJiJm:Jm :JiJiO}>-w,y ^AV#g>YV| ?Vو=9V9>yVH ?,=^?'?? ڃ ?g?ɨV#g>V ;VCybBbs"IIj<Ij3٢v= vM=9vxx zG٣xy~Ј; ~> Nusing accuracyPremultiplier from config| y59~8? y5Y~ i~s?  / @~eE~ ;~:~cy5 @MDNOT Ignoring new targets: 53.30 m. jIjIjIjQiQhQhQhQhYfYfYrfibfm@ @ I] ] ] ] %r@و= ?Iy : ɚ6iI9IAiAiI)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:51:34.5404 LVL= 15584, 13953, 14530, 20211, AGC= 55, IDX= 435, 0.39, 2.187, 1.928,-0.044, 1.198, PHS= 1.077, 0.777,-1.245, RAW= 36.8, -5.6, CAL= 38.1, -10.0, ROT= 111.9, 10.0 Ygot valid direction response: 22:51:34.5404 LVL= 15584, 13953, 14530, 20211, AGC= 55, IDX= 435, 0.39, 2.187, 1.928,-0.044, 1.198, PHS= 1.077, 0.777,-1.245, RAW= 36.8, -5.6, CAL= 38.1, -10.0, ROT= 111.9, 10.0 %PDAT read: Bearing 111.9, 10.0 (Local) %~Local bearing/azimuth received: Bearing 111.9, 10.0 (Local) 5DAT read: Range 10 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.0 m/s 5,DAT read: user:2935> MBDAT read: Tx time:22:51:35.6652 U$Ping request sent.]ککۭI3WHB?TlMy)ۭҹIۭ=iۭ=?ۭnX۩۩:publishing transmit ping timeQFpublishing direction and range infoة9حs c?F|?Z,υ?Dر9yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭI3WHB?TlMy)۩I۩i۩۩۩۩ZH RH @AH% )>I% C I% f"II% BI% ! =&I! .I! 6I% Ű<:I% F*F ?2F :F BF T5JF zKM MKM 9KI KM eKM      O / T  v < M G BB O >w,5 &^AJWill construct direction to contact in vehicle frame from tetrahedron phase data.JAiHNJDAT read: TxSync time:22:51:35.6644 ^>Y^ ?^a=9^9>y^H?@q0@BB???Цrϰ ?@3h?ɨ^>^;^Cyz#Bz"I)| |I%$I%<3٢5#= 51=9=nQ =>9A eG٣aym: m> Nusing accuracyPremultiplier from configyy59}5?y5Y} i}p?'@}eE}[<}v\<}xy5 %@)kmeA?kmD0  Iki kmX^A:kmTBBkmUSBZkm<?"m.2@ pF@Xs!=@ms c?F|?Z,υ?Jkm=?RkmnX*myEPN."B@Q] B@m3:ҿ7?hY?"kmB*kmrrkm8?km 2kmQBkikmF kmBkm*$Bkm? addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.528139 s, deltaX: -0.099998 m, approachRate: -0.028343 m/s, rangeRepo size: 4  Added new target pos. range: 53.200001 m, bearing: 112.810217 deg, lat: 36.904915 deg, lon: -122.119058 deg, deltaT: 3.528139 s, deltaX: -0.099998 m, approachRate: -0.028343 m/s, posRepo size: 4 %DNOT Ignoring new targets: 53.20 m. j!j!j!j!i!h!h)hihifqfqrfuJ@bfu qV?]]]]r@a= ?I: ɚ]6iIIii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D- 9*F ?2F :F BF 0JF G:Will construct direction to contact in vehicle frame from tetrahedron phase data.BO?ޑw,G^A:>Y:4C!?:q=9::>y:H? <@.5?`?`1?vs)?g?ɨ:>:;:CyF1BF"IMb@Mb@Mb@ )YMbMb`y&1y@ @)Iy @II<٢ H= =9W*Q > G٣yY; > Nusing accuracyPremultiplier from configy591?y5Y im?=<"@eEu;s;-y5 @DNOT Ignoring new targets: 53.20 m. jjj!j!i!h!h!h)h-Bf)f)rf)bf5?]M=]M=]MflJ@]MKo@mq= iu=?IuK : qɚuC6iqIqIii I))}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յ#@D9*F ?2F :F BF Z1JF H I  I "II (BI =&I .I 6I ʰ<:I F% ~G= 5tAU A } =Y 5tAy 4BzKe OKe -9Ka Ke fKe \X&8zj/q3sYA'q\ILsyM/  G9 BY O} >w,%#d^AJe>YJ."?J=9J32>yJHB?``n? ??n@`+?s?ɨJe>Jd;JCyR=BR"II^I^M٢fh= fF=9f eQ f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpvy59r./?vy5Yr; irk?tzs"z@pr~ ;r ;rȟy5| ~0@~hE]DNOT Ignoring new targets: 53.20 m. jYjYjYjYiYhahahahafafirfibfm ?]]]]Eo@= 隥=?I9 : ɚQ6iIIWill construct direction to contact in vehicle frame from tetrahedron phase data.ii))2D*DpAJ5J5J1J1J5<:J5&:J1J1J56;a=J57;aEJ5\;aEJ5\;aED- 9 I*F?2F:FBFO0JFG% 3B1 OM >e Will construct direction to contact in vehicle frame from tetrahedron phase data.žw,W}^A6?>Y6#?6w=96YM5>y6H?0w ć???/@܀?4q?ɨ6?>6;4yBMBB"ImMb@Mb@Mb@iii i)iYmktMbp?S㥛ym m;m/ݼi m@)mx@Im@iymp@IIF٢= >=9Q > G٣y) < > Nusing accuracyPremultiplier from configy59t,?y5Y iJi?ɸ=<&@eE@;;y5 *@DNOT Ignoring new targets: 53.20 m. jjjjihhhh  Bf f rf bf ?]-ɸ=]-ɸ=]-[F@]-~k@Ew= AE?IE : AɚM6iIIIIIiQiQ))Dѳ9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFEP0JFIGQ GUpA IG- :B9 OU >:w,Fϗ^AWill construct direction to contact in vehicle frame from tetrahedron phase data.rv>Yr#?rxs=9rC8>yrH ڤ? @b? ?`6z?hܻ@lj\?}m?ɨrv>r㏈;py~YB~"II I (*3٢n= R=9%%*Q %>!! -G٣)y-s; -> Nusing accuracyPremultiplier from config1y595)?y5Y53 i5;g?&@15 ;5 ;5y5 p@DNOT Ignoring new targets: 53.20 m. jjjjihhhhffrfbfq@]!]!]!]%k@=xs= 9=?I=l: 9ɚE6iAIAIAiIiI)IjHQbHU<HaIa Ie"IIeKBIa&Ia.Ia6Ie<:Ie FBI%CJI%CRI!ZI% =bI%! =jI%5)yD9zKOKu9KKgK *WfQA4*! *F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJaJaJe:Je:JaJaJe<Je<JeJ;JeJ;GU 3Bq O > I ޫw,ȱ^AJ9$>YJ#?Jq=9J>9>yJHƤ?o?g ?x?W/`8?Nl?ɨJ9$>J;JCyveBv"I}Mb@Mb@Mb@yyy y)yY}MbX9Mb?y}ʡ}<}̼}@ }@)}K@I}@yy}@I/I3٢Z= ==9Q > G٣y8 > Nusing accuracyPremultiplier from config y59 \'?y5Y  i .e?}=<)@ eE @; X; y5) -@1]DNOT Ignoring new targets: 53.20 m. jYjYjYjaiahahahihmBfifirfibfu @]}=]}=]ZB@]p)h@q= 隥3?I: ɚ>7iIIii))BD>?:DY?EWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F?2F:FBFP0JF"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >nw,k^A6>Y6Fo#?60l=969>y6H`?@^}?@ ?y?``@M`? fl?ɨ6>6;4yB}BB"I)D DININ2٢Vf> VX= ^$?I\9^KQ ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighny59j%?ny5Yj ijac?lr*r@hje:j.:jy5t v'@tDNOT Ignoring new targets: 53.20 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5,@]Q]Q]Q]Uh@e0l= aef?Ie: ɚ i I Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:51:38.1402 TRx dataTimestamp_ set to:1736376699.389767Du99HI I"IIjBI" =&I.I6Ir<:IL F*F?2F:FBF\0JF zK MK -9K K hK %-6AJPUZZY\\\^\[ZUL9,%$"   G- :B1 Om >-9w,}^Ay~B~#IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAI-#I-%x3٢e= e>=9mQ m>J[ـ3K[m3 K[S}-KSKS"KSJJJJJ\:J:JJJ<J<JL;JL; G٣y > uNusing accuracyPremultiplier from configq}y59uI"?}y5Yux iu2a?yy@ueEu;:u:u y5 =@=DNOT Ignoring new targets: 53.20 m. j9j9j9jAiAhAhahihififqrfqbfu  @ I]]]]  ?I=: : ɚ_4iII9iAiA)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:51:38.1402 LVL= 18464, 18289, 18418, 24531, AGC= 54, IDX= 434,-0.47, 1.311, 0.994,-0.949, 0.282, PHS= 1.117, 0.759,-1.234, RAW= 38.1, -5.9, CAL= 39.7, -10.5, ROT= 110.3, 10.5  Ygot valid direction response: 22:51:38.1402 LVL= 18464, 18289, 18418, 24531, AGC= 54, IDX= 434,-0.47, 1.311, 0.994,-0.949, 0.282, PHS= 1.117, 0.759,-1.234, RAW= 38.1, -5.9, CAL= 39.7, -10.5, ROT= 110.3, 10.5  PDAT read: Bearing 110.3, 10.5 (Local)  ~Local bearing/azimuth received: Bearing 110.3, 10.5 (Local)  DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.8 ms) speed 0.0 m/s % ,DAT read: user:2936> - BDAT read: Tx time:22:51:39.2652 - $Ping request sent.- VM?,-[ *IX)鶿I=i?DU :publishing transmit ping time) U Fpublishing direction and range info9Em-?FPĹ?4~J?y )Ii )IiVM?,-[ *IX)IiD 69*FU ?2FQ :FQ BFU P0JFQ }Will construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:51:39.2644 GBO ?Xw, _An>YnlP#?nXe=9n|:>ynH}?U{'w?`?@ly?ڼG ^%? k?ɨn>n{;nCy~B~#IMb@Mb@Mb@ )Y{GzMb? G٣yJ^ > Nusing accuracyPremultiplier from configy59q?y5Y i.`?E=<J:@eEx;3w;y5! %m@!kJy.?k,(& k kw^A:kfTBBkRBZk-?"!d@|.wE@} >@Em-?FPĹ?4~J?Jk?RkD*0St7.c5 A@;xwB@5ҿe[<?+iJA?"k! B*kqkK%?k 2kwBkkp kaBk="Bka? addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.530708 s, deltaX: -0.100002 m, approachRate: -0.028324 m/s, rangeRepo size: 4  Added new target pos. range: 53.099998 m, bearing: 113.329030 deg, lat: 36.904915 deg, lon: -122.119065 deg, deltaT: 3.530708 s, deltaX: -0.100002 m, approachRate: -0.028324 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.10 m. jjjjihhhh8Bffrf̌J@bfS?]E=]E=]0@]W@Xe= R?I : ɚw.5iIIii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.m%=m<D%Z9ZH9 RH9 HM (>II  IM #IIM BIM # =&II .II 6IM t<:II *F ?2F :F BF JF zK NK 9K K iK    G3BQO}>@w,B>(_ANWill construct direction to contact in vehicle frame from tetrahedron phase data.J~J~J~1J|J~:J~ :J~3J|J~4<J~4<J~U;J~U;,>Ya#?5_=9b:>yH`?~/V?  ?`w?@' u&?rl?ɨ,>6G;騅Cy B-,#II=I=b2٢uB= }%=90Q > I G٣y*: %> 5Nusing accuracyPremultiplier from config)5y59-?=y5Y- i-1_?9=F:=@-eE-:-:-5y5 c@aDNOT Ignoring new targets: 53.10 m. jjjjihhhhffrfbf?]!]!]!]%W@}5_= y}x?I}g : yɚ}ۆ5iIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D5 z9*F ?2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO5?w,UL_A:>Y:"?:"N=9:ޏ;>y:H#? bv??z?dͩH? l?ɨ:>:g;:CyFBF;#I |I|eMb@Mb@Mb@aaa a)aYeQ뱿y&1?I +ye\e`e=e94e@ e@)e@Ie@aye@I}I}V٢6= =9Q > G٣yg > Nusing accuracyPremultiplier from configy59?y5Y i_?=<E@@A;Y@;y5 @DNOT Ignoring new targets: 53.10 m. jjjjihhhh6Bffrfbf?]%=]%=]%@]%RE@"N= ?I: ɚ5iIIii)) uWill construct direction to contact in vehicle frame from tetrahedron phase data.DM9H9I9 I=;#II=BI=! =&I9.I96I=j<:I=F F*F ?2F :F BF 4JF zKU 0LKU 9KQ KU jKU G :B! OU >w,nLh_AF>YF`"?F2N=9Fζ:>yFH=?@i`I?x?? G⽿é@E.?m?ɨF>Ft;FCyVDŽBVP#IjWill construct direction to contact in vehicle frame from tetrahedron phase data.In&In3٢zߠ= zD=9~3HQ ~> G٣y c > Nusing accuracyPremultiplier from config5y59?5y5Y i_?9=E@=@eE ;;\y5Y ]@YDNOT Ignoring new targets: 53.10 m. j!jAjAjAiAhIhIhIhIfIfQrfQbfU?]]]]E@2N= 3?I: ɚ5iIIii)) ID*F?2F:FBFO0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >{w,_AyrӄBr_#ImMb@Mb@Mb@iii i)iYmx&ʡE?I +ym7m=imp@ m@)m@IiiymG@II2٢b= A=9Q > G٣y > Nusing accuracyPremultiplier from configy59?y5Y i`??=<:@@eE ;; y5 @DNOT Ignoring new targets: 53.10 m. jjjjihhhhMBf frfbf@@]5?=]5?=]5[@]5j:@A IMG?IM: IɚMU6iIIIIii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJu0JqJu:Ju :Juـ3Jqa@a@a@a@*FE?2FA:FABFE_0JFAGMpA GMrA IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.)a a Ӧw,*_A6NGB|uAJA ^>Yb|uAyb7BjHlbHnp<Hv'>It Ivg#IIvڄBIv =&It.It6Iv<:Ivz Fy܄Bk#II%+I%n3٢]6= ]?=9aQ e>aa eG٣iyq }> Nusing accuracyPremultiplier from configyy59}} ?y5Y}f i}Ma?@y};};}y5ϓB -@kEDNOT Ignoring new targets: 53.10 m. jjjjihhhihifqfqrfybf}>C@]]]] ?I: ɚG6iIIii)) zKEk3IKE9KAKEkKE!-01.,,,''&$  Will construct direction to contact in vehicle frame from tetrahedron phase data.iAD-9 I*F ?2F :F BF P0JF G B)OE>w,չ_A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:51:41.7397 6TRx dataTimestamp_ set to:1736376702.917093>>Y>DY"?>H=9>9>y>H:?k?@??h콿_?o?ɨ>>>|;>CyFBJp#IMb@Mb@Mb@ )YʡE~jt?y&1|y=` )@I@y@I5I5[3٢M"< M/=9U8Q m>qq uG٣qy}d }> Nusing accuracyPremultiplier from configy59?y5Y ic?q=;=8@@eEN;;y5 @5DNOT Ignoring new targets: 53.10 m. j1j1j1j9i9h9h9h9hERBfAfArfAbfE:@]q=]q=]@]*=8@H= ף?IU: ɚ.6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9JJJ1JJܫ:J :J3J I *F ?2F :F BF JF G-:B9OU>`w,{_A6b>Y6"?6gF=96P:>y6H?Cwۨ?@?|? `vʨJ"? So?ɨ6b>6ʇ;4yNBRq#II Ib3}Will construct direction to contact in vehicle frame from tetrahedron phase data.٢MmY; M.=9UQ U>YY ]G٣Yy]Wt; e> mNusing accuracyPremultiplier from configiuy59m-?uy5Ym imd?q}Z8@}@meEm:mG;my5 @DNOT Ignoring new targets: 53.10 m. jjjjihhhhfH&>I I#IIBI! =&I.I6Ið<:I FBIJIRIZI! =bIjI[5f!rf)bf-H @]a]a]a]eZ8@gF= 隕 ?I: ɚD6iIIii))BDA?:De?D*F5?2F1:F1BF5`0JF1"G=>G9zK}KMK}9KyK}lK} % Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:51:41.7397 LVL= 17520, 16593, 16354, 23251, AGC= 53, IDX= 429, 0.05,-1.179,-1.490, 2.876,-2.187, PHS= 1.097, 0.744,-1.223, RAW= 38.1, -5.8, CAL= 39.7, -10.3, ROT= 110.3, 10.3 } Ygot valid direction response: 22:51:41.7397 LVL= 17520, 16593, 16354, 23251, AGC= 53, IDX= 429, 0.05,-1.179,-1.490, 2.876,-2.187, PHS= 1.097, 0.744,-1.223, RAW= 38.1, -5.8, CAL= 39.7, -10.3, ROT= 110.3, 10.3  PDAT read: Bearing 110.3, 10.3 (Local)  ~Local bearing/azimuth received: Bearing 110.3, 10.3 (Local)  DAT read: Range 10 to 50 : 52.8 m (Round-trip 70.4 ms) speed 0.0 m/s  ,DAT read: user:2937> % BDAT read: Tx time:22:51:42.8652 5 $Ping request sent.5  Fpublishing direction and range info) 9- ]?Ȃ(?_?y- 3SB) - pD- @ - ?)- ZI- 5i- j?- v>?- D) - 4QϽ ) )- X8I) i- X8>) ) - ˄1?}W5ᅮ")- I- =i- ?- ) ) m :publishing transmit ping time) m Fpublishing direction and range info) 9- ]?Ȃ(?_?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - ˄1?}W5ᅮ")) I) i) ) ) ) w,_A>Y"?JB=9y9>yH@=?@ẃ?~?`}? oW?p?ɨ>; Cy=BE~#I)  ==Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y㥛 RQ?I +y=94Z@ )@Iy@II?13٢+= %=9 Q >A EG٣AyMӹ M> UNusing accuracyPremultiplier from configQ]y59UX?y5YU- iUe?f=;6@@UeEU;U;UQy5 -@keл6?ke!p. ka ke_A:ke3SBBkeQBZkeHl?"eaN)q@ULE@wʑ]=@e]?Ȃ(?_?Jke?Rke*eitN.v0SA@JFbB@eXeҿo.?J_H?"ke B*keukeO?kecK( 2keuBke8?ke keQBkeBke?M addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 3.780549 s, deltaX: -0.299999 m, approachRate: -0.079353 m/s, rangeRepo size: 4  Added new target pos. range: 52.799999 m, bearing: 113.885643 deg, lat: 36.904911 deg, lon: -122.119084 deg, deltaT: 3.780549 s, deltaX: -0.299999 m, approachRate: -0.079353 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.80 m. jjjjihhhhSBff rf`ffJ@bff?]f=]f=]v@] 6@JB= f?I7 : ɚ3]6iII!i!i!)!)!= Will construct direction to contact in vehicle frame from tetrahedron phase data.DU ۺ9J J J J J :J :J J I *F ?2F :F BF P0JF GBO?:xw,`A:^ >Y:$?:7=9:77>y:H? $??e?kǽ@?@ u?ɨ:^ >:g;:CyFBFp#IIN"INq3٢VZ V:=9Z̻Q Z>\\ ^G٣\yb:< b> fNusing accuracyPremultiplier from configdjy59f ?jy5Yf̸ iff?ln,7@n@feEf:f:fy5p r@tDNOT Ignoring new targets: 52.80 m. jjjjihhhhff!rf!bf%$?]I]I]I]M,7@]7= Yef?Ie): aɚep6iaIaIiiiii)q)q-Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHyRHyHI I#IIBI =&I.I6I<:I| FD9*F2F:FBFJFzKoKK-9KKmKRK>JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I1 G B O- > w,g0`AB">YB{?%?B!h0=9B8>yBH౉?`e"?@;?`K? "`E d?`s?ɨB">B_T;@y^Bbq#IIvIvq٢z; zG=9~Q ~> G٣yHA<  > Nusing accuracyPremultiplier from config y59 $?y5Y r i g?~7@@ eE ; B; y5) -@)DNOT Ignoring new targets: 52.80 m. jjjjihhhhffrfbf?]y]y]y]}~7@!h0= 隵?I^: ɚ6iIIii))2D*DlAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Dƻ9*F ?2F :F BF O0JF G qA G  Will construct direction to contact in vehicle frame from tetrahedron phase data.J} J} J} 0Jy J} l:J} :J} ـ3Jy G B O >Pw,%M`A @ I>>Y>P%?>y.=9>b8>y>H?`?=?I?~FͥS?js?ɨ>>>;>CyFBFo#IiNC=IN4=Mb@Mb@Mb@ )YlbX9ȶ?~jtyE=-@ )@Iy@IIM٢x )=9.Q > G٣y: > Nusing accuracyPremultiplier from configy59?y5Y ih?8=;9@@eE;#;y5 @DNOT Ignoring new targets: 52.80 m. jjjjihh!h)h-1Bf)f)rf1bf5 ?]8=]8=]e@]39@y.= ?I: ɚ6iIIi!i!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.De9HI I#II BI =&I.I6Iɰ<:I F*F ?2F! :F! BF% [0JF! zK BoIK u9K K nK G B O >w,Xi`Aj|>Yj%?j{-=9jĬ9>yjH?.?H?7A?@laù?`qr?ɨj|>j;jCyzԄB~`#II'I@3٢=` =F=MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA9]Q e>ii mG٣qy}2{; }> Nusing accuracyPremultiplier from configy59~한?y5Yȷ ih?9@@;;y5 @nEJJ@A aIiuDNOT Ignoring new targets: 52.80 m. jqjqjqjqiqhyhyhyhyffrfbf`r@]]]]9@{-=  ?I k: ɚ 6i I Iii)Y)YD29Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF= ]0JF9 G} :B O >i!w,(`A6>Y6%?6[-=96Y9>y6H ?w.?AJ?m??gϩ?[r?ɨ6>6;6Cy>DŽB>P#IMMb@Mb@Mb@III I)IYMKV-?S㥛yM^Mm=M/ݼM@ Mz@)M@IM@IyM@Ie+Ien3٢u^h u4=9}ՌQ }>yy G٣y?B: > Nusing accuracyPremultiplier from configy59R镜?y5Yڷ if?=;E@eE;;zy5 |@DNOT Ignoring new targets: 52.80 m. jjjjihhhhBffrfbf D@] =] =] $@] xL@%[-= !%3?I%: !ɚ%y6i!I)I)i1i1)1)9BDE Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H %>I  I I I  =&I .I 6I <:I c FGE 3B O >d'w,+n`A6>Y6%?6.*=96d9>y6H`~?X? K?>?UkV?s?ɨ6>6P+;6Cy>ńB>N#I)D FAIJ.IJ3٢RI RS=9VfֺQ V>TT ZG٣XyZs: Z> ^Nusing accuracyPremultiplier from config\fy59^啜?fy5Y^ i^se?hjEj@^eE^A;^A;^y5l n@l DNOT Ignoring new targets: 52.80 m. j j j jihhhhffrfbf@]]]]|L@ .*=  ̲?I : ɚ 6iIIii!)!)1zK)K-k9K)K-oK-Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:51:45.3394 TRx dataTimestamp_ set to:1736376706.696655JUJUJQJQJUܫ:JU:JQJQJU;amJU;amJUA;auJUA;au ID9*Fu?2Fy:FyBF}o0JFyG :B O >G.w,.`A6 >Y6pG&?6K(=969>y6HOv?@? dV?`5?@|m?r?ɨ6 >6V;6!Cy>B>A#IZWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuzGếX9v?Mbyu ׽u G٣yi; > Nusing accuracyPremultiplier from configy59ᕜ?y5YT ib?=;4@eEI;%H;y5 F@5DNOT Ignoring new targets: 52.80 m. j9j9j9jAiAhIhQhaheρBfifqrfybf} @]=]=]L6@]-]@EK(= AE?IM{: IɚM׽6iQIQIQiYiY)y)2D*DrAmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:51:45.3394 LVL= 17248, 15169, 16642, 21571, AGC= 53, IDX= 441, 0.04, 2.113, 1.762,-0.176, 1.078, PHS= 1.123, 0.731,-1.257, RAW= 38.8, -5.5, CAL= 40.4, -9.9, ROT= 109.6, 9.9 Ygot valid direction response: 22:51:45.3394 LVL= 17248, 15169, 16642, 21571, AGC= 53, IDX= 441, 0.04, 2.113, 1.762,-0.176, 1.078, PHS= 1.123, 0.731,-1.257, RAW= 38.8, -5.5, CAL= 40.4, -9.9, ROT= 109.6, 9.9 PDAT read: Bearing 109.6, 9.9 (Local) ~Local bearing/azimuth received: Bearing 109.6, 9.9 (Local) DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.0 m/s ,DAT read: user:2938> BDAT read: Tx time:22:51:46.4653 $Ping request sent.iim2{6w,.`AjWill construct direction to contact in vehicle frame from tetrahedron phase data.nJDAT read: TxSync time:22:51:46.4645 ~c~G %A m?Yyy}8B4>Y&?#=9Ï9>yH@k?0?e?*?~ v ?ms?ɨ4>n;騍CyޝBޥ5#Ii=I<I IV2٢  !=H$>I I#IIBI =&I.I6Iϰ<:I F9zQ > G٣yو; > Nusing accuracyPremultiplier from configy59ܕ?y5YӸ i`?t4@eE;;ly5 @kԻ?k L k k`A:kRBBkPBZk!(@"#F{;@g0HlCE@k.>@OIrW?H?Dźe?Jk!?Rk*!0"@@V+hB@(bfӿ,>;l?1[?"k B*kk]ef?k#F 2kBkK%?k kuBk!Bk?] addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.527580 s, deltaX: -0.299999 m, approachRate: -0.085044 m/s, rangeRepo size: 4  Added new target pos. range: 52.500000 m, bearing: 115.627134 deg, lat: 36.904909 deg, lon: -122.119097 deg, deltaT: 3.527580 s, deltaX: -0.299999 m, approachRate: -0.085044 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.50 m. jjjjihhhhffrf@J@bf ?]]]]]@#= n?I: AɚE6iAIAIIiQiQ)Q)QzK-m$JK)K)K-pK-Will construct direction to contact in vehicle frame from tetrahedron phase data.DO9 9 I9 J J J 1J J :J :J 3J J i;J j;J I;J I;*F} ?2Fy :Fy BF JF G  G qAG:BO>}>w,`A~Will construct direction to contact in vehicle frame from tetrahedron phase data.yB&#IMb@Mb@Mb@ )YS㥛{Gzt~jty$ף@ )=@I@y@II٢7 "=9Q > G٣y >  Nusing accuracyPremultiplier from config y59 ؕ?y5Y ҹ i [? >%;%H %@ eE 6; p3; y5) -@)eDNOT Ignoring new targets: 52.50 m. jajajajaiahahihihmBfqfqrfqbfu ?] >] >]K@]-q@ 隥)?I: ɚa6iIIii))D=9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- `0JF) Y IY GI BY Ou >ғEw,daA2Δ>Y2QF(?2e=92.>y2H P?Q|!?`~? ?@hD??ɨ2Δ>2;0y>B>"#IIJIJ٢R RM=9V\Q V>xx zG٣xy~n`< ~>  Nusing accuracyPremultiplier from configy59ԕ?y5Y iX?@2;:0y5! %@!UDNOT Ignoring new targets: 52.50 m. jQjQjQjQiQhYhYhYhYfafarfabfe_?]]]]gr@e= 隝\?I: ɚH6iIIii))BD7?:D>Will construct direction to contact in vehicle frame from tetrahedron phase data.DZHRHH#>I Iz#IIBI! =&I.I6Iݰ<:I FBIJIRIZI =bI =jIÞ5*F?2F:FBFO5JFG! B9 O] >zK} KK} -9Ky K} qK}       Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՑ  I J% J% J! J! J% ̶:J% :J! J! J% ;J% ;J% DG;J% EG;lKw,K 1aAR|>YR8:)?R'=9R>1>yRH=?`.$j?੡? ?@£?~?ɨR|>R`I;RCyrBr#I)t vA vp=vp=IzIzb٢  E=9 Q  >  G٣yV< > %Nusing accuracyPremultiplier from config%z59eѕ?-z5Y iU?)--@eE::z51 =I@9DNOT Ignoring new targets: 52.50 m. jjjjihhhhffrfbf"?]]]]r@-'= )-u?I-: )ɚ-=6i1I1Iiiiii)i)Will construct direction to contact in vehicle frame from tetrahedron phase data.Do9*F?2F:FBF1JF"G>G>G B O >Rw,KaA^j>Y^H1*?^w=9^;5>y^H *?`B???u`ͣ؄?@z?ɨ^j>^;^CyfBj#IzWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQMb@Mb@Mb@ )Y(\¿ G٣y < > Nusing accuracyPremultiplier from configz59͕?z5Yּ iqP?>;Y@eE;;z5ΓB r@qEDNOT Ignoring new targets: 52.50 m. jjjjihhhhBffrfbf>@]E>]E>]EX@]E@Uw= Q]G?I]: Yɚ]:6iyIyIii))D%]9Will construct direction to contact in vehicle frame from tetrahedron phase data.ե:?եC=Hi Ii  Im a#IIm ԄBIm " =&Ii .Im 4D6Im <:Im g F*F ?2F :F BF o1JF G B O >Yw,80iaAb2->Yb*?blI =9b7>ybH"?MI?o?`?@sȽ`?v?ɨb2->b;bCy-B-#IIE*IE3٢UM:< U7=9U:Q ]>aa eG٣ayeY; m> uNusing accuracyPremultiplier from configizK}MK}89KyK}rK}BKpA:KqAz59mʕ?z5Ym* imK?M@meEm;m;mx z5 H@DNOT Ignoring new targets: 52.50 m. jjjjihhhhffrfbf@]]]]q@ lI =  ?I *: ɚ U7iIIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data. IJJJJJ:J:JJJi;Jj;JC;JC;D-ۿ9*F?2F:FBFP0JFGB) Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.`w,ǂaA @@B_>YB*?B =9B9>yBH?@B8;@yJBN #I-Mb@Mb@Mb@))) )))Y-+ÿQ{Gzy--u-#) - @)-&@I))y-@IE'IE@3٢U= UL=9 ڸQ > G٣y;; > Nusing accuracyPremultiplier from configz59ƕ?z5Y i G?/>;  @eEz;; z5 @EDNOT Ignoring new targets: 52.50 m. jAjAjIjIiIhIhIhQhUBfQfYrfYbf]}\@]}/>]}/>]}`@]}[ @ = 隍?I]: ɚ 7iIIii))Dm}9*F?2F:FBFO0JFGpA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:51:48.9390 TRx dataTimestamp_ set to:1736376710.225740 IGBO>fw,䣜aA:p>Y:b*?:!=9:89>y:H`B ?I3*???(&!?~s?ɨ:p>:;8yBBF&#IIR&IR3٢Zv< ZU=9Z#:Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdjz59fĕ?jz5Yf ifB?hj n@feErWill construct direction to contact in vehicle frame from tetrahedron phase data.fH:f\;fOz5t v@t%DNOT Ignoring new targets: 52.50 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5@ZJ @]Q]Q]Q]U6@m!= im?Im: iɚmx7iqIqjH}<bH}<HIC IT#IIʄBI&I.I6I<:I FIii))D9*FM?2FI:FIBFU_0JFQzK]JK9KKsK RKE?JKE> IWill construct direction to contact in vehicle frame from tetrahedron phase data.GB DAT read: 22:51:48.9390 LVL= 16992, 15345, 14322, 20979, AGC= 53, IDX= 436, 0.26, 0.072,-0.257,-2.139,-0.952, PHS= 1.112, 0.742,-1.189, RAW= 38.6, -6.3, CAL= 40.5, -11.1, ROT= 109.5, 11.1 O > Ygot valid direction response: 22:51:48.9390 LVL= 16992, 15345, 14322, 20979, AGC= 53, IDX= 436, 0.26, 0.072,-0.257,-2.139,-0.952, PHS= 1.112, 0.742,-1.189, RAW= 38.6, -6.3, CAL= 40.5, -11.1, ROT= 109.5, 11.1 % PDAT read: Bearing 109.5, 11.1 (Local) % ~Local bearing/azimuth received: Bearing 109.5, 11.1 (Local) 5 DAT read: Range 10 to 50 : 52.2 m (Round-trip 69.6 ms) speed 0.0 m/s 5 ,DAT read: user:2939> = BDAT read: Tx time:22:51:50.0653 = $Ping request sent.E ککۭυP ?gH7s#O1)ۭ(ӵIۭ=iۭ ?ۭ-۩۩e :publishing transmit ping time9 m Fpublishing direction and range infoة9ح5g_?VV ?bL?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭυP ?gH7s#O1)۩I۩i۩۩۩۩lw,퀶aAy~B-#I]PExceeded connect timeout, disconnecting.I1I3٢=B< E4=9MQ u> G٣y > UNusing accuracyPremultiplier from configQ]z59U?v3}?"k@B*k!~kͅ?k N 2k BkO?kcK( kkBku? addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 3.531341 s, deltaX: -0.299999 m, approachRate: -0.084953 m/s, rangeRepo size: 4  Added new target pos. range: 52.200001 m, bearing: 115.324842 deg, lat: 36.904904 deg, lon: -122.119100 deg, deltaT: 3.531341 s, deltaX: -0.299999 m, approachRate: -0.084953 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.20 m. jjjjihhhhffrfJ@bf ?]a]a]a]ay y}?I}: ɚ7iIIii))BD4?:DB?D 9*F] ?2FY :FY BF] 2JFY "Gm >Gm > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J3KO3 K(.KK"KJ% J% J% 0J! J% :J% :J% ـ3J! a= @a= @a= @a= @GABQOm?quw,aA>>Y>6k*?>0!=9>KX:>y>H`%?A,8?@? ?J;%?pr?ɨ>>>0;ai mG٣iym  u> }Nusing accuracyPremultiplier from configq}z59u?z5Yu iut8?|@>;8@ueEuj;u;urz5 @DNOT Ignoring new targets: 52.20 m. jjjjihhhhBffrfbf?]|@>]|@>]Y(c@]s@ 0!=  ?I (: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Hm">ImC IiIiIi&Ii.Ii6Im߰<:Im FD9*F% ?2F! :F! BF% P0JF! zK5 KK5 u9K1 K5 tK5      ] $?IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J AAGQ Ba O} >U6|w,8aAfTh>Yf0+?f=9fI8>yfH`%?@Y?@6??@0@J?v?ɨfTh>fS^;dyn̈́BnX#IIzIz[٢*= ==9Q >Q UG٣Qy]R; ]> eNusing accuracyPremultiplier from configamz59e9?mz5Yes ie{3?imm@efEe%w,bAJ*J*J(J(J*L:J*:J(J(n>Ynb+?n+d=9ns9>ynH@,?@]`$?"?.?@DYK` ? Lt?ɨn>nB<;nCyzBzv#IMMb@Mb@Mb@III I)IYM+ÿMbMbyMMMMb@ MƷ@)M@IM/@IyM@IeIeV8٢u= u&=9} 9Q }>y G٣yB: > Nusing accuracyPremultiplier from configz59?z5YE i.?/>;@fEH;G; z5 @DNOT Ignoring new targets: 52.20 m. jjjjihhhhBffrfbf?] />] />] ka@] j@+d= !-?I-: )ɚ-YY5i)I)I1i1i1)1)92DA*DElA) }~GA 1?YyW7BWill construct direction to contact in vehicle frame from tetrahedron phase data.D9EEnAZHRHAAHIC Ig#IIڄBI&I.I6Iİ<:I F*FU ?2FQ :FQ BFQ JFY Ga  Ge pAG :B O >w,,bA2S3>Y2+?2 =929>y2H?@hT#?`s?M?E?s?ɨ2S3>2-;2Cy>B>#IiB >IB> lIlIf!Ifi3٢r\> vJ=9v:Q z>|| ~G٣|yE> >  Nusing accuracyPremultiplier from config z59 ?z5Y  i  +?@ fE S; u; $z5! %@!zK-MK-9K)K-uK-nkL;3'  (]DNOT Ignoring new targets: 52.20 m. jYjajajaiahahahiuWill construct direction to contact in vehicle frame from tetrahedron phase data.hqfyfyrfybf}%@]]]]@ = 隵?IW: ɚiIIii))D*FY2FY:FYBF]o0JFYG!BQO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.w,FbA6>Y6h*?6e%=96{L:>y6H?@XN@P-? n??]Rd㣿@$?r?ɨ6>6S3;4yNBR#IuMb@Mb@Mb@qqq q)qYuHzG/$Zd;Oyu= u,ujux@ uݸ@)u@Iu@qyu@I"Iq3٢>= @=9:Q > G٣y > Nusing accuracyPremultiplier from configz59?z5Y iV(?>;H @fE8; 7;'z5͓B @tEDNOT Ignoring new targets: 52.20 m. jjjjih h h h ށBffrfbfŅ@]5>]5>]5]\@]5rk@Me%= IM\?IM: IɚIiIIQIQiYiY)Y)Y IWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ|:J:J3JD9*FQ2FQ:FQBFU_0JFQ"GYG]>= Will construct direction to contact in vehicle frame from tetrahedron phase data.Ha Ia  Ie #IIe BIa &Ia .Ia 6Ie <:Ie x FBI%̜CJI%̜CRI!ZI%" =bI%" =jI%4G B O >w,QKabA6)>Y6~*?6>=96x[:>y6H?@J&???jcƣ%&?r?ɨ6)>6;.;6Cy>9B>#IIF#IF%x3٢R> RT=9RQ R>TT VG٣TyZź Z> ^Nusing accuracyPremultiplier from config\bz59^笕?bz5Y^5 i^%?`bR f@^fE^:^:^#+z5h jK@hDNOT Ignoring new targets: 52.20 m. jjjjihhhhffrfbf@]]]]f@>=  ?I : ɚ i I)I1i1i9)9)9BDE@?:DE#? aIaD95Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:51:52.5388 ETRx dataTimestamp_ set to:1736376713.757283zKMb!NKIKIKMvKM*F%?2F):F)BF-c0JF)GQ Ba O >Iw,[{bAJ>YJ*?J/O=9J:>yJH?@BM`/-???惾 7?@q?ɨJ>J[';JCynOBr#I)y }AII[3٢= %0==Will construct direction to contact in vehicle frame from tetrahedron phase data.9uQ > G٣y*n: > Nusing accuracyPremultiplier from configz59?z5Y i"?L @fE;p;Q/z5 @%DNOT Ignoring new targets: 52.20 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf={ @]y]y]y]}ji@/O= 隵O?I_: ɚ4iIIii))D 9  I *F ?2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:51:52.5388 LVL= 15984, 17233, 20050, 22915, AGC= 59, IDX= 435, 0.12, 0.457,-0.001,-1.886,-0.690, PHS= 1.236, 0.736,-1.199, RAW= 41.2, -7.0, CAL= 44.0, -12.3, ROT= 106.0, 12.3 5 Ygot valid direction response: 22:51:52.5388 LVL= 15984, 17233, 20050, 22915, AGC= 59, IDX= 435, 0.12, 0.457,-0.001,-1.886,-0.690, PHS= 1.236, 0.736,-1.199, RAW= 41.2, -7.0, CAL= 44.0, -12.3, ROT= 106.0, 12.3 JM JM JM 0JI JM :JM &:JM ـ3JI e PDAT read: Bearing 106.0, 12.3 (Local) e ~Local bearing/azimuth received: Bearing 106.0, 12.3 (Local) m DAT read: Range 10 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.0 m/s u ,DAT read: user:2940> } BDAT read: Tx time:22:51:53.6653 } $Ping request sent.} QC RN) YI ;i ?5? j ew?M']׬,) I U=i w? .&  :publishing transmit ping timey  Fpublishing direction and range info 9  0?=z ??9e?y  ) I i ) I i ew?M']׬,) I i G B O >Ww,ӾbAmhx>Ym*?m`j=9mi:>ymH o ?K ?t?? &,1(?r?ɨmhx>m;N;mCyޝqBޝ"$I%Mb@Mb@Mb@!!! !)!Y%&1~jty%н%%D! %Ʒ@)%@I!!y%@I] I]<2٢u > %=9Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:51:53.6645 jH<bH<H!>IC I#II:BI =&I.I5D6I<:Id F z59.? z5Yl i!? V=-<55@fE<<3z59 =@9k^쐜?kY k kbA:kPBBkNBZk?"O/@RSG\D@2s}?@ 0?=z ??9e?Jkw?Rk.&*/0,J'+@@DK C@Ԧѿ߉W?n9{m?"kYB*k0gk4䐜?k<`yz 2kBk4䐜?k#F kwBkBk? addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.528910 s, deltaX: -0.200001 m, approachRate: -0.056675 m/s, rangeRepo size: 4 M Added new target pos. range: 52.000000 m, bearing: 114.076850 deg, lat: 36.904903 deg, lon: -122.119113 deg, deltaT: 3.528910 s, deltaX: -0.200001 m, approachRate: -0.056675 m/s, posRepo size: 4 MDNOT Ignoring new targets: 52.00 m. jIjIjIjQiQhQhQhYh])BfYfYrf]J@bfe`U?]V=]V=]I@]=br@`j= ?I: ɚiII i i))2D*DrADm 9 I  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK k9K K wK *F ?2F :F BF _0JF G% qA G% rAG!B9OU?Mw,bAy-B5D$IiMC=IMqq }G٣yy > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.z59?z5Y> i ?!!%@J<G<7z5) -@)DNOT Ignoring new targets: 52.00 m. jjjjihhhhffrfbf ?]]]]9 9=?I=): AɚAiAIAIIiIiI)I)IDi*F?2F:FBF o0JF  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B) O] >J J J J J ,:J 9J J ]w,bAy B m$IMb@Mb@Mb@ )YV-?yhL= @)I@y(@II٢"> J=9Q > G٣y > Nusing accuracyPremultiplier from configz59? z5YK i!? ر= < PE @fE; ;B;z5 @EDNOT Ignoring new targets: 52.00 m. jAjIjIjIiIhhhhWBffrfbfP?]ر=]ر=]Z!@]cL@1 15?I5! : 1ɚ1i9I9I9iAiA)A)AD19Will construct direction to contact in vehicle frame from tetrahedron phase data.HIC I)$IIwBI" =&I.I4D6I<:I F*F?2F1:F1BF=4JF9G BB O >tw,bA I:>Y:[ ,?: =9:O4>y:H?rw`H?`C? ?IνdAh?`|?ɨ:>:so;:CyFBF~$IININW٢Z= Z`=9Z;(Q Z>\\ ^G٣`ybg< b> fNusing accuracyPremultiplier from configdjz59fU?jz5YfX if"?hnDn@df;f;fq>z5  @]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKBHK-9KKxKDNOT Ignoring new targets: 52.00 m. jjjjihhhhffrfbf}?]1]1]1]5s!M@m = im\?Im : iɚm4iiIqIqiyiy)y)yBD/?:DJ?D.9EEqA*F5?2F9:F9BF=m3JFA"GaGe>E Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu :B O >%w, cAN>YNh-?Ne=9N8>yNHU?ס??`Y? ,@?7w?ɨN>N Ɉ;LyVхBV$I)X ZAMb@Mb@Mb@ )Y G٣yE< > Nusing accuracyPremultiplier from configz592?z5Y i%?=<B(@@ fE;;ZBz5 @DNOT Ignoring new targets: 52.00 m. jjj!j!i!h!h!h)h-uBf)f)rf1bf5 ;?]U=]U=]UG?]U$B(@me= qu ?Iu: qɚuY5iqIqIyiyiy)) $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAD d9*F?2F:FBFP5JFH I  I $II BI ! =&I .I 5D6I T<:I / F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O ><w,,G$cA2o>Y23.?2!t<929>y2H@q?`???DM ?v?ɨ2o>2I;0y>BB$IIJIJ2٢R= RQ=9V*Q V>TT ZG٣XyZg; Z> ^Nusing accuracyPremultiplier from config\bz59^v?fz5Y^P i^'?df](@f@^ fE^;^;^Ez5h j4@lDNOT Ignoring new targets: 52.00 m. jjjjihhhhffrfbf@]]]]9](@!t< 0?I: 9ɚ=i9I9IAiAiA)A)ID5N9*F?2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJL:J:JJJP;aJQ;aJA;aJA;azKBoHK89KKyKRK>JK>GBO>w,2=cAfJ>Yf.?f<9fX:>yfH@?v?@.?ʅ?O[۝'?Mu?ɨfJ>f ;f CyB%$II] I]̍2-Will construct direction to contact in vehicle frame from tetrahedron phase data.٢],; ]7=9eJQ m> G٣yѣ; > Nusing accuracyPremultiplier from configz595?z5Y ij*?(@@;;Iz5 *@-DNOT Ignoring new targets: 52.00 m. j)j)j)jIiQhQhQhQhYfYfYrfYbf]L@]]]](@< W?I: ɚ 4iIIii ) ))2D5pA*D1 !I!DUr9 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:51:56.1389  TRx dataTimestamp_ set to:1736376717.288722*F ?2F :F BF 4JF G pA G qAG B O>0w,?r[cA @:>Y:X/?:{Q<9::>y:H?[@i?:I;:CybBf$I9 e>Yiym6B-Mb@Mb@Mb@))) )))Y--#<) -@)-@I-@)y-@IEIE٢UQ{= ]-=9]v7Q ]>aa eG٣aym"; m> uNusing accuracyPremultiplier from configq}z59u;?}z5Yu iuQ.?}>;i"@@u fEu;u;uMz5 >@DNOT Ignoring new targets: 52.00 m. jjjjihhhhBffrfbfb @HI I$IIBI&I.I6I<:IX F] >] >] a?] `i"@={Q< 9ER?IE: IɚM[i5iIIIIYmWill construct direction to contact in vehicle frame from tetrahedron phase data.iYi9)9)ADo9 Y IY *F ?2F :F BF 5JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) J J J 1J J ܫ:J 9J 3J J ;J ;J O>;J P>;zK- K- -9K) K- zK- GB O%>w,9{cABq>YB/?Bz<9B`:>yBH`0?  F?L?j?:Ŀ` ;;? u?ɨBq>B;BCyJBJ$IIRIR٢Z< ^8=9^QQ ^>`` bG٣`yb(; b> jNusing accuracyPremultiplier from configdjz59fY?nz5Yf if2?ln"@n@f fEf:f7:fQz5p v@vwEDNOT Ignoring new targets: 52.00 m. jjjjihhhhffrfbf @]]]]-"@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.1 m/s ,DAT read: user:2941> BDAT read: Tx time:22:51:57.2153  $Ping request sent. j^w,tcA2>Y20?2p<92#;>y2H`?N-?`_?Y?g??Du?ɨ2>2D;0yJBJ$IUMb@Mb@Mb@QQQ Q)QYUMbp@5^I ?yUUb>UU@ Q)U@IQQyU@ImImW٢}Ww }=9NQ > G٣yr; > Nusing accuracyPremultiplier from configz59b?z5Y i5?q>;F@@ fE(;.';,Vz5 :@ addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 3.785655 s, deltaX: 0.099998 m, approachRate: 0.026415 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 52.00 m. jjjjihhhhBffrf J@bf`Y?]%q>]%q>]%1?]%CF@5p< 9=?I=: 9ɚ=5i9I9Iii))jHabHaHqIuC Iu$IIuBIq&Iq.Iq6Iu<:Iu] FBI)JI)RI)ZI-! =bI-! =jI-X5Will construct direction to contact in vehicle frame from tetrahedron phase data.R=4>D!*F?2F:FBF5JF"G>G I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J J 7;J 8;J DG;J EG;zK 7KK 9K K {K G B O- >tw,RcA2>Y2\1?2<<92wD>y2H??o?PA?` іqw?f?ɨ2>2:;0y:B>$I Ba=BR=IFIFb1٢c E=9 )Q  >   G٣y); > Nusing accuracyPremultiplier from config%z592?%z5Y| ie8?)-q@-@fE:a:Yz51 5@9eDNOT Ignoring new targets: 52.00 m. jajajajaiahahahihifqfqrfqbfuZ5?]]]]Zq@<< ?I: ɚ6iIIii))D9*F}?2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I cw,ncA20i>Y21?2;c<92?B>y2H`=?u?8w?`V2C;0yNBR$IeMb@Mb@Mb@aaa a)aYeeĻe@ e@)e@Ie@aye@I}I}ʳ٢r C=9TQ >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣yF; > Nusing accuracyPremultiplier from configz59?z5YL i:?>;@@fE; ;|]z5 w@%DNOT Ignoring new targets: 52.00 m. j!j)j)j)i)h)h)h1h5FBf1f9rf9bf=s?]]>]]>]] ?]]@m;c< im?ImT!: qɚu06iyIyIii))D *F2F:FBF_0JFHIC I %II.BI&I.I6I<:IX FM Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,cAJ>YJ@2?J~t<9J&?>yJH? (? W?1?K[?`Xp?ɨJ>JD;HyZӅB^$IIjIj 2٢r߹ rU=9vQ v>tt zG٣xyz; z> Nusing accuracyPremultiplier from config|z59~f~? z5Y~8 i~8w,dAWill construct direction to contact in vehicle frame from tetrahedron phase data.>Iu>}A}AMb@Mb@Mb@ )YCl?I +yL;=9@ V@)E@I@y\@I IV2٢-y -+=9-Q ->11 =G٣9y= => MNusing accuracyPremultiplier from configAMz59Ey?Uz5YE iEQw,"dA6#>Y6 4?6Gv<962;>y6H6aˎ;6CyBBBf$IININ#3ZWill construct direction to contact in vehicle frame from tetrahedron phase data.٢^0 ^I=9^Q b>`` bG٣`yfv< f> jNusing accuracyPremultiplier from confighnz59j7v?nz5Yj ijw,76=dAy~B~O$III2٢%% %@=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9Ez59=Fr?Ez5Y=g i== Will construct direction to contact in vehicle frame from tetrahedron phase data.J] J] JY JY J] |:J] :JY JY am @am @am @am @G BO=>vw,[dA6y>Y6$5?6 W\<96d:>y6H]A?`nw+e? U? W?`u@'+?w?ɨ6y>6^^;6CyBBB8$I)D D F=F=Mb@Mb@Mb@ )Y~jtv/?+yĽxi= ?@)@I@yf@I-I-M3٢= =.=9E\Q E>IQ UG٣QyU~x< U> eNusing accuracyPremultiplier from configamz59em?mz5Ye ief9?m3=m;u@u@efEe;e;e`pz5̓B @zEEDNOT Ignoring new targets: 52.00 m. jAjAjAjAiAhIhIhYh]ЁBfYfYrfYbfe£ @]3=]3=]&@]kQ@ W\< ?IX: ɚt5iIIii))H >I I$II BI# =&IHD.I4D6I<:Io FWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:51:59.6884 LVL= 14832, 14545, 14114, 20163, AGC= 52, IDX= 430, 0.20,-2.033,-2.606, 1.909, 3.075, PHS= 1.263, 0.649,-1.169, RAW= 44.0, -6.8, CAL= 47.4, -12.1, ROT= 102.6, 12.1 Ygot valid direction response: 22:51:59.6884 LVL= 14832, 14545, 14114, 20163, AGC= 52, IDX= 430, 0.20,-2.033,-2.606, 1.909, 3.075, PHS= 1.263, 0.649,-1.169, RAW= 44.0, -6.8, CAL= 47.4, -12.1, ROT= 102.6, 12.1 PDAT read: Bearing 102.6, 12.1 (Local) ~Local bearing/azimuth received: Bearing 102.6, 12.1 (Local)  DAT read: Range 10 to 50 : 51.6 m (Round-trip 68.9 ms) speed 0.0 m/s ,DAT read: user:2942> BDAT read: Tx time:22:52:00.8154 $Ping request sent.ککۭt?y*q,(C{)ۭJIۭn=iۭ:?ۭ}2۩۩=:publishing transmit ping timeUFpublishing direction and range infoة9حX S^?+*?c?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭt?y*q,(C{)۩I۩i۩۩۩۩D}9*F ?2F :F BF _0JF I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e JDAT read: TxSync time:22:52:00.8146 GI BY O} >k6w,jwdA2,>Y2~6?2+V<92:>y2H`g*?`u???s>Ŋ 5?|w?ɨ2,>2#4;2Cy>iB>$IIJ#IJ%x3٢R RA=zKV MKV9KTKV~KV   BKZqA:KX9^hQ ^>`` bG٣`yf%< f> jNusing accuracyPremultiplier from confighnz59ji?nz5Yj ij6?lno@n@hj:j:jtz5t v3@tk-F?klC k kddA:kfNBBkLBZkX0@"``@H4 7|C@RD @@X S^?+*?c?Jk:?Rk}2*ZD4p/Ɔ?$=@åېC@I"ӿL?`ߊ?"k$A*k{k6 =?k4 2kBk]ef?k N kBkBk? addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.530682 s, deltaX: -0.500000 m, approachRate: -0.141616 m/s, rangeRepo size: 4  Added new target pos. range: 51.599998 m, bearing: 118.341609 deg, lat: 36.904894 deg, lon: -122.119117 deg, deltaT: 7.316337 s, deltaX: -0.400002 m, approachRate: -0.054672 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.60 m. j jjjihhhhffrfEI@bfEW:?]]]]hQ@+V< 3?IS: ɚiIIii))2DqA*DqAWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*Fu ?2Fq :Fq BFq JFy q Iq G B O >$w,PdA2r>Y2!O8?28<92 2>y2H`?oW???`lz@$?@?ɨ2r>2|;0>Will construct direction to contact in vehicle frame from tetrahedron phase data.AyBUBF#IJـ3K3 K.-KK"KJJJJJHJHJJL:JJu9JHJH-jonly read 0 of 1 data item for BIT error. Device response is::TS,25010814530740,35.0, +10.9, 0.0,14  j@j j@n n@n  n@n IrIrm?3٢z1 z1=9~~Q ~>| G٣y8< > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configz59?e?z5Y iC3?%+:!%;%@%@fE:,;>Uwz5 v@DNOT Ignoring new targets: 51.60 m. jjjjihhhhf f rf bf ?U8< Y]&?I]: Yɚ]4iYIYIii)))) )NGtA )AYtAy8BD9H!>I I$II؅BI&IGD.I6Ið<:I F%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFp0JFG GqA I G% 3B1 OU >+w,O;dA6!l?Y6 9?6z8<9675>y6H?`? e???3?@~?ɨ6!l?6z;6Cy>AB>#IiB%=IB G٣y i< > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%z59a?%z5Y' i80?% :)-;-?-@fEI;Mf?yz51 =@9mDNOT Ignoring new targets: 51.60 m. jijijijiiihihqhqhqfqfyrfybf}@?z8< 隽??I: ɚg5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D#9*F}?2Fy:FyBF}$5JFyzKLKKKKG:BO>E Will construct direction to contact in vehicle frame from tetrahedron phase data._2w,dA6 ?Y6;?6`*<968>y6H@e? V?f?r? 5`K ?@z?ɨ6 ?6_';6 CyR7BR#I        Mb@Mb@Mb@ )YKǿ)\(y^:GaLj@ (@)@Id@y3@I IV2٢? <=9Q >    G٣ ym< > Nusing accuracyPremultiplier from config%z59/]?%z5Y i)?%T:%OI>-;- -@fE;D;}z51 5W@1eDNOT Ignoring new targets: 51.60 m. jajajajaiihihihihuPBfqfqrfybf}`? I]-OI>]-OI>]-[@]-@e`*< ae?Im#: iɚ=5iIIii))BD;?:DI?DWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ,:J9J3J*F?2F:FBF4JFG! B1 OM >H >I  I a$II BI ! =&I .I 6I <:I FBIJIRIZIbI" =jIƄ5Ĉ8w,dA67v?Y6;?6K=<969>y6HC?`h ?o?$i?l/d?x?ɨ67v?6쪉;6CyB.BB#IIJIJ(*3٢RH Rd=9RUV;Q V>TT VG٣Ty^T; ^> bNusing accuracyPremultiplier from config`fz59bY?fz5Ybj ib$?df j@bfEb\:b;:bȀz5l n@lWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 51.60 m. jjjjihhhhf!f!rf!bf%(@]I]I]I]MÃ@K=< Y?I+: ɚv5iIIii))DG9*F?2F:FBFP0JF"GG> IWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK jIK K K K Q>w,~dA>7?Y>gM<9>L:>y>H?@ ``?q?Gh?`! F(?)x?ɨ>7?>;|| ~G٣|y.: >  Nusing accuracyPremultiplier from config z59 QV?z5Y  i ? %@ fE (j; j; dz59 =@9mDNOT Ignoring new targets: 51.60 m. jijijijiiihihihqhqfqfyrfybf}S{@]]]]qă@gM< 隭s?I%: ɚ6iIIqii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DU9*FQ2FQ:FQBFQJFQ I Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J L:J 9J ـ3J G B O >Ew,|aeAf?Yf0yfH?N ? u?d?}`g(? x?ɨf?f;fCyz-Bz#IMMb@Mb@Mb@III I)IYM1Zd˿bX9ȶ ףp= yM"[MEMQ8M&@ M@)M@IMM@IyM@I]!I]i3٢m% u/=9uA:Q u>yy }G٣yy}ÿ: > Nusing accuracyPremultiplier from configz59&R?z5Y i?q>`;Z@fE:K;I;xz5 @DNOT Ignoring new targets: 51.60 m. jjjjihhhh#Bffrfbf2@] q>] q>] =Ib@] b@%9S< )-G@I- %: )ɚ-:6i)I)I1i1i1)9)9ZH9RH=AAHE>IA IE/$IIE|BIE" =&IA.IA6IE۰<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:52:03.2880 TRx dataTimestamp_ set to:1736376724.600850D-9*F% ?2F! :F! BF% O0JF! $?I GE 3BQ Ou >=Lw,T4eAV?YVfyVH Q?@|?z?a?P@/?w?ɨV?V͇;V!Cy^5B^#IIjIj3٢r= vQ=zWill construct direction to contact in vehicle frame from tetrahedron phase data.9~^ ;Q ~> G٣y  ;  > }Nusing accuracyPremultiplier from configyz59}N?z5Y} i}?N@}fE};}J;}z5˓B i@}EDNOT Ignoring new targets: 51.60 m. jjjjihhh)h)f)f)rf1bf5@{ @]]]]fh@T`< 4@IS(: ɚ\6iIIii))zKBHK-9KKK #'(*.+-.+(&"!    D9*Fu?2Fy:FyBF}_0JFyG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:52:03.2880 LVL= 16624, 20337, 15858, 21971, AGC= 52, IDX= 442, 0.06, 0.693, 0.067,-1.634,-0.500, PHS= 1.280, 0.614,-1.138, RAW= 45.5, -7.0, CAL= 49.2, -12.5, ROT= 100.8, 12.5 - Ygot valid direction response: 22:52:03.2880 LVL= 16624, 20337, 15858, 21971, AGC= 52, IDX= 442, 0.06, 0.693, 0.067,-1.634,-0.500, PHS= 1.280, 0.614,-1.138, RAW= 45.5, -7.0, CAL= 49.2, -12.5, ROT= 100.8, 12.5 M PDAT read: Bearing 100.8, 12.5 (Local) ] ~Local bearing/azimuth received: Bearing 100.8, 12.5 (Local) G} :B O > DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.0 m/s  ,DAT read: user:2943>  BDAT read: Tx time:22:52:04.3654  $Ping request sent. ڱڱhSw,QMNeA DITvWG?(W3T*d)gI=iʣ?!}8r:publishing transmit ping timerFpublishing direction and range info9?:Zl?Q ?y )Ii )IivWG?(W3T*d)Ii5?Y5uy5H?@?`|?C`?@Ul 6?`Kw?ɨ5?5{D;5 CyUFBU#Ii>I=Mb@Mb@Mb@ )YQ˿MbXQ롿y(\ʽ\S@ @)Id@y=@I!Ii3٢%= /=9}:Q > G٣y: > %Nusing accuracyPremultiplier from config%z59J?-z5YT i ?-u>m];meu@fE2*<)<z5}̓B }[@}EkA6?k k kFeA:k3MBBkKBZk @"@fKB@gs @@?:Zl?Q ?Jkʣ?Rk!}8*!!/ <@ lZv D@Zqwaӿ7x?P$!MT?"kA*kxkHޣ-?k{p 2klBkͅ?k<`yz kBkGBk? Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AU addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.528997 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, rangeRepo size: 4  Added new target pos. range: 51.299999 m, bearing: 119.015454 deg, lat: 36.904892 deg, lon: -122.119135 deg, deltaT: 3.528997 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.30 m. jjjjihhhhPBffrf`fI@bf]=u>]=d@]= ݈@Mdk< IMp?IU": QɚU6iQIQIii))D r9H) I)  I- $II- hBI) &I) .I) 6I- <:I- F*F! 2F! :F! BF% P0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge3BqO?1[w,neA ,I,>?Y>K=?>rU<9>O @>y>H? 4J??G??o?ɨ>?>t:;>CyZUBZ#IIbIbb٢z= z7=9zGQ ~> G٣y;  > Nusing accuracyPremultiplier from configz59G?z5Y iQ??@ fEz::ݓz5) -q@)UDNOT Ignoring new targets: 51.30 m. jQjYjYjYiYhYhYhahafafarfibfm@?]]]]@rU< 隥@I{*: ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ@AJ%J%J%1J!J%,:J%9J%3J!J%;a5J!a5J%8;a5J%8;a5DM9zKMKu9KKK BKpA:KnA*F?2F:FBFY0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G :BI O >;bw,_eAKo?Y2>yHM?@?? 8Q?nxΡ?r?ɨKo?v;CypB!$IMb@Mb@Mb@ )YJ +ɿkt~jtyH ļj@ ׫@)@IM@y@IIi٢b= -=99Q > G٣yM > Nusing accuracyPremultiplier from configz59qC?z5Y- i?\>v;@"fE;;z5 @ I-DNOT Ignoring new targets: 51.30 m. j)j)j)j)i)h1h1h1h=fBf9f9rf9bf=aY?]]\>]]\>]]Rc@]]3@m=K< quG@Iu#: ɚiIIi!i!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.De9*F ?2F :F BF U0JF "G >G >jH <bH H >I  I "$II rBI $ =&I HD.I 6I <:I v FG 3B O >:iw,嶦eA.Will construct direction to contact in vehicle frame from tetrahedron phase data.>k?Y>?<9>h<>y>H?  ?ෆ?OR? \`(s?t?ɨ>k?>o;> CyFBFC$III٢e > J=96Q > G٣!y% %> 5Nusing accuracyPremultiplier from config)=z59-S@?=z5Y-7 i- >AE E@-#fE-W;-mG;-z5Y ]@YDNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf@?]]]]1@?< @I%{): !ɚ!i!I!Iii)) AIEhD 9EpAEpA Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai JUJUJU0JQJU:JU:JUـ3JQJU6;JU7;JUyE;JUzE;*F?2F:FBF^0JFzKm LKi Ki Km Km G :B O >`pw,eAyUBUl$IIe Ie(2٢u> }==9}Q }> G٣y > Nusing accuracyPremultiplier from configz59@%fE7::Jz5 @DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.])])])])I QU@IU)(: ɚiIIii))2D%pA*D%oAD I*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >vw,)[eA6W?Y6>y6H?k? q~?\? @5I?@v?ɨ6W?6$;6CyRхBR$IU~Gu|uA K?Y|uAyp7BMMb@Mb@Mb@III I)IYM333333ÿI + u<=9}l;Q }>y G٣yJ > Nusing accuracyPremultiplier from configz599?z5Y i>V >;@&fE;-;z5 @DNOT Ignoring new targets: 51.30 m. jjjjihhhhBffrfbf*X@]V >]V >]R[@]@~Y< 隥3@I(: ɚiIIii))H9I9 I=T$II=BI=% =&I9.I96I=ٰ<:I= FD9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeN2JFaGpA GqA I G B O >|w,AeA::?Y:y:H@?`??@\Y?Bg`:?Kw?ɨ::?: ;8yNBN$IIVIVF٢^;$> bk=9bQ b?`d fG٣dyf: f? nNusing accuracyPremultiplier from confighnz59j~7?rz5Yj ij>prr@j'fEjC:jX:j"z5t v@x%DNOT Ignoring new targets: 51.30 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5 @]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]]ń@u;S< qu@Iu1: yɚyiyIyIii))JJJ1JJl:J:J3JJ;J;JA;JA;D*F%?2F!:F!BF-0JF)zKBoHK9KKK X9wHdA* G)BAOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:52:06.8379  TRx dataTimestamp_ set to:1736376728.130320ژw,UfA I$: ?Y:D=?:^H<9:#;>y:H¤?@R&@? Q?L? &B?v?ɨ: ?:;: CyN BN$I-Mb@Mb@Mb@))) )))Y-Mb:v?{Gzt?y--T<-ף;-j@ -׫@)-d@I-d@)y-@IEIEF2٢M> UB=9UºQ U>YY ]G٣Yye; e> uNusing accuracyPremultiplier from configiz59m4?z5Ym im>= <!@imQʉw,g)fAEza?YEa=?EL?<9E;>yEH? o4? k?)??0N?v?ɨEza?ES;ECy}%B}$III1٢> D=9ܵQ > G٣y; > Nusing accuracyPremultiplier from config z592? z5YS i{>  ! @(fE_2<_.<vz5 $@ addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf? !I)]9]9]9]=zp@L?< 隍^@I'(: ɚiIIii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ\:J 9JJJ<J<JO>;JO>;D9*F ?2F :F BF 05JF zKM !OKM 9KI KM KM G 3B O >kw,EfA2o?Y2Vg>?2(<92O;>y2H a?B@?4?2?B`CH?@v?ɨ2o?2>;2Cy>:B>%I)@ @IFIF(1٢N= NC=9Ru[Q R>PP VG٣TyV; V> ^Nusing accuracyPremultiplier from configX^z59ZO/?bz5YZ iZ?>dj!j@XZm;Z;Zz5t z@zEUWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U=DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf?]]]]Qp@(< 隵@Iw+: ɚiII)i1i1)9)iD}9 I*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 :BA Oe >Ԑw,_fAyXB%=%IMb@Mb@Mb@ )YQ?~jt?yL\=D< @)z@IyG@I I<2٢> 7=9Q > G٣y >  Nusing accuracyPremultiplier from config z59 <,?z5Y  i >=<*=@@ )fE d.; 7@; z5) -@)Hu>Iq Iu%IIu)BIu" =&Iq.Iq6Iu<:Iuc FDNOT Ignoring new targets: 51.30 m. jjjjihhhhRBffrfbfu?]=]=]: @]*=@ @I&: ɚiIIii))D9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFm_0JFi $?IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,hyfAJU?YJ??J;9JrN;>yJHm?@f .??@n? h@*t~EH?w?ɨJU?JԹ;JCyVhBVR%II^I^1٢fӵ= f`=9fQ f>hh jG٣hynw< n> rNusing accuracyPremultiplier from configpvz59r)?vz5Yr ir>xz=@z@r*fEr:rz:r6z5| @EDNOT Ignoring new targets: 51.30 m. jAjIjIjIiIhQhYhahafifqrfqbfuJ?]]]]=@; @Iw,: ɚ`4iIIii))D9zKJKKKK*F5?2F1:F1BF=d0JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O- > I 6w,#kfA6R$?Y6:@?6 ;962&;>y6H ;\? F{Aj??p? w`eC?ow?ɨ6R$?6;6CyBBBt%IiF%=IFR=DDMMb@Mb@Mb@III I)IYM u@=9uQ }>y G٣y; > Nusing accuracyPremultiplier from configz59&?z5Y i?+=;y@@;y;z5 +@DNOT Ignoring new targets: 51.30 m. jjjjihhh h oBf f rfbf?]5+=]5+=]5|?]5Ey@E ; AE@IE(: IɚMiIIIIQWill construct direction to contact in vehicle frame from tetrahedron phase data.ii))J=J=J=0J9J= :J=9J=ـ3J9aE@aE@aE@aE@DJ9EqAEqAH]>IY I]a%II]uBIY&IY.IY6I]ʰ<:I] F*Fm?2Fq:FqBFu_0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w, &fA lIly5B5~%IIEIEb1٢]&= ]E=9eQ e>ai mG٣iyu u> }Nusing accuracyPremultiplier from configyz59}#?z5Y} i}?@}+fE} ;}? ;}z5 @DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf.@]]]]   @I`): ɚ-5iIIii))!}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFJFzK5 :IK5 9K1 K5 K5 RKE ?JKE >Gi By O > w,-fANWill construct direction to contact in vehicle frame from tetrahedron phase data.R3 ?YRC?Rh99RR;>yRH? &?%?`?m9H?Pw?ɨR3 ?Rz;RCy^B^%IIfIf(*2٢nl= nM=9r6WQ r>pp vG٣tyvx< v> zNusing accuracyPremultiplier from configxz59z ?z5Yz iz9 ?W@@z,fEzkw,fA67) ?Y6D?6t*ɺ96:>y6H@??;?3?M%Y? 94< @)Id@yIIV٢%< %=9%pQ ->)) -G٣)y5k; 5> =Nusing accuracyPremultiplier from config9Ez59=,?Ez5Y= i=_?M>M;M@M@=-fE=;=;=z5Q U@Q5DNOT Ignoring new targets: 51.30 m. j1j1j1jAiAhAhAhIhMBfIfIrfQbfU@]>]>]`?]@t*ɺ @I%: ɚ5igyw,0gAuw ?YuE?unQ9uY;>yuH?@? Y?f?k -j? I?;w?ɨuw ?u.ċ;uCyލBލ%IWill construct direction to contact in vehicle frame from tetrahedron phase data.II 2٢  ,=9I]Q > G٣y)< > Nusing accuracyPremultiplier from configz59?z5Y' i8?4@@.fE;<z5 @ I=DNOT Ignoring new targets: 51.30 m. j9jAjAjAiIhIhQhhffrfbf@E @]Q]Q]Q]UG4@enQ am@Im: iɚm6imyRHj?wि?Dp??j?bu? <8?w?ɨRt?R:;RCy^Bb%Iif=If%=Mb@Mb@Mb@ )Y~jth?jt?yD; >@ ׫@)Iy@II٢c =9jiQ > G٣y; > Nusing accuracyPremultiplier from configz59?z5Y i-? >;@@0fE;;z5! %@9eDNOT Ignoring new targets: 51.30 m. jajijijiiihihqhqhunBfqfyrfybf}>o@] >] >]ʝ?]@@ 隵@I': ɚ36iw,YFgA2~?Y2f7H?2Tܻ92Q;>y2H?4? S? L? {???w?ɨ2~?2A|;2Cy>B>o%IIFIF(*2٢N߆ NN=9RQ R>PT VG٣TyVM< V> =Nusing accuracyPremultiplier from configXEz59Z?Ez5YZb iZ?AEk@M@Z1fEZ?w,(agAJ?YJ~J?J9J;>yJH?6j ]X?`?`?$6҃?>?ew?ɨJ?J=;JCyRxBRe%I5Mb@Mb@Mb@111 1)1Y5~jtDl?Mby55O >55@ 5@)5 @I57@1y5p@IU IU2٢e0  e5=9eֻQ e>ii uG٣qyur< u> }Nusing accuracyPremultiplier from configyz59}L ?z5Y}e i} ?>; @@}2fE};};}z5 @DNOT Ignoring new targets: 51.30 m. jjjjihhhh5Bffrfbf@H>I I%IIBI' =&I.I6I<:IO FBIJICRIZIbI$ =jI6]>]>]4?]D @ 隵R@I*: ɚky6ixnw,|gAR(?YRǤK?R,k19R/;>yRH e?`T?e?? B I-?VD?` w?ɨR(?R{;R Cy^cB^K%I)` ` ba=`IfIf3٢nҽ nJ=9r:Q r>pt vG٣tyz6< z> ~Nusing accuracyPremultiplier from config|z59~?z5Y~ i~? V @ @|~`;~;~z5 5@MDNOT Ignoring new targets: 51.30 m. jIjIjIjIiQhQhQhQhQfYfYrfYbf]@n@]y]y]y]}'V @,k1 隕@I},: ɚi# I Lw,9gA:?Y:L?:}C9::>y:HP? 2? c? ?@F`o?:? hw?ɨ:?:;8yBTBB8%IEMb@Mb@Mb@AAA A)AYEy&1&1? rhyE`eE=ECE@ A)E @IE @AyEz@I]I]2٢m mC=9ma,Q u>qq uG٣qy} < }> Nusing accuracyPremultiplier from configz59?z5Y+ i?=;q7@@3fEpJ;BI;@z5 %@DNOT Ignoring new targets: 51.30 m. jjjjihhhhBffrfbf\@]=]=],@]q7@}C = @I+: ɚC5i%s;I!I!i)i)))))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D=9jH}<bH}p<H>I I%IIֆBI( =&I.I6IȰ<:Iz F*F?2F:FBF,2JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >ww,~gA 4I4>$?Y>M?>*M9>";>y>H 8?@ñ'H?x? F?J? B?v?ɨ>$?>;>CyR?BR%IIXIX٢b ս bU=9fٺQ f>dd jG٣hyj5< j> rNusing accuracyPremultiplier from configlrz59n?rz5Yn in ?tv7@v@n4fEn ;n.;nz5| l@DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf |@]]]]#7@ *M @I+: QɚUiU+IQIYiYiY)Y)a2DmqA*DmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJl:Ju9J3JJ;aJ;aJ/;aJ/;aD9*F?2F:FBFQ5JFzK} V$KK} 9Ky K} K} 'RE' G :B O >w,PgA"Will construct direction to contact in vehicle frame from tetrahedron phase data."<"yVH%? }?? ?@8?@FE֊?:?@Cw?ɨV?V;VCyf0B- %Ii5pYY ]G٣Yye; e> mNusing accuracyPremultiplier from configauz59e?uz5Ye| ie'?qu7@}@e5fEe ;e? ;exz5 f@DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf@n@]]]]7@%V )-@I-(: )ɚ-X 5i-I1I9iAiA)I)Y ID-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFH I C I %II BI , =&I .I 3D6I ְ<:I FG B! OM >KZw,d:gAR?YRGO?RC_9R~:>yRH?$bB? +?ץ? rA?k7?`Yw?ɨR?R;R!CyZB^$ImMb@Mb@Mb@iii i)iYmJ +Mb?~jtymȽm=mļm@ i)iIm @iym׻@II(*2٢Ի 7=9 Q > G٣yA; > Nusing accuracyPremultiplier from configz597?z5Y i?MWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U;U;U@6fE<<fz5Y ]@YDNOT Ignoring new targets: 51.30 m. jjjjihhhhBffrfbfK@]M=]M=]MP $@]MQV@]C_ Y] @I](: ɚ?5iNIIii)) IDE9*F ?2F :F BF M5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. i AJe Je Ja Ja Je :Je b9Ja Ja Je h;Je i;Je /.;Je 0.;G 3B O >w,hA6~?Y6fO?6va96:>y6H@g? S?:?`?9`2? 6? \w?ɨ6~?6z;6Cy>BB$IIF IF2٢n1 n<=9riQ r>pp vG٣tyv ; v> ~Nusing accuracyPremultiplier from configx~z59z?~z5Yz iz%?;@xze:ze:z+z5  O@=DNOT Ignoring new targets: 51.30 m. j9j9j9j9i9hAhAhAhAfIfIrfQbfU@]q]q]q]u~V@va 隅Q @I-: ɚ5iɼIIii))zKxLK9KKK LZbn; DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFZ0JF IGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.&Aw,rmhAyB$I ==Mb@Mb@Mb@ )Yny&1?L7A`堿yV`e<+ )ݸ@Iy3@I Ib3٢  ==9Q > G٣y > Nusing accuracyPremultiplier from configz59?z5Y  tIi?>; @7fE ; ;z5B  @E5DNOT Ignoring new targets: 51.30 m. j1j1j1j1i1h9h9hAhEBfAfIrfIbfMh@]m>]m>]m7B@]ms@y y} @I+: ɚiIIii))ZHRH@AH>I Iz%IIBI. =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.D49 I*F ?2F :F BF P0JF G rA G rAG B O >)w,Ug;hAB?YBXQ?B]9B,;>yBH?>@?@zX?`v?`'@?`C? v?ɨB?B ;BCNWill construct direction to contact in vehicle frame from tetrahedron phase data.yfBf$IIrIr?13٢v z@=JJJ0JJl:J:Jـ3JJ;J;JC;JC;9z :Q > G٣y-J< -> 5Nusing accuracyPremultiplier from config1=z595 딜?=z5Y5  i5?9EE@58fE5;5;5z5I M@IuDNOT Ignoring new targets: 51.30 m. jqjyjyjyiyhyhyhhffrfbfͰ @]]]]Tt@}] y} @I*: ɚ5iIIii))zKuNKk9KKKD9UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF i Iq G B O >kw,VhA6Z?Y6Q?6W`96:>y6H`?`=S? 8c?j?r@Q?:?0w?ɨ6Z?6 ;4y>B>$IMb@Mb@Mb@ )Y(\ſ{GzV-y.#@ |@)@I@y@I%I%2٢5 5;=9=Q =>AA EG٣AyE; M> UNusing accuracyPremultiplier from configIz59M攜?z5YM| iM?0>;@M:fEM]0>]L@]?@W` @I+-: ɚϖ5iIWill construct direction to contact in vehicle frame from tetrahedron phase data.Iii))GD1 e.YiymB*F?2F:FBF_0JFHI IH%IIaBI/ =&I.I6I<:I FG :B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,VphA 6$?I6hy%B%$II5I5M3٢M޻ MK=9MQ M>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiuz59m#㔜?uz5Ym im%?qqu@m;fEmL:mC ;mz5 )@DNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf@["@]]]] @I:3: ɚ{5iIIAiIii)q)qDM 9EQEUrA*F?2F:FBFo0JF"G >G >-Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJJ9J3JJJJ3;J3;G% 3B1 OM >$q"w,>hAzK.K,K,K.K.F?YFR?FW9FW:>yFH@W?@T?`s?@PZ?`A?3/?@w?ɨF?F;FCyv؅Bv$II IV2٢ rY N=9,:Q > G٣y%; %> -Nusing accuracyPremultiplier from config!-{59%eߔ?5{5Y%* i% ?15=@%Ș(w,hAF?YFyKS?FU9F:>yFH ?,??J?`? 9? Uw?ɨF?F;FCyR܅BR$IjHYbH]<HaIa Ie%IIe=BIe. =&Ia.Ia6Ie<:Ie FBI-CJI-CRI)ZI-. =bI-- =jI-$6Mb@Mb@Mb@ )Y ףp= ǿV-y&1yQ8`@ )@I @yG@II(٢< A=9 ~9Q > G٣yW; > Nusing accuracyPremultiplier from config{59۔?{5Y i?<>; @=fE;>;,{5 @%DNOT Ignoring new targets: 51.30 m. j!j!j!j!i!h!h)h)h-WBf)f1rf1bf5 Q$@]U<>]U<>]UIS@]U@mU im@Im /: iɚm76iqIqIyii))Will construct direction to contact in vehicle frame from tetrahedron phase data. AIAD)9*Fu?2Fq:FqBFu0JFqG}qA G}qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >l/w,VahAJ&J$J&0J$J&:J$J&ـ3J$J&5;J&6;J$J$y߅B$I) I-I-2٢=?+< =F=9=Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe{59]ؔ?e{5Y]m i]P?iim@]>fE];];]{5q um@qDNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf}$@]]]] @I 0: ɚ\6iII!i!i!)!))zKEJKE-9KAKEKEDWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2FA:FABFE1JFA IG] :Bi O >6w,~hAy-B5$IMb@Mb@Mb@ )Y^I +ǿy&1~jtyX9`弹 O@)I@y@II(*2٢< ;= Will construct direction to contact in vehicle frame from tetrahedron phase data.9Q > G٣y > -Nusing accuracyPremultiplier from config!-{59%*Ԕ?5{5Y%$ i%c?5<>5;5 5@%?fE%;%;% {59 =-@A]B*** querying acoustic contact ***jYjYuDNOT Ignoring new targets: 51.30 m. jqjqjqjqiyhyhhhSBffrfbf%@]M<>]M<>]MwR@]M!/@Y Y]@I]-: ɚ6iIIii))HqIq Iu %IIu.BIq&Iq.Iq6Iuΰ<:Iu| FDJ9*F= ?2F9 :F9 BF= 3JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. 9 I9 GM 3Ba O} > <w,8hAF?YF@U?FxT9F_:>yFHх? V`-? O?n?Ҏ? dd fG٣hyjɜ< j> rNusing accuracyPremultiplier from configlr{59nД?v{5Yn ino>tvD v@nAfEn;n:n{5x zF@|%DNOT Ignoring new targets: 51.30 m. j!j!j)j)i)h)h1h1h1f9f9rfAbfE&@]a]a]a]em@uxT qu@Iu5: qɚ}6iyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2944> BDAT read: Tx time:22:52:19.1655 $Ping request sent.G%>zK .JK u9K K K G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255306B O >OCw,iA2L?Y2mU?2]92%:>y2H`>y? aJ?ࣸ?`w?L?=?w?ɨ2L?2X;2Cy:B:$Ii>=@BBAIFIF XI\٢j= jI=9{Q > G٣yx; > Nusing accuracyPremultiplier from config{59̔?{5Yo i>" @BfE*::{5 j@EDNOT Ignoring new targets: 51.30 m. jjjjihhh h f f rfbf4]'@]a]a]a]e~@] 隽^@I0: ɚ6iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507082DU\9JeJeJe1JaJe:Je9Je3Jaam@am@am@am@*F?2F:FBF4JFZHA RHE ?AHI II  II II II &II .II 6IM <:IM \ FG :B O > BJw,h+iABj`?YBRV?Bq9B#4>yBH`_?  ???@oa8?r? ?ɨBj`?Bqp;BCyHHeMb@Mb@Mb@aaa a)aYeS㥛Ŀy&1|{Gzye$e`廹e#e@ e"@)aIeƷ@aye@I}I}V9CQ > G٣y#< > Nusing accuracyPremultiplier from config{598ɔ?{5Y i>V%>;M@CfE;B;{5 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759505DNOT Ignoring new targets: 51.30 m. jjjjihhhh eBf f rf bf`6(@lJTimed out from 2025-01-08T22:42:20.6Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16% l%Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInk%VCompleted lineCaptureHoming:MicromodemComms]5V%>]5V%>]5K@]5i@Mq IM3@IM1: QɚU6iQIQIYiaia)a)a ID-9*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010993G B O5 >Qw,ݳFiA6?Y6pX?6ށ96>'7>y6H`9?tSn?`&?p?Й;? ?M|?ɨ6?6؇;6Cy>B>$IIFIF%x٢rBp= r<9r.Q r>tt vG٣tyvu< z> ~Nusing accuracyPremultiplier from config|{59~Ŕ?{5Y~$ i~>  @~DfE~:~:~#{5 @=DNOT Ignoring new targets: 51.30 m. j9j9jAjAiAhAhAhIhIfIfIrfQbfU)@5ekenAggregate::initialize lineCaptureHoming:MicromodemComms16e le~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6e]y]y]y]}2@ށ 隕l@I4: ɚ6iIIii))BDG?:D1?Dj9EEqAzKk3IKKKK/i;   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263683*F}?2Fy:FBF_0JFG G )I)GBy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514841J J J 0J J <:J O9J ـ3J HI I%II=BI&I.I6I<:Ih FO} ?{Yw,KiiArm ?YrU%Y?r'9r^9>yrH(?`Sܿ??¿?9D?`?`y?ɨrm ?r(;r!Cy$B$I)  a=p=Mb@Mb@Mb@ )YnI +?MbpyV94<@ f@)@I@y@II(٢@&=  =9 T~Q  >    G٣yj; > Nusing accuracyPremultiplier from config-{59?-{5Y i>->5;55@EfEB;@;/{59 = @9mDNOT Ignoring new targets: 51.30 m. jijijijiiihihqhqhuBfqfyrfybf}/*@]>]>]D@] z@' 隵@I&: ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767814 $?ID9*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018578J J AAU PExceeded connect timeout, disconnecting.G 3B O- > .aw,iA6K!?Y6Y?6N96/:>y6H?A "?t ??I?o$?@w?ɨ6K!?6;6Cy>=B>%IIJIJ٢NK> RS=9RJQ V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config\b{59^|?f{5Y^ i^>dff@^FfE^ ;^y;^"{5h n}@lDNOT Ignoring new targets: 51.30 m. jjjj i h h hhffrfbf*@]9]9]9]=3z@N  @I3: ɚiIIii))zK MK9KKKBKoA:KpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270679 ID*F?2F:FBFP0JFG *) wCB) e c~G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527580 J J J J J :J u9J J E &YI yM BOM >gw,ܠiAy=QB=5%I u@} }@} }@}  }@} I I2٢= /=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config{59?{5Y i>+:;@GfEu*;>%{5 :@DNOT Ignoring new targets: 51.30 m. jjjjihhhhf f rf bf +@9 9=@I=.: AɚE$5iIIii))2DpA*DjHe<bHe=Hm>Ii ImB%IIm\BIi&Ii.Ii6Im<:Imd FDu9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775121 Ih*FY2FY:FaBFeO0JFa"Gm>Gm>G 3B O >>nw,jiA2M"?Y2Z?2K%92:>y2H1?h ?`"?ʕ?sD?8?`v?ɨ2M"?2Z;2!Cy>`B>H%IiB)>IBp<IfIf<٢n3= nN=9n3Q r>pp rG٣pyvc#< v> ~bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx{59z4?{5Yz iz>  :  y; @zHfEzVo;z]?z$({5 M@EDNOT Ignoring new targets: 51.30 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf]d,@K% 隍k@Il5: ɚ:5iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:52:21.6368 TRx dataTimestamp_ set to:1736376743.001355checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028749 nManaging dock network, ignoring radio surface power offDM9*F?2F:FBFQ0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278623zK uJK K K K RK ?JK ? Y IY G :B1 Om >3uw,ciAyepBm[%III٢= 9=9Q > G٣!y- 5> =bBottom track data is 1.3 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E{595'?E{5Y5  i5>E9IMJ;IU@5IfE5f;5?5a*{5Y ]S@YDNOT Ignoring new targets: 51.30 m. jjjjihhhhffrfbf֦-@ _@Iq/: ɚ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J9J9J=:J=:J9J9MDAT read: 22:52:21.6368 LVL= 12832, 21681, 18914, 24915, AGC= 58, IDX= 428, 0.33,-1.873,-2.859, 1.974, 3.099, PHS= 1.399, 0.372,-1.128, RAW= 53.8, -5.9, CAL= 58.9, -11.3, ROT= 91.1, 11.3 ]Ygot valid direction response: 22:52:21.6368 LVL= 12832, 21681, 18914, 24915, AGC= 58, IDX= 428, 0.33,-1.873,-2.859, 1.974, 3.099, PHS= 1.399, 0.372,-1.128, RAW= 53.8, -5.9, CAL= 58.9, -11.3, ROT= 91.1, 11.3 ePDAT read: Bearing 91.1, 11.3 (Local) m~Local bearing/azimuth received: Bearing 91.1, 11.3 (Local) uDAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.0 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.092849,0.647031,0.756789]Fpublishing direction and range info9]ķ?xكH{?Q7?y3IB 2T I)SaI:io?v>Nbvap?Bҽ x?)II?iI>̬[.?xPL) ғI?=iѶ?8[D9HI It%IIBI&I.I6I<:Ig FBIJIRIZIbI. =jI>3*F} ?2F :F BF Y0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) G 3B O >}|w,iA^)$?Y^k\?^9^:;>y^H ?@?@0I?e?z ? D?u?ɨ^)$?^|X;^CyfBfw%I - - -- --  - - -Mb@Mb@Mb@))) )))Y-sh|?V-?{Gzt?y--m=-ף;-@ -G@))I- @)y)IMIMi٢]:= ]/=9e}»Q e>aa mG٣iymD< m> }Nusing accuracyPremultiplier from configq}{59u?}{5YuV iu>T:=<7@uJfEu;u;u.{5B @Ek1qE?keJ k k2UiA:k3IBBkGBZk@"رa@vsE@@(ێlC@]ķ?xكH{?Q7?JkѶ?Rk8[*D0:!:3@yfE@SSտv?e:F?"kљA*klk ;?k4 2kdBk6 =?k4 kBkBk;? addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 14.872469 s, deltaX: -1.000000 m, approachRate: -0.067238 m/s, rangeRepo size: 4  Added new target pos. range: 50.299999 m, bearing: 130.725764 deg, lat: 36.904885 deg, lon: -122.119168 deg, deltaT: 18.399673 s, deltaX: -1.000000 m, approachRate: -0.054349 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.30 m. jjjji h h h hBffrf`f&I@bf?]5=]5=]5"@]5 FZ@M QU@IU.: QɚU 6iQIQIYiYiY)Y)BDI?:D&?Will construct direction to contact in vehicle frame from tetrahedron phase data.De9*F 2F :F BF ]0JF G  G rAEWill construct direction to contact in vehicle frame from tetrahedron phase data.E=E<GM:BYO>mw,%jA IzKBoIKu9KKK  "&(+''*'&"   ^$?Y^,]?^:ꪼ9^;>y^H?`W?S? X?D\?`??`u?ɨ^$?^s;\yB%I)  II(1٢%M= %<=9-R;Q ->)1 5G٣1y5; => ENusing accuracyPremultiplier from config9E{59=?M{5Y= i=>IM7M@=KfE=L:=:=1{5Q ]$@YDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf ?]]]]hZ@:ꪼ R@I]0: ɚG6iIIii))D*F)2F1:F1BF50JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>ZH) RH- AAH- >I)  I- %II- BI) &I) .I) 6I- <:I- FI>w,*jAN%?YN^?N9Nm;>yNH I??Ye?A?0 ?`J?`3u?ɨN%?NQ;NCyZBZ%IuMb@Mb@Mb@qqq q)qYuZd;333333? G٣yo< > Nusing accuracyPremultiplier from config{59ǧ?{5Y i}>=<H@;4;5{5 @DNOT Ignoring new targets: 50.30 m. jjjjihhh h  Bf f rfbf@%?]5=]5=]59;@]5V8I@E AE3@IM0: IɚM m6iIIIIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data. I!DU9*F?2F:FBF1JFG B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.J3K3 K/.KK"KJ J J 1J J <:J :J 3J J ;a J ;a J L;a J L;a =&w, DjA6C&?Y6+^?6960;>y6H?`$ ſ? _p?@3?q@`З?@/C?`Su?ɨ6C&?6Gg;6CyFBF%IININ0٢fk= fY=9fGRQ f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv{59r¤?v{5Yr ir>xzHz@rLfEr:r:r8{5 @mDNOT Ignoring new targets: 50.30 m. jijijijiiihihqhqhqfqfrfbf`?]]]]]I@ @I+4: 1ɚ56i1I9IAiAiA)A)I2DuqA*DurAD9EE*FE?2FA:FABFEP5JFA"GQGU>Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK}UMK}9KyK}K}G B O >Pw,^jAyB%%Ii-R=I-G>)-A=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YB`"۹?y&1?yL=`e<@ )@I@y@IIb٢-u= -6=9-Q ->11 5G٣9y= => ENusing accuracyPremultiplier from configAM{59E?M{5YE_ iEW?M=U;U;@U@EMfEE;E1;E<{5Y ]:@YDNOT Ignoring new targets: 50.30 m. jjjjihhhh6Bffrfbf3y@]=]=]P@];@ G@I2/: ɚ6iIIii))H>I I%IIۆBI- =&I.I6I<:IL FD9*F?2F:FBF1JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ѝw,yjA6'?Y6`?6Ӽ96;>y6H 1?ZA?`d? ?Bd ca?@??`t?ɨ6'?6އ;6Cy>ņB>%IIJIJ٢R< RY=9V ڻQ V>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config\f{59^U?f{5Y^% i^O?hj~;@j@\^f=;^=;^@{5l r@p DNOT Ignoring new targets: 50.30 m. j j j jihhhhffrfbff~@]9]9]9]=~;@UӼ Y]@I]4: Yɚ]6iYIYIaii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJ:J:JJJP;JQ;Jwp;Jxp;DM9*F?2F:FBFP5JF 5 $?I1 e Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B zK- k3IK- 9K) K- K- BK5 pA:K1 OE >w,jAZ.o(?YZ`?Z9Z:>yZH`j?`S_? '?`P?@NzT?9?`t?ɨZ.o(?Zև;ZCy~ІB~%II I 2٢R= D=9%yQ %>!! -G٣)y-i; -> 5Nusing accuracyPremultiplier from config1={595?={5Y5 i5?AE;@E@5NfE5 ;5:5C{5I MG@I}DNOT Ignoring new targets: 50.30 m. jyjyjyjyiyhyhyhhffrfbf@g@]]]];@ 隽.@I1: ɚ6iIIYiYia)a)qDQ*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% :B1 OM >jH% <bH% 4<H) I)  I- &II- BI) &I) .I) 6I- m<:I- 3 F$۪w,jA6<)?Y6ɸa?6@i96;>y6HV?d` \?X?[? ( ?-??`it?ɨ6<)?6-;4yBφB@)D DMMb@Mb@Mb@III I)IYMktrh|? G٣y; > Nusing accuracyPremultiplier from config{59i?{5Ys i ?>;3@@OfE1;;[G{5 M@ IDNOT Ignoring new targets: 50.30 m. jjjjihhhh,BffrfbfM+ @Will construct direction to contact in vehicle frame from tetrahedron phase data.]->]->]-%?]-3@E@i AEz@IE&2: AɚM6iIIIIIiQi))D,9*FE?2FI:FIBFM]0JFIGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J ,:J 9J ـ3J J ;J ;J 3;J 3;?űw, mjA6*?Y6n}b?6/96q:>y6H`QC?ju*-?@?`?`? `8?Xt?ɨ6*?6;6CyBӆBB%IIJIJ̍٢R3< RX=9VLQ V>TX ZG٣XyZ6< Z> bNusing accuracyPremultiplier from config`f{59b?f{5Yb  ibw?df"4@f@bPfEb\:b:bJ{5l n@l DNOT Ignoring new targets: 50.30 m. j j j j i h hhhffrfbf@*W @]]]]"4@/ @I4: ɚ6iII!i!i!)!)!Dm>9 I*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.zKUBoHKUk9KQKUKU  RKe?JKe?G) B9 OU > ~G  Y y NB3w,?jA:\*?Y:Dxc?:Ÿ9:B;>y:H*?-?6? ?޹`?D?@{s?ɨ:\*?:);: CBWill construct direction to contact in vehicle frame from tetrahedron phase data.ybBb%IIjIjb1٢r|= vG=9zcLQ z>xx zG٣|y~< ~> Nusing accuracyPremultiplier from config {59z? {5Y i?h4@@:X:BN{5 A@%EMDNOT Ignoring new targets: 50.30 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf];@]]]]qh4@Ÿ @I4: ɚ%6i!I!I!i)i)))))He>Ia IeO&IIe6BIe. =&Ia.Ia6Iḛ<:Iex FD_9E I5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=^0JF9G9 BA O] >w,|,jAb+?Yb~)d?b9b;>ybHb?˘`??`??aa eG٣aye; e> Nusing accuracyPremultiplier from configi{59mD?{5Ym. im?4@@mQfEmi:mq:mQ{5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf @]1]1]1]5 4@m im@Iu01: qɚu7iqIqIyiyiy)yWill construct direction to contact in vehicle frame from tetrahedron phase data.)JJJJJ̝:J=9JJJ;J;J*;J*;D%M9*F 2F :F BF JF I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK K K K  ! BK qA:K G BB O >w,kA2,?Y2$e?2p 92۞;>y2H?`{?F??>M?@N? Gr?ɨ2,?2 ;2CyB҆BB%III<٢% %4=9-f$Q ->11 5G٣1y=) < => ENusing accuracyPremultiplier from config9E{59=?M{5Y= i=.?IM4@U@=RfE=;=;=U{5Y ]!@YDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf@]]]]4@p @Ia3: ɚK7iIIii))D 9*F?2F:FBFl2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH?AG:BO >HA IA  IE U&IIE ;BIA &IA .IA 6IE <:IE FBIJIRIZIbIjI"W4 I w,Ae2kA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y׆B%I--only read 1 of 4 data items for bottom velocity. Device response is::BS, +128 +18,A  -@5 5@5 5@5  5@5 I=I=(*٢Mh< M:=9MQ U>QQ UG٣Yy] ]> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configiu{59m@?}{5YmB im?}+:y};y}@mSfEm<;m!>mY{5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf}@ 隕n@Iw0: ɚX7iIIii))BDX?:D_?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EE*F ?2F :F BF n0JF G  G G 3B O >w,D4OkABq<.?YBYf?B9B^Y;>yBH`?@վ?`?`\?i ¿?E?`q?ɨBq<.?B,;B CyJĆBJ%I)L LIVIVb٢^v ^M=9^YջQ b>`` bG٣`yf*}< f> nbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from confighr{59j;|?r{5Yj ijv#?v :tv;vQ5@v@jTfEjn;jW?jI[{5| ~@| $?Ih5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE@u y}@I}5: yɚ}`#7iyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KKKD9*F?2F:FBFo1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ AJ J J J J \:J :J J a @a @a @a @G :B O >w,FhkAJq.?YJYqg?J 9J!:>yJHm?@{ ף? !?I?P¿@Z? 8?r?ɨJq.?JLj;HyB%IHyIy I}H&II}1BIy&Iy.Iy6I}<:I}R F        Mb@Mb@Mb@ )Yy&1MbX9?{Gz?y`e!>ף<E@ O@)V@I @yI I  2٢L 7=9HOQ %>!! %G٣!y-; -> Nusing accuracyPremultiplier from config1{595ev?{5Y5J i5(?T:,>;5@@5UfE5<5 ;50_{5 @5DNOT Ignoring new targets: 50.30 m. j1j9j9j9i9h9h9hAhEBfAfArfAbfM`#@],>],>]*?]5@  z@I.: ɚ-7iI IIii))! Will construct direction to contact in vehicle frame from tetrahedron phase data.DU9*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=>w,PdžkA:0?Y:Ei?:#9:?J;>y:H? >@?D?#? i=¿`{t?)C?p?ɨ:0?:f;:CyFBF%IININ ٢V VC=9Z짻Q Z>X\ ^G٣\y^t< ^> bNusing accuracyPremultiplier from config`j{59bp?j{5Yb ib-?ln-6@n@bVfEb+;;b^;;bb{5p r@puDNOT Ignoring new targets: 50.30 m. jqjyjyjyiyhyhyhhffrfbf@{@]]]]-6@# @I3: ɚ67i!I!I)i)i))))12D9*D9 I!-Will construct direction to contact in vehicle frame from tetrahedron phase data.11D9zKk3IKk9KKK*F]?2FY:FYBF]W5JFY"GaGe>G 3B O >E0w,dXkA^Will construct direction to contact in vehicle frame from tetrahedron phase data.J|J|J|J|J|J|J|J|yB%IipD<@ "@)Iy@II0٢r #=9Q > G٣y > Nusing accuracyPremultiplier from config{59rj?{5Yw i2?!>;?@@WfEH;;>g{5 B @E=DNOT Ignoring new targets: 50.30 m. j9j9j9j9i9h9hAhIhMBfIfQrfQbfU`w@]!>]!>]&@]?@a ae @Im/: iɚmYA7iiIiIqiyH>I I)&IIBI/ =&I.I6Iް<:I Fiy)) 1I1mWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F} ?2Fy :Fy BF} l1JFy GABIOm>#w,kA>M2?Y>j?>+9> ;>y>Hq?!@?`a??*S¿as?:?p?ɨ>M2?>ʉ;>CyJBJs%IIRIR٢^۽ ^J=9b흻Q b>`` fG٣dyfCp< f> nNusing accuracyPremultiplier from configlr{59nBe?r{5Yn; in5?pr?@r@nXfEn:n:nj{5x z@xDNOT Ignoring new targets: 50.30 m. jjjji!h!h!h!h!f)f)rf)bf5`N+@]Q]Q]Q]UQ?@e+ imC@Im@2: qɚuiqIqIyiyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.DI*F?2F:FBFC5JF Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jIK 9K K K   RK ?JK >G :B O >Gw,TkA2r.3?Y2Zk?2t/92;>y2H@Z?`o2g?gr? ?^¿?{PP RG٣PyV < V> ZNusing accuracyPremultiplier from configT^{59V$`?^{5YV iV9?AE0@@M@VYfEV;Ҁw,kA2H3?Y20al?20Z192Q;>y2HUH?@??@?c¿ )?@=C?o?ɨ2H3?2X;2!CyFeBFN%I)L L]Mb@Mb@Mb@YYY Y)YY]&1l?y&1?y]н]>]`e<]/@ ]9@)]?@IYYy]f@IuIub٢+ "=9qQ > G٣yH; > Nusing accuracyPremultiplier from config{59X?{5Y i=?8>;G@@[fE";{!;r{5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbf @]%8>]%8>]%& @]%7G@50Z1 9=f@I=-: 9ɚ=Ğ5i9I9IAii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D1*F?2F:FBF5JF $?I G :B O5 >vw,RlA"Will construct direction to contact in vehicle frame from tetrahedron phase data.B%4?YB (m?B49B;>yBHQ4?Oq?Ǝ??@h¿ڙ?9?@o?ɨB%4?B;BCyNOBN2%IIZIZb1٢b۽ bI=9b Q b>dd fG٣dyj%; j> nNusing accuracyPremultiplier from configlr{59nR?r{5Yn inyA?prG@v@n\fEn;n;n4v{5| ~H@|%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i)h)h)h1h1f1f1rf1bf=+!@]Y]Y]Y]]G@m4 im@ImU1: qɚuiqIqIii))DM9zKLK89KKK2Q3  BK:K*F?2F:FBF_0JF) eiGy YyBG3Will construct direction to contact in vehicle frame from tetrahedron phase data.BqJJJ0JJ\:J:Jـ3JO>ZH RH H I  I %II ˆBI &I .I 6I İ<:I s F w,= .lAy~ G٣y > Nusing accuracyPremultiplier from config{59N?{5Y i@?>;'@]fEx;;y{5 b@E%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i!h)h)h)h-Bf1frfbfۚ"@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]]>]]>]]b/@]]#_j@i 隕 @I,.: ɚa$5iIIii))2DrA*DqAD9*Fm ?2Fi :Fi BFm P0JFi "Gq Gu > Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BY O} >uw,;RJlA65?Y6ln?6796*:>y6H?YhS~?ۦ?@"?`¿?`-?@.p?ɨ65?6=G;6CyJ,BJ%IiN=IN=IZ IZ̍2٢^R bH=9bQ b>`d fG٣dyfPF< j> nNusing accuracyPremultiplier from confighn{59jI?r{5Yj ij}@?pro'r@j^fEjn:j:j}{5x zb@xDNOT Ignoring new targets: 50.30 m. jjjji!h!h!h)h1f1f1rf1bf5` d#@]Y]Y]Y]]j@m7 iu @Iu)5: qɚu5iqIqIyiyiy)y) aIiMWill construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBFY0JFzKALKu9KKK G- :Bi O ><w,dlA6Will construct direction to contact in vehicle frame from tetrahedron phase data. z6?Y a#o? #~79 ;>y H b?@u9?@s? ?@Z¿?9?o?ɨ z6? ; yB$IMb@Mb@Mb@ )Y/$ſV-?y&1y,<`e  @)@Iݸ@y̴@II2٢@ )=9E9Q > G٣y; > Nusing accuracyPremultiplier from config {59D?{5Y i>?)/>;@_fEY;#X;с{5) -@)HIII IM%IIMBII&II.II6IMl<:IM3 FBIJIRIZI/ =bI/ =jI64DNOT Ignoring new targets: 50.30 m. jjjjihhhhJBffrfbfe$@])/>])/>]C>@]y@U#~7 QU@IU,: Qɚ]F5iYIYIaiaia)a)iBDu2?:Du:? IhWill construct direction to contact in vehicle frame from tetrahedron phase data.D!9*F ?2F :F BF P0JF GABqO>O w,ilAJ97?YJ 'p?J#79JK0;>yJH`H?#? ?e?K¿ ?@>?to?ɨJ97?J|;JCyVBV$II^ I^V2٢fy fH=9jI\9Q j>hh jG٣lyn< n> vNusing accuracyPremultiplier from configtz{59v^@?z{5YvD iv;aJO>;aD9 I*F?2F:FBF^0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK  MK K K K &w,%lA27?Y2Yp?2>592;>y2HC? *??Ta?:¿?`;?`o?ɨ27?2o;2Cy> B>$I)@ @IF IF(2٢v= vN=9zA:Q z>xx zG٣|y~: ~> Nusing accuracyPremultiplier from config {59!5 S@I3: ɚE6iIIii))D1=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFjHbH<H%>I! I%g%II%zBI%. =&I!.I!6I%<:I%A FGBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.%-w,lA6_18?Y6Fp?6-596:>y6H? 3Q??.Y?3¿ޯ?4?p?ɨ6_18?6;6 CyB BF$IMb@Mb@Mb@ )YZd;OǿMb~jtyj<ļ @)V@I@y@I-I-2٢. ;=99Q > G٣y@C; > Nusing accuracyPremultiplier from config{598?{5Y@ ia7?>>;@cfE;;{5 b@DNOT Ignoring new targets: 50.30 m. jjjjih h h h TBffrfbf G&@]=>>]=>>]=N@]=M@M-5 QU @IU2: QɚUl6iQIYIYiYia)a)a2DmqA*DiD09=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J :J3JJP;JQ;JU;JU;*Fm?2Fq:FqBFuo0JFq"GyG}> I G 3B O >}?4w,BlAyB$III3٢Up˼ UH=9]Q ]>YY eG٣aye m> uNusing accuracyPremultiplier from configiu{59m/5?}{5Ym im3?yy}@mdfEm:m ;m={5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf$'@]]]] c@I3: ɚ 6i I Iii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKJK-9KKK /Lw<" DB9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >[:w,rlAH:>I8 I:U%II:kBI:- =&I8.I86I:ڰ<:I: FV{8?YVqp?V\O29V:>yVH?ܕ?f?R?@¿ H?`x3?ip?ɨV{8?V;TybBb$Iif4=If G٣y=7; > Nusing accuracyPremultiplier from config{59 2?{5Y i0?H>;?@efEn<m<Ɠ{5) -@5EDNOT Ignoring new targets: 50.30 m. jjjjihhhhUBffrfbf ΅(@ $?I]H>]H>]S@])p@U\O2 Y]f@I]%1: Yɚ]g6iYIYIaiaia)a)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.DP9*Fi 2Fi :Fi BFm p1JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :J J Jـ3K3 KS}.KK"KJ J J J J <:J 9:J J J ;J ;J X`;J Y`;B O > Bw,mAy-BE$IIUIU#3٢m -= m4=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config{59.?{5Y i-?@ffE.::{5B @EDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf a)@]]]] @I3: ɚ6iI!I!i)i))))) 9I9D Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFzK NK 9K K K G BB O >F.Hw,P"mAR;8?YR#/q?Rp/9R:>yRH ? %>?`?M? ¿U? X7?`yp?ɨR;8?RmΆ;RCyZ BZ$IIrIr(٢~= ~S=9~:Q ~> G٣y ;  > Nusing accuracyPremultiplier from config {59 +?{5Y  i *?1@ hfE V< Z< {5! -"@EWill construct direction to contact in vehicle frame from tetrahedron phase data.qDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf`NQ*@]9]9]9]=v@p/ 隕f@I/: ɚ'6iIIii))ZHRHAAHI Ia%IIuBI&I.I6I<:IF F 9I9Db9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F} ?2Fy :Fy BF} R5JF Gm:BO>MPw,FAmAZ8?YZxq?ZP-9Z};>yZH@?t?0?@_F?¿?`H?o?ɨZ8?ZȆ;ZCyb2Bb%I)d d jp=ja=Mb@Mb@Mb@ )YSſy&1Mbpy/`弹/@ "@)(@Iyµ@II٢=  =9H:Q > G٣y; > Nusing accuracyPremultiplier from config{59f(?{5Y i(?{1>;@ifE#;!;{5 @ 5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9h=tBfAfArfAbfEi-+@]e{1>]e{1>]esS@]e@}P- 隅@I$4: ɚ6iIIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJqJqJu:Ju[O:JqJqJu;Ju;Ju;Ju ;D_9 I*F?2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >gVw,c{\mA68?Y6mq?6j-96O;>y6H ? Ԝm?m?G?@0?@9C?p?ɨ68?6m;6 Cy>IB>+%IIFIFb1٢R\= RS=9V\9Q V>TX ^G٣\y^ݹ ^> bNusing accuracyPremultiplier from config`f{59b%?f{5Yb4 ib'?hjj@bjfEb;bG;b{5l n@lzKuRIKu89KqKuKuGRK?JK? PYyBEDNOT Ignoring new targets: 50.30 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU` ,@]]]]a@j- @I2: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9HI I%IIBI&I.I6I<:IZ F*F?2F:FBF5JF  I G :B O- >`]w,exmAWill construct direction to contact in vehicle frame from tetrahedron phase data.RA9?YR)q?R??.9Rk;>yRHe?r??C?¿`9ƥ? F?`o?ɨRA9?R9m;RCyj_BnG%IeMb@Mb@Mb@aaa a)aYel¿:v G٣y: > Nusing accuracyPremultiplier from config{59"?{5Y i '?j>;s@kfEE;GD;{5 /@mDNOT Ignoring new targets: 50.30 m. jqjqjqjqiqhqhqhyh}Bfyfyrfbf@ ,@]j>]j>]NN@]օ@??. @I/: ɚ5iII!i)i)))))DWill construct direction to contact in vehicle frame from tetrahedron phase data.<J J J 0J J <:J :J ـ3J J ;J ;J wp;J xp;*FA 2FA :FA BFE 4JFA  I Ga Bq O >odw,zmA69?Y6q?64.96K;>y6H?nd??E? ¿tԥ?B?p?ɨ69?6k;6Cy>|B>j%IiB RE=9VxQ V>TX ZG٣XyZl ^> bNusing accuracyPremultiplier from config\b{59^I ?f{5Y^+ i^%'?dfyf@^lfE^;^;^{5l ne@p DNOT Ignoring new targets: 50.30 m. j jjjihhhhffrf!bf%-@Will construct direction to contact in vehicle frame from tetrahedron phase data.]Q]Q]Q]U҅@4. 隕V@Il2: ɚiIIii))D9*F?2F:FBF_0JFzKK9KKKG Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I %II BI &I .I 6I <:I q FBIJIRIZI- =bI- =jI4 kw,LmARC9?YRq?R09R;>yRH@f?``m?2?V>?¿@ ?@M?ao?ɨRC9?R;PybBb%I IMb@Mb@Mb@ )YB`"۹{Gz?Zd;O?yνף<j<r@ O@)(@Iy\@IIb1٢== =4=9E·Q E>AA MG٣IyM; ; U> ]Nusing accuracyPremultiplier from configYe{59]?e{5Y]  i])?e=m;mAm@]mfE]j;];]{5q u @qDNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbf`М.@]=]=]<@]{@0 z@I0: ɚ5iIIii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF P0JF G qA G qA Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >trw,wLmAb^9?Ybq?b59b%;>ybH f?@|)??:?'¿?@=?o?ɨb^9?bۆ;bCynBn%IIvIv٢~z= ~N=9/NQ >   G٣ y : > Nusing accuracyPremultiplier from config{59?{5Y i+?<@nfE:L:2{5 E@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfo/@] ] ] ] M{@5 !%@I%U2: !ɚ%5i!I!I1i1i1)1)9 qIqD9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeY0JFazKM BHKM k9KI KM KM G BQ O >L:yw,1mAeWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J*:J3Ja@a@a@a@im<9?Y9r?89j;>yH૱?@O'?~? /?`;¿o?E? n?ɨ9? ц; CH)I) I-&II-BI)&I).I)6I-ڰ<:I- FymBm%I)q q y}=-Mb@Mb@Mb@))) )))Y-y&1p= ף?YY ]G٣aye*; m> uNusing accuracyPremultiplier from configq}{59uZ?}{5Yu  iu#2?=<`>@quo;u;u{5 R@DNOT Ignoring new targets: 50.30 m. jjjjihhhh(Bffrfbf A0@]=]=]| @]1S@8  @I q': ɚ i I Ii !I!i)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*Fy 2Fy :Fy BF} P0JFy GYBiO?w,9nA6G9?Y6/sr?6=964;>y6H?ֲ0?m?!)?YN¿n?@>?n?ɨ6G9?6;4y>ԆB>%IIFIF٢R$= RS=9V,Q V>TT ~G٣|y~; >  Nusing accuracyPremultiplier from config{59?{5Y/ i6?M>@ofEH;!I;\{5! -@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.JU@AJQeDNOT Ignoring new targets: 50.30 m. jajajajiiihihihqhqfqfqrfybf}`Ч0@]]]]S@= 隵i@I2: ɚiIIii)) IDM9*F?2F:FBFY0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iGI BY Ou >w,Y!nA6w:?Y6_s?6SB96;>y6H?H?m?ɨ6w:?6 E;6CyBBB%IzKHKJ`9KHKJKJIRIR(*٢Zr= ZG=9Z@Q ^>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj{59f?j{5YfT if9;?ln>n@dfx;f;f۽{5p r@pDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf1@]]]]T@ SB @I<2: ɚ5iIIii!)!)!-Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJ]JYJYJYJ]B:JYJYHI IH&II1BI&I.I6I<:IX FD-T9 I*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >w,:nA2K:?Y23zs?2G92i;>y2H`C?̾??@C ?@ ¿)?D?m?ɨ2K:?2j;2 CyfBj%IprAmMb@Mb@Mb@iii i)iYm G٣yqt; > Nusing accuracyPremultiplier from config{59?{5Y iSB?=;(@@pfE;;{5 @EDNOT Ignoring new targets: 50.30 m. jjjjihhhhZBffrfbf@1@]=]=]?](@G G@I.: ɚX5iII i i ) ) MWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F] ?2FY :FY BFY JFY Ge rA Ga $?I Gy B O >w,WnAnT;?Yn<t?nM9n1;>ynH?ͳ??p?¿?@H?l?ɨnT;?n;nCy=B=%IUWill construct direction to contact in vehicle frame from tetrahedron phase data.IYIY٢eq8= m9=9uTQ u>qq uG٣yy}F; }> Nusing accuracyPremultiplier from config{59& ?{5Y) iI?)@@qfE!;2;z{5 9@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf 1@] ] ] ] )@M @I%/: !ɚ%K5i)I)I1i1i1)1)1D!*F?2F:FBFV5JFzKBoHK9KKKRK ?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JA JA JE |:JE q:JA JA G} BB O >H I  I n&II PBI &I .I 6I `<:I ) F I IQ ˛w,xqnA:uy:H}s?G@??@?¿f?cE?dl?ɨ:uEH=E@ Et@)El@IEd@AyE=@I]I]Բ٢mj< mJ=9u[Q u>qq uG٣qy}W; }> Nusing accuracyPremultiplier from config{59C?{5Y% iQ?!,>;@@rfE;:;{5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhzBffrfbfmX2@]!,>]!,>]M?]s@NS 隽@I.: ɚ6iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F?2F:FBF0JF"GG> Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >w,HnAN,yNHc?`V?`"??¿ D?@h;?l?ɨN,pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~{59zl?~{5Yz& izY?@@zsfEz:z;:zz{5  @5DNOT Ignoring new targets: 50.30 m. j9j9j9j9i9h9h9hAhAfAfArfIbfMഹ2@]q]q]q]u@_;Z 隍1 @I1: ɚ:6iIIii)) IDM9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFV5JF) i Y y BzK K K K K BK pA:K G- 3B9 OU >T w,1nA2-+=?Y2u?2w+_926;>y2HV??? *?Q?¿? NO=9NGQ N>PP RG٣PyRa; V> ZNusing accuracyPremultiplier from configT^{59V?^{5YV) iVa?\^@^@VtfEV;VS;V{5d fr@d-DNOT Ignoring new targets: 50.30 m. j)j)j)j1i1h1h9hAhAfA}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁՅ<frfJ J J 0J J \:J  :J ـ3J bfE 13@H I  I t&II UBI , =&I .I 6I <:I N F]]]]_@%w+_ !% @I%&: !ɚ-+b6i)I)I)i1i1)1 yI)D 9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU ?2FQ :FQ BFU 0JFQ Ge qA Ge rAGB)OE>jw,nABR=?YB:iv?B4e9B4;>yBHA?`i!?`-8??@*ÿ ?;?j?ɨBR=?B4;BCyN̆BN%IiR=IRp;UMb@Mb@Mb@QQQ Q)QYUMb?#~j?~jt?yQU%>U=U@ Uf@)UV@IUM@QyUG@ImImb٢}\ }=9DQ > G٣yb; > Nusing accuracyPremultiplier from config{59U?{5Y ij?-+>;@@ufE;;{5 \@DNOT Ignoring new targets: 50.30 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhGBffrfbf:3@]-+>]-+>]u?]-@4e @I.: ɚ6iIIii)) yIyD9*F ?2F! :F! BF% :3JF! = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AGE :BQ Ou >m$w,&nA60??Y6zw?6p96@:>y6H??@*N??hBÿ? 3?i?ɨ60??6;4yFBJ%IIRIRF٢Z ZE=9^ȻQ ^>\\ ^G٣\ybB< b> fNusing accuracyPremultiplier from configdj{59f/?j{5Yf ifq?lne@n@fvfEf:f:f.{5p r@pDNOT Ignoring new targets: 50.30 m. jjjjihhh!h!f!frfbf4@zKjIK9KKK RK ?JK?]]]]Fe@p p @I-: ɚiII!i!i!))))Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IDU%9 I[&II@BI- =&I.I6Iܰ<:I FBIJIRIZIbIjI)4 QIQ*F2F :F BF ?5JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >vSw,rnANJ??YN2]x?N2Gs9NBh;>yNH ?h'?XZ? q?@=TÿRd?@A?`h?ɨNJ??N;.;N CyZBZ%I=Mb@Mb@Mb@999 9)9Y=y&1|oʡ?Q?y=`廙=->=<=@ =@)=l@I=z@9y=@I] I]V2٢m⩽ m?=9m5Q u>qq uG٣qy}); }> Nusing accuracyPremultiplier from config{59.?{5Y itx?/>;&@@wfE;;{5 @EDNOT Ignoring new targets: 50.30 m. jYjYjYjYiYhahahahe/BfifirfibfmB4@]-/>]-/>]-U\?]-&@e2Gs ae@Im+: iɚm@5iiIiIii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ̝:J':J3JJ;aJ;aJ;aJ;aD39*F ?2F :F BF 05JF "G G > 1 I1 G B O > w,6"oA6-K@?Y6x?6w96P:>y6Hh? 0ɽ?_a?@t?`ÿ`K?.?Mi?ɨ6-K@?6;;6Cy>B>r%I)@ @ F=Fp=IJIJb٢ 9=9Q > G٣y%*o; %> -Nusing accuracyPremultiplier from config)5{59-쓜?={5Y- i-6?9=&@=@-xfE-9;-0:;-{5MB M@MEUWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfT4@]]]]&@w g @I0-: ɚiIIii))D*F]?2FY:FaBFe[0JFazK&KKC9KKKBKqA:KqAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H] >IY  I] #&II] BI] , =&IY .I] 4D6I] <:I] L F $?I #w,-2oA2@?Y2Ry?2,wy92k!;>y2H?9ݽ? k?d?0iÿ@)?7?h?ɨ2@?2Ӈ;0yR^BRF%ImMb@Mb@Mb@iii i)iYmMb7A`?Mb?ym@m>m G٣yߦ; > Nusing accuracyPremultiplier from config{59擜?{5Yr i?>;`8@@yfE);q';t{5 )@DNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbf1[5@]->]->]-?]-`8@=,wy AE@IE.: AɚAiAIAIIiIiI)Q)YDQmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.JA JE JA JA JA JE q:JA JA JA JA JE k;JE k; w,LoARM-A?YR4y?R5{9RH;>yRH`?`@ҽ? p?x[?Toÿ@j?3?h?ɨRM-A?R/];RCyZ=BZ%IIfIf̍٢jc- jW=9nQ n>pp rG٣pyrb; v> zNusing accuracyPremultiplier from configtz{59v=ⓜ?~{5Yv iv?w8@@vzfEv F;v`F;v{5  9@MDNOT Ignoring new targets: 50.30 m. jIjIjQjQiQhQhQhhffrfbfS5@]]]]w8@ AIAM5{ IM @IM-: IɚIiIIQIqiyiy)y)yDS9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFT0JFGrA GG BB O >w,XhoAzKBHK9KKK6&wA?Y6y?6\ }96O:>y6H@?E?u?S? qÿ㞯?+? h?ɨ6&wA?6ʆ;6CyNBN$IiVpt vG٣tyz,; z> Nusing accuracyPremultiplier from config{59ݓ?{5Y i΅?8@@{fE<<{5 &@-Will construct direction to contact in vehicle frame from tetrahedron phase data.))DNOT Ignoring new targets: 50.30 m. jjj j ihhHe>Ia Ie%IIeˆBIe+ =&Ia.Ie3D6Ie<:IeF Fhhffrfbf?6@ I]]]]Z8@\ } 隭@I#: ɚiIIii))Dy  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF G5:BAO]?w,=oA>A?Y>-z?>z|9>;>y>H?(I?z?M? kÿw~?4?h?ɨ>A?>ZՆ;>CyJBJ$I-Mb@Mb@Mb@))) )))Y-zGế?~jtx?y- ׽-=-;-r@ )))I-M@)y-G@IEIE1٢U U=9]:9Q ]>YY ]G٣Yye: e> mNusing accuracyPremultiplier from configiu{59m֓?u{5Ym im?}>};}9}@m|fEmt;m;m{5 0@DNOT Ignoring new targets: 50.30 m. jjjjihhhhyBffrf-Will construct direction to contact in vehicle frame from tetrahedron phase data.JMAAJIJUJUJU0JQJU<:JU^:JUـ3JQJU;JU;JUg;JUg;bfmó6@]>]>]l[@]!.X@z| 隽@I-: ɚiIIii))Dt9 aIi*F]?2FY:FYBF]_0JFYGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,oA6A?Y6#z?6{96w:>y6H ?@Hƽ?`dy? {O?@Q`ÿr?"?Wi?ɨ6A?6G;6Cy>؅B>$IIJIJ#3٢juE nS=9nr9Q n>pp rG٣pyv й v> zNusing accuracyPremultiplier from configx~{59zUғ?~{5Yzn izՇ?|9@z}fEz;z;zj{5 @=DNOT Ignoring new targets: 50.30 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM@7@]i]i]i]m(*X@{ 隅 @I1: ɚiIIii))DEErAzKUKU9KQKUKU*F-?2F):F)BF-1JF)"G=>G=>MWill construct direction to contact in vehicle frame from tetrahedron phase data.H]>IY I]n%II]BI]- =&IY.IY6I]<:I]D F qIyGM3BYO}>Gw,oA2oA?Y2VKz?2x92J:>y2H:?J? o|? K?&TÿW??2?h?ɨ2oA?2$?;2CyBƅBB$I)D DRWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm'1ZĿMb?ym"m=mm@ m^@)m?@Imd@iyiII[3٢ҩ ?=9:Q > G٣y: > Nusing accuracyPremultiplier from config{59;͓?{5Y i?/>;"@~fE;[;({5B @EDNOT Ignoring new targets: 50.30 m. jjjjihhhh@Bff rf bf P7@]-/>]-/>]-#0@]-o@=x 9E@IE0.: AɚE5iAIAIIiIiI)Q)QDu9*F ?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.QU<J+3K+O3 K+(.K#K#"K#JJJJJ:J9:JJJ;J;JX`;JY`; a Ii Gq B O >GVw,boA2A?Y2&z?2~y2H?wH@?y?YP?Gÿ ? ? i?ɨ2A?2;2Cy>B>d$IININ?13٢R VU=9V9Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config\b{59^ȓ?j{5Y^ i^ ?ln"n@^fE^r;^;^{5| ~@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf7@]A]A]A]E'o@]~I  I %II 8BI , =&I .I 6I v<:I ; F % $?I) Gm :B O >Uw,^oA2uA?Y2\z?20u92:>y2H`"?F ?y?`Q?t:ÿp?`+? i?ɨ2uA?2;0y:B>N$IEMb@Mb@Mb@AAA A)AYEJ +ɿ~jtx?{GztyEHE;EףE@ EG@)El@IEM@AyAI]I]M3٢e m)=9m:Q m> G٣y > Nusing accuracyPremultiplier from config{59Ó?{5Y i ? H> ;- -@fE;;{51 =@9DNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbfe8@]%H>]%H>]%vG@]%z@=0u 9=@I=): 9ɚ= 5i9IAIIiIiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.DZ:*F% ?2F! :F! BF! JF! G- qA G) u Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BQ Ou >w,UpANA?YNy?Ngo9N:>yNH4?<(?p?`?ÿj?`+? cj?ɨNA?N)݇;NCyZBZ<$Ii^=I^;\^AIb xIxIb3٢e m:=9uC;Q u>qq }G٣yyu > Nusing accuracyPremultiplier from config|59?|5Y^ i4? @fE;I;|5 @-DNOT Ignoring new targets: 50.30 m. j)j)j)j1i1h1h1h1h9f9f9rf9bf=C8@]Y]Y]Y]]읂@-go )5@I5,: 1ɚ55i1I1I9i9iA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F ?2F :F BF 0JF G 3B zK- BoHK- u9K) K- K-    BK9 :K= pAOE >vr w,+pAJ#@?YJ 1y?Jl9J:>yJH6?`5;?i?kl?-ÿ &?0?j?ɨJ#@?Jۇ;JCyRBR8$II^I^F3٢f fE=9f:Q f>hh jG٣hyn>} n> rNusing accuracyPremultiplier from configpv|59r?v|5Yr irh?tv v@rfErT ;r` ;r5|5| ~@|Will construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE|89@J]JYJYJYJ]|:JYJYJYae@ae@ae@ae@]]]]א@l 隽]@I1:ZHRH@AH!I! I%$II%BI!&I!.I!6I%G<:I% FBIJIRIZI, =bI, =jI"5 ɚ 5iI IIAiIiQ)Q)YD*FU?2FQ:FQBFU15JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Uw,EpA:F@?Y:|x?:qi9:m:>y:H?@-V9?ab?x?aÿ ]8?x*?`$k?ɨ:F@?:;:CyB}BB0$I -@- -@5 5@5  5@5 I5I5M3٢M MC=9U:Q U>QQ ]G٣Yye e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi|59m?|5Ym im?+:[; @mfEm ];m+>m0|5 :@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf`(9@qi   @I H.: ɚ P6i I Iii))5Will construct direction to contact in vehicle frame from tetrahedron phase data. IDl:*FU?2FQ:FQBFU65JFQ"GYGY Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AG :B O >w,Z`pA2H??Y2/7x?2[f925:>y2H ]?"`&D?X??¿Ǭ?`*?k?ɨ2H??2ׇ;2Cy>B>6$I)@ @ F=DIJ IJ2٢R< RN=9R;Q R>TT VG٣XyZ Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\b|59^?f|5Y^w i^؃?f :hj1;j< j@^fE^-i;^Q?^t |5l r@pDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf :@[f 7@IU.: ɚ96iIIi!i!)!)I'TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J ^:J J De:HI I$IIBI- =&I.I6IS<:I" F I*F% ?2F) :F) BF- 4JF1 GY Bi O >z|w,z|pA6J??Y6w?63e96Z_:>y6H?@#j.?@Q?P?@¿`?!?l?ɨ6J??6;6 CyNBN8$IzWill construct direction to contact in vehicle frame from tetrahedron phase data. 5 5 == ==  = = =Mb@Mb@Mb@999 9)9Y=y&1̿Q롿y&1|?y=`e=\=`;=@ =t@)=V@I99y=@IUIUF3٢]; e.=9e:Q e>ii uG٣qyuq u> }Nusing accuracyPremultiplier from configy|59}կ?|5Y} i}!?T:Eh>j;@}fE}I;}%H;}|5 @EEDNOT Ignoring new targets: 50.30 m. jAjAjIjIiIhIhIhQhUBfQfQrfQbf]>:@]uEh>]uEh>]uRR@]uѐ@3e 隭@IJ,: ɚ`6iIIii))D:*F?2F:FBFV0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խ=խ<JJBAGB O- > Y IY 7\%w,|{pA2c>?Y2J2w?2b92:>y2H@s-?O?F??F¿>?`2?k?ɨ2c>?2Ӈ;2CyBBBN$IIJ IJ2٢R= RX=9R;Q V>TT VG٣TyZû Z> ^Nusing accuracyPremultiplier from config\%|59^?%|5Y^ i^?)-#-@^fE^,p<^(p<^|51 5@1DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf@:@]]]]P~@b @@I3: ɚ]6iIIii))D:Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]_0JFYGaBqO>zK LK 9K K K AB&  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J U:J J +w,OYpAjH<bH<HI I$IIBI&I.I6IW<:I$ F $$f 4>?Yfv?fKa9f:>yfH :? '1?=?;?@¿@;? $+?@l?ɨf 4>?f;fCyrBve$I III<2٢%]= -4=9U#<8Q ]>ii G٣yI > Nusing accuracyPremultiplier from config%|59ɨ?-|5Y iׁ?IMCU@fE'[<U<|5Y ]@YDNOT Ignoring new targets: 50.30 m. jjjjihhhhf frfbf9b;@]]]]n@Ka 隝@IV,: ɚ6iIIii))BD/?:D*?Dz:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F9BF9JF9GY Bi O >u2w,8NpA6Ǔ=?Y6v?6a96(:>y6HLK?`r2?42?g?¿Z?5?`k?ɨ6Ǔ=?69;4y>B>{$IMb@Mb@Mb@ )YB`"ɿlMb?yN<@ )l@I@y@I-I-V٢== =Y=9E:Q E>AA EG٣IyMݻ U> ]Nusing accuracyPremultiplier from configQ]|59UI?e|5YUT  iU?eR>e;ee@UfEU;U;U|5q ud@qDNOT Ignoring new targets: 50.30 m. jjjjihhh!h%XBf!f)rf1bf5 ?;@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]}R>]}R>]}T@]}1n@a 隽) @I5: ɚS6iIIi i ) ) D : I*F?2F:FBF0JFG 3B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ט8w,pA:[=?Y:Bu?:&d9:h:>y:HX?@v?c(? [?^ÿ |?-?`k?ɨ:[=?:%y;8yFͅBF$IIRIR(*3٢Z= ZT=9ZQ ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj|59f?j|5Yf<  if?lnn@ffEf;f;fs|5p v'@tDNOT Ignoring new targets: 50.30 m. jjjjih!h!h)h)f)f)rf)bf5<@]Q]Q]Q]Up]@e&d ae@Ie2: iɚmiiIiIqiqiq)q)yD*FM?2FI:FIBFMO5JFQzK"bLKKKK1 RK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:J:JJH!I! I%$II%BI%, =&I!.I!6I%y<:I%= F -$?IG:BO >(>w,pA2ry2H@~h?`sc׽??@@?k*ÿ`? |3? )k?ɨ2r G٣y > Nusing accuracyPremultiplier from config|59ˠ?|5Y  i?$>;@fE;;C |5 @DNOT Ignoring new targets: 50.30 m. jjjjihhh!h%Bf!f!rf!bf-R<@]E$>]E$>]EN@]E] @f @I*: ɚ5iII i i )I)Q2DY*D]rAD:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- 0JF) I G 3B O >3Fw,fqA>;?Y>st?>Li9>L:>y>H~?`$`,? ?`?vDÿ%?&?`k?ɨ>;?>҈;>CyNBN$IIVIV(*2٢^= ^M=9bQ b>`` fG٣dyf f> nNusing accuracyPremultiplier from confighn|59j@?n|5YjS ij?pr?r@jfEjX:j7:j#|5t v]@x%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i!h!h)h)h)f1f1rf1bf5E<@]Q]Q]Q]UN@eLi im @ImM.: iɚmiiIiIqiqiy)y)y) -Will construct direction to contact in vehicle frame from tetrahedron phase data.NG ]YYy]BD:*F?2F:FBFP5JFzK MK K K K r[G8*# BK :K qA Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHQ RHQ HY IY  I] )%II] GBIY &IY .IY 6I] c<:I] - FG B O >x5Lw,+53qA 4I6hA;?Y(s?m9]b:>yHH?>???fÿM?@k!?k?ɨA;?]Ĉ;y B$IMb@Mb@Mb@ )Y|?5^~jt?Zd;O?yҽ<j<=5@ @)I@y@II 2٢=  =9 Q  > G٣y? > %Nusing accuracyPremultiplier from config-|59?-|5Y] i?-2=-;5\5@fE(;;5(|59 =:@9eDNOT Ignoring new targets: 50.30 m. jajijijiiihihihqhuށBfqfqrfybf}p=@]2=]2=]&i:@]|@m 隵@I#: ɚ<5iII9iAiA)A)ABDMT?:DMb?=Will construct direction to contact in vehicle frame from tetrahedron phase data.D +:E  PExceeded connect timeout, disconnecting.*F= ?2F9 :F9 BF= b1JFA Ga  Ge qA Will construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J-1J)J-\:J-/:J-3J)J-i;aEJ-j;aEJ-^;aEJ-^;aEG}:B IO?|Tw, TqAZC:?YZxr?Zxr9Z79>yZH? ؼ?e?@Q?UÿQ?-?Ok?ɨZC:?Z7;ZCyb)Bb%Iif=If%=InIn(*2٢vz > vF=9vE;Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config |59?|5Y3 i͈?@2I;,;+|5! %s@%EMDNOT Ignoring new targets: 50.30 m. jIjIjIjQiQhQhQhQhYfYfYrfYbfe@=@]]]]F|@xr 隝U @I+: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBFP5JFG B O >=Zw,FmqA:M9?Y:4cr?:y9:{9>y:H n?``o???@ÿl??aj?ɨ:M9?:j);:CyJ|| G٣y id  > Nusing accuracyPremultiplier from config|59?%|5Y i ?!%%@fE;a;V/|5) 5C@1]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKeKLKeu9KaKeKeRKm>JKm?}DNOT Ignoring new targets: 50.30 m. jyjyjyjyiyhyhhhffrfbfB>@]]]]x|@HI It%IIBI&I.I6If<:I/ FBIyJIyRIyZIybIyjI}Ɔ4 y  @I"-: ɚ5iII!i!i!)!)) ID:*F?2F:FBFP0JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O= >aw,qA:w9?Y:q?:~9::>y:H R?`X?^?` $? ÿ˯??@i?ɨ:w9?:fD;:!CyFIBF+%I nnManaging dock network, ignoring radio surface power offuMb@Mb@Mb@qqq q)qYu ףp= ~jt?V-?yuQ8u=um=uK@ uΫ@)u@Iu@qyuQ@II<٢k= <=9*JQ > G٣y > Nusing accuracyPremultiplier from config|59 ?|5Y  iŎ?f=;8G@P;JO;3|5 v@5DNOT Ignoring new targets: 50.30 m. j9jqjjihhhh4Bffrfbf >@]5f=]5f=]5@]5zJ@E~ AM@IM;&: iɚm5iiIqIyiyiy)y)2D*DqAuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J^:JJJ5;J7;Jg;Jg; ID:EEqA*F ?2F :F BF <4JF "G >G > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >hw,ƤqA: 8?Y:^q?:!s9:k9>y:H\?@xx zG٣xy~7 ~> Nusing accuracyPremultiplier from config |59? |5Y iv?  =G@fE:*:6|5 @MDNOT Ignoring new targets: 50.30 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]?@]]]]J@-!s 15"@I5;): 1ɚE5iAIAIaiaia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.<H)I) I-%II-BI)&I).I)6I-<:I-g FzK]BHK]89KYK]K] IIID}K:*F?2F:FBFO0JFG1 BA O] >1pw,qAWill construct direction to contact in vehicle frame from tetrahedron phase data.:8?Y:!q?:9:8>y:H ?ྯk?@?a4?@cĿL?*?`h?ɨ:8?:%o;8yB[BBB%IMb@Mb@Mb@ )Y~jtx`"?p= ף?yĻ===@ @)ݸ@IE@y@IIb٢w< -=9nQ > G٣y  > %Nusing accuracyPremultiplier from config5|59`?5|5Yg i?= >=;='@E@fE;/;:|5UB UA@UEDNOT Ignoring new targets: 50.30 m. jjjjih h h h `Bffrfbf@?@]u >]u >]ubg?]u'@ 隵?I": ɚ 6iIIii))D*FQ2FQ:FQBFUW0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J)J)J-,:J-9:J)J)a5@a5@a=@a=@ ) I) Ga Bq O >Xvw,qA28?Y2(q?292B8>y2H?`??`1?@Ŀ?`? g?ɨ28?2;2!CyNcBNK%IIVIV٢^)= ^`=9bQ b>`` fG٣dyf9 f> jNusing accuracyPremultiplier from confighn|59j?n|5Yj ij?pr'@r@hj;j ;j>|5t v@zE%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5?@]]]]'@ B@Io-: ɚ)6iIIii))BD%D?:D%Q?DT:MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}o0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I% %II% цBI! &I! .I! 6I% <:I% ] FzKE BoIKE 9KA KE KE    I ϩ|w,!qA $&@B8?YB%q?B9B8>yBH@=9{Q >   G٣yҸ -> Nusing accuracyPremultiplier from config|59̅?|5Y; i?'@@fE;A;9B|5 G@MDNOT Ignoring new targets: 50.30 m. jIjIjIjIiIhIhQhQhQfQfyrfybf}@8@@]]]]a'@ ?I{#: ɚL6iIIAiIiI)I)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.J!J%J%0J!J!J%:J%ـ3J!J%;a=J%;aEJ%Z;aEJ%Z;aE IGBO>ڄw,[rAF"8?YF nq?FC&9F&58>yFH`[?4O??''?Ŀ?\?qf?ɨF"8?F;FCyRNBR2%I]Mb@Mb@Mb@YYY Y)YY]{Gz?+?Zd;?y]#<]>]y=]@ ]@)]@I]/@Yy]3@IuIu(*٢vG $=9pQ > G٣y; > Nusing accuracyPremultiplier from config|59m?|5Y/ i٥?+>;H@@fEy;;9F|5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhhBffrfbf@tp@@]%+>]%+>]%6?]%H@5C& 1=?I=%: 9ɚ=m6i9I9IAiAiI)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F2F:FBF]0JFG 3B O >Qw,py/rA69?Y6q?6]96(8>y6Hw?୽@6?@?&"? ſ?`=?`e?ɨ69?6k;6 Cy>AB>!%IIFIF<2٢N NO=9RmQ R>PT VG٣TyZ5: Z> bNusing accuracyPremultiplier from config\b|59^}?b|5Y^I  i^P?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHQRHQHYIY I]%II]ֆBIY&IY.IY6I]_<:I]) Fqu_@u@^fE^z<^<^I|5y @DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfɥ@@]]]]{_@] &?I%: ɚ6iII i i))2D*D -$?I)zK-2KK-u9K)K-K-Dl:E *F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAG B O- >40w,-IrA: R9?Y:q?:9:-08>y:H@?`R?@j?`?#ſ6]??d?ɨ: R9?:Eu;:CyF1BF%I)H HMb@Mb@Mb@ )Y{Gzt?/$?S㥫?yף;,>/]=b@ (@)IS@y@I5I5 2٢ ;=9ZQ > G٣y; > Nusing accuracyPremultiplier from config|59x?|5Y@  i?4>;!@@fE;y;}M|5 @ DNOT Ignoring new targets: 50.30 m. jjjjihhhhOBffrf!bf%`@@]]4>]]4>]]@?]]!@m imR?Ime&: qɚu6iqIqIyiyiy)y)D~:uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFW5JF  9IEhG- :B9 O] >M c~Ga y Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,PcrAJ#9?YJ r?J N9J;9>yJH [?@ ? ?`?FOſΤ?@?b?ɨJ#9?J=~;JCyV BV$I\^BAIbIb٢jG jW=9jll nG٣lyrM; r> vNusing accuracyPremultiplier from configt~|59vt?~|5YvY  iv?|!@@vfEvJ;v<;vP|5  H@ =DNOT Ignoring new targets: 50.30 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfMR A@]i]i]i]ms!@% N !%?I-$: )ɚ-i)I)IQiQiQ)Q)YD}:]Will construct direction to contact in vehicle frame from tetrahedron phase data.HAIA IE%IIEBIA&IA.IA6IE<:IEJ FJJJJJ:J9:JJJ5;J7;JX`;JY`; IzK-BHK-C9K)K-K-*F=?2F9:F9BF=1JF9RKE ?JKE?GI GMrAGq By O >qw,(}rA2D9?Y2++r?20920z9>y2HM? ?? ?wſ? ?Ya?ɨ2D9?2v;2Cy:B:$I-Mb@Mb@Mb@))) )))Y- rhS㥛?ˡE?y-C-$>-'=) -?@)- @I))y-(@I=I=F2٢M  M>=9UVQ U>QY ]G٣Yy] : ]> mNusing accuracyPremultiplier from configam|59ep?u|5Ye  ieö?u+>u;u|*@u@efEef;e;eT|5y n@eWill construct direction to contact in vehicle frame from tetrahedron phase data.}DNOT Ignoring new targets: 50.30 m. jyjyjyjihhhh!BffrfbfEA@]+>]+>]?]>|*@0  ?I ": ɚ85iIIii))!BD-8?:D-2?D]:*F ?2F :F BF Y2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. I G 3B O% >w,grA:S9?Y::Qr?:9:X,:>y:H!??A?<?ſ`9?B? _?ɨ:S9?:T;:CyZBZ$Ii^pp rG٣pyv: v> zNusing accuracyPremultiplier from configx~|59zBk?~|5Yz  iz`?|~*@@zfEz:z7:z2X|5  @ E=DNOT Ignoring new targets: 50.30 m. j9j9j9j9iAhAhAhhffrfbf`yA@]1]1]1]5*@U Q]?I].$: Yɚ]|5iYIYIaii))Deq:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGB O% >H I  I n%II BI - =&I .I 6I <:I ` FBIJIRIZIbIjI54U Will construct direction to contact in vehicle frame from tetrahedron phase data.9w,FrAJJJـ3K3 K.KK"KJJJJJ,:J$-:JJJ;J;J;J; @I@ Ԉ9?Y r? R9 _9>y H?@b?>?@} ?ſ o?`?@_?ɨ Ԉ9? S; yލBޥz$III٢J <=9zQ > G٣y. >  Nusing accuracyPremultiplier from config |59?f?|5Y i/?*@@fE;;\|5 b@!zK%BoIK%9K!K%K%  BK5pA:K5pA]DNOT Ignoring new targets: 50.30 m. jYjYjYjYiYhahahahififirfibfu A@]]]]y*@R 隥?I : ɚiIIii))Dm:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF 5JF G! B9 OU >꠳w,&8rAy B S$IMb@Mb@Mb@ )YDlK7?V-?yOI ><x@ )Ij@yz@II2٢ 8=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.1 5G٣1y5 => ENusing accuracyPremultiplier from config9M|59=`?M|5Y= i=?U>U;UA@U@=fE==;=f;=_|5 iIiY m_@qDNOT Ignoring new targets: 50.30 m. jjjjihhhhǁBffrfbf`A@]u>]u>]ud@]uA@ 隭{?I : ɚiIIii))2D*DrAD} : Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 5JF GqBO>w,yrAyoB $I)  =a=I%I%3٢55 =3=99Q =>9A EG٣AyA E> UNusing accuracyPremultiplier from configIU|59M[?]|5YM iM?YY]@MfEM;M;Mc|5i m@iDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf-"B@]]]] !?If!: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I%II3BI, =&I.I6Ix<:I= F $?I JJJJJ:J :JJJ5;J7;Jw;Jw;D=&:zK}LK}C9KyK}K} *F?2F:FBFP0JFG B! O= >u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,sA:8?Y:q?: 9:+B:>y:H? ᘹ?@W?#?!ſ@{?t?_?ɨ:8?: ;: CyBTBF#IMb@Mb@Mb@ )YMb? rh?y=C<@ )@I@y@I-I-2٢=A  =K=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]|59U!V?]|5YU  iU?e!>e;e3e@UfEUF;U;UZg|5q u@qDNOT Ignoring new targets: 50.30 m. jjjjihhhhBffQrfQbf] bXB@]!>]!>]@]*^@ 隭?I": ɚiIIii))D/:*Fe?2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. I G :B O >w,!sA2x8?Y2p?292Sk:>y2H@?@ ?`C?'?kſ`y?@?^?ɨ2x8?2\ ;0yR8BR#IIZIZT3٢b  fR=9fƘ8Q j>hh jG٣hyneغ n> rNusing accuracyPremultiplier from configpv|59rKQ?v|5Yr  ir?xz3z@pr:r.:rj|5| e@-DNOT Ignoring new targets: 50.30 m. j)j)j)j)i)h)h1h1h1f1=Will construct direction to contact in vehicle frame from tetrahedron phase data.fArfAbfEB@]i]i]i]ms ^@ 隅?I%: ɚiIIii))BD:?:D+?D]:*F?2F:FBF0JFG3BO=>HI I$IIBI&I.I6I<:I_ F I Will construct direction to contact in vehicle frame from tetrahedron phase data. = <J5 J5 J1 J1 J5 :J5 9:J1 J1 J5 ;J5 ;J5 X`;J5 Y`;&w,[;sAzK"KK"9K K"K"V7?YVSp?VD9VnX:>yVHm?̩?`?9?pſ&C??t_?ɨV7?VL;VCyU BU#Ii G٣y > Nusing accuracyPremultiplier from config|59K?|5Y?  io?(4@fE;;n|5B @E}DNOT Ignoring new targets: 50.30 m. jyjyjyjyiyhhhhffrfbf`nB@]]]]]@D ?I-h: )ɚ)i)I1I1i1i9)9)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm+:*F ?2F :F BF \0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O>nw,%XsA67?Y6p?6Y96z:>y6H? ]V??A?nſ%?? _?ɨ67?6_;6CyFBF#I%Mb@Mb@Mb@!!! !)!Y%bX9ƿ&1?I +?y%E6%P=%94<%x@ !)% @I!!y%@I5I53٢E< EC=9U:Q U>YY ]G٣YyeG e> Nusing accuracyPremultiplier from configi|59mlF?|5Ym  im?=>;@mfEmj;m;myr|5 @mDNOT Ignoring new targets: 50.30 m. jijijqjqiqhqhqhyh}2BfyfyrfybfB@]=>]=>] 47@]>t@Y 3?I": ɚiIIAiAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձDF:*Fe ?2Fa :Fa BFe ]0JFa  I H! I!  I% T$II% BI! &I! .I! 6I% <:I% R FGI m Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >w,xusAJ6J6J4J4J6|:J6:J4J4J6;J6;J6u;J6u;-7?Y-ɍo?-9-?:>y-H?2? ?M? ſ@ ?` %?_?ɨ-7?-n;- Cy}B}{#IIIV83٢岽 0=9:Q > G٣yw > Nusing accuracyPremultiplier from config|59@?|5Y  i?@fE;:.:v|5 F@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfx6C@]]]]!t@ ?I : ɚ4i I zK%BoHK%C9K!K%K%  Iiii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.DU:*F ?2F :F BF _0JF G5*B9O]>w,sA INWill construct direction to contact in vehicle frame from tetrahedron phase data.V}6?YVn?V9Vs:>yVH?`lB?1?]?Sſ|г? ?`h`?ɨV}6?VJJ;VCyb̈́BbX#I fp=duMb@Mb@Mb@qqq q)qYu5^I ˿Mbp? G٣yS > Nusing accuracyPremultiplier from config|59;?M|5Y i?MLX>M{;MU@fE9<<z|5Y ]@YDNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbf`rC@]LX>]LX>]KG@] @= 9=\?I=: AɚeiaIaIiiiii)i)q) ENGYq YykBD:MWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fy 2F :F BF ^0JF G rA G G :B O >Žw,?sA66?Y6n?6h96E:>y6Hu?DHڹ??@]j?ſ@??,? R`?ɨ66?61;6Cy^„B^K#IIj$Ij<3٢rG r==9v';Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config||59~ 7? |5Y~ i~Y?"@~fE~!;~";~j~|5 @EEDNOT Ignoring new targets: 50.30 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf]@mC@ u$?I}hjH<bH<HI I $II^BI&I.I6Iv<:I= F]]]]@h ?I#: ɚ4iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBFR1JFzK2KKu9KKKGTy[D6-$ G3BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,sA6kL5?Y6Rm?696[o:>y6H@?$x???}?ſ Mn?`?@\a?ɨ6kL5?6;6 CyBBBI#IEMb@Mb@Mb@AAA A)AYE̿y&1?yEffE̼E`eqq uG٣qy}ڻ }> Nusing accuracyPremultiplier from config|593?|5Y i?Bh>j;@fE;A;|5 @DNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbfC@]Bh>]Bh>]$P@]x@ ?I!: ɚno5iIIi!i!)!)! qIq%Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:JB:J3Ja@a@a@a@DK :*F?2F:FBFp0JF"G>G>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >w,sA6Y4?Y6@Pm?6'96:>y6H,'? nɹ???؂ſG@?(? 7a?ɨ6Y4?6;6CyBBBB#IIJIJ 2٢Re VN=9V:Q V>XX ZG٣Xy^閻 ^> bNusing accuracyPremultiplier from config\-|59^B/?-|5Y^( i^?155@^fE^t<^t<^|59 =%@EEDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfD@]I]I]I]M@' 隕?If : ɚX5iIIii)) IHI I#II?BI&I.I6I^<:I- FBIJIRIZIbIjIj4Df :Will construct direction to contact in vehicle frame from tetrahedron phase data.յ<յ=*F ?2F :F BF 0JF zK nNK 9K K K #&"G :B9 O >*w,utAf3?YfUl?f9f:>yfH<@?[对?@r? %?ſ-?,? G٣yG >  Nusing accuracyPremultiplier from config |59 +?|5Y  i (?^g>j;@ fE N; ; |5! -@)DNOT Ignoring new targets: 50.30 m. jjjjihhhh BffrfbfJUD@]U^g>]U^g>]UZ\U@]U嘈@m im?Im@: ɚ.5iIIii)) ID :u Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J ,:J 9:J ـ3J *F ?2F :F BF p0JF G3BO>w,s!tA6:J3?Y6 k?696j;>y6H@N?#Q?@Jh?`o?ſ@#? n1?(a?ɨ6:J3?6{;6 CyB̈́BBW#IIJIJ(*3٢V= VE=9V):Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f|59b'?f|5Yb. ib?dfj@bfEbK ;b ;b|5l n@lDNOT Ignoring new targets: 50.30 m. j j j j i h hQhQhQfQfYrfYbf]`D@]]]]@ ?I#: ɚ6iIIii)5Will construct direction to contact in vehicle frame from tetrahedron phase data.)ID :*F%?2F!:F!BF-0JF)G5qA G5qA IZH! RH! H- >I)  I- #II- 5BI) &I) .I) 6I- <:I- i F Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >C8w,];tA22?Y2gk?20'92:>y2HW?J;v?`??Ϛſ=@?'?`@a?ɨ22?2䟈;2Cy>΄B>Z#IIJ IJ̍2٢R8< RK=9VQ V>TT VG٣TyZkj Z> bNusing accuracyPremultiplier from config\b|59^J$?b|5Y^W i^?df)f@^fE^ :^7:^<|5h j@lDNOT Ignoring new targets: 50.30 m. j j j j i hhhhffrf!bf%MD@]9]9]9]=${@U0' QU?IU$: Yɚ] 66iYIYIaiaia)a)azKؐLK9KKK a9j>! DY*F?2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G-3B9OU> I w,xUtA>}2?Y>j?>1t9>:>y>Hb?B@xd?@X??@zſI? +?``?ɨ>}2?>ֈ;>CyFلBJg#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.R=P-Mb@Mb@Mb@))) )))Y-K7ɿI +V-?y-I-9-<-@ -@JEJEJAJAJE :JEB:JAJA))I-@)y-@I]I]2٢uI= u>=9} Q }>yy G٣y > Nusing accuracyPremultiplier from config|59 ?|5YO i?$M>;@fE'!;;|5 I@DNOT Ignoring new targets: 50.30 m. jjjjihhhhYBffrfbfCD@]$M>]$M>]-P@]7@1t ?I: ɚ*T6iII!i!i!)!))Du~ :UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFH5JFG B O >*w, optAyzBzs#III#3٢%lF= %G=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E|59=D?E|5Y=1  i=?AAM@=fE=$P;=P;=|5Y ]@YDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf&E@]]]] I ?I*#: ɚp6iIIHYI]C I]#II]DBI]+ =&IY.IY6I]԰<:I] Fii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.DM :zK2NK9KKK  *F2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i G B1 OM >*"w,WtAyzBz#Ii~=I~=AAMb@Mb@Mb@ )Y+ÿ~jthˡE?yD'=@ @)@I@y3@I I(2٢%= 1=9Q > G٣y > Nusing accuracyPremultiplier from config|59?|5Y! i=? 2%> ;   @fE;W;|5 @MDNOT Ignoring new targets: 50.30 m. jIjIjIjIiIhQhQhQhUBfYfYrfYbf]aE@]}2%>]}2%>]}JJ@]}^@ 隕?I6: ɚ6iIIii)) I=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ,:J^:JJD :*FE?2FA:FABFEP0JFIGm :By O >8<)w,AtA.Will construct direction to contact in vehicle frame from tetrahedron phase data.yzBz#IIIb2٢=u= EQ=9AQ M>QY ]G٣Yya e> %Nusing accuracyPremultiplier from config!-|59%?5|5Y%@# i%?11=@%fE%V;%2d;%@|5I M@Q}DNOT Ignoring new targets: 50.30 m. jyjjjihhhhffrfbfE@]]]] f?I: ɚ6iIIii)) }$?IyjH <bH <H>I I$IIcBI&I.I6I:<:I FD- : Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFzK 2KK K K K GA By O >0w,!tA1?YWj?ڂ9dd;>yH`Iq? 9ٸ?`|J?R?ƿ@+?8?,^?ɨ1?;騝Cy޵B޵#I Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}X9vZd;O?Mb?y}}j<}@=}Z@ }@)}@I}K@yy}f@II̍٢ę= #=95Q > G٣y墻 > Nusing accuracyPremultiplier from config|59S?|5Y[$ i5?>;@fEI;Q;c|5 @DNOT Ignoring new targets: 50.30 m. jjjjihh!h)h-Bf1f9rfAbfELE@]m>]m>]m<@]mV|@=ڂ AE?IE: IɚU 6iIIii))D*F?2F:FBFX0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu 3B O >7w,ftA%1?Y%1j?% 9%:>y%H et?8?F??/ƿT?`5*?]?ɨ%1?%H;%CyEBE#I)I I M=MR=IUIU(٢e< mc=9m:Q m>qq uG٣qyuѺ }> Nusing accuracyPremultiplier from configk}G|59? |5Y5% i?--@fEۡ< < UYQy+B|5 B@MDNOT Ignoring new targets: 50.30 m. jIjIjQjQiQhQhQhYhYfYfYrfYbfe9F@]y]y]y]}TK|@ 隝?I : ɚ6iIIii))Dz :-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%`0JF)GA BQ Om > I H I  I 5$II BI &I .I 6I <:I F,=w,xBtABWill construct direction to contact in vehicle frame from tetrahedron phase data.nr1?YnX3j?n\s9n;>ynHs? :Q? 7F??@jTƿs?`;-?@\?ɨnr1?n}];nCyz!Bz#IJJJ1JJl:J :J3JJ;aJ;aJ9P;aJ9P;aII2٢M= D=9 TQ > G٣yR8 > Nusing accuracyPremultiplier from config|59 ?|5Y+& i>?@fE;;-|5B @E5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9h9fAfArfAbfEN7F@]a]a]a]eCM|@u\s y}?I} : yɚ}6iyIyIii))DU :*F?2F:FBFb1JFzKBHK9KKK@GjiPt`O=1*  RK>JK>5Will construct direction to contact in vehicle frame from tetrahedron phase data.G :BI Oe >*Dw,uA61?Y6y6H&r? <? F? "?{ƿ@L?-?[?ɨ61?6@;6CyF-BF#IMb@Mb@Mb@ )YʡEi|?5?v/?yq=xi=p@ )@Ix@y\@I5I5F2٢E2= ES=9M`Q M>II UG٣QyU9 U> eNusing accuracyPremultiplier from configYe|59] ?m|5Y]& i]8?ml=m;m0m@Y];]o;]|5 I @EDNOT Ignoring new targets: 50.30 m. jAjAjIjIiIhIhIhQhu Bfqfqrfybf}kF@]l=]l=]7@]b@X ?I`: ɚ6iIIii) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.խ<խ<DU. :*F?2F:FBFo0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >~Jw,C,uA21?Y2sj?2#92{9;>y2Hl?hA?sI?@?ƿY?n0?{Z?ɨ21?2;2 Cy>3B>#IiB=IBpXX ZG٣XyZ:; ^> bNusing accuracyPremultiplier from config\b|59^?f|5Y^& i^e?df0f@^fE^ ;^;^+|5h n@l]DNOT Ignoring new targets: 50.30 m. jajajajaiahahahhffrfbfF@]]]]b@# i?Ik: ɚT6iII!i!i!)Q)q IHaIa Ie[$IIeBIa&Ia.Ia6IeF<:Ie FBI%ěCJI%ěCRI!ZI%+ =bI%+ =jI% !5Will construct direction to contact in vehicle frame from tetrahedron phase data.J1J5J50J1J1J5:J5ـ3J1J1J1J5nN;J5oN;D*F?2F:FBF0JFzK OK K K K BK qA:K G 3B OM >Rw,HuA Will construct direction to contact in vehicle frame from tetrahedron phase data.R'#2?YRj?Rh9R1U;>yRH@/g?E? K??@ƿ ?3?VY?ɨR'#2?Rp;RCy^&B^#IuMb@Mb@Mb@qqq q)qYu)\(+η?Q?yuGauv=uu=u@ u @)u@Iu@qyu@II٢Z .=9HQ > G٣yö: > Nusing accuracyPremultiplier from configE|59?M|5Y& i?=;H@@<U<L|5 r@%DNOT Ignoring new targets: 50.30 m. j!j)j)j)i)h)h)h1h5&Bf1f1rf9bf=iF@]=]=]#@]4H@h 隵?I: ɚ6iIIii))2D *D  yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.DU :*F ?2F :F BF 0JF G  G G:B)OE>;Yw,fuAF2?YFVk?F89F9;>yFHS?@Uw?X?q? ǿ|ض? l:?`V?ɨF2?Fx߇;F CyN(BR#IIZIZ ٢b < b:=9bxQ b>dd fG٣dyj}; j> rNusing accuracyPremultiplier from configlr|59n?v|5Yn& in?tvHv@nfEn;n;n|5| ~O@|%DNOT Ignoring new targets: 50.30 m. j!j!j!j)i)h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.h9hAhAfIfIrfQbf]VG@]]]]$I@8 隵?I: ɚ6iIIii)) yIyDyHyIy I}m$II}BI}* =&Iy.Iy6I}<:I}T F*F?2F:F BF H2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.==J#K+3 K+.-K#K#"K#Je Je Ja Ja Je ,:Je :Ja Ja Je ;Je ;Je yE;Je zE;GM 3BQ Ou >a1`w,πuA23?Y2k?2l92;>y2HN?`Z!?2Z?0?@0ǿ _E? '?YV?ɨ23?2B~;2Cy>$B>#I)@ @ FR=Fa=IJIJ 2٢   D=9Q > G٣y%: %> -Nusing accuracyPremultiplier from config)5|59-s?5|5Y-& i-d?1=H=@-fE-h;-;-|5A E@A}DNOT Ignoring new targets: 50.30 m. jjjjihhhzK+KKKKKhffrf bfIG@]Y]Y]Y]]a9I@l 隝s?I: ɚ6iIIii) ) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.D*FU?2FQ:FQBFU4JFQ I II G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Xfw,䞚uA2qq3?Y2Xk?2"920;>y2H@gC?@c ?@a??2Pǿป?e+?-U?ɨ2qq3?2,|;2 Cy>B>#I Mb@Mb@Mb@    ) Y lZd;?Mb?y  = = @ 7@) I @ y 3@I%I%b1٢Uۼ H=9MQ > G٣yŁ; > Nusing accuracyPremultiplier from config|59m?|5Y& i?>;8@@fEa;j;l|5 @DNOT Ignoring new targets: 50.30 m. jjjjihhh!h%8Bf!f!rf!bf-}G@]M>]M>]M?]Mȍ8@]" ae?IeP: aɚe7iaIaIiiqiq)q)qD-O :*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O > A IA lw,䅴uA63?Y6l?6dk96:>y6H>? g׶?c? Ó?@fǿ`?`"? T?ɨ63?6;6!Cy> B>#IIFIF(*2٢R RT=9R0DQ R>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\b|59^?b|5Y^O& i^?df8@j@\^In;^n;^|5p v @tjHbH<HI III+ =&I.I6I<:IP FDNOT Ignoring new targets: 50.30 m. jjj j i h hhhffrfbf@+G@]9]9]9]=ӡ8@udk qu&?Iu: yɚ} 7iyIyIii)Will construct direction to contact in vehicle frame from tetrahedron phase data.)J5J5J1J1J5L:J59J1J1J5O;J5P;J5$7;J5%7;D*F=?2F9:F9BF=_0JF9zKMVBJKM89KIKMKMG B M Will construct direction to contact in vehicle frame from tetrahedron phase data.O >1hsw,yFH@p.?tȶ?`u=$@ M@)@I@y@IIb1٢\ :=9:Q > G٣y; > Nusing accuracyPremultiplier from config|59?|5Y% i#?:#>;9@@fE7;;|5 @E%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i!h)h)h)h->Bf1f1rf1bf5@%G@ $?I]:#>]:#>]$?]H9@ 3?I: !ɚ%7i!I!I)i)i))))qWill construct direction to contact in vehicle frame from tetrahedron phase data.D :*F- ?2F) :F1 BF5 P0JF1 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu :B O >czw,%uA6{4?Y6l?6 Ľ96:>y6Hb'?\z?`s?z?`ǿMx?N?:S?ɨ6{4?6q?;4y>B>#IININ3٢R RB=9VQ V>TX ZG٣Xy^#; ^> bNusing accuracyPremultiplier from config`f|59b 뒜?f|5Yb% ibl?df9@f@bfEb:b\ ;b3|5l n@lDNOT Ignoring new targets: 50.30 m. jjj j i h h hhffrfbf.H@]]]][9@  Ľ ??I: ɚ:7iII!i!i!)!)I2Dq*DuqA )I1He>Ia IeT$IIeBIa&Ia.Ia6Ie<:IeN FWill construct direction to contact in vehicle frame from tetrahedron phase data.D5 :*FE ?2FA :FA BFA JFA zKM BHKM 9KI KM KM   &.6?IT]hrzGi B RK ?JK?Om>#]w,! vA&Will construct direction to contact in vehicle frame from tetrahedron phase data.jd5?YjKm?jRŽ9ju(;>yjH?``M?~?i? ǿT?(?R?ɨjd5?jo;j Cy=B=|#IMb@Mb@Mb@ )YQL7A`?&1?yu+>P=@ @)=@Iy@I IV2٢ =9ZֺQ >  G٣y; %> -Nusing accuracyPremultiplier from config!-|59%$咜?5|5Y%Q% i%?5d>5;5V@@5@%fE%N;%;%|5A E)@AmDNOT Ignoring new targets: 50.30 m. jijijijiiqhqhqhh,Bffrfbf%`9`H@]]d>]]d>]]?]]V@@RŽ 隕\?Iq: ɚ7iIIii)) ID]:Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJa@a@a@a@*Fm ?2Fi :Fi BFq JFq ) U Gi sY y B] @] BGu 3B O >U/w,4&vAB{5?YBm?B4\ǽ9Bv;>yBH& ?"??`^?ǿt?@#? Q?ɨB{5?B~;BCyR̈́BRW#IIZIZ٢b bH=9bWQ f>dd fG٣hyj|; j> nNusing accuracyPremultiplier from configlr|59n|?r|5Yn% inw?tvu@@v@nfEnOF;nP;nG|5 @-DNOT Ignoring new targets: 50.30 m. j)j)j)j1i1h1h1h1h9f9f9rf9bf= H@]y]y]y]}@u@@4\ǽ 隝?If: ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.IIii)) IDx:ZHRH?AHI I)$IIwBI* =&I.I6I<:IJ F*FE?2FA:FABFE]0JFA"GM>GM> Will construct direction to contact in vehicle frame from tetrahedron phase data.յ <յ <Ge :Bq O >2w,@vAB46?YB}n?BȽ9B:>yBHv?X(??@P?@ǿ?? #Q?ɨB46?B‡;@yjBjB#IIrIr3٢z zD=9~Q ~>|| G٣y; > Nusing accuracyPremultiplier from config |59 ے?|5Y $ i ?!%@@%@ fE W; H; |51 5@1]DNOT Ignoring new targets: 50.30 m. jYjYjYjYiahahahahafifirfibfu@H@]]]]@@Ƚ 隭?I: ɚw4iIIii))zKEZMKE89KAKEKEznf`_^^_^][YWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F?2F:FBF_0JF I II G B O >aw,fZvAWill construct direction to contact in vehicle frame from tetrahedron phase data.JdJfAAJjJjJhJhJj:JjU:JhJhy B #IMb@Mb@Mb@ )Y/$K7A?Zd;O?y >j<=@ )/@I@yI  I <2٢ 9=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)5|59-/֒?=|5Y-$ i-<@=">=;=GE@-fE-;-I;-|5I M@IuDNOT Ignoring new targets: 50.30 m. jqjqjyjyihhhhBffrfbfH@]">]">] @]VJ@ \?IN: ɚiIIii))*F?2F:FBF[5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B) OE > 1 I1 w,mrtvA26?Y2@o?28ʽ92ҳ:>y2H??-? hh jG٣hyn6< n> vNusing accuracyPremultiplier from configpz|59rђ?z|5Yr$ ir@|~G~@rfErL;r ?;r|5 @ 5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9hAfAfArfAbfE-I@HaIa Ie#IIeIBIa&Ia.Ia6Ie<:Ie_ FBI!JI!RI!ZI%* =bI%* =jI%B4]]]] J@8ʽ 隭?I: ɚ4iIIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBF]3JFYGa GaGqBO>zK dNK 9K K K XUWXVUTTTSTTQOQTSSRTSQUVUTUVYTNGDA?AAABCAA?AA>>B???B@@??@DBB Will construct direction to contact in vehicle frame from tetrahedron phase data.[iw,OvAV57?YVڱo?V,ɽ9Vr;>yVHk?@Ƕ?୥?_1?ǿ )? "?P?ɨV57?V;VCyM{BU"I IMb@Mb@Mb@ )Y)\(Cl?~jt?yGὙ;==@ )=@IC@y @II2٢ !=99Q > G٣y5_; >  Nusing accuracyPremultiplier from config |59 Z˒?|5Y n% i @G#>;;@ fE r; ; \|5%B % @EDNOT Ignoring new targets: 50.30 m. jjjjihhhhҁBffrfbf%kqI@]eG#>]eG#>]e@]eW@u,ɽ y}=?I} : yɚ}45iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ,:J:J3J*FU?2FQ:FQBFUO5JFYGy B O > w,t(vAyrYBr"III#3٢-Y %=9%Q -?11 5G٣1y= E? MNusing accuracyPremultiplier from configI]|59Mjǒ?e|5YM% iM@aae@MfEM~;Mu;M|5qWill construct direction to contact in vehicle frame from tetrahedron phase data. u*@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf I@]]]] ʡ?I: ɚiIIii))*F?2F:FBFP0JF $?IjHYbH]4=HaIa Ie#IIeBIa&Ia.Ia6Ie<:Iem FG3BO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.zw, vA:7?Y:np?:Lɽ9:;>y:H?@λ?ళ??&ǿ`5?$?P?ɨ:7?:9;:CyFNBF"I)H HIRIR٢Zr ZR=9Z9Q Z>\\ ^G٣\yb/; b> fNusing accuracyPremultiplier from configdj|59f’?j|5Yf & if,@hn:n@ffEf:fC ;f||5p r@pDNOT Ignoring new targets: 50.30 m. jjjjihhh!h!f!f!rf)bf-,I@]I]I]I]MKW@eLɽ ae֞?Ie: aɚe4iiIiIiiqiq)q)q2D}*D}BD}:D}E9E=rAzKKNKȱ9KKKCACC@BECDEDBBA@C@>ABA>A?>==>@A?=88;<=:, *F ?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iGm:ByO> I!w, vAWill construct direction to contact in vehicle frame from tetrahedron phase data.:B8?Y:p?:Ƚ9:T*;>y:H?,?@??ǿ ?q'?P?ɨ:B8?:;:CyB:BB"IJbJbJb0J`Jb:Jb:Jbـ3J`Mb@Mb@Mb@ )YS㥛MbX9? rh?y$ʡ=C =;@ @)S@I-@y@II2٢ 8=9=C:Q > G٣y3; > Nusing accuracyPremultiplier from config |59j? |5Y& i)@ x > ;  ,@fE<;;]|5 '@EDNOT Ignoring new targets: 50.30 m. jAjAjIjIiIhIhIhQhUBfQfYrfYbf]J@]x >]x >]T&@]Df@-Ƚ 15f?I5: 1ɚ5>%5i1I1I9i9iA)A)A*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 > I ϼw,(vA>T8?Y>;=q?>Ƚ9>,;>y>H?*?? ?@ ǿ ?'?P?ɨ>T8?>.;>CyF)BF"IIRIR2٢V Z`=9ZQ Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj|59f5?n|5Yfz' if@ln+n@ffEfC;fD;f|5t v*@tH I  I m#II ߄BI &I .I 6I <:I a F5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h9h9h9hAfAfArfIbfUL0J@]]]]4f@Ƚ 隥Y?I: ɚxr5iIIii))Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.9=<*F ?2F :F BF 0JF G3BO%>zK% NK% 89K! K% K% RKU ?JKQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.Cw,wwA FS8?YF:{q?Foǽ9F#;>yFH?F?`?a?%ǿp?&? UQ?ɨFS8?F݈;FCyjBnq"IMb@Mb@Mb@ )Y~jtÿ/$?Q?y,=<h@ )j@IZ@yG@II 2٢ݽ :=9I:Q > G٣y ; > Nusing accuracyPremultiplier from config|59´?|5Y( i@`$>;?@fE;;c|5 @ 9IADNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrf)bf-kJ@]}`$>]}`$>]}7@]}Yv@oǽ 隥G?I : ɚiIIii))*F}?2Fy:FyBFyJFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >[w,p)wAJ9?YJr?J^ǽ9JU;>yJH ?`#in?@?? ǿ?-?(Q?ɨJ9?J;J!Cy^Bb]"II-I-٢=  =T=9=9Q E>AA EG٣AyMY; M> UNusing accuracyPremultiplier from configQ]|59Uް?]|5YU) iU$ @Yee@UfEU ;U ;U|5i m@iWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝ADNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfwJ@]]]]kw@^ǽ G?I: ɚ4iIIii))*F?2F:FBF@5JF )I1ZH RH AAHI I5#IIBI&I.I6Iq<:I? FGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ܫ:J :J J J ;a J ;a J @;a J @;a w,JCwAy~BQ"III<2٢%C %L=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1}|595Ӭ?}|5Y5* i5 @@5fE57!<5Y!<5A|5B D@³EDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfYJ@]]]] Ԛ?IL: ɚI5iII i i ))*F?2F:FBFT0JFzK BoHK 9K K K BKI:KMqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,9]wAf:T:?Yf!r?fmFŽ9f;>yfH@?ʷ?n?@?@nǿ ?`z7?Q?ɨf:T:?fx;fCyrBrG"I)t tuMb@Mb@Mb@qqq q)qYu{GzĿ rh?X9v?yu#uC G٣yE; > Nusing accuracyPremultiplier from config|59&?|5Y>, i2 @'>;@fE#;^;|5a}vA ?YvAy B @DNOT Ignoring new targets: 50.30 m. jjjjihhh!h%BfAfIrfIbfM@K@]'>]'>]IB@]ᴀ@mFŽ ?I : ɚk5iIIii)) E*F}?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >  $?I n w,wwA6^:?Y6r?6Ž96*;>y6H ?@@?@D?@Y?bǿ඘? |(?`ER?ɨ6^:?6+ԇ;4y>B>7"IIJ IJ2HPIP IR#IIRBIP&IP.IP6IR<:IRZ F٢b S=9s9Q >!! %G٣!y%$9 -> =Nusing accuracyPremultiplier from config9E}59=?E}5Y=- i= @AEE@=fE=:=X:=S}5Q U@Q}DNOT Ignoring new targets: 50.30 m. jyjyjyjyihhhhffrfbf3K@]]]]j@Ž Y?I: ɚ5iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJJ;J;J:;J:;DU):*F?2F:FBF4JFzK K 89K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.K RK ?JK >G B! O= ><w,wA~:?Y~)s?~xŽ9~B;>y~H? ̷??@A?`ǿ?`^+?)R?ɨ~:?~$;~Cy փB '"I IMb@Mb@Mb@ )Y333333ÿ{Gzt? rh?yף;C =@ )@Iy@II(*3٢l ==9ԝ8Q > G٣y%6; %> -Nusing accuracyPremultiplier from config)5}59-?5}5Y-. i-0 @=>=;= =@-fE- ;-/;-}5A E^@IuDNOT Ignoring new targets: 50.30 m. jqjqjqjqiqhqhqhhyBffrfbfkK@]E>]E>]EF@]E"1@]xŽ Y] ?I] : Yɚ]5iYIIii))*F?2F:FBF\0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >"w,wAJf:?YJM7s?JĽ9J:>yJH? @콷??|?vWǿ@? ?R?ɨJf:?J_;J CyVՃBV&"II^I^3٢fa fb=9j%9Q j>ll nG٣lyn: r> vNusing accuracyPremultiplier from configpv}59r㟒?z}5Yr#0 ir @xz ~@rfEr;r;rB }5B m@ijE5DNOT Ignoring new targets: 50.30 m. j1j9j9j9i9h9h9hAhAfAfArfAbfMK@]i]i]i]m+2@}Ľ y}֖?I}: ɚ5iIIii)Will construct direction to contact in vehicle frame from tetrahedron phase data.)1*F?2F:FBFo0JF IjH<bHp<H>I I"IIoBI&I.I6I<:Ir FBIJIRIZIbIjI=>4G3BO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J l:J :J 3J J ;J ;J I;J I;w,QwAyЃB "II-I-b1٢=Ƽ ED=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQe}59U͜?e}5YU1 iU- @aae@UfEU ;U;U }5q u@qDNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf K@]]]] ?I : ɚ?6iIIqiqiq)q)y*F-?2F):F)BF-0JF)zKBoHK9KKWill construct direction to contact in vehicle frame from tetrahedron phase data.K IhGiByO>v1w,+wA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y|Mb@Mb@Mb@ )YV-¿~jth?{Gz?yhD;#=@ @)@I@yp@II?139Q > G٣y > Nusing accuracyPremultiplier from config}59󙒜?}5Y2 i @>;[ @fES;K;}5 B*** querying acoustic contact ***jjDNOT Ignoring new targets: 50.30 m. jjjjihhh!h%Bf!f!rf!bf-L@]E>]E>]EĵG@]E@ ?I : ɚ6iIIii))*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.GB O5 > I ^w,wAH4I4 I6"II6`BI4&I4.I46I6<:I6z Fr};?Yrd;t?rpŽ9r4X;>yrH)l?C@???`'_ǿ w?-?@Q?ɨr};?rȇ;rCy~ɃB~"II  I b3٢m u<9uQ u>yy }G٣yy#< > Nusing accuracyPremultiplier from config}59B?}5Y4 i @ @fE ;? ;}5 *@DNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbfk7L@]]]]t@pŽ ?I%G : !ɚ%)6i!I!I)i)i))))12D9*D9BD9:D9MWill construct direction to contact in vehicle frame from tetrahedron phase data.U,DAT read: user:2945> ]BDAT read: Tx time:22:53:19.2160 ]$Ping request sent.]G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:53:19.2152 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256702zK= K= 9K9 K= K= eCw,xA )I1yȃB"I}Mb@Mb@Mb@yyy y)yY}HzGQ?Zd;O?y}= }u<}j<=}@ }=@)}@I}@yy}@I I̍2٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from config}59?}5Yb5 i@>;@fEw;;}5 :@DNOT Ignoring new targets: 50.30 m. jjjjihhhhBffrfbf`UrL@]>]>]A@]@! im?Im: iɚmE<6iiIqIqiqiy)y)y*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502562G! B1 OU >m w,j+xA6py6H=Y??@?`p?Oǿt3?t?U?ɨ6pm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006600JшKՈ3 KՈ.KшKш"KшJ J J 1J J :J :J 3J J ;J ;J C;J C;Uw,pExA6!i=?Y6u?6 ͽ969>y6H;?? f??ΐ?!ǿ`ɖ?@?bQ?ɨ6!i=?6;6!CyRBR "IIZIZ٢~  ~G=9yrQ >   G٣ y <  > Nusing accuracyPremultiplier from config}59?%}5Y7 i,@!%%@fE ; ;{}5-B -@5dzE]DNOT Ignoring new targets: 50.30 m. jYjYjajaiahahihihififqrfqbfu`L@]]]]lȁ@ ͽ 隭.?Iu : ɚ6\6iIIii))*Fu?2Fq:FqBFu_0JFqG}rA G}rAWill construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262125zKe:IKeC9KaKeKe IGu3BO>w,{_xAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730:=?Y:v?:zͽ9:29>y:H`9?]#@;z?9?Ċ? ǿO??P?ɨ:=?:r‡;: Cy^B^"IMMb@Mb@Mb@III I)IYM!rhL7A`??yMl罙M+=ML=M3@ I)M@IM@IyM@IIm٢ <=9Q > G٣y: > Nusing accuracyPremultiplier from config}59|?}5Y8 ia@>;@fE; ;D"}5  4@=DNOT Ignoring new targets: 50.30 m. j9j9j9j9i9hAhIhIhMBfQfQrfQbfUM@]u>]u>]u6@]u z@zͽ 隍?I : ɚNm6iIIii))*F%?2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028Gm:ByO> I 7w,bLyxAHI I"IIPBI+ =&I.I6I<:I FJ?=?YJ%v?Jw˽9Jo:>yJH9?!"̷? ? ?ǿ2j?` ?P?ɨJ?=?J;J!CyVBV"II^I^2٢fP f^=9jx;Q j>hl nG٣lyr 9 r> vNusing accuracyPremultiplier from configtz}59vʈ?z}5YvU9 ivi@xzz@tv:v:v}%}5 =@5DNOT Ignoring new targets: 50.30 m. j1j1j1j1i1h1h9hAhAfAfArfAbfM`=7M@]a]a]a]ez@}w˽ y}i?I} : ɚ}6iIIii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015756*F-?2F):F)BF-o0JF1GU3BYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269324zK K 9K K K  $w,IxA LILj}=?Yju?j_˽9j0:>yjH ~=?ɾ??(?ǿMa?x?@P?ɨj}=?j};jCyrBr"I)t tMb@Mb@Mb@ )Y1Zdi|?5?&1?y"۽q=P=`@ j@)5@IQ@y(@II 3٢o. 9=99Q > G٣y3 > Nusing accuracyPremultiplier from config}59焒?}5Y: i@>;%@fE}<U<Y)}5 G@%DNOT Ignoring new targets: 50.30 m. j!j!j!j!i!h!h)h)h-߁Bf)f1rf1bf5CsM@]e>]e>]e(@]e_l@}_˽ 隅k?I: ɚ6iIIii))EE*F?2F:FBFp0JF"G>G>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519357JJJJJL:J9JJa@a@a@a@)= rCc~G &"YyBG B O >*w,xA6=?Y6uDv?6˽96u=;>y6H5?$???`7ǿ`f?(?O?ɨ6=?6n;6!CyBBB!IIJIJ2٢RAs Vb=9VkQ V>XX ZG٣XyZN; Z> bNusing accuracyPremultiplier from config\b}59^?f}5Y^: i^@df%f@^fE^:^:^,}5h n@lDNOT Ignoring new targets: 50.30 m. jjjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770985ffrfbfM@]]]]vl@˽ f?In: ɚg6iII!i!i!)!)) $?I*F?2F:FBFX5JFjH<bH<H!I! I%"II%FBI!&I!.I!6I%k<:I%; FG-:B9OU>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:53:21.6817 U TRx dataTimestamp_ set to:1736376803.008615] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023676U1w,xAy~B~!II $I <3٢ %C=9%Q %>)) -G٣)y- -> uNusing accuracyPremultiplier from config1}}595 ~?}}5Y5g; i5R@@5fE5%<5%<5*0}5 .ADNOT Ignoring new targets: 50.30 m. jjjjihhhhffrfbf M@]]]]  b?I I: ɚ 6i I Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282903zKN KKKKK*F%?2F):F)BF-_5JF1 IGa Bi O >7w,bxA"Will construct direction to contact in vehicle frame from tetrahedron phase data.J6J4J60J4J6:J4J6ـ3J4FDAT read: 22:53:21.6818 LVL= 11152, 19553, 18114, 27475, AGC= 56, IDX= 387, 0.04, 1.256, 0.503,-0.812, 0.263, PHS= 1.082, 0.287,-1.078, RAW= 51.3, -3.1, CAL= 54.0, -7.0, ROT= 96.0, 7.0 JYgot valid direction response: 22:53:21.6818 LVL= 11152, 19553, 18114, 27475, AGC= 56, IDX= 387, 0.04, 1.256, 0.503,-0.812, 0.263, PHS= 1.082, 0.287,-1.078, RAW= 51.3, -3.1, CAL= 54.0, -7.0, ROT= 96.0, 7.0 NPDAT read: Bearing 96.0, 7.0 (Local) R~Local bearing/azimuth received: Bearing 96.0, 7.0 (Local) ZDAT read: Range 10 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.0 m/s ZR#Rx 1: Read range and direction messages.r\direction in FSK: [0.046352,0.682843,0.729093]rFpublishing direction and range info 9"3[$zp??пT?y"8B "+"aL "F)"SkI"8i"~?">""5e?"k] ":Fq?)"5I"Pw?i"5= "ȌD@? f9ǷT9̫)"dI"}^=i"b?"&Q ->?Y-Ďv?-g̽9--;>y-H.?,* ܷ?`#?`}?ǿ ?#?O?ɨ->?-o;-Cy޽B޽!Ii4>Ia= Mb@Mb@Mb@    ) Y &1~jt?S㥫?y н = /]=  @) I h@ y z@IEIET3٢uuD u*=9}GfQ }>y G٣y; > Nusing accuracyPremultiplier from config%}596y?m}5Y< i@m >u;u.u@fEv?< ?<4}5 Ak"'w?k"x k  k"GxA:k"8BBk"7BZk"&@""T6!@vH?@T&@@"3[$zp??пT?Jk"b?Rk"&Q*"r6p5.')@2pC@":Uݿ{„? wے+?"k"LA*k"k"$ͥj?k"|# 2k"YBk"Hޣ-?k"{p k k"Bk":? addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 60.014794 s, deltaX: -4.099998 m, approachRate: -0.068316 m/s, rangeRepo size: 4  Added new target pos. range: 46.200001 m, bearing: 149.181166 deg, lat: 36.904883 deg, lon: -122.119186 deg, deltaT: 60.014794 s, deltaX: -4.099998 m, approachRate: -0.068316 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.20 m. jjjjihhhhǁBf f rf G@bf ;?]U >]U >]UA @]Ud@g̽ 隍h?I: ɚ*6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFu4JFqGy Gy I H% >I!  I% "II% 7BI% * =&I! .I! 6I% ǰ<:I% FBIJIRIZIbIjI4G 3B O >->w,SwxAZ#>?YZv?ZX̽9Z:>yZHO,? +hз?%?`D|?ǿ臹?`l?@O?ɨZ#>?Z]A;Z!CyfBf!IInIn[3٢vN zt=9zĊQ z?|| ~G٣|y~:H: ?  Nusing accuracyPremultiplier from config}59"v?}5Y< iC@.@;;K7}5! -A)UDNOT Ignoring new targets: 46.20 m. jQjQjQjYiYhYhYhYhafafarfabfeX?]]]]d@X̽ 隝e?I : ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFQ0JFG:BO>] PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) zK5 K5 9Ew, DyAKiKmKmRK">JK">nZu>?Yn@v?n&ͽ9n:>ynH`#?X1F׷? *?s?ǿݙ?c? O?ɨnZu>?n ;nCyzBz!IMb@Mb@Mb@ )YʡEsh|??J +?yy=H=A )I@yf@I I <2٢% -8=9=d"Q =>99 EG٣Aym7; > Nusing accuracyPremultiplier from config}59q?}5Y== i@9>;-@fE@;{;U;}5  A DNOT Ignoring new targets: 46.20 m. jjjjihhhh؁Bffrfbf?] 9>] 9>] ˒!@] d@&ͽ Y?IE: AɚE~6iAIAIIiIiI)I)Q*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J)J)J-:J-:J)J)G 3B O >8Kw,/yA>Σ>?Y>w?>̽9>;;>y>H.?4?` .?n? ǿ:?@j(?`:O?ɨ>Σ>?>v;>CyJ{BJ!I)L LITIT٢b be=9b#:Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr}59jdm?r}5Yj= ij@pr-v@jfEj;jg1;jH>}5zB ~{A~ʳE]Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbfXe?]Q]Q]Q]UId@m̽ im3Q?ImO: iɚm6iiIqIii)) I*F?2F:FBF^0JF "G>G>ZHaRHeAAHiIi Im"IIm#BIi&Ii.Ii6Im<:ImL F Will construct direction to contact in vehicle frame from tetrahedron phase data. = 4=GA Bi O > "Rw,NHyA6R>?Y68Lw?6`ͽ96:>y6Hz?`7?1? i?Fǿ??eO?ɨ6R>?6ņ;6CyNyBN!IIZIZ2٢b\ bJ=9fOQ f>hh jG٣hynW: n> rNusing accuracyPremultiplier from configpv}59rh?v}5Yrh> ir8@xzx-z@rfEr:r:rA}5 A-DNOT Ignoring new targets: 46.20 m. j)j)j)j)i1h1h1h9h9f9f9rf9bfEѐ?]a]a]a]eud@}`ͽ y}MP?I}C: yɚ6iIIii))*F?2F:FBF0JF nManaging dock network, ignoring radio surface power off}Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKBHKKKKGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.KXw,byAJ.J.J.1J,J.:J.9J.3J,y]hB]!IMb@Mb@Mb@ )YZd;K??y^=L=hA @)b@Iy@I%I%?13٢57 55=9=Q =>9A EG٣AyE E> MNusing accuracyPremultiplier from configI]}59Mc?]}5YM? iM@] $>e;e$/e@MfEM5;Mt2;ME}5i mAiDNOT Ignoring new targets: 46.20 m. jjjjihhhhρBffrfbf@] $>] $>] @]b@ L?I: ɚ˽6iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D $?I*FM ?2FI :FI BFM _0JFI GY  GY Hm >Ii  Im f"IIm BIi &Ii .Ii 6Ii :Im M FGi By O >_w,4IyA6l>?Y6RLw?6ͽ96:>y6H`?7`)ط?.1? j?ǿ? ?`P?ɨ6l>?6_ņ;4yB[BB!IiF4=IF;IN IN<2٢R VO=9V<9Q V>TX ZG٣Xy^Ӄ6 ^> bNusing accuracyPremultiplier from config\b}59^_?f}5Y^? i^ @df'/f@^fE^:^);^5I}5l nzAl DNOT Ignoring new targets: 46.20 m. j j j j i Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ@Ahhhhffrfbf5@]]]]b@Uͽ Y]3F?I]t: aɚe<6iaIaIii))Da*F?2F:FBF0JFG! B) E Will construct direction to contact in vehicle frame from tetrahedron phase data.OU > I zK% k3IK% 9K! K% K%      ~ew,yAJO>?YJ6cw?J˽9J ;>yJHs? |8N ?'3?@Th?ǿ s?"?O?ɨJO>?J;JCyVPBV!IMMb@Mb@Mb@III I)IYM/$/$?J +?yM1M=MH=MA M@)Mx@IM@IyMG@Ie&Ie3٢uL u>=9}9:Q }>y G٣y7U: > Nusing accuracyPremultiplier from config=}59Z?=}5Y@ iv!@E(>E;E|*E@fE<<L}5Q UAQDNOT Ignoring new targets: 46.20 m. jjjjihhhhˁBffrfbf@]%(>]%(>]%{%@]%g@u˽ y}B?I}: yɚ}6iyIyIii))D:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF&1JFG= :BI Ou >"lw,yAWill construct direction to contact in vehicle frame from tetrahedron phase data. AIAyMGBMy!IIe Ieb3٢m* uK=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from config}59LU?}5YPA i"@@fE: ;zP}5 ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf@ @]]]]   C>?I: ɚ6iIIii))!jHbH<H!>I IG"IIBI&I.I6I<:Is FDUF :Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJJaJaJA;a JA;a *F ?2F :F BF 0JF "G >G >G B O% >ssw,wyA21>?Y2Ww?2ʽ92:>y2H?=7` ?2?wj? tqǿ`\L??qP?ɨ21>?2;2"Cy>@B>o!I)@ @IJIJV83٢Ra RJ=9R:Q R>TT VG٣TyZ ^> bNusing accuracyPremultiplier from config\f}59^P?j}5Y^B i^ $@hj*j@^fE^1;^1;^T}5l nTAp DNOT Ignoring new targets: 46.20 m. j j j j i hhhhffrfbf @]A]A]A]Eg@Mʽ IMv:?IU: QɚUz6iQIQIYiYeWill construct direction to contact in vehicle frame from tetrahedron phase data.iy)y) IzK5e^LK5ȱ9K1K5K5 ($ D7 :*F]?2Fa:FaBFe2JFa NG  Will construct direction to contact in vehicle frame from tetrahedron phase data. = Y9 y= AGA BQ Om >yw,yA6W>?Y6>(w?6ɽ96:>y6H?3 h?/?p?eǿ0??Q?ɨ6W>?6;6CyF4BJa!IMb@Mb@Mb@ )YPn rh?Mb?yC=@=zA )@I@y@II#3٢=W 7=9x:Q > G٣y;Һ > Nusing accuracyPremultiplier from config}59K?}5YB iX%@>;%@fE;;W}5  A ͳE5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9h9h9h=ӁBfAfArfAbfML@]e>]e>]e*@]eel@uɽ y}0?I}m: yɚ}6iyIyIii))D} :*F5?2F1:F1BF5P0JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQH">I I""IIуBI&I.I6I<:Ir FGy B O >ԉw,BzA:`>?Y:F'w?:"Ƚ9:E:>y:H??Y3(?/?p?[ǿR?`? AQ?ɨ:`>?:f;:CyF,BFW!IININ2٢V8+ V`=9V`:Q Z>XX ZG٣Xy^4* ^>JfJfJf0JdJf,:Jf:Jfـ3JdJf;Jf;JfC;JfC;nWill construct direction to contact in vehicle frame from tetrahedron phase data. vNusing accuracyPremultiplier from configtz}59vH?~}5YvC ivl&@||@vfEv~C;vC;v"[}5  A 5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9hhhffrfbfB@]]]]l@="Ƚ AE,?IE: AɚEh6iAIAIIiIiI)Q)yD :*FU?2FQ:FQBFU2JFQGY GYWill construct direction to contact in vehicle frame from tetrahedron phase data. i Ii zKM YLKM 9KI KM KM G9 BY O >ˆw,EzAJs>?YJv?J֫ǽ9J&:>yJH7%?.:?@^,? v?Nǿ\?`?Q?ɨJs>?J ;JCyR"BRK!IiV=IV G٣yh > Nusing accuracyPremultiplier from config}59C?}5YD i'@>;>@fE+;;7 ;^}5 =ADNOT Ignoring new targets: 46.20 m. jjjjihhhhƁBffrfbf a@]>]>]1@]s@Will construct direction to contact in vehicle frame from tetrahedron phase data.֫ǽ .?I9 ɚZ6iIIii))!Do :*F 2F :F BF 4JF u Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 GZHRH@AHI I"IIBI&I.I4D6I<:Io FBIJIRIZIbIjI΁4BO>Mw,;zA:+=?Y:pv?:KŽ9:Y;>y:H@2?`&%U?$?"?8ǿ ?%?WR?ɨ:+=?:;:!CyFBF=!IININ2٢V6C Z2=9Zq%;Q Z>\\ ^G٣\y^ b> fNusing accuracyPremultiplier from config`f}59bh??j}5YbE ib(@hj_j@bfEb ;b ;bb}5p vAtDNOT Ignoring new targets: 46.20 m. jjjjihhh!h!f!f!rf!bf-@] ] ] ] ss@KŽ {(?I9 !ɚ%6i!IAIIiIiI)I)QJJJ1JJ̝:J9J3JJ;J;J8;J8;Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F]?2Fa:FaBFeP0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G BB O > hw,VzAzK &~JK 89K K K   ;M`lptwzvwwvokijifba]XSQMIEC>952-)%$!Uh=?YUu?U#*Ľ9UB:>yUH@EA?p:? |??p)ǿ@{?+? aS?ɨUh=?U ;U CyeBe>!IMb@Mb@Mb@ )YQ ףp= ?~jt?yQ8=D=A K@)@I@y@I$I<3٢V; =9:Q > G٣y҇ > Nusing accuracyPremultiplier from config}59 ;?}5YF i*@# >;[@fE;D;wg}5 ADNOT Ignoring new targets: 46.20 m. jjjjihhh h ہBf f rfbf@]5# >]5# >]52@]5t@E#*Ľ AE?IM9 IɚMp6iIIIIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D:ErAE*Fu ?2Fq :Fy BF} 1JF "G >G >uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,vzA IB=?YBeu?B9Bk8;>yBHJ?@]q?? %?ǿ L3? +?bS?ɨB=?Bp6;@yJBN7!I)P P V=V=I^I^2٢f fN=9f7;Q f> G٣y@Y > UNusing accuracyPremultiplier from config)U}59-7?]}5Y-G i-A+@Y]o]@-fE-k;-Z;-k}5a mAiDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbfo@] ] ] ] t@E im?Im9 iɚm}6iiIqIqiqiy)y)yH#>IC I!IIBI&I.I6I<:Iq FDA:JJJ0JJL:J:Jـ3J5Will construct direction to contact in vehicle frame from tetrahedron phase data.JO;JP;JyE;JzE;*Fe?2Fa:FiBFmP0JFiG J B O > w,AzAyB(!II-I-3٢=h =<=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]}59U3?]}5YUH iUr,@YYe@UfEU:U:Un}5i m"AiDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf 3@]]]] k?I9 ɚ<6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKUZNKUȱ9KQKUKU   Kmtmd^YROKD@@?:88:9410/,++)('%''&"!RKe ?JKe?D:*F5?2F1:F1BF=]0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.GU BBY O} >#:w,CzAF>;?YF$ct?Fo9F];>yFH`i?@}??`;?`~ƿN?0?T?ɨF>;?F};DyRBR&!I5Mb@Mb@Mb@111 1)1Y5!rhQ?~jt?y5l罙5<153A 1)5@I5v@1y5Q@IM!IMi3٢U_ ]H=9]:;Q ]>aa eG٣iym 5 u> }Nusing accuracyPremultiplier from configq}}59u1?}5YuI iu-@j>;+@ufEu]j>]3t8@]z@o = ?I%69 !ɚ%c7i!I!I)i)i))))1DU:Will construct direction to contact in vehicle frame from tetrahedron phase data. yIy*F?2F:FBF`0JFG GjH<bH<H!I! I%!II%BI%) =&I!.I!6I%<:I% FGm :By O >ow,֏zABWill construct direction to contact in vehicle frame from tetrahedron phase data.>5 ;?Y>s?>ʺ9>;>y>H׀? Rnj???ƿQ?(?@5V?ɨ>5 ;?>Q;>CyNBN*!IiRC=IR=IZ"IZq3٢b< bV=9b];Q b>dd fG٣dyjj j> rNusing accuracyPremultiplier from configlr}59nV.?v}5YnJ in.@tvfv@nfEn";nq:nu}5zB z A~гE%DNOT Ignoring new targets: 46.20 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=\@]Q]Q]Q]Utz@mʺ iu ?IuK9 qɚuu7iqIqIyiyi))D:*F}?2Fy:FyBF}m0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data. qIyGe s%zK ]NK M9K K K ??*  B O >@w,nlzA2Qu:?Y27r?2l92n};>y2H?`Ÿ??@?͹ƿ?L6?V?ɨ2Qu:?2jc;2Cy:B:!IMMb@Mb@Mb@III I)IYMI +~jt?)\(?yM9M=MGa=MA Mx@)MZ@IIIyM@I(I̍3٢@ ==9x;Q > G٣y > Nusing accuracyPremultiplier from config}59+?}5Y.K i 0@T=;@x;;my}5 _A%DNOT Ignoring new targets: 46.20 m. j!j!j!j!i)h)h)h)h5Bf1f1rf1bf=, @]T=]T=]8.@]łs@l >I9 ɚ7i!I!I!i)i)))JqJqJqJqJqJqJqJqa@a@a@a@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F ?2F :F BF `0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii Gu :B O >w,( zA69?Y6r?6z96E\;>y6H@?=ڸ???`/ƿon?`43?@FX?ɨ69?6";6CyBBB!IHHIH IJ!IIJBIH&IJGD.IH6IJ<:IHI^I^V83٢fll nG٣lyn r> vNusing accuracyPremultiplier from configtz}59v(?z}5YvK ivw1@xzz@vfEv:vC:v}}5| vA-DNOT Ignoring new targets: 46.20 m. j)j)j1j1i1h1h1h9h9f9f9rf9bfE @]i]i]i]m}Bs@}z y}>I}r9 ɚ7iIIi i ) ) MWill construct direction to contact in vehicle frame from tetrahedron phase data.De4:*F?2F:FBF0JF"G>G>G J B) OE >w,d{A>8?Y>_q?>29>U ;>y>H`?8X?`??oƿ ? ,?`Y?ɨ>8?>;>CyLL)P P \I`fWill construct direction to contact in vehicle frame from tetrahedron phase data.IVIVT39r u;Q r>pp rG٣tyvл v> ~Nusing accuracyPremultiplier from configx~}59z8&?}5YzxL iz2@ @zfEz:zL:z}5  =DNOT Ignoring new targets: 46.20 m. j9j9j9j9i9hAhAhIhIfQfQrfQbfU`E!@]]]]8s@2 隩I!9 ɚ{7iIIii))zK.MKC9KKKDM:) ~GAa EYy~A*F?2F:FBF_5JFJK(3 K(.KKWill construct direction to contact in vehicle frame from tetrahedron phase data."KJuJuJqJqJu,:Ju9JqJqGM :BY O} >0w,.{A2l8?Y2Rp?2j=92A;>y2Hl?W?@o?*?Dƿ.?@1?Z?ɨ2l8?2߆;2Cy>BB!IEMb@Mb@Mb@AAA A)AYE+J +?Q?yEEH=Eu=EIA A)AIE@AyE@I]I]M3٢mW m<9u;Q u>qq uG٣yy}T }> Nusing accuracyPremultiplier from config}59]#?}5YL i4@#=;'@/;8;\}5 ADNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf"@]#=]#=]*%@]Rj@j= >I9 !ɚ%m 7i!I!Iii)) ID:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFZHqRHu?AHu$>Iq Iu!IIuBIq&Iq.Iq6Iu<:Iu FGB O- >u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,yH{A2N\7?Y24o?292K:>y2H?`9?? @?ƿ`? 5#?\?ɨ2N\7?2;2"CybBb !IIjIj#3٢r rT=9v;Q v>xx zG٣|y~\ ~>  Nusing accuracyPremultiplier from config }59 ? }5YpM i6@ (@fE::}5 ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf?[#@]]]]j@% !% >I-9 )ɚ-H 7i)I)I1i1i9)9)9 IWill construct direction to contact in vehicle frame from tetrahedron phase data.D:EE*F?2F:FBFF4JFG GzK JK K K K    OQV G 3B O% >w,5d{A>[6?Y>A-o?>9>;:>y>H?@E`S]?@?_T?ſ苴?`)?]?ɨ>[6?>gņ;>!CyJBJ!IiN G٣y > Nusing accuracyPremultiplier from config}59?}5YM i8@}=; 8 @D;,;}5 ADNOT Ignoring new targets: 46.20 m. jjjjih!h!h)h-Bf1f9rfYbfeO$@]}=]}=]@]`fY@ >I}9 ɚ7iIIii))D=9 I Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF H %>I  I !II vBI &I .I 6I <:I FBI}˜CJI}˜CRIyZI}) =bI}) =jI}4G9BIOe>w,t{ARz5?YRmm?R49R;:>yRH@8?`g{ÿ??`Yx?ſā?(?`?ɨRz5?R];RCy^ނB^ IIfIf٢n r8=9rltt vG٣tyzm/ z> ~Nusing accuracyPremultiplier from config|}59~?}5Y~M i~:@  +9 @~fE~s;~;~}5 WA=DNOT Ignoring new targets: 46.20 m. j9j9jAjAiAhAhAhIhIfIfIrfQbfUO%@]y]y]y]}NX@4 隍z>I9 ɚ7iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.Dt9*F]?2FY:FaBFeO0JFa } $?Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G- :BI Oe >w,,{A}g4?Y}MDm?}I9}:>y}H(?l?i?@W?Yſ`??b?ɨ}g4?};}CyޕӂBޕ IzK MK 9K K K  5Mb@Mb@Mb@111 1)1Y5S㥫kt?Mb?y5/]5 =15 A 5@)1I11y5@IMIMT3٢]F ]5=9];Q ]>aa eG٣aymŻ m> uNusing accuracyPremultiplier from configq}}59u?}}5YuM }tIiu2<@}=;lF@ufEu ;u;u}5) -A1DNOT Ignoring new targets: 46.20 m. jjjjihhhAhEBfAfIrfIbfM`&@]=]=]9j@]K@I R>Ii9 ɚ$7iIIii))JaJeJe0JaJaJe:Jeـ3JaWill construct direction to contact in vehicle frame from tetrahedron phase data.D E9*F5 ?2F9 :F9 BF= x4JF9 "GE >GE > q Iy - Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 GABQOu?rw,{AHI I!IIbBI( =&I.I6I<:I FF _4?YFl?F9Fk:>yFH`.4?cJ.? ~?? f#ſQ?Z?c?ɨF _4?Fz;DyVǂBV I)X XI^I^2٢f O f3=9j;Q j>hl nG٣lyng n> vNusing accuracyPremultiplier from configpv}59r{?z}5YrN ir^>@xzFz@pr*:r:r}5| A5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE&@]]]]>K@- 15>I59 1ɚ57i1I1I9iAiA)A)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.De9*F?2F:FBFP0JFG B) A II Oe >cw,{AF3?YFfyFHD? U@~?@t?`?`ZĿ h?@?`e?ɨF3?F<;FCyNBR I^Will construct direction to contact in vehicle frame from tetrahedron phase data.I^!I^i3٢fܽ jI=9j%;Q j>ll nG٣lyn û r> zNusing accuracyPremultiplier from configtz}59vB?~}5Yv N ivP@@|~F~@vfEvP:v:v}5 A 5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE'@]a]a]a]e:K@} 隅>I9 ɚiIIii))2DrA*DrAzKu&`KKuC9KqKuKuD9*F-?2F):F1BF5^0JF1eWill construct direction to contact in vehicle frame from tetrahedron phase data.e=e<G1 BI Oe >w,Y{A6b3?Y6k?6K,96*:>y6H1O?K 8Һ? n?`?Ŀe? ?qg?ɨ6b3?6D;6 Cy>B> I=Mb@Mb@Mb@999 9)9Y=Zd;Mb?i|?5?y=y===q=9 =@)=@I=hA9y=Q@IU"IUq3٢m5 mA=9u;Q u>qy }G٣yy}^ }> Nusing accuracyPremultiplier from config}59 ?}5YN i:B@>;AG@fE ;;ž}5  AӳEDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf(@]>]>]_ @]J@K, {>I9 ɚ_3iII!i!i!)!)) ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm0JFqH%&>I! I%s!II%CBI!&I!.I!6I%Ӱ<:I% FGBO>Je Je Ja Ja Je L:Je 9Ja Ja Ja au Ja au Je $7;au Je %7;au  Will construct direction to contact in vehicle frame from tetrahedron phase data.Bow,"6 |AB2?YBock?B9B:>yBH@M\?s@@M&?e? ?YĿ`p-?J?`h?ɨB2?B;BCyJBJ IiNdd fG٣dyj( j> nNusing accuracyPremultiplier from configlr}59n' ?r}5YnN inC@tvyGv@ln_;n:n}5x zAxDNOT Ignoring new targets: 46.20 m. jj!j!j!i!h!h!h)h)f)f)rf1bf53[)@]]]]J@ >Iw9 ɚiIIii))D9*F?2F:FBF^2JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAGBO>zKU m$JKU 9KQ KU KU ʨw,Q$|A2|h2?Y2bj?2x92R9>y2H`i?>5@d]?d]?@?`;Ŀ4?@?j?ɨ2|h2?2;0y>B> IMb@Mb@Mb@ )Y+ ףp= ?Mb?yQ=@= A @)Q@IAy@I&I3٢-k -B=95d;Q 5>19 =G٣9y= E> MNusing accuracyPremultiplier from configAM}59E ?U}5YEJN iEE@U>U;U?U@EfEE;E[;Eȥ}5a eC Aa%Will construct direction to contact in vehicle frame from tetrahedron phase data.EDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhIhQhqh}Bfyfyrfbf7B*@]>]>];@]l&R@=x 9E>IE9 AɚE 3iIIIIqiyiy)y)yDm9*F?2F:FBF|3JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G% 3B1 OM >H '>I  I A!II BI &I .I 6I <:I v Fow,=|AR1?YRuhj?RwyRHv? (`3ջ?=U??Kÿkc?o?.l?ɨR1?Ra;PyZlB^k IIfIf 3٢nϽ nR=9r pp rG٣tyv+ v> ~Nusing accuracyPremultiplier from configx}59zk? }5YztN izF@  )@ @zfEza];zL;z/}5  AEDNOT Ignoring new targets: 46.20 m. jAjAjAjIiIhIhIhIhQfQfQrfQbf]`\*@]q]q]q]uQ@wI9 ɚiIIii))D9*FM?2FI:FIBFM0JFIJ-J-J)J)J-:J-9J)J)J-;J-;J-3;J-3;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu:ByO> I w,W|A6N1?Y6i?6t^969>y6H`?M6?\J? ?ÿ`˫??m?ɨ6N1?6Y;4yB[BBV I)D DIJIJ?13RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Z ZM=9Z_\\ ^G٣\ybŻ b> fNusing accuracyPremultiplier from configdj}59f?j}5YfN ifqH@hnc@r@dfM;f N;f}5t vi AtDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf+@]]]] Q@t^ !%d6>I%9 !ɚ%;3i!I!I)i)i))1)1D9*F?2F:FBFP0JF.~G  5ڿY9zK=k3IK=89K9K=K=yM9AeWill construct direction to contact in vehicle frame from tetrahedron phase data.G) BA Oe >-w,Iq|A60?Y6Ai?6-P96\:>y6H@ϕ? @ȼ?@A? ? 5?ÿ@i?`#?Rn?ɨ60?6U|;6Cy>LB>C I @  Mb@Mb@Mb@ )Y|?5^㥛 ?l?yҽ== -@)h@IQAiI%I%M3٢- 5B=95y 99 =G٣AyE E> MNusing accuracyPremultiplier from configIU}59M?U}5YMO iMI@>;)2@MfEM]>]!@]c_@-P 隽>I9 ɚ֬3iIIii))2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFJFH&>I I IIBI&I.I6I<:Id FGM 3BQ Ou >JE JE JA JA JE :JE :JA JA JE ;JE ;JE yE;JE zE;e Will construct direction to contact in vehicle frame from tetrahedron phase data."w,|||A^*/?Y^mh?^wA9^;^:>y^H? 3?1?`&?l¿2?G$?o?ɨ^*/?^r;^Cyj/Bj IIrIrF3٢z\ zN=9z G٣y 9  > Nusing accuracyPremultiplier from config}59?%}5YO iJ@!%i2%@fE1;R2;γ}5) - A1]DNOT Ignoring new targets: 46.20 m. jYjYjYjYiYhahahahafifirfibfm Ti-@]]]][_@wA 隭(=I9 ɚiIIii))D,9*F-?2F):F1BF5_0JF1 -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO=>(w,Z|AzKK 9KKK:L/?Y:g?:S39::>y:H`?2?7&?:?¿h?`-?p?ɨ:L/?:%;:CyBBF IiJ=IJ=UU UMb@Mb@Mb@QQQ Q)QYUM¿I +?:v?yUnU94=U G٣yû > Nusing accuracyPremultiplier from config}59c?}5YP iK@>;@fE@;j;}}5 e AճEDNOT Ignoring new targets: 46.20 m. jjjjihhh h B%Will construct direction to contact in vehicle frame from tetrahedron phase data.%<%<f9f9rfAbfMF.@]>]>]?5@]Lr@-S3 15L>I59 1ɚ5[3i1I1I9i9iA)A)AD9 I*Fe ?2Fi :Fi BFm P0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II BI ' =&I .I 6I <:I | FBIJIRIZI( =bI( =jIs)5Gm 3By O >u0w,||A:1c.?Y:f?:#9:e:>y:HU? q9?@<?=9~   G٣y" > -Nusing accuracyPremultiplier from config)5}59-표?=}5Y-Q i-FL@AE M@-fE-;-Ĕ;-D}5]B e AeسEDNOT Ignoring new targets: 46.20 m. jjjji!h!h)h)h)f1f1rf1bf5)/@]q]q]q]ur@# 隭2>IN9 ɚB3iIIii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ̶:J :JJJ;J;J9P;J9P;*F?2F:FBF`0JFG5 :BA Oe > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G6w,|ANF-?YN,e?Nӌ9N;>yNH 9?@{?{?3o?`a¿@?Y=?Kr?ɨNF-?N;N CybBbIIj5Ij3٢rk vM=9vxx zG٣xyz ~> Nusing accuracyPremultiplier from config }59鑜?}5Y{R iL@J @fE/;)0;}5! %V A!MDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhQhQhQhQfYfYrfYbfe`/@]y]y]y]}q@ӌ 隝>I9 ɚ4iIIii))D|9*Fu?2Fq:FqBF}1JFy"GG>zKeBHKe9KaKeKe 9kVG;/'  Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO><w,ux|A 0I4yBI)! ! -=-R=Mb@Mb@Mb@ )YʡEƿ~jt?~jt?y-2D<< A C@)~@IQAy(@IIm?3٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config}59䑜?}5YS iM@H4>;I@fEE;9;}5   A=DNOT Ignoring new targets: 46.20 m. j9j9j9j9i9h9hAhAhEBfAfIrfIbfM c0@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]H4>]H4>]D@]@ .>I9 ɚa64i I I)i1i1)1)1H1I1 I5s II5sBI5) =&I1.I16I5S<:I55 FD)9*FM ?2FI :FI BFM `0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >IDw,&}A60+?Y6c?696kh;>y6H&?6`Þ?`?ྰ? }`p{?`(I?`s?ɨ60+?6;6CyBBBIIN<IN3٢VP ZI=9Z\\ ^G٣\y^T b> fNusing accuracyPremultiplier from config`j}59b?j}5YbgU ibN@hjj@bfEb7 ;bz ;b}5l r&Ap DNOT Ignoring new targets: 46.20 m. j jjjihhhhf!f!rf!bf%W0@]A]A]A]EVB@] Y]>I]I9 Yɚez\4iaIaIaiiii)) Ih*F?2F:FBF05JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>zK `MK 9K K K J J AAJ J J J J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data.J J a @a @a @a @toJw,+}A#*?Yxb?ɼ9S<>yH @?q`'?B?N?e8`q G٣y > Nusing accuracyPremultiplier from config}59ܑ?}5YVW iN@nD>; @fE;;$}5 fADNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf@B1@]nD>]nD>]oM@]@-ɼ 15.>I59 1ɚ5̅4i1I1I9i9i9)A)AEYEY*F?2F:FBF4JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.H'>I IA IIJBI&I.I6I<:I FG! B1 OM >TQw,E}A @:*(?Y:Ka?:<9:@<>y:H b?TRS? ??l /?`?@at?ɨ:*(?:i;:!CyBځBBIIJ%IJ)3٢V0( Vo=9V (I9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFuP0JFqG3BO> IE Will construct direction to contact in vehicle frame from tetrahedron phase data. Ww,Gu_}A6!'?Y6`?696ڄ<>y6H?`87@Ś?? ? v Ɠ?m? at?ɨ6!'?61;6CyNցBRIIZ'IZ@3٢bK bH=9fdd jG٣hyjA j> rNusing accuracyPremultiplier from configlr}59nՑ?v}5YnqZ inUO@xzY @nfEn;n;n}5 A%DNOT Ignoring new targets: 46.20 m. j!j)j)jQiQhYhahhffrfbf%2@])])])]-Vc@= 9=H#>I=9 9ɚE4iAIAIiiiiq)q)qzKBHK9KKKJJJJJ:J :Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ*F?2F:FBFJFG :B! O= > I j]w,0by}AzWill construct direction to contact in vehicle frame from tetrahedron phase data.y~ہB~IMb@Mb@Mb@ )Y~jtȿS㥛?yD̼/< A )@I@y@I&I3٢ ϲ< 7=9Q > G٣y% -> 5Nusing accuracyPremultiplier from config1=}595ё?=}5Y5i\ i5O@=/H>=;=LE@5gE5@;5;5}5I MiAIuDNOT Ignoring new targets: 46.20 m. jqjqjqjyiyhyhyhyhBffrfH(>I I! II1BI&I.I6I<:I] Fbf`v2@]/H>]/H>]AYQ@]qi@ H=I*9 ɚ#4iIIii))2D*DBD:D*F?2F:FBF_0JF"G >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.G% 3B) OM >̒dw,.}A6&$?Y6 b]?6"96<>y6H@?@@ ?fY?`]? r,Q?{v?t?ɨ6&$?6;6CyFځBFIIN>IN3٢V! Vd=9ZXX ^G٣\y^; b> fNusing accuracyPremultiplier from config`f}59bΑ?f}5Yb] ibSP@lrr@bgEb*;bs;b}5  oA ۳E5DNOT Ignoring new targets: 46.20 m. j1j1j1j9i9hAhAhAhAfIfIrfIbfMc2@]i]i]i]m@ $?I" 隕=I9 ɚA4iIIii))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG1BA) O>-NGa ݿYyy2H?&D*? 8?? ࿿@`{?h?`u?ɨ2U#?2;2 CyUBUI-Monly read 2 of 4 data items for beam range. Device response is::RA, 0.00, 88.35, 78.84, :WI,-32768,-32768,-32768,-3276S,-32768,-32768,-32768,V  @ @ @  @ IIM3٢C< :=9V;Q > G٣yyd > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config}59ˑ?}5Y_ iP@+:[;Z@gE9;>}5 9A=DNOT Ignoring new targets: 46.20 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfU8B3@pݻ =I29 ɚj4iII i i1)1)1 yIy*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I II!BI' =&I.I6Ia<:IA FGBO >qw,}AJf ?YJLX?J*Up9J) <>yJH -?`cor?`?`? w N?_?Cv?ɨJf ?JZf;HyVBVIIb&Ib3٢jf= jZ=9npp rG٣pyr r> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~}59vǑ?~}5Yvza ivmQ@ :2; @vgEvqF;vP?v}5   A5DNOT Ignoring new targets: 46.20 m. j9jjjihhhhffrfbf@q3@%*Up !% >I%9 !ɚ%4i!I)I)i1i1)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.)yE*F-?2F):F)BF-_5JF)G1 G1 YIaGM:BqO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.*ww,}ArA?YrW?r!:9r<>yrH$K?z?` ??`-پ dVU_?`Dv?ɨrA?rp;py~B~IiAI MG٣Qy]s? ]> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq}59uđ?}5YuJc iuR@9;] @ugEu[;u?u}5  ADNOT Ignoring new targets: 46.20 m. jjjjihhh!h!f!f)rf)bf5!4@!: >I9 ɚ5iIIizKsLKM9KKK   i))!JsK{3 K{.-KsKs"KsJeJaJe0JaJeL:JaJeـ3Ja}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JF I IQ G1 BA O] >^}w,à}AnWill construct direction to contact in vehicle frame from tetrahedron phase data.yrBrI        Mb@Mb@Mb@ )YʡEÿ{GztI +?yף94= @)3@Iy\@II(*3٢/= @=9Q > G٣y > Nusing accuracyPremultiplier from config}59?}5Yd i+S@T:$>; @gE1;;}5 ! AH9I=C I=! II=1BI9&I9.I96I=P<:I=5 FBIJIRIZI) =bIjI;5]DNOT Ignoring new targets: 46.20 m. jYjYjYjYiYhahahaheBfifirfibfmy4@]$>]$>]#K@]$/@ 隥\=I9 ɚ5i4IIii))Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF -1JF G 3B O >WCw,'~A IB?YB_U?Bqe;9B;>yBHa?E@Q?R?,?w,t W? v?ɨB?B2;BCyNBN IIZ$IZ<3٢b= bO=9bdd fG٣dy8 > Nusing accuracyPremultiplier from config%}59?%}5Ye iGT@)MXM@gE;;}5Y ] AYDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf4@]]]]@qe; =I9 ɚ 5iռII!i!i!)!)a-Will construct direction to contact in vehicle frame from tetrahedron phase data.DE9EIEI*F?2F:FBFP0JF"GGGSB O5 >zK LK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J l:J :J J gw,,/~AV|?YVbaT?Vi;9V;>yVH@Қ?2/*?ܚ?`0E?`Wz7X?ov?ɨV|?V;V!CyfBf I)h hMb@Mb@Mb@ )YX9vQ?~jt?yu<D=A @)QAIyAI'I@3٢; <=9Y;Q > G٣yM > Nusing accuracyPremultiplier from config}59f?}5Yf iU@ >;@gE;l;}5  A-DNOT Ignoring new targets: 46.20 m. j)j)j)j)i)h)h1h1h=Bf9f9rf9bf=L5@]] >]] >]][A@]]{@i; 隍#IZ9 ɚ& 5iTIIii)) I*F?2F:FBFS0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHyRHyHI IA IIJBI&I.I6I_<:I@ FG BBY O} >Pw,xI~A:?Y:+S?:h;9:;>y:H`F?@m?@?b?<V}`@?xw?ɨ:?:;: CyF(BF IIN/IN3٢V{= V]=9Z} ;Q Z>X\ ^G٣\ybuR b> fNusing accuracyPremultiplier from configdj}59f?j}5Yfg ifV@hjcj@fgEf:f:f}5p r ApDNOT Ignoring new targets: 46.20 m. jjjjihh!h!h!f!f)rf)bf-`c5@]I]I]I]M_z@]h; YeM Will construct direction to contact in vehicle frame from tetrahedron phase data.yw, c~Ay~6B~( II #I %x3٢= %C=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E}595?E}5Y5h i5:X@AAE@5 gE5h;5y;5}5I U AQ-DNOT Ignoring new targets: 46.20 m. j1jjjihhhhf f9rfAbfE`$6@]]]] O=I9 ɚC5ivII)i)i1)1)1E=V>E9Will construct direction to contact in vehicle frame from tetrahedron phase data.zKk3IK9KKK*F?2F:FBF_0JFG G IG :B) OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,z}~A6?Y6ZQ?6<963(;>y6H?ϥ?X?,?a C?Nw?ɨ6?6F;6!Cy>FB>= IiBIC If IIiBI( =&I.I6I<:Iq F Mb@Mb@Mb@    ) Y bX9ȶ:v?&1?y E T= P=  @) AI A y AIIT3٢|= ?=9h:Q > G٣y' > Nusing accuracyPremultiplier from config}59F?}5Y#i iY@=;0@ gE=;;;q}5  A-DNOT Ignoring new targets: 46.20 m. j)j)j)j1i1h1h9h9h=`Bf9fArfAbfE 6@]e=]e=]eq8'@]es!a@u< y}LI}9 yɚ}:5i}=IyIii))*FE?2FA:FABFE0JFAJJJJJ\:J9JJJ $?I &w,W@~A>?Y>zP?>q;9>_:>y>H`4?U Č?E??`~`=? w?ɨ>?>';>CyJJBNA IIZIZ(*3٢b< b^=9bsQ b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr}59jq?r}5Yj{i ijK[@pv61v@hjg;j;j}5zB z Az޳E-DNOT Ignoring new targets: 46.20 m. j)j)j)j1i1h1h1h1h9f9fArfAbfE[6@]a]a]a]ea`@uq; quh.Iu.9 yɚ} 5i}gIyIii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JFGBOU> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] K] 9KY K] K]  #Szsmg_VPLGRKm ?JKm ?w, ~A2L?Y2O?2;928;>y2Hf?] ?6?=? :@#}E?Aw?ɨ2L?2$;2 Cy:SB>L IMb@Mb@Mb@ )YX9vʡE?Zd;O?y}=j<=+A @)zAIQAyfAI>I3٢%= ;=9*_Q > G٣y;̻ > Nusing accuracyPremultiplier from config}59?}5Yvi i\@N=;G@@ gEw;;y}5  A yIyDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf@U7@]%N=]%N=]%@]%G@U; Y]̽I]9 Yɚ]5i]kIYIaiaia)a)iE*F%?2F!:F!BF%P5JF!"G5>G5>%Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<H!I%C I% II%BI%$ =&I!.I!6I%a<:I%C FG= 3BI Oe >ew,~A63k?Y6N?6\;96ɦ:>y6H`?` U? $#?@?@便+z 3?x?ɨ63k?6wP;6CyN[BNV I)P PIZ IZb3٢bZ#= b\=9b`Q b>dd fG٣dyft j> rNusing accuracyPremultiplier from configlr}59n7?v}5Ynqi inb^@tvG@v@ln;n:n}5JeJeJe2JaJe:Je 9Jec3JaJe'<Je(<JeO>;JeO>;}Will construct direction to contact in vehicle frame from tetrahedron phase data. a ADNOT Ignoring new targets: 46.20 m. jjjjihh h h f frfbf\7@]]]]G@\; dI9 ɚ4iqIIii))*F?2F:FBFu4JF iIqG:BO>- Will construct direction to contact in vehicle frame from tetrahedron phase data. G ) ˸w,~A6?Y6mhN?62;96:>y6H`M&?@H?`6?c?`8MwQ>?`w?ɨ6?6;6C NYLyNqAyNZBRT II^!I^i3٢bߝ fJ=9f;Q f>hh jG٣hyn! n> rNusing accuracyPremultiplier from configpv~59r?v~5Yrli ir_@tvG@v@r gErU:r:rE~5| ~i A|MDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhQhhhff!rf!bfU!8@]Y]Y]Y]]G@2; dI9 ɚ4i;IIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK$tNKu9KKK@@><861*'%%#!     BK:KrA*F?2F:FBFP0JF IIQGe 3B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,~AJ"?YJM?J;9J;:>yJH8?` ?`?`?Y r&? x?ɨJ"?J;JCyTTHdId If IIfBIf% =&Id.Id6Ift<:IfP F]Mb@Mb@Mb@YYY Y)YY]/$)\(?kt?y],]G=] 0=]A Y)]AI]AYy]=AIuIuF3٢n ?=9rXQ > G٣y > Nusing accuracyPremultiplier from config~59s?~5Yh ia@\>;$1@@ gEL;;~5 k AeDNOT Ignoring new targets: 46.20 m. jajijijiiihihihhBffrfbf[8@]\>]\>]|?]$1@]; Y]PIe*9 aɚmg4i;IIii))*Fa2Fa:FaBFeR0JFaGi GiJ}J}J}1JyJ}ܫ:J}:J}3JyJ};J};J}J;J}J;Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm :Bq O A II w, A @6ʬ?Y6(M?6-U;96y:>y6H`%C???g?@^j@A.?x?ɨ6ʬ?6Ǫ;6CyB\BBX IiF=IDININm?3٢ri< rU=9r.HQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|~59~0? ~5Y~h i~)c@  1@ @|~;~h;~Z ~5 T AMDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf]m8@]]]]1@-U; 隥I=9 ɚ04ir;IIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DF9*FU?2FY:FYBF]P0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} MK} 9Ky K} K}     G B O >Gw,؀3AyVBP I YIY-only read 0 of 1 data item for water mass range. Device response is::WD +0.00, +0.00, +0.00, 20.00,298.41  @ @ @  @ I+In3٢ּ 7=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config~59`?~5Yh id@+:;@gE7;> ~5  ADNOT Ignoring new targets: 46.20 m. jjjjihhh)h)f)f)rf)bf5c9@ 隝ŽIh9 ɚ4iM;IIii))D}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH9RH=@AHE(>IEC IE IIEBIE' =&IA.IA6IEI<:IE/ FBIƝCJIƝCRIZI' =bI& =jIƈ5*F?2F:FBF_0JFG B O >3+w,kJMAJfJfJf0JdJf:Jf:Jfـ3JdJf;Jf;JfyE;JfzE;rWill construct direction to contact in vehicle frame from tetrahedron phase data.Nu?Y4K?V999d:>yH_? ` V?`l??,j1@+?x?ɨNu?7;騁yޝQBޝI II#I%x3٢ Լ ;=9\߻Q > G٣y1 > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config~59?~5Yg if@ :;0@@gE@;Wc?~5  A%DNOT Ignoring new targets: 46.20 m. j!j!j!j!i)h)h1h1h1f9f9rf9bf=9@mV9 quPܽIu9 qɚu4iuG>Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >RTw,W!gA6|?Y6byK?6B96:>y6Hi?mw8r?`? u ?[]hT?72?Zx?ɨ6|?6J;6CyRFBR< I)X XI^$I^<3٢fBy fp=9f Q j?hh jG٣hynH n? zbBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configp~59r?~5YrGg ir h@9a;0@%@pr{ Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե AHA IA  IE IIE BIE ( =&IA .IA 6IE <:IE c F[?w, Ab^?YbfJ?bK+9b{:>ybHw? k@@K???Ňre?^5? 0x?ɨb^?bp;bCyj6Bj( I e e ee ee  e e eMb@Mb@Mb@aaa a)aYe~jtV-?:v?yee=e=9PQ > G٣y > Nusing accuracyPremultiplier from config~59󏑜?~5Yf iSi@T:=;,@@gEA;;^~5B  AEDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf :@]=]=]2?],@=K+ 9=I=9 9ɚ=4iE;IAIiiiii)i)qDEd9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > ) I) fw,ؚA6?Y6&J?6 96|<:>y6H@?]|?`&?o$?p?&?x?ɨ6?6lb;6 Cyb0Bb! IIj,Ij3٢r rV=9vQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config ~59? ~5Y7f iuj@,@@gE@::~5  AEDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhIhIhQhQfQfQrfYbf]`:@]]]]j,@ 隕$I9 ɚ4i[;IIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.D59*FQ2FY:FYBFe1JFaG GJ J J 1J J :J :J 3J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. zK .JK 9K K K G 3B  $?I O5 >w,AZ6?YZI?Z>9ZΑ:>yZH`!? TL?`?,? |͇v?(1?Hx?ɨZ6?ZY;ZCyfBf IihIj G٣y} > Nusing accuracyPremultiplier from config~595?~5Ye iok@=;y9@@gE;;~5 d ADNOT Ignoring new targets: 46.20 m. jjjjihhhh\Bffrfbfl;@] =] =] @] y9@> AEIMa9 IɚM1p4iUi:IQIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I IIBI&I.I6I<:Ii FD9*F] ?2FY :FY BF] }1JFY - Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >w,UA2Ą?Y2I?2ٻ92m:>y2Hա?6F룿? &?:? {?@<6?`w?ɨ2Ą?2;2"Cy> B>IIJ)IJW3٢Nɠ NC=9RK0Q R>TT VG٣TyZջ Z> ^Nusing accuracyPremultiplier from config\b~59^9?b~5Y^e i^Sl@`fR9@f@^gE^;^>;^T~5h j Ah DNOT Ignoring new targets: 46.20 m. jjjjihhhhffrf!bf%;@]A]A]A iIq]E>R9@ٻ &I9 ɚE4i'$I!I!i)i)))))*F2F:FBFP0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)G=3BAOe>tw,nAJJJ0JJ|:JK:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.?Yq{H?l9!:>yH?;j?P?`5E?'&m?L G٣yt  > Nusing accuracyPremultiplier from config%~59?%~5Ye il@-=-;-G-@;x;#~51 5a A1zKEKEu9KAKEKEDNOT Ignoring new targets: 46.20 m. jjjjihhhh=BffrfbfP<@ iIi]m=]m=]m5@]m:J@l 隥I[9 ɚ 4iIIii))EEqA*Fu?2Fq:FqBFuQ0JFq"G>G>e Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I f II iBI ) =&I .I 6I D<:I + FG :B O >  w,A6'T?Y6 G?696[";>y6H?,@YK??qS?> L? B? Sw?ɨ6'T?6;6Cy>B>I)D DIJ/IJ3٢rv rr=9rQQ r?tt vG٣tyz^ z? ~Nusing accuracyPremultiplier from configx~59z|?~5Yze iz:m@  H @zgEz/;z/;zo&~5 AEDNOT Ignoring new targets: 46.20 m. jAjAjAjAiAhIhIhQhQfQfQrfQbf]<@]q]q]q]uJ@ 隍R.Ir9 ɚi'IIii))*FU?2FQ:FQBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.< aIiGqBO>k w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.)I I~G %EY!y%jAy؁BII%.I%3٢ua u'=9}Q }>y G٣y > Nusing accuracyPremultiplier from config~59Wx?~5Ye im@@gE.::*~5 tA%DNOT Ignoring new targets: 46.20 m. j!jIjIjIiIhQhQhYhYfYfarfabfm"=@]]]] II9 ɚ ei f|IIii))!*F?2F:FBF]0JFJJBAJJJJJ:J :JJWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K K 5mkA RK ?JK > I II G 3B) OE > w,:A2}?Y2cF?2492u;>y2H ?!?`g? 'n?@fƁ? M? v?ɨ2}?2E;2 CyBBBI]Mb@Mb@Mb@YYY Y)YY]A`"I +?{Gzty]ٽ]94=]ף]AA ]@)]AI]AYy] AI6Im3٢} n=9Q ? G٣yEi ? Nusing accuracyPremultiplier from config~59@u?~5Yf im@E=;0@;;-~5 FADNOT Ignoring new targets: 46.20 m. jjjjihhhh Bf f rf bf  ^v=@]]E=]]E=]]/@]]oa@4 隍\I9 ɚiCIIUWill construct direction to contact in vehicle frame from tetrahedron phase data.HaIeC Ie. IIe;BIe& =&Ia.Ia6Ie<:Ies Fiiq)q)y2D}*D}BD:D*Fe?2Fa:FaBFeo0JFaG :B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,TA :T ?Y:E?: 9:xX;>y:Ha?} ~?}V?~?'o?rI?@v?ɨ:T ?:;:CyNBNIiPIR<IV1IV3 `I`٢fkj fV=9n8Q n>ll rG٣pyr r> vNusing accuracyPremultiplier from configtz~59vq?~~5Yvpf ivm@|~0~@vgEvk;v;v1~5 A 5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9h9h9h9f9fArfIbfM=@]i]i]i]m?a@ %It9 !ɚ%I&i%oI!I)iIiQ)Q)Q*F?2F:FBFQ5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> w,wnAJQJUJQJQJQJUz:JQJQWill construct direction to contact in vehicle frame from tetrahedron phase data.yBsIzKELKE9KAKEKE IMb@Mb@Mb@ )YS㥛~jtx?~jty$;DA )QAIAyAI/I3٢} "=9Q > G٣y > Nusing accuracyPremultiplier from config~59m?~5Yg i|m@> ;  @gE;;u5~5 AE=DNOT Ignoring new targets: 46.20 m. j9jAjAjAiAhAhAhIhMƁBfIfIrfQbfU@{Y>@]m>]m>]m!F@]mv@ 隅\I9 ɚui(IIii))*FE?2FA:FABFEg2JFAH- )>I- C I- II- BI- ( =&I) .I) 6I- S<:I- 7 FBIȜCJIȜCE Will construct direction to contact in vehicle frame from tetrahedron phase data.RIZI( =bI( =jI5G 3B O >N" w,hAyrBrfIIzIzT3٢M‡ M=9QQ U ?QQ ]G٣YyY e ? mNusing accuracyPremultiplier from configam~59ej?m~5YeJh ie?m@qqu@egEe:ez:e>8~5y qADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf V>@]1]1]1]1 I}9 ɚkiIIii))*F?2F:FBF14JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] A1( w,]A6 ?Y6rQC?6Ż96(<>y6H@!?@o9??1?nx?)c?u?ɨ6 ?6 ;6Cy>BBYI)D DIJ'IJ@3٢RwP RU=9V;Q V>TT ZG٣Xy^ϼ ^> bNusing accuracyPremultiplier from config`v~59bg?~5Yb&i ibl@.@bgEb $?I zK k3IK 9K K K bV. w,"A2 ?Y2dHB?2 92;>y2H7?=?#??3dඡt?@^?:v?ɨ2 ?2 ;2CyRBVQIMb@Mb@Mb@ )YjtĿ:vy&1y Լ`eA @)AIzAy=AI5I3٢{ 9=9;Q > G٣y > Nusing accuracyPremultiplier from config~59d?~5Yj ijl@#>;,@gE&;f;v?~5  A =DNOT Ignoring new targets: 46.20 m. j9j9j9j9i9h9h9hAhEBfAfIrfIbfM ~?@]m#>]m#>]mS@]my@} y}PI}9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H(>I IIIBI) =&I.I6IW<:I9 F*F ?2F :F BF _0JF GIBYO}>J#K+3 K+T.K#K#"K#Jm Jm Jm 1Ji Jm :Jm K:Jm 3Ji Jm yfHc?@&zݝ? q?0?@B/]? g?u?ɨf?f0;dyrBrHIIzIz3٢   X=9 `  G٣yh > %Nusing accuracyPremultiplier from config!-~59%`?-~5Y%k i%k@)55@%gE%/;%UX;%B~5A E3AAmDNOT Ignoring new targets: 46.20 m. jqjqjqjqiqhq}PExceeded connect timeout, disconnecting.hqhhffrfbf?@]]]]8@ սI9 ɚ iIIqiqiq)q)y*F ?2F :F BF JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.G53BAOe>m; w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.?YW?? 99<>yHSx?8bl??@?+/ q?ku?ɨ?(܇;y%BmKIiuAA EG٣AyMs M> UNusing accuracyPremultiplier from configQ]~59U]?]~5YUm iUNk@][6>e;ee@UgEUx;U;UF~5i mAiDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf,@@zKKk9KKK9c{}xsme^YWWXYXVVSJFDA=9620-,**'%&$]U[6>]U[6>]U}Z@]U/@e 9 imuIm49 iɚm$2im IiIqiqiy)y)*F5?2F9:F9BF9JF9H'>I IIIЁBI* =&I.I6I~<:IU F- Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Ba O} >OB w,ձ A2 ?Y2>?2*;92 ~<>y2H@Q?nC`X?`E?s/?D``m?u?ɨ2 ?2;2CyNBRLIIZDIZ3٢b; b~=9b};Q b ?dd fG٣dyjw j ? nNusing accuracyPremultiplier from confighr~59jwZ?r~5Yjn ijj@tv# v@jgEj51;j1;jI~5y ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbfX@@]]]]}@-*; )5rI59 QɚU?iU0IQIYiYiY)a)a*F ?2F :F BF 0JF J5J5J1J1J5<:J5 :J1J1J55;J56;J5cW;J5dW;Will construct direction to contact in vehicle frame from tetrahedron phase data. I  unManaging dock network, ignoring radio surface power offG:BO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.yH w,#AB?YB =?B!;9B<>yBH`!?p(@)?=?`G?`@!Vpu?`(u?ɨB?B'Y;B CyJBJSIIV(IV̍3٢^\< ^K=9b;Q b>`` bG٣`yf' f> rNusing accuracyPremultiplier from confighv~59j/W?v~5Yjp ijTj@tvh v@jgEjWH;j:jBM~5| ~A~E%DNOT Ignoring new targets: 46.20 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf= @@]a]a]a]ef[@u!; EI{9 ɚ!Li޼II!i!i!)!))*F?2F:FBFV5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ե<ե=GB!O=> IzK \fNK u9K K K "     N w,ds=AFE?YFn;?F;9F<>yFH?H?k?@e?@6y@r? =u?ɨFE?FK;FCyRBRWI)T T Z=Z=5Mb@Mb@Mb@111 1)1Y5Clǿ:vy&1|y5d;5T5`5A 5@)5QAI5A1y5AI]EI]3٢}< }>=9}Ȱ;Q > G٣yb? > Nusing accuracyPremultiplier from config~59yS?~5YYr ii@B>; @gE;;Q~5 A]DNOT Ignoring new targets: 46.20 m. jYjYjYjYiYhYhahaheBfafirfiH}(>Iy I}II}ƁBI}) =&Iy.Iy6I}p<:I}L Fbf`x@@Will construct direction to contact in vehicle frame from tetrahedron phase data.]B>]B>]Z@]&@5; IULIU9 Qɚ]Yi]:IYIqiqiy)y)y*F2F!:F!BF%Q5JF!GBO >JE JE JA JA JE \:JE :JA JA JE <JE <JE J;JE J; Will construct direction to contact in vehicle frame from tetrahedron phase data. I U w,cBWA6?Y6:?6e <96Y<>y6Hp? ~a?N??@ L i?u?ɨ6?6O;4yRBR`IIZ<IZ3٢~= S=9?;Q >    G٣ y TH > %Nusing accuracyPremultiplier from config!-~59%P?-~5Y%s i%i@15k 5@%!gE%:%z:%hT~59 =A9mDNOT Ignoring new targets: 46.20 m. jijijijiiihihqhqhqfqfyrfybf} %@@]]]]*Z@e < 隵(I39 ɚbiIIii))*Fu?2Fq:FqBFuP0JFqGy GyWill construct direction to contact in vehicle frame from tetrahedron phase data.iAU~G wֿYy/AGeBBiO|>o[ w,X qAeWill construct direction to contact in vehicle frame from tetrahedron phase data.y}BޅtII(I̍3٢= :=9%Q ->9A EG٣Ay] e> I Nusing accuracyPremultiplier from config~59)L?~5Yu ii@@"gE2;2;WX~5 AEmDNOT Ignoring new targets: 46.20 m. jijijijqiqhqhqhqhyfyfyrfybfK.A@]]]] 隽IU9 ɚcirIIii))zKdMK9KKK  *Fe?2Fa:FaBFaJFaH'>I IIIˁBI( =&I.I6I<:Ii F Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >b w,+A @6?Y6|8?6+M<96QR<>y6H ?`uX?J?@կ?`O R g?@9u?ɨ6?6;6Cy>B>IDDMb@Mb@Mb@ )YʡEƿZd;Oy-2j<A @)hAIy=AI-:I-3٢5T= =Y=9=72AA EG٣AyM M> UNusing accuracyPremultiplier from configIe~59MI?e~5YMJw iMh@eL8>e;e m@M#gEMN;ML;M[~5q uAqDNOT Ignoring new targets: 46.20 m. jjjjihhhh܁Bffrfbf^A@]L8>]L8>]aY@]@+M<  PI 9 )ɚ-zi5I1I1i9i9)9)9JJJJJܫ:J:JJJ;J;JyE;JzE;uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JF qIqGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.h w,ӤA64>Y6:7?6jt<96<>y6H? ,?`k?? Omn?t?ɨ64>6֑;4y>BBIIJ6IJm3٢~z= N=9;Q >    G٣ y h  > Nusing accuracyPremultiplier from config~59E?%~5Yx ih@!% %@$gE ;z ;^~5) 5]A1eDNOT Ignoring new targets: 46.20 m. jajijijiiihihihqhqfqfqrfybf};A@]]]]@jt< 隭I29 ɚJi IIii))*FU?2FQ:FQBFU`0JFQ"G]>G]>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO > e$?IehzK ZLK 89K K K n w,mAy=ʁB=IMb@Mb@Mb@ )YK7A`ſ~jt{Gz?y+#<AA )AIhAyAI"Iq3٢ ϕ=  ;=9 Q  >HI III߁BI&I.I6I~<:IV FBIJIRIZI) =bI) =jI5 EG٣AyE M> UNusing accuracyPremultiplier from configI]~59MyA?]~5YMNz iMi@]j,>];]V]@M%gEMS;M;Mb~5i mAiWill construct direction to contact in vehicle frame from tetrahedron phase data.i%DNOT Ignoring new targets: 46.20 m. j!j)j)j)i)hIhIhQhU BfQfYrfYbf] A@]j,>]j,>]OP@]~@   I9 ɚi;IIii))!*F2F:FBF_0JFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. I IQ +u w,Ƌ؁A2>Y25?2}Z<92<>y2H`@?Cp?>?`?`t0 ^?t?ɨ2>23;2Cy:B>I)D D Ja=J=IN3INʴ3٢V= Vd=9V'XX ZG٣XyZ ^> fNusing accuracyPremultiplier from config`f~59b>?j~5Ybw{ ibIi@hjj@b&gEb:b:be~5p r*ApDNOT Ignoring new targets: 46.20 m. jjjjihhhh!f!f!rf!bf%NA@]A]A]A]E\~@]}Z< Y]8I]9 Yɚeieh]{ w,IAN@>YN 5?Nޢ<9N;>yNH`=R?@Z` ?M? ?@+ z[ O?\u?ɨN@>NU$;NCyZBZIprAAJJJJJ<:JJJa=@aE@aE@aE@]Will construct direction to contact in vehicle frame from tetrahedron phase data.I:I3٢ڌ= ;=9%?;Q > I  G٣y > Nusing accuracyPremultiplier from config~599? ~5Y| ii@   @(gE;; j~5  ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf`1B@]]]]%~@%ޢ< )-@iI-v9 )ɚ-~i-܂ w, A6Y>Y6u4?6<96;>y6H(^?`J*?? ? Q?u?ɨ6Y>6XT;6CyBBBI=Mb@Mb@Mb@999 9)9Y=K7/$?{Gz?y=I =<=ף<=A 9)9I=QA9y=AIUIUM3٢eS= mQ=9mv;Q m>iq uG٣qyuλ }> Nusing accuracyPremultiplier from configy~59}$6?~5Y}} i}/j@e>;#@y}Q;};}.m~5B H ADNOT Ignoring new targets: 46.20 m. jjjjihhhh6Bffrfbf` ]B@]e>]e>]S?@] >n@< DI9 ɚ(i Will construct direction to contact in vehicle frame from tetrahedron phase data. i  w,j%A6u>Y6ն3?6O<960;>y6H`^m?84??`?ٿ36;6 CyRBRIiV=IV4hh nG٣lyr r> vNusing accuracyPremultiplier from configtz~59vh2?z~5Yvx~ ivj@x~$~@v)gEvo;v;vp~5  A 5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i9h9h9hAhAfIfIrfIbfM`B@]9]9]9]= n@}O< y}@I9 ɚiIIii))*F?2F:FBFP0JFJ5J5J1J1J5:J5 9J1J1Will construct direction to contact in vehicle frame from tetrahedron phase data. IGqBO% >zK] BHK] ۵9KY K] K] M0 w,?A>w>Y>"T3?>l<9>/;>y>H5u?- @B?`?!%?`?Ŀ B? Ju?ɨ>w>>;>CyJ)BJ ImMb@Mb@Mb@iii i)iYmV-S㥫?I +?ymm/]=m9=9:Q > G٣yf > Nusing accuracyPremultiplier from config~59.?~5Y~ ik@>;6@*gE;};Kt~5B  AEH(>I I! II1BI&I.I6I+<:I FDNOT Ignoring new targets: 46.20 m. jjjjihhhh{BffrfbfuB@Will construct direction to contact in vehicle frame from tetrahedron phase data.]U>]U>]U--@]U(\@el< im#I9 ɚ,iIIii))*F%?2F!:F!BF%Q0JF)GM 3BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.  I  w,YAy]1Be" IIu1Iu3٢V#= K=9Q > G٣y > eNusing accuracyPremultiplier from config}~59*?}~5YF il@yy}@+gE\;e\;w~5  ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf`EB@]]]] pI}9 ɚiIIii))2D!*D!BD!:D!*F%?2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >B w,"lsA6b]>Y62?6:<96:>y6H`?``bO?`?3?dF@9?@{u?ɨ6b]>6;6 Cy>hh jG٣hyj߻ n>JvJvJtJtJv :Jv:JtJtMWill construct direction to contact in vehicle frame from tetrahedron phase data. I Nusing accuracyPremultiplier from config~59%?~5Y im@!-065@,gE<9<f{~5 V ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf3C@]]]][@:< xI=9 ɚZiII!i!i))1)IzK%K%u9K!K%K%*F?2F:FBFJFH!I%C I%S II%YBI%& =&I!.I!6I%u<:I%P FWill construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ O} >9* w,RFA2A>Y22?2B<92i;>y2H@?`Kg?`^?5?ힿ tۙ@I?`t?ɨ2A>2;2CyNFBR< I5Mb@Mb@Mb@111 1)1Y5RQ(\µ?Zd;O?y5½5=5j<5EA 5@)5AI5A1y5AIMIM(*3٢s;= <=9:Q > G٣yL > Nusing accuracyPremultiplier from config~59!?~5Y in@>;H@@-gE3;;~~5  A%DNOT Ignoring new targets: 46.20 m. j!j!j)j)i)h)h)h1h5Bf1f1rf9bf=CaC@]]>]]>]].Y@]]H@mB< qu.Iu/9 qɚ}&iyIyIyii))*F-?2F):F)BF-0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG1B9O]>) = GQ i FY y A Will construct direction to contact in vehicle frame from tetrahedron phase data.T w,#AF@>YFU2?F+<9F';>yFHs?@?[?~?:? ğ`ę A?u?ɨF@>F ;DynRBnK III3٢̓= %V=9-lQ ->11 5G٣1y=: E> MNusing accuracyPremultiplier from configIU~59M?]~5YM iMo@aeH@e@IMU;M1JFJJ'J0JJ:J:Jـ3JuWill construct direction to contact in vehicle frame from tetrahedron phase data.y}< IGBO >zK BoIK 9K K K 1pchWW< w,"Ay~XB~R Ii%=I=AH'>IC Iy IIxBI' =&I.I6I<:I FMb@Mb@Mb@ )Y)) -G٣)Will construct direction to contact in vehicle frame from tetrahedron phase data.y > Nusing accuracyPremultiplier from config~59?~5YC ip@>;7@@.gE ;Y;O~51 5v A1DNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf$C@]>]>];p @]7@ .I9 ɚniII!i!i!)!))*F?2F:FBF2JFG :B OE >e Will construct direction to contact in vehicle frame from tetrahedron phase data. I dh w,LڂA:i>Y:1?:T<9:G;>y:HB? @V?(}?PB?@ XE? t?ɨ:i>:F݇;: CyF[BFV IIN4INV3٢V< Ve=9ZLQ Z>XX ^G٣\y^ ^> bNusing accuracyPremultiplier from config`f~59b?f~5Yb~ ibzq@hj7@j@b/gEb@:ba:b7~5p r[ ApDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbfC@]]]]7@T< F'I \9 ɚ i I Iii))*F?2F:FBFO0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>t w,ȲA:>Y:Y1?:eS<9:[;>y:H?  U? }?`SA? ϿiO?pt?ɨ:>:~;:CyRWBRQ IIZ"IZq3٢ft fI=9jLQ n>tx zG٣|y 79  > Nusing accuracyPremultiplier from config%Will construct direction to contact in vehicle frame from tetrahedron phase data.~5 QI9{?~5Y~ itr@7@@0gE<<ӌ~59 Ey AIDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf6D@]]]]7@%eS< )-.I-9 )ɚ5i1I1I1i9i9)9)9zK>"OK9KKK}jU+c1bC"}pbYPE?>8. *F?2F:FBF%_4JF!HIC I IIBI& =&I.I6I<:I` FBIJIRIZI' =bI' =jIǽ4Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >Mx w,΍A: >Y:l1?:<9:`m;>y:Hĕ? G?w?E?@Dۿ!@qJ?t?ɨ: >:;:CyF[BFV I)H H J=Jp=%Mb@Mb@Mb@!!! !)!Y%Zd;Cl?Mbp?y%y%;=%;%/A %@)% AI%QA!y% AIEIEm?3٢U< UB=9]"+Q ]>aa eG٣aye e> uNusing accuracyPremultiplier from configiu~59mx ?}~5Ym$~ im s@}=};}1@}@m1gEm;my;mu~5 V AEDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbfbD@]=]=]1/@]1@< 隥\I'9 ɚiIIii))JJJJJ:J :JJJ' Will construct direction to contact in vehicle frame from tetrahedron phase data.i w,m(A:>Y:;1?:<9:o{;>y:H? @1?z?B?@PL?t?ɨ:>:o;: CyNVBNP II^%I^)3٢eļ mI=9m#Q u>qq }G٣yy7: > Nusing accuracyPremultiplier from config~59 ?~5Y} is@ 2@@O;O;~5 ~ ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf DD@] ] ] ]  2@%< !%\I%9 )ɚ-ƴi)I)I1i1i1)1)9*F?2F:FBF_0JFG GJJAA=Will construct direction to contact in vehicle frame from tetrahedron phase data. IG:BIO>zK5 OK5 89K1 K5 K5 ~xjfeb]ZWSSRRW^\^][XRNMJEGEB@<88840..($##"$HmyP6RKE ?JKE ? w, EBA2>Y2D1?2,<92w;>y2H`@? A?@y?`^C?`vD K? u?ɨ2>2W;2!CyNOBRG IHaIeC Ie IIeBIe' =&Ia.Ia6Ie<:Ieo FMb@Mb@Mb@ )YT㥛 ~jt?~jtxy=ĻA @)AIyAIIV83٢  B=9Q > G٣y> > Nusing accuracyPremultiplier from config %~59 ?%~5Y O} i "t@%|=-;-+6@-@ 2gE X; 94; ~51 5 A1]DNOT Ignoring new targets: 46.20 m. jYjajajaiahahahihmBfifirfqbfu2D@Will construct direction to contact in vehicle frame from tetrahedron phase data.]|=]|=] @]e+6@,< 隭I59 1ɚ=״i9I9IAiAiA)A)A*F ?2F :FBFJFG) B1 OU >J J J J J :J :J J J h;J j;J nN;J oN;E Will construct direction to contact in vehicle frame from tetrahedron phase data. I i w,%\A2>Y2p1?2<920`;>y2HR?@_ =? [y?>B?@|)`s 2P;2CyBABB6 IIJ"IJq3٢Rx Ra=9VUQ V>TT VG٣TyZO8 Z> ^Nusing accuracyPremultiplier from config\b~59^U?b~5Y^| i^ot@df-6@f@^3gE^r>;^1;^ٚ~5l r( Ap DNOT Ignoring new targets: 46.20 m. j j j j i h hhhffrfbf`ND@]9]9]9]=w-6@M< QU!I]9 Yɚ]iYIYIaiaia)a)i*Fm?2Fi:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>M w,~uA:u>Y:g1?:8#<9:ω;>y:H͖?` -?w?`B?A$@vN? Hu?ɨ:u>:;8yPPI^&I^3٢f;; fG=9jQ j>hl nG٣lyn@& r> vNusing accuracyPremultiplier from configpv~59r?z~5Yr| irt@xz*6@z@r4gEra:ra:~Will construct direction to contact in vehicle frame from tetrahedron phase data.;+  y$[sbH](>IY I] II]BI]( =&IY.IY6I]<:I]V FWill construct direction to contact in vehicle frame from tetrahedron phase data.G) BA Oe >r w,ՏA6*[>Y6{1?6<96i;>y6H?@4 ?@v?KB?,]J?u?ɨ6*[>6ć;4yB6BB) IEMb@Mb@Mb@AAA A)AYE rhDl?qq uG٣yy} }> Nusing accuracyPremultiplier from config~59?~5Y| it@=<A@@bY;r];"~5 { ADNOT Ignoring new targets: 46.20 m. jjjjihhhh_Bffrfbf` eE@] =] =] MT@] A@-< )-ԣI-9 )ɚ-i1I1Iii))!J3K3 K.KK"KJJJ1JJ<:J :J3JJ5;J6;JR;JR; I-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFG) BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,1AN>YN=1?N*̓<9N |;>yNHϚ?`Hࢤ?s? C?`uxCy`M? u?ɨN>N];N Cy^0B^! IIn5In3٢v vS=9z?Q ~>YY eG٣ayeȥ e> mNusing accuracyPremultiplier from configi~59m?~5Ymd| imt@A@@m5gEm;m;m~5  ADNOT Ignoring new targets: 46.20 m. jjjjihhh h f f rfbf@sE@]]]]A@*̓< I9 ɚ" iIIii))*Fm?2Fi:FiBFm3JFi I=Will construct direction to contact in vehicle frame from tetrahedron phase data.GqBO>zKU NKU 9KQ KU KU =xsqnliigd_][[\XRONIA<86Y w,ÃA6>Y63C1?6y<96 ;>y6H?  'o?'m? H? ѓ ϐ?? v?ɨ6>6Y;6CyBBB IjHxbHz4<H~,>I~C I~ II~}BI~% =&I|.I|6I~<:I~g F-Mb@Mb@Mb@))) )))Y-ʡE~jt?S㥛y---=-/ݼ-A -@)-zAI-`@)y-pAIE.IE3٢- -7=95nQ 5>11 =G٣9y=o => MNusing accuracyPremultiplier from configAM~59ER?U~5YE| iEt@U$=U= Will construct direction to contact in vehicle frame from tetrahedron phase data. w,g݃Ay=B=IIM<IM3٢eX eY=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy~59}U?~5Y}| i}s@@}6gE}C:}:}~5  ADNOT Ignoring new targets: 46.20 m. jjjjihhhhfQfYrfYbf]F@]]]] 隭xuI9 ɚiIIii))G E#ݿYAyMA*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>h- w,EA6>Y620?6O`<96 !;>y6HT?@K'?`9d?L?@`LB?@v?ɨ6>6ވ;6 C @IDyrBpivR=Iv=xzA~Will construct direction to contact in vehicle frame from tetrahedron phase data.I>I3٢V %O=9%\Q %>)) -G٣)y5o 5> =Nusing accuracyPremultiplier from config9E~59=1?E~5Y= } i=(s@AE9E@=7gE=:=*:=*~5UB U AUEDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf 3F@]]]]iX@O`< xI{9 ɚ^iIIii))*F?2F:FBF_0JFzK}r OK}9KyK}K}4-%    H+>I I` IIdBI&I.I6I<:Ic FG BO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.!w,2Ay~BIMb@Mb@Mb@ )Y|?5^{Gzt?Mbyҽף; @)IyGAI$I<3٢ ?=9Q > G٣y > Nusing accuracyPremultiplier from config~59된?~5Y} i\r@ =;u#@;4;~5  A 5DNOT Ignoring new targets: 46.20 m. j1j1j1j1i9h9h9h9hEBfAfArfAbfE)iF@]e =]e =]e#E@]en@q y}I}9 ɚZiIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F1BF5o0JF1"G=>G=>JJJ0JJ :J :Jـ3JJ<J<JU;JU;GB!O9 Will construct direction to contact in vehicle frame from tetrahedron phase data.T_ !w,A+A64>Y6[0?6Bv1<96g;>y6H࿮?`ƿ? \?O?p.O?@v?ɨ64>6LZ;4yB BBIIJIJm?3٢V  VZ=9V2Q V>XX ZG٣Xy^O ^> bNusing accuracyPremultiplier from config`f~59bY萜?f~5YbW~ ibq@dj#j@b8gEbL:b:b+~5l n AlDNOT Ignoring new targets: 46.20 m. j j j j i h h hhffrfbf%"F@]A]A]A]Eӓn@UBv1< QU/I9 ɚiIIii)) *F?2F:FBF0JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>&!w,|DA6>Y6.O0?6Tf<96'y;>y6H ?` m? V?S? q? mM?v?ɨ6>6ˊ;6CZHPRHPHV*>IT IVM IIVTBIV& =&IT.IT6IV<:IV~ FBImCJImCRIiZIm& =bIm& =jIm5zKn MKn89KlKnKny~B~I) }Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YX9v rhX9vyCA @)AIv@yAI5&I53٢E E*=9MuPQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe~59]䐜?m~5Y]i i]p@m==;@]9gE]=;];]_~5 + A%DNOT Ignoring new targets: 46.20 m. j!j!j!jAiIhIhIhIhUBfQfQrfQbfUf!w, _AyBII=8I=3٢msE mk=9uQ }>yy }G٣y > Nusing accuracyPremultiplier from config~59d␜?~5Y0 io@@:gE:.:m~5 p ADNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf|G@] ] ] ] ! !%޻I%9 !ɚ-i)I)I1i1i1)1)1*F?2F:FBF 5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> 1 I1 !w,yxAJ&J&J&1J$J&:J&:J&3J$a*@a*@a*@a*@Bp&>YB/?Ba;9Bi;>yBH?@Giվ?C?`?n|`"{`K?v?ɨBp&>Bj;BCyJBJIIV'IV@3٢Zk= ^W=bWill construct direction to contact in vehicle frame from tetrahedron phase data.9bֻQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlv~59nߐ?v~5Yn in!o@tv>z@ln;n:n~5| ~ A|%DNOT Ignoring new targets: 46.20 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=4G@]]]]z@ a;   wI I: IIEBI&I.I6I<:I FzKV$KKk9KKK L`%wT9! !" "BK:KuWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >s$!w,AB>YBH/?BK];9B;>yBHz??Bȋ;@yJBJI%Mb@Mb@Mb@!!! !)!Y%K7I +y&1y%I %9%`! !)!I%I@!y%QAI=2I=?3٢Mo& UA=9U78Q U>YY ]G٣Yye& e> mNusing accuracyPremultiplier from configam~59eAܐ?u~5Ye# ieLn@u>u;u}@e;gEe|;e ;eo~5 ( ADNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf]>]@S@]|@K]; 隽 Will construct direction to contact in vehicle frame from tetrahedron phase data.*!w,ρA6>Y6.?6;96*};>y6H?@H?Q0? m?@LbrN?@v?ɨ6>6׋;6CyBBBIIJ+IJn3٢V= VU=9ZBQ Z>XX ^G٣\y^䩻 ^> fNusing accuracyPremultiplier from config`f~59b(ِ?f~5Yb$ ibm@hjj@b1!w,QjƄAH.>I I4 II@BI&I.I5D6Is<:IR FF>YF5p.?Fj;9Fe;>yFH?oj?@'?ys?^BmtS?v?ɨF>F4;FCyRBPzKnMKn9KlKnKn  "#" RKr>JKr?Mb@Mb@Mb@ )Y333333ÿ~jtI +y9rA p@)@Iy@II2٢4: 8=9Q > G٣y'B > Nusing accuracyPremultiplier from config ~59!Ր? ~5Yb il@5Will construct direction to contact in vehicle frame from tetrahedron phase data. u>5;=7=@=gEQ;f;~5A E AADNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf`pG@]u>]u>]+ Q@]z@Ej; AEu=IE9 iɚmiiIiIqiqiq)q)y*F=?2F9:F9BF9JFA IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.7!w,G8A:N>Y: -?:-;9:.;>y:Hf?ѽ??@Q|?Ҵe @P?v?ɨ:N>:;: CyBBFIIJ.IJ3٢V= Vb=9V&Q V>XX ZG٣XyZf ^> bNusing accuracyPremultiplier from config`f~59bѐ?f~5Ybd ibEl@dfUf@b>gEb:b:b~5l n AMDNOT Ignoring new targets: 46.20 m. jIjIjIjIiIhQhQhQhQfQfYrfYbfeH@]]]]z@-; 隝=I59 ɚ iIIii))*Fm?2Fq:FqBFu0JFqGy G}rAMWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I =!w,AJJJ1JJ :J:J3JRWill construct direction to contact in vehicle frame from tetrahedron phase data.PRii mG٣iyu u> }Nusing accuracyPremultiplier from configy~59}͐?~5Y} i}k@@}?gE}:}C:}~5 V AEDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf@g9H@]!]!]!]!1 9==I=^9 9ɚ=bi9I9IAiAiA)I)I*FE?2FA:FABFM0JFIH-+>I) I-G II-OBI-( =&I).I-4D6I-j<:I-J FzK5FMK5k9K1K5K5 BKA:KAUWill construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >D!w,Aj>Yj&,?j89jp;>yjH n?` "? ?@?%/¿{L? %w?ɨj>jE;hyr!Br IuMb@Mb@Mb@qqq q)qYujtĿ~jtxMbyu uĻuu\ A uZ@)uv@Iu`@qyu@IIT3٢= G=9лQ > G٣yK* > Nusing accuracyPremultiplier from config~59ɐ?~5Y i&k@!>;@@gE;';.~5 9I9q u AqDNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbfpH@]!>]!>]K@][~u@M8 IMT=IM9 QɚUiQIQIYiYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF%2JF!) M~Gay EYy~A5 ?= AGe :Bq O >] Will construct direction to contact in vehicle frame from tetrahedron phase data. J!w,}-AJ>YJX,?J/9Jn;>yJH ??`?@?`?¿o%?V?v?ɨJ>J4;JCy^-B^ IIf+Ifn3٢np= rW=9rQ r>tt vG٣tyv\ v> ~Nusing accuracyPremultiplier from configx~59zŐ?~5Yz izj@   @zAgEzI;z2;z|~5  AEDNOT Ignoring new targets: 46.20 m. jAjAjAjAiAhIhIhIhIfQfQrfQbf]H@]q]q]q]uhu@/ 隕=I9 ɚ i(G>ZH RH AAH% ,>I!  I% Z II% ^BI! &I! .I! 6I% l<:I% K FG) BA zKm LKm 9Ki Km Km O >RkR!w,%JANo>YNr3,?Nā9Nƕ;>yNH?`ܼ?@-?a?P¿8P?3Q? v?ɨNo>N5;LyZ:BZ- IvWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYE+ÿ:v?{GzyEET99 =G٣9yE, E> UNusing accuracyPremultiplier from configQm~59U?u~5YUlj iUj@u >u;u#u@UBgEUo;U`;U~5 X ADNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbf1H@] >] >]C@]J#n@ā H=I9 ɚUuߴiU4X!w,>cAB>YBM+?Bc 9B@;>yBH ? ȼ?`?@:?\¿,T?T? v?ɨB>Bs;BCyNCBN8 IIZ7IZ3٢fuO= ff=9f RQ f>hh jG٣hyn2@ n> rNusing accuracyPremultiplier from configpv~59r?v~5Yr irTj@tv $z@rCgEr:r:r~5| ~ A|%DNOT Ignoring new targets: 46.20 m. j!j)j)j)i)h)h)h1h1f1f9rfAbfE< I@]a]a]a]e*n@uc qu >Iu9 yɚ}ϴi} I h Will construct direction to contact in vehicle frame from tetrahedron phase data.O^!w,v}A6;>Y6w+?6Ժ96F;>y6H?ڊᕼ???Q`¿Z? G?@^w?ɨ6;>6;6 Cy>OB>G I)D D FR=FR=IJ+IJn3٢h=  F=9 QZQ  > G٣y4 %> -Nusing accuracyPremultiplier from config!=~59%?M~5Y% i% j@QU+$]@%DgE%;%;%q~5a e AiDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfbf%AI@]y]y]y]}~m@Ժ  >I29 ɚiI Iy IIxBI) =&I.I6I<:I FBIqJIqRIqZIu( =bIu' =jIuı5zK}]JK}u9KyK}K}Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm`9*F ?2F :F BF P5JF I G)B9J]J]J]/JYJ]̶:J]:J](N3JYJ];aeJ];aeJ]J;amJ]J;amOu>֫f!w,/A*Will construct direction to contact in vehicle frame from tetrahedron phase data.:>Y:Fr+?:W9:;>y:H ?1@?@C? e?k¿I\?R?v?ɨ:>:רּ;:CyB[BBV IMb@Mb@Mb@ )Yl¿ˡE?y&1|y'=`\ A C@)I@II@y@II٢I= #=9Q > G٣y' > Nusing accuracyPremultiplier from config~59?~5YI i#j@l>;/@EgE<;D;~5  J A DNOT Ignoring new targets: 46.20 m. jjjjihhhhBffrfbfI@]l>]l>]7@]+db@W =I9 ɚ-iekm!w,칅A6#>Y6i +?696%;>y6HV?@(o?^?p?@j¿ #`?@UC?@w?ɨ6#>6;6Cy>aB>^ IIFIFT3٢n< r;=9rQ r>tt vG٣tyzf z> ~Nusing accuracyPremultiplier from config|~59~ܬ? ~5Y~ i~%j@  / @~GgE~;~V;~~5B  AEmWill construct direction to contact in vehicle frame from tetrahedron phase data.qqDNOT Ignoring new targets: 46.20 m. jjjjihhhhff rf bf޹I@]]]]Jb@% )->I->9 )ɚ-藴i-4I I IIBI* =&I.I5D6I԰<:I FzKBoIK9KKK5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Tt!w,ӅAysBs Ii =I = Mb@Mb@Mb@    ) Y M¿A`"?Mby n Y=  rA ) `@I `@ y @I%%I%)3٢5= 57=9=Q =>9A EG٣AyE E> YIY eNusing accuracyPremultiplier from configam~59e^?m~5Ye ie/j@ma>u;u=5u@eHgEe$;e;e~5y } Ay%DNOT Ignoring new targets: 46.20 m. j!j!j!j!i)h)h)h1h=EBf9f9rf9bfE]I@]a>]a>]X2@]\@ T=I 9 ɚi{!w,A6>Y6D*?696:>y6H@L#?a{fT?@? S?`m¿ a?=?w?ɨ6>6;6CyB}BB IIJ2IJ?3٢RF= RC=9VF Q V>X\ ^G٣\y^ ^> bNusing accuracyPremultiplier from config`f~59bB?j~5Yb ib9j@hjM5j@bIgEb;bF;b-~5l r5 Ap DNOT Ignoring new targets: 46.20 m. j j j j ihhhhffrfbf%J@]]]]\@ =Ip9 ɚ&{irI C I II BI % =&I .I 6D6I c<:I L FG B O >!w,@ AzKK9KKKBK:KsA:Will construct direction to contact in vehicle frame from tetrahedron phase data.B>YB4*?B9B-;>yBH!? }`[???@s¿@~b?aD?w?ɨB>B!;BCyN|BN~ IMb@Mb@Mb@ )YMb&1?~jtyP=DE A -@)3@I3@y(@IIm?3٢ 3=9Q > G٣y&: > Nusing accuracyPremultiplier from config~59,?~5Yz i$j@ >;.7@JgE;';%~5 A ADNOT Ignoring new targets: 46.20 m. jjjjihhh)h-%Bf1f9rfAbfM6`J@] >] >]0@]Z@M QU.>IUy9 QɚUKiU&!w,$c&A>>Y>D*?>q9>;>y>H\ ?`;~}???r¿`6_?N?@ w?ɨ>>>ć;>!CyJBJ IIVIV2٢^ = ^]=9b:Q b>`` fG٣dyfM: f> jNusing accuracyPremultiplier from confighn~59j?n~5Yjڎ ijj@pr*7r@hj ;j* ;jb~5t vAt%DNOT Ignoring new targets: 46.20 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5/J@]Q]Q]Q]UZ@mq q|N>I^9 ɚi= Will construct direction to contact in vehicle frame from tetrahedron phase data. !w,K9@ANkz>YN*?Nrߺ9N;>yNH$?xm??3? Yg¿ Q[?@? w?ɨNkz>N=;N CyptI-I3٢% %D=9% 9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config1E595[?E5Y5E i5j@AM87M@5KgE5:5P:55Q UAQDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrf1bf=PJ@]]]]AZ@ZHRHHIC I IIɂBI$ =&I.I6IV<:ID F rߺ M>I(9 ɚųi-!w,a^AWill construct direction to contact in vehicle frame from tetrahedron phase data.b3>Yb~*?b9bo:>ybH`p"?@{~?.?L?@ [¿ "V?Cbh;`y%B% IMb@Mb@Mb@ )YV-)\(?QyGa=u A )I@y@I IV2٢G= %=9;:Q >9 MG٣IyMMy: U> ]Nusing accuracyPremultiplier from configQe59U?e5YU iUi@mZ>m;m;u@ULgEU{W;U V;Ul5y }=A}EDNOT Ignoring new targets: 46.20 m. jjjjihhhh@BffrfbfK@]Z>]Z>],@]RV@ R8>I9 ɚIi!w,ܸzA2>Y2.+?2E92 ;>y2H?~ɜ? ??S¿ P?`@?w?ɨ2>2覆;0yJBJ IIRIRV83٢Zޕ< ZI=9Z\p:Q ^>\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj59fȊ?j5Yf ifi@hns;n@fMgEf%;fG:f5p rApDNOT Ignoring new targets: 46.20 m. jjjjihhhhffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf`l:K@])])])]-V@=E Ae?>Ie!9 aɚmsimCIC I II݂BI&I.I6Is<:IX FG} B Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >zK BoHK 9K K K !w,wAyB IMb@Mb@Mb@ )Y)\(:v? rhyG IT=C )@Iy3@I.I3٢%= %6=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59==?E5Y=7 i=i@E=M;M;M@=NgE=n;=Y;= 5Q UAUEDNOT Ignoring new targets: 46.20 m. jjjjihhhhABffrfbf`,qK@]=]=],@]V@ L>I9 ɚQ3i !w,{LA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:&n>Y:2+?:ˮܹ9::>y:H p?``?? 1?`D¿`ٕ;?@H>?w?ɨ:&n>:"{;:CybBf IIr$Ir<3٢z"= z`=9~5:Q ~> G٣y:  > Nusing accuracyPremultiplier from config 59 ?5Y w i Vi@;%@ OgE ; '; 5) -A)]DNOT Ignoring new targets: 46.20 m. jYjajajaiahahahihififirfibfu`K@]]]]V@ˮܹ 隥[>I9 ɚ3ix !w,VFȆAjHbHH(I( I* !II*BI(&I(.I(6I*<:I*a FBICJICRIZI$ =bI% =jI"6M*}>YM|:+?MY79M :>yMH@? `Ǽ? ?@?`=¿3&?;?w?ɨM*}>MU;MCyeBe I m=ma=Mb@Mb@Mb@ )YQ?~jty̽\=/ A @)@I@y@II[3٢)< %8=9- :Q ->11 5G٣1y=9 => ENusing accuracyPremultiplier from configAM59E~?M5YEؐ iEh@Uq=U;Ul5U@EPgEE(;E&;E5Y ]yAaDNOT Ignoring new targets: 46.20 m. jj j j i h h hh:BffrfbfK@EWill construct direction to contact in vehicle frame from tetrahedron phase data.]q=]q=]ƃ3@]\@zKjIKu9KKK   Y7 Y]u>I]9 aɚea,4ie;!w,xA2>Y2i+?2t92:>y2H2?`Ѽ?@m?Q?};¿"?&=?w?ɨ2>2m;2 CyBBB IIJ IJb3٢R= R?=9RH8Q V>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\b59^{?b5Y^5 i^h@`f`5f@\^*:^ :^51 59A9B*** querying acoustic contact ***jj%DNOT Ignoring new targets: 46.20 m. j!j!jIjIiIhIhQhYhYfYfarfbfL@]]]]M\@t >I9 !ɚ%r4i%  BDAT read: Tx time:22:54:19.2166  $Ping request sent. !w,nA6.>Y6+?6[996(B;>y6H?@.?w?L?b6¿`w8@F?gw?ɨ6.>6륆;6CyBBB IININM3٢R՛< R5=9V/:Q V>TX ZG٣Xy^G: ^> bNusing accuracyPremultiplier from config`f59b.w?j5Yb ibKh@hjV5j@bQgEb?;b@;b5l rAp DNOT Ignoring new targets: 46.20 m. j jjj!i!h)h1h9h9f9fArfAbfEIL@]a]a]a]em\@=[9 AEJ>Iu9 qɚ} 4i}  I !w,gA @> >Y>m+?>U 9>;>y>H ?“`? s?Ģ? Q8¿ a!?`6B?w?ɨ> >>v;> CyJ‚BJ IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502889EMb@Mb@Mb@AAA A)AYEI +l?~jtyE9E=AE A A)E@IE@AyE@I]I]F٢m; m?=9mQ u>qq }G٣yy}>; }> Nusing accuracyPremultiplier from config59s?5Yۑ ig@W=<K9@RgE;;M5 ADNOT Ignoring new targets: 46.20 m. jjjjihhqhqh}BBfyfyrfybfL@]W=]W=]ʖ/@];X@U >I 9 ɚE4iha!w,28A IJ->YJQ,?Jv9J:>yJH ?П`? )?u? F¿ێU?`P=?w?ɨJ->J^;JCyVʂBV IIbIbF٢j = jM=9jBQ n>ll nG٣lyrĉ; r> vNusing accuracyPremultiplier from configtz59vp?z5Yv ivg@|~09~@tv;v;v!5 A5DNOT Ignoring new targets: 46.20 m. j1j1j9j9i9h9h9hAhAfAfArfAbfML@]i]i]i]mX@}v y}>I}9 ɚ4ih!w,RAzK LK 9KK K RK?JK?>G>Y>ȟ,?>9>:>y>H@ ? |???N¿c?1? ^x?ɨ>G>>Ы;>CyFӂBF I]Mb@Mb@Mb@YYY Y)YY]sh|?y&1?Mby]]`<]] A Y)]@I]@Yy]@IuIub2٢,= <=9%Q > G٣y2; > Nusing accuracyPremultiplier from config59m?5Ym i[g@]=<h4@SgE;W;%5B ~AEDNOT Ignoring new targets: 46.20 m. jjjjih h hhIBff!rf!bf-vL@]M]=]M]=]M%=4@]M]@ $?I >>I9 ɚ5iq!w,1nAB-)>YB|-?B29B ;>yBH>?!C??@ԉ? Q¿ ]b?B@?`w?ɨB-)>Bƺ;@yNׂBN IIVIV3٢^B< ^I=9^t9Q b>`` bG٣`yf|; f> nNusing accuracyPremultiplier from confighr59jj?v5Yj ijg@tzL4z@jTgEj6~;jc;j")5| ~^A| Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628425DNOT Ignoring new targets: 46.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfM$M@]q]q]q]u]@2 隍>>I]9 ɚ5i4y!w,ZAHU5>IUC IU;!IIUBIU" =&IQ.IQ6IUư<:IU Fyޥ܂Bޭ II1I3٢=Ǜ< E5=9Q > G٣y > Nusing accuracyPremultiplier from config59dg?5Y if@@::B-5  ;A 5DNOT Ignoring new targets: 46.20 m. j1j9j9j9i9h9h9hAhAfAfIrfIbfM@,[M@]q]q]q]q 隍>I9 ɚ'5i\c Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518741 !w,YáAyB!I) ~G ! ])>YYy]Z6BMb@Mb@Mb@ )YʡE~jt?:vy=T @)I@y@I5I5m?3٢MkE= M;=9QQ U>QQ UG٣YyY ]> eNusing accuracyPremultiplier from configam59egd?m5YeE ief@u۱=u;e05y }AyDNOT Ignoring new targets: 46.20 m. jjjjihhhhMBffrfbf0M@]۱=]۱=]ɸ+@]}U@1 15>I5e9 9ɚ=h;5i=O9!w,AyB!II-I-<2٢=< =s=99Q E?AA EG٣AyI M? UNusing accuracyPremultiplier from configQ]59Ua?]5YUl iUtf@YYe@QU~ ;U ;U35i mAiDNOT Ignoring new targets: 46.20 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:54:21.6785 TRx dataTimestamp_ set to:1736376863.017724checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024924rfbf M@]]]]  Ξ>I9 ɚxN5i>G>jHbH<H1I5C I5M!II5%BI5# =&I1.I16I5t<:I5X FU Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278146G :B O5 > !w,ՇAzKu'PKu9KqKu KuwaM@.zuppjhd_][XRONLKGDB>951/..+'(' It,>Y -?c69;>yH?``V? d?`X?`0)¿@&C?XB?w?ɨt,>I;CyB!IMb@Mb@Mb@ )Y~jtJ +?I +yH=94 @)I@yQ@I'I@3٢ 3=9Nr;Q > G٣y; > Nusing accuracyPremultiplier from config59~^?5Y iff@ = <C@VgE;Վ;75 A%DNOT Ignoring new targets: 46.20 m. j!j!j)j)i)h)h)h1h5RBf1f1rf1bf=M@]u=]u=]uJi$@]uO@c6 隭{>I69 ɚob5i)9٥sh٥|y?٥+H ڥm?)ڥIڥg?iڥ=ڡڡۥڸK?괄`{])ۥT;Iۥ[E=iۥ?ۥ?dۡۡD% 9*F ?2F :F BF 0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>!w,9A>@>Y>.?>oa9>/;>y>H ?G`?`? w? +2¿-T?D?w?ɨ>@>>^x;> CyFBF !IININ[3٢V= ZE=9ZJֺQ Z>\\ ^G٣\y^\; b> fNusing accuracyPremultiplier from config`j59bU[?j5Yb ibXf@lnBn@bWgEbcM;bM;bw;5p vAtkU7r?kU͍ kQ kUrNA:kU3-BBkU,BZkU @"UXz?fKG*;@i@@U#Z-??Ja?JkU?RkU?d*U|K'0@%C@UIɧ3ҫѿiU{?S)w"?"kUA*kUJ?kUk?kUe 2kUBkU ;?kU4 kQkUmAkU ? addTargetRange:: Added new target pos. range: 43.299999 m, deltaT: 60.000419 s, deltaX: -2.900002 m, approachRate: -0.048333 m/s, rangeRepo size: 4 I  Added new target pos. range: 43.299999 m, bearing: 125.417653 deg, lat: 36.904857 deg, lon: -122.119296 deg, deltaT: 60.000419 s, deltaX: -2.900002 m, approachRate: -0.048333 m/s, posRepo size: 4 EDNOT Ignoring new targets: 43.30 m. jAjAjAjAiIhIhIhIhIfQfQrfU`fE@bfUg)?]]]]7O@oa >I9 ɚv5i.I  I Z!II /BI $ =&I .I 6I =<:I . FBIJIRIZI# =bI# =jIʌ5G} 3B O >"w,Y2AWill construct direction to contact in vehicle frame from tetrahedron phase data.:~>Y:$Z.?:"˺9:>;>y:Hc?O?%?p?4¿yY?`{F?jw?ɨ:~>:2;:CyFBF!I N=N=Mb@Mb@Mb@ )Y/$X9v?~jty}=D @)Iy@I0I(3٢ȼ +=9V Q > G٣y0; > Nusing accuracyPremultiplier from config59W?5Y iSf@9=;F@;;?5 AzK NK K K  K %'&#    %DNOT Ignoring new targets: 43.30 m. j!j!j!j!i!h)h)h1h5NBf1f1rf1bf=gA?]U9=]U9=]UG^ @]UdK@"˺  >I T9 ɚ s5i A  "w,O-A2Ug>Y2.?2"92:>y2H?`ּ?.? i?@g8¿`Rc? ;?w?ɨ2Ug>2;2Cy>B>!IIDID٢R* RF=9RQ V>TT ZG٣XyZO; Z> ^Nusing accuracyPremultiplier from config\b59^sS?b5Y^ i^Nf@prFr@^XgE^;^;^?C5t vAxDNOT Ignoring new targets: 43.30 m. jj!j!j!i!h!h)h)h)f)f1rf1bf5`?]Q]Q]Q]UyK@e" imh>Im9 iɚm5im% "w,QHA6m>Y62/?6KR;96F;>y6HH?[ټ?:?^??¿@Gjg? B?`w?ɨ6m>6%;6Cy<>!IIJ IJb3٢RHp: RD=9ZQ Z>`` fG٣dyn; n> rNusing accuracyPremultiplier from configlv59nO?v5Yn“ inHf@xzFz@nYgEn;n;nF5~B ~A~EZH)RH-@AH53>I1 I5`!II54BI1&I1.I16I5<:I5h FDNOT Ignoring new targets: 43.30 m. jjjAjAiIhQhQhhffrfbfB6?]]]]K@KR; 隽>I)9 ɚ5i+;IIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKA\"w,ueA 2 >Y2X/?292̍:>y2H ?`?jB?~X?C¿Vo? 0?^x?ɨ2 >26 ;2!CyRBV IXZA=Mb@Mb@Mb@999 9)9Y=J +~jt?y&1y=Ƚ===`e=vA =@)=@I=@9y=p@IUIUF3٢e~ e*=9eQ e>ii mG٣qy} %; }> Nusing accuracyPremultiplier from config59J?5Yɓ iEf@=;G@ZgE;;K5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhh!Bffrfbf@]=]=]@]4J@ >Ic9 ɚ[5iY;IIii ) ) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.DE9*F?2F:FBF35JF"GG> E $?IA G B O= >qI "w, 4A6g>Y6/0?6>b96(:>y6H 6?;@V?`@S?@I?O¿`Cr?9?w?ɨ6g>6O;6CyBՂBB IIJIJ?13VWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Z ZG=9ZQ Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj59fiF?j5YfГ ifCf@hjGn@f[gEf:f:fN5p rkApDNOT Ignoring new targets: 43.30 m. jjjjihhh!h!f)f)rf)bf-J@]I]I]I]M_J@e>b ae>Ie9 aɚex5ie";IiIiiqiq)q)yBDK?:DD9*FM?2FQ:FQBFU\0JFQHI III&I.I5D6I1<:I$ F]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AGBO>zK% yLK% 9K! K% K%  $*BK) :K- qA I II i&"w,G嚈A*F>Y0?/9?:>yH@W? y?]?@@?[T¿@Ev?@3? 3x?ɨ*F>8;Cy11Mb@Mb@Mb@ )YK7Ap= ף?~jty =ļ`A )~@I@yz@I(I̍3٢b: 9=9VQ > mG٣iyus; u> }Nusing accuracyPremultiplier from configy59}@?5Y}' i}e@$>;}<@}\gE}M;};}R5 iA DNOT Ignoring new targets: 43.30 m. j jjjihhhhBffrf!bf%`@5PExceeded connect timeout, disconnecting.JUJUJU0JQJU:JUU:JUـ3JQJU;JU;JUe;JUe;Will construct direction to contact in vehicle frame from tetrahedron phase data.]$>]$>]`*@]nU@=/ ae>Ie9 aɚm5im\IiIqiqiy)y)D]&9*F2F:FBFJFG 3B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.,"w,A64>Y6Y1?6ݭ»96f;>y6H`?ʌ?o?1?^¿@Ux?u@?w?ɨ64>6m;6 CyBɂBB IIJIJ?13٢R# Ra=9VﵺQ V>TX ZG٣XyZG< Z? Nusing accuracyPremultiplier from config%59Ir9 ɚT5iUIIii)) ID*FM?2FI:FIBFMp0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>jH bH 4<H 2>I  I T!II *BI &I .I 6I S<:I = F|3"w,ΈAm(>Ymz1?m޻9m:>ymHକ?`h,l?{?`&? d¿{?@:?w?ɨm(>m`;iyyyMb@Mb@Mb@ )Y~jtÿS㥫?Qy/]=IA @)h@I@y@5Will construct direction to contact in vehicle frame from tetrahedron phase data.I%I%#3٢Eb M2=9UQ U>QY ]G٣Yy]R; ]> eNusing accuracyPremultiplier from configau59e6?u5Ye  iee@u(>u;u'4u@e^gEe!;e;eY5 A5DNOT Ignoring new targets: 43.30 m. j1j1j9j9i9h9h9hAhEBfAfIrfIbfM@](>](>]73@]]@޻ H>I9 ɚ5iIIii))2D!*D! IzK:"w,2VA62>Y6I2?696:>y6H@-?@8`>?`??j¿@?O/?`>x?ɨ62>6 ;6Cy>BB IIJIJ3٢R+ RG=9REQ R>TT VG٣TyV1; Z> fNusing accuracyPremultiplier from config`z59b1?z5Yb ibwd@|~ 4~@b_gEb;b;bG]5 A DNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf@@]]]]L^@U QU{>I]9 Yɚ]5i]9IYIaiaia)a)mWill construct direction to contact in vehicle frame from tetrahedron phase data. ID-X9*F?2F:FBF^0JFJ J J J J l:J :J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >BA"w,A>+m>Y>|23?>9>::>y>Hcy?`P@l?@%? ? Rq¿`L?`G&?`x?ɨ>+m>>*;>CyFBJ IiLINp=IR%IR)3٢Z ^==9^EQ ^>`` bG٣`yb< -> =Nusing accuracyPremultiplier from config1=595+?E5Y59 i5c@AE3E@5`gE5;5;5)a5I U4AUE}DNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf@]]]]O^@H1>I IA!IIBI# =&I.I6IK<:I7 F H>IE9 ɚ 5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DMU9EQEUqA*F?2F:FBFl0JF )I)zKOKu9KKK)&#$$     G 3B O >)G"w,i!A6>Y6X3?6Y96:>y6Hk?`?=?6m;4yVBV IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YgfffffƿQ?Q롿y33\=\A x@)Q@I~@y@I4IV3٢ 7=90Q > G٣y%; %> -Nusing accuracyPremultiplier from config)559-%?55Y-( i- c@5::>5;=*=@-agE-;-;-d5A EQAAuDNOT Ignoring new targets: 43.30 m. jqjqjqjqiqhqhyhyh}ǁBfyfrfbfW@]::>]::>]m<@]i[g@Y 隽>I#9 ɚ6iIIii))iDg9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ 2FQ :FQ BFU n0JFQ % $?I! Gi By O >N"w,>A>L>Y>T"4?>W+9>!(:>y>H e?h@?`?N?@¿ y?#?x?ɨ>L>>;\\ bG٣`yb0; b> jNusing accuracyPremultiplier from configdj59f ?n5Yf ifEb@ln*n@fbgEf :f:fsh5t v1AxDNOT Ignoring new targets: 43.30 m. jjjjih!h!h!h!f)f)rf)bf- L@]I]I]I]Mmg@]W+ ae>Ie9 iɚm 6imټIqIqiqiy)y)yJK3KKO3 KK(.KCKC"KCJmJmJm1JiJm:JmB:Jm3JiDy9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=5JF9ZHRHAAHI I.!II BI$ =&I.I6I|<:IZ FBIQJIQRIQZIU$ =bIU$ =jIUƎ4GaBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ U"w,WA DIDyvBv I)x x ~p=~p=zK})aMK}9KyK}K}  -}t`N@4Mb@Mb@Mb@ )Y rȿ:v? G٣y > Nusing accuracyPremultiplier from configU59?]5YE iKa@]xG>];]{"]@dgEו<<?l5a eiAiDNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbfU@]xG>]xG>]nD@]o@ ?I;9 !ɚ%E6i%I!I)i)i))))1Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F- ?2F) :F) BF5 1JF1 GQ B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.\"w,tAZ <>YZ5?Z<9Z::>yZHQ??w??`ϒ¿?`B2?w?ɨZ <>Z/`;XybBb II56I5m3٢E< E<=9EyQ M>II MG٣QyU < U> eNusing accuracyPremultiplier from configam59e?m5Ye ieO`@qu?"u@eegEe;e;ep5y }GAyDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf`n@]]]]8o@< ?Ia9 ɚ6iI I Iii))D9J5J5J50J1J5 :J5:J5ـ3J1Will construct direction to contact in vehicle frame from tetrahedron phase data.խ%=խ%=*F}?2Fy:FBFT5JFH1 I1  I1 I1 I5 # =&I1 .I1 6I5 _<:I5 F FG :B O >c"w,#eAF>YFH5?FI9F̚:>yFH@H?bܻ?@-? +?`М¿`1?1?w?ɨF>F;FCyV‚B= II0I(3٢]= e4=9mQ u>yWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣yr; > Nusing accuracyPremultiplier from config59?5Yߛ iA_@#" @fgE;;#t5B AE}DNOT Ignoring new targets: 43.30 m. jyjyjyjyihhhhffrfbf\@]]]]Yo@ IeI ?I9 ɚ$6iIIii))zK6MK9KKK*" D% 9E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF x2JF G3B)OE>Mk"w,hA @B>YBB5?BõQ9B:>yBHbB?@ջ?@?x?!¿6? 7?uw?ɨB>B4;BCyNтBN IPRA-Mb@Mb@Mb@))) )))Y-EȿMb`X9vy-F---A -b@)-@I-h@)y-@IEIE#3٢UU= ]/=9]xQ ]>aa eG٣aye%; e> uNusing accuracyPremultiplier from configiu59m ?}5YmY imI^@}/I>};}}@mhgEm;m;mx5 ~ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbf@]/I>Will construct direction to contact in vehicle frame from tetrahedron phase data.]/I>]I@] Pu@õQ ?I-9 ɚ.6iIIii)) ID)*F?2F:FBFT5JFJ J J J J :J :J J ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >dr"w, ʉABl`>YB,6?BTVb9B:>yBHM;?H?@O??`I¿J?3?w?ɨBl`>Bc;BCyJ݂BJ IIV1IV3٢^>n= ^N=9^'Q b>`` bG٣`yjPX; j> nNusing accuracyPremultiplier from configlr59n$?r5Yn ino]@prv@nigEn:n:n{5x z AxjH<bH<H0>I I4!IIBI% =&I.I6I<:Ix F=DNOT Ignoring new targets: 43.30 m. j9jAjAjAiAhAhAhIhIfQfQrfQbfU)@]q]q]q]ueu@TVb 隍 ?I9 ɚ66iIIii))BD1?:DT?]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 u$?Iq*F?2F:FBF2JFzK ,LK 9K K K RK- >JK- ?G B O >x"w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.yrBr !IMb@Mb@Mb@ )YV-ǿ{GzZd;Oy|?#j3A 5@)@I~@y@IIm?3٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i\@3A>;@jgE12;/;\5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhρBffrfbfE @]m3A>]m3A>]m,{L@]mx@ 隽\?I9 ɚs@6iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F ?2F :F BF 4JF q Iq G)B9OU>q"w,jA:/>Y:ʓ6?:}9:P:>y:H2?1k?`? ʽ?¿?2? Ww?ɨ:/>:;8yBBB*!IInInM3٢v= v8=9~pQ > G٣!y-f; 5> ENusing accuracyPremultiplier from config9]59=?]5Y= i=[@amym@=lgE=;=9;=N5y }AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 43.30 m. jjjjihhhhJ J J J J ̝:J  :J J ffrfbf%'!@]]]]x@} *?I 9 ɚ i I Iii))DE!E!H)I-C I-T!II-*BI-& =&I).I)6I-}<:I-Y F*F?2F:FBF]0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ AG9 BI Oe > a Ia 0"w,bA6>Y66?6ჼ96:>y6Hr.?|Z??и?0¿ |?`8?@v?ɨ6>65`;6CybBb;!IzK=BoHK=k9K9K=K= ")4H Fc2gyY;m#AQ%Mb@Mb@Mb@ )Y'1ZĿ~jty"D7A =@)@Ip@y\@I I̍2٢{= ==9źQ > G٣y: > Nusing accuracyPremultiplier from config59?5Y i[@G#>;>@mgE;;5 aA -DNOT Ignoring new targets: 43.30 m. j1j1j1j1i1h1h9h9h=BfAfArfAbfE@Z!@]eG#>]eG#>]eI@]eu@}ჼ y}?I}(9 yɚ}4iIIii))D)) Will construct direction to contact in vehicle frame from tetrahedron phase data.UGq*F?2F:FBF_0JF -7Y)y-BG :B O- >"w,x5A"Will construct direction to contact in vehicle frame from tetrahedron phase data.Nh>YN@7?N,9N):>yNHA$??@?`?ÿU?;?@v?ɨNh>N;NCyZ-BZX!IIb!Ibi3٢j= j\=9jٯQ j>ll nG٣lyr=; r> zNusing accuracyPremultiplier from configt~59v?5Yv iv([@ @vngEvi;vQ;vB5  A I DNOT Ignoring new targets: 43.30 m. j j j j i hhh1h1f9f9rf9bf=`"@]]]]3u@, 隵?I9 ɚiIIii))D9*Fe?2Fa:FaBFeo0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm 3B O >ZH! RH% ?AH9 I9  I= !II= RBI9 &I9 .I9 6I= i<:I= J F"w,!ZOAb/>Yb_7?bo'9b:>ybH@!?iκ?`?`?ÿ`ē?`2?v?ɨb/>bvO;bCyrHBrz!IIzIzM3٢> %F=9-]@Q ->)) 5G٣1y5X: 5> ENusing accuracyPremultiplier from config9M59=폜?M5Y=ڤ i=Z@IUU@=ogE=a;=b;=5a eAe EDNOT Ignoring new targets: 43.30 m. jjjjihhh9hQfafarfqbfuy#@eWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]Yv@o' +?I9 ɚ i I Iii)) ID 9*F2F:FBF0JF"G>G>zK%PKu9KKKlT:!~n^RA5' {volhba]XUSNJFB@?;<J J J J J L:J J J J O;a J Q;a J S;a J S;a G :B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >>ՙ"w,>iAZc>YZ7?ZǼ9Z:>yZH?몺?e ??/ÿ8?7?]v?ɨZc>ZɁ;Xy5gB5!IMb@Mb@Mb@ )YPnS㥛?y/< S@)Iy@II 3٢> ==9.2Q > G٣yNm; > Nusing accuracyPremultiplier from config 59[鏜?5Y iZ@>;(@pgE;;5 %A!UDNOT Ignoring new targets: 43.30 m. jQjQjQjQiYhYhYhYh]IBfafarfabfeg$@]>]>]r;@]\j@EǼ AE\?IE9 ɚiIIii))BD6?:Dr?UWill construct direction to contact in vehicle frame from tetrahedron phase data. IDE 9*F ?2F :F BF `0JF G3 Will construct direction to contact in vehicle frame from tetrahedron phase data.BO5>"w, A6U>Y68?6A96ˮ:>y6H ? =v?0?`˙? Bÿ'? l3?@[v?ɨ6U>6;4yFwBF!IININm?3٢Z= Z@=9Z2Q ^>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj59f>叜?j5YfQ ifZ@ln (n@df*:f:f\5p -IA)]DNOT Ignoring new targets: 43.30 m. jYjYjYjYiYhYhahhffrfbfG%@]]]]j@A \?I9 ɚ l4i I Iii))H/>I I!IIBI' =&I.I6I<:Io FBICJIRIZI& =bI% =jI5Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F)BF-0JF) IG! B1 OM >>ԧ"w,g֠AzKWOK89KKK7200--''&$   6>Y6a8?6<96:>y6H` ? 8??@?Yÿ?@/?Cv?ɨ6>6/;4yBBB!I J=J=Mb@Mb@Mb@ )Y+ηS㥫?Mb?yv/]=<A 5@)@IQ@yf@I%I%V83٢5(= =B=9=\dQ =>AA EG٣AyE\; E> UNusing accuracyPremultiplier from configQ]59UᏜ?]5YU iUL[@e=e;eM;e@UqgEU;U;U5  A JuJuJqJqJu:Ju:JqJqJu;Ju;Ju.Y;Ju.Y;DNOT Ignoring new targets: 43.30 m. jjjjihhhhVBffrfbf'&@]=]=]d'@]V@Will construct direction to contact in vehicle frame from tetrahedron phase data.< ?I9 ɚ04iII i i ) )Dm)9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I G :B O >^"w,BA6}X?Y6b8?6Ƽ96:>y6H8?`?V$?@,?,rÿwИ?7? u?ɨ6}X?6k;6Cy>B>!IIHIH٢R= RH=9R5Q V>TT ZG٣XyZҋ; Z> bNusing accuracyPremultiplier from config\f59^ݏ?f5Y^Ѧ i^[@hj/;j@^rgE^/;^;^5l n@l DNOT Ignoring new targets: 43.30 m. j j j jihhhhffrfbf /&@]9]9]9]=zV@Ƽ g&?I9 ɚiIIi!i!)!))2D1*D15Will construct direction to contact in vehicle frame from tetrahedron phase data.DM_9*F?2F:FBFQ5JFjH!bH%<H)I) I-"II-ǃBI)&I).I)6I-`<:I-A FG B9 O >$w"w,l֊AWill construct direction to contact in vehicle frame from tetrahedron phase data.%}?Y%b(9?%Ӽ9%{:>y%H` ? ѹ?+? !~?bÿ`_o? -?u?ɨ%}?%ZC;%!Cy5B5!I U~$?IQ5Mb@Mb@Mb@111 1)1Y5QʡE?y&1|?y5u5=5`;53A 1)5@I5~@1y5\@IUIU3٢e b= e,=9mZQ m>ii uG٣qyu71; u> Nusing accuracyPremultiplier from configy59}-ڏ?5Y} i}I\@n=<>@@}sgE}Q;}j;}5 @DNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbf'@]n=]n=].@]>@%Ӽ !%?I-:9 )ɚ-N"4i)I)IQiQiQ)Y)YzK-YMK-k9K)K-K-RK=?JK=>JuJuJu1JqJul:Ju9:Ju3JqJu;Ju;JuX`;JuY`;Will construct direction to contact in vehicle frame from tetrahedron phase data.D]J9*F ?2F :F BF X5JF G B O >W"w,A>3F?Y>9?>Ɍݼ9>#:>y>H?`?4:?`o?ÿ໰?9?t?ɨ>3F?>29;>CyJBJ!IIR IR̍2٢Z< ZO=9bKQ b>`` fG٣dyf; f> nNusing accuracyPremultiplier from confighn59j׏?n5Yju ij\@pr>@r@hj:jX:j65t v@tDNOT Ignoring new targets: 43.30 m. jjjj!i!h!h!h!h)f)f)rf)bf5R(@]Q]Q]Q]UP>@eɌݼ im?Im&9 iɚm4iqIqIqiyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data. ID\9EErA*F?2F:FBFO4JF"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ =Յ <Gq B O >J9"w, AHI IT"IIBI&I.I6IG<:I/ FF4?YF:?FX9F:>yFHf?x?HA?h?ÿ@?4.?.u?ɨF4?F;FCyRBV"II^I^<2٢1c= E=9%EYQ %>!) -G٣)y5;; 5> =Nusing accuracyPremultiplier from config9E59=ӏ?E5Y=J i=H]@IM>@M@=tgE9=7:=ק5Q U@QDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf|)@]]]]p>@X ?I9 ɚ4iIIii))D*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG B O >zK VBJK 9K K K BK qA:K J5 J5 J5 0J1 J5 ܫ:J5 &:J5 ـ3J1 J5 ;J5 ;J5 \;J5 \;+d"w,c'A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y}̃B}"I -@- -@- 5@5  5@5 I= I=(2٢EBC= M9=9MQ M>QQ UG٣Qy] ]> ebBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configam59e+Џ?m5Ye ie]@u+:qu;qu@eugEe9;e>e5y R@DNOT Ignoring new targets: 43.30 m. jjjjihhhh!f!f)rfIbfUh*@ 隥R?Ig9 ɚ5iIIii))Dj9Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F5 ?2F1 :F1 BF5 P0JF1 GQ BY O} >"w,HCABʝ?YB;?BJI9Bv.:>yBH?X$? Y?P?pÿǟ?."?@u?ɨBʝ?B·;B CyJ˃BN"IIRIR2٢^磻 ^Q=9^ۻQ ^>`` bG٣`yf)< j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n ͏?v5Yn inL^@v :xz;z?@z@ln&_;nEV?n75B Y@E-DNOT Ignoring new targets: 43.30 m. j)j1j1j1i1h1h1h9h9f9f9rf9bfEv'+@uJI y}?I}9 yɚ}E5iyIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH.>I I"IIBI&I.I6IS<:I7 FD|9*F-?2F):F)BF-_0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. I GQ BY O} >H"w,i]A6rv?Y6W;?6M96y:>y6H}?%9@?m? =? ÿN?0+?Zt?ɨ6rv?6;6CyNʃBN"I e e ee ee  e e mMb@Mb@Mb@iii i)iYm/$`"?ym,m=mmA mK@)m@Imh@iymf@I I<2٢o >=9L8Q > G٣y/; > Nusing accuracyPremultiplier from config59ɏ?5YH i^@T:'>;)@@vgEI;H;5 f@DNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrf bf ,@]%'>]%'>]%?]%2)@EM AE?IE9 AɚMm5iIIIIIiQiQ)Q)Y2Da*DepAzK]BoHKYKYK]K]rXPQD% RKm ?JKm?mc~G Yy)BEWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FU?2FQ:FQBFU`0JFYG B O >y6Hn?3I@?|? V.?@ÿ@?F+?@t?ɨ6?6P[;6CyBƒBB"IIN INb3٢VA# VP=9VI!Q Z>XX ^G٣\y^ ; ^> bNusing accuracyPremultiplier from config`f59bTŏ?f5Yb ib`_@ lIlhu)@u@bwgEb G>H I  I "II -BI &I .I 6I Q<:I 5 FG 3B O >q"w,/ēAyzBz!I|~AI&I3٢E) E7=9EQ E>II UG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]_@iim@]xgE]:] ;]K5q u@qDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf`h-@]]]]}Will construct direction to contact in vehicle frame from tetrahedron phase data. I!q y} ?IH9 ɚ$5iIIi!i!)))1'TFailed to parse incomplete device message.D9% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F9 2FA :FA BFA JFA G}:BO>D "w,{ABKjpA:KjpAyB!IMb@Mb@Mb@ )YV-Mb?I +ym>94A &@)x@IZ@yz@IuIu٢fD =9Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y4 iO`@W>;/@@ygE;;ؼ5 @DNOT Ignoring new targets: 43.30 m. jjjjihhhhSBffrfbf@.@]W>]W>]?]/@-Will construct direction to contact in vehicle frame from tetrahedron phase data.9 9=(?I=9 9ɚ=\5i9IAIAiIiI)I)IBDU8?:DU*? }$?IDe9*F ?2F :F BF JF Ja Je Je 0Ja Ja Je B:Je ـ3Ja  Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH 4=H I  I "II #BI &I .I 6I e<:I D FBI1JI5͝CRI1ZI5' =bI5' =jI5ٚ3G!B)OM>-"w,oЋA6?Y6c??6996":>y6H``s?`_??|?8Ŀ`r?O-?-s?ɨ6?6 ;6CyBBB!IIJ"IJq3٢R  RI=9V|Q V>TX 5G٣1y5< 5> =Nusing accuracyPremultiplier from config9E59=Ӷ?E5Y= i=`@IM/@m@=zgE=;=;=5y }AyDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf/@]Y]Y]Y]]/@9 隕?I9 ɚiIIii))DE!E!UWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF1JFGrA GqAG 3B1 O] >zKU RKKU 9KQ KU KU  Will construct direction to contact in vehicle frame from tetrahedron phase data.H"w,>AbN?Yb??b-9b( :>ybHj? и? Z?@#?Ŀ ?]?`s?ɨbN?bx;bCynwBn!I)p p v=v=Mb@Mb@Mb@ )YʡEA`"?/$y=A @)@I-@y@II٢v 8=94Q > G٣yn; > Nusing accuracyPremultiplier from config 59$?5YM ix`@>;%<@%@{gE;\;G51 5DA1eDNOT Ignoring new targets: 43.30 m. jajijijiiihihqhqhuBfqfyrfybf}o80@]>]>] @]<@- 隭0?I9 ɚC44iIIii))DU9]Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F ?2F :F BF 0JF! Gm :By O >/#w,A>H?Y>-h@?>C9>H:>y>H(]?S???` Ŀ?E$?s?ɨ>H?>!;>CyJcBJ!IIRIRT3٢ZR̽ ^I=9^ꣶQ ^>`` bG٣`ybm; f> jNusing accuracyPremultiplier from confighn59j?r5Yj ij\`@pr7<@r@j|gEj-;j;j5J[ـ3K[3 K[.-KSKS"KSJxJzJxJxJxJzh:JxJx B AE=DNOT Ignoring new targets: 43.30 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM 0@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]y]y]y]}7<@C 隕=&?IC9 ɚ4iIIii))HI I`"IIBI( =&I.I6I2<:I FD 9*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >#w,2w A6O]?Y64@?6G'96R:>y6HS?% ? 4? c?ÿc?`%?@s?ɨ6O]?6sg;6Cy>RBB!IEMb@Mb@Mb@AAA A)AYEq= ףp~jt?V-yE뽙E=EEA E@)EZ@IE$@AyE=@IeIeV83٢u' u@=9}Z:Q }> G٣y; > Nusing accuracyPremultiplier from config59?5Y= i_@>>;?@}gE;B;5 hADNOT Ignoring new targets: 43.30 m. jjjjihhhh݁Bffrfbf@ 1@] >>] >>] #@] 8R@%G' !%:?I%9 !ɚ%5i)I)I)i1i1)1)1zKK9KKKRKJK?D59Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGBO% >= Will construct direction to contact in vehicle frame from tetrahedron phase data.V #w,"U:A @ $I$:y?Y:^\A?:?9:@:>y:H@mH?`^3?@0??ÿF?#?s?ɨ:y?:`;8yFHBFz!IiHIJ<IR$IR<3٢Z6[ ZW=9^:Q ^>`` bG٣`yb; f> jNusing accuracyPremultiplier from configdj59fN?n5Yfq ifc_@lr?r@df9;f8;f5t vAtDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbfs1@]A]A]A]E:YR@u? y}5?I}9 yɚ}55iyIyIii))D9J%J%J!J!J%ܫ:J%^:J!J!Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFu5JFqZH RH @AH I  I ("II փBI ) =&I .I 6I <:I  FG B O >#w,t UA6)a ?Y6A?6u96Z:>y6H@=? *q??`?_ÿ?,?s?ɨ6)a ?6;4yB2BB_!IIJ%IJ)3٢Vѽ VD=9V!:Q Z>XX ^G٣\y^; ^> bNusing accuracyPremultiplier from config`f59bw?f5Yb ib^@hj?n@b~gEb1.;b.;b5p riAp DNOT Ignoring new targets: 43.30 m. j j jqjqiqhqhqhyhyfyfyrfbfm1@]]]]yR@-u )5*?I59 1ɚ5i1I1I9i9i9)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data. ID9*Fe?2Fa:FiBFmO0JFizK BHK -9K K K   BK :K E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >]#w,oAB7 ?YB=B?BT9B 6:>yBHX5?`2? ??ÿ@ɡ?@d"?t?ɨB7 ?B|;BCyJ%BJN!IuMb@Mb@Mb@qqq q)qYu/$ÿI +?X9vyuu94=uq q)qIu@qyu@IIT3٢pl 7=92:Q > G٣y8W; > Nusing accuracyPremultiplier from config59 ?5Y{ i^@&>;f,@gEr;;h5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBf!f)rf1bf5 K2@]u&>]u&>]u#7@]uZe@T 隅q=?IB9 ɚG4iIIii))D9E*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. IGY Bi O >B"#w,xA6 ?Y6rB?6 96:>y6H0?@Rж? ??߲ÿ @??yt?ɨ6 ?6V;6 CyBBB7!I)D DNWill construct direction to contact in vehicle frame from tetrahedron phase data.IRIR2٢ZϽ Z[=9^7;Q ^>`` bG٣`yf; f> jNusing accuracyPremultiplier from configdn59f?n5Yf* ifm]@lnW,n@fgEf ;fP ;f5t vnAtDNOT Ignoring new targets: 43.30 m. jjjj!i!h!h!h!h)f)f)rf)bf-t2@]Q]Q]Q]Ue@e ae3?Iek: iɚmiiIiIqiqiq)q)yDu 9HI I!IIBI( =&I.I6I:<:I$ F*F%?2F):F)BF-0JF)MWill construct direction to contact in vehicle frame from tetrahedron phase data. |$?IGBO>Fj(#w,KA65 ?Y6gB?6_96 9>y6H+?`Z#Թ? ?@?ۛÿ*?`i?t?ɨ65 ?6u;4y^Bb5!I)I MhCNG M YQyUB]Mb@Mb@Mb@YYY Y)YY]K7ɿy&1|?L7A`堿y]I]`;]+]hA ]@)]5@I]@Yy]@Iu,Iu3٢/ݻ 0=9:Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y iO\@L>;@gE&%;a#;5 vAEDNOT Ignoring new targets: 43.30 m. jjjj zK$7LKu9KKK RK!JK%?i J=J=J9J9J=L:J=q:J9J9J=O;aUJ=P;aUJ=k;aUJ=k;a]h)hahahmBfifqrfqbfu $3@]L>Will construct direction to contact in vehicle frame from tetrahedron phase data.]L>]F@]tu@=_ 9=G?I=9 9ɚ=_4i9IAIaiiii)i)iD9*Fe ?2Fa :Fa BFe ^0JFa ] Will construct direction to contact in vehicle frame from tetrahedron phase data. I GM3BYOu>tb0#w,A2 ?Y2C?2)92L):>y2H`$?h?a?@P?@ÿd?`]!?t?ɨ2 ?2/ƈ;0y> B>.!IIFIFM3٢jR nC=9n!;Q n>pp rG٣pyrG; r>  Nusing accuracyPremultiplier from config 59G?5Y iM[@@gE ; ;g5 %A!UDNOT Ignoring new targets: 43.30 m. jQjQjQjQiQhQhYhYhYfYfarfabfe 3@]]]]Пu@) 隝.E?I: ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM>9jH<bH<HI I!IIBI&I.I6I?<:I) F*F?2F:FBF_0JF Q IQ GQ ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Bi O >6#w,یAyB 7!Ii=I=AMb@Mb@Mb@ )YA`"˿y&1|~jtyY`廹ļA @)K@I@yQ@IIF3٢< !=9Q > G٣y > UNusing accuracyPremultiplier from configQ]59U?]5YU iU?Z@eZ>ex;ee@UgEU>;U};U5i miAqDNOT Ignoring new targets: 43.30 m. jjjjihhhh}Bffrfbf4@]Z>]Z>],K@]z@ =J?I9 ɚ"5iIIii)) D,9JJJJJ :J:JJJ;J;Jn;Jn;zK%s$LK%9K!K%K% 6`uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFy0JFG :B O ><#w,ԸAymBm?!II}!I}i3٢^%= x=9Q ? G٣y ? Nusing accuracyPremultiplier from config59?5YW iY@@gE::5 3ADNOT Ignoring new targets: 43.30 m. jjjjih!h!h!h!f)f)rf)bf-c4@]I]I]I]Ii imM?Iu: qɚu)Q5iqIqIyiyiy)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.Du;9*F?2F:FBFA5JFGqA GrAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.C#w,SAH->I I!IIqBI&I.I6I><:I' FBIyJIyRIyZI}( =bI}( =jI}4j$ ?YjXC?j9jt:>yjH?`̺?t?'?@Aÿz? 7+?@;u?ɨj$ ?jY.;hytv>!II|I|٢ F  S=9  G٣yV; > %Nusing accuracyPremultiplier from config!-59%z?-5Y%٫ i%X@15t=@%gE%#T;%T;%5A E8AIuDNOT Ignoring new targets: 43.30 m. jqjqjqjqiqhqhyhyhyffrfbf4@]]]]Ūz@ WM?IF: ɚ5iIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D}M9*F12F9:F9BFE[5JFAG 3B O >1J#w,*AJJJJJJ:JJJJJ t;J t;NWill construct direction to contact in vehicle frame from tetrahedron phase data.zKn5`MKn-9KlKnKnjD! ] ?Y]yC?])޼9]x:>y]H p? B ???`ÿ``ě?`,?u?ɨ] ?]d;]Cym*BuU!I)y y }=}p=5Mb@Mb@Mb@111 1)1Y5-˿QMby55^5u55hA 5@)5-@I5@1y5@IMIMT3٢] = ]/=9eaj;Q e>aa mG٣iym4: m> }Nusing accuracyPremultiplier from configq59ut?5Yṷ iuX@W_>s;@ugEu;u;u+5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBf f rfbf?5@]EW_>]EW_>]EzM@]En}@U)޼ Y]L?I]: Yɚ]5iYIYIaii)) {$?ID m9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF j4JF G :B O >iQ#w,HA6 ?Y6zC?6'ټ96W:>y6H ? `j6? ?@?  ÿR:?'?u?ɨ6 ?6;6Cy>AB>q!IIf.If3٢n= nH=9r6:Q r>pp vG٣tyvH: z> ~Nusing accuracyPremultiplier from configx~59zo?5Yz iz{W@@zgEz3:z:z5B AE=DNOT Ignoring new targets: 43.30 m. j9j9jAjAiAhAhIhIhQfQfQrfQbfU5@]q]q]q]u$t}@'ټ 隍4X?I: ɚiIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D9ZHRHH,>I III&I.I6I_<:I? F*F}?2Fy:FyBF}V0JFy"GG>GBBO> A IE h Will construct direction to contact in vehicle frame from tetrahedron phase data.ս <ս <lX#w,aAyUUBU!IMb@Mb@Mb@ )Y|?5^ʿ{Gz{GztyR#ף@ @)Z@I@yIIT3٢E= E6=9UQ U>YY ]G٣Yye e> }Nusing accuracyPremultiplier from configq59u`j?5YuE iu!W@AS>;e@ugEu;uW;u5 JAEDNOT Ignoring new targets: 43.30 m. jjjjihhhhBffArfIbfM@%6@JJJJJJ:JJJJJn;Jn;]AS>]AS>]*L@]#|@  L?I9 ɚj4iI%Will construct direction to contact in vehicle frame from tetrahedron phase data.IAiAiA)A)IzK}NK}9KyK}K} D |9*F= ?2F9 :FA BFE V5JFA 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data.G=:BIOm?ڃ`#w,)A @68 ?Y6C?6Ҽ96h:>y6H ?+g?!?ʞ?`¿ B?`?*? u?ɨ68 ?6{*;6CyBiBB!IvAvAIz IzV2٢ >=  /=9];Q > G٣y9 > %Nusing accuracyPremultiplier from config!-59%d?-5Y% i%V@15b5@%gE%2 ;%2 ;%59 =A9eDNOT Ignoring new targets: 43.30 m. jajijijiiihihihqhqfqfqrfybf}6@]]]]|@Ҽ 隵V?I: ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9H->I I!IIBI) =&I.I6In<:IJ F*F2F:FBF4JFG 3B O > I ff#w,ۛA6W ?Y6C?6Ѽ967:>y6H?@KB?'?w?@B¿@6?5?`uu?ɨ6W ?6&;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBF!IIR!IRi3٢Z$> ZQ=9^8Q ^> G٣y; > Nusing accuracyPremultiplier from config59_?5Y irV@T@gE:n:p5 %A)DNOT Ignoring new targets: 43.30 m. jjjjihhh)h)f)f1rf1bf5O 7@]q]q]q]u/|@Ѽ 隭f?I: ɚiIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK YKK 9K K K RK- ?JK- ?DM 9EY E] qA*F 2F :F BF I5JF G  G qA IG:B!OE?Gn#w,廍AF= ?YFιC?FӼ9F::>yFH!?`_l?`$?Û?¿;c?4/?u?ɨF= ?F/;FCRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVBV!IEMb@Mb@Mb@AAA A)AYEʡEƿ:v?Mb?yE-2ET G٣yQ > Nusing accuracyPremultiplier from config594Z?5Y5 iV@2>;I@gE ;;5 A}DNOT Ignoring new targets: 43.30 m. jyjyjyjihhhh#Bffrfbf@7@]2>]2>]JD@]u@5Ӽ 1=q=?I=9 9ɚ=K4i9I9IAiAiA)A)JJJJJ:JH:JJa@a@a@a@D 9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF @5JF jH bH H I  I "II ƒBI ' =&I .I 6I T<:I 7 FG BB O >v#w,*ٍA6 ?Y6D?6׼96t:>y6H ?m?(+? ?l ÿ`?`9?#u?ɨ6 ?6 ;6CyBŃBB"IIjIj2٢ra/> r:=9v4Q v>xx zG٣xy~E$; ~> Nusing accuracyPremultiplier from config 59EU? 5 IY iV@7@gEQt;st;5! %@)]DNOT Ignoring new targets: 43.30 m. jajajajaiahahahihififqrfqbfu7@]]]]u@׼ 隥P?I: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fe?2Fa:FiBFm\0JFic~G %Y!y-BG3BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 89K K !K @jd % = |'~/{)c:P NiB C|vBK :K #|#w, AN3o ?YNC?N޼9NhV:>yNH? x`&? (?U?@$ÿޛ? '?u?ɨN3o ?N;NCybBf9"IMb@Mb@Mb@ )YMbˡE? ==9Q > G٣yUQ >  Nusing accuracyPremultiplier from config59P?5Y9 icW@% >%;- *-@gE;;5A M@IDNOT Ignoring new targets: 43.30 m. jjjjihhhhPBffrfbfp]8@]] >]] >]] 95@]]4h@޼ =J?I~: ɚiI %z$?I!IiYiY)Y)aBDm:?:Dm?-Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F% ?2F! :F! BF% %4JF) "G1 G5 >Je Je Ja Ja Je :Je h:Ja Ja  Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B9HU,>IQ IU`"IIUBIQ&IQ.IQ6IU<:IU FO}>? #w,8NAyUBUW"Ii]=I]<ImIm2٢6= 0=9Q > G٣y > Nusing accuracyPremultiplier from config59QL?5Y iX@@gE;;5 @EDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf8@]!]!]!]!1 15WV?I5: 9ɚ9i9I9IAiAiA)A)I I Will construct direction to contact in vehicle frame from tetrahedron phase data. = <D*F?2F:FBFP0JFG :B O- >#w,,A6= ?Y6D?6/96 w:>y6H%? 9߫?:??Yÿ d?@.+? t?ɨ6= ?6_;6CyBBBw"IJWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YKˡE?:v?y^=<hA @)x@I-@y=@II٢= ;=9Q > G٣y2; >zKOPK9KK"Kqke]XVZ]OTM/ _ HfL*pXE5${yslaWQJB;RK?JK? Nusing accuracyPremultiplier from config59G?5Y iY@:>;C@gE;); 5 x@%DNOT Ignoring new targets: 43.30 m. j!j!j)j)i)h)h)h1h5Bf1f1rf1bf= @9@]U:>]U:>]Ux@]U%N@/ :?I9 ɚiIIii)) IDe9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JFG 3B O)  #w,HA: ?Y:E?:`\9:h:>y:H?Q /k?(C?+w?wÿ@ϊ?@)?ot?ɨ: ?:|;:CyJ%BJ"IIRIR2٢Z`= ZM=9ZQ Z>\\ ^G٣\ybl; b> fNusing accuracyPremultiplier from config`j59bC?j5Yb1 ib Z@lnCn@bgEb6-;bh-;bZ 5p r@p5DNOT Ignoring new targets: 43.30 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE r9@]a]a]a]eBN@}`\ y}.B?I}9: yɚ}C4iIIii))2D*DJUJUJU1JQJUL:JUq:JU3JQWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH%+>I! I%"II%FBI!&I!.I!6I%<:I%] FBIJIRIZI' =bI' =jIÝ65DQ*F?2F:FBF_0JFG G ! I) u Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >.#w,NbA ?YE?s 9&:>yH o?@:? M? uk?ÿs^?9/?`s?ɨ ?4;騍 Cy5B"I) Mb@Mb@Mb@ )YMbv/?S㥛?y@x=/<A )5@I@yG@I IV2٢\= ,=9\_Q > G٣y(o; > Nusing accuracyPremultiplier from config59??5Y il[@B>;#1@@gEtM;K;n 5! %@!]DNOT Ignoring new targets: 43.30 m. jYjYjYjYiahahihihuBfqfqrfybf}"!:@]B>]B>]?]#1@s B?I9 ɚ4iIIiiiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.zKpOK9KK#K2*%  B2Dm%9*F ?2F :F BF [0JF  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G-3B1OU>#w,GTA6j ?Y6E?6h96Bk:>y6H`?M @?T? a?@ ÿ@ l?`(?hs?ɨ6j ?6.;4y>7B>"IIJIJ3٢Nf< RO=9RQ R>TT VG٣Tyvk; z> ~Nusing accuracyPremultiplier from configx59z;?5Yz3 iz\@F1@@zgEz ;zL;z/5 t@eDNOT Ignoring new targets: 43.30 m. jajajajaiahahihhffrfbf D:@]]]]AF1@ h  uC?IJ: ɚ#5iIIii))!DM9JJJ0JJ:JK:Jـ3J5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFH)I) I-"II-yBI)&I).I)6I-<:I-c FG :B O5 >6#w,A60 ?Y6lF?696z`:>y6H?*.`?o`?S?uÿw?&?r?ɨ60 ?6;6CyB;BB"IIJIJ 2٢R< RK=9V6Q V>TT VG٣XyZե; Z> dId jNusing accuracyPremultiplier from config\j59^*8?n5Y^· i^]@prs1@r@\^;;^T;^5t v.@tDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf:@]]]]Es1@5 9=E?I=: 9ɚ=J5i9I9IAiAiI)I)Q}Will construct direction to contact in vehicle frame from tetrahedron phase data.BD8?:D"?DU!9*F?2F:FBFZ2JF"G>G>GI BY Ou >- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK vHMK 9K K $K a#w,Ay~7B~"IiIp=Mb@Mb@Mb@ )YV-?{Gz?y>ף<hA @)I-@y@IIb2٢㍼ 5=9Q > %G٣!y% %> -Nusing accuracyPremultiplier from config)559-(4?55Y- i-^@=>=;=2&@=@-gE-;-;-5A En@AmDNOT Ignoring new targets: 43.30 m. jijqjqjqiqhqhyhyh}Bfyfrfbf@v_;@]>]>]=?]2&@ 隽@?Ic: ɚ |5iII Iii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉ*FY2Fa:FaBFe4JFaG 3B O >L#w,͎AJJ@A6b?Y6GyG?6,965:>y6H @?#J?qw?g8? 3Ŀ@ٛ? ? q?ɨ6b?6;6 CnWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B"IIEIE2٢_ P=9.Q > G٣yh+< >HI I#IIBI&I.I6I<:Ix F Nusing accuracyPremultiplier from config590?5YX i_@&@@gE;;5 @uDNOT Ignoring new targets: 43.30 m. jqjyjyjyiyhyhyhhffrfbf;@]]]]&@, ??I: ɚv5iIIi!i!)!)AD%B9*F?2F:FBF5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G BB O5 >(#w,AJٹ?YJ5H?JY59Jg:>yJH`$?\|??v%?:`Ŀ@b?@&?p?ɨJٹ?Jw;HyZ,BZ"IMb@Mb@Mb@ )Y~jtPn?t< A @)K@I@y=@I I̍2٢- E=9Q > G٣y ;  > Nusing accuracyPremultiplier from config59,?5Y i`@%>%;%d#@%@gE_;;h5-B -@-EeDNOT Ignoring new targets: 43.30 m. jajajajaiahahahihmBfifqrfqbfu.<@] >] >] P?] kd#@%Y5 !%:?I%F: )ɚ-^5i)I)I1i1JKm3 KS}-KK"KJEJEJAJAJE:JEU:JAJAJEi;aUJEj;aUJEe;aUJEe;a]i1)Y)a2Di*DmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKyJK89KK%KDT9*FU ?2FQ :FQ BFU Q5JFQ GY  GY y$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu :B O >#w,A6?Y6H?6r>969>y6HR?;g@X? _??Ŀ̧??`p?ɨ6?6.;6CyBBB~"I)D FAININ 3٢R VJ=9V)Q V>XX ZG٣XyZg; ^> bNusing accuracyPremultiplier from config\f59^P)?f5Y^Ѵ i^a@df#@f@^gE^ ;^ ;^-5h n@l DNOT Ignoring new targets: 43.30 m. j j jjihhhhffrfbf%<@]9]9]9]=#@Ur> QU2?IU: QɚU5iQIYIYiyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im(#IImBIi&Ii.Ii6Im<:Im` FDP9*F?2F:FBF5JF  I G9 BI Om >F#w,ABT?YB9UI?BF9BT:>yBH?y`*??`?®ĿAԨ?@"? Fo?ɨBT?Bz;BCyN BNl"II^I^b2٢f fG=jWill construct direction to contact in vehicle frame from tetrahedron phase data.hih9n!Q n>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~59z%?~5Yz  izhb@#@@xzP:z :z5  @EDNOT Ignoring new targets: 43.30 m. jAjAjAjAiAhIhIhYhafafarfabfe=@]]]]J#@F 隝`+?I9 ɚ5iIIii))) NG!1DUb9 }sYyB*F?2F:FBFP0JFJJJJJ:JK:JJJ;J;Jc;Jc;Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK 9K K &K   8vp8  $+RK ?JK >G B O >4~#w,8AbV/?Yb;I?bN9b49>ybH`?@̷??@?Ŀ`Iө?@?o?ɨbV/?b䷈;bCyjBnG"I-Uonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,362.37  U@U U@U U@U  U@] I]I](*3٢mM  m?= yIy9 ʕQ > G٣y@; > %bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!U59%!?U5Y%9 ]tIi%Jc@]+:ae;e#@e@%gE%<%>%5 @DNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf%Aw=@Will construct direction to contact in vehicle frame from tetrahedron phase data.N z?I9 ɚ i I Iii))BDE??:DE7?Dq9*F] ?2FY :FY BF] O0JFa "Gm >Gm >} Will construct direction to contact in vehicle frame from tetrahedron phase data.H9 I9  I= #II= BI9 &I9 .I9 6I= ð<:I= FG3BO>#w,XWAR]?YRJ?R\9R(:>yRH o?ܠ@ym? v?d?`zſ ?@?Jm?ɨR]?Rޜ;PyZՃBZ'"Ii^pt vG٣tyv+< v> ~bBottom track data is 0.9 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z?5Yzj iz)d@ : ; 2$@ @zgEz(;zd?z5 ~@DNOT Ignoring new targets: 43.30 m. jjjjihh Ihhf!f!rf!bf%=@\ 隕y?IK9 ɚiIIii))*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G:B O= >J J J J J :J U:J J J i;J j;J e;J e;5 Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,6vqA^?Y^yCK?^Rc9^9>y^He?@ 7*?9?`?@e-ſ@f??m?ɨ^?^;\yfÃBn"I e m mm mm  m m mMb@Mb@Mb@iii i)iYm(\µˡE?~jtymm=mm@ m@)m@Im$@iym @I&I3٢ :=9ukQ > G٣yp; > Nusing accuracyPremultiplier from config59)?5Yn ic@T:=;KH@gE;;5  @ zK-MK)K)K-'K- BK1:K5qAMDNOT Ignoring new targets: 43.30 m. jIjIjIjQiQhQhQhYh]BfYfYrfYbfe`iT>@]}=]}=]}/@]}1I@Rc 隕{T?I: ɚ#Y4iIIii))*F=?2FA:FABFEo0JFA IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge3BqO>#w,+Ay޵B޵!III3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢   :=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%?HI I"IIeBI( =&I.I6I<:I FBIYJIYRIYZIYbIYjI]45Y%r i%c@!!%@%gE%9=%>=% 5q u@qDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf>@]]]] B?I9 ɚiII i i ) )EE*F}?2Fy:FBF_0JFG G I Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >u#w,֤A6h?Y6M L?6Ml96} :>y6HS?`e?`%?X?@YſZ? ?k?ɨ6h?6];6 Cy>B>!I)@ BAIJIJV83٢R%2 R{=9R׻Q R ?TT VG٣TyZ< Z ? ENusing accuracyPremultiplier from config9M59=~?M5Y=v i=c@IUHU@=gE=G<=!F<="5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf`;-?@]]]]J@-Ml )-`4?IEV: IɚIiQIQIQiYiY)Y)YJmJmJiJiJml:JmB:JiJiJm;Jm;Jm#b;Jm#b;Will construct direction to contact in vehicle frame from tetrahedron phase data.<<*F?2F:FBF 1JFzK؞KK9KK(KHERK?JK>G 3B O- > I #w,A6?Y6hiL?6an96:>y6H`J? ?@? ?>jſ¼? ,%?j?ɨ6?6;6CyJwBJ!I-Mb@Mb@Mb@))) )))Y-p= ף+?Qy--=-) )))I-@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.y-@II?13٢S 7=9މQ > G٣yQN; >  Nusing accuracyPremultiplier from config 59 ? 5Y/ ib@V>;5*5@gE;Z;$5A E/AE"EDNOT Ignoring new targets: 43.30 m. jjjjihhhhɁBffrfbf`i?@]V>]V>]h6@]^$g@-an 15 W?I5: 1ɚ5P4i1I1I9i9iA)A)A2DM*DMBDM:DM*FA2FA:FABFEP5JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >jH bH 4<H ,>I  I "II (BI &I .I 6I O<:I F#w,؏A2?Y2YL?2Ip929:>y2H K?{@Զ?v?@?kſ@?,?`[k?ɨ2?2H;2Cy>[B>!IIF*IF3٢R& Rb=9RԭQ V>TT VG٣TyZ/ Z> bNusing accuracyPremultiplier from config\b59^> ?f5Y^ų i^a@df*f@\^:^P:^%5h n AlDNOT Ignoring new targets: 43.30 m. j j j j i h h hhffrfbfP?@]9]9]9]= g@MIp IUpI?IU: QɚUiQIQIYiYiY)a)a x$?I*F ?2F :F BFT0JF"G>G>eWill construct direction to contact in vehicle frame from tetrahedron phase data.GU:BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J1 J5 J1 J1 J1 J5 :J1 J1 J1 J1 J5 cW;J5 dW;#w,iA2?Y2mL?2\o92/:>y2H J?@5?>??mſ?`? %k?ɨ2?2T̈;2Cy>JBb|!IipIr4=Mb@Mb@Mb@ )YxƿMbyK7QA @)@Iyf@IIT3٢՚ :=9G8Q > G٣y49: > Nusing accuracyPremultiplier from config59?5Y0 i`@3:>; @gExk;j;'5 AzK:6LKu9KK)KDNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbf`7.@@]3:>]3:>]I@]rz@U\o QUY?IU1: QɚUKl4iYIYIYiaia)a)a I*F%?2F!:F!BF%P0JF!uWill construct direction to contact in vehicle frame from tetrahedron phase data.GE 3BQ Om >$w,? A2?Y2L?2 o92A9>y2HQ? ̶??@ɿ?dſۭ?? k?ɨ2?2G=;0y>9B>g!IIFIF[3٢N R^=9R:Q R>TT VG٣TyVd Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ` iZ_@df f@ZgEZk8;Z8;Z#)5h jAhDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf\@@]]]]ly@  o P?*J5C="J5%=I=>: 9ɚ=4i9I9IAiIiI)I)qWill construct direction to contact in vehicle frame from tetrahedron phase data.H.>I IG"IIBI* =&IHD.I6Iְ<:I F*FM?2FI:FIBFM_0JFI IGm:ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. $w,&A6*?Y6L?6Vm96"(:>y6H)R? @@?? ?cſ ?L?uk?ɨ6*?6|;6Cy>6B>c!IIF$IF<3٢RGm RJ=9Vh:Q V>TX ZG٣XyZL Z> bNusing accuracyPremultiplier from config`f59b5?f5Yb ib^@df"j@bgEb :b:b*5l n5AlDNOT Ignoring new targets: 43.30 m. j j j j i h h hhffrfbf9@@]]]]y@eVm i隅LO?I: ɚ$5iIIii))*F?2F:FBFJFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKM k3IKM 89KI KM *KM GE 3BQ Om > I ?$w,yFH`?Z?˷?^?@?@/Wſ`L?D?k?ɨFEB?F#;F!CyR.BRZ!I)T T V=V==Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA]Mb@Mb@Mb@YYY Y)YY]A`"˿X9vV-y]Y]]]@ Y)]@I]@Yy]@ImIm#3٢} ==9):Q > G٣yK > Nusing accuracyPremultiplier from config59?5Y il]@e]>u;u@gE;j;,5 qA}DNOT Ignoring new targets: 43.30 m. jyjyjyjyihhhhvBffrfbf@@@]e]>]e]>]ZR@]2Ձ@Hj )\?I : ɚ z[5iII1iIiQ)Q)QD9JQJQJ]J]JYJYJ]:J]U:JYJYau@au@au@a}@Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFm [0JFi H 0>I  I "II BI ( =&I GD.I 6I ̰<:I F q Iy G :B O >$w,>]Ay6Bd!II% I%b3٢5U = 56=9=Q =>99 =G٣AyE E> UNusing accuracyPremultiplier from configIU59M?]5YM iM\@YY]@MgEM:MC:M.5a m2AiDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf@@]]]] `?I}: ɚ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.GvA =Y=vAyE=ADU9}PExceeded connect timeout, disconnecting.*F?2F:FBF^0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 3BY Ou >{2$w,`ZwAy?Bn!IzKmBoHKiKiKm+KmMb@Mb@Mb@ )Yq= ףpͿ rh:vykC T )@Iyp@IIV83٢$= >=9Q > G٣y > Nusing accuracyPremultiplier from config59펜?5Y i7[@sn>c;y @gE;I;05 B A %E5DNOT Ignoring new targets: 43.30 m. j9j9j9j9i9h9h9hAhE}BfA QIQfQrfQbf]5A@]sn>]sn>]ltR@]HS@) 15Ha?I=: 9ɚ=5iaIaIqiyiy)y)y2DrA*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.D9E rAE rA*F ?2F :F BF _0JF "G >G >J J J J J ̶:J K:J J M Will construct direction to contact in vehicle frame from tetrahedron phase data.H .>I  I !II BI & =&I .I 6I <:I FG :BO->%$w,sAZx?YZJ?Za9ZZ:>yZHl?"U?~?`o?2ſW?``'?Kl?ɨZx?Z] ;ZCybIBbz!IijC=IjC=InInM3٢v>1= v==9-7;Q 5>11 5G٣1y=U => ENusing accuracyPremultiplier from configAM59E莜?M5YEο iESZ@IU U@EgEE ;E: ;E25Y ]AYDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf@/nA@]]]]~9@a f?I,: ɚ`5iIIii)) iIiD_9Will construct direction to contact in vehicle frame from tetrahedron phase data.i*FE?2FA:FIBFIJFI } nManaging dock network, ignoring radio surface power offG 3B O >+$w,>A2?Y2ɁJ?2q\92:>y2H`zw?`-v?@Ǹ??@ ſ?)?`l?ɨ2?2+;2Cy>XB>!IEMb@Mb@Mb@AAA A)AYEQ˿~jtMbp?yE(\EE;A E@)AIE@AyAI]I][3٢mɇ= u9=9u{#;Q u>yy }G٣yy}X >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59㎜?5Y iZ@]>u;@gE; ;u45 "ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbfA@]]>]]>]N@]@%q\ )-Ha?I-S: )ɚ-5i)I)I1i1i9)9)9zKmBHKm9KiKm,KmRK} ?JK}? w$?IDq9*F= ?2F9 :F9 BF9 JF9 E Will construct direction to contact in vehicle frame from tetrahedron phase data.G] :By O >N3$w,̐A2??Y2#J?2Y92O:>y2H`mB>!IIFIF 3٢N= NB=9R;Q R>PT VG٣TyV7 V> ^Nusing accuracyPremultiplier from configX^59Zގ?b5YZ iZY@`bb@ZgEZv:ZU:ZI65d jzAhDNOT Ignoring new targets: 43.30 m. jjjjihh h h ffrfbfA@]1]1]1]5u@EY AMk?IM+: Iɚ'6iIIii))BD%>:D>JJJJJ:J:JJEWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<H/>I I!IIBI&I.I6IŰ<:I FBIiJIiRIiZIm( =bIm( =jIm5Dm9 QIQ*F%?2F!:F!BF%w0JF!G1 G5qA Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O >59$w,ARD?YRI?R&T9R:>yRH@;?Cp?Q?`|? 3ſs?D/??m?ɨRD?R.;PyZB^!I)` `IfIf3٢n+= rG=9rG$;Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|59~َ?5Y~X i~qY@   @~gE~:~:~85 AMDNOT Ignoring new targets: 43.30 m. jIjQjQjQiQhYhYhahafafirfibfm`B@]]]]h@&T 隥v?I : ɚiIIi)iI)Q)Y]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fe ?2Fi :Fi BFm 0JFi I II zKe BoHKe 89Ka Ke -Ke GI BY Ou >@$w,@ANWill construct direction to contact in vehicle frame from tetrahedron phase data.LiLyB!I=Mb@Mb@Mb@999 9)9Y=^I +ǿ{Gz?I +?y=X9=#<=9<=A =@)=@I99y=@Im Im<2٢}6= }%=9Q > G٣y > Nusing accuracyPremultiplier from config59aԎ?5Y iY@:>;@gE;;=:5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbfOB@]:>]:>]E@]qy@  W?I: ɚr4iIIii))JJJJJ:JK:JJD9MWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I"IIǃBI% =&I.I6I<:I F*F ?2F :F BF 0JF  I G B O >G$w,v AF6O?YFH?FcL9Fo:>yFHy?Do/ڷ?V??`#Ŀ`É?%?n?ɨF6O?Fl;FCyNBN!IIZ IZ(2٢b= bL=9b ;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nώ?r5YnG inAZ@prv@ngEn:n: ;n;5zB ~~@~(E%DNOT Ignoring new targets: 43.30 m. j!j!j)j)i)h)h)h1h1f1f1rf9bf= B@]Y]Y]Y]]3y@mcL qu c?Iu: yɚ}iyIyIii))2D*D Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF_5JF"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Om >M$w,E*:A6M?Y6H?6V J96֐:>y6Hǟ?on?\?@(? Ŀ>?)?n?ɨ6M?68s;6!CyNʃBN"IiR G٣yug > Nusing accuracyPremultiplier from config59ˎ?5Y ig[@>;_)@gE ;;=5 @DNOT Ignoring new targets: 43.30 m. jjjjihhhh0Bffrfbf ׹B@]>]>]2@]ch@V J 隥L?I&: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFO5JFJ J  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B H ->I  I T"II BI & =&I .I 6I <:I FO >U$w,aUAn}.?YnbH?n9G9n:>ynH@? k@?͐?`?Ŀ ?(?n?ɨn}.?ng;nCyzBz="II I <2٢> F=9:Q >!! -G٣)y-0 -> 5Nusing accuracyPremultiplier from config1=595{Ǝ?=5Y5 i5\@AEh)E@5gE5';5;5?5Q UE@Q}DNOT Ignoring new targets: 43.30 m. jyjyjjihhhhffrfbfB@]]]]h@9G 隵[?Is: ɚiIIii)) AIADe9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF15JFG9 B O >[$w,rAJhJjJhJhJhJj:JhJhJji;arJjj;arJjZ;arJjZ;armWill construct direction to contact in vehicle frame from tetrahedron phase data.yuBuI"IMb@Mb@Mb@ )Y+ηB`"۹?I +?yv=94=A )IQ@y@I%I%2٢5?"= 5)=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configIU59M?U5YM iMC^@]>];]G]@MgEM? ;Mm ;MA5i m@iDNOT Ignoring new targets: 43.30 m. jjjjihhhhgBffrfbf`,C@]M>]M>]M(@]M_J@ 隅E?I~9 ɚW4iIIii))BDC?:D=? v$?IzK /KK K K /K D9EqAEqA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F] ?2FY :Fa BFe 05JFa G} qA Gy G} :B O `}c$w,A>Z?Y>pH?>*E9>Rj:>y>H?ink+?`֔?x?@ Ŀ碨?%? Lo?ɨ>Z?>;>CyJ BJh"I)L LIV IV̍2٢^e= ^M=9^ޤ:Q b>`` bG٣`yf: f> jNusing accuracyPremultiplier from confighn59j?n5Yj ij_@prGr@jgEj;j;jC5t v@tDNOT Ignoring new targets: 43.30 m. jjjjihhh!h!f)f)rf1bf5_C@]Q]Q]Q]UHJ@e*E aeQ?Im: iɚmiiIiIqiqiq)y)yH5+>I1 I5"II57BI5' =MWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M<&I1.I16I5<:I5u FD yIy*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.) G * c~G |uA B) U YU |uAyU 5BOe >}1j$w,AF?YF"I?FiD9F:>yFHH?tH?`?` ? ZĿ͊?q+?@o?ɨF?F ;FCyVBVs"II^I^b٢f= f9=9f9Q j>hh nG٣lyn,; n> rNusing accuracyPremultiplier from configpv59r?v5Yr irTa@x~G~@rgErTE;rE;ruE5 @DNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf C@]]]]J@-iD )-U?I-: Qɚ]h4iYIaIii))JcKkـ3 KkKcKc"KcJJJJJ:J&:JJJ;J;J\;J\;EWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9 QIY*F?2F:FBFJFzK K 9K K 0K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O5 >q$w,rƑAB?YBsI?B=C9B:>yBH+?;{@j?آ?x?Ŀp?@3? n?ɨB?Bq;@yLLMb@Mb@Mb@ )YJ +rh|?kt?yH= 0=zA @)-@I;@y@I I<2٢;W: 0=9!9Q > G٣y,; > Nusing accuracyPremultiplier from config%59?-5Yq i4c@5>5;5y2@=@gEY;l;G5A E@ADNOT Ignoring new targets: 43.30 m. jjjjihhhhBff!rf!bf- zC@]E>]E>]ET?]Ey2@]=C Y]R8?I]9 Yɚ]4iYIaIiiiii)i)q2D}qA*D}qAHIII IM"IIMeBII&II.II6IM<:IMa FmWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F ?2F :F BF JF "G >G > a Ia G 3B O >4x$w,aA6L?Y6rI?6E96~:>y6H?MP?&??Ŀ?'?$o?ɨ6L?6;6 CyBBBu"IiF\\ ^G٣\ybBI; b> fNusing accuracyPremultiplier from configdj59f󮎜?j5Yf ifd@ln2@n@fgEf;f ;fWI5p re@r+EWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf ; D@]Q]Q]Q]UF2@ E 99?I-.9 1ɚ55i1I1Iaiiii)i)q*F=?2F9:F9BF=_0JF9J J J J J :J  :J J J ;J ;J R;J R;Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O > I h~$w,ߨAy%B%x"IzK}jIK}9KyK}1K}%3@O\lBKqA:KpAMb@Mb@Mb@ )YS㥛K7?~jt?y/ݼI >=A )IQ@y3@IMIMF2٢]5< ]2=9eQ e>aa mG٣iym m> }Nusing accuracyPremultiplier from configy59}?5Y}# i}f@/>;%@@y};};}XK5 ;@DNOT Ignoring new targets: 43.30 m. jjjjihhhhBffrfbf`uDD@]/>]/>]?]I%@ 33?I9 ɚJ5iI I ii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFGm 3Bq O >H I  I "II ~BI & =&I .I 6I <:I m FBIIJIIRIIZIM& =bIM& =jIMD25 Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,A2?Y2ԂJ?2F921:>y2Hx?͓T?`u?@?Ŀը?y?@wo?ɨ2?2!ʇ;2CyJBNp"III ٢%! -`=9-BQ ->11 5G٣1y=B; => ENusing accuracyPremultiplier from configAM59E2?M5YEz iEh@IM%@M@EgEE:E.:EL5Y ]@YDNOT Ignoring new targets: 43.30 m. jjjjihhhhf!f!rf!bf%euD@ 9I9]q]q]q]u&%@F 隍/?I9 ɚv5iIIii))*Fe?2Fa:FaBFm1JFiGq GurA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=Ai9G)B9Oe>ȋ$w,m1AJJJJJL:J:JJJO;JQ;JZ;JZ;Will construct direction to contact in vehicle frame from tetrahedron phase data.yB\"I)  = =Mb@Mb@Mb@ )Y:vQ?~jt?yԼ=<zA @)Iy@IIm?3٢= '=9Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Y iqi@>;&@@gEZ;wX;O5 @-DNOT Ignoring new targets: 43.30 m. j)j)j)j)i)h)h1h1h5Bf1f9rf9bf= D@]>]>]_?]&@   R8?I P9 ɚ5iIIi !I!i9)9)A*F?2F:FBF0JFzKNK89KK2Kxnigeb^[XSQME;7420.--)&#   E Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >T$w,y:KAy~B~H"II  I 2٢1ѽ %=9!Q % ?)) -G٣)y) 5 ? MNusing accuracyPremultiplier from config9e59=Z?e5Y=4 i=Wj@iim@=gE= ;=";=vP5q u@qDNOT Ignoring new targets: 43.30 m. jj!j!j!i!h!h!h)h)f)f)rf)bf5D@]Q]Q]Q]Qa im0?Im: iɚmiiIiIqiyiy)y)y2D*DBD:D*F?2F:FBF4JFJJAAH1I1 I5"II5BI5' =&I1.I16I5<:I5o FWill construct direction to contact in vehicle frame from tetrahedron phase data. IGBO >aט$w,MeA::?Y:%L?:!uH9:9s:>y:H@S?$??@?`Ŀ ?b&?n?ɨ::?:;8yFBF6"IININ3٢V ZR=9Z䋺Q Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj59f ?j5Yf ifok@hj'@j@fgEf:f":f)R5p r@tWill construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 43.30 m. jIjIjIjQiQhQhQhQhYfYfYrfYbfe`F E@]y]y]y]}'@!uH 隕(?Ix9 ɚ$4iIIii))*F?2F:FBFP0JF"G!G!GYBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.  t$?I 6$w,~A2?Y2ؖL?2H92i:>y2HjI?@u??ؽ?`Ŀ`?3%?@n?ɨ2?2;2CyvۃBv."Iiz=Iz<Mb@Mb@Mb@ )YZd;O?~jt?yj<=D< @)C@I;@y=@II2٢zK5NKu9KK3KvP/ ;=9- Q > G٣y>; > Nusing accuracyPremultiplier from config59B?5Y7 i6l@=;4@@;o;T5 @%DNOT Ignoring new targets: 43.30 m. j!j!j!j!i!h)h)h)h-eBffrfbf GE@]=]=]@]64@%H !%:?I%9 )ɚ-4iIIIIQiQiQ)Q)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA*F?2F:FBFQ0JFG! B1 OM >*J "J J J J 1J J ܫ:J :J 3J a @a @a @a @H! I!  I% "II% oBI! &I! .I! 6I% <:I% x F Will construct direction to contact in vehicle frame from tetrahedron phase data.o$w,˘AF?YF}M?FG9F@:>yFH4?CѸ??P?Ŀ@?(?@n?ɨF?F ;FCyRBR"IIZIZ2٢bF f[=9f9Q f>hh jG٣hyj< j> vNusing accuracyPremultiplier from configpv59r?v5Yr irl@xz65@z@rgEr:r":rU5Y ]R@Y IDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf@AwE@]y]y]y]}65@G 隍a(?I9 ɚiIIii))*F%?2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 3Bq O >$w,AE[h?YE@M?EhH9EO:>yEH+? Ѹ????@$Ŀ ?"?o?ɨE[h?Eب;ECyB%!IuWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5ˡEx&?y5什57=55hA 1)1I11y5@IM IM(2٢e e'=9euQ m>iq uG٣qyuQ; u> Nusing accuracyPremultiplier from configy59}?5Y} i}m@=;@@}gE};};}W5 {@DNOT Ignoring new targets: 43.30 m. jjjjihhhh(BffrfbfE@]=]=]7@]TfQ@hH q=?Iv9 ɚOK4iII!i!i!)))) I*F?2F:FBFJFGrA GzK-BcMK)K)K-4K-ji3u'Gm :Bq O 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,̒A:D?Y:(MN?:)G9:ĥ:>y:H`'"???`Ж?%{Ŀ?,?`n?ɨ:D?:{Ç;8yJBJ!I)L LIVIV٢^Le ^=9^:Q ^ ?`` bG٣`ybv; f ? jNusing accuracyPremultiplier from configdn59f󎎜?n5Yf0 ifIm@ln@r@df5;fh;f:Y5vB zA~.E]DNOT Ignoring new targets: 43.30 m. jYjYjYjaiahahahahififirfibfm xE@]]]]݀Q@)G 隭=+?I: ɚiIIii))*F%?2F!:F!BF%0JF!JJJJJ:J^:JJH,>I I"IIFBI& =&I.I6I<:I_ F}Will construct direction to contact in vehicle frame from tetrahedron phase data. qIqGaBqO>'$w,cAnWill construct direction to contact in vehicle frame from tetrahedron phase data.r~G~vAyErBM!I mYuvAII3٢;a ==9Q > G٣yAy > Nusing accuracyPremultiplier from config59?5YY im@@gESM;M;#[5 =ADNOT Ignoring new targets: 43.30 m. jjjjihhhQhQfQfYrfYbf] -F@]]]] 隵#%?I59 ɚA44iIIii))*F}?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O > a Ii $w,C9A6w?Y6N?6<E96:>y6H??@y "7?`v??`nĿt?U3?n?ɨ6w?6T;6CyBYBB!I=Mb@Mb@Mb@999 9)9Y=V-l?~jthy====D=A 9)9I99y=@IUIUF3٢er eO=9mӆ:Q m>qq uG٣qy}~; }> Nusing accuracyPremultiplier from config59?5Y ixm@o=; )@gE;';\5  ADNOT Ignoring new targets: 43.30 m. jjjjihhhhفBffrfbfEF@zKgNK9KK5K]o=]o=]M5@]i@%<E )-@?I-n: )ɚ-i)I)I1i1i9)9)9*F?2F:FBF@5JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>H I  I f"II BI &I .I 6I <:I g FJ J J 0J J :J U:J ـ3J J ;a J ;a J e;a J e;a  Will construct direction to contact in vehicle frame from tetrahedron phase data.ե <ա 7$w,^AFK?YF/N?FGD9FKn:>yFHW?Z,?i?ׇ?@`Ŀ@?&? No?ɨFK?FB;FCybBBbr!Iij!! %G٣!y-9 -> 5Nusing accuracyPremultiplier from config1=595?]5Y5 i5lm@Y])e@5gE5>;5p;5^5i mAiDNOT Ignoring new targets: 43.30 m. jjjjihhhhffrfbf`tyF@]!]!]!]%Ai@]GD Y]f4?I]9 YɚYiYIaIaiaii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.Du79*F 2F :F BF 0JF G5 3Bi O >2$w,6A~Will construct direction to contact in vehicle frame from tetrahedron phase data.u?YuHO?uTC9u:>yuH ?; tR?`$?`K?XĿ`?h? ,?`#o?ɨu?u6;uCyލ.BލY!ImMb@Mb@Mb@iii i)iYm-ƿQ? G٣y; > Nusing accuracyPremultiplier from config59b~?5Y il@!6>;*@gE;;`5 bADNOT Ignoring new targets: 43.30 m. Resuming propulsion at range: 43.30 m and bearing: 85.338950 deg. Not drifting fast enough.bj (? j w1@j j jiL?hhhhBff!rf!bf%CF@]E!6>]E!6>]EC@]Ev@]Y@= ]F=]q=?I]9 aɚeZR4ieIeÓ=Im"?iiii)mw1@)uA*F2F:FBF 5JFzK%jIK%-9K!K%6K%Will construct direction to contact in vehicle frame from tetrahedron phase data.G :Bi O >%$w,eQAZ?YZiMO?Z7]A9Zl:>yZHi ?AXb?{%??JĿZ)?(?o?ɨZ?Z$;Z CynBrE!II"Iq3٢5 `=9%:Q ->19 =G٣9yEiS9 E> ]Nusing accuracyPremultiplier from configQe59U;z?e5YU9 iUl@am(m@UgEU~$;U;U^b5q uAqDNOT Ignoring new targets: 43.30 m. jjjjihhhh:uAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1; ve Will construct direction to contact in vehicle frame from tetrahedron phase data.;O$w,=kA:o?Y:SlO?:?9::>y:H?m-z??(?!?`AĿ?'*?@o?ɨ:o?:;8yF BF-!I)H HIR'IR@3٢Z ZR=9Z":Q Z>\\ bG٣`ybX: b> fNusing accuracyPremultiplier from configdj59fu?j5Yfi ifBl@Y] ]@fgEf I5$w,A6?Y6wO?6=96 :>y6H?@z?c)?N~?$:Ŀ鮧?`3?@^o?ɨ6?6k;6CyBBB!IzK~BoHK|K|K~7K~7+BK :K qA%Mb@Mb@Mb@!!! !)!Y%|?5^ɿ{Gzt~jthy%M%ף%D%A %@)!I%$@!y!Will construct direction to contact in vehicle frame from tetrahedron phase data.I Ib3٢1v !=9:Q > G٣y}9 > Nusing accuracyPremultiplier from config59p?5Yd ik@M>;@gE;;Ef5  A 5DNOT Ignoring new targets: 43.30 m. j1j1j1j1i9h9h9hIhMBfQfYfYrfabfm@ZG@]M>]M>]UJ@]R~@ɛB"F- 隝I l)aɚiI1Β=I ?ii))HI I!IIBI&I.I6I<:I` FE- q: Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 5JF "G >G >  I G!B1OU?C$w,+2A6c?Y6G[O?6=96.:>y6Hp ?W^?&? r?1Ŀ?(?@o?ɨ6c?6;4yBBB !IiF\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdE59fk?E5Yf ifk@IMM@fgEf;8$w,=モAybBb !ImMb@Mb@Mb@iii i)iYmy&1̿{Gzt~jth?ym`eimD;mA i)iIiiym@I,I3٢< ==9Q > G٣y > Nusing accuracyPremultiplier from config59f?5Y iEk@te>l;@gE ;;i5 RADNOT Ignoring new targets: 43.30 m. jjjjihhhh Bf f f rf bf G@]5te>]5te>]5}J@]5Cv~@ɛE܂BE--; IM(=II M7ɚIiIIM)=IUQ@iQiY)Y)YEMxH=zK5LK59K1K58K5RKE ?JKA*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.GG AB O >H I  I !II lBI &I .I 6I h<:I G F$w, ٓA6?Y6o:O?6k\996:>y6H` ?`ڽ?a$?`"?!Ŀ )?@.?`p?ɨ6?6Z;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBF !IININF3٢VL VY=9Z<;Q Z>ZL?ZL? ^G٣\y^ b> fNusing accuracyPremultiplier from configdj59fMa?j5Yf~ ifk@lnn@fgEft;f>;fk5p vfAv3EDNOT Ignoring new targets: 43.30 m. jjjjihhhhf!f!f!rf!bf% >G@ɛU͂BUS; Ye~=Ia eY.8ɚaiaIeDڑ=Im@iiii)i)q IEw=*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G G qAG rAG B O% >B$w,̘A6?Y6eO?6796);>y6H ?``?5(?? ĿD? =?`oo?ɨ6?6-;6 Cy>BB!I)D DIJ,IJ3٢bz b==9fg:Q f>hh jG٣hynB: n> rNusing accuracyPremultiplier from configpz59r[?z5Yrc irj@xz~@rgEr/;rO/;rrm5 AJ%J%J%0J!J%:J%z:J%ـ3J!Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrf Ihbf5H@ɛB; =I Jx,9ɚ i I l=I 6@ii))9EAEA*EA"EA*Fy 2Fy :Fy BF} ^0JFy zK BoHK 9K K 9K u Will construct direction to contact in vehicle frame from tetrahedron phase data.u Aiq Gy GQBaO}>%w,AyB !IMb@Mb@Mb@ )Y!rh̿~jth{Gz?ylgD#< @)IQ@y@II2٢< =9Q > G٣}PGy > Nusing accuracyPremultiplier from config 59j;@gEt;[;o5 %VA!HYIY I]!II]WBI]' =&IY.IY6I]N<:I]4 FuDNOT Ignoring new targets: 43.30 m. jqjqjqjqiqhqhyhyh}Bfyffrfbf@mH@ɛBgQ< 隽 >I 9ɚiI& =Iqh@ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*JR="J4= er$?Ii*F}?2Fy:FBF0JFGGy B O >) = cC9 Q a Y y A] Will construct direction to contact in vehicle frame from tetrahedron phase data.U @m Bέ %w,h,Aj=?Yj"N?j49jX0>yjH? ]M???`O8ÿ@? ? P~?ɨj=?jጆ;jCyvBz!II I b1٢= Y=9P;Q >!! %G٣!y-3 -> 5Nusing accuracyPremultiplier from config1=595aP?=5Y5J i5j@9=E@5gE5i ;5 ;5Sq5I M%AIuDNOT Ignoring new targets: 43.30 m. jqjyjyjyiyhyhyhhfffrfbfxH@ɛBY< 25>I 9ɚiI=Ib@ii))*F%?2F!:F!BF%0JF!JJJ1JJL:J :J3JWill construct direction to contact in vehicle frame from tetrahedron phase data. qIqG G B O >%w,FAJ ?YJfN?J#Y19J)>yJH 8!?`?`??¿^)?`?@+?ɨJ ?Jd;JCyjBj !IeMb@Mb@Mb@aaa a)aYeB`"ɿ{Gz?/$?yeNeף G٣~PGy > Nusing accuracyPremultiplier from config59J?5Y i8k@P>;@gEY;;+s5B A6EDNOT Ignoring new targets: 43.30 m. jjjjih h h h BfffrfbfcH@uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB< k>I R!:ɚiIaC=I=@ii))*F?2F:FBFP5JFHaIa IaIaIe& =&Ia.Ia6IeG<:Ie/ FG}3GI BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii %w,m`A:?Y:N?:U-9:SN!>y:Hn(? ੉?1 ?`???S?ɨ:?:E;: Cyb Bf.!IInIn3٢vm= vU=9vs';Q v>11 5G٣1y=F => MNusing accuracyPremultiplier from configIU59ME?U5YM- iMk@Q]]@MgEM;M;Mt5a eqAaDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbf`I@ɛ|Bë< $>I X:ɚiI ߏ=ION$@ii))*F?2F:FBFP0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO >%w,czAJ3K3 K/.KKzWill construct direction to contact in vehicle frame from tetrahedron phase data. |I|"KJJJJJHJHJJ<:JJ:JHJHy޵B޵>!I- G٣y >  bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 ??5Y  i l@+:R;@ gE ); D> v5) - A)eDNOT Ignoring new targets: 43.30 m. jajajajaiahihihihifqfqfqrfqbfuDI@ɛEiBE< IMH>II Mxu:ɚIiIIM"T=IUq0+@iQiQ)Y)y' TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF U5JF G  G GM :G!B1HM->II IM!IIMgBII&II.II6IMo<:IML FBIJIRIZIbI& =jIΝt4!ubCommunications Fault in component: RDI_PathfinderO}>%%w,QA2ƌ?Y2N?2,-92>y2H)?.!? ?`?@?@?@œ?ɨ2ƌ?2C;2Cy>)B>T!IF@FPowering downFF JJIJIJM3٢%= %V=9-`Q ->)1 5G٣5PGy5.0 5> EbBottom track data is 0.9 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=:?M5Y=J i=ul@U :QU*;UU@=gE=:;=a?=w5Y ]}A IWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbf=@9xI@ɛZBvs< ?8S=隍:>I Xl:ɚiI\ގ=IX0@ii))*Fm?2Fi:FqBFuP0JFqGu Will construct direction to contact in vehicle frame from tetrahedron phase data.y } 4=G B O >,%w,#eA2?Y2n8N?2392>y2H@M%?@b@_??@?(b?` ?|?ɨ2?29d;2CyR-BRY!IIZIZ?13٢b< bS=9b`Q b>dd fG٣dyj1: j> rbBottom track data is 1.3 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n5?v5Yn inl@z9xz ;zz@ngEnn;nO?nx5y }]ADNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbfI@ɛeLBe;= im>Ii u3:ɚyiyI}(_=I`5@ii))*FM?2FQ:FQBFU[0JFY IWill construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJe0JaJe\:Je :Jeـ3JaGGi Bq O >2%w,?̔AzKK-9KK<KRK?JK?"Will construct direction to contact in vehicle frame from tetrahedron phase data.Bx?YBN?BF99B$>yBH`?@W?\??<¿&? f? Ȏ?ɨBx?B;BCyJABJq!IIR&IR3٢Z= ZK=9^{tQ ^>`` bG٣`yb; f> jbBottom track data is 1.7 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f0?n5Yf if5m@r9pr:r{r@fgEf6;f?f_y5t vAtDNOT Ignoring new targets: 43.30 m. jjjjihhh!h!f!f!f)rf)bf-I@ɛU>BU= QUj?I 9;ɚiI܍=I:@i!i)))))*F?2F:FBF_0JFjHbH<HI I!IIBI&I.I6I<:I F q$?IG3G ?GO?Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!dClearing failed state for component RDI_PathfinderO>9%w,mAFB?YFƾO?FA9FV'>yFH,??A/?`?`¿?@q?+?ɨFB?FpF;F CyRNBR!I=Z:Expecting PD13 message formatI^!I^i3٢j== jI=9jOQ j>ll nG٣lyr3; r> vbBottom track data is 2.1 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59vZ+?z5Yv ivm@~9|~:A@vgEvG;v@vy5  UA 9E5DNOT Ignoring new targets: 43.30 m. j9j9j9j9i9hAhAhAhAfAfIfIrfIbfM J@ɛ}/B})= 隅b?I /;ɚiID=I@@ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.E*F5?2F9:F9BF=\0JF9 I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 :G B O% >e@%w, A6e?Y6P?6+K96)(>y6H?+@G? G?@_p?@_¿b??`?ɨ6e?6];6CyV`BV!IIfIf 3٢vѥ= z<=9~FQ >   G٣PGy&< > =bBottom track data is 2.5 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config)M59-%?M5Y-$ i-m@Uo9QU:UU@-gE-k;-H />I  I !II BI % =&I .I 6I d<:I F FF%w,ZA:?Y:R?:oT9:(>y:H`?G?ֵ?a?Q? ÿ@Ԋ?`c??ɨ:?:Xه;:C @IDyJeBJ!IJRJRJPJPJR:JR:JPJPJR'pp rG٣tyvF< v> ~bBottom track data is 2.9 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.x 59z ? 5Yz izQn@ B9 n:@zgEzӃ;zZ:@zz5 AMDNOT Ignoring new targets: 43.30 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe@yJ@ɛBzV= =+=隍*?I Du;ɚiI#=IFii))D=I9Will construct direction to contact in vehicle frame from tetrahedron phase data.Ee 8R=*F ?2F :F BF ]0JF G qA G qA IG)G1G1eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%?O%w,I?A6 ?Y6S?6b96x(>y6H ?`li^?E?-?nWÿ Q???ɨ6 ?6ɇ;6 Cy>rB>!IIFIFm?3٢ M7=  =9 ȻQ  > G٣PGy[ < > %bBottom track data is 3.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-59%?55Y% i%n@5915@:5N=@%gE%E;%^@%c{5A E5AAuDNOT Ignoring new targets: 43.30 m. jqjqjqjqiqhqhyhyhyfyffrfbfDJ@ɛBvB= 隵:?I \̕;ɚiI=IDE?ii))D%9E+,=*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKk9KK>KG] BG9 BA O] >wU%w, YAH.>IC I"IIǃBI$ =&I.I6I:IB?YBNU?B@o9B)>yBH{?i7???@ÿ`?k??ɨB?Bɳ;BCyVyBZ!IIrIr2٢U= UF=9]Q ]>Ya eG٣ayeG< e> ubBottom track data is 3.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}59mx?}5Ym& imo@}8:@mgEm6;mx@m{5 A IDNOT Ignoring new targets: 43.30 m. jjjjihhhhJJBAJ J J J J  :J  :J J J <J <J U;J U;fff!rf!bf%@eJ@ɛUB]Will construct direction to contact in vehicle frame from tetrahedron phase data.]l= aeE?Ia e9/;ɚaiaIe+=ImΓ9iiiq)q)yDu9EqEq*Eq"Eq}NG|uA Y|uAy B*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G SG 1?G ?G B O >\%w,ZvA65 ?Y6fY?696%7+>y6H?c@?@??YEĿ r?A?s|?ɨ65 ?6I;6CyFBF!IIJIJb2٢V< V:=9V҃Q V>XX ZG٣Xy^e= ^> fbBottom track data is 4.3 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b ?j5Yb ibho@j8hn9nn@bgEb*C;b@b{5rB vAv] Will construct direction to contact in vehicle frame from tetrahedron phase data.c%w,+AzKBjIKB-9K@KB?KBN'e#?YN [?NH9NW.>yNH?`懵?+?R?Ŀߐ? ?v?ɨN'e#?N;N CyZBZ!Ii^ppp rG٣rPGyvk< v> ~bBottom track data is 4.7 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z ?5YzR izo@8 9 + @zgEzPB;z@z|5 ^A=DNOT Ignoring new targets: 43.30 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfU@cK@ɛuЁB}Nj= }=}]?Iy ;ɚiIa=Ip.ii))BD=:De>D9*F-?2F):F)BF-W5JF)HIC I;"IIBI& =&I.I6I<:Ii F IJJJ/JJ:Jz:J(N3JJi;Jj;Jl;Jl;Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAGmk GI BQ Om >j%w,QAZD&?YZ^?Z9Z50>yZH?"Z1?e? q? ſ`l?@c?q?ɨZD&?ZF;Z"CyttIIb29Q > G٣y< > -bBottom track data is 5.1 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%#?55Y% i%o@589=9=n=@%gE%#9;%@%5|5A AAuDNOT Ignoring new targets: 43.30 m. jyjyjyjyiyhyhyhhfffrfbfK@ɛB= 隽0e?I @2;ɚiIm=Ib(ii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF@5JFGB IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.p%w,ÕA66)?Y6a?6q96Ga4>y6HsC??`??ſ`)?>^?j?ɨ66)?6#;6CyBBB!IIJIJ#3٢RW< R<9RQ R>TT VG٣TyV= Z> bbBottom track data is 5.5 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^}?f5Y^f i^%p@f[8df9jj@^gE^m(;^"@^Q|5l r3Ap DNOT Ignoring new targets: 43.30 m. j j j jihhhhfffrf!bf%`K@ɛUBU!= QUn?IQ U<ɚiIy=Iu#ii))D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeP0JFa'TFailed to parse incomplete device message.GE J jH bH 4=H ->I  I Z"II BI % =&I .I 6I <:I v FBIIJIIRIIZIM% =bIM% =jIMCs5GA BY I O >vw%w,ݕAB,?YBje?Bi;9BuF9>yBH a?·??`O?0ƿ@K??a?ɨB,?B鷇;@JLJNJN1JLJLJN/:JN3JLJLJLJN^;JN^;ZWill construct direction to contact in vehicle frame from tetrahedron phase data.y^Bb!I)d dIj"Ijq3٢r vF=9v߻Q v>tx zG٣zPGyz= ~> bBottom track data is 5.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~? 5Y~ i~^p@18Y9@~gE~/Y;~`@~j|5! %TA%>EMDNOT Ignoring new targets: 43.30 m. jIjIjIjQiQhQhQhYhYfYfYfYrfabfeK@ɛB䳘= 隍s?I ;h<ɚiINr=I $ii))2DqA*DqADuM9Eu.=*F ?2F :F BF 5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 {*G B O= >}%w,oA2y0?Y2^gi?2H92A>y2H`?x$Ԩ?7? ?@͚ƿc? ? TU?ɨ2y0?2XLJ;2Cy>B>!IIFIF٢RC< R@=9VQ V>TX ZG٣XyZ= Z> bbBottom track data is 6.4 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^?f5Y^ i^p@j8hj09jj@^gE^8;^@^~|5l n?Al~B*** querying acoustic contact ***j|j| DNOT Ignoring new targets: 43.30 m. j j j j ihhhhf!f!f!rf!bf%5L@ IɛB= m|?I )<ɚiI*[=I5;ii))Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D9E=*Fu?2Fq:FqBFuX0JFq"GyG}>G s%Gq By  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2947>  BDAT read: Tx time:22:55:19.4671  $Ping request sent. zK BoIK U9K K AK N F- %w,+Ay=B=!IIU IUb3٢= 8=9Q > G٣y >  bBottom track data is 6.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config}59?}5Y{ ip@79@gE<@|5 ADNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbfioL@ɛBA= ?I .<ɚiI,=ITi i ) HYIY I]m"II]BIY&IY.IY6IY:IY)Dm9 IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:55:19.4664  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251637E5y=*F ?2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504273G RGBO>%w,2AVa9?YVq?V9V%M>yVH ?{`?r??ggǿZ?$b?,@?ɨVa9?V ;V CyfBj!Iin|| ~G٣~PGy= > bBottom track data is 7.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 }썜?5Y _ i  q@78p%@ gE ); @ |5-B -WA5AEDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbfL@ɛxBDq= %k<%?I) -rW><ɚ)i)I-=I5o i1i5 >)1)ADEJ9EIEI*EI"EI IJJJ0JJ:J:Jـ3Ja@a@a@a@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755175*F}?2F:FBFP0JFG MG B O ><%w,OAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883niynHV?P @(? ? ? 5ſh?@?a?ɨni G٣y%r< %> =bBottom track data is 7.7 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595{獜?E5Y5D i5Cq@E7IM8MM@5gE5(;5@5|5Q ]xAYDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbf]L@zK 6NK 9K K BK !/;EF=RK ?JK?ɛiBM = IMχ?II UM<ɚQiQIU%=I]`iYiY)Y)aD%9*F?2F:FBF_0JFZHRHH)I) I-s"II-BI-& =&I).I)6I-<:I-y FG =o$?IEhGBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258819-%w,xiAZA?YZfz?Z-r9ZY;>yZH@?fXϺ? k? t5?@+ſ???9Z?ɨZA?Z;ZCyjBj!IIvIvn٢Q L=9 yQ  > G٣y%2;= %> -bBottom track data is 8.1 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-/㍜?=5Y- i-sq@=w79=8=E@-gE-h;-9A-|5a eAiDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbf \M@ɛZB= U?I GW]<ɚiIo=IHii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511207D9*F?2F:FBFJFG}bGqByO~> ) I) J J J J J :J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762685ɠ%w,MA2E?Y2b~?292A>y2H f??`s?.? ſN?@{?Q?ɨ2E?2,;2 CyBBB!I)D DIJIJ0٢RD RQ=9R;Q V>TT VG٣VPGyZ3= Z> bbBottom track data is 8.5 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^ߍ?f5Y^ i^q@fH7djv8jej@^gE^';^qA^|5p rApDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrfbfjKM@ɛ-NBU= QUX?IQ ]`k<ɚYiYI]^|=IeBiaia)a)i2D*DpADX9*F]?2Fa:FaBFeo0JFaG=oo1mWill construct direction to contact in vehicle frame from tetrahedron phase data.mV?m=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016518GB!O=r>zKmsLKmж9KiKmCKm1&   lEMi<#`xr@ H- ,>I)  I) I) I) &I) .I) 6I- İ<:I- F  I %w,&AFJ?YFB?F9F4I>yFH ?xo? ?1?ƿ`?? G?ɨFJ?Fr;DyNxBN!IIVIV#3٢^:\ ^I=9bU;Q b>`` fG٣dyf;= f> nbBottom track data is 8.9 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59jڍ?r5Yj` ijq@r"7pvG8v% v@jgEjM7;jAj|5x zAxDNOT Ignoring new targets: 43.30 m. j!j!j!j!i)h1h1*JI"JMR=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901hhfffrfbf 9M@ɛ=@B=p= 9=ڍ?I9 Ey<ɚAiAIEz=IMuiIiI)I)Q)5= 1c~GvA  8YvAy1BD] 9m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518745E =*F ?2F :F BF ]0JF G o̽G B O >ݭ%w,[(AVO?YV ?VK9VirN>yVH ;`? +`?^?`qM?ſ ô????ɨVO?V;VCynoBr!IIvIvF3٢ /=9%';Q %>!) -G٣)y-)= 9I9 M> ]bBottom track data is 9.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe59UO֍?e5YUp iUr@e7im!8m m@UgEU\(;UAU|5 EA]DNOT Ignoring new targets: 43.30 m. jYjYjYjYiahahahahfffrfbfjM@JJJJJܫ:J:JJɛ50B5= 9=?I9 =օ<ɚ9i9IE;w=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772081I}P޿iyiy)y)E}<*F?2F:FBF0JFGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:55:21.9251  TRx dataTimestamp_ set to:1736376923.269049 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024239%w,RӖA6tT?Y6?696:5P>y6H`? ux??`:? ſ ol??=?ɨ6tT?6C;6"CyViBV!IIr Ir̍2٢z_Ѽ zN=9z0\;Q ~>zK~wmOK~ŷ9K|K~DK~ "870'     G٣%PGy%zG= %> 5bBottom track data is 9.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)]59-{ҍ?]5Y-5 i-Lr@]6Y]8] e@-gE-;-A-|5i moAiDNOT Ignoring new targets: 43.30 m. jjjjihhhhfffrf!bf%`%M@ɛm$Bm= imV?Ii ׌<ɚiIu=Iֿii))jHYbH]4<HaIa Ief"IIe BIa&Ia.Ia6Ie<:Ie~ F 1I1eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276383E<*Fu?2Fy:FyBF0JFG "PGa Bq O >%w,A23X?Y2?2"92BM>y2H??@?@]?@)Ŀ۳?`h?C?ɨ23X?2tP;2 Cy>gB>!IIJIJ 3٢RB RO=9V;Q V>TT VG٣XyZ|.= Z> bdBottom track data is 10.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^΍?f5Y^ i^r@f6df7j j@^gE^Y[;^#A^|5p r}ArDE-DNOT Ignoring new targets: 43.30 m. j)j)j)j)i1h1h1h1h1f9f9f9rf9bfEQN@ɛeBm= im?Iq u<ɚqiqIusfs=I}Vѿiyiy)yWill construct direction to contact in vehicle frame from tetrahedron phase data.ս%=ս%=5DAT read: 22:55:21.9251 LVL= 15680, 25969, 15490, 22739, AGC= 49, IDX= 404,-0.36, 2.204, 0.652, 0.269, 0.971, PHS= 1.321,-0.272,-0.705, RAW= 78.3, -3.8, CAL= 86.3, -9.9, ROT= 63.7, 9.9 =Ygot valid direction response: 22:55:21.9251 LVL= 15680, 25969, 15490, 22739, AGC= 49, IDX= 404,-0.36, 2.204, 0.652, 0.269, 0.971, PHS= 1.321,-0.272,-0.705, RAW= 78.3, -3.8, CAL= 86.3, -9.9, ROT= 63.7, 9.9 EPDAT read: Bearing 63.7, 9.9 (Local) m~Local bearing/azimuth received: Bearing 63.7, 9.9 (Local) uDAT read: Range 10 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.2 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.006293,0.299711,0.954009]Fpublishing direction and range info)EE*E"E97y?Yw.?Bz>?y!B@=qe <)XI1i?Cz4?ԇ ?);0IN?i;0>Z?o[>忉tϰ)DZ:IA=i_?X 1I9*F?2F:FBF`5JFGl=JJJJJJ :JJe Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >%w,A2[?Y2:?2492KF>y2H?@^`G?$?@ ?(ÿ?Ɉ?P?ɨ2[?2ь;2Cyb\Bb!IIjIj(٢r#^ rG=9r;Q v>xx zG٣xyz< ~>  dBottom track data is 10.6 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 59ˍ?5Y ir@67@gEi);)A|5! %A!k9?k  k kA:k!BBk| BZkHL@"oi E?>Y5dv7(@ }_EC@7y?Yw.?Bz>?Jk_?RkX*ŘzE ӿzsbD@2&`]p>%?"kf*kkK͊?k?T  2kyBkk?ke kyBkիAkx ? addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 60.253668 s, deltaX: -2.899998 m, approachRate: -0.048130 m/s, rangeRepo size: 4  Added new target pos. range: 40.400002 m, bearing: 183.379649 deg, lat: 36.904780 deg, lon: -122.119394 deg, deltaT: 60.253668 s, deltaX: -2.899998 m, approachRate: -0.048130 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrf@33D@bf ?ɛ B1= I?I ߛ<ɚiIqq=I \Bοi i))*F?2F:FBFV0JFGۀ=Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm5>zK5>MK5ж9K1K5EK5   Hm +>Ii  Im N"IIm BIm ' =&Ii .Ii 6Im ذ<:Im FBIJIRIZI& =bI& =jI 5 ) I) %w,!AWill construct direction to contact in vehicle frame from tetrahedron phase data.iz^?YzK?z_9z9=>yzH ş?@?F?{u? ¿?p?`?ɨz^?z;xy=RB=!I)A AMBAMBAI]I]3٢m. mB=9mqq uG٣uPGy}L< }> dBottom track data is 11.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59,Ǎ?5Y is@b67a@gEY;g0A|5 "ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`?ɛB= ??I 騣<ɚiI9n=I%?οi!i!)!))2D-*D-BD5:D5*F?2F:FBF^0JFG}=G9BIOeV>Will construct direction to contact in vehicle frame from tetrahedron phase data.&%w,Z;A6#^?Y6?6j]96v2>y6H.w? ?FT?o?@Ȱ?@%?r?ɨ6#^?6;6CyBLBB~!IIJIJT3٢R  RX=9RDYTX ZG٣\ rn$?Ipyv; v> ]dBottom track data is 11.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configxe59zÍ?e5Yz izLs@e76ama7mEm@zgEzsGaByO:> Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,6UArj]?Yr(?r#\9r>yrH?`$ ?@)E??༿`? &??ɨrj]?re;rCzKRLK9KKFK"'''''(&$"   y-KB-}!II=I=(*2٢Mp M@=9MQQ UG٣QyJ > dBottom track data is 11.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Yt  is@667@gEv=;}=A|5 ]AZHRH?AHI I5"IIBI& =&I.I6I۰<:I FmDNOT Ignoring new targets: 40.40 m. jijjjihhhhfffrfbfX? IhɛBZ.= H?I 譴<ɚiI  $j=I yӿii))*F?2F:FBF_0JFJـ3Kـ3 K .KK"KJJJJJJ :JJJ;aJ;aJR;aJR;aEWill construct direction to contact in vehicle frame from tetrahedron phase data.G]tY>G1BAO]v>8%w,oAy5BB5r!Ii==I=<IE"IEq3٢mC8 uH=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣PGy > dBottom track data is 12.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YC  is@57@gE@:;CA|5 ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrf!bf-`ȃ@ɛ]ՀB]= ae1?Ia :<ɚiIg=Iyӿii))*F=?2F9:F9BF=n0JF9 IG5>GBO=>M Will construct direction to contact in vehicle frame from tetrahedron phase data.#%w,A6XW?Y6?6&96=y6H@0 ?@?6?-?`EZ@?JP??ɨ6XW?6:È;6Cy>=BBl!IIJIJm?3٢Rʼ RX=9RG=Q V>TT VG٣TyZڀ Z> bdBottom track data is 12.6 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\b59^c?f5Y^  i^St@j5hj6j n@^gE^]u;^IA^|5p rAp DNOT Ignoring new targets: 40.40 m. j j j j ihhhhfffrf!bf% 9@ɛMˀBM= \?I H<ɚiI pVf=I=yӿiAiA)A)AErAErA*Fe?2Fa:FaBFe_5JFaGmrA GmrAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK\MKK9KKGK G>HI I"IĨBI&I.I6Iǰ<:I FG I B O >J J J J J L:J J J J O;J Q;J J U Will construct direction to contact in vehicle frame from tetrahedron phase data.nO%w,ۢA^R?Y^鮅?^ 9^(=y^H`~?`О[? ??X㱿>?ʹ?>?ɨ^R?^I;^Cy||I +I n39EaII MG٣Iyu:, u> dBottom track data is 13.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}#?5Y} i}t@56 @}gE}H;}PA}|5 DNOT Ignoring new targets: 40.40 m. jjjjihh h1h1f9f9f9rf9bfE@ɛB2= ͟?I "<ɚiIXFd=Iyӿii))*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G BA O >It%w,A $I$>9M?Y>-?>ܼ9>k~=y>H?P46? V? o?BՒ?`*??ɨ>9M?>uP;>CyF;BFj!IIn$In<3٢v[ v<9v[xx zG٣zPGy~ O ~>  dBottom track data is 13.4 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config9/?Yw i-u@56%Q %@gE};VA) -A-FEUDNOT Ignoring new targets: 40.40 m. jQjYjYjYiYhYhahahafafifirfibfm@? @ɛB= 隥N?I u<ɚiI͂b=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-P0JF)G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.^%w,֗AF;H?YF[?FCK9F6Uc=yFH5?sm?T?U(?`맿 ?`te??ɨF;H?FZ;F CyR8BRf!IIZIZ?13٢b fL=9fhh jG٣hynha n> rdBottom track data is 13.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv59r?z5Yr( iru@~O5~6@rgEr;rY]Ar|5 B A IEzKLK9KKHK+"`  #$ DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfR @ɛUBU>= Q]?IY ]<ɚYiYI]`=Ieyӿiaia)a)ijH<bH<H*>I I"IIBI' =&I.I6I<:Ii F 9I9*F ?2F :FBF[0JF"G5,>G5G>JJAAJJJ/JJ:J:J(N3JJ;J;JL;JL;Will construct direction to contact in vehicle frame from tetrahedron phase data.iG>GNG B! ) Y y CBO >a%w,-_A6ixB?Y6Pz?6]96~;=y6H?r?B>n!IIF'IF@3٢N = NM=9RۆPT VG٣TyVjg V> ^dBottom track data is 14.2 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configX9Z?YZ iZ v@b(5`fN6fRZhEZ*;ZcAXh nAl DNOT Ignoring new targets: 40.40 m. j j j j i h hhhfffrfbfs@ɛEBEJ= IMI?II M<ɚIiIIU^=I]yӿiaia)a)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF !I!G5>G BO5>- Will construct direction to contact in vehicle frame from tetrahedron phase data.Tp&w,: A:!! %G٣%PGy%b -> =dBottom track data is 14.6 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config)9-?Y- i-v@E5AE&6EE@-hE-NN;-jjA)Q UAQ}DNOT Ignoring new targets: 40.40 m. jyjyjjihhhhfffrfbf"@ɛBP4= #?I =<ɚiIp0]=Iyӿii))*Fm?2Fi:FiBFmg0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս4=GzKUdMKQKQKUIKUHI I!IIBI&I.I4D6I<:IZ FGBO>  m$?I *J "J a=J J J 0J J :J J ـ3J J i;J j;J J E Will construct direction to contact in vehicle frame from tetrahedron phase data.&w, $A6/ 6?Y6n?6gٸ96=y6H???@E?Gޓ@,? z??ɨ6/ 6?6M;6 CyUQBU!IIm Im2٢N= ?=9 G٣y}o > dBottom track data is 15.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y5 iCw@46hE4;>qA|5 +A5DNOT Ignoring new targets: 40.40 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfM;u@ɛ-B-2= )59?I1 5%<ɚ1i9I= a[=IEyӿiiii)i)q*F=?2F9:F9BFEa0JFAPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge >Ga B O > I &w,G=Ay[B!I         Mb@Mb@Mb@ )Y'1Z?y&1?~jtxyТ>`<Ļ@ @)@IC@y@I Ib3٢I= J=9Q > G٣y > Nusing accuracyPremultiplier from config59̣?5YO i"w@T:y>&;?@hEM;}K;~5  A =DNOT Ignoring new targets: 40.40 m. j9j9j9j9i9h9hAhAhEABfAfIfIrfIbfM@@ɛuB > 隍?I =ɚiIY=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF5/1JF1G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.&w,WA>0)?Y>+b?>(X<9>#H%M?@\P?i?@M?@x}@q[?2?ɨ>0)?>;`` bG٣bPGyfW f> jNusing accuracyPremultiplier from confighn59j`?n5Yj ijv@prx?r@jhEj-/;j/;j35t vAxDNOT Ignoring new targets: 40.40 m. jjjjih!h!h!h!f)f)f)rf)bf-ϊ@ɛUjB]U> aeq?Ia mS=ɚiiiImG"X=Iuyӿiqiq)q)qzKRIK@9KKJKZH9RH=AAHE)>IA IE!IIEBIA&IA.IA6IE<:IE\ FBIJIRIZI' =bI' =jI.5 n$?I*F?2F:FBFJ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GGiBO>m&w,#qA>q_#?Y>X[?>8<9>/H ?`3N?`8?i?'rf5Þ? ?ɨ>q_#?>;>CyFrBF!I RnManaging dock network, ignoring radio surface power offIV)IVW3٢^s= ^J=9bmdd fG٣dyfpy j> nNusing accuracyPremultiplier from confighr59j?r5Yj ijv@pr|r?v@j hEj ;j* ;j5x z"AzGEDNOT Ignoring new targets: 40.40 m. jjjji!h!h!h!h!f)f)f)rf)bf5(@eWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛm^BmXD> im?Iq um =ɚqiqIuuV=I}yӿiyiy))*F?2F:F!BF%P0JF! IGu >GQBYO}>JJJJJܫ:J :JJa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data."&w,~A6?Y6=U?6d<96=y6H??@Z??r_ ?@?ɨ6?6OK;6 CyBBB!IEMb@Mb@Mb@AAA A)AYEq= ףp?Mb?yE>Eqq uG٣yy}8x }> Nusing accuracyPremultiplier from config59g?5Y  iav@>;ta?@ hE;R;Ճ5B ADEDNOT Ignoring new targets: 40.40 m. jjjjihhhh{Bfffrfbf@z@ɛQBU$> ?I =ɚiIT=I-yӿi)i)))))*F-?2F):F)BF)JF)mWill construct direction to contact in vehicle frame from tetrahedron phase data.G>HM*>II IM!IIMBII&II.II6IM<:IMg F qIyzK}K} 9KyK}KK}GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A (&w,WA>E?Y>N?>D =9>(=y>H?``٨??!?X0?G@ۡ?X?ɨ>E?>6·;>CyNBN!IiPIR4< V=V=IZ,IZ3٢b= bV=9b̒dd fG٣dyjȇ j> nNusing accuracyPremultiplier from configlr59n{?r5Yn  inv@tvZ?v@nhEn:n:n5x zAxDNOT Ignoring new targets: 40.40 m. jj j j i h hh9h9f9fAfArfAbfM @ɛEBEP> ?I !=ɚiIIS=Iyӿii ) )I*F2F:FBFU0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B OE > I /&w,5Ay~B~!IMb@Mb@Mb@ )Y +?Mb`?Mbp?yȶ>;;p@ @)Z@I@yG@II2٢ = ;=9Q > G٣PGy > Nusing accuracyPremultiplier from config59Ǎ?5Y iu@̶>;P?@hE=;3;k5 @ 5DNOT Ignoring new targets: 40.40 m. j1j1j1j1i1h9h9h9h=BfAfAfArfAbfE&@J]J]JYJYJ]:J]:JYJYɛ:B > 隕?I V=ɚiIخQ=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM_0JFIGiGurAGuqAGI BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.5&w,Z ٘A:?Y:(A?:BD=9:p9=y:H@I?Q ??V?Ov?<Q@? ?ɨ:?:;:CyRBR"IIZIZM3٢f#> f\=9f=Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rύ?v5Yr% iru@xz|B?z@rhErH:r:r 5| @-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=r@ɛm/Bu,> qu?Iq }B =ɚyiyI}E;P=Iyӿii)) %o$?I%hzK]&(KK]K9KYK]LK]  Gr8 jHqbHu<HyIy I}"II}ǃBIy&Iy.I}5D6I}<:I}] F*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G5>GB!O> #<&w,A6F?Y6,c:?6b=96*=y6H ?s8@c?B?0?v?3?OL?l?ɨ6F?6k;6CyfŃBf"I)h hhhIrIr2٢zK= zH=9zQ|| ~G٣|yz >  Nusing accuracyPremultiplier from config 59 ؍?5Y  i ,u@;?@ hE ; 2 ; Ҋ5! -!@-AEEWill construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 40.40 m. jajajijiiihqhqhyhfffrfbf% @ɛ#B;(> w?I q&=ɚiITN=I yӿii))*F?2F:FBFp0JF IJJJJJܫ:J :JJWill construct direction to contact in vehicle frame from tetrahedron phase data.G- >G B9 Om >0 C&w, A2P>Y2}3?2߆=92,=y2HFg?J 7?@"?|?р?(?`?ɨ2P>29Ȉ;2CyNBN8"I-Mb@Mb@Mb@))) )))Y-J +?Mb?Mb?y->-<-<-@ -@)-@I))y-@II3٢ > @=9b G٣PGy > Nusing accuracyPremultiplier from config59Q㍜?5Y it@>;~8?@hEt;;5 D@DNOT Ignoring new targets: 40.40 m. jjjjihhhhBff f rf bf` @ɛ=B=0> 9E?IA E[-=ɚAiAIEv:M=IMyӿiIiQ)Q)QEY*F?2F:FBF{2JF"GJ>GJ>MWill construct direction to contact in vehicle frame from tetrahedron phase data. IG >G ?G>HQIQ IUA"IIUBIU& =&IQ.IQ6IU˰<:IU FGBO >zK% YVD,?V=9V%=yVH`m?@x@{?L?k?!?P?%?ɨVS>V!t;V C)vF= v]CynBzG"IeG qYyAII<2٢e+_= e>=9 G٣ÿ́ > Nusing accuracyPremultiplier from config59_?5Y i2t@G1?@hE;;5 @DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`!@ɛ% B-2> )-?I) 5E4=ɚ1i1I5K=I=yӿi9i9)9)9*F?2F:FBF_5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G >G BY O >  p$?I P&w,y@Ay~Ba"IMb@Mb@Mb@ )Y-? rh?Mb?y5>C<@ )@I@y(@II3٢= V=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y is@j>:6?@hE;;<5B >@>EDNOT Ignoring new targets: 40.40 m. jj!j!j!i!h!h!h)h--Bf)f)f)rf1JJJJJ:J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.bf"@ɛ]Bew<> aew@Ia e;=ɚaiaIm4J=Iuyӿiqiq)q)q*F%?2F!:F!BF% 5JF!GI G1 BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.Ou >GV&w,TZA6֐>Y6P?6n0=96=y6H`?`fS?m?@`'?@? 8ߵ?l?ɨ6֐>6Q;6!Cy>B>}"IIJ#IJ%x3٢R= R^=9V+=Q V>XX ZG٣ZPGy^& ^> bNusing accuracyPremultiplier from config`f59b?f5Ybm ibs@dj'?j@bhEb:b:bב5l n@l DNOT Ignoring new targets: 40.40 m. j j j j i h h hhff Ifrfbfa#@ZHRH@AH)>I If"II BI' =&I.I6I<:Ia FɛB N> @I! %A=ɚ!i!I%H=I-yӿi1iQ)Q)YEaEazKBHKKKNK*F ?2F :F BF Q0JF G GJJWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAGGBO>q\&w,D1tA6z>Y6^?6%=96)=y6H?Cs?`?ަ?@8J? ۷摠? ?ɨ6z>6;6Cy>!B>"IIJ IJ2٢R< RJ=9R3TT VG٣TyZȋ Z> ^Nusing accuracyPremultiplier from config\b59^i?b5Y^ i^-r@`b ?f@^"hE^ ;^ ;^5h jq@h~DNOT Ignoring new targets: 40.40 m. j|j|jjihhh h fffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bfP'$@ɛMBMUK> QU@IQ U.G=ɚQiQIUG=I]yӿiaia)a)a*F?2F:FBF_0JF IhGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J /J J :J :J (N3J ZYc&w, A2(m>Y2z2?2=92(`2y;2 CyR.BR"I)T VA5Mb@Mb@Mb@111 1)1Y5kt?L7A`?{Gzt?y5 >5+=5ף;1 5@)5;@I5@1y5@IMIM2٢]{z= ]?=9e?aa mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y} i} q@>:)!?@}%hE};};}z5B @;EDNOT Ignoring new targets: 40.40 m. jjjjihhhhbBfffrfbf%@ɛ B FH>   @I :Gi zKm k3IKi Ki Km OKm    2CRfrsqB O >*J "J = Will construct direction to contact in vehicle frame from tetrahedron phase data.i&w,!駙A:=.>Y:?:=9:ؤ:h;:CyJ:BJ"IIZIZT3٢fdl= jT=9j֚Ya eG٣ePGym@ m> }Nusing accuracyPremultiplier from configy59}:*?5Y} i}o@?@}(hE}uI;}I;}=5 @9E DNOT Ignoring new targets: 40.40 m. j j j jihh!h)h)fQfQfYrfabfe %@ɛBL>  @I pW=ɚiILD=I yӿi i))))1*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G>G B O > I mp&w,AyDB"IMb@Mb@Mb@ )Yx&1?Zd;O?~jtxyA?j<=Ļ@ C@)@Iy@II3٢b5= 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 598?5Y iIn@?:?@,hE1;O/;5! %V@%6EUDNOT Ignoring new targets: 40.40 m. jQjYjYjYiYhYhYhaheBfafafarfibfmQ&@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB#4Y> 隭'@I D^=ɚiIӍC=Iyӿii))*FA2FI:FIBFM0JFIGm>GA BQ Ou >E Will construct direction to contact in vehicle frame from tetrahedron phase data.v&w,[ۙA>Ra>Y>Y>>=9>,HRa>>4;>CyJLBJ"IiN`` bG٣`yfT f> jNusing accuracyPremultiplier from confighn59jE?n5Yj ijl@prd?r@j/hEj;j;j5t v@tDNOT Ignoring new targets: 40.40 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf5Pd'@ Er$?IAɛmBmf d> imZ@Iq ue=ɚqiqIu>^B=I}yӿiyiy)y)jHbH<HIC I"IIKBI&I.I5D6I<:IT F*F?2F:FBFS5JFzK5JMK5ŷ9K1K5PK5ogea[YQNJD?;72/0*&"    JJJ0JJ:J :Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.J;aJ;aJU;aJU;aGGBO>|&w,xA2h>Y20v>2>92j\2S/;2!CyBGBB"IIJIJ2٢RǼ RK=9VTX ZG٣ZPGyZO Z>~Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from config9E59=T?E5Y=% i=j@IMz ?M@=2hE=:=:=5UB U/@]3EDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfI:(@ɛmB[> @I zl=ɚiI@7A=Iyӿii))*FU?2FQ:FQBFU5JFQ IIQGU>GYGYG)B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.6&w,RAyrABr"IMb@Mb@Mb@ )YS㥛?i|?5? G٣y > Nusing accuracyPremultiplier from config59d?5Y ih@?:?@5hEf;b6;W5 @ DNOT Ignoring new targets: 40.40 m. j j j j i hhhhBfffrf!bf%)@ɛMWBMR]> IM@IQ Ut=ɚQiYI]@=Ieyӿiaia)a)i*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. =s$?IAHI I"IIUBI&I.I6I<:Ia FGIG B O5 >zK 3MK K K QK  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai JK|3 KL.KK"KJ J J 1J J l:J :J 3J J ;J ;J Z;J Z;Ӊ&w,6)A=2}1>Y=b>=>9==;=CyMGBM"I)y }AI)IW3٢A< I=9) G٣yS > Nusing accuracyPremultiplier from config59s?5Yc if@N?@9hE7:":5 6@0E]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiYhahahahafififirfbf`@)@ɛ@B%0_> !%@I! %|=ɚIiIIM>=IUyӿiQiQ)Q)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G! G ) I) By O >Ѽ&w,CA6|>Y6,6>6l>96 q6;6 CyB8BB"IEMb@Mb@Mb@AAA A)AYE%C?Q?MbyEZ?E\=EE$@ E@)EQAIEx@AyE(@I]+I]n3٢m mO=9msqq uG٣uPGy}R }> Nusing accuracyPremultiplier from config59?5Y id@?:?@ &@I =ɚ!i!I% ==I%yӿi)i))))1mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGG?G?GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. &w,G\A2=Y2C>2>92,JTT VG٣TyV1 Z> bt$?I` ^Nusing accuracyPremultiplier from configXf59Z?j5YZy iZAb@hjU>j@Z?hEZ;Z؀;Z|5rB r@v-EZHyRHyH*>I I"IIPBI&I.I6I<:Ii FDNOT Ignoring new targets: 40.40 m. jjjjih h h h ff1f1rf9bf=+@ɛB d> 隥@I =ɚiI<=Iyӿii)) zKJK9KKRK*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ:JK:Jـ3JJ;J;Jc;Jc;uG =YylAG >G B O >y &w,'vA:=Y:[>:">9:XX ZG٣\y^{ ^> bNusing accuracyPremultiplier from config`f59bР?f5Yb ib_@hj>j@bBhEb:rWill construct direction to contact in vehicle frame from tetrahedron phase data.b;bB5x z@xDNOT Ignoring new targets: 40.40 m. jjjji!h!h!h!h)f)f)f)rf)bf5S=,@ɛ]B]r> ae@Ia ea=ɚaiaIm<=Imyӿiiiq)q)q*F12F1:F1BF50JF1 v$?IGu>GIBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJBAh&w,Ay~ B~j"IMb@Mb@Mb@ )Yx&1?~jt?Zd;OyA?=j;@ @)hAIyp@II[3٢߿ ;=9Q > G٣PGy > Nusing accuracyPremultiplier from config59=?5Y i\@?:>@FhE;;,5B @*EDNOT Ignoring new targets: 40.40 m. jjjjihhhhɂBfffrfbf)-@ɛ=~BE^> IM@Ii }I=ɚiIH*;=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFev0JFa IHyIy I}"II}G B zK RIK @9K K SK BK qA:K qAO > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ܫ:J :J J J ;J ;J L;J L; #&w,oAM =YMj>Mo,>9M)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=F?M5Y=Q i='Z@im4>m@=IhE=;=%;=5q }=@yDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfAbf.@ɛ~B c> =隍u@I =ɚiICb:=Iyӿii))*FU?2FQ:FQBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data. I G} >Gy B O >&w,XWĚAbMkbn60>9b^xmu=mԼm@ m@)mAIiiym@I7I3٢ܽ K=9 G٣yʑ > Nusing accuracyPremultiplier from config59ώ?5Y iW@>:O>@LhE;!;5 @DNOT Ignoring new targets: 40.40 m. jjjjihhhhBf f f rf bf.@UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-~B-4v> )5@I1 5*(=ɚ1i1I5g9=I=yӿi9i9)9)A*F%?2F!:F!BF%V5JF!GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G! BY Ou >B2&w,.ޚA &w$?I&h>@Y>`*P>>(4>9>Hv?:ɿ?dq?;\?`U?@Qgƿ?~?ɨ>@>*;>CybǃBb"IIjBIj3٢vv  vV=9v%xx zG٣zPGyzאH!I! I%y"II%BI!&I!.I!6I%~<:I%S FBIJIRIZIbIjI4 > Nusing accuracyPremultiplier from config59ގ?5Y iT@>@OhEX ;:s5 M@'EDNOT Ignoring new targets: 40.40 m. jjjjihhh h f f frfbfه/@ɛ=~B=o> AE @IA Eę=ɚAiAIE8=IMyӿiIiQ)Q)Y*F ?2F :F BF P0JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.zKuvKKuŷ9KqKuTKuRK?JK?G >GB O5 >[&w,A6@Y6 +4>6r^7>96B>!IIDID٢N NO=9RaPP VG٣TyV V> ZNusing accuracyPremultiplier from configXbWill construct direction to contact in vehicle frame from tetrahedron phase data.f59Z쎜?f5YZ iZ1R@hj>j@ZRhEZ;Z;Z5l n@r%EDNOT Ignoring new targets: 40.40 m. jj j j i h h hhfffrfbf%B#0@ɛM~BUXo> QU @IQ U=ɚQiIC48=Iyӿii)) 5x$?I9E]<*FU?2FY:FYBF] 5JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.J1 J5 J1 J1 J1 J5 :J1 J1 a= @a= @a= @a= @G= >G B! O= >8&w,FAB@YB`>Bkx:>9Bi=ļ@ $@)AI@y@I=.I=3٢M MA=9U%;Q U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59e?u5Yew ie^O@u>u:uQu>u@eUhEe;eR;e쯀5}B A"EDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf~0@ɛ~Bf> 隕 @I ?=ɚiIn7=Iyӿii))E=Will construct direction to contact in vehicle frame from tetrahedron phase data.<*F2F:FBF^0JF 9I9H1I1 I55"II5BI1&I1.I16I5<:I5v FGA G B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K UK   BK :K rA^&w,+A6@Y6-=67=>96&uBB!IIJ&IJ3٢RM RV=9R;Q R>TT VG٣VPGyZs Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^ i^L@`fX>f@^XhE^:^L:^5h j?AhDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfj0@ɛe{~Bee> im@Ii mI=ɚiiiImv7=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.EG=*F?2F:FBFP0JF 1 I9 G >G G rAG B O >h&w,0eHAR)@YRT=RA>9RZU;UU@ UQ@)U AIQQyUp@Im)ImW3JJJJJ:J:JJ٢}S +=9!! %G٣!y-ݽ -> 5Nusing accuracyPremultiplier from config1]595?]5Y5$ i5I@]>]:eb=e@5[hE5;5;5ų5i mAmEDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf u1@ɛd~B[> 隅@I x=ɚiI˩6=Iyӿii))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF y$?I ZH RH H I  I !II BI &I .I 4D6I <:I i FG G B O>X &w,AeA>M@Y>&=>C>9>sHd?@: g?`5s?`?/@Qȿɇ?h?ɨ>M@>i;>CyJdd fG٣dyfσ f> nNusing accuracyPremultiplier from configlr59nh)?r5Yn inG@tv>=v@n^hEn]:n:n5x ~A|%DNOT Ignoring new targets: 40.40 m. j!j!j!j)i)h)h)h1h1f1f1f1rf9bfE`1@ɛmR~BmHh> quu@Iq uN=ɚqiqIu26=I}yӿiyi))5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKmKKm9KiKmVKm *F ?2F :F BF o0JFGiGABQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. I 4&w,Az+p@Yz_<zEE>9z8v?0n??@ٌȿ B?e?ɨz+p@zی;zCy  B H!II%&I%3٢5 =C=9=W;Q =>AA EG٣EPGyE( E> UNusing accuracyPremultiplier from configIe59M7?m5YM iMWD@y}<@M`hEM;M";Ml5B AE}DNOT Ignoring new targets: 40.40 m. jyjyjyjihhhhfffrfbf`W2@ɛ;~BzY>  P@I  qî=ɚ i I A5=I%yӿi)i))))1EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFJJJJJJ :JJG >G ?G ?Gy B O >&w,,A6@Y6)@6PF>96a,`e@ @)/ AI@yQ@II٢Y C=9!;Q > G٣y̆ > Nusing accuracyPremultiplier from config59E?5Y] iA@>; @chEY;;B5 ADNOT Ignoring new targets: 40.40 m. jjjji!h!h!h!h-kBf)f)f)rf1bf5 2@ɛ]+~B]n> Ye?Ia e=ɚaiaIe0p5= uz$?IyI}yӿiyiy)y)H+>I I!IIWBI&I.I5D6Ix<:IR F*F?2F:FBF0JF)e= ecC G1]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYaG> YyAzKLK}9KKWKG B O >E&w,1zA:߲@Y:\@: H>9:hh nG٣lyn( n> vNusing accuracyPremultiplier from configt~59vR?~5Yv iv?@|~b~@vfhEv6D;v-;v庀5  A E5DNOT Ignoring new targets: 40.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfM`Y3@ɛ~B=b> 隅?I 'Ŵ=ɚiI5=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JF m{$?IiG>G! BQ O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.*J1 "J5 a=J9 J= J9 J9 J9 J= &:J9 J9 g+&w,EK͛Ay]̂B] IMb@Mb@Mb@ )Y> ףp=?/$I +y>94I@ @) AI@y=@I@I3٢% %6=9-Q ->)) -G٣-PGy5 5> =Nusing accuracyPremultiplier from config9E59=ka?E5Y= i=<@MZ>M:M}U@=hhE=[K;=SI;=ټ5Y ]AaDNOT Ignoring new targets: 40.40 m. jjjjihhhhVBfffrfbf`3@ɛ~Boa> =?I k=ɚiI4=Iyӿii))*FM?2FI:FQBFU5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. YIYGiGA BQ Ou >jH <bH <H ->I  I .!II BI & =&I .I 6I Y<:I = FaT&w,!A6@Y6Y@6oAJ>96:xx zG٣xy~( > Nusing accuracyPremultiplier from config 59 hm?%5Y F i :@!%Y-@ khE u; pi; q5A EAADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf3@ɛ}B e>  ?I  պ=ɚ%Will construct direction to contact in vehicle frame from tetrahedron phase data.iI%Ym4=I-yӿzKBoIKK9KKXK md < 2 U ) \  Q Q> ii))*F2F:FBFP0JFG >G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O > A IA 1<'w,vA6@Y6&@6J>96=B> I)@ @HJAIN/IN3٢V VO=9V*:Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b>z?f5Yb ibi8@dfpj@bmhEb:b3:b*5nB nAnEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf0K4@ɛ}B]> ?I! -=ɚQiQIU(-4=Iyӿii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFaJFaG >G B O >g'w,{ABWill construct direction to contact in vehicle frame from tetrahedron phase data.y~xB~z IMb@Mb@Mb@ )Yn?ʡE󽿺I +y>ケ`@ @)\ AIy@ |$?IIMI{4٢ 6=9Q >   G٣ PGy   > Nusing accuracyPremultiplier from config%59?%5Y i5@-P>-:-;-@phE;;€51 =8 A9eDNOT Ignoring new targets: 40.40 m. jajajajaiahahahihmBfifqfqrfybf}@4@ɛ}B.^> 隭?I =ɚiI3=Iyӿii))H].>IY I] II]BIY&IY.IY6I]e<:I]H FBIJIRIZIbIjIç5*Fm?2Fi:FiBFm_0JFiEWill construct direction to contact in vehicle frame from tetrahedron phase data.GJ J J J J :J :J J J ;a- J ;a5 J .Y;a5 J .Y;a5 zKm C`PKm 9Ki Km YKm BK :K pAG B O >c 'w,4AF`@YFBp@FK>9FK    G٣ y   > %Nusing accuracyPremultiplier from config-59ٔ?55Yk ih3@9=辑E@shEõ;>;À5MB M AMEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`5@ɛ}B~c> ?I =ɚiI3=Iyӿii))*FQ2FQ:FQBFUo0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. IhGGyBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.y'w,%NAy~JB~A IiI  =Mb@Mb@Mb@ )YʡE?/$ÿMby>@ I@) AIC@y@I0I(3٢ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59좏?5Y i0@*>:@vhE;;ŀ5  ADNOT Ignoring new targets: 40.40 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5@5@ɛE}BE~W> AE?IA M=ɚiiiImSu3=Iuyӿiqiq)q)y*F%?2F!:F!BF!JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. }$?IG- >ZHY RH] ?AHe 2>Ie C Ie y IIe xBIe % =&Ia .Ia 6Ie <:Ie i FG B O- >V'w,phA:@Y:@:2L>9:cpp vG٣vPGyv z> Nusing accuracyPremultiplier from config59ޮ?5Yb ip.@@yhE < <Cǀ5 ^ ADNOT Ignoring new targets: 40.40 m. jjWill construct direction to contact in vehicle frame from tetrahedron phase data.jjihhhhff f rf bf @5@ɛ}Bcb> 隽K?I m=ɚiI'13=Iyӿii)JJJJJ:JJJJ;J;JJ/Y;)zK-BoHK-}9K)K-ZK-RK=?JK=?*F?2F:FBF?1JFGGGG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O > I 'w,gEA2S̹@Y2@2/L>92m{TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^'?b5Y^ i^,@`ff@^|hE^ ;^ ;^Ȁ5h j AjEDNOT Ignoring new targets: 40.40 m. jjj j i h h hhfffrfbfL6@ɛE}BEc> AE ?II M=ɚIiIIMx2=IUyӿiQiQ)Q)Y*F2F:F!BF%5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.G >GBO>7&'w,"A2Will construct direction to contact in vehicle frame from tetrahedron phase data.02<:@Y:@@:KGL>9: %33%`e%A %@)%AI%Z@!y%A AIAIE\IE#4٢] ]?=9e9Q e>ai mG٣iym, m> Nusing accuracyPremultiplier from configq-59uȏ?-5YuV iu )@U>]:]']@uhEuI I. II;BI$ =&I.I6I<:Is F=DNOT Ignoring new targets: 40.40 m. j9j9jAjAiAhAhAhIhMBfififqrfqbfu`46@ɛz}B?S> ?I C=ɚiI 2=Iyӿii))*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:J/:JJJ5;J6;J^;J^;G >zK K 9K K [K BK :K G B O >,'w,UA6@Y6&@6)L>96ؾpp vG٣tyz쌽 z> Nusing accuracyPremultiplier from config 59!Տ? 5Yp iT&@.@hE ::̀5%B % A%EMDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhQhQhQhQfYfYfYrfabfe`17@ɛm}Bi> 隭?I V~=ɚiI|2=Iyӿii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF 5~$?I1GGB Oe >% Will construct direction to contact in vehicle frame from tetrahedron phase data.63'w,ϜA6:C@Y6R@6K>96kUX9UtUA UQA)UXAIU@QyU AIeOIe 4٢u( }?=9;Q > G٣PGyy > Nusing accuracyPremultiplier from config59⏜?5Y i%#@ ?:3@hE/;r;g΀5 h ADNOT Ignoring new targets: 40.40 m. jjjjihhhh !%?I) -CS=ɚ)i)I-C2=Iyӿii))*Fe?2Fa:FiBFm]0JFi}Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IG->jH<bHp<H:>IC IIIBI# =&I.I6D6I<:I~ FG B O= >:'w,ABc~GP` Y y yAMf@YMu@MxK>9Mb G٣y톽 > Nusing accuracyPremultiplier from config59?5Y i @:@hE::1Ѐ5Will construct direction to contact in vehicle frame from tetrahedron phase data.  ADNOT Ignoring new targets: 40.40 m. jjjjihhhhf f f rf bf 7@ɛ=K}B=^> 9=?I9 E(=ɚAiAIE2=IMyӿiIiI)I)QJKـ3 KKK"KJJJJJJK:JJJJ7;Jc;Jc;zKmBoHKm}9KiKm\Km*F ?2F :FBF_0JFGM>G) B9 OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data. I @'w,\Ay~ہB~II DI 3٢0 S=9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5 i5"@AAE@5hE5 ;5K ;5р5MB M5AM E}DNOT Ignoring new targets: 40.40 m. jyjyjyjyihhhhfffrfbfU8@ɛm;}B`> 隥g?I !=ɚiI߻1=Iyӿii!)!)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG GY Ba O >G'w,gA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:(@Y:û@: K>9:YY ]G٣]PGye e> mNusing accuracyPremultiplier from configiu59m ?u5Ym  im@5D ?5:5D=@mhEm>IC IIIځBI! =&I.I6I<:Ik FDNOT Ignoring new targets: 40.40 m. jjjjihhhh6Bfffrfbf8@ɛu*}Bu?9]> qu?Iq }]=ɚyiyI}z1=Iyӿii))*FE?2FA:FABFEo0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.iG zKE k3IKE @9KA KE ]KE G B O >,M'w,cA7AFX@YF@FmJ>9Fhh jG٣lynU n> vNusing accuracyPremultiplier from configpv59r'?v5Yr irm@xzJz@rhErv:r:r]Հ5| A E-DNOT Ignoring new targets: 40.40 m. j)j)j)j1i1h9hAhIhIfQfYfarfabfe["9@ɛ}Bj> 隕5?I l=ɚiI&1=Iyӿii))*F=?2F9:F9BFEX5JFA]Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.*J 4="J J J J J J J 9:J J a @a @a @a @YT'w, QA2@Y2 @24J>92 aBBIeMb@Mb@Mb@aaa a)aYe!rh?{GzĿZd;Oyel?e#ejeA eA)eAIe@ayeAIuCIu3٢L -=9Q > G٣yOi > Nusing accuracyPremultiplier from config59{$?5Y i}@ ?:D@hEU;;k׀5  A=DNOT Ignoring new targets: 40.40 m. j9j9jAjAiAhAhAhIhM`BfQfQfQrfYbf]N9@ɛ }BH(\> 隕?I 1=ɚiI0=Iyӿii))*Fe?2Fa:FaBFe_5JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data. IhZHRH@AHB>I IIIBI =&I.I7D6I<:Ir FBI]ȟCJI]ȟCRI]ȔCZI]# =bI]# =jI] 6G G B O >ZAZ'w,kAF7@YFIG@F{J>9F1  ?II Uf=ɚQiQIUv0=I]yӿiYia)a)i*F?2F:FBF P0JF 'TFailed to parse incomplete device message.GM>G! B9 } $?Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >'(a'w,'ڄA6g@Y6w@6J>96TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f59b;?f5Yb  ibW @hjQj@bhEb ;b:bڀ5rB rArE DNOT Ignoring new targets: 40.40 m. j j j j i hhhhfffrf!bf%`V:@ɛU|BU>j> Q]?IY ]==ɚYiYI]0=Ieyӿiaia)a)i*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.iAJJJJJ:J:JJG5>GIBYOu>Pg'w,A I"Will construct direction to contact in vehicle frame from tetrahedron phase data.yrBrI}Mb@Mb@Mb@yyy y)yY}uV?p= ף G٣y > Nusing accuracyPremultiplier from config59I?5YM i@ ?:tC@hE;;܀5 ADNOT Ignoring new targets: 40.40 m. j j j j i h h hhYBfffrfbf9:@H}E>I}C I}rII}BI} =&Iy.Iy6I}y<:I}k Fɛ|B 9b> X?I =ɚiI/=Iyӿii!)!)!*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >zK MK }9K K _K $.679;<>BEHCCFGC1 BK rA:K rA~m'w,1AZկ@YZ @ZWK>9Zh11 5G٣5PGy=r => ENusing accuracyPremultiplier from configAM59EU?M5YED  iE@IMPM@EhEE:E;E>ހ5Y ]A]EDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf*;@ɛ|BZo> ?I Jp=ɚiIO/=Iyӿii)) $?IhUWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFu_0JFqGGaBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9J J bt'w,0dҝAJ @YJ @JTK>9Jqq uG٣qyu&x > Nusing accuracyPremultiplier from config591c?5Yh  iQ@\ ?::G@hEL;;5 AEDNOT Ignoring new targets: 40.40 m. jAjAjAjAiAhAhIhIhMBfIfQfQrfYbf];@ɛ|Bni> "?I [=ɚiI.=Iyӿii)) *F2F:FBFc0JF I eWill construct direction to contact in vehicle frame from tetrahedron phase data.jHu<bHu<HN>IC I`IIBI =&I.I8D6I<:I FG>Gi Bq O >z'w,(CA6G@Y6W@6K>96B>yIIJ\IJ#4٢n nS=9rv:Q r>pp vG٣tyvz v> zNusing accuracyPremultiplier from configx~59zo?~5Yz: iz?IM@zhEz ;ze ;z5 B A E=DNOT Ignoring new targets: 40.40 m. j9j9j9j9i9h9hAhIhIfIfIfQrfQbfU;@ɛ}|Bu> 隅?I =ɚiIGj.=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=1JF9zKMK9KK`KRK ?JK?G}>G ?G?GIBYOu> Im Will construct direction to contact in vehicle frame from tetrahedron phase data.t'w,7A6i~@Y6捴@6jL>96"dh jG٣jPGyjz j> rNusing accuracyPremultiplier from configlr59n;{?v5Yn` in ?tvSv@nhEn:n :nz5x ~A~E DNOT Ignoring new targets: 40.40 m. j j jjihhh!h!f)f1f1rf1bf=d<@ɛ|B$?l> 1U ?IY e3=ɚaiiIm-=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJm:J9JJ*F?2F:FBF0JFG% >G B O% > $?I 'w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.<:)@Y:ϳ@:*M>9:QQ G٣ynW > Nusing accuracyPremultiplier from config 59p?HT>IC ISIIBI =&I.I9D6I<:IM5Y i?U?U:UJU@hE5<s5<h5Y ]/AaDNOT Ignoring new targets: 40.40 m. jjjjihhhhׂBfffrfbf`<@ɛ]|B]n> ae,?Ia e=ɚaiI~-=Iyӿii))) %NGAQ*FY2Fa:FaBFe_5JFa YyAWill construct direction to contact in vehicle frame from tetrahedron phase data.G >Gy B O >zK XKK K K aK BK qA:K (ɍ'w,[9AF4@YF@FM>9F~   G٣y > %Nusing accuracyPremultiplier from config!-59%c?-5Y%3 i%8?)-P-@%hE%:%:% 5=B =cA=EeDNOT Ignoring new targets: 40.40 m. jajajajaiahihihihifqfqfqrfqbf}@X-=@ɛ|BR}> 隥/?I =ɚiI,=Iyӿii)) I5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFuP0JFqG>GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,2SA6>@Y6\N@6߇N>96D@6 ;6!Cy>BBdIEMb@Mb@Mb@AAA A)AYE +?yE>ELEA EvA)EAIE@AyEQ AIeEIe3٢u_ uB=9u,:Q }>yy G٣PGy'g > Nusing accuracyPremultiplier from config59՞?5Y! i?>:Q@hEF;;5 rADNOT Ignoring new targets: 40.40 m. jjjjihhhh Bfffrfbf-=@ɛx|B mp> ?I +=ɚiI@~,=I5yӿi1i1)1)9*F?2F:FBFJF m$?IiEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHAAH[>IC I@IIzBI =&I.I:D6Ig<:Iq FG- >G B O- >ۚ'w,3mA6@Y6@6YO>96BB[I)D DDFAIJIIJd4٢V} VX=9Z ;Q Z>XX ^G٣\y^;| ^> fNusing accuracyPremultiplier from config`f59b塚?j5Yb$ ib:?hjWj@bhEb:ba:b5l rAp DNOT Ignoring new targets: 40.40 m. j j j j i hhhhffyfyrfybf}Z=@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛl|B|> o?I g=ɚiI+=Iyӿii))J]J]JYJYJ]ݒ:J]9JYJYJ];amJ];amJ]p#;amJ]q#;am*F?2F:FBF_0JFzK:IK}9KKbK  G YIaGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.W¡'w,`Ay~B~LII@I3٢%o -B=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59E!?M5YEp( iE?IIM@EhEE:E:E[5i uAuE%DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h)h1h1f9f9f9rfAbfE(j>@ɛ]|Br/u> 隅?I IM>ɚiInq+=Iyӿii))*FQ2FY:FYBFYJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G>G B O > A II ] Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,UA6@Y6@6xP>96)f+t<A  A)b AI@yp AH^>IC I4IIpBI =&IFD.I;D6I\<:Im FBI}CJI}CRIyZI} =bI} =jI}6IRIW4٢$ >=9Z;Q > G٣PGy۽ > Nusing accuracyPremultiplier from config59?5Y6, ie?>:,[@hE~C;B;=5! %A!DNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffArfAbfE>@ɛO|B=r> 隵A?I e>ɚiI*=Iyӿii))*F}?2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթJmJiJiJiJm:JiJiJiJm;Jm;Jmq#;JiG >Gq B O >zK lLK ŷ9K K cK 'w,&A2UE@Y2T@2ZQ>92ъ G٣ y > Nusing accuracyPremultiplier from config59ǐ?5Y/ iE?(a@hE;;5 %A $?IhDNOT Ignoring new targets: 40.40 m. jjjjihh h h f f frfbf7?@ɛ=C|BEn> AE?IA E+>ɚAiAIMrp*=IMyӿiIiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF#1JFG>GBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J R='w,^ԞAV@YV4ѭ@VɍR>9V UC U G٣y߽ > Nusing accuracyPremultiplier from config 59А? 5Yi3 i? > : n @hE;;5B AEMDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhU4BfYfYfYrfYbfek?@ɛ5|Bv> 隍?I #W>ɚiI)=Iyӿii))*F-?2F):F)BF-_5JF) I-Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<Hc>IC III[BI =&I.I6I|<:I FG>GBO>)'w,AR@YR@@RS>9Rœpp rG٣rPGyva v> zNusing accuracyPremultiplier from configx~59z=ؐ?~5Yz6 iz1?t@zhEz;z-;z_5  PA=DNOT Ignoring new targets: 40.40 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU@ @@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ*|B.|> 隍?I >ɚiIiy)=Iyӿii))JEJEJE1JAJË́:JE9JE3JAJE;JE;JEF;JEG;*F5?2F1:F1BF53JF9zK]RIKYKYK]dK]Gu > IGIBYOu>- Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,A:E@Y:T@:5zS>9:Htx zG٣xyzk ~> Nusing accuracyPremultiplier from config|59~N? 5Y~: i~?  z @~hE~ ;~ ;~&5 AEDNOT Ignoring new targets: 40.40 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]3@@ɛ|B~u> 隍k?I >ɚiI&)=Iyӿii))*FA2FA:FABFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G>GaBqO> $?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.?;'w,n"A6@Y6@6zS>96>5P5;1 5 A)51$AI5QA1y5AIMLHf>I III=BI =&I.I6I<:I FIM4٢%  %8=9%6Q %>)) -G٣)y- _ 5> =Nusing accuracyPremultiplier from config9E59=萜?E5Y=> i=+?E!>E:EƅM@=hE=3;=;=5Q U AYDNOT Ignoring new targets: 40.40 m. jjjjihhhh Bfffrfbf@l@@ɛ|B,n> Y?I - >ɚiIv(=Iyӿii))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJu0JqJum:Ju9Juـ3JqJu;Ju;Ju' ;Ju' ;G >G B O >zK oKK }9K K eK (e'w,`@Y>1ʪ@>~S>9>寪HQ? o?_? 1gO?lƿ`?ʿ? (P?ɨ>@>;tt vG٣vPGyv v> ~Nusing accuracyPremultiplier from configx59z0?5Yz1B iz4?  ڈ @zhEz*;zd*;z5 AUDNOT Ignoring new targets: 40.40 m. qIq jyjyjyjyiyhhhhfffrfbfi@@ɛu|B}Dv> y}?Iy }oI >ɚiIW:(=Iyӿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.P'w,KVAyȀBfIi% 94A A)^&AIv@yAIRIW4٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YF i?>:@hE;;5 B A E=DNOT Ignoring new targets: 40.40 m. j9j9j9jAiAhAhAhAhMBfIfQfQrfQbfU9@@ɛ}{B}l> 隅??I  >ɚiI='=I-yӿi)i1)1)1 QIQ*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Hj>IC III BI =&I.I) I } Y y 1Aw'w,npAyB=IIM]IM$4eWill construct direction to contact in vehicle frame from tetrahedron phase data.٢# I=9Q >    G٣ y >JJJJJ}:Jy9JJJ;J;J::J;: =Nusing accuracyPremultiplier from config9E59=?E5Y=J i=$?AAE@=hE=;:=i:=a5Q UAQ}DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfA@ɛ{Bk> |?I ѥ >ɚiI '=Iyӿii))*Fm?2Fi:FiBFmo0JFizKKKKfKRK>JK? 9I9G>GG Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >_'w,=A:O@Y:l_@:':S>9:ꗬXX ZG٣^PGy^V ^> bNusing accuracyPremultiplier from config`f59b]?f5YbN ib?hjYj@bhEb;b;b5p r&Ap DNOT Ignoring new targets: 40.40 m. j jjjihhhhff!f!rf!bf%5A@ɛM{BM@o> QU?IQ U͕ >ɚQiQIUa>'=Ieyӿiaii)i)i*F?2F:FBF_5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO> - $?I- h Will construct direction to contact in vehicle frame from tetrahedron phase data.  =V'w,ͣA6@}@Y6@6&R>961sIeC IefIIeȀBIe =&Ia.Ia6Iew<:Ie FMb@Mb@Mb@ )Yoʡ?"~jy&1y>S㽹`nA ZA)(AIzAyAIZI4٢ 7=9LQ > G٣y$l >  Nusing accuracyPremultiplier from config 59 *?5Y T i o?1>:@ hE Y!; ; 5! -4A-EDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfff rf bf5qA@ɛ{B_> 隥?I >ɚiI '=Iyӿii))*F2F:FBF12JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O >zKU k3IKU K9KQ KU gKU   'w,ABKrA:K6Z@Y6׸@6ϋR>96C7B>IIJrIJJ4٢Rd Rb=9RFfQ R>TT VG٣T \I\yVc ^> fNusing accuracyPremultiplier from config`f59b?j5YbEX ib?hj`j@bhEb ;bG;by5l rAp DNOT Ignoring new targets: 40.40 m. j j j j i hhhhfffrfbf` A@ɛ{Bg> !%Д?I! MŤ>ɚIiIIM&=IUyӿiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:F!BF%4JF!GE>G! B1 OU >} Will construct direction to contact in vehicle frame from tetrahedron phase data.JKm3 KS}-KK"KJ} J} Jy Jy J} y:J} 9Jy Jy a @a @a @a @'w,ןAb@ў@Yb@bR>9bD G٣PGy/r > Nusing accuracyPremultiplier from config 59 ?5YP^ i?( ?:@hEg;;j5 %A!MDNOT Ignoring new targets: 40.40 m. jIjIjIjIiQhQhQhQhUxBfYfYfYrfYbfeA@ɛ{Ba]> ?I >ɚiIn&=I-yӿi)i))))) I*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jHm<bHiHuq>Iq IuIIurBIu =&Iq.Iu=D6Iu^<:Iu FBIǧCJIǧCRIZI =bI =jI'6G>G B O >g'w, _A6@Y6 @6Q>96}5hh jG٣hyn n> vNusing accuracyPremultiplier from configpv59rm?z5YrPc ir?xzﲿz@rhEr:r:r5 #A-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i1h1h1h1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.fAfAfIrfIbfMB@ɛ{B[> 15?I1 =ac>ɚ9i9I=&=IEyӿiAiA)A)I*F?2F:FBF_0JFPExceeded connect timeout, disconnecting.zKELKE9KAKEhKE  IG>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O% >4(w,9 A:^@Y:'@:^nP>9:RXX ZG٣Xy^a ^> fNusing accuracyPremultiplier from config`f59b?j5Ybh ibO?hjqj@bhEbz:b:b5p r ArE DNOT Ignoring new targets: 40.40 m. j j j j i hhhhfff!rf!bf%`8B@ɛU{BU|Y> QU`y?IQ ]F%>ɚYiYI]j&=Ieyӿiaia)a)i*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.JIJMJIJIJIJMy9JIJIGGBO%> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.[(w,3%A6B@Y6 R@6O>96E2BfIHr>I IIIBI =&I.I6I<:IL F}Mb@Mb@Mb@yyy y)yY}bX9?'1ZĿ)\(y}E?}"}Ga}A }A)})AI}Ayy}AIxIT4٢M ;=9үQ > G٣yHt > Nusing accuracyPremultiplier from config59?5Y~o i?R?:@hE"; ;5 t ADNOT Ignoring new targets: 40.40 m. jjjjihhhh=Bfffrfbf$sB@ɛ]{B]j`N> ae f?Ia e(>ɚaiaIepp&=Iyӿii))*F%?2F!:F!BF!JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AGi GA BQ Ou >  nManaging dock network, ignoring radio surface power off(w,<>A IzKLKKKiK    B b@YBq@B~N>9BW`` bG٣bPGyfm f> jNusing accuracyPremultiplier from confighn59j1?n5Yj8u ijlr?przr@jhEj ;j ;jM 5vB v!AvEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfCB@ɛ{B~EQ> 隝T?I 9>Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚiIh&=Iyӿii))*F?2F:FBF0JFGm>GA BQ Om >m Will construct direction to contact in vehicle frame from tetrahedron phase data.*JE R="JE p=Je ~Je {Ja Ja Je {m:Je -9Ja Ja (w,XAH@Yœ@N>9t& G٣y%w %> -Nusing accuracyPremultiplier from config!559%K?55Y%| i%h[?5,?5:5=@%hE%;%;%A 5A E\"AA}DNOT Ignoring new targets: 40.40 m. jyjyjyjyiyhyhhhBfffrfbf OB@ɛ{BfL> L?I S>ɚiI]m&=Iyӿii)) Ih*Fe?2Fa:FaBFmo1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHu>IC IIIlBI&I.I6I<:I FGU>GA BQ O} >|(w,rA:n@Y:볠@:T1M>9:B?ɿOzɿ=? cZ?ɨ:n@:͌;:CyFy~BFIIN}IN]4٢V0 Vd=9VQ Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from configdj59ft?j5Yf ifH?lnsn@fhEf;f;f 5p rY#At DNOT Ignoring new targets: 40.40 m. j jjjihh%Will construct direction to contact in vehicle frame from tetrahedron phase data.h!h!f)f)f)rf)bf5#C@ɛe|{BerM> ae[??Ii m>ɚiiiIml&=Iuyӿiqiq)q)y*F2F:FBF5JF IzK$LKK9KKjKG >GB OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.e"(w,遌A2y@Y2˟@2[L>92xx zG٣zPGy~ ~> Nusing accuracyPremultiplier from config 59&? 5Y܉ i3?ſ@hE:a:5 %$A!MDNOT Ignoring new targets: 40.40 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe;C@ɛq{BG> 隕6?I Jy>ɚiI{&=Iyӿii))*FU?2FY:FYBF]P0JFY-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-AJ-|J-tJ)J)J-;g:J-9J)J)G>GQBYOu> I Will construct direction to contact in vehicle frame from tetrahedron phase data.I')(w,sdA: ֗@Y:@:|K>9:)IT IVIIV~BIV =&IT.IT6IV<:IV FEMb@Mb@Mb@AAA A)AYE+?Onÿy&1yEv>EE`eEA E?A)E1@IEAAyEAIecIey/4)F= ]CMNGa٢u: 5= YyA9&Q > G٣ypw > Nusing accuracyPremultiplier from config59B? 5Y i/&??:ο@iE3;;5 $A%EeDNOT Ignoring new targets: 40.40 m. jjjjihhhh Bfffrfbf@xC@ɛ~BLu> b]=xI %;y>ɚ!i!IE{T'=IMyӿiIiI)I)Q*F?2F:FBF4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.G! G B O% > I 0(w,q9AB@YB4@BK>9B窮 im;Ii mq>ɚqiqIu'=I}yӿi}䙭)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFGYG1B9OU>E Will construct direction to contact in vehicle frame from tetrahedron phase data.;6(w,!ڠA}Y@Y}@}|J>9}:U U=U A UA)U@IUvAQyU AeAAe@A qIqImzIm=X4٢^ 1=9@Q > G٣PGy} > Nusing accuracyPremultiplier from config59?5Y i&?> ;ܿ@iE< ;;&5 '&ADNOT Ignoring new targets: 40.40 m. jjjjihhhh BfffrfbfC@ɛ)-=> )-6I1 5\>ɚ1i1I5(=I=yӿi=0ͱ)9)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.H}>IC ILII'~BI =&I.I>D6ID<:I| FG >G B O >a<(w,tA6 @Y6#@6OJ>96W ֽI `H>ɚiI)=I%yӿi%ʴ)!)) iImhEzKBHK}9KKlK 5NIRK?JK?*Fm?2Fi:FqBFuZ0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm |>G} ?G} ?GA BI O >BLC(w, AV)@YVk9@VI>9Vݛpt vG٣tyv v> ~Nusing accuracyPremultiplier from configx~59zV?5YzT iz? 㿑 @z iEz|O;zO;zp5 &ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@D@ɛM!~BMT > imIi u.>ɚqiqIupN*=I}yӿi}ȷ)y)Em31= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF ~0JF QIQG5 2Fx>G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ ս <aI(w,(AH>IC III}BI =&I .I 6I}<:I FBIeCJIeCRIaZIe =bIe =jIe6y5}B5IiAIEyy }G٣}PGy > Nusing accuracyPremultiplier from config59?5Y> i7>UC?:G˿@iE;;t5B ,'AEDNOT Ignoring new targets: 40.40 m. jjjjihhhh#Bfffrfbf -yD@ɛ}B+> 隽XI .>ɚiI+=Iyӿi ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JvJoJJJ{T:JK9JJJGu;JJu;J:J:Ee^=*F ?2F :F BF _0JF G ^`>  I hG B O >v[P(w,AABS@YBb@B3H>9B;xzҿz@riEr:r:r5zK~LK~s9K|K~mK~A93-*&" BK qA:K B +'A=DNOT Ignoring new targets: 40.40 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfU`]D@ɛy}3=> y};:I .>ɚiI+=Iyӿiuü))EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFT1JFGJ>GqBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.ۉV(w,l[Amq@Ym @mG>9miQQ UG٣Qy]x ]> eNusing accuracyPremultiplier from configam59e ?5YeU iej>  隍!;I ^/>ɚiI#_,=IyӿiWپ))*F2F:FBF5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH1RH5?AHE>IA IEIIEf}BIE =&IA.IE?D6IEC<:IE FG% $I>G B O% >6\(w,3uA:"@Y:@:F>9:X\ ^G٣^PGy^w b> fNusing accuracyPremultiplier from config`f59b ?j5Yb׾ ib>hjؿj@biEb:bP:bx5rWill construct direction to contact in vehicle frame from tetrahedron phase data.t vK'AtDNOT Ignoring new targets: 40.40 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5D E@JyJtJ1JJ]:J9J3JJ;J;J:J:ɛ1= > 9=I9 =->ɚAiAIE,=IEyӿiM% G> IGA>GBOE>zKLK}9KKnKWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑՕ=c(w,+AZΏ@YZݖ@Z_ D>9Z^|| ~G٣|yu >  Nusing accuracyPremultiplier from config 59 X?5Y | i 3>ܿ@ #iE : ;  ; F!5! %!'A!MDNOT Ignoring new targets: 40.40 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe@E@ɛ}BSJ> 隝:I ;.>ɚiI-=Iyӿi,JJGBYOF> I Will construct direction to contact in vehicle frame from tetrahedron phase data.HE >IE C IE IIE =}BIE  =&IE ED.IE @D6IE i<:IE Fi(w,쨡AF @YF_@FcA>9Ft!! %G٣!y-\ -> Nusing accuracyPremultiplier from config1595?5Y50 i5w= 1?:߿@5(iE5(l<5e ;54#5 'ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf{E@ɛ}B%cy> !% ;I! %B/>ɚ!i!I-(.=I5yӿi5G B O > I hp(w,¡A63b@Y6q@6C?>96 =y6H:A ?@{@Tj@ܨ`ǿ`ǿz-?l?ɨ63b@6;6CyB}BBIIJ{IJZ4٢R; Rf=9Vi׻Q V>TT VG٣ZPGy^l ^> bNusing accuracyPremultiplier from config`f59b?f5Ybe ib?=hj ⿑j@b+iEb:b:b$5l n'AnEzK]m$JK]ŷ9KYK]oK]DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@E@ɛ}BO> @;I h0>ɚiI.=IyӿiB Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J R=3v(w,ܡA $?IǍ@Yה@H<>9y0=yHW®)?} CgN ƿ`^ǿ E?@n?ɨǍ@;騵CyI]Mb@Mb@Mb@YYY Y)YY] r?Cl绿Zd;Oy]#?];߽]j]#A ]9A)]6AI] AYy]p!AIuIu_v4٢} ܺ /=9߻Q > G٣y0& > Nusing accuracyPremultiplier from config59P?5Y iX &?:濑@0iE';C&;&5  'ADNOT Ignoring new targets: 40.40 m. jjjjihhhhۂBfffrfbf@E@ɛ}Br> 隵w;I K1>ɚiIF1/=IyӿiIC III =&I.I6IG<:I FGό= G9 YyAGiBqO>|(w,A6X=@Y6L@6f8>96U=y6H@?@ְc@L wNƿƿ /?`p?ɨ6X=@6ڌ;6CyF}BDINtINM4٢V Vn=9V-(Q V?XX ZG٣Xy^mIbWill construct direction to contact in vehicle frame from tetrahedron phase data. b? jNusing accuracyPremultiplier from configdj59f?n5Yf ifʍln近n@f4iEf ;fX;fL(5t v 'AtDNOT Ignoring new targets: 40.40 m. jjjji!h!h!h!h)f)f)f)rf)bf5F@ɛ]}B]7\> Y] ;IY e1>ɚaiaIeړ/=ImyӿimuWill construct direction to contact in vehicle frame from tetrahedron phase data.(w,YA2wь@Y2@24>92w=y2H y;?t@5_P`ſzƿc? r?ɨ2wь@21;2CyR}BP) AI%mI%3A4٢5 5B=9=H Q =>AA EG٣EPGyE M> UNusing accuracyPremultiplier from configI]59M쐜?]5YMF iMae꿑e@M8iEMd*;M*;M"*5mB m 'AmEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfDF@ɛ}B+> I 1>ɚiIm0=Iyӿi\ I} Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,;*AR7s@YR@R 0>9R5s=yRH@ڹ? \@/Ŀ^ſh?s?ɨR7s@Rڍ;R Cy^}BbIHn>InC InIInQ}BIn =&Il.InAD6In*<:In FMb@Mb@Mb@ )YK?Mb G٣yzݼ > Nusing accuracyPremultiplier from config59O搜?5Y i7<?:@@ 隍~I #.>ɚiIsb0=IyӿipWill construct direction to contact in vehicle frame from tetrahedron phase data. i Ii K(w,c&DAn-@YnP=@ne+>9n=ynH` ?@S@[`]& Ŀ@$Sſ t?|u?ɨn-@nM;n"Cy~z}B~II fI 44٢%Z %W=9%FQ %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=/?E5Y=t i=nAMEM@=@iE=a:= :=-5Q UW'AU EzKK9KKqK  %*0107;<8+DNOT Ignoring new targets: 40.40 m. jjjjihhhh-Will construct direction to contact in vehicle frame from tetrahedron phase data.f1f1f1rf9bf=|F@ɛ}B> 隭I Z)>ɚiI}0=Iyӿi  Will construct direction to contact in vehicle frame from tetrahedron phase data.J nJ fJ 0J J |;:J 9J ـ3J %(w,Y]A Ihyt}BIi G٣ PGy   > Nusing accuracyPremultiplier from config59ؐ?5Y i%?%:%%@DiE/;;/5) 5o'A1]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiYhYhah h %Bf ffrfbfF@ɛ}}B> 隍I !>ɚiI 1=IyӿiI III =&I.I6I'<:IBIEŭCJIEŭCRIAZIE =bIE =jIEţH6G-=^<G BOu>K(w,CwA6ۋ@Y6@6J >96M=y6H@)?)z`p¿kÿ ??7?ɨ6ۋ@6];6Cy>Y}BBIIJgIJ64RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢   p=9 Q  ? G٣y ? %Nusing accuracyPremultiplier from config!-59%;Ӑ?-5Y% i%)5 5@%GiE%:%X:%+159 ='AAmDNOT Ignoring new targets: 40.40 m. jijqjqjqiqhqhqhhfffrfbf@G@ɛ}BX> 隽pI >ɚiIE71=Iyӿi-zK5MK559K1K5rK5RK=?JK=>UWill construct direction to contact in vehicle frame from tetrahedron phase data.5(w,ABkʋ@YBْ@B>9B=yBHc @? 엺fR`d.ÿϵ?@^?ɨBkʋ@BŊ;B Cy^M}B^IIfjIf;4٢n nM=9r`{Q r>pp rG٣pyvo v> zNusing accuracyPremultiplier from configx59z̐?5Yz izaB@zKiEz 68= I s>ɚiIZ1=IyӿiߒG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data._(w,񂫢AH>>I>C I>II>=}BI<&I<.I>BD6I> <:I>| FN/ċ@YNӒ@N>9NK`=yNHXy?>l`go_¿`??ɨN/ċ@NJ;NCyZ+}BZI)\ \EMb@Mb@Mb@AAA A)AYEQ?L7A`~jtyE\?E+EE,A A)E6AIEnAAyE%AI]eI]34٢m梽 mA=9m>wQ u> G٣PGyI > -Nusing accuracyPremultiplier from config)U59-OŐ?U5Y-  i-׾U^?U:]]@-OiE-l;-;-45a e(AaDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbfG@ɛe}Be\ > ae߽Ia >ɚiI}p1=IyӿiGM >GWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOm> I G(w,[_ŢA6΋@Y6Xޒ@6 >96M=y6H = ?`󒼿guD`d>?`I?ɨ6΋@6SB;6!CyB}BBIINwINR4٢V1׽ VW=9VQ V>XX ZG٣Xy^m; ^> bNusing accuracyPremultiplier from config`f59bc?f5Yb ibb뾙hj^j@bRiEb:b:bj65l n1)AnE DNOT Ignoring new targets: 40.40 m. j j jjihhhhff!f!rf!bf%hG@ɛM}BM> QUIQ UQ>ɚQiYI]{1=I]yӿie} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J J J 3J 4p(w,2ߢA `I`yU|BUI Mb@Mb@Mb@    ) Y V-?rh|~jty  ?  ļ .A A) 6AI A y f&AI%jI%;4٢5" 5(=9=Q =>99 EG٣AyE E> UNusing accuracyPremultiplier from configIU59MƷ?]5YM iM](?]:]]@MViEM+;M;M85a e)AiDNOT Ignoring new targets: 40.40 m. jjjjihhhh"Bfffrfbf`G@ɛ}B<> jCI >ɚiI1=IyӿiݾI III}BI&I.I6I<:IX FEM|^=*F ?2F :F BF o0JF G  G sA Will construct direction to contact in vehicle frame from tetrahedron phase data.G)GBO5> (w,bA hIjhy-|B-dIi5=I1I=mI=3A4٢U߽ U;=9QQ U>YY ]G٣]PGyY e> mNusing accuracyPremultiplier from configiu59m󰐜?u5Ym imyy}@mZiEm;m@;mr:5 *A5DNOT Ignoring new targets: 40.40 m. j1j1j9j9i9h9h9hAhAfAfAfIrfIbfM@$H@ɛu}B}#> y}wIy ,j>ɚiI1=Iyӿi @(w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y~r|B~@II rI J4٢ %O=9!Q %>)) -G٣)y) -> =Nusing accuracyPremultiplier from config1E595ê?E5Y5# i59AAE@5^iE5;5;5,<5MB Un+AUEDNOT Ignoring new targets: 40.40 m. jjjjihhhhffJJfrfbfIUH@ɛ}B= 蚾I ->ɚiIt1=IyӿiI1  I5 kII5 |BI5 =&I1 .I1 6I5 <:I5 o FA a iY y Am @m BG5 jG B! OE >҉(w,4AyF|B%%IMb@Mb@Mb@ )Y|?5^?MbMby?1A A)A4AIXAy&AIzI=X4٢ 2=9Q > G٣y > Nusing accuracyPremultiplier from config59R?5Y) i) ? :  @biE;|;->5 ,A=DNOT Ignoring new targets: 40.40 m. j9j9j9jAiAhAhIhIhMBfIfQfQrfQbfUЏH@ɛ}Bu= 隍I ">ɚiIf2=Iyӿi* Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K uK   h(w,KNABJ@YB}Z@B=9B4R>yBH[? zs11J?ඕ?ɨBJ@B;BCyJ{BJI)L LIVuIVaO4٢ZJ ^`=9^޽Q ^>`` bG٣bPGyf*= f> vNusing accuracyPremultiplier from configp~59r?~5Yr. ir^3+ @reiErǙ;r;r?5! %C-A)UDNOT Ignoring new targets: 40.40 m. jYjYjYjaiahahihqhqfffrfbfH@ɛ%}B-J^= -U =-SپI) -n>ɚ)i1I5f1=I5yӿi=pǼr(w,*hAy-{B-IeWill construct direction to contact in vehicle frame from tetrahedron phase data.H>I I II?|BI =&I.I6I<:I~ FmMb@Mb@Mb@iii i)iYm+?)\(I +ymv?mGόm94m=4A m$A)m1AImAiym3'AII4٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y56 i[AW!?:S쿑@jiE;b;A5B Y.AEDNOT Ignoring new targets: 40.40 m. jjjj i h h hhBfffrfbf4H@ɛU}BUx= QUIQ ]_>ɚYiYI]ݹ1=Ieyӿief Will construct direction to contact in vehicle frame from tetrahedron phase data.J J jJ 1J J J 9J 3J J J J :J : I z(w,A6f@Y6v@6[2=96 >y6H`L?  ¿TT@9? d?ɨ6f@6@;6 CyR}{BRIIZIZk4٢b) bm=9f Q f?dd jG٣hyj < j? ENusing accuracyPremultiplier from config9E59=?M5Y=; i=KIM뿑M@=miE=:=:=[C5Q ]C/AYDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@'I@ɛ}B= I >ɚiI11=Iyӿi! Will construct direction to contact in vehicle frame from tetrahedron phase data. i +(w,7ߛA2p@Y2@2=92H >y2H@@@Ɓ?`L!¿̹@ݼ:㰿`F?b?ɨ2p@2P;2CyBA{BBIiFXX ZG٣^PGy^;; ^> fNusing accuracyPremultiplier from config`f59b?j5YbA ibQVhj뿑j@bqiEb7:bz:bE5nB r.0ArEDNOT Ignoring new targets: 40.40 m. jjjjihhh!h!f!f!f!rf)bf-yYI@ɛ}B= I }%>ɚiI @M1=I=yӿi=0׻N"(w,A6r@Y6@6c=96] >y6H@3 ?¿`KGT5g@?`?ɨ6r@6(;6 CyBzBB[IUMb@Mb@Mb@QQQ Q)QYUZd;O?!rhMbyU~*?Ul罹U@U5A Q)QIUhAQyU'AImIm҅4٢} }5=9}W:Q > G٣yR: > Nusing accuracyPremultiplier from config59?5YI iEcY-?:꿑@viEw;;G5 71ADNOT Ignoring new targets: 40.40 m. jjjjihhhhVBfffrfbfQI@ɛ%}B%.l=-Will construct direction to contact in vehicle frame from tetrahedron phase data. )=_0I9 E >ɚAiAIE1=IMyӿiMNzK UOK s9K K wK ~}{ysponlkkhgfd^ZZWVUQPT\nz{xnida_^][VVQPPO(w,УARAu@YR@RG=9R>yRH`]? `Yyˬ$?k?ɨRAu@R0;RCyezBm,IIId4٢ W5  B=9?Q >! %G٣!y-!m: -> =Nusing accuracyPremultiplier from config1M595?U5Y5P i5oY]꿑]@5{iE5I;5;5H5i mj2AmEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`I@ɛ}B\= DI >ɚiIs0=Iyӿi>I  I ~II 7{BI &I .I 6I U<:I FGU{/;GABQOu?(w,CyJH`N`D?`]q!??ɨJiq uG٣uPGy}ƺ }> Nusing accuracyPremultiplier from config59y?5YY i)};?:翑@iE;;J5 I3ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbfq J@ɛM}BMط= IM TII U>ɚQiQIU[0=I]yӿi]Yߺ:J9Jـ3JJ~O;JO;J:J: I*F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >9m)w,W_A6Om@Y6|@6/=96>y6Hg_܆?8`I )I#@L@?F?ɨ6Om@6:R;6CyBAA EG٣Ay3 > Nusing accuracyPremultiplier from config59 r?5Yc i!翑@iE!;;&M5 D4ADNOT Ignoring new targets: 40.40 m. jjjjih!h!h!h)f)f)f)rf)bf5FJ@ɛ]}B]j4= Y]=eIY e#>ɚaiaIe0=Imyӿimu )w,(*(AyyB IH>I I&IIzBI&I.I6I<:Iz FWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YNbX9?kt~jtyE? D6A A)Iy(AI-I-Ho4٢E{ EJ=9MQ M>II MG٣QyU U> eNusing accuracyPremultiplier from configYe59]l?m5Y]j i]m;G?m:mn㿑m@]iE] ;]C ;]N5}B }25A}EDNOT Ignoring new targets: 40.40 m. jjjjihhhIhMBfQfQfQrfQbf]5{J@ɛ}B= 隥uI wT>ɚiIN/=Iyӿi=J} nJ} hJy Jy J} |;:J} Ȇ9Jy Jy J} J;J} J;J} Ԭ:J} լ: $?I Bz)w,BAFo\@YFk@Fc=9F>yFH>躿?`1@M Ww҃? ?ɨFo\@F;F"CyZyB^IihIjR=IrIr4٢z zc=9z[Q z>|| ~G٣~PGyZ >  Nusing accuracyPremultiplier from config 59 h?5Y q i %㿑%@ iE I;  J; oP5-B -5A-EUDNOT Ignoring new targets: 40.40 m. jQjQjYjYiYhYhYhahafafafirfibfm ҦJ@ɛ}BJ߁= 9=I9 = >ɚ9i9I=D/=IEyӿiESۦ)w,K[ABWill construct direction to contact in vehicle frame from tetrahedron phase data.@i@^F@Y^$V@^?L=9^n>y^Ho@x?}:}|??ɨ^F@^;^CyfyBfIIrIr̍4٢z ~J=9~ kQ ~> G٣yֻ  > Nusing accuracyPremultiplier from config 59 |b?5Y z i  俑%@ iE 1; ; 4R5) -6A)UDNOT Ignoring new targets: 40.40 m. jQjQjQjYiYhYhYhYhafafafarfabfmJ@ɛ}B= 隥]I  >ɚiIذ/=IyӿiʟI III/zBI =&I.I6I<:I} F~G!5Will construct direction to contact in vehicle frame from tetrahedron phase data.GqByO> Yy0A)w, uAJX:@YJI@JO0B=9J>yJHไ?Y# UC ?ܱ?ɨJX:@JNh;J CyRyBVpIeMb@Mb@Mb@aaa a)aYeV-?#~j ףp= yehQ?e㥽eQ8e7A eA)e,AIex!Aaye((AI}I}t4٢ڱ A=9Q > G٣yh > Nusing accuracyPremultiplier from config59\?5Y ișR?:⿑@iE'!;] ; T5 27ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbfK@ɛ5}B5 G|= 15͌I9 = >ɚ9i9I=~/=IEyӿiE;G) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.ٷ#)w,WA6Y'@Y66@67=96Av>y6HǑn?@ cӽWᦿ ~?@p?ɨ6Y'@6c;4yNcyBN^I)P PzK^5LK^+9K\K^zK^IZIZ4٢n֔ nV=9rQ r>pp vG٣vPGyv2ǻ v> zNusing accuracyPremultiplier from configx~59z^W?~5Yz izA㿑@ziEz ;z ;zU5  7ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`CK@ɛ5}B5Lf= 1=I9 =9 >ɚ9i9I=W/=IEyӿiEӸ))w,ԙAy-KyB-PIHaIa IeIIeyBIe =&Ia.Ia6Ie5<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y V-?Q뱿 rhy \? \ C 5A A) -AI #A y (AI%I%#4٢5'N 55=95Q =>99 EG٣AyE M> UNusing accuracyPremultiplier from configIU59MCQ?]5YM iM񢿙]]?]u:] ῑ]@MiEMx;MN;MW5i m8Am EDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf Y{K@ɛ}Bf= ŔI  >ɚiI-/=Iyӿif 1 I= h0)w,jKäA6@Y6i@6.&=96i>y6H@w@?``љMФ?^??ɨ6@6e;6CyR5yBRBIIZyIZxV4٢b} bg=9b;Q b>dd fG٣dyjB j> nNusing accuracyPremultiplier from configlr59n^L?r5Yn inutvῑv@niEn;nA;n;Y5zB zV8Az#E-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bfE K@ɛm}Bm 9= im>Ii u>ɚqiqIu/=I}yӿiKKus9KqKu{KuGBO>6)w,%ݤA:Will construct direction to contact in vehicle frame from tetrahedron phase data.JenJeeJaJaJe|;:Je9JaJayu7yB}CIi=IC=IIv}4٢|; ==9Q > G٣PGy > Nusing accuracyPremultiplier from config59bF?5Y i@iE:;;[5 N8A $?I DNOT Ignoring new targets: 40.40 m. j j j j i hhhhfffrfbf%`K@ɛM}BMV= IM֘II UH>ɚQiI9.=Iyӿi{I! I%II%yBI!&I!.I!6I% <:I%x FBIưCJIưCRIZI =bI =jIƋ4Will construct direction to contact in vehicle frame from tetrahedron phase data.G̻G B O >=)w,A6@Y6P@6a=96n>y6H`{? M )` cYp ? $?ɨ6@6@Ȉ;6CyB*yBB<IMb@Mb@Mb@ )YGz?S㥫{Gzyp]?/]ף6A ),AIyImIm4٢} }L=9ܻQ > G٣yp > Nusing accuracyPremultiplier from config591A?5Y iϭ]?t:߿@iE;;\5 8ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf,L@ɛ%~B%?= )-ɚ)i)I-.=I5yӿi51% Will construct direction to contact in vehicle frame from tetrahedron phase data.D)w,+A:/Ջ@Y:@:!&=9:^>y:H >x?`6 `lâ??ɨ:/Ջ@: ;8yF-yBF=IIRIRt4٢Z< ZX=9ZdQ ^>\\ bG٣`ybT b> fNusing accuracyPremultiplier from configdj59f;ɚqiqIv.=Iyӿi8y4J)w,*AH^>I\ I^}II^yBI^ =&I\.I^CD6I^ <:I^| FjNj@Yjג@j=9jܲ>yjH{zu?7Vd==쒿?@?ɨjNj@j1;jCyrByBrJI)x x|~AMb@Mb@Mb@ )YZd;O? rhy&1yj\?C`e A)X/AI#Ay)AIIF4٢t== :=9AQ > G٣PGWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2948> BDAT read: Tx time:22:56:19.9677 $Ping request sent. Nusing accuracyPremultiplier from config595?5Y i!]?u:⿑ @iE<ƾ<t`5 #8AMDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhUBfQfYfYrfYbf]L@ɛ~ByZ=  I r>ɚiIw.=IyӿiеQ)w,DA6i@Y6Œ@6y =961>y6H r?k@z@6\N??ɨ6i@6~;6CyR`yBR\IIZLIZ4٢b= b\=9fQ f>dd fG٣hyj j> 5Nusing accuracyPremultiplier from config)559-X0?=5Y-P i-/9=⿑=@-iE-B;-;-b5I M7AI}DNOT Ignoring new targets: 40.40 m. jyjyjyjyihhhhfffrfbfL@ɛ~Bж= 隽I >ɚiITl.=IyӿiUBW)w,u^A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756667~q@Y~ﶒ@~=9~ >y~HhF`Em?`b\T`;`uk??ɨ~q@~B;|y _yB IwIR4٢->8 -D=95nQ 5> AIAJ;3K;3 K;A.K3K3"K3JUoJUfJU0JQJU>:JU9JUـ3JQ G٣y > Nusing accuracyPremultiplier from config59*?5Y i񸿙㿑@iE;;c5B 7A*EMDNOT Ignoring new targets: 40.40 m. jIjqjqjqiqhqhqhyhyfyfyfyrfbfKL@ɛ ~BF= .I >ɚiIr..=IyӿiI IIIyBI =&I.I6I <:Iz FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006604GKGGqAG B O >j])w,NFxA:A@Y:@:8<9:Ϙ >y:H@k?ַ N[`h/Wc?x?ɨ:A@:B ;8yfyBfsIij=Ij??eMb@Mb@Mb@aaa a)aYev?㥛 yeX?eeeV8A elA)e-0AIe$Aaye*AI}TI}4٢= E=9ϯQ > G٣PGyգ > Nusing accuracyPremultiplier from config59$?5Y} iY?y:俑@iE:;';e5 $7ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfff rf bf `M@ɛ'~B== XI R>ɚiI-=Iyӿi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864Wd)w,6A2@Y2@2<92 >y2Hj?`b@? ?ɨ2@2;2CyByBB~IININb4٢R;= VY=9V-MQ V>XX ZG٣Xy^&ǹ ^> bNusing accuracyPremultiplier from config`f59bI?f5Yb ibXdj俑j@biEb,;b,;bWg5p r6ApeDNOT Ignoring new targets: 40.40 m. jijijijiiihihhhfffrfbf`HM@zKKs9KK~K  !k" -7/ ~xrmijuRK ?JK?ɛ=/~B=4= 9= I9 E>ɚAiAIE-=IMyӿimk) &= cCj)w,:AHb>IbC IbIIbyBIb =&I`.I`6Ibۯ<:IbX F=iGQqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015287 Yy=AE@YE@E<9E >yEH bj?]r@Neէ? o?ɨE@E;ECyUyBUIMb@Mb@Mb@ )Yoʡ?ktMb`?yM? ;9A )\/AI%Ay +AIIr4٢ = *=9Q > G٣y'; > Nusing accuracyPremultiplier from config59a?5Y  ileq)w,ťA:@Y:@:<9:61>y:Hei?S$¿ Ze낿 B@~??ɨ:@:Lj;:CybyBfI)h hInIn)4٢v= vu=9vʺQ z?xx zG٣xy~$ƹ ~? Nusing accuracyPremultiplier from config 59l? 5Y i翑@iE ::j5 %5A%,EMDNOT Ignoring new targets: 40.40 m. jIjQjQjQiQhQhQhYhYfYfafarfabfeoM@ɛ>~B = 隕I =ɚiIE-=Iyӿi`5zKMעNKMh9KIKMKM~~zwq]VTOLJF@7*%$ 8w)w,ߥAWill construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772223B@YB@Bv<9B>yBH@zH ]j?@¿ rN끿@?H?ɨB@BR};B CyJyBJIIVIV1h4 \I\٢b |= bL=9f+պQ f>dd jG٣jPGy=X; => UNusing accuracyPremultiplier from configI]59M ?]5YM etIiMcae翑e@MiEM[;ML;Ml5uB um5A}/EDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrf bf M@ɛuF~BuM= quIy }̟=ɚyiyI},=IyӿiCI III9zBI&I.I6I<:Ig FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:56:22.4488 TRx dataTimestamp_ set to:1736376983.754910checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026615G-iGa Bq O >})w,>y2HKH`i?`V2¿k<+ך??ɨ2"@2};2CyNzBNI-Mb@Mb@Mb@))) )))Y-)\(?|?5^Mb`?y-GA?-ҽ)) -=A)--0AI-(A)y-(,AI}I}{4٢= >=9ߺQ > G٣y7 > Nusing accuracyPremultiplier from config59?5Y iÿC?:꿑@iE;;n5 4ADNOT Ignoring new targets: 40.40 m. jjjjihhhhtBff f rf bf N@ɛ=N~B=pF= 9=I9 E=ɚAiAIE,=IMyӿiMwm)w,jA:@Y:@: <9:U>y:H"X\ ^G٣\y^@; ^> fNusing accuracyPremultiplier from configdj59fz?j5Yf  ifĿln}꿑n@fiEfq;f4s;f?p5t vZ4AxzKMK9KKK #((%&&$"-Gm Dgz{s addTargetRange:: Added new target pos. range: 57.599998 m, deltaT: 60.481877 s, deltaX: 17.199997 m, approachRate: 0.284383 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfL@bf?ɛeW~Be6S= aeIa m=ɚiiiImJ,=IuyӿiuQk )w,?W.AHe>Ia Ie IIezBIe =&Ia.Ia6Ie<:Ie= FBI-CJI-CRI)ZI- =bI- =jI-5Will construct direction to contact in vehicle frame from tetrahedron phase data.y޵>zB޵I}Mb@Mb@Mb@yyy y)yY}"~?Pn~jth?y}3?}}D;}j G٣PGy > Nusing accuracyPremultiplier from config59?5Y iƿ6?:X@iEj;th;Hr5 <4A1EDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfff!rf!bf% A?ɛU`~BUwQ= Y]CIY e@=ɚaiaIe+=Iyӿis)w,*HA6ŋ@Y6|Ւ@6#<96 T>y6H`m?<¿2} s?4?ɨ6ŋ@6;6 CyfezBfIIrIr4٢v= zk=9z'Q z?|| ~G٣|y; ?  Nusing accuracyPremultiplier from config 59 ?5Y T i ,ȿ@ iE e"; ;$; s5! %3A%4E]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiahahahahafififirfibfu kb?ɛg~Bf7= 隥KI  =ɚiIU+=Iyӿi2*ztoh^YUPLF@;9?DCDCA?:8541-,-.1/-+)'&# GIBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! /)w,%bA6Ӌ@Y6x@6i<96>y6H -|o?4*¿ @2}{, ??ɨ6Ӌ@6_ډ;6CyBdzB@HJAAIJzIJ=X4٢V VO=9ZԯQ Z>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f59b珜?j5Ybm# ibɿhj￑j@biEb3;b;bu5t z3AxDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@s?ɛMq~BMN= IMII U=ɚQiqIuY+=I}yӿi}힮F)w, {AynpzBnIMb@Mb@Mb@ )YZd;O?x&{Gzty~*?7 ף;=A )1AIy-AIE|IE[4٢e< m2=9mQ m>qq uG٣uPGy} }> Nusing accuracyPremultiplier from config59iߏ?Will construct direction to contact in vehicle frame from tetrahedron phase data.5YB+ i-̿-?:@jEv;/t;w5 q3A ~$?IDNOT Ignoring new targets: 40.40 m. jjjjihhhhւBfffrfbfr?ɛ-z~B5v(N= 15]I1 5kC=ɚ1i9I=*=I=yӿiE -)w,A6>@Y6@6R<96>y6H ( s?A¿ @֢c~` ?@?ɨ6>@6o};6CyRfzBRIIZ}IZ]4٢bڼ bi=9bƹQ f>dd fG٣dyn2O< n> vNusing accuracyPremultiplier from configpv59r;ُ?z5Yr81 irͿxz1z@rjEr :r:ry5 3A7E-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i1h1h1h1h1f9f9f9rfAbfE\@ɛu~BuC%= quIy n=ɚiI*=IyӿiH I  I LII zBI &I .I 6I <:I f F[)w,UA @Y@<9P>yH{t?7O¿ u`}??ɨ @[:; C=Will construct direction to contact in vehicle frame from tetrahedron phase data.yErzBMIiU=IU=Mb@Mb@Mb@ )Y"~j?7A`¿{GzyS#?#?A  A)I)Ay.AIkI=4٢< 7=9wkQ >    G٣ yH; > Nusing accuracyPremultiplier from config%59!я?%5Ym8 iп%'?%:%P%@ jE;;{51 =g3A9eDNOT Ignoring new targets: 40.40 m. jajajajaiahihih h Bf ffrfbf̵@ɛE~BenrL= imUIi m=ɚiiiIuIj*=Iuyӿi}7?)w,zoɦA2%@Y25@2a<92J\>y2HGqw?`9X¿` @\08?$?ɨ2%@2;;2Cy>pzB>IIFzIF=X4٢RF Rd=9V{K:Q V>TX ZG٣ZPGyZ< Z> bNusing accuracyPremultiplier from config\f59^ʏ?f5Y^C> i^ҿdff@^jE^Q;^;^|5nB nj3An:EDNOT Ignoring new targets: 40.40 m. jjj j i h h hhfffrf!bf%@l@ɛM~BM z= IUIQ Ui=ɚQiQIUkF*=Iyӿi I  Will construct direction to contact in vehicle frame from tetrahedron phase data.i)w,QJAJFnJFdJDJDJF|;:JF|9JDJDaJ@aJ@aJ@aJ@n8@YnIH@n<9nXl>ynH7 y?mY¿0ᨼẂ@]0`?`?ɨn8@n@;nCyVzB IIId4٢%Vw -B=9-)Q ->11 5G٣1y5#; => MNusing accuracyPremultiplier from configA]59EÏ?e5YEE iE;տimu@EjEE@;Ej;El~5 3AMDNOT Ignoring new targets: 40.40 m. jIjIjIjQiQhqhqhyhyfyffrfbf @ɛ~BȺ6= 0I mj=ɚiI)=I%yӿi%*WIi IiIiIm =&Ii.Ii6Imb<:Im FeWill construct direction to contact in vehicle frame from tetrahedron phase data.GM s7]GU ?GU >G! B1 OM >!)w,%Ayv6zBvI)x x}Mb@Mb@Mb@yyy y)yY}p= ף?l¿:vy}%?}}Լ} >A y)}p3AI}v*Ayy}3/AII1h4٢B C=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YL iؿ)?:@jE;;A5 U4A DNOT Ignoring new targets: 40.40 m. j j j j i hhhhBfffrf!bf%&@ =}$?I9ɛ]~Be$= aewIi mȦ=ɚiiiIm)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Iyӿie Will construct direction to contact in vehicle frame from tetrahedron phase data.{)w,A6j@Y6y@6l<96>y6H񀺿`?@*¿@| 僿1`i??ɨ6j@6ʋ;6CyBzBBIIJ{IJZ4٢R- R\=9V ^7Q V>TT VG٣VPGyZ< Z> bNusing accuracyPremultiplier from config`f59b?f5Yb#R ibۿdjMj@bjEb:b:b၁5l n4ArH >I  I 3II zBI &I .I 6I <:I Fϩ)w,d0AWill construct direction to contact in vehicle frame from tetrahedron phase data.@Y'@|e<9s>yH8?¿@:.Ņ`??ɨ@h;騅 CyޝyBޝImMb@Mb@Mb@iii i)iYm/$? rhlym1(?mC mm?A i)m1AImG+Aiym\/AIIt4٢z /=9A:Q > G٣y< > Nusing accuracyPremultiplier from config59]?5YZ i߿,?:@!jEU;;상5 5A?EDNOT Ignoring new targets: 40.40 m. jjjjihhhhÂBfff rf bf @n@ɛE~BE = AM|II MG=ɚIiIIM})=IUyӿiUmD)w,0JA6@Y6@6y<96>y6H`ʸ`?¿ r޸`@#?@?ɨ6@6\c;6CyfyBjIin G٣ y m<  > Nusing accuracyPremultiplier from config%59?%5Y_ i㿙!%s-@%jEr;;u51 56A1]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiYhahahahafififirfibfm@ɛ~BT< k1=隭I =ɚiI)=Iyӿih?zK$OK59KKKYxs`'k6BKqA:K I  Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,dAJ2mJ2aJ0J0J2\8:J2p9J0J0B=@YBɓ@B&<9B>yBH>?`D`7[ 䙿`?@ ?ɨB=@B;@yRyBRxIIfIf)4٢r vK=9v;:Q v>xx zG٣zPGy~&; ~> Nusing accuracyPremultiplier from config 599? 5Yf i濙   @)jEX::65 6A}DNOT Ignoring new targets: 40.40 m. jyjyjjihhhhfffrfbfp@ɛ~Bf< 隕ШI D=ɚiI)=Iyӿi I IIIazBI&I.I6Iͯ<:IP FBIJIRIZIbIjIĽi4*FY2FY:FYBF]R5JFaEWill construct direction to contact in vehicle frame from tetrahedron phase data.G 4<G B O >Y)w,m~A64ό@Y6ޓ@6<96N >y6H T_ࡍ? 2@ K??ɨ64ό@6ę;4yRgyBRaI=Mb@Mb@Mb@999 9)9Y=gfffff?T㥛 :vy=33?==T= >A 9)9I=v*A9y=.AI]I]҅4٢m mB=9uQ u> Iq G٣y3; > Nusing accuracyPremultiplier from config 59? 5Yn i뿙6?:#꿑=@.jE;B;5A M7AQWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 40.40 m. jjjjihhhhqBfffrfbfD@ɛ~B1d< 隍ͮI e=ɚiI)=Iyӿi-)w,HA6@Y6@6<96 >y6H@?@@i`"ÙV?@?ɨ6@6~;6 CyB!yBB6I)D DIJIJ)4٢r@5 rT=9r $9Q v>tt vG٣tyzv; z> ~Nusing accuracyPremultiplier from config|59~?5Y~Au i~￙  鿑 @~2jE~:~:~5 8AAEMDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhQhQhQhQfYfafarfabfe`@ɛ~B/ 隕I =ɚiI64*=Iyӿiժ<:534 |$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.E2 =JlJJ1JJ<5:JJ3J*F92FA:FABFE5JFAH! I!  I% II% yBI% =&I! .I! 6I% (<:I% FG e)w,A6Will construct direction to contact in vehicle frame from tetrahedron phase data.~@Y@<9 >yHF>x?/rU鶿G홙$o??ɨ~@u2;Cy5xB5 I5Mb@Mb@Mb@111 1)1Y5 r?)\(T㥛 y5C?5Gό51 1)50AI5G+A1y1IEIE4٢U  ]*=9]yQ ]>aa eG٣ePGye; m> uNusing accuracyPremultiplier from configq}59u??}5Yu~ iu}BF?}:}俑@u8jEu&;ur;u֌5B 9ADEDNOT Ignoring new targets: 40.40 m. jjjjihhhh,BfffrfbfN@ɛ~Bm< ¿I R=ɚ i I s*=IyӿiI)w,~ͧA6@Y6c@6 <96 >y6H%#`ѓ?@ζ݊@P??ɨ6@6;6CynxBnIIvIv:4٢! d=99Q >    G٣yY: > %Nusing accuracyPremultiplier from config!-59%6?-5Y% i%)-俑-@%X)w,A-B@Y-@-<9-E#>y-H`ܗ`?@ @9{?@X?ɨ-B@-{;- CymtxBmIi G٣y > Nusing accuracyPremultiplier from config59?5Yt im4忑@BjEl;F;N5 T;A%DNOT Ignoring new targets: 40.40 m. j!j!j!j)i)h)h)h1h1f1f1f9rf9bf=@ɛ BK AEҿIA M=ɚIiIIMQ+=I]yӿi]퓪I IRIIOyBI&I.I6I/<:I F*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O > Q IU h'r*w,A nnManaging dock network, ignoring radio surface power offy5@xB5IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YQ?333333T㥛 yU?j G٣PGy   > Nusing accuracyPremultiplier from config59C~?5Y] i&9W?|:޿%@GjE;;5) -$m@ɛUBU!v Y]ڿIY }=ɚyiI+=Iyӿi{*w,A6ތ@Y6@6 #<96F>y6H 嶿?9@^-@Ø ? ?ɨ6ތ@6;6CyRxBRIIZIZt4٢b fa=9f +Q f>hh jG٣hyjV j> rNusing accuracyPremultiplier from configpv59ry?v5Yr@ irLtv޿v@rLjErX:rC:r5| ~ =A|-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE`n @ɛm Bm- mg=mDIi u;=ɚqiqIu,=Iyӿi_c I*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.)= Gjhn<G ?G>UNGi Yy=AGBO >H >I  I II xBI &I .I 6I <:I J F *w,5AWill construct direction to contact in vehicle frame from tetrahedron phase data.ywB{I) Mb@Mb@Mb@ )Y%C?l)\(yZd?Ga;A )-0AIy-AII4٢1 .=9Q > G٣y > Nusing accuracyPremultiplier from config595t?5Y  ie?l: ޿@SjE;@;5 _=ADNOT Ignoring new targets: 40.40 m. jj!j!j!i!h)h)h)h-Bf1f1f1rf1bf5 _!@ɛ].Be aeIa m =ɚiiiIm#-=Iuyӿi} Dѫ*w,eOA6(@Y6@6Y׫<964>y6H e ?J@߹ Ԁz??ɨ6(@6_;4y>wBBgIIJIJn4٢RŽ Rs=9RQ V?TT VG٣VPGyZ Z? ^Nusing accuracyPremultiplier from config\b59^o?b5Y^ i^hjS߿E@^XjE^<^<^35Q ]=A]KEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf "@ɛ9BF$  I =ɚiI-=Iyӿi IhzK!LK9KKK BK:KqA Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,8iAjGl@Yj{@jRۡ<9jd>yjHs`?@.`຿z;`??ɨjGl@j;jCyzwB~^III:4٢%, -B=9-=Q ->11 5G٣1y=! => ENusing accuracyPremultiplier from configAM59E;j?M5YE iE IM߿U@E^jEEU;E pA=DNOT Ignoring new targets: 40.40 m. j9j9j9j9i9hAhAhAhAfIfIfIrfibfun"@ɛFB% rI =ɚiI^.=IyӿiMIUC IUIIUexBIQ&IQ.IUDD6IUׯ<:IU] FMWill construct direction to contact in vehicle frame from tetrahedron phase data.EU[1=*F?2F:FBF_5JF I G @;G G qAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >!*w,AJFmJFbJF1JDJF\8:JFt9JF3JDJFD;JFD;JFU:JFV:bL@Yb\@bp<9b[=ybHo?h,лt 풿Կ?`?ɨbL@b͙;bCyjwBnTI-Monly read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00, 20.00, 69.02  M@M M@M M@M  M@M IUIUݜ4٢e2  e/=9m2Q m>qq uG٣qy} }> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59c?5Yt i; +:?:\࿑@djEy);>5 X>ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf#@ɛ TB x :I1 5=ɚ9i9I=D/=IEyӿiEV'*w,5A2V'@Y26@2y<92=y2Hҋ?`鼿wBBSIIJIJ4٢Rh RZ=9RwQ V>TT VG٣VPGyZF Z> dId fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config\j59^^?j5Y^ i^n :ln:n࿑n@^jjE^4;^X?^Û5t z_>AxDNOT Ignoring new targets: 40.40 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5i$@zK=LK=s9K9K=K=RKM>JKM>ɛ_BWC I 7=ɚiI 0=Iyӿi}I III2xBI =&I.I6I<:Iz FBIJIDzCRIZI =bI =jI>4 Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9G B O >.*w,,A6A@Y6@6*:x<96H\=y6H H?$׽,B`qտ? x?ɨ6A@6?;6 Cy>wB>YI   %% %%  % % %Mb@Mb@Mb@!!! !)!Y%/$? rhMby%&q?%C %%:A %|!A)%0AI!!y%-AII@4٢< 3=9_Q > G٣y > Nusing accuracyPremultiplier from config594Y?5Yb i"T:Xq?a:4ܿ@pjE*;);ŝ5 :>AME%DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h1h1h1h5|Bf9f9f9rf9bf={%@ɛmB 隝\I DĻ=ɚiI0=Iyӿiyr5*w,ԨA6 @Y6@6N<96@=y6Hg ?@ۿ@`Dɾmc?)҉?@N?ɨ6 @6;4y>wBBsIIFIFt4٢R= R_=9RQ R>TX ZG٣XyZj5 ^> bNusing accuracyPremultiplier from config`f59bT?f5Yb_ ibdfܿj@bvjEb:b:b^5l n=Al~Will construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 40.40 m. j jjjihhhhff!f!rf!bf%7&@ɛUyB]D Y]IY ]0=ɚaiaIe1=Ieyӿim(Will construct direction to contact in vehicle frame from tetrahedron phase data.խAiթ/;*w,AFɋ@YFMْ@F&<9Fg>yFH@? R u?H؄?B?ɨFɋ@F;FCyRxBRIIZIZ҅4٢bǩ= bG=9f7»Q f>Hn>Il InIInGxBIl&Il.Il6In<:Inr Ftx zG٣zPGyz z> Nusing accuracyPremultiplier from config| 59~O?5Y~ i~)ݿ@~|jE~C;~\C;~,5 =A%PEEDNOT Ignoring new targets: 40.40 m. jAjIjIjIiIhIhQhQhQfQfYfYrfYbf] '@ɛBH& 隕I =ɚiI&42=Iyӿis  z$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.B*w,AJ~kJ~_J~1J|J~2:J~=h9J~3J|J~9;J~9;J~:J~:y#xBIMb@Mb@Mb@ )Yy&1?i|?5~jtx?y`e?q;;A M"A)-0AIv*Ay.AIIv}4٢@l= /=9Q > G٣y > Nusing accuracyPremultiplier from config59I?5YD ie?l:Oῑ@jE;];25  I h+;H*w,"A6̚@Y6K@6@;96в>y6H zx?Zj ?rj?A?ɨ6̚@6;6 CyRSxBRIiV fq=9f7Q f?hh nG٣lyr r? vNusing accuracyPremultiplier from configtz59vD?z5Yv+ ivx~ ⿑~@zK~k3IK~9K|K~K~vjEv ;v?;v5 ;ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf+(@ɛ%B%F !-I) -8=ɚ)i)I-3=I5yӿi5y?I IIIxBI&I.I6I֯<:I_ FGKGBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.fN*w,fy6HNu?C<)?q\??ɨ6Վ@6=;6CyBxBBI5Mb@Mb@Mb@111 1)1Y5Q?#~jy&1?y5U?5㥽5`<1 1)1I5,A1y5.AIUIU:4٢e= eA=9m+ݻQ m>ii mG٣mPGyufb }> Nusing accuracyPremultiplier from configy59}-=?5Y}H  i}V?|:濑@}jE};}j;}5 ;AeDNOT Ignoring new targets: 40.40 m. jajajajaiahahahihmB Ihfiffrfbf,)@ɛ B d I X=ɚiIy 4=Iyӿi5MU*w,y6H+@q?@Զ I.?_V?@d?h?ɨ65@6Ɖ;4ybxBfIInInr4٢v^> vS=9vQ z>xx zG٣xWill construct direction to contact in vehicle frame from tetrahedron phase data.y  > Nusing accuracyPremultiplier from config %59 6?%5Y  i 9!-濑-@ jE a]; ]; <51 54:A5TEeDNOT Ignoring new targets: 40.40 m. jajajajaiahahihihififqfqrfqbfuG*@ɛB= 隵I =ɚiI4=IyӿigJe nJe `Ja Ja Je |;:Je bl9Ja Ja a @a @a @a @ c~G vA 5 Y5 vAy= Aw[*w,zpAHHIH IJ,IIJyBIJ =&IH.IH6IJ<:IJ Fn@Yn6@nj9nt >ynH:p??Jp?m1??ɨn@n;lyuxB}I) IpIF4٢ͼ= ?=9ûQ > G٣y": > Nusing accuracyPremultiplier from config59/?5Y i濑@jE:.:5B 9AWEDNOT Ignoring new targets: 40.40 m. jjjjihhhhf!f!f!rf!bf-!+@ɛUBUj QUܿIQ ]=ɚYiYI]5=Ieyӿie@ Will construct direction to contact in vehicle frame from tetrahedron phase data.*JQ "JU 4=Vbb*w,AR@YR@R)߻9R0 >yRH 0Oo?Q#`su ?"{?Uf?ij?ɨR@RA;PyZ)yBZ;IMMb@Mb@Mb@III I)IYM"~j?A`"X9v?yMSC?MٽMA M#A)M0AIM,AIyM/AImkIm=4٢}X.> }M=9}Q > G٣PGyÿ: > Nusing accuracyPremultiplier from config59(?5Y" i]E?: 쿑@jE/;j;ث5 w8AeDNOT Ignoring new targets: 40.40 m. jajajajaiahihihqhuvBfqfqfyrfybf}`[+@ɛBU ֿI }ݣ=ɚiIf5=IyӿiL ] y$?IY 7h*w,uͣA6@Y6<@6m96I >y6HvHo?`e`&<%?]5?p??ɨ6@6ȉ;6CyfKyBfPIInIn%x4٢v= vT=9zQ z>xx ~G٣|y~; >  Nusing accuracyPremultiplier from config 594"?5Y,* i뿑@jE:":5! %7A!UDNOT Ignoring new targets: 40.40 m. jQjQjQjYiYhYhYhahafafafirfibfm@,@zK}hOK} 9KyK}K}}xsojif`][WQNNKGD=962330)**&&%#" RK?JK>ɛBt+ 隭RӿI ?b=ɚiI)5=IyӿiYGGGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Xn*w,A2@Y2'@2~592uf>y2Hp?`< PS-? ??M?ɨ2@2ĉ;2CyR{yBRmIiV=IV=uMb@Mb@Mb@qqq q)qYuCl?@5^I ¿I +?yu/?ubu9=9Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y1 iK3?:q@jEF;;g5 /7AYE Ih-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h1h1h9h=ȂBf9f9f9rfAbfE׏-@ɛmBm, iu:ϿIq u =ɚqiqI}o6=I}yӿi}\ޛu*w,wשA:ɋ@Y:'ْ@:V9:S>y:Hq?T`ٷ? Ҋ?r??ɨ:ɋ@:z;:Cy^yBbIIjtIjM4rWill construct direction to contact in vehicle frame from tetrahedron phase data.٢vϜ= vX=9vQ z>xx zG٣zPGy~; >  Nusing accuracyPremultiplier from config 59 ?5Y O8 i @ jE z: ; 5! %6A!MDNOT Ignoring new targets: 40.40 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfe@P.@ɛB! 隝9ͿI =ɚiIj6=IyӿiסWill construct direction to contact in vehicle frame from tetrahedron phase data.J5 kJ5 cJ5 1J1 J5 2:J5 x9J5 3J1 {*w,_AjH<bH<HI IIIzBI&I.I6Iԯ<:I] FBI}CJIyRIyZI} =bI} =jI}4FU@YF@F~u9F59>yFHuu?Oݛ 5?@?6??ɨFU@FW;F CyryBrII%I%m4٢5Xl= 5F=95ÕQ ]>YY ]G٣aymR!< m> uNusing accuracyPremultiplier from configq59u ?5Yu? iu@ujEuK;ul;uᲁ5 R6A\EDNOT Ignoring new targets: 40.40 m. jjjji!h!h!h!h!f)f)f)rf)bf5@a,/@ɛ B /̿I |-=ɚiI6=Iyӿi5K Will construct direction to contact in vehicle frame from tetrahedron phase data.Y*w,: Ay yB I) Mb@Mb@Mb@ )YPn?w/Ŀ~jth?y$?&D;OAA #A)Iyp1AI{IZ4٢@= A=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YnF iQ)?:@jE;c;5 6A-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h1h1h5Bf9f9f9rf9bf=`6/@ɛmBuJ qu?̿Iq }=ɚyiyI}+6=Iyӿi͠ x$?I f׈*w,b%A6'.@Y6=@6t96 >y6H`a2}?``-o@Q?@NΒ?0?w?ɨ6'.@6df;4yRyBRII^I^kf4٢f- f\=9fUQ f>hh jG٣hyn6< n> rNusing accuracyPremultiplier from configpv59rC?v5Yr|L ir2tvz@rjEr:r:rT5| ~%6A-DNOT Ignoring new targets: 40.40 m. j)j1j1j1i1h1h1h9h9fAfAfArfAbfM`s]0@zKLKKKKRK?JK ?ɛ=B=Ɣ- 9EfοIA MY =ɚIiQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.IU>E7=Iyӿi-i Will construct direction to contact in vehicle frame from tetrahedron phase data.?*w,>A6K@Y6[@6Pw96S'>y6Hwy?,{dѡ? n?@t?`8?ɨ6K@6lo;6CyByBBIMb@Mb@Mb@ )YV-?(\ſQy?.uBA )0AI0Ay2AI-I-q4٢=U< =C=9=xQ =>AA EG٣EPGyMN < M> UNusing accuracyPremultiplier from config YIaQe59U?m5YUS iUm"?m:mm@UjEU"w;Uu;U(5y }6A}^EDNOT Ignoring new targets: 40.40 m. jjjjihhhh Bfffrfbf 0@ɛ B! ϿI :=ɚiI7=Iyӿi *w,XAbWill construct direction to contact in vehicle frame from tetrahedron phase data.yfyBfIij G٣y   > Nusing accuracyPremultiplier from config59h뎜?5Y1Y i!!%@jE` ; ;㹁5-B -d6A-aE]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiYhYhahihifififqrfqbfu-1@ɛ'B^`N 隥FԿI \=ɚiI 7=IyӿizH) I)  I- II- kzBI- =&I) .I) 6I- <:I- 9 F*w,ϻrAF@YF@F9F>yFHa?@`s (OOŢ???0?ɨF@Fꔉ;FCyZyBZIIb{IbZ4٢! A=9~Q > G٣yX< > Nusing accuracyPremultiplier from config59T㎜?5Y_ i@@jE ;\ ;5 6ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@#1@ɛ-/B-t= 15i׿I1 57ŋ=ɚ1i1I5<8=I=yӿi=}u Will construct direction to contact in vehicle frame from tetrahedron phase data.J jJ _J J J .:J =h9J J J 4;a% J 4;a% J a% J a% :*w,4Ay]yB]rIMb@Mb@Mb@ )Y'1Z?{GzĿ{Gzy"?##~@A M"A)\/AI1Ay0AI I <4٢ B=9%Q %>!) -G٣-PGy5 5> ENusing accuracyPremultiplier from config9E59=ێ?E5Y=f i=M3(?M:MM@=jE=;={;=5Q ]7AYDNOT Ignoring new targets: 40.40 m. jjjjihhhhǂBfffrfbf(2@ɛ7BP jݿI 4ƈ=ɚiI8=Iyӿi=GB O%M>Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) )*w, lA6Ì@Y6ғ@6IHӼ96>y6H? >p``?@Ih???ɨ6Ì@6;6CyNUyBNVI)P PIVIV4٢b" bc=9f6Q f>dd fG٣dyjߑ< j> nNusing accuracyPremultiplier from configlr59nBՎ?r5Ynl intvv@njEne:n:n'5x z7A|%DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h)h1h1f1f9f9rf9bf=sb2@ɛ}>B}뇽 y隅I !=ɚiI_9=Iyӿi Will construct direction to contact in vehicle frame from tetrahedron phase data.M*w,LAFpЌ@YFߓ@F`9F >yFHUw?lK%iW?@0+?? Z?ɨFpЌ@Fԅ;FCyN7yBNCI \I\uMb@Mb@Mb@qqq q)qYutV?l¿)\(yu2?uuGaq u#A)u.AIu2Aqyu1AIIa4٢ ==9Q > G٣yv; > Nusing accuracyPremultiplier from config59͎?5Yat i37?:@jE;{; 5 68AfEDNOT Ignoring new targets: 40.40 m. jjjjihhh h Bf f frfbf2@ɛ=GB=hEu AEIA E=ɚAiAIE[9=Ieyӿim<)i)q*F?2F:FBF 5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJfJ0JJJ9Jـ3JJJJ:J:G9)<GBO>9*w,ڪA6ތ@Y6)@696 >y6H㶿?"*p`?`???ɨ6ތ@6Ê;6CyBxBBIIJIJy4RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢V|' V[=9ZQ Z>XX ZG٣^PGy^; ^> fNusing accuracyPremultiplier from configdj59fǎ?j5Yf{ ifllnn@fjEf ;f ;f5p v/9AtDNOT Ignoring new targets: 40.40 m. jjjjihhhhf!f!f!rf!bf% i03@ɛ]NB]HQ YeIa eI=ɚaiaIe4":=ImyӿimܞzKk3IK9KKKjH <bH <H >I  I II yBI &I .I 6I <:I D Fa*w,gAyvxBv IixIz4=I~I~4٢ J  D=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-59%?55Y% i%115@%jE%:%:%|ā5A E9AAmDNOT Ignoring new targets: 40.40 m. jijijijiiihqhqhyhyfffrfbfC3@ɛWB) rI -&y=ɚiI:=Iyӿiɿe Will construct direction to contact in vehicle frame from tetrahedron phase data.*J R="J JSK[3 K[.KSKS"KSJ J `J 1J J J bl9J 3J J J J +:J ,:qJ*w,u A6iތ@Y6@6a96>y6H嶿ə?`WY@A? u_?@?`?ɨ6iތ@6;4yBxBBIMb@Mb@Mb@ )YMb?X9vV-yC?m |!A),AIyQ0AII@4٢^ӽ ?=94Q > G٣y뗸 > Nusing accuracyPremultiplier from config59?5Y i6E?:濑@jE;?;[Ɓ5 [:A]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiahahahahmGBfififirfibfu 4@ɛ`B: )I $q=ɚiI^;=Iyӿiȡ I u*w,ͭ'A6Ό@Y6tޓ@6" 96>y6H_G?0] P?gc?@?6?ɨ6Ό@6Z;6CyBxxBBIIJIJ4٢R R_=9VQ V>TT VG٣ZPGyZ Z> fNusing accuracyPremultiplier from config`j59b?j5YbX ibRlr!翑r@bjEb+;bNm;bǁ5| ~1;A~hEEDNOT Ignoring new targets: 40.40 m. jAjAjAjAiIhIhIhQhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf@ m4@ɛehBme im~Ii Qk=ɚiI<=IyӿiOIi Im}IImyBIm =&Ii.Ii6Im<:Im FBI1JI1RI1ZI5 =bI5 =jI55Gܸ<<GG>Ga Bq O  Will construct direction to contact in vehicle frame from tetrahedron phase data._*w,AA ,I0r4@Yr̓@r9r>yrH@췿`?`萶`+?6? ? ?ɨr4@r;py~bxB~I) Mb@Mb@Mb@ )Y(\?EԸyzT?ƽL>A  A),AI1Ay\/AII4٢F 8=9mQ > G٣y͟ > Nusing accuracyPremultiplier from config59K?5Y i?OV?}:⿑@jE;j;Ɂ5B ;AkEDNOT Ignoring new targets: 40.40 m. jjjjihhhhBff)f)rf)bf- I4@ɛ}qB}̰ y}Iy sc=ɚiI<=IyӿiR*w,[[A6|@Y6@6a96LU>y6H`?rm5`;@e7?4?{hh jG٣lyn n> vNusing accuracyPremultiplier from configpv59r ?v5Yr irxz.㿑z@rjEr:ri:rˁ5 9ZHa RHe @AHq Iq  Iu ?IIu 0yBIq &Iq .Iq 6Iu <:Iu ; F*w,5uAFч@YFP@Fl!9F>yFH୙?`/z pa?@,? g)?`?ɨFч@Fj;FCyxBII=I=44٢MX MB=9UQ U>QQ }G٣}PGy}b }> Nusing accuracyPremultiplier from config59ۢ?5Y i㿑@jE7:;]́5 =IyӿiE Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,MAy~xB~Ii! %G٣)y5 > Nusing accuracyPremultiplier from config59A?5YI ic?n:޿@jE6;Z4;Nρ5B  U t$?IQ d*w,飼Abm)@Yb8@b89b>ybH?@g@޺4?`??-?ɨbm)@b;bCyrxBvIIMIM]4٢e< eU=9muQ m>ii uG٣qyul }> Nusing accuracyPremultiplier from configy59}^?5Y} i}3࿑@}kE}:}X:}Ё5 I IIIxBI&I.I6IW<:I FGq;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.u*w,%«A $I(yޝxBޝI-Mb@Mb@Mb@))) )))Y-K7?v/Mby-i?-xi-) )))I))y)IUIU4٢e e;=9mQ m>iq uG٣uPGyu u> }Nusing accuracyPremultiplier from configy59}?5Y} i}1j?h:#߿@}kE};};}ҁ5 =ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf6@ɛBZԽ I ]>=ɚiI3A=IyӿiΜ*w,ܫA.Will construct direction to contact in vehicle frame from tetrahedron phase data.F@YFt@F*H9F=yFH@DK?`j @fؼ&?`???ɨF@Fy;F CyVxBVI)X XIbIb̍4٢ft= jh=9j3Q n>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v?z5Yvb iv$|~2࿑~@v kEv4;v;vWԁ5B JkJdJJJ2:J|9JJzK JK s9K K K gm  m  d$T Kc,f+d8#$,)BK :K pAH >I C I II xBI =&I .I CD6I <:I F*w,}A.ȋ@Y.ג@.P9.6>y.H ԃN?!@x`ư???S?ɨ.ȋ@.=;.CyB(xBBIIrIrv}4٢%= -E=9-WQ ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAU59Eڇ?]5YE. iENae࿑e@EkEE;E;E&ց5q ul 9IA% Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,1\A6@Y6!@6eW96>y6HN@?`_aR tX??>A?`B?ɨ6@6l;4yNLxBNI]Mb@Mb@Mb@YYY Y)YY]E?Mb~jt?y]f?]@]<]9A ]A)](AIYYy],AI}I}F4٢߬= D=9 Q > G٣PGy > Nusing accuracyPremultiplier from config59*?5Y ig?k:8࿑@kEf;;ׁ5 ;ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf8@ɛ-B5 15/I9 =r(=ɚ9i9I=ɳC=IEyӿiE4 +w,u;*AR?@YR@R^9RV>yRH@j?7@`5Ծx?.׫?x? ?ɨR?@R挊;PybmxBbIifxx zG٣xy~ɻ ~> Nusing accuracyPremultiplier from config 59|? 5Y i/࿑@kE::ف5 W;A!UDNOT Ignoring new targets: 40.40 m. jQjQWill construct direction to contact in vehicle frame from tetrahedron phase data.jQjihhhhfffrfbf0x8@ɛ}B}7 隅I  =ɚiI;D=JlJcJJJ<5:Jx9JJIyӿiҏI I&IIyBI&I.I6Ia<:I FE50f=*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I9 G- fG BO=>+w,HA6͓@Y6L@6=y6H@Ϗ|?,]P Z?@??` ?ɨ6͓@6=(;6 CyBxBBIMb@Mb@Mb@ )YCl?Zd;y&1?y;_?y`<  A)Iy-AI-I-4٢=Ǔ= =+=9E4Q E>II MG٣IyU` U> ]Nusing accuracyPremultiplier from configYe59]u?e5Y] i]e_?mr:m㿑m@]%kE]9;];]ہ5q u:AuuE}DNOT Ignoring new targets: 40.40 m. jyjjjihhhhҁBfffrfbf<8@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB ׽ !%I! %](=ɚ!i!I-PE=I-yӿi-Sə Will construct direction to contact in vehicle frame from tetrahedron phase data.9 +w,3aA>Ē@Y>C@>j9>>y>Hc{?`ɵ :²?Ē@>b;>CyFxBFIIRIR]4٢^:> ^U=9bpQ b>`` bG٣bPGyfr f> jNusing accuracyPremultiplier from confighn59jp?n5Yj< ijdpr$㿑r@j*kEju ;j ;ji݁5t v9At s$?Ih%DNOT Ignoring new targets: 40.40 m. j!j!j)j)i)h)h)h1h1f9fAfArfAbfEP9@ɛuƀBuZ qu Iq }=ɚyiyI}"F=Iyӿi;I I^IIcyBI =&I.I6I><:I FBIȱCJIȱCRIZI =bI =jIk5G G ?G 2?Gq B O >Y+w,1|A24@Y2@2*q92 >y2HJ@x?++qjS?3? A?Ц?ɨ24@2:߉;0yxBI)! !5Will construct direction to contact in vehicle frame from tetrahedron phase data.IEIE{4٢]Y= ]<=9]pQ ]>aa eG٣aye m> uNusing accuracyPremultiplier from configq}59ui?}5Yu  iuly},㿑@u0kEu*:uL:uM߁5 -9AxEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf9@ɛ΀B X I 9 =ɚiIoF=I yӿi W%+w,A6y@Y6@6Tx96 >y6H ,tx? R`֬|?I ?jm??ɨ6y@6pJ;4yB0yBB?IUMb@Mb@Mb@QQQ Q)QYU/$?sh|?X9v?yU&Q?UU }@=9}.Q > G٣y.; > Nusing accuracyPremultiplier from config59b?5Y i`R?:!翑@6kE;a;(5 J8AzEDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf@2+:@ɛ%րB-$J 隭I  =ɚiIG=IyӿiٗG B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.++w,ڰA6@Y6v@6196' >y6HM@x?lܬ@|*U? !?@?+?ɨ6@6X;4yBeyBB`IIJwIJR4٢V> VY=9V%ϻQ V>XX ZG٣ZPGy^J; ^> bNusing accuracyPremultiplier from config`f59b\?f5Yb ib df濑j@b:kEb:b:b5l ns7AlzK]XMK]9KYK]K]01011-)('#"""!   H>I IIIyBI&I.I6I1<:I FDNOT Ignoring new targets: 40.40 m. jjjjih h h h fffrfbf:@ɛ݀BO. 隍RI z<ɚiIFGH=Iyӿi<22+w,ʬA2k@Y2@292]k>y2Hy?@5`RӤ"???@?ɨ2k@2;2 CyNyBR|IiV=IVa= V=V=-Mb@Mb@Mb@))) )))Y-RQ?S㥻~jt?y-B?-/ݽ-<-;A -lA)-(AI-1A)y-,AIEsIEK4٢U= U@=9UⶻQ > G٣y=s; > Nusing accuracyPremultiplier from config59+U?5Y`% iV D?:뿑@@kE;l;5! %6A!=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 40.40 m. jijqjjihhhhOBfffrfbf@q:@ɛB eI yo<ɚiIH=I%yӿi%m Will construct direction to contact in vehicle frame from tetrahedron phase data. = r$?IA 8+w,gA>@Y>DВ@>9>>y>H `~{?íXW?@n?`?Н?ɨ>@>;\\ ^G٣`yb ; b> fNusing accuracyPremultiplier from configdj59fN?j5Yf, if ln_뿑n@fDkEf,;fh-;fV5vB vD6Av}EDNOT Ignoring new targets: 40.40 m. jjjjihhh!h!f!f!f!rf)bf-`Z;@ɛUBU' Y]mIY ez<ɚaiaIeI=Imyӿim 0>+w,mA2]؋@Y2@2)92p>y2H@ )}? öb@y= ?a? ?*?ɨ2]؋@2|;2Cy:yB:IVWill construct direction to contact in vehicle frame from tetrahedron phase data.IJsIJK4٢~0= F=94Q %>!! %G٣%PGy-; -> 5Nusing accuracyPremultiplier from config1]595G?]5Y54 i5 ae뿑e@5JkE5-;5;5(5mB mx5AmEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf ;@ɛ5B=Tm 9=4I9 =<ɚ9iAIE!J=I]yӿi]E+w,bHA6#@Y6@6w96ȷ>y6Hd#`?``tN ?@? I??ɨ6#@6H ;6CyRzBRI)X XEMb@Mb@Mb@AAA A)AYEbX9?Pny&1|?yEE6?EE`;E:A EA)E(AIE2AAyEG-AII1h4٢= ==9ŻQ > G٣y; > Nusing accuracyPremultiplier from config590@?%5Yq< ic%?9?%:%!￑-@NkE=;WL;5Y ]5AYDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf7<@ɛUBU U7o=UIQ ]lL<ɚYiYI]J=IeyӿieK<4)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF  IhG- ]) G - c~GB1 ] vAOm >  XY vAy _Ae Will construct direction to contact in vehicle frame from tetrahedron phase data.K+w,?2ANi @YN@N9N >yNH`dqV?j 6?Y? ?`$?ɨNi @N0;NCyj"zBjIIrIrb4٢~d= ~Y=9vQ >   G٣ y ; > Nusing accuracyPremultiplier from config599?%5YQC i\!%%@SkEz::51 54A1H]>IY I]9II]zBIY&IY.IY6I]*<:I] FDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf<@zK LK]9KKKy "l/+:?GD/F@D@; 1" 5dK5RK>JK?ɛBs nI <ɚiaIe7K=ImyӿimSR+w,KA6j)@Y68@6`96L >y6H`rp?;Pt ??@'?g?ɨ6j)@6;6 CyN3zBRIUMb@Mb@Mb@QQQ Q)QYUʡE?M¿y&1yU-2?UnU`eU;=A Q)U3'AIUp3AQyU-AIuIu)4٢#= B=9Q > G٣PGy< > Nusing accuracyPremultiplier from config591?5YJ i5?:@XkE;;5 ;4ADNOT Ignoring new targets: 40.40 m. jjjj i h h h hBfWill construct direction to contact in vehicle frame from tetrahedron phase data.ff!rf!bf% P=@ɛM BUd II ^<ɚiICK=Iyӿi0 q$?I hY+w,QeA6=@Y6^M@67w96iU>y6Hλ? \`r!?@????ɨ6=@61;6CyBBzBBIiFTT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\j59^+?j5Y^Q i^Jhj\j@^\kE^Q;^c;^'5rB v3AvEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfYe=@ɛeBe] imbIi m)%<ɚiI:L=Iyӿi5ӓIY I]kII]{BIY&IY.IY6I]D<:I] FzK "*QK ػ9K K K *   ")*+1:IXWQG>74*F2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G İ˻G B O>[`+w,S]A2Y@Y2Di@292*>y2H`?yӷ?&?@?o?ɨ2Y@2;2 C \\ ^G٣\ybA; b> fNusing accuracyPremultiplier from configdj59f"?j5YfY ifhn￑n@fakEf ;f ;f,5p r3Ap DNOT Ignoring new targets: 40.40 m. jjjjihhhhff!f!rf!bf%m=@ɛB I @<ɚiIL=Iyӿizf+w,%Ay%`zB%IMb@Mb@Mb@ )Y@5^I ?MbS㥛yb0?/ݼnii mG٣mPGyu u> }Nusing accuracyPremultiplier from configy59}A?5Y}a i}=3?:)@}fkE}];};}-5 3ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbfJ>@ɛ=$B=* 9=IA E^|<ɚAiAIE'M=IMyӿiMrI  I II K{BI &I .I 6I H<:I FBIiJIiRIiZIm =bIm =jIm4G i"G ?G ?zK5 ђMK5 ]9K1 K5 K5 )'567513101/,*(&&$&(&%" G B O >m+w,,A2P|@Y2Ћ@2lǰ92B>y2Hrܹ -?oЪV??@?ޒ?ɨ2P|@2喊;2Cy:[zB>I)@ @IFnIFB4٢NQ NN=9N^"Q R>PP RG٣PyV.< V> ZNusing accuracyPremultiplier from configX^59Z?b5YZh iZdf쿑5@ZkkEZ@ɛ],Bc 隍I `<ɚiI=M=IyӿicՒU Will construct direction to contact in vehicle frame from tetrahedron phase data.J J ?At+w,ӭA-@Y-/@-v9- >y-H? o\@Kڵ ?`Ƕ?|?c?ɨ-@-;-CyEszBEI Mb@Mb@Mb@    ) Y Zd;?rh|AA EG٣AyM; M> UNusing accuracyPremultiplier from configQ]59U ?]5YU{q iUez+w,`AyfqzBfIInnInB4٢v vc=9zQ z>xx ~G٣~PGy~ ~>  Nusing accuracyPremultiplier from config59?5Y@x i7@tkEF;G;x5! %:3A)UDNOT Ignoring new targets: 40.40 m. jQjQjQjQiQhYhYhYhafafafarfabfmM?@ɛI IIIj{BI&I.I6I<:I; FzKRMK9KKK  Gg;GGrAGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. I ҁ+w,¥AV@YV+@VI9Vwl >yVH`฿W?HԶNv?``?l?`/?ɨV@VbɊ;VCy^ozB^Iibtt zG٣xy; > Nusing accuracyPremultiplier from config-59?U5Yd iae鿑m@ykE<ۃ<]5 B3AUDNOT Ignoring new targets: 40.40 m. jQjQjQjQiQhQhYhYhYfYfYfarfabfe d?@ɛEBZ I !<ɚiIS,O=Iyӿi#+w,k!A.Will construct direction to contact in vehicle frame from tetrahedron phase data.:D@Y:ı@:>9: / >y:H䫸 B? m@T ??@d??ɨ:D@:ɤ;: CyBpzBFIMb@Mb@Mb@ )Y}?5^I?y&1S㥛yMB?`役/ݼ9A A)!AI2Ay*AI5I5m4٢E: EB=9M/Q M> YIYIa eG٣aye); m> Nusing accuracyPremultiplier from config59?5Yn iD?:m翑@~kE@;;'5 ?3A uDNOT Ignoring new targets: 40.40 m. jqjyjyjyiyhyhyhhuBfffrfbf .@@ɛLB I X[;ɚi!I-JO=I-yӿi5I  I II ~{BI &I .I 6I <:I q FG B O >zK LK h9K K K RK ?JK ?U6+w,E;AB@YB@BĠ9Bi >yBHh $?-#`oBR? ?K?@R?ɨB@Bs;BCy^yzBb IIfIf 4٢n< rR=9rxQ r>tt vG٣vPGyv` v> ~Nusing accuracyPremultiplier from configx59z4?5Yz izbq翑 @zkEz;z;z5 3A!DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf]@@ɛSB I u;ɚqiqIudYP=I}yӿi}G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,xUA2@Y2@2`½92 >y2H   -G٣)y59 5> ENusing accuracyPremultiplier from config9E59=퍜?M5Y= i=MM?:濑@=kE=.==.==5B 2AE=DNOT Ignoring new targets: 40.40 m. jajajajaiahahahihmZBfififqrfqbfu`@@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}<}<ɛ^B  I Y;ɚiIP=Iyӿ IIMhiwI  I"II"{BI &I .I 6I"گ<:I"V FyaaI}I}q4٢[: 0=9Q > G٣y > Nusing accuracyPremultiplier from config59捜?5Y i@kE;t;5 2A-DNOT Ignoring new targets: 40.40 m. j)j)j)j1i1h1h1h9h9f9f9f9rfAbfE%@@zKuJKu9KqKuKu A yBK}rA:KyɛeB] 隕I d:ɚiIykQ=IyӿiG+w,AAy-zB-/IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y|?5^?Zd;O    G٣ PGy  > Nusing accuracyPremultiplier from config59?%5Y i%.O?%:%㿑-@kEG;R;59 =$2A9DNOT Ignoring new targets: 40.40 m. jjjjihhhhKBfffrfbf A@ɛlByD 6I p8ɚiIR=Iyӿi I {+w,iqAyezBe?Ii}%=I}R= ==IxIT4٢= P=9Q > G٣y > ]Nusing accuracyPremultiplier from config]59Aۍ?e5Y i aae@kE:T:i5mB m1AuEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfi=A@ɛtB) I /ʺɚiIR=IyӿigݐG B O >ɰ+w,OîA"Will construct direction to contact in vehicle frame from tetrahedron phase data.F#@YF@F˽9FE>yFH@v@c?  s?l??/?ɨF#@F!|;FC PIPyZzBZHII%I%m4٢]= eQ=9e?Q e>ii mG٣iym6 m> }Nusing accuracyPremultiplier from configq59uՍ?5Yu iu .俑@ukEu:u7:u5 1ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@mA@ɛE{BE6  IMwII MuKɚIiIIMCS=Iyӿi㞐y6H Zച? ⾿f`/`ݮ?@禹? ? 5?ɨ6@6;4yR {BRbImMb@Mb@Mb@iii i)iYmDl?1Zd~jth?ymOM?m"۽mD;mE4A m-A)mAAIm`/Aiym 'AIIt4٢= G=9Q > G٣PGyԺ > Nusing accuracyPremultiplier from config59Aύ?5Yt i|!O?:濑@kEt;;5B 0AEDNOT Ignoring new targets: 40.40 m. jjjjihhhhLBf f f rf bfA@ɛ=B=j 9E_IA EWVɚAiAIES=IMyӿiM7_ Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,XAJ"jJ"fJ"0J J".:J"9J"ـ3J H>I III{BI =&I.I6I<:Ic FBI1JI1RI1ZI1bI1jI54y{BiI)! !I5wI5R4٢mw< mM=9mQ u>qq uG٣qy > Nusing accuracyPremultiplier from config 59ȍ? 5Y i￙   @kEQ; ; 59 =0A9DNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf@A@zKhMKػ9KKK.ADC?96300.-,('%#ɛ=BE AEIA EɦӻɚIiIIMiT=Iuyӿiu4+w,JAfu@Yf @fԡн9fvC>yfHU:?hת @??\??ɨfu@f;fCyr4{Br}IuMb@Mb@Mb@qqq q)qYuv/?MbX~jt?yuxI?uʽuD G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.y0 > Nusing accuracyPremultiplier from configM59?M5Y i뿙UK?U:Ub濑U@kE<ԕ<s 5Y ])0AeE*Ji"Jm%=DNOT Ignoring new targets: 40.40 m. jjjjihhhhRBfffrfbf`! B@ɛUBU QUIY ]@HɚYiYI]T=IeyӿiЏQ0+w,*AFp@YFs@Fѽ9F>yFHU,`f?]>@ ๶6?]+?t?`?ɨFp@F%;FCybR{BbIIjIjq4٢r= rW=9vQ v>tt zG٣zPGyzº z> Nusing accuracyPremultiplier from config 59? 5Y i翙t濑@kE::5! %/A!MDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]f:B@ɛB+! 隕pI ΄ɚiIU=IyӿiXzKe nMKe 9Ka Ke Ke +w,XDA IhWill construct direction to contact in vehicle frame from tetrahedron phase data.F!p@YF@F&>ҽ9FVF>yFH2@ś?@ r )E?@;?f??ɨF!p@F ;FCyVp{BZIi^=I^<IbIba4٢j= jL=9jB&Q n>ll nG٣pyr r> vNusing accuracyPremultiplier from configtz59v𶍜?z5Yv iv㿙|~x濑}@vkEv7A+w,Lm^Ay~{B~IMb@Mb@Mb@ )Y"~j?y&1~jtx?ySC?`役;2A )pAI,Ay%AIzI=X4٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yj i߿mE?:近@kE;(;5B .A E5DNOT Ignoring new targets: 40.40 m. j1j1j1j1i1h9h9h9h=cBfAfAfArfIbfM@B@ɛ}B} y}Iy OɚiIV=Iyӿi Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H >I  I LII |BI &I .I 6I <:I ) Fm+w,3PxAJr@YJ@Jҽ9J(J>yJH?使 z'9? 7?G? ?ɨJr@J;JCyZ{BZIIfaIf+4٢j5= n[=9nW29Q n>pp rG٣rPGyv'V: v> zNusing accuracyPremultiplier from configx~59z?~5Yz izܿ|近@zkEz;zd;zc5 B D.A E=DNOT Ignoring new targets: 40.40 m. j9j9jAjAiAhAhAhIhIfIfIfIrfIbfU@RB@ɛ}B 隅'I F!gɚiIaW=Iyӿi- PExceeded connect timeout, disconnecting.V+w,U3ASs@Yӂ@cҽ9F/>yH O ?gⶶ :? @?$? ?ɨSs@.=;!Cy{BI)! !Mb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )YV-?A`"MbPy|??ٽ1A )AI-Ayp%AIuIaO4٢:= ;=9DQ > G٣yM9 > Nusing accuracyPremultiplier from config59[?5Y& iٿfA? : 近 @kE9; J;L5  .AJUjJQJQJQJU.:JQJQJQJU4;JU4;JQJQDNOT Ignoring new targets: 40.40 m. jjjjihhh h rBf f frfbf}C@ɛBބ 隥;I nɚiI`W=Iyӿiv`}+w,A6mu@Y6턓@6wѽ96>y6H ?`ν`} `?O#?:??ɨ6mu@6ʇ;6C)D DyN{BZIz~G9I }Yyy}:AIwIR4٢I= N=9):Q > G٣y): > Nusing accuracyPremultiplier from config59M?5Y iտ近@kE;; 5 j-ADNOT Ignoring new targets: 40.40 m. jjjjihhh!h!f!f!f!rf)bf-@B@C@ɛUBU{0 Y]IY ]ɚYiYI]dX=Ieyӿiei!IC IxII|BI =&I.I6I<:I FG-FG B O5 >zK BoHK ͼ9K K K  ) I1 >e+w,bůAWill construct direction to contact in vehicle frame from tetrahedron phase data.6y@Y6@6ѽ96>y6H繿 ? -  ? =?@?Г?ɨ6y@6;4yB{BBIIJoIJD4٢R = R]=9Rn:Q R>TT VG٣TyVƵ: Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ  iZӿ`b近b@ZkEZ" ;ZT ;Z5h j7-Ah%DNOT Ignoring new targets: 40.40 m. j!j!j!j!i!h!h)h)h)f)f)f1rf1bf5@oC@ɛ]Be[ aeIa eɚaiaIm=Y=Imyӿim9<+w,߯A:|@Y::@:P&н9:/>y:HϹ?£ëv?S?` ?@?ɨ:|@:;:CyF{BFIiJ?뽹D A)AI,AyQ$AI5{I5Z4٢E= M@=9Mi:Q M>QQ UG٣UPGyUi: U> eNusing accuracyPremultiplier from configam59e?m5Ye ie\пm@?u:uT鿑u@ekEeQ;e;e5 -AEDNOT Ignoring new targets: 40.40 m. jjjjihhhhpBfffrfbf@C@ɛŁB@\ 隽I 8ӦɚiIY=Iyӿix Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I II }BI =&I .I 6I <:I y F#+w,A22@Y2@2 Ͻ928>y2H ֔ ?W%5@ɼ?`Tֹ?`fP??ɨ22@2;2Cyb|Bb IIjwIjR4٢rۈ= rQ=9r:Q v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config| 59~Պ? 5Y~ i~Ϳ4鿑@~kE~H;~!I;~75%B %,A%EMDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbfeC@ɛˁB! }=隝I \3ɚiIZ=IyӿiZ,w,yuAWill construct direction to contact in vehicle frame from tetrahedron phase data.J1J5cJ51J1J1J5x9J53J1aE@aE@aE@aE@a@Yន@Ymͽ9LB>yH <3?u @]嵿 ي??`G??ɨa@Σ;騽Cy|B IuMb@Mb@Mb@qqq q)qYuT㥛 ?zGế~jtyuA?u ׽uu10A uA)u-AIuz*Aqyu"AIkI=4٢< =9:Q > G٣PGy'; > Nusing accuracyPremultiplier from config59삍?5Y% iʿB?:濑@kE%H;F;5  },A=DNOT Ignoring new targets: 40.40 m. j9j9j9jAiAhAhAhAhMLBfIfIfIrfIbfUbD@ɛӁB: 隍 I ¼ɚiI;[=Iyӿi E ,w,)_-Ay58|B5IIUoIUD4٢eW= e=9eQ e?ii mG٣iyu u? }Nusing accuracyPremultiplier from configy59}~?5Y}+ i}Xɿ@}kE}X:};}5 ,A5DNOT Ignoring new targets: 40.40 m. j9j9j9j9i9h9h9hAhIfIfQfQrfYbf]CD@ɛ؁B42 隍 I ̼ɚiI.[=IyӿiیI! I%II%3}BI!&I!.I!6I%<:I%j FBIİCJIİCRIZI =bI =jIī5GE.A;G B) OE >zKu /LKu 9Kq Ku Ku  !<kN6%RK ?JK ? k$?I U Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,yVH1j?` s۵T?`?`yD?*?ɨVސ@V;V Cyb,|BbIIjrIjJ4٢r rS=9r{9Q v>tt vG٣xyz9 z> ~Nusing accuracyPremultiplier from config|59~x?5Y~23 i~2ǿ  濑 @~kE~:~? ;~!5B E,AEeDNOT Ignoring new targets: 40.40 m. jajajajaiahihihqhqfqfqfqrfybf} sD@ɛ݁B& 隥I ׼ɚiI\=IyӿiA~,w,cA6@Y6@6̽96=>y6H'`o?uPε(a?u?@g??ɨ6@6{;6CyB>|BB I Ih%Mb@Mb@Mb@!!! !)!Y%J +?/$y%H?%̽%%.A %vA)%\AI%(A!y%G!AWill construct direction to contact in vehicle frame from tetrahedron phase data.I}I]4٢5= 5(=95:Q 5>99 =G٣9yEp9 E> MNusing accuracyPremultiplier from configIU59Mq?]5YM= iMmĿ]fJ?]:eg忑e@MkEM@;M>;M#5i m+AqDNOT Ignoring new targets: 40.40 m. jjjjihhhh.Bfffrfbf`D@ɛB 隕iI D*ɚiIO]=IyӿiXI C I II Q}BI =&I .I BD6I <:I Z FJ- mJ- fJ- 0J) J- \8:J- 9J- ـ3J) J- D;a= J- D;a= J- :aE J- :aE G] ']?;G1 B9 O] >,w,n}A6@Y6"@63̽96B>y6H R W? 2@R`{?`=?@[??ɨ6@6݆;6Cy^S|Bb-IIjyIjxV4٢rf= rc=9vQ v>tt zG٣zPGyzU z> Nusing accuracyPremultiplier from config|59~wl? 5Y~bD i~]¿  }忑 @~kE~z:~:~8%5%B -+A-EmDNOT Ignoring new targets: 40.40 m. jijijijiiihihqhqhyfyfyfyrfbfZD@ɛ%B-h+ )-I) -Tɚ)iQIUO^=I]yӿi]f"%,w,ANS~@YNӍ@N ͽ9NH>yNHù?S> + ef ?@~?7h?`?ɨNS~@Nu;NCyZ[|BZ2I=Mb@Mb@Mb@999 9)9Y=kt?KMby= P?=^==,A =GA)=AI99y= AII%x4٢< 5=9Q > G٣yw} > Nusing accuracyPremultiplier from config59f?5YM i@wQ?:㿑@kE;8;1'5 +A DNOT Ignoring new targets: 40.40 m. jjjjihhhh(Bff!f!rf)bf-E@ɛmBm8! quIq uɚyiyI} _=Iyӿiڋ ,,w,A>n@Y>7~@>Vν9>8>y>H'?? @ !ڶ@ͼ??7r?@5?ɨ>n@>I;\\ ^G٣\yb% b> fNusing accuracyPremultiplier from configdj59f`?n5YfU ifln 俑r@fkEfz@;f@;f(5t v++AvEDNOT Ignoring new targets: 40.40 m. jjjjihhh!h!f!f!f)rf)bf-IE@ɛUB]b#- YeIa e5|ɚaiaIeY_=ImyӿimI IIIf}BI =&I.I6I<:I| F*F ?2F :F BF 0JF JK3 K.-KK"KJMlJMcJIJIJM<5:JMx9JIJIJMK?;JMM?;JM:JM:G-9GB O->zKINK 9KKK  RK ?JK> A IE h] Will construct direction to contact in vehicle frame from tetrahedron phase data.2,w,bH̰A2a@Y2`q@2Ͻ92?>y2H@A@d? ` ; E ??|f?`?ɨ2a@2;2 CyN|BRNIIzpIzF4٢X= F=9 Q  >    G٣PGyx > %Nusing accuracyPremultiplier from config%59Z?%5Ya^ iĹ)-T俑-@lE::*51 =*A9eDNOT Ignoring new targets: 40.40 m. jajajajaiahahahihifififqrfqbfu@}E@ɛB0% I  ɚiI`=Iyӿi4D = j$?I9 9,w,A6]J@Y6Y@6Oҽ96n>y6H_]3?`跿@v?`(I?k?`?ɨ6]J@6‡;6CyB|BBcIMb@Mb@Mb@]Will construct direction to contact in vehicle frame from tetrahedron phase data. )Yx?333333{GzyKW?#,A A)AI7'Ay AIuqIuJH4٢= B=9$NQ > G٣yv޻ > Nusing accuracyPremultiplier from config59T?5Yg i"*X?{:ῑ@ lEd;3{;y,5 H*A=DNOT Ignoring new targets: 40.40 m. j9j9j9jAiAhAhAhIhMBfQfQfYrfYbf]TE@ɛB" 隥I SɚiIa= G!I Yy{AIyӿi؊I)  I- II- }BI) &I) .I) 6I- R<:I- FJu mJu aJu /Jq Ju \8:Ju p9Ju (N3Jq Ju D;Ju D;Ju :Ju :G} i"G G GY By O >A?,w,7A>;@Y> K@>.Խ9>٥>y>H ѻ? SȽ?g? r?@?ɨ>;@>!;>CyJ|BJuIiR%=IR=IVoIVD4٢^c= bX=9b2Q b>dd fG٣dyf f> nNusing accuracyPremultiplier from confighr59jO?r5Yjo ij㲿pr3⿑v@jlEj4;je:j.5zB z)AzE%DNOT Ignoring new targets: 40.40 m. j!j!j!j!i!h)h)h)h)f1f1f1rf9bf=`OE@ɛeBex. ae|Ii mVɚiiiIm\b=Iuyӿiu- Will construct direction to contact in vehicle frame from tetrahedron phase data.F(F,w,_A*J"Ja=y|BIMb@Mb@Mb@ )Y1Zd?lMbp?y"[?;K+A A)GAIyfAIhIV84٢`= <=9Q > G٣PGy > Nusing accuracyPremultiplier from config59I?5Y_y iA[?w:&⿑@lE;;05B M)AEDNOT Ignoring new targets: 40.40 m. jjjjihhh!h%(Bf!f!f)rf)bf-F@ɛ B" I ɚiI%c=Iyӿi7&QL,w,Ҭ3A6@Y6_@6f"ڽ96,>y6H`0l?`tҽ@֛`?7?My? ?ɨ6@6㕇;6 CyR}BRIIZrIZJ4٢b> b[=9b6Q f>hh jG٣hyjo n> vNusing accuracyPremultiplier from configpz59r"D?5Yr ir* ⿑@rlErk;rbIC I II}BI =&IWill construct direction to contact in vehicle frame from tetrahedron phase data..I6I<:I FIyӿiϳ Will construct direction to contact in vehicle frame from tetrahedron phase data.9S,w,{MAB@YBa @BQBݽ9B>yBH սސ?`@8m? ?k?`'?ɨB@B;BCyJD}BNI)d dIjhIjV84٢r= rH=9vtQ v>tt zG٣xyzͻ ~> Nusing accuracyPremultiplier from config %59 '>?%5Y  i )-.㿑-@ lE {W; 4T; n359 ='AAeDNOT Ignoring new targets: 40.40 m. jijijijiiihihihqhqfqfqfyrfybf}}F@ɛB* 隭ܿI )R)ɚiId=IyӿiEWill construct direction to contact in vehicle frame from tetrahedron phase data. I dY,w,fgA6 @Y6@6&߽96>y6HJ?@'@线@w?b? s??ɨ6 @6C;6Cy^}BbIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yl?MbX9 rh?yW?ʡC<(A 3A)vAI$AyAI5cI5y/4٢E+> E6=9M9Q M>II MG٣MPGyUEԻ U> ]Nusing accuracyPremultiplier from configYe59][7?e5Y]R i]mX?m{:m俑m@]%lE];]I;]b55}B }&A}EDNOT Ignoring new targets: 40.40 m. jjjjihhhhHBfffrfbf~F@ɛB ԿIi mvb/ɚiiqIuI I_IIE~BI =&I.IAD6I<:IR FBIȯCJIȯCRIZI =bI =Will construct direction to contact in vehicle frame from tetrahedron phase data.jIK5G= {#G B1 OU >$L`,w,[?A:NЋ@Y:ߒ@:l9:}>y:H@݌? 9Z@'j?J? i?@ĉ?ɨ:NЋ@:;:!CyJ}BJIIRdIR?14٢Z`-> Zh=9^ԄQ ^>`` bG٣`ybȻ f> jNusing accuracyPremultiplier from configdj59f1?n5Yf ifzln 忑n@f*lEf ;fK ;f65t v%At%DNOT Ignoring new targets: 40.40 m. j!j!j!j!i!h)h)h)h)f)f1f1rf1bf5F@ɛe BeV' ae#οIa mI 4ɚiiiIme=I}yӿi}9 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju nJq Jq Jq Ju |;:Jq Jq Jq a @a @a @a @f,w,AJc@YJϒ@Je9J>yJH1` ?ඖލ@iԻ???w?ɨJc@J$);JCy}B )Ii=Ip<Mb@Mb@Mb@ )Ykt? ףp= Zd;O?y P?Qj<)A )I#AyI^I&4٢= 6=9Q > G٣y > Nusing accuracyPremultiplier from config59*?U5YD iU{Q?U:U翑U@0lEh<h<85eB e?%AeEDNOT Ignoring new targets: 40.40 m. jjjjihhhhvBfffrfbf=#G@ɛ%B 隅˿I ZW:ɚiIhf=Iyӿil,w,zA2@Y2 Ȓ@2$92֙>y2Hտ?t `TG?Լ???ɨ2@2*^;2CyB>~BB[IIJlIJm?4٢R]> V_=9VFQ V>XX ZG٣ZPGyZ+ ^> Nusing accuracyPremultiplier from config%59$?%5Y i!-翑-@5lEq:P::51 5#A1eDNOT Ignoring new targets: 40.40 m. jajajajaiahahahihifififqrfqbf}``PG@ɛ)BV% 隭¿I #>ɚiIf=Iyӿi I III~BI&I.I6I<:Io F}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@5JFGe'GABIOe4> IzKE .OKE h9KA KE KE Y^U@#t,~%eyJdI1 {vonkhd`]YWPMLGDC>% Will construct direction to contact in vehicle frame from tetrahedron phase data.#s,w,?RϱA6k@Y6뿒@6q96>y6H ? Ή@-Mu? ?f?$?ɨ6k@6ܲ;6CyNr~BN{IIVYIV4٢^> bI=9b;Q b>`d fG٣dyf f> nNusing accuracyPremultiplier from confighn59j%?r5YjP ijxpr翑r@j:lEjT ;j ;jB<5t z+#AzEDNOT Ignoring new targets: 40.40 m. jjjjih!h)h1h1fffrfbf)G@ɛ .B   WI  lCɚiI*og=Ieyӿimk I hy,w,8A^汋@Y^f@^9^5>y^H [?g? }g? ~??ɨ^汋@^0;^CrWill construct direction to contact in vehicle frame from tetrahedron phase data.yv~BvI)| |Mb@Mb@Mb@ )Y}?5^I?A`"~jt?yMB?ٽ<(A bA)AI"#AyAIQI4٢> :=9E"Q > G٣yu9 u> }Nusing accuracyPremultiplier from configy59}[?5Y}- i}@D?:a뿑@}@lE};};}C>5 "ADNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h1h1h5Bf1f9fArfAbfm G@ɛ4B4 隕I HɚiI*g=IyӿigÅI IIIlBI&I.I6IN<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge G9 BI Om >G,w, A6@Y6=Œ@6*96g >y6H5迿o?.5 黿? ?r?'?ɨ6@6,;6Cyb~BbIIj\Ij#4٢rA= rZ=9v Q v>tt zG٣zPGyz7: z> Nusing accuracyPremultiplier from config 59T? 5Y  iށ R뿑@DlEX:z:?5 %t!A!MDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhQ eh$?IafQfifirfibfm Will construct direction to contact in vehicle frame from tetrahedron phase data.J nJ cJ J J |;:J x9J J ,w,Abŋ@YbJՒ@bV9b: >ybHi@p?@4`V@?ǽ?@ 3?}?ɨbŋ@b/;bCyj&BjIMb@Mb@Mb@ )Y +?`"~jtx?y6?;(A A)AI#Ay\AI6Im3٢!> ==9Q > G٣y ; > Nusing accuracyPremultiplier from config59?5Y i{e9?:u@IlE;;A5 W AEDNOT Ignoring new targets: 40.40 m. jjj!j!i!h!h!h)h-Bf)f)f1rf1bf5{"H@ɛ]=B]hV aeIa eQɚaiaIm]h=Iuyӿiu+ A ,w,6A6ً@Y6N@6g96c >y6H xʾ?ʾ``b@??`74?@|?ɨ6ً@6F;6"CyBTBBIiDIFp;IJ;IJ&3٢V#= V_=9V!Q V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`f59bf?f5Yb ibtdf%f@bMlEb:b:bNC5p rArE DNOT Ignoring new targets: 40.40 m. j jjjihhhhfff!rf!bf%qQH@ɛMABUQ QUޥIQ U{kUɚQiQI]h=HI IrIIBI =&IFD.I6I.<:I FIyӿi'zK zMK 9K K K  !39;9563/+('(&%! RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data./,w,˝PA6m@Y6@6P96 >y6H1U?'Zݹ@U?`?$o? z?ɨ6m@6;6CyNkBNIIZCIZ3٢~W= E=9V;Q >   G٣ PGy ;  > Nusing accuracyPremultiplier from config%59E?%5Y% im!%%@RlE;G;E5) 5FA1]DNOT Ignoring new targets: 40.40 m. jYjYjYjYiYhahahahafififirfibfm@lH@ɛUGBU֟ Y]\IY ]YɚYiYI]Mi=Ieyӿie- ) I) *!,w,|jAR;@YR@R9R`P >yRHh,? Q?k!?``|?`y?ɨR;@R;RC^Will construct direction to contact in vehicle frame from tetrahedron phase data.yZBb/IUMb@Mb@Mb@QQQ Q)QYUx&?㥛 ¿y&1|yU7)?UU`Uf&A Q)U3AIU"#AQyUfAImQIm4٢}b= }B=9}Q > G٣y\< > Nusing accuracyPremultiplier from config59?5Y7 igM-?:;@VlEI;M7;F5 ADNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf`H@ɛLBA 隽2I L^ɚiI i=IyӿiV1,w,7SA2*@Y26:@2692a>y2HK`h?%z& n?#??x?ɨ2*@2{;0yBBB@I)D DIJCIJ3٢R_= RY=9VϸQ V>TT VG٣TyZk< Z> `I` fNusing accuracyPremultiplier from configdj59f쌜?j5Yf ifbhnn@f[lEf ;f ;fH5rB r%ArEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf`EH@ɛ5QB=L 9= I9 =+bɚ9iAIEMi=IEyӿiMeς Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J R=;,w,VA5J@Y59Z@595R >y5HNڐ?R ۗ`Z?*??x?ɨ5J@5Y;1ymBmGIMb@Mb@Mb@ )Y%C?7A`¿Zd;OyZ$?j M A) AIQ"AyAI PI  4٢"< 4=9%oQ %>!! -G٣-PGy- < -> 5Nusing accuracyPremultiplier from config1=595䌜?E5Y5 i5^E(?E:EE@5_lE5g;5;5J5UB UA]EDNOT Ignoring new targets: 40.40 m. jjjjihhhhނBfffrfbf`&I@ɛVBD/ I fɚiIA7j=Iyӿiq[,w,A:i@Y:xy@:9:>y:HX`? + P @?`:? .?w?ɨ:i@:;8yFBFOIINeIN34٢V{= Vg=9Z :Q Z>XX ^G٣\yb/< b> jNusing accuracyPremultiplier from configdj59f`ތ?n5Yf if[lnAn@fclEf;f;f#L5t vAtDNOT Ignoring new targets: 40.40 m. jjjjihhh!h!f!f!f!rf)bf-TI@He>Ia IeIIemBIe =&Ia.Ia6IeƯ<:Ie1 FBI-CJI-CRI)ZI- =bI- =jI-4ɛ[B 隅I jɚiIj=Iyӿi- I Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% !LK% 9K! K% K% C,w,ѲAFS@YFԜ@F9F'>yFH@Õ?5`9;?@?`ܦ?`x?ɨFS@Fo;FCyNBRSIiV4=IV=IZTIZ4٢b< bI=9bi:Q f>dd fG٣dyj].< j> rNusing accuracyPremultiplier from configlv59nZ׌?v5Yn in{Xtvv@nglEnG:n:nM5x ~A|%DNOT Ignoring new targets: 40.40 m. j!j!j!j!i!h)h)h)h)f1f1fArfAbfMWI@ɛ`B 隍I b:nɚiIj=Iyӿil:))*F]?2Fa:FaBFe_0JFaUWill construct direction to contact in vehicle frame from tetrahedron phase data.GUҸG1B9O]> I hMo,w,?ARWill construct direction to contact in vehicle frame from tetrahedron phase data.y%B%CIMb@Mb@Mb@ )YQ?@5^I ¿~jty(?b$A )AI!AyQAIEI3٢o 9=9Q > G٣PGy > Nusing accuracyPremultiplier from config59ό? 5Y i(V  -? : k￑ @llE[;Z;O5B AEEDNOT Ignoring new targets: 40.40 m. jAjAjIjIiIhIhIhQhÛBfQfQfYrfYbf] I@ɛeB I 2rɚiIMk=Iyӿi%9IeC IeIIe|BIe =&Ia.Ia6IeA<:Ie FeWill construct direction to contact in vehicle frame from tetrahedron phase data.JoJkJJJ>:J9JJJ}O;JO;J:J:G7:G B O >U,w,-A I:Nƌ@Y:Փ@:c09:t >y:H@~d?i/`aXX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59bɌ?f5YbC  ibEThjj@bplEb*:b:bmQ5l n1Ap DNOT Ignoring new targets: 40.40 m. j jjjihhhhff!f!rf!bf%@+I@ɛMiBU8V QUIQ UvɚQiI?k=Iyӿi3m Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,A=[ی@Y=@=69= >y=H@Gض`|?  @i @D?`̽?NQ?@z|?ɨ=[ی@=އ;= CyUBU<I)Y YMb@Mb@Mb@ )Y"~?/$ ףp= y3?1Q8#A  A) AIAyAI-pI-F4٢=Ļ =3=9=×9Q E>AI MG٣IyUI; U> ]Nusing accuracyPremultiplier from configYe59]Œ?e5Y] i]Qe7?m:m"뿑m@]ulE]Y;];]lS5q u?Au´EDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbf)J@ɛoB2 XI Jx{ɚiI3l=IyӿiXiWill construct direction to contact in vehicle frame from tetrahedron phase data.,w,V9A6@Y6A@6»96& >y6HV?￿ h@=I@f'?e?@5?`}?ɨ6@6;6CyNBN+IIZfIZ44٢bI bf=9f:Q f>dh jG٣jPGyj; j>H>I III =&I.I6Iǯ<:I/ F uNusing accuracyPremultiplier from configi}59mμ?}5Ymd im$Py꿑@mzlEm;mE;mU5 ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf uYJ@ɛsBw" I |ɚiI(l=I yӿi T Will construct direction to contact in vehicle frame from tetrahedron phase data.zK "NK ]9K K K &K(  =,w,0SA^@Y^*@^9^s >y^H@& ?!t #??? ?ɨ^@^i:;\yf|BfIInwInR4٢vWO vH=9zۃQ z>x| ~G٣|y~; >  Nusing accuracyPremultiplier from config 59?5Y  i0N꿑@~lE2 ;? ;V5! %A!DNOT Ignoring new targets: 40.40 m. jjjjihhhhf f f rf bf .J@ɛ=xB=c! 9=I9 EɚAiAIE%Im=IMyӿiM@,w, mABWill construct direction to contact in vehicle frame from tetrahedron phase data.nc~Gb@YbU@xb 9b82 >ybH@ ?`8 P ????ɨb@b>;` =6Y9y=AyMxBMIiU=IU;MMb@Mb@Mb@III I)IYMy&1?S㥛ktyM`E?M$M 0M A M A)M| AIMAIyMAIelIem?4٢u^ }4=9}o8Q }> G٣y<_: > Nusing accuracyPremultiplier from config59]?5Y) iJH?:近@lE;j;X5 AŴEDNOT Ignoring new targets: 40.40 m. jjjjihhhhFBfffrfbf {J@ɛ|B! !%&I! %$ɚ!i!I%m=IyӿiU,I IIIgBI =&I.I6I^<:I F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai5AJKـ3 K .KK"KJqJJJJD:J:JJJIZ;JKZ;Jyp;Jzp;Ga GA BI Oe > I ,w,LAB@YB9@B9BZ!>yBH4E?|tx`?b? ? ?ɨB@Bv2;@yRgBRIIZpIZF4٢b3A bk=9fQ f?hh jG٣hyn: n? rNusing accuracyPremultiplier from configpv59rũ?v5Yr0 irHxz近z@rlEr2:ru:rEZ5| LAǴE-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h)h1h1h1f1f1f9rf9bf=$J@ɛmBu. qu0Iq uɚyiyI}}n=IyӿiLE Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,РAE]@YE@E9EF>yEHQ4?큾 o`X&? ? ?ஃ?ɨE]@E\;Ay]UB]IMb@Mb@Mb@ )YZd;?|?5^MbyY?ҽA hA)9AIAyAIsIK4٢ r$  7=96Q > G٣PGy;] > 5Nusing accuracyPremultiplier from config)559-I?55Y-q: i-A=[?=w:=⿑=@-lE-+;-;-8\5A ue$?Iuh EA5DNOT Ignoring new targets: 40.40 m. j1j1j1j1i9h9h9h9h=Bfafafarfibfm!/K@ɛB1! ¶I gVɚiIO&o=Iyӿi,w,kA6@Y6F@6'96>y6Hk ǧ?@ӽߧ޲,?@Nͽ?@/??ɨ6@6A;4y>VB>I)D DHR>IRC IRIIRNBIR =&IP.IR@D6IR<:IRa FINhINV84٢f; fb=9jUQ j>hh jG٣hyn" n> rNusing accuracyPremultiplier from configpv59r?v5YrnB irzK% jIK% 9K! K% K% RK5 ?JK5 ?:,w,qsԳAR-Ȍ@YRד@RM9R>yRH@o?2 S`H??`ڿ??ɨR-Ȍ@Rf;PyffBjIIrzIr=X4٢= G=9 ѺQ  > G٣y%P %> -Nusing accuracyPremultiplier from config)559-ޗ?55Y-K i-61=㿑=@-lE-;--;-_5A EQAAuDNOT Ignoring new targets: 40.40 m. jqjqjqjqiyhyhyhyhyfffrfbfK@ɛB1 隽I vɚiI p=Iyӿiɀ ,w,OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:L@Y:ͼ@:%9:.=y:H@CѦ?мH@f?`"???ɨ:L@:));8yFmBFImMb@Mb@Mb@iii i)iYmJ +?I +y&1|ymh?m9m`mA mA)mhAIm-AiymAIgI64٢k< A=9#̺Q > G٣PGy > Nusing accuracyPremultiplier from config59đ?5YkU if-i?h:}ῑ@lE94;2;pa5 7AɴEDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrf bf @\K@ɛ5B=+ 9=I9 =ɚ9i9IE/q=IEyӿiMI IIIIBI =&I.I6I<:ID FBIeƭCJIeƭCRIaZIe =bIe =jIeq5Will construct direction to contact in vehicle frame from tetrahedron phase data.G-o;G5 ?G5>G BA O] > A IE hi-w,2AZ @YZ@Ze9Zo=yZH1?@W)*w!?aZ?C?v?ɨZ @Z֖;Z!CyfBf.IihIjC=InQIn4٢vt= vU=9zQ z>x| ~G٣|y~L ~>  Nusing accuracyPremultiplier from config 59? 5Yn^ i$ῑ@lE2;_3;c5! %A%̴EDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbfK@ɛ5B=A- 9=I9 =hɚAiAIEq=IEyӿiMZ Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J =J sJ lJ J J K:J 9J J a- @a- @a- @a5 @-w,"A I(h@Yw@G9s =yH d?@X8ʸ?2? ?I?ɨ(h@}ׇ;CyBFIMb@Mb@Mb@ )Yn? rhy&1?yVn?C`e<A A)AIAyAI_Ib(4٢ת= .=9Q > G٣ye& > Nusing accuracyPremultiplier from config59?5Yi i n? c: ߿ @lE_;;)e5 A=B*** querying acoustic contact ***j9j9MDNOT Ignoring new targets: 40.40 m. jIjIjIjIiIhIhQhQhUBfQfYfYrfYbf]`n1L@ɛEBM$ IMʮII U ɚQiQIU {r=I}yӿiIF-w,/;AH&>I$ I&II&]BI$&I$.I$6I&<:I&? FFaF@YFU@F^9FC-=yFHn?-V`̔?ؾ??(?ɨFaF@F3;FCyRBRfIIZJIZ)4٢b> bu=9b[HQ b?dd fG٣fPGyfJ j? nNusing accuracyPremultiplier from confighU59jڀ?U5Yjq ij~ Y]z࿑e@jlEj BDAT read: Tx time:22:57:20.2184 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:57:20.2176  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251359zK BoHK 9K K K 0-w,aUA2@Y2+@2փ92/=y2HMʝ?"}5?? I? ?ɨ2@2a;2Cy>B>I)@ @IFIF(*2٢b: > bJ=9f)Q f>dh jG٣lyr&P v>  Nusing accuracyPremultiplier from config59z?%5Y~{ i)-$ῑ-@lE;Գ;hh59 =BA9DNOT Ignoring new targets: 40.40 m. jjjjihhh h f f1f1rf1bf5 L@ɛB$ I  ɚiIs=IyӿiB~X-w,SoA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750980Bw@YB@B$9B>=yBH _?K@=;T?k?? q?ɨBw@B;BCyR8BRI5Mb@Mb@Mb@111 1)1Y5n? ?=9|:Q > G٣yG > Nusing accuracyPremultiplier from config59Gt?5Y iྙDo?c:⿑@lE;;Bj5q }'AyDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbffL@ɛmB! 隕 I 1ɚiIt=Iyӿi|}II IM!IIMBIM =&II.II6IM0<:IMs FGBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003000 I ?"-w,HoAycB II-(I-̍3٢=X> EO=9EQ E>II MG٣MPGyM U> ]Nusing accuracyPremultiplier from configQe59U$n?e5YU iUQþaae@UlEU ;U;Uk5mB uAuҴEDNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf OL@ɛBl$ I לɚiIUt=Iyӿi| Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506900J wJ J 0J J W:J J ـ3J n(-w,F^A YIYyޭBޭIi=I=uMb@Mb@Mb@qqq q)qYuףp= ?sh|?~jt?yu^?uuD=uA u$A)uAIuAqyu AI9I3٢1> (=9Q > G٣y > Nusing accuracyPremultiplier from config59\f?5Yԙ iS`?r:V忑@lEH%;M;n5B tA ԴE-DNOT Ignoring new targets: 40.40 m. j1j1j1j1i1h1h1h9h=(B)) )fA~GfQfrf FY!y%A]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759349bf`/>M@ɛBܭ }I =FɚiIt=IyӿiA{I= C I= II= BI=  =&I9 .I= ?D6I= <:I= \ FG -kGa Bq O >4/-w,ƿA6#@Y6@696>y6Hiz?;໿x@`Ἷ ?H?6 ?U|?ɨ6#@6(;6C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010899yF€BF^IIR[IRK!4٢Ԑ> e=9NQ >! %G٣!y- -> ]Nusing accuracyPremultiplier from configQ]59UO`?]5YUϡ iUae濑e@UlEU:U:Uo5i ADNOT Ignoring new targets: 40.40 m. jjjjihhhhf ffrfbf@xgM@ɛBT 隭YvI "}ɚiI#u=IyӿiyEzzKy K} ػ9Ky K} K} +.,'&"##6-w,ٴA-@Y-(@-9-Y>y-H@s?bwQ弿 )5?`W?N?y?ɨ-@-B;)yޥBޥIIXI4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517367٢ > #=9DgQ >!! %G٣%PGJYJ]pJ]1JYJYJ]^9J]3JYyuhM u> Nusing accuracyPremultiplier from config593W?5Y̭ i,6  濑@lE<B< 9IEhr5 ADNOT Ignoring new targets: 40.40 m. jjjjihhhhfffrfbf ƯM@ɛmBu 隝gI ђɚiI9u=Iyӿirxo7<-w,h=A2@Y2~@2!z92Å>y2H`G?@ļOw`ؼ G?@c?@?w?ɨ2@2;2 Cy>B>I Mb@Mb@Mb@    ) Y (\?S㥻kt?y N? /ݽ  0=  A) AI /A y Ie$Ie<3٢u> u=9uQ }?yy }G٣yys #? Nusing accuracyPremultiplier from config59LR?5YM i7P?:뿑@lE;3;=s5 AִEDNOT Ignoring new targets: 40.40 m. jjjjihhhhBfffrfbfM@ɛ%B% )-0MI) -bRɚ)i)I5ju=I5yӿi=wI IIILBI =&I.I6I<:IX FWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձBDAT read: Rx Time:22:57:22.8370 TRx dataTimestamp_ set to:1736377044.021120checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020404GS&żGBO> I II C-w,W A2ל@Y2X@2 w92c >y2HO@s?:y`CM? Uc?? s?ɨ2ל@2 ;2CyR:BRIIZGIZ3٢b='> bW=9b&8Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr59nwK?r5Yn in载tv뿑z@nlEnOJ;nI;nt5B AٴE-DNOT Ignoring new targets: 40.40 m. j)j)j)j)i)h1h1h1h1f1f9f9rf9bfE@wM@ɛuBN >I zɚiI%|u=I yӿi }v Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 22:57:22.8370 LVL= 23184, 16881, 14834, 31363, AGC= 67, IDX= 314, 0.07,-0.396, 1.592, 0.078,-0.506, PHS= 0.198, 2.144, 0.581, RAW= 319.3, -30.0, CAL= 318.9, -43.8, ROT= 191.1, 43.8 e Ygot valid direction response: 22:57:22.8370 LVL= 23184, 16881, 14834, 31363, AGC= 67, IDX= 314, 0.07,-0.396, 1.592, 0.078,-0.506, PHS= 0.198, 2.144, 0.581, RAW= 319.3, -30.0, CAL= 318.9, -43.8, ROT= 191.1, 43.8 } PDAT read: Bearing 191.1, 43.8 (Local)  ~Local bearing/azimuth received: Bearing 191.1, 43.8 (Local)  DAT read: Range 10 to 50 : 160.8 m (Round-trip 214.4 ms) speed -0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.638287,0.549804,-0.538800] Fpublishing direction and range info 9 ql?")3?k;=y C Z A 9) zI CWHI-w,&A IiJ>L7 @j?T@  |@)ECIuU@iEC?]U#,֏ɂMҿ)x)y3I@P?i 6??y ]B I5Mb@Mb@Mb@111 1)1Y5n? rh?y56?5C 5<5EA 5A)5AI5A1y5G AIm5Im3٢u> }=9}Q > G٣PGy > Nusing accuracyPremultiplier from config59KA?5Y i'm9?:W@lE(<m(<6w5  A %Will construct direction to contact in vehicle frame from tetrahedron phase data.kA?k Y) k k!A:k CBkCZk@"@2Y@Zn*$V@a+9Uql?")3?k;=Jk 6?Rk?*8U@+^Mj(N!H+A?OZY.]Lؿ"k1*kBkE짜?kQo) 2k@kk|# kYBkBk7O? addTargetRange:: Added new target pos. range: 160.800003 m, deltaT: 60.269611 s, deltaX: 103.200005 m, approachRate: 1.712306 m/s, rangeRepo size: 4  Added new target pos. range: 160.800003 m, bearing: 304.327091 deg, lat: 36.904780 deg, lon: -122.119402 deg, deltaT: 120.751488 s, deltaX: 120.400002 m, approachRate: 0.997089 m/s, posRepo size: 4 FNOT Ignoring new targets: 160.80 m.Completed rollout at range: 160.80 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE*j? j(?jj j i h h hhBf1f1f9rf=d@bf=V?ɛBd+ =m=隍>/I ɚiIYu=IؿiiP<)(?)*Fu?2Fq:FqBF}^5JFyH >I C I II BI =&I .I 6I <:I ; FBIʫCJIʫCRIZI =bI =jI5G ( Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq J J uJ /J J J 9J (N3J J z;a J z;a J f:a J g:a O >%P-w,CAjы@Yj@j֋9jg>yjH?`JA@:rH?@e?ݘ?n?ɨjы@j;jCyzBzSII1I3٢5z> 5o=95sQ =?99 =G٣9yE>< E? uNusing accuracyPremultiplier from configIu59M:?}5YM iMy}}@MlEM;MQ;Mx5LB A a$?IMAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1NEntering Terminal tracking update period 2.000000 s sec at 160.800003 m (mode 1.000000 count ).1NqN j1j1j1j1i1h1h9h9h9f9f9fArfAbfe^?ɛB 隕I ߦɚiIZu=IDݿii5M=))*F?2F:FBFP0JFGo>GWill construct direction to contact in vehicle frame from tetrahedron phase data.BOi>zKU MKU 9KQ KU KU R 6n1 W[nI-yHkM3W-w,Ct]ABo@YB@BX9B>yBH޽@O?ÿ A>?@Ri? ??cl?ɨBo@B ;BCyJBJuIIV@IV3٢v > vO=9zQ z>x| ~G٣|y~;< ~>  Nusing accuracyPremultiplier from config 593?5Y iW<@lE;[;hz5KB %8 A%۴EZl5@qN=N=EB*** querying acoustic contact ***jAjA jajajijiiihqhyhyhyfyffrfbf|?ɛBl; 隵I 4ɚiIFu=I^iibG=))5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fy:FyBF}_0JFG; IhGBOH> Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2950>  BDAT read: Tx time:22:57:25.0184  $Ping request sent. y6H`P༿@Z?9T a+,?@]? #?bi?ɨ6@6;6CyBBBIMb@Mb@Mb@ )YPn?333333ÿ~jthy$?D\A VA)AIAy AaaImImF3٢}= }B=9}VZ:Q }> G٣PGy#< > Nusing accuracyPremultiplier from config59+?5Y iL^=(?:@lE4;N3;?|5JB  A޴EblNN jjjjihhhh5Bfffrfbfm?ɛĂB% )-I) -ŝɚ)i1I5"u=I=Si9i=8>)9)AZHRH?AH>I I IIBI =&I.I6IG<:Ix FEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:57:25.0176 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248853J}JyJ0JJ[j:J9Jـ3JJ;J;J:J:EЉ= I*F-?2F1:F1BF5X0JF1G F<G G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500776B O% >}d-w,^ՒA:d@Y:(@:9:72>y:Hɼm? P?`g??i?ɨ:d@:;: CyBɁBFI)H HININ?13٢M= M@=9UIQ U>QQ ]G٣Yy]L: ]> mNusing accuracyPremultiplier from configam59e#?m5Ye{ iea=quu@elEe:e:e~5y } AyjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal jjjjihhhhfffrfbf?;?ɛǂBfh I zɚiIt=I i i >) )E@p=zKu8OKu9KqKuKu~ztrld`]ZVSPNLHECC@?<:=;877530.---,))&%#!%% !!!%%*Fq2Fq:FqBFu_0JFqGU<GaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751955  I uj-w,A6@Y6t @6&96`x >y6H  G٣yz# > Nusing accuracyPremultiplier from config59A?5Y i=?:@lE ;z ;5  A jjjjih h h h :Bfffrfbf@ɛMʂBMz IMII UFɚQiQIUt=I]&^iYi] >)Y)aEiEi*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003768*F2F:FBFJFH]~>I]C I]S II]YBI] =&IY.I]>D6I]n<:I] FGuf=G} ?G}?GI Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255850Jm Jm Jm /Ji Jm s:Jm y9Jm (N3Ji Jm ;Jm ;Jm ::Jm ;:Lq-w,`ƵA6 @Y6)0@696r>y6H[?/꽿@c=Z?p? .? u?ɨ6 @6{;6C PIPynBnIIvIv 3٢~e= ~U=9*:Q >    G٣ PGy; > %Nusing accuracyPremultiplier from config-59?-5Y i_=)-k-@lE;;59 =7 A9 jajajajaiahahihihififqfqrfqbf@@ɛ%͂B%$ !%I) -ɚ)i)I-At=IUiQiQ)Q)Y*F?2F:FBF3JFG=GBOH>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507946zK /sNK 9K K K (''%(((&')*+/0105BLS[gklmmljggggedcdc^]^YTPMGFEBC@==>::;:766w-w,@AB6@YB$@BW9B2>yBHǘ?[`׉帿.??`? $~?ɨB6@Bު;BCyJBJIiR=IR>IVGIV3٢^== ^N=9^";Q b>`` bG٣`yfg f> jNusing accuracyPremultiplier from confighn59j ?n5Yj ijq=prr@jmEj5;j;jO5vIB v AvE-B*** querying acoustic contact ***j)j) j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM)@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760094ɛЂB& 隍I ɚiIvt=I ii))*FU?2FY:FYBF]5JFa `$?IhGc>GBOC>%NG9Q }Yyy}wB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012974i}-w,A:@Y:^@:9:=y:H> Ϟ? `Lp8?h?@Ҽ??ɨ:@:b;: CyRBRI=Mb@Mb@Mb@999 9)9Y=+?333333ÿkty=?== 0=A 9)=AI=A9y= AI]PI] 4٢mʼ m@=9m;Q m>qq uG٣qy}F }> Nusing accuracyPremultiplier from config59?5Y i=$?:G@mE;Z;+5  A jjjjihhhh BfffrfbfČ @jH=<bH==H=x>I=C I= II=BI= =&I9.I96I=<:I= FɛԂB I  ɚiIRYt=IZii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264430*F?2F:FBF4JFJ5J5J50J1J5y:J59J5ـ3J1J5;J5 ;J5;J5;Ga4> IGBOf> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515834-w,cA6I@Y6ʚ@696c=y6H`? n`?ҍ?`?5?ɨ6I@6+ ;6Cy>BBIIJ?IJT3٢RE RX=9RTX ZG٣ZPGyZ Z> =Nusing accuracyPremultiplier from config9E59=f?E5Y= i=>IMM@= mE=e:=:=冂5Q U9 AQ jjjjihhhhfffrfbf@ɛ=ׂB=^R AEMIA EwPɚAiAIEVt=IM6iIiI)Q)Q*F?2F:FBF\0JFzK%{NK%9K!K%K%3/%       Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770117Gy~7>GBOe > I -w,u-A2@Y2l@292D=y2H9¿ɜ?@@pv п?`L???ɨ2@2P{;2Cy<<)@ @DFAMb@Mb@Mb@ )Yq= ףp? G٣y( > Nusing accuracyPremultiplier from config59?5Y ik >/?:J@mE ; ;5 7 A jYjYjYjYiYhYhYhaheBfafafirfibfm '@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020036ɛۂB*J I M+ɚQiQIA^t=Iii))*Fm?2Fi:FqBFuX0JFyG}D>G9BAO]v>H=q>I=C I= II=BI= =&I9.I==D6I=<:I= F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271896ԑ-w,GA _$?I:1\@Y:k@:>9:h==y:HDſ !?@hY`Ŀ*3? ?ㄧ?@?ɨ:1\@:W;8yR܁BRIInPIn 4٢z  V=9  G٣y%Z -> =Nusing accuracyPremultiplier from config1E595틜?M5Y5v  i5V>IM.M@5mE54o;5R;5k5a eh AeE jIjYjYjYiYhYhYhahafafafirfibfm [@ɛނB 隥9I ɚiI{t=I$$ii))*Fe?2Fa:FaBFe_0JFiG= k>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525027GB!OEQ>zK] 5MKY KY K] K] -w,iaAN@YNu@NB޽9N pp rG٣rPGyr| v> zNusing accuracyPremultiplier from configt~59v䋜?~5Yv  iv>|~~@vmEv ;v ;v&5HB  A E-B*** querying acoustic contact ***j)j)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776074 jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]l+@ɛBL 隭I {ǯɚiIDt=I)ii))JCKC KK.KCKC"KCJJJJJ]:J9JJa@a@a@a@ I*F5?2F1:F1BF=t0JF9G-c>GB)O8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028280q'-w,]{Ay~ЁB~Ii=I< = Mb@Mb@Mb@ )YV-?yI I IIBI =&I.I G٣y > %Nusing accuracyPremultiplier from config!-59%ۋ?-5Y%3 i%C6>-??-:-5@%mE%;%B;%5A E AA jijijijiiihihqhqhujBfyfyfyrfybf@ɛB IM IQ UɚQiQIU3t=I]!/iYiY)Y)aMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280605*F?2F:FBF~0JF  IhG- F>G) G) G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532038-w,6AN@YN@Nн9N+yNHyϿ?`?`(п? ?i@?ɨN@NQ;LyŹBZIIbQIb4٢j j`=9nēpp rG٣pyr* v> zNusing accuracyPremultiplier from configtz59vы?~5Yv! ivI>|~@v!mEv;v;v5   A  j1j1j9j9i9h9h9hAhAfAfAfIrfIbfM@!d@ɛB C %$]=%k I! %ɚ!i!I%t*u=I-4i)i))1)1*F?2F:FBF_5JFzKKK9KKK]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784030GG*J"JR=JJJJJ̈́:J[9JJB ^$?IO>8-w,A:@Y:@:}9ʽ9: $)y:H ҿ?`H? !aҿ=/?II MG٣MPGyU U> ]Nusing accuracyPremultiplier from configYe59]Ƌ?e5Y]) i]g>e M?m:mm@]&mE];];]5uGB q}E jjjjihhhh(Bfffrfbf@ɛBO 隕MI }ɚiIu=I9ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035985*Fm?2Fi:FiBFmP5JFiHi>IC Iy IIxBI&I.I6I<:I FGA>Gi Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288149 I -w,lȶA6f@Y6]v@6½96iy6H@ 8Կ`=?@A?_5``Կ@d?S?`!?ɨ6f@6z;4yB́BBIIJQIJ4٢Vt; VU=9V;XX ZG٣Xy^ ^> Nusing accuracyPremultiplier from config%59?%5Yf1 i>)-Q-@+mE::;51 5 A5E jajajajaiahahihihififqfqrfqbfu@ɛBQ 隥I oɚiIu=IΥ>ii))*FM?2FQ:FQBFUP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539829GF>G?G>GqBO>zK KK S9K K K J-w,?ARH@YRW@R9RyRH \Tֿ?@? `ֿ?KX?`;?ɨRH@R";RCyZցBZIIrHIr<3٢z?*= zF=9z|| G٣yG >  Nusing accuracyPremultiplier from config 59 F?5Y 8 i >%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792270@ 0mE $< @< 5FB  AEB*** querying acoustic contact ***jj jjjjihhh h f f frfbf5[@ɛeBeQ ae Ia mgɚiiiImlv= }]$?I}hJJJJJ]:Jm9JJIcDii))Em=EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045167*FU ?2FQ :FQ BFU _5JFQ G A>H e>I C I s II sBI  =&I GD.I ;D6I K<:I a FGBO> `-w,ޒA6!@Y61@6d96I+ny6H(xؿo?H?o ؿ ?,N?& ?ɨ6!@6t;6"Cy>BBImMb@Mb@Mb@iii i)iYm-?x&y&1|?ym?U?m7m`;mh@ mQA)m@ImAiym=AISI4٢a= #=98 G٣PGy꒽ > Nusing accuracyPremultiplier from config59@?5YB i\>U?~:@7mE;K;-5 4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296316 jjjjihh hhBfffrfbf@E@ɛEBE AE II UtɚQiQIUpv=I]QG@iYiY)a)a IE=*F]?2FY:FYBFek1JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547883G F>Gq B O >-w,ZAN4@YN@N9N=yNH 7ܿV??ܿ??@៿ ?ɨN4@N;N Cy^B^IIfAIfk3٢r= rW=9rtt vG٣tyv2< z> ~Nusing accuracyPremultiplier from configx59zr?5YzI iz>Y@z_-w,8AV-@YVՆ@V 9VboyVH`޿?@?  Ŭ޿@yy }G٣yy > Nusing accuracyPremultiplier from config59x?5YoR i> @BmE ; ;ᚂ5EB y AE jjjjihhhhfffrfbf @ɛB$ 隵?I @ɚiIcx=I;@ii))EE*E"EHI I II}BI&I.I6Ip<:I| FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304481 \$?Ih*F)2F):F)BF-\4JF)G G B O >-w,!YSAPExceeded connect timeout, disconnecting.Z~b}@YZ@Z9ZċûyZH>7?B? ՂaB`?`_?dx?ɨZ~b}@Zz;ZCybBfIInFIn%3٢v> vH=9vv|| ~G٣~PGy >  Nusing accuracyPremultiplier from config 59 n?5Y Y i V> @ HmE z: : 5-DB -~ A-EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.556268 jYjajijqiqhqhyhhfffrfbfࡧ!@ɛB Ei=E IA EɚAiIIM'y=IMe76@iQiQ)Q)Q*F2F:FBF_0JFzKR&MK9KKK|skc_WSMF@<8;8750,+*(&$###  GGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808038O > I JY J] BA-w,mA8{@Y@f9dL:yH$` ?? '+˨?S٬?Z?`?ɨ8{@<;騽Cy*B I) A- eonly read 3 of 4 data items for bottom velocity. Device response is::BS, -53, +832, +1E +832, +1D, 92, +83.37, -1.77, 8.06, 0.00   @   @   @    @  IDI3٢%F= %,=9-a)1 5G٣1y5ԑ 5> EbBottom track data is 0.5 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=Z?M5Y=b i=g>M+:QUM:U U@=NmE==7;=:>=Y5Y ]AYB*** querying acoustic contact ***jj jjjjihhhhfffrfAbfE"@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.060014ɛB 隍ӾI ҸɚiIz=I/@ii))*F?2F:FBFJFH- `>I)  I- II- BI-  =&I) .I) 6I- {<:I- FG G ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312693-w,7A6y@Y6a@6XF96[;y6H l?K?RcZ FA?`?y?B?ɨ6y@6 o;4 F[$?IDyFGBF> IIR]IR$4٢V6> Z~=9Z :&: @fRmEf =fS?fE5 AE j9j9j9j9i9h9hAhAhAfAfIfIrfIbfMKP#@ɛB]H 隭!I RɚiIhz=I/+@ii))*F?2F:FBF0JF %nManaging dock network, ignoring radio surface power off}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563969GuA>GI BQ O >-w,A6v@Y6C@6م"96;y6H`?Ǔ?0 /`?]O? ?`M?ɨ6v@6;6 Cy>VBBO IIFTIF4٢N:= RK=9RTX ZG٣ZPGy^PzK^NK^59K\K^K^   f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59j9?r5Yj\n ijV>r9pr:r.v@jXmEjk8;j7?j65x zrAx jjjjihh!h!h!f!f!f)rf)bf-L $@ɛB5L I ׹ɚiI{=I(#&@ii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818409 uZ$?IuhEz=*F?2F:FBFf0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067905G F>G G Gq B O >-w,+A6t@Y6@696,;y6H 2?ԋ? .@x? z?{?@?ɨ6t@6;4yJhBJf I % % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%Dl?Zd;O:v?y%OM?%j<%T<%~@ %~@)%@I%lA!y%@IYI4٢V= 4=9$ G٣y > Nusing accuracyPremultiplier from config59%?5Yu i>T: M? :  @]mE';&;.5CB AE j9j9jAjAiAhAhAhIhM0BfQfQfQrfYbf]w$@HIC I IIBI =&I.I6Iİ<:I FBI]¥CJI]¥CRI]“CZI] =bI] =jI]5ɛB$ 隵I bɚiI*|=I@G @ii))E=*F=?2F9:F9BF=4JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319837 IJJJJJ:JJJJ;J;JJGE A>G B! OE >-w,kԷA~Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572137y B  II%cI%y/4٢-+> 5W=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYe59]?m5Y]{ i]F>iim@]bmE]":]P:]ۣ5q }Ay jjjjihhhhfffrfbfm%@ɛ}B}ݽ 隅6zI ɺɚiIL}=I@ii))EE*E"EzKiLK9KKK*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824783 % X$?I! J J @AG G BA O >u-w,Abzp@Yb|@bG9baK;ybHLD? Gw?U`rD j?@?M}i?Y?ɨbzp@b;bCynBn IeMb@Mb@Mb@aaa a)aYePn?y&1Mbp?yeD?e`ee;e@ e@)eh@Ie@aye @I}RI}W4٢4= 1=9]%=Q > G٣PGy > Nusing accuracyPremultiplier from config59Z?5Y i^>D?:@hmEQ>;9;ܥ5BB zAEB*** querying acoustic contact ***jj jjjjihhhhjBfffrf bf &@ɛ5B5FZڽ = &==iI9 =(3Will construct direction to contact in vehicle frame from tetrahedron phase data.4JFjH-<bH-<H1I1 I5 II5݂BI1&I1.I16I5+<:I5D FGF>Gy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] !! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595:튜?=5Y5< i5K?9EE@5mmE5u ;5 ;55I MAME jjjjihhhhfffrfbfj'@ɛU BUֽ Y]AIY ]ɚYiYI]iT=ImP@iiii)i)*Fm?2Fi:FiBFmU0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >.w,$AzK&jIK&s9K$K&K& Nwm@YNy'{@N;9Nlp rG٣pyrR r> zNusing accuracyPremultiplier from configtz59vي?z5Yvr iv7?|~~@vqmEv;v;v>5EB nA  j)j)j)j1i1h1h1h1h9f9f9f9rfAbfEb.(@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Response Not Received m*response not receivedm,DAT read: user:2951> uBDAT read: Tx time:22:57:35.9685 u$Ping request sent.uGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:57:35.9677  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433.w,,>AH!I! I%(!II%BI% =&I!.I!6I%R<:I%a Fy]ȂB] I=Mb@Mb@Mb@999 9)9Y=jt?X9v:vy=@?=}=T9 =h@)=VAI=h@9y=@IeEIe3٢= *=9%Q %>!! %G٣-PGy5 5> =Nusing accuracyPremultiplier from config9E59=sŠ?E5Y= i=>MrA?M:M7M@=wmE=b;=;=W5UCB ]A] E jyjjjihhhhBfffrfbfz$)@ɛ Bͽ  I |ɚiIkׁ=I>@ii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502281 IhJJJ1JJ:J9J3JJ ;J!;J ;J ;E-D=E1*F ?2F :F BF O0JF G  G qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753480G GBO >@6.w,?^ABi@YB0w@B4<9B;yBH `?{` ܣ 4?@?ɨBi@B ;BCyN҂BN IIV0IV(3٢^D= ^E=9^ =Q ^>`` bG٣`yf f> nNusing accuracyPremultiplier from confighr59jV?r5Yj ij>tv0 v@j|mEj:j&:j%5| ~A~E j!j!j!j!i!h!h!h)h)f)f)f1rf1bf5)@ɛeBe ̽ imIi m9ɚiiiIu֩=IuH`?iyiy)y)yEm=*F?2F:FBF_0JFzK>`JK9KKK U$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007886GMF>G|uAG B9 yY |uAy PAO >[.w,xA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261877:f@Y: u@:0<9:Cii mG٣iymf m> }Nusing accuracyPremultiplier from configq59u)?5YuO iuM>S"@umEu2;ui:u5 ,AB*** querying acoustic contact ***jj jjjjihhhhfffrfbf*@ɛBV6ʽ 7=˽I  eɚ i I =I ?ii))Hud>IuC IuG!IIu BIu =&Iq.Iq6Iue<:Iuq FEl= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514446*F5?2F9:F9BF=`0JF9J J J 0J J }:J 59J ـ3J J ;J ;J ;J ;G5 <>G= ?G= ?G B O= >\$.w,ÓAFjd@YFls@FH=9F;yFHXT?@g ^i{??ɨFjd@Fu;FCyRBR II^0I^(3٢f< jE=9j/ll nG٣nPGyr r> vNusing accuracyPremultiplier from configtz59v?z5Yvʠ iv>|~Y$~@vmEv;v,;vа5BB AE j)j)j)j)i1h1h1h9h9f9f9fArfAbfM>+@ɛuBu@sɽ q}̻Iy }ɚyiyI}s=Ij?ii))EU=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768156*F?2F:FBF0JFG%:>G B O% >zK= yJK= K9K9 K= K=  T$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017606*.w,@ABc@YB0q@BE/=9B^;yBHM?ࣿ @˓ 楿$}? K?ɨBc@B^;BCyrBr!I)t tvAvAIz?IzT3٢%< -E=9-і11 =G٣9yEÍ E> MNusing accuracyPremultiplier from configIU59Mij?U5YM iM>Q]1&e@MmEMD;MԘ;M5 AE jjjjihhhhfffrfbf`,@ɛBȽ I %_ɚ!i)I-q=Ie@?ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269989EUV1=H k>I C I Z!II /BI  =&I .I s3.w,̸A7_@YVm@?`=9N    G٣ y'ս > %bBottom track data is 0.6 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59I?-5Yk i>5+:15c:5 *5@mEOe;?5EAB EAEE jajajijiiihihihqhqfqfyfyrfybf}:-@ɛB|Ž 隭I ޼ɚiIֆ=If@?ii))EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773714*F ?2F :F BF JF zK BoH M R$?II K K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:57:38.5098  TRx dataTimestamp_ set to:1736377059.649335 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027695G B>J}JxJ1JJ[j:J9J3Ja%@a%@a%@a%@G1B9Oe?:.w,1Ar2;]@Yr4Zk@rq=9r;yrH wwS?N qC.gy?`?ɨr2;]@r;rCy%B%!II]\I]#4٢μ ==93! G٣PGy鐽 > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 0?5Y : i > :%8:% ,%@ mE @; ? 5) -A) jQjYjYjYiahahihhf f1f9rfAbfM ݑ.@ɛBǽ NO=隽ĭI  ɚiIa$=Iz?ii))Will construct direction to contact in vehicle frame from tetrahedron phase data. = <checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279041*F?2F:FBFJFH t>I C I I I  =&I FD.I =D6I 7<:I ] FBIJIRIɔCZI =bIjIn?6G 2>G B O >{A.w,RA2TX[@Y2Vwi@2#F=92 3;y2H(@?@޿8l2 tq??ɨ2TX[@2I ;2CyBBB!IiF0>IF= F=F= pIt % % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%9v?Zd;O~jty%4?%j<%%VA %~@)%$AI%@!y% @I=CI=3٢M4' MU=9UQQ UG٣Yy]c e> mNusing accuracyPremultiplier from configaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.53166359e?=5Ye; ie>ET:E5?M:M,U@emEe#=e=e5@B AEB*** querying acoustic contact ***jj jjjjihhhhBfffrfbfi/@ɛEBm@iʽ imIi uQ0ɚqiqIu)=I}_?iyi))*F]?2Fa:FaBFeo0JFa- Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 22:57:38.5098 LVL= 27104, 14945, 11586, 21747, AGC= 60, IDX= 121, 0.05, 2.728,-1.707,-1.034,-2.036, PHS=-1.432, 0.376, 0.999, RAW= 255.7, 0.5, CAL= 258.9, 1.4, ROT= 251.1, -1.4 } Ygot valid direction response: 22:57:38.5098 LVL= 27104, 14945, 11586, 21747, AGC= 60, IDX= 121, 0.05, 2.728,-1.707,-1.034,-2.036, PHS=-1.432, 0.376, 0.999, RAW= 255.7, 0.5, CAL= 258.9, 1.4, ROT= 251.1, -1.4  PDAT read: Bearing 251.1, -1.4 (Local)  ~Local bearing/azimuth received: Bearing 251.1, -1.4 (Local) m DAT read: Range 10 to 50 : 102.9 m (Round-trip 137.2 ms) speed -0.4 m/s  ,DAT read: user:2952>  BDAT read: Tx time:22:57:39.6185  $Ping request sent. - w?- Pώ@- 5< - ט@)- +) 9- j 2?//ֿ\U}y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - yĆ؇濘KNW?(ނ?)) G B O >I) i) ) ) ) ߿G.w, A:dY@Y:Ƀg@:b=9:;y:Hb`L?HAݿ s^dr?`|?ɨ:dY@:V;8yvBv I9=@AI=9I=3٢d F=9U;Q > G٣y > Nusing accuracyPremultiplier from config59?5YK i)>.@mE$<$<c5?B AEk]?>?k]) w kY k]A:k]BBk]jBZk]@"]Jn@ λA֏w7X]j 2?//ֿ\U}Jk]"Rk]=?*]W .G1 BA O] >,M.w,8e:AWill construct direction to contact in vehicle frame from tetrahedron phase data.:dW@Y:e@:=9:A;y:H`Wx?Zvۿ |??ɨ:dW@:;8yFۂBF IMb@Mb@Mb@ )Y-?L7A`堿{Gzy?5?+#~@ A);AIyAIU7IU3٢e* e==9e:2;Q e> G٣PGyS > Nusing accuracyPremultiplier from config59퉜?5Y| ib>5? : / @mE;;S5 A"EZjY]FNOT Ignoring new targets: 102.90 m.Bje Jje H{>IC IT!II*BI =&I.I>D6I_<:I F ProNav pure pursuit: ac range: 102.900002 m, nav range: 74.811180 m, bearing: 85.015294 deg, approach rate: 0.350306 m/s, LOS rate: -0.510756 deg/s, cmd heading: 85.227312 deg, new cmd heading: 85.015294 deg. HeadingCmd: 1.483797 target range: 102.900002 and range: 102.90 m. j?jjjihh h h ‚Bf ffrfbfE?ɛyIϽ 隅I ɚiI^=I+?ii)?) P$?Ih Will construct direction to contact in vehicle frame from tetrahedron phase data.E7=*F= ?2F9 :FA BFE o0JFA GI  GI Ge:>G9BIO}?0hV.w,rZAWill construct direction to contact in vehicle frame from tetrahedron phase data.V:iU@YVI~3٢ \;  0=9 :Q  > G٣y| > -Nusing accuracyPremultiplier from config!-59%ԉ?-5Y%} 5tIi%wj>151=@%mE%%;%"&;%L5A EAAZjimFNOT Ignoring new targets: 102.90 m.Bj Jj  ProNav pure pursuit: ac range: 102.900002 m, nav range: 74.951141 m, bearing: 84.796584 deg, approach rate: 0.315317 m/s, LOS rate: -0.491808 deg/s, cmd heading: 85.015296 deg, new cmd heading: 84.796584 deg. HeadingCmd: 1.479980 target range: 102.900002 and range: 102.90 m. j o?jjjihhhhf!f!f!rf!bf%`?ɛBͽ 隕xI ýɚiI=Io?ii)o?)Eh=*FE?2FA:FABFEQ5JFA }N$?IzKUھNKU@9KQKUKUd^]YQPHGGFC=98730/2110+*))&#$"  &/9AEGJHEFEB<2-.*($!Will construct direction to contact in vehicle frame from tetrahedron phase data.JvJqJJJ{T:Jq9JJG- J>G B O- >\.w,tA&6S@Y(Ua@=9%yH6?j׿`Թq"үD ?ɨ&6S@K};Cy݂B IMb@Mb@Mb@ )Y9v?ˡEy4?̼'@ VA)hAI@yAII#3٢ק; 2=9Q > G٣PGy > Nusing accuracyPremultiplier from config59争?5Ya i@>h5?:3@mE<;f;S5 >B A%E-Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj9EFNOT Ignoring new targets: 102.90 m.BjM JjM ] ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.088959 m, bearing: 84.570917 deg, approach rate: 0.296610 m/s, LOS rate: -0.484787 deg/s, cmd heading: 84.796587 deg, new cmd heading: 84.570917 deg. eHeadingCmd: 1.476041 target range: 102.900002 and range: 102.90 m. jm?jijijiiihihihqhu؂Bfqfqfyrfybf}?ɛB%ν 隭dI ɚiI͍=I?ii)?)ZHyRH}?AH}>I}C I}G!II} BI} =&Iy.I}?D6I}6<:I}h FEM `= u M$?Iq *F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :>G?G?GBO>d.w,SuAFN@YF\@F=9FGhh jG٣lyn! n> vNusing accuracyPremultiplier from configpz59r?z5Yr ir>xzc7~@rmEr=;r >;r15 5A(E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 102.90 m.Bj=Jj=M ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.198524 m, bearing: 84.357287 deg, approach rate: 0.256069 m/s, LOS rate: -0.498553 deg/s, cmd heading: 84.570917 deg, new cmd heading: 84.357287 deg. MHeadingCmd: 1.472312 target range: 102.900002 and range: 102.90 m. jMt?jQjQjQiQhQhYhYhYfYfafarfabfe]`?ɛnн 隝I 5ɚiI=It?ii)t?)EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF1JF I zK P4NK ŷ9K K K   % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234909G= B>J J J 0J J J J ـ3J G9 BA O] >k.w,0dA)6= :CrH~GvA E!YMvAyMBeL@Ye[@e=9e)"I<IWI44٢y< ;=9 Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y i=V9@mE<<Â5=B A+EZjamFNOT Ignoring new targets: 102.90 m.Bjm Jju } ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.302490 m, bearing: 84.137746 deg, approach rate: 0.233972 m/s, LOS rate: -0.493387 deg/s, cmd heading: 84.357290 deg, new cmd heading: 84.137746 deg. HeadingCmd: 1.468481 target range: 102.900002 and range: 102.90 m. j-?jjjihhhhfffrfbf@K@ɛUBU :Ͻ QUIY ]rɚYiYI]@=I-?ii)-?)*FU?2FQ:FYBF]4JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.u>uR=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486818H >I  I ;!II BI  =&I .I 6I <:I R FG J>G B O >q.w,x'ȹA L$?I:J@Y:Y@:k=9:_l G٣PGy_ > Nusing accuracyPremultiplier from config59r?5Y i=J4?::@mE;w;Ă5 OAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738437ZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.391037 m, bearing: 83.938760 deg, approach rate: 0.228451 m/s, LOS rate: -0.512779 deg/s, cmd heading: 84.137747 deg, new cmd heading: 83.938760 deg. HeadingCmd: 1.465008 target range: 102.900002 and range: 102.90 m. j `?j j j ihhhhӂBfff!rf!bf%X@ɛQUӽ Y]IY ]@ɚYiYI]C=Ie`?iaia)m`?)i*F?2F:FBFY0JFG:>GG Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:57:42.1615  TRx dataTimestamp_ set to:1736377063.441330 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992027G B O >x.w,Ayn҂Bn IIvOIv 4٢%ׁ -P=9-Q ->11 5G٣1y5 m> uNusing accuracyPremultiplier from configi}59m[?}5Ym im A=yy@mmEmx;m;mƂ5 QA.EZjFNOT Ignoring new targets: 102.90 m.BjCJjC ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.481354 m, bearing: 83.738325 deg, approach rate: 0.227601 m/s, LOS rate: -0.504496 deg/s, cmd heading: 83.938763 deg, new cmd heading: 83.738325 deg. HeadingCmd: 1.461509 target range: 102.900002 and range: 102.90 m. j?jjjihhhhfffrfbf` @ɛqӽ  I %s侽ɚ!i!I%Y=I-?i)i))-?)1 K$?I!*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242606zK^LK 9KKKGb>GBO- >0F~.w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: Range 10 to 50 : 104.1 m (Round-trip 138.8 ms) speed 0.0 m/s .,DAT read: user:2953> .BDAT read: Tx time:22:57:43.2686 2$Ping request sent.2IQ IU.!IIU BIU =&IQ.IQ6IU<:IUD FI EI 3٢}Ժ }*=9Q > G٣y > Nusing accuracyPremultiplier from config59@?5Y i<2?:9@mE<<Ȃ5-G ?G ?Gq B O >!V.w,aA6SE@Y6rS@6`=96l%;y6H`.?Y`qĿ`QW~?`l?ɨ6SE@6;6CyjȂBj IIr!Iri3٢zWg ~v=9~޼Q ~?| G٣y  ? Nusing accuracyPremultiplier from config%59-?%5Y i:i!%c?-@mEc;-;ʂ51 5A54EUB*** querying acoustic contact ***jQjQZjY]FNOT Ignoring new targets: 102.90 m.BjeJjeu ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.655548 m, bearing: 83.334740 deg, approach rate: 0.191296 m/s, LOS rate: -0.531441 deg/s, cmd heading: 83.501255 deg, new cmd heading: 83.334740 deg. }HeadingCmd: 1.454466 target range: 102.900002 and range: 104.10 m. j}+?jyjyjyihhhhfffrfbf`MI?ɛE Pڽ AE&IA M=dɚIiIIMY=IU+?iQiQ)U+?)Y Will construct direction to contact in vehicle frame from tetrahedron phase data. = %=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFp0JFGE:> IhG B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754008zK BHK }9K K K w.w,*0A2{C@Y2Q@2FM=92;y2H?٩ Nly:y??ɨ2{C@2y;0yhj IIv3Ivʴ3٢e9 eD=9mii uG٣uPGyu/ > Nusing accuracyPremultiplier from config598?5Y i0H I  I I I  =&I .I 6I ͯ<:I  FBIȪCJIȪCRIȓCZI =bI =jIa6G B O5 > I$?I +_.w,IA @6A@Y6O@6<8=96p G٣yύ > Nusing accuracyPremultiplier from config59?5YU inK2?:&C@mE;;͂5;B iA7EZj FNOT Ignoring new targets: 102.90 m.Bj Jj  ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.784981 m, bearing: 82.911879 deg, approach rate: 0.150570 m/s, LOS rate: -0.522890 deg/s, cmd heading: 83.120506 deg, new cmd heading: 82.911879 deg. %HeadingCmd: 1.447085 target range: 102.900002 and range: 104.10 m. j%:?j!j!j!i!h)h)h)h-݂Bf1JYJ]vJYJYJYJ]ϣ9JYJYJYJYJ]:J]:ffrfbf$?ɛYeս aeI ɚiIn=I:?ii):?)*F?2F:FBF2JFG GnA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509582G J>G G G B O >.w,cAyɂB II@I3٢ewɼ eN=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from config59^戜?5Y i@mE::oς5 A:EZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.844650 m, bearing: 82.708163 deg, approach rate: 0.150379 m/s, LOS rate: -0.513002 deg/s, cmd heading: 82.911878 deg, new cmd heading: 82.708163 deg. HeadingCmd: 1.443530 target range: 102.900002 and range: 104.10 m. jŸ?jjjihhhhfffrfbf@?ɛ)-;qؽ =H$?I9 AE~%II Ml0ɚIiIIM=IUŸ?iQiY)]Ÿ?)Y*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762302zKBoIK 9KKK(phr+4SZ!r]K<1'G2>GB O= >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012771.w,ߩ}A6.=@Y60K@6=96ǂBB I}Mb@Mb@Mb@yyy y)yY}M?MbP?~jty}n2?}:yy }A)}AI};@yy}AI:I3٢  F=9Q > G٣PGy > Nusing accuracyPremultiplier from config593Έ?5Y\ iJ޽2?:F@mE;;=т5:B A=EZj FNOT Ignoring new targets: 102.90 m.Bj 3Jj3- ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.894913 m, bearing: 82.494675 deg, approach rate: 0.122098 m/s, LOS rate: -0.518266 deg/s, cmd heading: 82.708161 deg, new cmd heading: 82.494675 deg. HeadingCmd: 1.439804 target range: 102.900002 and range: 104.10 m. j}K?jjjihhhhBfH>I III =&I.I6Iݯ<:I+ Fffrfbf`}@ɛB~ֽ (I }ɚiIc=I}K?ii)}K?) 5G$?I1*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265027J}wJ}xJyJyJ}W:J}9JyJyJ}z;J}z;J}&:J}':G 2>Ga Bq O >.w,ⓗA2;@Y2J@27 =92 TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b59^r?b5Y^{ i^`dfGf@^mE^7:^:^҂5h nAlzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 102.90 m.BjJj- ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.933685 m, bearing: 82.302040 deg, approach rate: 0.104004 m/s, LOS rate: -0.516461 deg/s, cmd heading: 82.494676 deg, new cmd heading: 82.302040 deg. HeadingCmd: 1.436442 target range: 102.900002 and range: 104.10 m. jQݷ?jjjihhhhfffrfbf n@ɛquCٽ q}8'Iy }CɚyiI$t=IQݷ?ii)Qݷ?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520320*F2F:FBF]0JF 5F$?I1G:>G?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770274zK J!OK 9K K K  )HX\dx|z~rh[RI=96462/0aū.w,_AyB IIEYIE4٢U  U@=9UQ ]>Ya eG٣aye e> Nusing accuracyPremultiplier from configy59}a?5Y} i}b@}mE}Ӄ;}M;}Ԃ59B A@EZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.979439 m, bearing: 82.080260 deg, approach rate: 0.106929 m/s, LOS rate: -0.518000 deg/s, cmd heading: 82.302038 deg, new cmd heading: 82.080260 deg. HeadingCmd: 1.432571 target range: 102.900002 and range: 104.10 m. j{^?jjjihhhhfffrfbf$@ɛ)-ܽ )-tDI1 5l ɚ1i1I5a=I={^?i9i9)E{^?)A*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:57:45.8121 %TRx dataTimestamp_ set to:1736377066.971651%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024871GB>GyBHI III&I.I6I <:IN FO> ! I) E.w,;:˺A^58@Y^TF@^%<9^. G٣PGy\ > Nusing accuracyPremultiplier from config59?5Yk i)2?:]G@ @mE+;;ւ5J=uJ=qJ9J9J=[Q:J=q9J9J9J=o;J=o;J=:J=: ACEZjFNOT Ignoring new targets: 102.90 m.Bj Jj 5 ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.012627 m, bearing: 81.861072 deg, approach rate: 0.074971 m/s, LOS rate: -0.494929 deg/s, cmd heading: 82.080262 deg, new cmd heading: 81.861072 deg. =HeadingCmd: 1.428745 target range: 102.900002 and range: 104.10 m. j= ?j9j9j9i9hAhAhAhEۂBfififqrfqbfu` @ɛBٽ \;I cɚiIM_=I ?ii) ?)*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527061G :>G B O >}޸.w,3A6gS6@Y6irD@6<96l?IFp<IRTIR4٢Z Z^=9^1;Q ^>\` bG٣`yb b> jNusing accuracyPremultiplier from configdj59f)q?n5Yf  if9ln|E@n@fmEfz:f:f*؂5p rAtZj FNOT Ignoring new targets: 102.90 m.Bj% Jj% 5 ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.035118 m, bearing: 81.668623 deg, approach rate: 0.065630 m/s, LOS rate: -0.561399 deg/s, cmd heading: 81.861074 deg, new cmd heading: 81.668623 deg. =HeadingCmd: 1.425386 target range: 102.900002 and range: 104.10 m. j=s?j9j9j9iAhAhAhAhAfIfIfIrfQbfU`p @ɛy}D޽ 隅@=I "ɚiI]= C$?II s?ii)s?)E=qAE=sA*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.3 ms) speed -0.1 m/s ,DAT read: user:2954> BDAT read: Tx time:22:57:46.9186 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data..w,eA2p4@Y2B@2X<92h9* G٣y% > Nusing accuracyPremultiplier from config59W?5Y iI2?:(E@@mEf;;ڂ58B  AFE addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.780429 s, deltaX: 0.300003 m, approachRate: 0.079357 m/s, rangeRepo size: 3 ZjFNOT Ignoring new targets: 102.90 m.BjJj- ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.061172 m, bearing: 81.441915 deg, approach rate: 0.060140 m/s, LOS rate: -0.523121 deg/s, cmd heading: 81.668627 deg, new cmd heading: 81.441915 deg. 5HeadingCmd: 1.421430 target range: 102.900002 and range: 104.40 m. j5g?j1j1j1i1h1h9h9h=؂Bf9fAfArfEZ@bfEZ?HQIQ IU4!IIUBIU =&IQ.IQ6IU<:IUA Fɛ-B-zܽ 15dII1 5½ɚ1i1I5=I=g?i9i9)Eg?)A I*F=?2F9:FABFE0JFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge 2>GA BY O >.w,A62@Y6@@6=N<96 BB IIJ,IJ3٢R^  R]=9RcQ R>TT VG٣VPGyZ Z> ^Nusing accuracyPremultiplier from configXb59ZB?b5YZ iZV`bEC@f@ZmEZ ;Z6;Zۂ5h j)AjIEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 102.90 m.Bj 8Jj 8 ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.076797 m, bearing: 81.247909 deg, approach rate: 0.042036 m/s, LOS rate: -0.521830 deg/s, cmd heading: 81.441912 deg, new cmd heading: 81.247909 deg. %HeadingCmd: 1.418043 target range: 102.900002 and range: 104.40 m. j%s?j!j!j!i)h)h)h)h)f1f1f1rf1bf= ?ɛB߽  DKI  N½ɚ i I Z=I5s?i9i9)=s?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFA5JF B$?IG:>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001922Je tJe kJa Ja Je ;N:Je 9Ja Ja am @am @am @am @zK MK K K K !*/*&#  !   .w,2AF{0@YF}>@F֘;9FWNdd fG٣dyj% j> nNusing accuracyPremultiplier from configlr59nI*?r5Yn  in:bpvjA@v@nmEn ;n:nu݂5z7B zQAzLEZjFNOT Ignoring new targets: 102.90 m.Bj%Jj%5 ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086800 m, bearing: 81.033688 deg, approach rate: 0.024608 m/s, LOS rate: -0.526966 deg/s, cmd heading: 81.247907 deg, new cmd heading: 81.033688 deg. 5HeadingCmd: 1.414305 target range: 102.900002 and range: 104.40 m. j5?jjjihhhhfffrfbf@! ?ɛUBU] QUTIY ] ½ɚYiYI]Ҋ=Ie?iaia)e?)i*F]?2FY:FaBFe=4JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256624H]>I]C I].!II] BI] =&IY.I]@D6I]<:I]= FGB>G?G?G B O > A$?I `.w,ԁLA:.@Y:<@:tB;9:Ya eG٣aye e> uNusing accuracyPremultiplier from configiu59m?}5Ym imKm}2?}:}?@@mnEm;m;mN߂5 tAZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.090591 m, bearing: 80.811513 deg, approach rate: 0.008930 m/s, LOS rate: -0.523238 deg/s, cmd heading: 81.033685 deg, new cmd heading: 80.811513 deg. HeadingCmd: 1.410427 target range: 102.900002 and range: 104.40 m. j߈?jjjihhhh͂Bfffrfbf` ?ɛ9= 9=[I9 EN ýɚAiAIEW=IM߈?iIiI)߈?)*FM?2FI:FIBFMP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758808G- 2>G B OM >(.w,jfA2,@Y2:@2@:92B> IIFQIF4٢jּ nR=9n㻻Q n>pp rG٣rPGyr v> zNusing accuracyPremultiplier from configt~59v1?~5Yv ivv|~=@~@vnEv ;v ;v5  AOE =@$?I=hZjAMFNOT Ignoring new targets: 102.90 m.BjMJjMm ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086807 m, bearing: 80.607412 deg, approach rate: -0.009705 m/s, LOS rate: -0.523492 deg/s, cmd heading: 80.811513 deg, new cmd heading: 80.607412 deg. }HeadingCmd: 1.406865 target range: 102.900002 and range: 104.40 m. j}%?jyjyjyiyhhhhfffrfbf?ɛB. XdI ^ýɚiI=I%?ii ) %?)*F2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011226J-wJ-pJ)J)J-W:J-^9J)J)zKPCMK9KKKG GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266562 .w,9A2*+@Y2+!9@2,92LB> IiB=IB; F=Fa= Mb@Mb@Mb@    ) Y V-?v/?Mby h1? xi=   ) I  y I%MI%{4٢5:5 5E=95iQ 5> G٣y6 > Nusing accuracyPremultiplier from config59⇜?5Y` i| 2?:g>@@ nE;;56B AREZHRH@AHI I(!IIBI&I.I6IG<:Iy FBIJIRIZI =bI =jI0f4Zjq}FNOT Ignoring new targets: 102.90 m.Bj}Jj} ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086617 m, bearing: 80.384057 deg, approach rate: -0.000436 m/s, LOS rate: -0.510522 deg/s, cmd heading: 80.607413 deg, new cmd heading: 80.384057 deg. HeadingCmd: 1.402966 target range: 102.900002 and range: 104.40 m. jh?jjjihhhhBfffrfbfu@ɛBkU !%tI! %ýɚ!i!I%Ϡ=IMh?iIiQ)Uh?)Q =?$?I9*F?2F:F BF JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514111GB>GGG B O >8.w,nA6)@Y637@6Tݨ96hhh jG٣hyj n> rNusing accuracyPremultiplier from configpv59ṙ?v5Yr irtvz<@v@rnEr:r:r5| ~ A~UEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 102.90 m.Bj-"Jj-"E ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.079491 m, bearing: 80.185503 deg, approach rate: -0.019468 m/s, LOS rate: -0.542510 deg/s, cmd heading: 80.384059 deg, new cmd heading: 80.185503 deg. EHeadingCmd: 1.399501 target range: 102.900002 and range: 104.40 m. jE"?jIjIjIiIhQhQhYhYfYfafarfabfe@ɛB 隕h~I *ĽɚiIp=I"?ii)"?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.ս>չchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767658*F?2F:FBFo0JF 9I9GGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:22:57:49.4615 m TRx dataTimestamp_ set to:1736377070.748665u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019105*J= a="J= p=JE uJE sJA JA JE [Q:JE 9JA JA a.w,cﳻAzKKK9KKKBKpA:KrAZ5'@YZT5@Z9X9Z` =G٣=PGy= E> MNusing accuracyPremultiplier from configIU59M𴇜?U5YMO iMQU:@U@MnEM;Ml;MX5y }7AyZj FNOT Ignoring new targets: 102.90 m.BjgJj5g} ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.064240 m, bearing: 79.967449 deg, approach rate: -0.035313 m/s, LOS rate: -0.504987 deg/s, cmd heading: 80.185506 deg, new cmd heading: 79.967449 deg. }HeadingCmd: 1.395695 target range: 102.900002 and range: 104.40 m. j}%?jjjihhhhfffQrfQbfU# @ɛBty [I iĽɚiI4@=I%?ii)%?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276298*F ?2F:FBFn0JFHIC I"!IIBI&I.I6I<:IY F E >$?IA GU :>G! B1 OM >mI.w,2ͻAy%B% IEWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:57:49.4615 LVL= 19536, 21905, 11986, 23971, AGC= 57, IDX= 425, 0.07,-0.544,-0.050, 1.734, 0.398, PHS=-0.855,-0.401, 1.333, RAW= 221.3, -0.8, CAL= 220.8, -6.4, ROT= 289.2, 6.4 Ygot valid direction response: 22:57:49.4615 LVL= 19536, 21905, 11986, 23971, AGC= 57, IDX= 425, 0.07,-0.544,-0.050, 1.734, 0.398, PHS=-0.855,-0.401, 1.333, RAW= 221.3, -0.8, CAL= 220.8, -6.4, ROT= 289.2, 6.4 PDAT read: Bearing 289.2, 6.4 (Local) ~Local bearing/azimuth received: Bearing 289.2, 6.4 (Local) DAT read: Range 10 to 50 : 104.0 m (Round-trip 138.7 ms) speed 0.1 m/s ,DAT read: user:2955> BDAT read: Tx time:22:57:50.5686 $Ping request sent. G٣y > Nusing accuracyPremultiplier from config-59~?55Y i慾52?5:5<@5@nED;;5=5B E<AEXEkE`?kE@"o kA kEcлA:kEBBkEBZkE@?"EJZK?O+THoheOEeIu?~!MRJkE5:ȿRkE%?*E*B@7@OJS@1|APEHbK?ė??)x"kErB*kEjAkE:7n?kE< 2kE?kEk?kAkE@kEBkEL?M addTargetRange:: Added new target pos. range: 104.000000 m, deltaT: 3.531668 s, deltaX: -0.400002 m, approachRate: -0.113261 m/s, rangeRepo size: 4 } Added new target pos. range: 104.000000 m, bearing: 73.076064 deg, lat: 36.904780 deg, lon: -122.119635 deg, deltaT: 10.852284 s, deltaX: 1.099998 m, approachRate: 0.101361 m/s, posRepo size: 2 ZjyFNOT Ignoring new targets: 104.00 m.BjJj ProNav: ac range: 104.000000 m, nav range: 76.256676 m, bearing: 78.915938 deg, approach rate: 0.000000 m/s, LOS rate: -0.504987 deg/s, cmd heading: 79.967452 deg, new cmd heading: 79.144878 deg. 2jHHeadingCmd: 1.381339 target range: 104.000000 and range: 104.00 m. jϰ?jjjihhhhBfffrfZ@bf[Z?ɛ=B=q AEւIA E3ŽɚAiAIE!=IMϰ?iIiI)Uϰ?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:57:50.5678 *F ?2F :F BF _0JF E =$?IA GY Ge ?Ge >G)B9O]>v.w,ARh#@YR1@Rx\9R?7lQ >)) 5G٣1y= E> ]Nusing accuracyPremultiplier from configIe59MƂ?e5YMƽ iMim8@m@MnEMrY;MR;M+5q uA}[EZj%FNOT Ignoring new targets: 104.00 m.Bj-:3Jj-:3= ProNav: ac range: 104.000000 m, nav range: 76.240723 m, bearing: 78.716177 deg, approach rate: -0.050044 m/s, LOS rate: -0.626768 deg/s, cmd heading: 79.144878 deg, new cmd heading: 78.545492 deg. 2j=׼EHeadingCmd: 1.370877 target range: 104.000000 and range: 104.00 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data. jex?jajajaiahihihihififqfqrfqbfu FO?JcKkm3 KkS}-KcKc"KcJ!J%oJ!J!J!J%K9J!J!ɛuBu quIy }]ŽɚyiI߹=Ix?ii)x?)zK]BIK]9KYK]K]*F12F1:F1BF50JF1G} B> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >H I C I !II BI &I .I 6I <:I 4 FU/w,9A2Ն!@Y2֥/@292DR?5?i??ɨ2Ն!@24;2Cy>B> I Mb@Mb@Mb@    ) Y Q?1Zd?Qy \/? "= u  ) AI A y AI%0I%(3٢-w=< -J=95qQ 5>19 =G٣=PGy=ʕ E> MNusing accuracyPremultiplier from configAU59El?U5YE iEU1?U:U9@U@E"nEEBiG B O >/w,sA>@Y>-@>9>H ,@ @ڿ`ښ?E?l-`/?`=? u??ɨ>@> ;> CyR|BR IIZIZ3bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢j) jP=9jQ j>ll nG٣pyr߇ r> vNusing accuracyPremultiplier from configtz59vU?z5Yv  iv̇|~7@~@v&nEvI;v4;v5 A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 104.00 m.Bj=Jj=U ProNav: ac range: 104.000000 m, nav range: 76.210999 m, bearing: 78.303468 deg, approach rate: -0.047223 m/s, LOS rate: -0.541807 deg/s, cmd heading: 77.919276 deg, new cmd heading: 77.307168 deg. 2jU빼]HeadingCmd: 1.349265 target range: 104.000000 and range: 104.00 m. j]?jYjYjYiahahahahifififirfibfu.?ɛ B 隝0I YpƽɚiI=I?ii)?)*F5?2F1:F1BF5P0JF1 :$?IGB>GrAG) SCUG}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.|uA /Y |uAy BG)B O} >zK K 9K K K     /w,MN9AN4%@YN5D,@N?9NR|| G٣y >  Nusing accuracyPremultiplier from config 59 ??5Y  i "46@@ +nE < < j53B AaEZjFNOT Ignoring new targets: 104.00 m.BjJj ProNav: ac range: 104.000000 m, nav range: 76.185951 m, bearing: 78.091487 deg, approach rate: -0.059387 m/s, LOS rate: -0.502770 deg/s, cmd heading: 77.307168 deg, new cmd heading: 76.671044 deg. 2jHeadingCmd: 1.338162 target range: 104.000000 and range: 104.00 m. jH?jjjihhh h f f frfbfP?ɛ B63 隕ҍI jƽɚiII=IH?ii)H?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743134*F?2F:FBFJFHI I !IIBI =&I.I6Iد<:I) F IG:>G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990982Ja Je rJe 1Ja Ja Je 9Je 3Ja Ja au Ja au Je :au Je :au H/w,sSA6Q3@Y6RR*@6Ƽ96 j   G٣PGyN > %Nusing accuracyPremultiplier from config%59&?-5Y ip-/?-:-5@-@0nE;)0;Z59 =A=dEZjaeFNOT Ignoring new targets: 104.00 m.BjmJj ProNav: ac range: 104.000000 m, nav range: 76.157738 m, bearing: 77.863614 deg, approach rate: -0.065629 m/s, LOS rate: -0.530263 deg/s, cmd heading: 76.671045 deg, new cmd heading: 75.987209 deg. 2j HeadingCmd: 1.326227 target range: 104.000000 and range: 104.00 m. j-?j)j)j)i)h1h1h1h5Bf9f9f9rf9bf=:@ɛ B>D I oǽɚiI?=I-?i)i))-?)1*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242992G B> 9$?I G B O >g/w,FmA: K@Y:j(@:̼9:5Dhh jG٣hyn, n> rNusing accuracyPremultiplier from configpv59r?v5Yrm irԅtz3@z@r3nEr:r:r5| ~AZj!-FNOT Ignoring new targets: 104.00 m.Bj-Jj-= ProNav: ac range: 104.000000 m, nav range: 76.128143 m, bearing: 77.677487 deg, approach rate: -0.081564 m/s, LOS rate: -0.513173 deg/s, cmd heading: 75.987207 deg, new cmd heading: 75.428627 deg. 2jEEHeadingCmd: 1.316478 target range: 104.000000 and range: 104.00 m. jEY?jIjIjIiIhQhQhQhafafafarfabfm@ɛB,* "I ZǽɚiIFƦ=IY?ii)Y?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495164*Fu?2Fq:FqBFu_0JFqzKmKKmŷ9KiKmKm  GG?G ?GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750660H I  I !II BI  =&I .I 6I <:I  F#!/w,!A2/_@Y20~&@2:ռ92K C VA %8$?I%h A) @I ~@ y AI+In3٢ ;=9&Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y i )&? : 94@ @8nE;;52B AfEZjAMFNOT Ignoring new targets: 104.00 m.BjM JjM e ProNav: ac range: 104.000000 m, nav range: 76.097137 m, bearing: 77.463526 deg, approach rate: -0.070331 m/s, LOS rate: -0.485531 deg/s, cmd heading: 75.428627 deg, new cmd heading: 74.786509 deg. 2jemHeadingCmd: 1.305271 target range: 104.000000 and range: 104.00 m. jm?jijijiiqhqhqhh_Bfffrfbf`n@ɛmBA 隕I UȽɚiIr=I?ii)?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A5BDAT read: Rx Time:22:57:53.1109 =TRx dataTimestamp_ set to:1736377074.281840=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001258*Fe?2Fa:FaBFaJFaJ vJ mJ J J {T:J &9J J J Gu;J Iu;J :J :G :>G B O >'/w,A:6x@Y:7$@:X߼9:}edd fG٣fPGyfE j> nNusing accuracyPremultiplier from confighr59j3醜?r5Yj׮ ij#xzS2@@jEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505640GB1 O >zK .KK 9K K K k./w,׺A2@Y2"@2 92Ip)) 5G٣1y5: 5> ENusing accuracyPremultiplier from config9E59=Ԇ?M5Y=) i=wIMk0@M@=@nE=:=:=I5Q UAYZjyFNOT Ignoring new targets: 104.00 m.Bj0 Jj0  ProNav: ac range: 104.000000 m, nav range: 76.021690 m, bearing: 77.084905 deg, approach rate: -0.105846 m/s, LOS rate: -0.490250 deg/s, cmd heading: 74.254470 deg, new cmd heading: 73.650120 deg. 2j:HeadingCmd: 1.285437 target range: 104.000000 and range: 104.00 m. j4?jjjihhhhfffrfbf @ɛB I !ɽɚiI[=I4?ii)4?)ErAErA*Fu?2Fy:FyBFS5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:57:53.1109 LVL= 20752, 23329, 11090, 27219, AGC= 60, IDX= 435,-0.45, 0.253, 0.055, 2.035, 0.865, PHS=-0.525,-0.763, 1.167, RAW= 203.5, 1.3, CAL= 203.4, -5.8, ROT= 306.6, 5.8 Ygot valid direction response: 22:57:53.1109 LVL= 20752, 23329, 11090, 27219, AGC= 60, IDX= 435,-0.45, 0.253, 0.055, 2.035, 0.865, PHS=-0.525,-0.763, 1.167, RAW= 203.5, 1.3, CAL= 203.4, -5.8, ROT= 306.6, 5.8 PDAT read: Bearing 306.6, 5.8 (Local) ~Local bearing/azimuth received: Bearing 306.6, 5.8 (Local) HAIA IE !IIEBIA&IA.IA6IE<:IE5 FBIīCJIīCRIZIbIjI>3DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.1 ms) speed 0.0 m/s ,DAT read: user:2956>  BDAT read: Tx time:22:57:54.2186  $Ping request sent. ۡۡ-:publishing transmit ping time 5Fpublishing direction and range infoء9إdx {&j~OK[ֿyءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ#?e6?"1,?)ۡIۡiۡۡۡۡG:>Gi Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.J! J% pJ% 0J! J! J% ^9J% ـ3J! J! J! J% |:J% ~:n4/w,gԼAN@YN@NV9N)u94uA uVA)u~@IuAqyuQAII1٢= 3=9ʻQ > G٣y > Nusing accuracyPremultiplier from config59?5Y i⁾#?:-@@EnE;;L5-2B 5KA5jEk,Ɛ?ki]G k k3n¼A:kBBkBZk/Y?"9쎵2zV-X8G)FBdx {&j~OK[ֿJkҿRk>*zYO@[ R@/|YB2D?.R?E |׿"khB*k~BkM?ko: 2kNAk:7n?ko: kkBk@1? addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.781903 s, deltaX: -0.500000 m, approachRate: -0.132209 m/s, rangeRepo size: 4  Added new target pos. range: 103.500000 m, bearing: 48.584772 deg, lat: 36.904863 deg, lon: -122.119655 deg, deltaT: 3.781903 s, deltaX: -0.500000 m, approachRate: -0.132209 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 103.50 m.BjJj5 ProNav: ac range: 103.500000 m, nav range: 76.878761 m, bearing: 69.915347 deg, approach rate: 0.000000 m/s, LOS rate: -0.490250 deg/s, cmd heading: 73.650121 deg, new cmd heading: 72.947802 deg. 2j1=HeadingCmd: 1.273179 target range: 103.500000 and range: 103.50 m. j=?j9j9j9i9h9hAhihmyBfifqfqrfuY@bfu?ɛB  kI  ɽɚ i I &8=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF1JF 6$?I G 2>G B O >,;/w,!AF@YF@F@_9F\i4-&!G :>GB OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.jH! bH% 4<H) I)  I- !II- BI) &I) .I) 6I- <:I- H FB/w,iA @IPJv @YJw&@Jl}9JZ_]` )Q@IAyzAII0٢ = ?=9\Q > G٣y > Nusing accuracyPremultiplier from config59d?5Y) ixK?:)@@MnEw;I;5 AZjFNOT Ignoring new targets: 103.50 m.Bj[Jj[% ProNav: ac range: 103.500000 m, nav range: 76.821327 m, bearing: 69.558970 deg, approach rate: -0.078984 m/s, LOS rate: -0.448877 deg/s, cmd heading: 72.460890 deg, new cmd heading: 71.878295 deg. 2j%]HeadingCmd: 1.254513 target range: 103.500000 and range: 103.50 m. j]ᓠ?jYjajaiahahihhBfffrfbfo?ɛB \DI ,>ʽɚaiaIm9=Imᓠ?iqiq)uᓠ?)q Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFJEuJEsJAJAJE[Q:JE9JAJAJEo;JEo;JE<:JE=:G% 2>G5 ?G5 ?G B O% >,H/w,F"A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6 @Y6@6[R96wXX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`f59b?j5Yb2 ibrhj'@j@bPnEb:b:bG5l rArpEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 76.785248 m, bearing: 69.391493 deg, approach rate: -0.099396 m/s, LOS rate: -0.461604 deg/s, cmd heading: 71.878295 deg, new cmd heading: 71.375639 deg. 2jeHeadingCmd: 1.245740 target range: 103.500000 and range: 103.50 m. jht?jjjihhhhff f rf bf ?ɛBae 隥@I UʽɚiI٫=Iht?ii)ht?) 5$?I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.GB>*JM C="JM a=G B O >zK} /OK} @9Ky K} K}     BK :K pAUN/w,OPP RG٣RQGyR㢽 V> ZNusing accuracyPremultiplier from configTZ59V w?^5YVϜ iVQl\^%@b@VTnEV;V;V5d f;AdZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 76.739166 m, bearing: 69.210913 deg, approach rate: -0.113610 m/s, LOS rate: -0.445470 deg/s, cmd heading: 71.375641 deg, new cmd heading: 70.833595 deg. 2jܘHeadingCmd: 1.236279 target range: 103.500000 and range: 103.50 m. jh>?jjjihhhhfffrfbfMp?ɛB߽ 15I1 =yʽɚ9iAIE*=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940279Ih>?ii)-h>?)AH>I I"!IIBI&I.I6I$<:Ia F 4$?I*F2F:FBFJFG U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195418G B Ou >LU/w,d;VA 44r@Yr@r9rAĻ@ @)IAy\@I/I3٢_= 6=99Q > G٣yʋ > Nusing accuracyPremultiplier from config59d?5Y idO?:#@@XnEc;;5 0B A sEZj9=FNOT Ignoring new targets: 103.50 m.BjEJjE ProNav: ac range: 103.500000 m, nav range: 76.679008 m, bearing: 69.017987 deg, approach rate: -0.140588 m/s, LOS rate: -0.451220 deg/s, cmd heading: 70.833597 deg, new cmd heading: 70.254386 deg. 2j՚HeadingCmd: 1.226170 target range: 103.500000 and range: 103.50 m. j&?jjjihhhhBfffrfbf,=@ɛ]Bezsڽ aetIa eʽɚaiiIm=I&?ii)&?)E*Fe?2Fa:FaBFaJFiGmqA GmsA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443004 Y IY Gi Gu qAGq GA BQ O >z[/w,9&pA0>vAD ^ Y^vAy^B~ @Y~)@~9~= O=99Q > G٣y+ > Nusing accuracyPremultiplier from config59T?5YQ i^&!@@\nE.:P:5 wAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695223ZjFNOT Ignoring new targets: 103.50 m.BjOJjO ProNav: ac range: 103.500000 m, nav range: 76.620010 m, bearing: 68.849461 deg, approach rate: -0.149434 m/s, LOS rate: -0.427181 deg/s, cmd heading: 70.254383 deg, new cmd heading: 69.748430 deg. 2jHeadingCmd: 1.217340 target range: 103.500000 and range: 103.50 m. jћ?jjjihh!h!h!f!f)f)rf)bf5 H@ɛ]B]_ؽ Y] IY e˽ɚaiaIe$=Imћ?iiii)mћ?)qJJ*F?2F:FBF0JFzK=lLK9K9K=K=  GM:>G) BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:57:56.7597  TRx dataTimestamp_ set to:1736377078.069399 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954644O- >H >I  I A!II BI &I .I 6I <:I 9 F = 3$?I9 __b/w,AyzłBz I}Mb@Mb@Mb@yyy y)yY}X9v?A`"?~jthyy}=}D}~@ y)}$@I}lAyy}@I8I3٢< I=9Q > G٣QGy > Nusing accuracyPremultiplier from config59D?5Yt iV/?:@@`nE;3;~5 WAvEZj FNOT Ignoring new targets: 103.50 m.Bj Jj񻝊% ProNav: ac range: 103.500000 m, nav range: 76.551765 m, bearing: 68.678185 deg, approach rate: -0.167794 m/s, LOS rate: -0.421493 deg/s, cmd heading: 69.748430 deg, new cmd heading: 69.234158 deg. 2j%-HeadingCmd: 1.208364 target range: 103.500000 and range: 103.50 m. j-?j)j)j)i)h)h1h1h5Bf9f9f9rf9bf= k @ɛBpֽ `I ;˽ɚiI&=I?ii)?)*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200453G2>G B O >Ih/w,ͣA"Will construct direction to contact in vehicle frame from tetrahedron phase data.>DAT read: 22:57:56.7597 LVL= 25920, 27537, 16178, 32755, AGC= 63, IDX= 422,-0.08, 2.970, 2.164,-2.044,-2.956, PHS=-0.268,-1.116, 0.910, RAW= 185.4, 5.4, CAL= 185.4, -3.3, ROT= 324.6, 3.3 BYgot valid direction response: 22:57:56.7597 LVL= 25920, 27537, 16178, 32755, AGC= 63, IDX= 422,-0.08, 2.970, 2.164,-2.044,-2.956, PHS=-0.268,-1.116, 0.910, RAW= 185.4, 5.4, CAL= 185.4, -3.3, ROT= 324.6, 3.3 FPDAT read: Bearing 324.6, 3.3 (Local) F~Local bearing/azimuth received: Bearing 324.6, 3.3 (Local) NDAT read: Range 10 to 50 : 102.6 m (Round-trip 136.9 ms) speed 0.3 m/s N,DAT read: user:2957> RBDAT read: Tx time:22:57:57.8687 R$Ping request sent.Rp?ǵ^?r7 Ih G٣y > uNusing accuracyPremultiplier from config }59 4?}5Y  i N@@ dnE < JO; r5 AtEk"+?k" k  k"[A:k"3BBk"BZk"U>""S2N0Y[@v"$KT"ǿ|MlM0\Jk",\Rk"c=*"wT}V@EG@6Ӛ "ٌG*?.=?\ǐ,"k"?B*k"Bk"?k"z 2k"ldBk"M?k"z k k"Bk"4"? addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.530112 s, deltaX: -0.900002 m, approachRate: -0.254950 m/s, rangeRepo size: 4  Added new target pos. range: 102.599998 m, bearing: 27.986654 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 3.530112 s, deltaX: -0.900002 m, approachRate: -0.254950 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 102.60 m.BjJj ProNav: ac range: 102.599998 m, nav range: 81.053879 m, bearing: 36.303030 deg, approach rate: 0.000000 m/s, LOS rate: -0.421493 deg/s, cmd heading: 69.234158 deg, new cmd heading: 68.621396 deg. 2jHeadingCmd: 1.197669 target range: 102.599998 and range: 102.60 m. j:M?jjj!iahahahihifififirfu`fY@bfu@?ɛBBѽ hGI U˽ɚ i I 3=I:M?ii):M?)E!E!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:57:57.8679 J tJ sJ 1J J ;N:J 9J 3J a% @a% @a% @a% @G :>G ?G "?zK LK ŷ9K K K GY Ba O} >In/w,qAb?Yby @bA9b4jii mG٣iy > Nusing accuracyPremultiplier from config59&?5Y iG@@hnE;w; 5 ZAwEB*** querying acoustic contact ***jjZjIMFNOT Ignoring new targets: 102.60 m.BjUJjUe ProNav: ac range: 102.599998 m, nav range: 81.094048 m, bearing: 36.154854 deg, approach rate: 0.119020 m/s, LOS rate: -0.438829 deg/s, cmd heading: 68.621394 deg, new cmd heading: 68.177095 deg. 2jeHeadingCmd: 1.189915 target range: 102.599998 and range: 102.60 m. j!O?jjjihhhhfffrfbf ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.ɛMBUM$̽ Y]IY }W˽ɚiIw=I!O?ii)!O?) 1$?IHIII IM`!IIM4BII&II.II6IM<:IMC F*F?2F:FBFW5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743912G 2>G B O > v/w,dٽA6B=?Y6 @6 96lB>!IIFIF3٢Vұ= VJ=9ZQ Z>X\ ^G٣^QGy^܊ ^> fNusing accuracyPremultiplier from config`f59b?f5Yb ib?IMa@M@bknEbu 0$?IGABQO}>8|/w,?A2?Y2 @292'8B<IFIF ٢N7 RK=9RxQ R>TT VG٣TyVl Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^G i^7`f@f@^onE^:^C:^ 5jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248152r/B rArzEZjFNOT Ignoring new targets: 102.60 m.BjJj򻝊- ProNav: ac range: 102.599998 m, nav range: 81.165543 m, bearing: 35.826965 deg, approach rate: 0.084999 m/s, LOS rate: -0.423346 deg/s, cmd heading: 67.688739 deg, new cmd heading: 67.193891 deg. 2j-D5HeadingCmd: 1.172755 target range: 102.599998 and range: 102.60 m. j5?j1j1j1i9h9h9h9hAfAfAfArfAbfM;c?ɛuBu6<Ž qu(=Iy }48˽ɚyiyI}W=I?JuJJJJ[Q:JJJii))-?)1*F2F:FBF_0JF'TFailed to parse incomplete device message.G 2>G!G%pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500752G B9 jH bH <H I  I !II WBI &I .I 6I ߯<:I . FO- >BIJIRIZIbI I jI]4/w, Ay~B~'!I @ @ @  @ I/I3٢= ;=9Q > G٣y >  bBottom track data is 0.4 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59?5YU{ i.+::@snEs:;W>5! %RA!ZjIMFNOT Ignoring new targets: 102.60 m.BjU(JjU(뻝e ProNav: ac range: 102.599998 m, nav range: 81.202950 m, bearing: 35.644669 deg, approach rate: 0.084413 m/s, LOS rate: -0.411183 deg/s, cmd heading: 67.193892 deg, new cmd heading: 66.647274 deg. 2jemHeadingCmd: 1.163214 target range: 102.599998 and range: 102.60 m. jm5?jijqjqiqhqhyhyhyfyffrfbfz?ɛނB 隵=I ˽ɚiINƮ=I5?ii)5?)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753246*Fm?2Fi:FiBFiJFiGm:>G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004664D/w,&Ay%B%7!IIEIEV83 aIi٢m= uN=9qQ }> G٣QGy > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59`?5Yv i& :m:@wnED;-W?;5 A}EZjFNOT Ignoring new targets: 102.60 m.Bj%Jj%廝E ProNav: ac range: 102.599998 m, nav range: 81.236450 m, bearing: 35.484840 deg, approach rate: 0.084273 m/s, LOS rate: -0.401897 deg/s, cmd heading: 66.647272 deg, new cmd heading: 66.167992 deg. 2jE艼MHeadingCmd: 1.154849 target range: 102.599998 and range: 102.60 m. jMғ?jIjIjIiIhhhhfffrfbf` @ɛ-ۂB-EȻ 15T=I1 5\ʽɚ9i9I=+=Iuғ?iqiy)}ғ?)y*F?2F:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256017JvJpJ0JJ{T:J^9Jـ3JG zK= k3IK= 9K9 K= K= GY Bi O >J;/w,@A2$Q?Y2G@2L92I`` bG٣`yjoo j> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59vn⅜?5YvZr iv9@:@@v{nEv<;v?v 5  AMB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 102.60 m.Bj]Jj]m ProNav: ac range: 102.599998 m, nav range: 81.250000 m, bearing: 35.325710 deg, approach rate: 0.035417 m/s, LOS rate: -0.415869 deg/s, cmd heading: 66.167990 deg, new cmd heading: 65.690692 deg. 2jmuHeadingCmd: 1.146519 target range: 102.599998 and range: 102.60 m. ju!?jqjyjihhhhfffrfbf +@EWill construct direction to contact in vehicle frame from tetrahedron phase data.M>M<]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511332ɛׂB, 隭\ >I ĬʽɚiIŇ=HQIQ IU!IIUqBIQ&IQ.IQ6IU<:IU@ FI!?i U/$?IYi)e!?)*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759935G 2>G B O% >V/w,FZAB?YBe@B9B?6?Kܿ@<? S??ɨB?B>;BCyNBNG!I - - 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5Cl?+η?~jthy5d?5v=15@ 5h@)1I5VA1y5@IM6IMm3٢U; ]A=9e~8Q e>ai mG٣iym0 m> }Nusing accuracyPremultiplier from configq}59uՅ?5Yul iuT:5?:" @@unEu< ;u;u50B A{EZjFNOT Ignoring new targets: 102.60 m.BjJj] ProNav: ac range: 102.599998 m, nav range: 81.250992 m, bearing: 35.145106 deg, approach rate: 0.002396 m/s, LOS rate: -0.436261 deg/s, cmd heading: 65.690690 deg, new cmd heading: 65.148902 deg. 2j]]HeadingCmd: 1.137063 target range: 102.599998 and range: 102.60 m. jeF?jajajaiahahahihmBfififrfbfau@ɛԂB >I ?nʽɚiI=IF?i!i!)%F?)!*F?2F:FBF2JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:58:00.4075 }TRx dataTimestamp_ set to:1736377081.593881}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014258 aIehG:>G B O >ւ/w,ytA2?Y2 x@23S92 G٣y J  > Nusing accuracyPremultiplier from config%59Ʌ?%5Y!g i!-5 @-@nEe::5JUuJUvJU1JQJU[Q:JUϣ9JU3JQe/B eMAe~EZjFNOT Ignoring new targets: 102.60 m.BjJj򻝊 ProNav: ac range: 102.599998 m, nav range: 81.244957 m, bearing: 34.960880 deg, approach rate: -0.013899 m/s, LOS rate: -0.424334 deg/s, cmd heading: 65.148899 deg, new cmd heading: 64.596200 deg. 2j HeadingCmd: 1.127416 target range: 102.599998 and range: 102.60 m. j .O?jjjihhhhfff!rf!bf%@9 @ɛтBe Z)>I "ʽɚiIL=I.O?ii)e.O?)izKYK]}9KYK]K]*F ?2F :F BF `5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHY RHY H} >Iy  I} !II} BIy &Iy .Iy 6I} <:I} 9 FG 2> m .$?Iq G % DAT read: 22:58:00.4075 LVL= 26896, 31681, 19618, 32755, AGC= 66, IDX= 415,-0.17,-1.643,-2.496,-0.584,-1.531, PHS=-0.024,-0.918, 0.944, RAW= 181.3, -0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 - Ygot valid direction response: 22:58:00.4075 LVL= 26896, 31681, 19618, 32755, AGC= 66, IDX= 415,-0.17,-1.643,-2.496,-0.584,-1.531, PHS=-0.024,-0.918, 0.944, RAW= 181.3, -0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 5 PDAT read: Bearing 328.3, 7.8 (Local) 5 ~Local bearing/azimuth received: Bearing 328.3, 7.8 (Local) BA  DAT read: Range 10 to 50 : 100.9 m (Round-trip 134.6 ms) speed 0.4 m/s  ,DAT read: user:2958>  BDAT read: Tx time:22:58:01.5203  $Ping request sent.  `direction in FSK: [-0.085020,-0.996158,0.021002] :publishing transmit ping time؉  Fpublishing direction and range info؁9؅.9,õ Rrᅡwc?y؅B؁؅i؅{ مL)فIمBiمļم kمq?مJ@م څJ@)څ'g Iڅx[@iڅ'g >ځځۅzp\?zA?&~<)ۅN?Iۅ9iۅӿۅہہ :publishing transmit ping time؉  Fpublishing direction and range info؁9؅.9,õ Rrᅡwc?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅzp\?zA?&~<)ہIہiہہہہAi/w,NAF?YF?F~9F+99 =G٣=QGyE E> mNusing accuracyPremultiplier from configIu59M?u5YM` iM u!?}:} @}@MnEM;M5;M5 1Akj ?kU( Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:58:01.5195 k kRA:kBBktBZk}>"85(!*6 YO@.9,õ Rrᅡwc?JkӿRk*͘"^4W@0{ p?@GCڊ?(^\?q.َ5?AFI!?"kA*kyBkXW@?k3~ 2k0BkkkNAkyBkRS?5 addTargetRange:: Added new target pos. range: 100.900002 m, deltaT: 3.530708 s, deltaX: -1.699997 m, approachRate: -0.481489 m/s, rangeRepo size: 4 m Added new target pos. range: 100.900002 m, bearing: 18.407238 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 3.530708 s, deltaX: -1.699997 m, approachRate: -0.481489 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 100.90 m.BjuJjq ProNav: ac range: 100.900002 m, nav range: 81.237389 m, bearing: 34.763649 deg, approach rate: 0.000000 m/s, LOS rate: -0.424334 deg/s, cmd heading: 64.596200 deg, new cmd heading: 64.018628 deg. 2jHeadingCmd: 1.117336 target range: 100.900002 and range: 100.90 m. j?jjjihhhhBfffrf9Y@bf_?ɛ5͂B5I 9=d7>I9 =ɽɚ9i9I==I?ii)?)*F?2F:FBFO5JFG= B>GE rAGE rA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >̒/w,c'AB?YBP?BK9BGf G٣y@ >  Nusing accuracyPremultiplier from config 59 ?5Y [ i q@@ nE  ; ; S5! %@!ZjQ]FNOT Ignoring new targets: 100.90 m.Bj]Jj]m ProNav: ac range: 100.900002 m, nav range: 81.225143 m, bearing: 34.601945 deg, approach rate: -0.035723 m/s, LOS rate: -0.471819 deg/s, cmd heading: 64.018625 deg, new cmd heading: 63.533451 deg. 2jm硼}HeadingCmd: 1.108868 target range: 100.900002 and range: 100.90 m. j}b?jyjyjyiyhhhhfffrfbf?ɛ˂B8 S>I ɽɚiIj=Ib?ii)b?))F= C*FU?ec~G2FY:FiBFmZ0}5tAJFy QY5tAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >zK BHK S9K K K z/w,d¾A2c?Y2?2Q92|| ~G٣|y >  Nusing accuracyPremultiplier from config 59 ?5Y uV i @@ nE b:; M; 5=.B =i@EE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 100.90 m.BjJj ProNav: ac range: 100.900002 m, nav range: 81.206558 m, bearing: 34.436766 deg, approach rate: -0.049102 m/s, LOS rate: -0.436500 deg/s, cmd heading: 63.533450 deg, new cmd heading: 63.037813 deg. 2jȕHeadingCmd: 1.100217 target range: 100.900002 and range: 100.90 m. jӌ?jjjihhhhfffrfbf ?ɛ ȂB y!  _>I  *1ɽɚiIF=Iӌ?ii)ӌ?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-%bFailed to parse device response: 66.31,0,9060.80 *F?2F:F -$?IBF%_0JFIG2>Gi Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.174206Jk3Kk3 Kk/.KcKc"KcJ wJ tJ 0J J W:J 9J ـ3J f/w,/۾A6?Y6?6^96qqq uG٣uQGy} > Nusing accuracyPremultiplier from config59?5YQP i뽙!?:s@@nEv&;X%;5 c@ZjFNOT Ignoring new targets: 100.90 m.BjOJjO ProNav: ac range: 100.900002 m, nav range: 81.179886 m, bearing: 34.250390 deg, approach rate: -0.064695 m/s, LOS rate: -0.452212 deg/s, cmd heading: 63.037810 deg, new cmd heading: 62.478518 deg. 2j,HeadingCmd: 1.090456 target range: 100.900002 and range: 100.90 m. j?jjjihhhhfffrfbf @Fr?ɛ5łB5 9=Lf>I9 =Ƚɚ9i9I==IE?iAiA)M?)I*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430347 IG:>G?G>GBO>ϼ/w,A6&?Y6&E?6g#96gtt vG٣tyzᔽ z> ~Nusing accuracyPremultiplier from config|59~?5Y~J i~޽  @ @~nE~;~/;~x5/B @~EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678263ZjIMFNOT Ignoring new targets: 100.90 m.BjU?JjU?m ProNav: ac range: 100.900002 m, nav range: 81.149300 m, bearing: 34.079400 deg, approach rate: -0.078867 m/s, LOS rate: -0.441063 deg/s, cmd heading: 62.478520 deg, new cmd heading: 61.965372 deg. 2jmYuHeadingCmd: 1.081500 target range: 100.900002 and range: 100.90 m. jun?jqjqjqiyhyhyhyhfffrfbf.?ɛ‚B֣ 隽>I ~jȽɚiI=In?ii)n?)*FU?2FQ:FQBFU0JFQzKK}9KKKGu2>GQBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930838jHbHH >I C I !II BI  =&I .I 6I <:I D F ) I1 /w,\A6?Y6.?6Ҹ96⒴BBm!I5Mb@Mb@Mb@111 1)1Y5/$?@5^I ?~jty5?5b>5D5Q@ 5$@)5@I5~@1y5@IiIi٢w¼ ?=9#;Q > G٣yn > Nusing accuracyPremultiplier from config59?5YCD i~ս ?:@@nE;;[5  @EZjY]FNOT Ignoring new targets: 100.90 m.BjeJje} ProNav: ac range: 100.900002 m, nav range: 81.120171 m, bearing: 33.888924 deg, approach rate: -0.066440 m/s, LOS rate: -0.434606 deg/s, cmd heading: 61.965375 deg, new cmd heading: 61.393762 deg. 2j}"HeadingCmd: 1.071523 target range: 100.900002 and range: 100.90 m. j'?jjjihhhh͂Bfffrfbf@ @ɛB} |>I  ǽɚ i I E=IU'?iQiQ)U'?)Y5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183247JJpJ1JJJ^9J3JJz;aJz;aJ|:aJ~:a*F?2F:FBF 0JF PExceeded connect timeout, disconnecting.G:>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434372/w,`r)A b,$?Ifh5?Y5C?595Kqy }G٣}QGy} }> Nusing accuracyPremultiplier from config59؀?5Yj> iͽ@@nE;1;!5 @ZjFNOT Ignoring new targets: 100.90 m.Bj5-Jj5-E ProNav: ac range: 100.900002 m, nav range: 81.086884 m, bearing: 33.715881 deg, approach rate: -0.086191 m/s, LOS rate: -0.448250 deg/s, cmd heading: 61.393763 deg, new cmd heading: 60.874435 deg. 2jEЙMHeadingCmd: 1.062459 target range: 100.900002 and range: 100.90 m. jM?jIjIjQiqhqhqhyhyfyfyfyrfbf : @ɛB8 M>I ǽɚiI=I?ii)?)E*F?2F:FBF_5JFG GrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.686994GGqAGG B O >zK BoHK 9K K K /w,KCA2?Y27?292aPP RG٣PyV V> ZNusing accuracyPremultiplier from configX^59Zx?^5YZ8 iZ_ƽ\^IY ]N*ǽɚaiaIe۲=Ie?iiii)m?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939650H>I I"IIBI&I.I?D6I<:I F*F?2F:FBFk4JF IGGqByO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:58:04.0568 U TRx dataTimestamp_ set to:1736377085.388664U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191290J xJ sJ 0J J Z:J 9J ـ3J J ;J ;J <:J =:  nManaging dock network, ignoring radio surface power offO/w,RD]A6?Y6C?696+kGB>x!IMb@Mb@Mb@ )Yx?+?QyK?>u$@ @)@Ih@y@I%'I%@3٢5%< =@=9=t:Q =>9A EG٣AyEd E> ]Nusing accuracyPremultiplier from configQ]59Uo?e5YUu2 iUe?e:eT?e@UnEU;U;U$5u.B uo@uEZjFNOT Ignoring new targets: 100.90 m.Bj%7Jj%7뻝5 ProNav: ac range: 100.900002 m, nav range: 81.006706 m, bearing: 33.368624 deg, approach rate: -0.093823 m/s, LOS rate: -0.411281 deg/s, cmd heading: 60.379378 deg, new cmd heading: 59.832179 deg. 2j5!=HeadingCmd: 1.044268 target range: 100.900002 and range: 100.90 m. j=?j9j9jAiAhAhahihm̂Bfififqrfqbfu @ɛBb >I  ƽɚiI7=I?ii)?)*FU?2FQ:FQBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442324 IhG B>Gq B O >/w,wA:_?Y:_@?:9:sXX ZG٣ZQGybΦ b> fNusing accuracyPremultiplier from configdj59fh?j5Yf, ifHhnQ?n@fnEf;f;fD&5r/B vJ@vEWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:58:04.0568 LVL= 23184, 32673, 18130, 32755, AGC= 67, IDX= 424,-0.30,-0.199,-1.238, 0.284,-0.309, PHS= 0.197,-0.882, 0.590, RAW= 164.9, 1.5, CAL= 166.2, -7.2, ROT= 343.8, 7.2 MYgot valid direction response: 22:58:04.0568 LVL= 23184, 32673, 18130, 32755, AGC= 67, IDX= 424,-0.30,-0.199,-1.238, 0.284,-0.309, PHS= 0.197,-0.882, 0.590, RAW= 164.9, 1.5, CAL= 166.2, -7.2, ROT= 343.8, 7.2 M8DAT read: $Error in header U*Received a bad headerZjamFNOT Ignoring new targets: 100.90 m.BjmoJjmo} ProNav: ac range: 100.900002 m, nav range: 80.962730 m, bearing: 33.205362 deg, approach rate: -0.116003 m/s, LOS rate: -0.430898 deg/s, cmd heading: 59.832177 deg, new cmd heading: 59.342139 deg. 2jܓHeadingCmd: 1.035716 target range: 100.900002 and range: 100.90 m. jU?jjjihhhhfffrfbf@@X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.136252,-0.943640,0.301627]9/ p L2$M?Z F)ICi^I>a= ?18@Pw< 9@)I@i>smä?5M?XhQ| ?)H?IaмijۿNT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛBx 5>I 3ƽɚiIV=IU?ii)U?)*F?2F:F BF Y0JF zKKŷ9KKKZHRHAAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseH>I I "IIBI =&I.I6I<:I FBImȪCJImȪCRIiZIm =bIm =jIm8b5Gi +$?I G ?G >G B O >/w,ېA6_?Y6_A?6D96%YY Y)]@I]Q@YyYIuIum?3٢/ ==91:Q > G٣yH > Nusing accuracyPremultiplier from config59!`?5Y& i`?:?@nE8;6;&(5 ]@ZjFNOT Ignoring new targets: 100.90 m.BjJjﻝ ProNav: ac range: 100.900002 m, nav range: 80.912788 m, bearing: 33.029697 deg, approach rate: -0.118781 m/s, LOS rate: -0.418056 deg/s, cmd heading: 59.342138 deg, new cmd heading: 58.814833 deg. 2jt HeadingCmd: 1.026513 target range: 100.900002 and range: 100.90 m. j d?j j j i h h hh΂Bfffrfbf`$@ɛMBMn QUU>IQ UŽɚYiYI]rԳ=I]d?iaia)ed?)a*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iA%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseJwJtJJJW:J9JJJz;Jz;J:J:G:>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse3/w,ʪA 0I45?Y5"?5y95۴ G٣y > Nusing accuracyPremultiplier from config59HY?5Y  i?@nE;;)5 @ZjIMFNOT Ignoring new targets: 100.90 m.BjUJjU㻝e ProNav: ac range: 100.900002 m, nav range: 80.858864 m, bearing: 32.864914 deg, approach rate: -0.130327 m/s, LOS rate: -0.398520 deg/s, cmd heading: 58.814834 deg, new cmd heading: 58.320169 deg. 2jeHeadingCmd: 1.017879 target range: 100.900002 and range: 100.90 m. jI?jjjihhhhfffrfbfS@ɛ-B5* 15>I1 5'Žɚ1i9I=(=I=I?iAiA)I?)*F]?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGA G B1 OM >F/w,\ĿAzK K"9K K"K" =?^2 oF) ~aC+ F4?YF4,?FAܼ9Fhh jG٣j QGyn n> rNusing accuracyPremultiplier from configpv59rwS?v5Yr irJtz?z@rnErq:r:r+5| ~@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 100.90 m.Bj-~Jj-~뻝= ProNav: ac range: 100.900002 m, nav range: 80.802696 m, bearing: 32.712784 deg, approach rate: -0.151924 m/s, LOS rate: -0.411771 deg/s, cmd heading: 58.320171 deg, new cmd heading: 57.863474 deg. 2jELEHeadingCmd: 1.009908 target range: 100.900002 and range: 100.90 m. jED?jIjIjIiIhIhIhQhQfQfQfYrfYbf]L@ɛB, 隍>I ݯĽɚiIl=ID?ii)D?)HIII IIIIII&II.II6IM<:IM- F}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse aIa*Fu?2Fq:FqBF}0JFyG2>GqByO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseA/w,/o޿AZ׭?YZ?ZӼ9ZI94 )@I;@y@II#3٢Ԉ 8=9";Q >    G٣ yS > Nusing accuracyPremultiplier from config%59M?%5Y i-?-:-/?-@nE;;-5=.B =@=EZjFNOT Ignoring new targets: 100.90 m.Bj%ϻJj%ϻ] ProNav: ac range: 100.900002 m, nav range: 80.731964 m, bearing: 32.542930 deg, approach rate: -0.151146 m/s, LOS rate: -0.363276 deg/s, cmd heading: 57.863478 deg, new cmd heading: 57.353483 deg. 2j]PyeHeadingCmd: 1.001007 target range: 100.900002 and range: 100.90 m. je!?jajajaiahihihhBfffrfbf@ɛB! 隍A>I ĽɚiI1Ѵ=I!?ii)!?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse III*F}?2Fy:FyBF}o0JF~G vA) ] !Y] vAy] BGE :>G B) OE >k/w,KA6ک?Y6?6t̼96tUB>!IIF IFV2٢Rb= Rd=9VU#;Q V>TT ZG٣XyZy Z> bNusing accuracyPremultiplier from config`f59baI?f5Yb ibdf1?f@bnEb:b:b/5n/BrWill construct direction to contact in vehicle frame from tetrahedron phase data.rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapse n@vEZj FNOT Ignoring new targets: 100.90 m.BjJj绝- ProNav: ac range: 100.900002 m, nav range: 80.669228 m, bearing: 32.406593 deg, approach rate: -0.186210 m/s, LOS rate: -0.404980 deg/s, cmd heading: 57.353481 deg, new cmd heading: 56.944159 deg. 2j-5HeadingCmd: 0.993863 target range: 100.900002 and range: 100.90 m. j5m~?JyJJ1JJ]:JJ3Ja@a@a@a@jjjihhhhfffrfbf^@ɛ=B= AE>IA E ýɚAiAIE#=IMm~?iIiQ)um~?)q*F ?2F :F BF P5JF zK6lOK9KKKfMD=:4+&#"# G5B>jH9bH=<HE>IA IE"IIEƒBIA&IA.IA6IE<:IE) FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 1 I= hGi By O >V0w,1A2*Υ?Y2* ?2iļ92DEDA E@)E@IEh@AyE@I]I]m?3٢m< m>=9u;Q u>yy }G٣} QGy} > Nusing accuracyPremultiplier from config59E?5Y  i䧽 ?:F?@nE;;05 <@ZjFNOT Ignoring new targets: 100.90 m.BjͻJjͻ ProNav: ac range: 100.900002 m, nav range: 80.583504 m, bearing: 32.251870 deg, approach rate: -0.199347 m/s, LOS rate: -0.360183 deg/s, cmd heading: 56.944158 deg, new cmd heading: 56.479507 deg. 2j0wHeadingCmd: 0.985753 target range: 100.900002 and range: 100.90 m. jUZ|?jjjihhhhтBf f f rfbf`G@ɛBⒽ >I l½ɚiIi=IUZ|?i)i))-UZ|?))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF5JFG:>G?G?G B O  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse  I! } 0w,G,AF?YF?F\i9Fؖ G٣y, > Nusing accuracyPremultiplier from config59B?5Y iץ*?@nE::25 @ZjY]FNOT Ignoring new targets: 100.90 m.BjeûJjeû ProNav: ac range: 100.900002 m, nav range: 80.496933 m, bearing: 32.108056 deg, approach rate: -0.205979 m/s, LOS rate: -0.342547 deg/s, cmd heading: 56.479507 deg, new cmd heading: 56.047608 deg. 2jkHeadingCmd: 0.978215 target range: 100.900002 and range: 100.90 m. jQlz?jjjihhhhfffrfbf@ɛeBex ae>Ii ^½ɚiI?=IQlz?ii)Qlz?)*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*J"JJ{JuJ0JJd:J9Jـ3JG 2>Ga Bi O >e0w,EA6?Y6?6 v96%`` bG٣`yf f> jNusing accuracyPremultiplier from configdj59f@?n5Yfu ifCln'?r@fnEf ;f ;fc45t v@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 100.90 m.BjѻJjѻ ProNav: ac range: 100.900002 m, nav range: 80.410660 m, bearing: 31.975330 deg, approach rate: -0.238145 m/s, LOS rate: -0.366765 deg/s, cmd heading: 56.047607 deg, new cmd heading: 55.649008 deg. 2j{HeadingCmd: 0.971258 target range: 100.900002 and range: 100.90 m. jdx?jjjiH>I I"IIǃBI&I.I6I)<:I] Fh h h h ff1f1rf9bf=`B@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse *$?IɛBV   >I ɚiIu=Idx?ii)dx?)!*F?2F:FBF_0JF G  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >-0w,_A:Q?Y:P?:Uk9:qq uG٣u QGy} > Nusing accuracyPremultiplier from config59u??5Y ieH?:?@nEj;[;F65 p@ZjqFNOT Ignoring new targets: 100.90 m.BjJj ProNav: ac range: 100.900002 m, nav range: 80.302742 m, bearing: 31.833418 deg, approach rate: -0.240497 m/s, LOS rate: -0.316676 deg/s, cmd heading: 55.649007 deg, new cmd heading: 55.222709 deg. 2jUYHeadingCmd: 0.963818 target range: 100.900002 and range: 100.90 m. jȼv?jjjihhhhBfffrfbf`@ɛ]B]2 ae>Ia eA%ɚaiaIe\=Iȼv?ii)ȼv?)*FI2FI:FIBFIJFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse IGm J>Gm rAGi GA BQ Om > 0w,£yA2,?Y2,?2b92$@dB>!I^Will construct direction to contact in vehicle frame from tetrahedron phase data.^T****** received valid address query ******^R****** received valid ping request ******^received new query, but waiting for acoustic response period to elapseJe|Je~JaJaJe;g:Jef9JaJaIJ*IJ3٢| F=9Ŝ:Q > G٣yB > Nusing accuracyPremultiplier from config59>?5Y i?@nEe::85  @ZjQ]FNOT Ignoring new targets: 100.90 m.Bj]ڽJj]ڽ} ProNav: ac range: 100.900002 m, nav range: 80.194641 m, bearing: 31.700251 deg, approach rate: -0.269117 m/s, LOS rate: -0.331966 deg/s, cmd heading: 55.222708 deg, new cmd heading: 54.822674 deg. 2j}cHeadingCmd: 0.956836 target range: 100.900002 and range: 100.90 m. j7t?jjjihhhhfffrfbfb@ɛmBms im7>Ii mɚqiqIuê=Iu7t?iyiy)}7t?)y*F?2F:FBFJFzK LK K9K K K !!   ZHRH?AH}>IC I""IIуBI =&I.I6I<:IC FmWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse IG :>Ga B O >x$0w,xA:U?Y:Tޭ?:mk9:^: G٣y > Nusing accuracyPremultiplier from config59g??5Yi i$Q?:?@nE};>;950B -@EZjFNOT Ignoring new targets: 100.90 m.BjJj  ProNav: ac range: 100.900002 m, nav range: 80.082024 m, bearing: 31.577224 deg, approach rate: -0.287747 m/s, LOS rate: -0.314785 deg/s, cmd heading: 54.822674 deg, new cmd heading: 54.453080 deg. 2jXHeadingCmd: 0.950386 target range: 100.900002 and range: 100.90 m. jwLs?jjjihhh!h%Bf!f!f)rf)bf-U @ɛBV9 .>I 俽ɚiI=IwLs?i i ) wLs?) Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF0JFGG B O > I h Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseb*0w,xFAEz?YE?E实9E" G٣ QGyf" > Nusing accuracyPremultiplier from config59@?5Y ik?@nEa:*:;5 @ZjaeFNOT Ignoring new targets: 100.90 m.BjeJjm ProNav: ac range: 100.900002 m, nav range: 79.957901 m, bearing: 31.458116 deg, approach rate: -0.297786 m/s, LOS rate: -0.286199 deg/s, cmd heading: 54.453079 deg, new cmd heading: 54.095204 deg. 2jjDHeadingCmd: 0.944139 target range: 100.900002 and range: 100.90 m. jq?jjjihhhhfffrfbf g!@ɛ-B-L iu>Iq u2ɚqiqIuID=I}q?iyiy)}q?)*FM?2FI:FIBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJ}J}}JyJyJ}p:J}S9JyJyG B>G ?G ?Ga Bi O >010w,O!AJr?YJ?J둝9J sxx zG٣xy~§ ~> Nusing accuracyPremultiplier from config 59 C? 5Y i  c?@nE ::==5 %@!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 100.90 m.BjUJjUH{>I I("IIփBI =&I.I>D6I<:I5 FBIYJIYRIYZI] =bI] =jI]5 I- ProNav: ac range: 100.900002 m, nav range: 79.834450 m, bearing: 31.346491 deg, approach rate: -0.335145 m/s, LOS rate: -0.303508 deg/s, cmd heading: 54.095204 deg, new cmd heading: 53.759814 deg. 2j-KP5HeadingCmd: 0.938286 target range: 100.900002 and range: 100.90 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse ju3p?jqjqjqiqhyhyhyhyfffrfbf0"@ɛ5B=t 9=>IA EɚIiIIm=Iu3p?iqiq)u3p?)y*F2F:F BF ^5JFG :> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >M70w,eAF`?YFҞ?F$9FY=9:Q > G٣yޗ > Nusing accuracyPremultiplier from config59F?5Y  iU?:հ?@nED; ;?5 @Zj FNOT Ignoring new targets: 100.90 m.Bj Jj % ProNav: ac range: 100.900002 m, nav range: 79.686089 m, bearing: 31.228679 deg, approach rate: -0.346668 m/s, LOS rate: -0.275796 deg/s, cmd heading: 53.759814 deg, new cmd heading: 53.405727 deg. 2j%F=-HeadingCmd: 0.932106 target range: 100.900002 and range: 100.90 m. j-|n?j)j)j)i)h1h1h9h=Bf9f9f9rfAbfE"@ɛmBmi im>Iq uڽɚqiqIuwշ=I}|n?i}})|n?)*F?2F:FBF4JF +$?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseGG B O >>0w,A2z?Y2̈́?2(92$.ll nG٣n QGyr| r> vNusing accuracyPremultiplier from configtz59v!J?~5Yv iv?@vnEvIi u"ɚqiqI}$=IDm?im΂)Dm?)*FE?2FA:FABFEP0JFAG>G!G%qAGBOj>zKNKK9KKK jHqbHu<H}w>I}C I}5"II}BI} =&Iy.Iy6I}I<:I}m F IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseD0w,AVar?YV/?V9V/=9e:Q > G٣yf > Nusing accuracyPremultiplier from config59N?5Yk ij,?:?@nEK;>;B5 @ZjFNOT Ignoring new targets: 100.90 m.BjgJjg ProNav: ac range: 100.900002 m, nav range: 79.392242 m, bearing: 31.016973 deg, approach rate: -0.394351 m/s, LOS rate: -0.275223 deg/s, cmd heading: 53.103269 deg, new cmd heading: 52.769433 deg. 2j< HeadingCmd: 0.921000 target range: 100.900002 and range: 100.90 m. jk?jjjihhhhBfff!rf!bf%@?$@ɛB|S| >I kpɚiIj=Ik?i ) k?) Will construct direction to contact in vehicle frame from tetrahedron phase data.AiG B O > I } Will construct direction to contact in vehicle frame from tetrahedron phase data. dd fG٣dyj* j> rNusing accuracyPremultiplier from configlr59nS?r5Yn inؐtv?v@nnEn.:n :nGD5z1B z@z|E) =  zYyA@ BZjFNOT Ignoring new targets: 100.90 m.Bj}Jj} ProNav: ac range: 100.900002 m, nav range: 79.248108 m, bearing: 30.922340 deg, approach rate: -0.337213 m/s, LOS rate: -0.221801 deg/s, cmd heading: 52.769434 deg, new cmd heading: 52.485024 deg. 2j8HeadingCmd: 0.916036 target range: 100.900002 and range: 100.90 m. j^j?jjjihhhhfffrfbf t%@ɛ}B}〽 y}b>Iy fɚiI=I^j?i)^j?)*Fe?2Fa:FaBFe_0JFaG=2Fx>Will construct direction to contact in vehicle frame from tetrahedron phase data.R0w,ˀHArGb?Yra?r9rI%C I%;"II%BI% =&I!.I%=D6I%<:I%/ FI I M3٢E< EB=9E:Q E>II MG٣MQGyUܘ U> ]Nusing accuracyPremultiplier from configYe59]Y?e5Y] i]Lae?m@]nE]:]: qI}hzK}KKyKyK}K} ]F5 5@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 100.90 m.BjJj-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Response Not Received 5*response not received=,DAT read: user:2960> =BDAT read: Tx time:22:58:12.4704 E$Ping request sent.EIy }ﺽɚyiyI}|=IZ!i?i_)Z!i?)EE*F?2F:FBF`0JFG%C[>G BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:58:12.4696  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811Je Je Ja Ja Je :Je [9Ja Ja Je n;Je o;Je ;Je ;,X0w,FbA2djZ?Y20s?2‘92s[YY ]G٣Yyej e> mNusing accuracyPremultiplier from configiu59m_?u5Ym imM?:?@mnEm͞I) -7ɚ1i9I=NK=I]g?i]ü)]g?)a yIy*F?2F:F BF 0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502300G- HY>G B O= >UV^0w,}"|A6fS?Y6?6]96.\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fff?n5Yf6 iffpr?r@fnEfZ;fY[;fI5t v@xZjFNOT Ignoring new targets: 100.90 m.Bj|Jj| ProNav: ac range: 100.900002 m, nav range: 78.760124 m, bearing: 30.643169 deg, approach rate: -0.413316 m/s, LOS rate: -0.221183 deg/s, cmd heading: 51.900336 deg, new cmd heading: 51.645791 deg. 2jHeadingCmd: 0.901389 target range: 100.900002 and range: 100.90 m. jpf?jjjihhh!h!f!f!f)rf)bf-'@ɛmn >I ɚiI=Ipf?iU) pf?) *F?2F:FBFD2JFGeQ>G9BAOeU>ZHRHAAH%m>I! I%A"II%BI% =&I%GD.I!6I%<:I%- F YIYzK.JK@9KKKUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005917@e0w,lA-L?Y?La9 %=!Mb@Mb@Mb@ )Yrh|?T㥛 ?~jty>= p@)I@y3@IIV8٢< 9=99Q > G٣QGyu > Nusing accuracyPremultiplier from config59m?5Y iI%>: ?@nE; ;~K5 @ Zj)5FNOT Ignoring new targets: 100.90 m.Bj=J{Jj=J{ ProNav: ac range: 100.900002 m, nav range: 78.581177 m, bearing: 30.551032 deg, approach rate: -0.425716 m/s, LOS rate: -0.219693 deg/s, cmd heading: 51.645792 deg, new cmd heading: 51.368753 deg. 2jHeadingCmd: 0.896554 target range: 100.900002 and range: 100.90 m. je?jjjihhhhBfffrfbf [(@ɛUBUp QUf>IQ ]PɚYiYI]Sҹ=Iee?iemRGBOc> M ,$?II ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510822hk0w,wׯA2E?Y2 ~?2gH92@<hh jG٣hynz n> rNusing accuracyPremultiplier from configpv59rt?v5Yr irxzu?z@rnEr:r7:rM5y }a@}yEZjFNOT Ignoring new targets: 100.90 m.BjuZJjuZ  ProNav: ac range: 100.900002 m, nav range: 78.428596 m, bearing: 30.476760 deg, approach rate: -0.391602 m/s, LOS rate: -0.190992 deg/s, cmd heading: 51.368753 deg, new cmd heading: 51.145505 deg. 2j HeadingCmd: 0.892657 target range: 100.900002 and range: 100.90 m. j3d?jjji!h!h!h)h)f)f)f)rf1bf5@p)@ɛ]BeGk ae>Ia eɚaiiIm2=Im3d?iuƉGBO >7Pr0w,A2b>?Y2~v?2B92=y2HY?2g܎;0y>|B<IFIFF3٢N; RM=9R:Q R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configHbj>IbC I`I`Ib =&I`.IbWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013995I1 5Hɚ1i1I=!O=I=c|c?iEGBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265969JM JM JI JI JM :JM 9JI JI JM S;JM T;JM ;JM ;yx0w,eA27?Y2/p?2KA92$[3=y2H w? TØ??`5m=5ף5@ 5Z@)5@I5@1y5@IMIM#3٢]= ]?=9eQ e>ii mG٣iymy u> }Nusing accuracyPremultiplier from configy59}҄?5Y}: i}<>:ɇ?@}nE};};}P5 @ZjFNOT Ignoring new targets: 100.90 m.BjNJjN ProNav: ac range: 100.900002 m, nav range: 78.083427 m, bearing: 30.323221 deg, approach rate: -0.418846 m/s, LOS rate: -0.180670 deg/s, cmd heading: 50.913989 deg, new cmd heading: 50.683874 deg. 2jHeadingCmd: 0.884600 target range: 100.900002 and range: 100.90 m. j-ub?jjjihhh h Bf f f rfbf [ +@ɛAE֗i AE>II MꀶɚIiIIM=IU-ub?iUQ=~0w,hA6Q2?Y6Nj?6ѣ96YuT=y6H{{?@m^?`?o?QFy?C?X?ɨ6Q2?6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769834yFBF!IIRIR<2٢v>$ vR=9vDQ v>xx zG٣zQGy~\i >  Nusing accuracyPremultiplier from config 59Ҍ?5Y i?@oE::lR5! %@!ZjIUFNOT Ignoring new targets: 100.90 m.Bj]FJj]Fm ProNav: ac range: 100.900002 m, nav range: 77.920036 m, bearing: 30.256038 deg, approach rate: -0.421514 m/s, LOS rate: -0.173683 deg/s, cmd heading: 50.683873 deg, new cmd heading: 50.481900 deg. 2jmduHeadingCmd: 0.881075 target range: 100.900002 and range: 100.90 m. ju(a?jqjqjqiqh1h1h9h9f9f9fArfIbfM+@ɛBӜi 隽>I eɚiI`Ѻ=I(a?iIC III =&I.I6I <:I/ FBIƧCJIƧCRIƔCZI =bI =jIb6zKBHKK9EWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:58:14.9994 UTRx dataTimestamp_ set to:1736377096.231652]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025998KKKRKe>JKe>G!{=G B O >0w,TA-,?Y-'e?-r59-bp=y-H#?@@z??@`?`u ;F? #??ɨ-,?-Z͎;-!CyUBU!IMb@Mb@Mb@ )Y rh?)\(?Ga=t @)C@Iy@II 3٢\;  9=9 :Q > G٣y%A %> -Nusing accuracyPremultiplier from config)559-?55Y-] i-ܷ5d>=:=?=@-oE-;-;-ZT5E3B E@EtEZjimFNOT Ignoring new targets: 100.90 m.Bju8Jju8 ProNav: ac range: 100.900002 m, nav range: 77.738274 m, bearing: 30.184980 deg, approach rate: -0.411857 m/s, LOS rate: -0.161386 deg/s, cmd heading: 50.481901 deg, new cmd heading: 50.268231 deg. 2jݻHeadingCmd: 0.877346 target range: 100.900002 and range: 100.90 m. j™`?jjjihhhhBfffrfbfE,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055ɛj 隝>I  㴽ɚiI=I™`?i I = Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:58:14.9994 LVL= 27168, 32753, 32338, 32755, AGC= 61, IDX= 363, 0.01,-1.261,-2.825,-2.131,-1.770, PHS= 0.598,-1.008,-0.364, RAW= 113.5, 11.1, CAL= 122.3, 8.1, ROT= 27.7, -8.1 } Ygot valid direction response: 22:58:14.9994 LVL= 27168, 32753, 32338, 32755, AGC= 61, IDX= 363, 0.01,-1.261,-2.825,-2.131,-1.770, PHS= 0.598,-1.008,-0.364, RAW= 113.5, 11.1, CAL= 122.3, 8.1, ROT= 27.7, -8.1  PDAT read: Bearing 27.7, -8.1 (Local)  ~Local bearing/azimuth received: Bearing 27.7, -8.1 (Local)  DAT read: Range 10 to 50 : 93.6 m (Round-trip 124.9 ms) speed 0.3 m/s  ,DAT read: user:2961>  BDAT read: Tx time:22:58:16.1188  $Ping request sent. = D@)= >I= >i= 9 9 = 3?k1_Nڏy?)= [I= Ei= != )9 9  :publishing transmit ping timeء  Fpublishing direction and range info9 9= |rԿIS"ҿ.?y9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = 3?k1_Nڏy?)9 I9 i9 9 9 9 0w,v2Ay|~!II %I )3٢Ao; @=9Q %>!! %G٣!y- M> UNusing accuracyPremultiplier from configQ]59U؞?]5YU iUaae@UoEUq;US;U:V5 @k 6?k*/! k k9.A:k3BBkBZk-@"kqF> V:`Dh6 U@|rԿIS"ҿ.?Jk!Rk)*8U@dz~WF1wT@ӗ9fw?vW޿\i?"k2*k @kz?k87! 2kCkkkldBkBkώ? addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 14.633029 s, deltaX: -7.300003 m, approachRate: -0.498872 m/s, rangeRepo size: 4  Added new target pos. range: 93.599998 m, bearing: 275.716191 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 14.633029 s, deltaX: -7.300003 m, approachRate: -0.498872 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 93.60 m.BjJj  ProNav: ac range: 93.599998 m, nav range: 77.561768 m, bearing: 30.115612 deg, approach rate: 0.000000 m/s, LOS rate: -0.161386 deg/s, cmd heading: 50.268232 deg, new cmd heading: 50.047694 deg. 2j HeadingCmd: 0.873497 target range: 93.599998 and range: 93.60 m. j_?jjjihhhhAfAfIfIrfM`ffW@bfMJ??ɛj >I ɚiIV=I_?ipM  I H- c>I)  I- G"II- BI-  =&I) .I- ;D6I- <:I-  FN0w,BLA6#?Y6X\?6w96b=y6H`h?A?@? -`.?+?9?ɨ6#?6^;6CyBBB!IIJIJ(*٢|= ]=9%Q %>!! -G٣-QGy-- -> 5Nusing accuracyPremultiplier from config1=595Ԧ?E5Y5' i5AEI{?E@5 oE5)0;5A;5W5]Will construct direction to contact in vehicle frame from tetrahedron phase data.a ex@aB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.60 m.zKk3IK9KKK Bj9Jj9 ProNav: ac range: 93.599998 m, nav range: 77.408730 m, bearing: 30.060045 deg, approach rate: -0.445771 m/s, LOS rate: -0.162177 deg/s, cmd heading: 50.047692 deg, new cmd heading: 49.880661 deg. 2j޻HeadingCmd: 0.870582 target range: 93.599998 and range: 93.60 m. jr^?jjjihhhhfffrfbf@?ɛBWL O=>I cɚi I t=I r^?i3 Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.0w,HfA6ی ?Y6Y?696r=y6H ,)?F?`$?`T ?`z"?L?&?ɨ6ی ?6;4yBBB!IEMb@Mb@Mb@AAA A)AYEy&1?S㥫?y&1yE`>E/]=E`eE@ E@)AIE@AyEG@ImImF2٢J @=9ZQ > G٣yS > Nusing accuracyPremultiplier from config59?5Y i%%>%:->x?-@ oE$; .$?Ih<Y5 -@qEZjDNOT Ignoring new targets: 93.60 m.BjJj- ProNav: ac range: 93.599998 m, nav range: 77.233612 m, bearing: 29.998064 deg, approach rate: -0.386098 m/s, LOS rate: -0.136965 deg/s, cmd heading: 49.880660 deg, new cmd heading: 49.694297 deg. 2j-UHeadingCmd: 0.867329 target range: 93.599998 and range: 93.60 m. jUH ^?jQjQjQiYhYhYhYhe{Bfafafarfabfm1?ɛBi >I ɚiI=IH ^?i Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247205!A0w,LAJ"J"J J J"<:J"O9J J vL ?YvHV?vF9v3=yvH@c?]џ?@? E?~?x??ɨvL ?vl;vCy~B~!IIIF٢mX= mP=9u tQ u>yy }G٣yy}jͼ > Nusing accuracyPremultiplier from config59?5Y& itu?@oE@;';h[5 @ZjDNOT Ignoring new targets: 93.60 m.BjT.JjT. ProNav: ac range: 93.599998 m, nav range: 77.074532 m, bearing: 29.942898 deg, approach rate: -0.438598 m/s, LOS rate: -0.152411 deg/s, cmd heading: 49.694298 deg, new cmd heading: 49.528459 deg. 2j2ѻHeadingCmd: 0.864435 target range: 93.599998 and range: 93.60 m. jK]?jjjihhhhfffrfbf@V?ɛI ˱ɚiI㵻=IK]?i IZHRH@AH_>IC IN"IIBI =&I.I6I><:IO FGYBaOZ>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499480zK:KK9KKK g,0w,Ajz?YjS?j79je=yjH/?(??N?\O@?M? ?ɨjz?j1;j CyB!IMb@Mb@Mb@ )Yjt?i|?5?I +y>q=94$@ @)@I@y@II(*٢= A=9aQ >   G٣ QGy  > Nusing accuracyPremultiplier from config59?%5Y i%>%:%v?%@oE;<;A]554B 5@5oEZjY]DNOT Ignoring new targets: 93.60 m.Bje!Jje!u ProNav: ac range: 93.599998 m, nav range: 76.904991 m, bearing: 29.883347 deg, approach rate: -0.401194 m/s, LOS rate: -0.141230 deg/s, cmd heading: 49.528458 deg, new cmd heading: 49.349412 deg. 2ju}HeadingCmd: 0.861310 target range: 93.599998 and range: 93.60 m. j}~\?jyjjihhhhBfffrfbf?ɛBTWill construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751496 e>I ɚiI»=I~\?i$0w,A2N?Y2Q?2*N92G=y2H?f?|?` [??@f`xΩ?W?#?ɨ2N?2q;0y>B>!IIF IFb3٢N= N<=9RTPQ R>PP VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Zʅ?b5YZ iZ!`bct?b@ZoEZ*:ZL:Z(_5h j@hZj|DNOT Ignoring new targets: 93.60 m.BjJj ProNav: ac range: 93.599998 m, nav range: 76.729858 m, bearing: 29.822869 deg, approach rate: -0.401118 m/s, LOS rate: -0.138834 deg/s, cmd heading: 49.349411 deg, new cmd heading: 49.167561 deg. 2j%HeadingCmd: 0.858136 target range: 93.599998 and range: 93.60 m. j%ʮ[?j!j!j!i!h)h)h)h)f1f1f1rf1bf=`j@ɛBeT ?I ɚi I Ż=I ʮ[?it ! I) He \>Ia  Ie Z"IIe BIe  =&Ia .Ie :D6Ie <:Ie . F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ?1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507512zK KK s9K K K ^b0w,cA2^?Y2ZP?2~Wi92d]=y2H`Y?$BE?@1??&?]?@?ɨ2^?2;2CyB!Ii ,>I < %=%=I-I-F3٢=L= =A=9E}Q E>AA MG٣IyM M> UNusing accuracyPremultiplier from configQ]59U*ԅ?]5YU iUaer?e@UoEUe ;U ;Ua5y }@lEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.60 m.BjKJjK ProNav: ac range: 93.599998 m, nav range: 76.559929 m, bearing: 29.764955 deg, approach rate: -0.394925 m/s, LOS rate: -0.134893 deg/s, cmd heading: 49.167561 deg, new cmd heading: 48.993435 deg. 2j&%HeadingCmd: 0.855097 target range: 93.599998 and range: 93.60 m. j%Z?j!j!j!i!h!h)h)h)f)f1f1rfbf#/@ɛBQ  ?I ﮽ɚ iIO=IeZ?ieݒ-u=-ף-@ ))-@I-@)y-Q@I= I=2٢M)^= U=9UQ U>YY ]G٣]QGy]i ]> Nusing accuracyPremultiplier from config59?5Y i*H>:Dp?@oE;U;fc5 @!ZjDNOT Ignoring new targets: 93.60 m.BjJj ProNav: ac range: 93.599998 m, nav range: 76.333298 m, bearing: 29.689160 deg, approach rate: -0.411351 m/s, LOS rate: -0.137983 deg/s, cmd heading: 48.993435 deg, new cmd heading: 48.765375 deg. 2jd%HeadingCmd: 0.851116 target range: 93.599998 and range: 93.60 m. j-Y?j)j)j)i)h1h1haheBfafifirfibfmd @ɛBJ  P=?I ɚiI㉻=IY?iI C I y"II BI  =&I .I 6I 9<:I G FG}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516019GYByzKBoHK9KKKO>m0w,;pA%?Y%aM?%uʣ9%'=y%H`+?  G٣y8  > =Nusing accuracyPremultiplier from config1u595p셜?u5Y5{ i5yo?@5 oE5z<5Cz<5e5 !@ZjDNOT Ignoring new targets: 93.60 m.BjJj= ProNav: ac range: 93.599998 m, nav range: 76.115479 m, bearing: 29.616348 deg, approach rate: -0.392554 m/s, LOS rate: -0.131597 deg/s, cmd heading: 48.765375 deg, new cmd heading: 48.546316 deg. 2jEEHeadingCmd: 0.847293 target range: 93.599998 and range: 93.60 m. jM3X?jIjIjIiIhIhIhQhQfQfQfYrfYbf] @ɛEBElH IM?II M6YɚIiIIM?=IU3X?iURJ<]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:58:18.6459 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423,-0.00, 1.254,-0.376, 0.205, 0.621, PHS= 0.721,-0.950,-0.419, RAW= 108.1, 8.8, CAL= 117.9, 6.6, ROT= 32.1, -6.6 Ygot valid direction response: 22:58:18.6459 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423,-0.00, 1.254,-0.376, 0.205, 0.621, PHS= 0.721,-0.950,-0.419, RAW= 108.1, 8.8, CAL= 117.9, 6.6, ROT= 32.1, -6.6 PDAT read: Bearing 32.1, -6.6 (Local) ~Local bearing/azimuth received: Bearing 32.1, -6.6 (Local) DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.4 m/s ,DAT read: user:2962> BDAT read: Tx time:22:58:19.7689 $Ping request sent. ]@)]=I]l?i]YY]Q#?Q ʿ4Lw?)]`^TI]ci]e!]#YY5:publishing transmit ping time5Fpublishing direction and range infoY9]/ѿN9إAɿE?yYYYY Y)YIYiYYYYY Y)YIYiYYY]Q#?Q ʿ4Lw?)YIYiYYYYiU)U3X?)Q*F ?2F :F BF% 1JF! I GM D&G B5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:58:19.7681 OE>0w,Ze1A65?Y62 M?6۳96թ=y6H/?` F? B? ?9s?@?୰?ɨ65?6Ҹ;6CynԃBn&"IMb@Mb@Mb@ )YʡE?㥛 ?{Gzt?y>=ף;Q@ b@)@I@y@II٢e= 3=9Q >    G٣ QGy H u> }Nusing accuracyPremultiplier from configq}59u?5Yuw iu>:`t?@u#oEu/;u;ug55B  @iEki?kn k k A:k3BBkBZkw@" _4w9%NO<,2 fۧU@/ѿN9إAɿE?Jke!Rk#*l,?҇2AAME!pTfT@-Cp Bݿ1!lY?"kj**kFk?kh 2kCkk3~ k0BkދBkvu> addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.780110 s, deltaX: -1.500000 m, approachRate: -0.396814 m/s, rangeRepo size: 4  Added new target pos. range: 92.099998 m, bearing: 265.830794 deg, lat: 36.905198 deg, lon: -122.120078 deg, deltaT: 3.780110 s, deltaX: -1.500000 m, approachRate: -0.396814 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 92.10 m.Bj Jj  ProNav: ac range: 92.099998 m, nav range: 69.935272 m, bearing: 19.187241 deg, approach rate: 0.000000 m/s, LOS rate: -0.131597 deg/s, cmd heading: 48.546317 deg, new cmd heading: 48.383743 deg. 2j%HeadingCmd: 0.844456 target range: 92.099998 and range: 92.10 m. j%>.X?j!j!j)i)h)h)h1h5Bf1f1f9rf=`fW@bf=`?ɛeBe im"?Iq u_ɚqiqIu=I}>.X?i}.X?)*F-?2F):F)BF-v4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ|:J:Jـ3JGE ՒG! B) OU >0w, =KA $I$:?Y:L?:3Gǽ9:=y:H+?`t|?7?5?R¿޸?V??ɨ:?:s;: CHfX>Id If"IIf G٣yѹ > Nusing accuracyPremultiplier from config59C?5YNs ii<it?@&oE;Z;Li5 @ZjDNOT Ignoring new targets: 92.10 m.BjJj  ProNav: ac range: 92.099998 m, nav range: 69.790932 m, bearing: 19.102625 deg, approach rate: -0.386581 m/s, LOS rate: -0.227092 deg/s, cmd heading: 48.383742 deg, new cmd heading: 48.129370 deg. 2j HeadingCmd: 0.840016 target range: 92.099998 and range: 92.10 m. jJ W?jjjihhh!h!f!f!f!rf)bf-}?ɛYe es=eu-?Ia e(YɚaiaIm=ImJ W?iuG Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա J0w,eA:(E?Y:$M?:j;ٽ9:=y:H? '욂? ? 5?@8ÿ f??ל?ɨ:(E?:Gq;8yBBBG"IiFa=IFe> J=Ja=-bonly read 0 of 1 data item for BIT error. Device response is::TS,25010814592674,35.0, +10.9,493.3, 0  b@b b@b b@b  b@b IfIf٢n= nN=9rQ r>pp rG٣tyv; v> ~bBottom track data is 0.4 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z?5Yzto iz %=+::$u? @z)oEz^7;zG>zj56B g@gE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 92.10 m.BjUJjUe ProNav: ac range: 92.099998 m, nav range: 69.646027 m, bearing: 19.016719 deg, approach rate: -0.378875 m/s, LOS rate: -0.225081 deg/s, cmd heading: 48.129372 deg, new cmd heading: 47.871120 deg. 2jexmHeadingCmd: 0.835509 target range: 92.099998 and range: 92.10 m. jmU?jijijiiqhqhqhqhyfyffrfbf ?ɛ]B]V Ye0?Ia eDɚaiiIm=IU?i#܏fE0w,#A*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502660:}O?Y:zN?:9:S=y:H?`aC???@:?Lſ1?!? Z?ɨ:}O?:;8yJBJa"IIVIV)٢^4= ^<=9b Q b>`` bG٣bQGyfC< f> nbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59j?r5Yj k ijK=r :pr:r+v?v@j,oEjLC;jjQ?jk5x z@zdEZjDNOT Ignoring new targets: 92.10 m.BjzJjz ProNav: ac range: 92.099998 m, nav range: 69.481476 m, bearing: 18.917784 deg, approach rate: -0.362764 m/s, LOS rate: -0.218625 deg/s, cmd heading: 47.871119 deg, new cmd heading: 47.573615 deg. 2j  HeadingCmd: 0.830316 target range: 92.099998 and range: 92.10 m. jT?jjjihhhhfffArfAbfEF?ɛ& 隕;?I gݧɚiIu}=IT?iAHV>I I"IIeBI =&I.I6I$<:I3 FGR GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754738zK BoHK 9K K K (+(&$""06:7521/+)''%$ !  h0w,eAUK?YPN?OQ9l>yHD?tG? ?P? pƿ@?I?€?ɨUK?I;CyBo"I        Mb@Mb@Mb@ )YL7A`?(\µ?:v?y+?=T<QA @)@I`@y @I I(2٢8= +=9oQ  >   G٣y > Nusing accuracyPremultiplier from config%59?%5Ye i=-T:-?-:-w?-@0oEZ;,;m51 =m@9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006767JJJ1JJ:J :J3JJ;aJ;aJR;aJR;aZj%DNOT Ignoring new targets: 92.10 m.Bj%Jj-5 ProNav: ac range: 92.099998 m, nav range: 69.278938 m, bearing: 18.794332 deg, approach rate: -0.425836 m/s, LOS rate: -0.260318 deg/s, cmd heading: 47.573613 deg, new cmd heading: 47.202179 deg. 2j=2=HeadingCmd: 0.823833 target range: 92.099998 and range: 92.10 m. j=R?jajajaiahahihihmBfifqfqrfqbfum@ɛEi^ AEfA?IA E_ɚIiIIM?˸=IMR?iUEyZH?UJJs?@??ȿ`G#??Xm?ɨZn?ZRn;Xyf)Bf"I)h hhhIlIl٢v= v0=9~Q ~>|| ~G٣yB# >  Nusing accuracyPremultiplier from config 59 )?5Y N` i >v?%@ 4oE |4; 4; p5) -@)ZjQUDNOT Ignoring new targets: 92.10 m.Bj]VJj]Vm ProNav: ac range: 92.099998 m, nav range: 69.082169 m, bearing: 18.673772 deg, approach rate: -0.442051 m/s, LOS rate: -0.271614 deg/s, cmd heading: 47.202181 deg, new cmd heading: 46.839476 deg. 2jmh:}HeadingCmd: 0.817503 target range: 92.099998 and range: 92.10 m. j}GQ?jyjyjyiyhhhhfffrfbf@ɛUBUnh޼ ]|=]N?IY ].礽ɚYiYI]=IeGQ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511054iekIC I#IIBI =&I.I9D6I<:I F*F?2F:FBFQ0JFGux;G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764053zK MK h9K K K   Ml0w,AB?YBCN?B:9BnR >yBHN?@IH? k? ?ȿf?[?)g?ɨB?B;BCyN7BN"IIZIZF٢b"= bN=9bfQ b>dd fG٣fQGyj j> nNusing accuracyPremultiplier from confighM59j3?M5Yj[ ijF>QUv?U@j8oEj ̟0w,fA6?Y6N?6 96' >y6H? gH8Ldm?? ɿp?`?a?ɨ6?6V;6 CyJHBJ"IvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266775=Mb@Mb@Mb@999 9)9Y=kt?EԸ? rh?y= ?===C<=@ =@)=@I=@9y=p@IQIQ٢e)= e?=9m4Q m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy59}>?5Y}V i}v>P?:y?@}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:58:22.2937 LVL= 22752, 32753, 32754, 32755, AGC= 61, IDX= 416,-0.10,-2.262, 2.410, 2.932,-2.992, PHS= 0.818,-0.835,-0.363, RAW= 106.1, 5.2, CAL= 116.7, 2.9, ROT= 33.3, -2.9 Ygot valid direction response: 22:58:22.2937 LVL= 22752, 32753, 32754, 32755, AGC= 61, IDX= 416,-0.10,-2.262, 2.410, 2.932,-2.992, PHS= 0.818,-0.835,-0.363, RAW= 106.1, 5.2, CAL= 116.7, 2.9, ROT= 33.3, -2.9 PDAT read: Bearing 33.3, -2.9 (Local) ~Local bearing/azimuth received: Bearing 33.3, -2.9 (Local)  DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.4 m/s % ,DAT read: user:2963> - BDAT read: Tx time:22:58:23.3689 - $Ping request sent.- *?Y>&M?>9>>y>H?@@}%?`v?Mɿ@? f?@^?ɨ>*?>܉;>C N3$?ILyR_BR"IiV>IV4<I^ I^<2٢/= Q=9A>Q > G٣yƨ %> -Nusing accuracyPremultiplier from config!559%rI?55Y%Q i%4>9=x?=@%?oE%0;%}0;%Qu5Q U@QjHibHm<HuN>Iq IuZ#IIuτBIu =&Iq.Iq6Iug<:Iu] Fkt|?kM~ k kA:kBBkijBZk @" 9sü2HIo.*U@[&f_ʿVj/ſZ1M8?JkgRk*J- .rjDx)|.T@4i7L?"kW#*kkO {?k[ 2kCkz?k[ kCk#Bky@- addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 3.531940 s, deltaX: -1.599998 m, approachRate: -0.453008 m/s, rangeRepo size: 4 = Added new target pos. range: 90.500000 m, bearing: 266.567521 deg, lat: 36.904635 deg, lon: -122.120779 deg, deltaT: 3.531940 s, deltaX: -1.599998 m, approachRate: -0.453008 m/s, posRepo size: 4 Zj9EDNOT Ignoring new targets: 90.50 m.BjeJjau ProNav: ac range: 90.500000 m, nav range: 40.908401 m, bearing: 273.431176 deg, approach rate: 0.000000 m/s, LOS rate: -0.298655 deg/s, cmd heading: 46.166218 deg, new cmd heading: 45.802207 deg. 2jq}HeadingCmd: 0.799399 target range: 90.500000 and range: 90.50 m. j}oL?jyjyjyihhhhfffrfV@bf`?ɛhv E-i?IA MɚIiIIMy=IUoL?iU Will construct direction to contact in vehicle frame from tetrahedron phase data.յ Aiյ AJ J J J J J :J J J J J oN;J oN;,1w,~S$AVL?YVHcM?Vi9V0>yVH?`p@h48??@ɿc?Q? `?ɨVL?V[;VCy^hBb"IUMb@Mb@Mb@QQQ Q)QYUn?Mb?/$?yU?U=U=9/Q > G٣QGyB > Nusing accuracyPremultiplier from config59U? 5YjL i> ? : yu? @CoE>;=;1w58B @[EZjAEDNOT Ignoring new targets: 90.50 m.BjMJjMe ProNav: ac range: 90.500000 m, nav range: 41.103897 m, bearing: 273.214812 deg, approach rate: 0.471567 m/s, LOS rate: -0.519423 deg/s, cmd heading: 45.802207 deg, new cmd heading: 45.156230 deg. 2je<)I? Ih) %Will construct direction to contact in vehicle frame from tetrahedron phase data.EM=*F ?2F :F BF `0JF G 7ͤ<G ?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >Z1w,CA6U?Y6L?6XW!96=y6HK?44?`ȼ?$yȿ@?Wͼ?e?ɨ6U?6;6CyJxBJ"IIRIR(*٢^= ^4=9^ Q ^>`` bG٣`yf۟ f> jNusing accuracyPremultiplier from confighn59jYb?n5YjF ij>lnu?r@jGoEj:jL:j.y5t v@tZjDNOT Ignoring new targets: 90.50 m.BjUJj%U5 ProNav: ac range: 90.500000 m, nav range: 41.311615 m, bearing: 272.987142 deg, approach rate: 0.456427 m/s, LOS rate: -0.497750 deg/s, cmd heading: 45.156228 deg, new cmd heading: 44.476689 deg. 2j5̪=HeadingCmd: 0.776265 target range: 90.500000 and range: 90.50 m. j=HF?j9jAjAiAhAhAhIhIfIfIfrfbf`tG?ɛ=B= s AEu?IA !ɚiI%s=IHF?iiB=)HF?)Ee0= 4$?IHJ>IC I#IIBI! =&I.I8D6I<:Iq F*F?2F:FBF2JFG/<GBOg>mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK :IK +9K K K  +6AEMPNNLKLMI91w,]A-,?Y-(M?-%9-6=y-H ? C;ȝ?ਵ?eȿ?ռ?`?ɨ-,?-;)yލBލ#I) AIIn٢5= =5=9M Q U>aa mG٣iWill construct direction to contact in vehicle frame from tetrahedron phase data.y: > -Nusing accuracyPremultiplier from config!U59%o?U5Y%@ i%a>Q]Lu?]@%LoE%;%U;%E{5a e@aJsK{m3 K{L.KsKs"KsJJJ1JJ:J:J3JJ7;J8;JA;JA;Zj DNOT Ignoring new targets: 90.50 m.Bj) Jj) % ProNav: ac range: 90.500000 m, nav range: 41.530651 m, bearing: 272.750703 deg, approach rate: 0.449972 m/s, LOS rate: -0.483160 deg/s, cmd heading: 44.476689 deg, new cmd heading: 43.771151 deg. 2j%˥MHeadingCmd: 0.763951 target range: 90.500000 and range: 90.50 m. jMFC?jIjIjIiIhQhQhQhQfQfYfYrfYbf]@?ɛL }?I =,ɚiItF=IFC?ii E=)FC?)*E ="E = IE- gW= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF `0JF GN<GqAGpAGiBqO?E1w,P~A6k?Y6L?6m&96}=y6H "?w9?ϩ?`?ȿપ?٢?j`?ɨ6k?6.;6CyBBB#IMb@Mb@Mb@ )YK?(\µ?)) 5G٣5QGy5Y 5> =Nusing accuracyPremultiplier from config9Will construct direction to contact in vehicle frame from tetrahedron phase data.59=~?5Y=: i=??:ep?@=PoE=U<=/<=_}5 @YEB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 90.50 m.Bj5tJj5tE ProNav: ac range: 90.500000 m, nav range: 41.754044 m, bearing: 272.503370 deg, approach rate: 0.452367 m/s, LOS rate: -0.498167 deg/s, cmd heading: 43.771151 deg, new cmd heading: 43.033163 deg. 2jE񪼝MHeadingCmd: 0.751070 target range: 90.500000 and range: 90.50 m. jM&F@?jIjIjIiQhQhQhQh]%Bfafafarfibfm`9T@ɛ8S 隕^?I ,ɚiI=I&F@?iiqn=)&F@?)EE*E"E qIyZHRHAAHG>IC I#II+BI&I.I6IE<:I= FBIUǢCJIUǢCRIUǔCZIU =bIU =jIUǬ 6*F?2F:FBFn0JFG ,=] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.G B O >%1w,OA6"K?Y6L?6&964=y6H?S6@1 ?`?ȿ? P@?a?ɨ6"K?6Z";6CzK>JyMK> 9K<K>K>C?:832))(%" $&$#" ".!<t`M;-$ yJBJ+#IIRIR0٢Z%= Zf=9Z6Q Z>\\ ^G٣\ybI b> fNusing accuracyPremultiplier from configdj59f?j5Yf#6 if?hnHp?n@fToEf;f` ;f~5p r@pZj  DNOT Ignoring new targets: 90.50 m.BjJj% ProNav: ac range: 90.500000 m, nav range: 41.919224 m, bearing: 272.322560 deg, approach rate: 0.496805 m/s, LOS rate: -0.541669 deg/s, cmd heading: 43.033163 deg, new cmd heading: 42.492888 deg. 2j%߹-HeadingCmd: 0.741641 target range: 90.500000 and range: 90.50 m. j-,=?j)j1j1i1h1h1h9h9f9f9fArfAbfE@ɛ B =;  ?I  jɚiID=I=,=?i9i=?Ѕ=)=,=?)A*F?2F:FBFq4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504177G@A=GB OE > } 5$?I +1w,A 6?Y6L?6d%96?=y6H?$ \$? ?)^ȿ?` }?`be?ɨ6?6;6!Cy>B>3#I N=Np=Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755403uMb@Mb@Mb@qqq q)qYuQ?~jt? G٣yܻ > Nusing accuracyPremultiplier from config59?5Y0 i?b?:k?@XoE;;Ҁ59B @VEZjDNOT Ignoring new targets: 90.50 m.BjJj ProNav: ac range: 90.500000 m, nav range: 42.122047 m, bearing: 272.094986 deg, approach rate: 0.466211 m/s, LOS rate: -0.520583 deg/s, cmd heading: 42.492888 deg, new cmd heading: 41.813486 deg. 2jHeadingCmd: 0.729783 target range: 90.500000 and range: 90.50 m. j%:?j!j!j!i!h!h)h1h5Bf1f9f9rf9bf=w@ɛaex im)?Ii miٕɚiiiIu=I5:?i9i==)=:?)9*F?2F:FBFQ0JFGl=G?G4?GYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:58:25.8913 TRx dataTimestamp_ set to:1736377107.068894checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007946J5 J5 J5 0J1 J5 l:J5 :J5 ـ3J1 a= @a= @a= @a= @ a Ia 21w,A2?Y2|J?2>$92Z=y2H+?  좿@??ǿ]q?m?j?ɨ2?24;2CyBBB@#IHJBAININb٢R`f= VZ=9VC;Q V>XX ZG٣ZQGy^2 ^> bNusing accuracyPremultiplier from config`f59b?H5A>I1 I5#II5SBI5# =&I1.I57D6I5t<:I5Z FM5Yb+ ib&?IMj?M@b\oEb” Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513120R81w,A%R?Y%N}I?%!9%=y%HN?@;Z a??@!<ǿ n&?F?Qq?ɨ%R?%_;!y=DŽB=P#I%Mb@Mb@Mb@!!! !)!Y%$C?v/?{Gzt?y%?%xi=%ף;%C@ %/@)%@I%@!y%@IMIMb1٢e_= e2=9u;Q u>yy }G٣yzO > Nusing accuracyPremultiplier from config59Z?5YM& i3??:a?@`oE\};*b;y5 6@PE 6$?IhZjDNOT Ignoring new targets: 90.50 m.BjYJjY ProNav: ac range: 90.500000 m, nav range: 42.503548 m, bearing: 271.654493 deg, approach rate: 0.442652 m/s, LOS rate: -0.522280 deg/s, cmd heading: 41.231325 deg, new cmd heading: 40.498071 deg. 2j7HeadingCmd: 0.706825 target range: 90.500000 and range: 90.50 m. jv4?jjjihhhhۂBffAfArfAbfMx @ɛB% ?I -ݑɚ)i)I-ñ=I5v4?i1i5=)=v4?)y-NGIq /$YyB=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:58:25.8913 LVL= 20544, 32145, 26034, 32755, AGC= 60, IDX= 423,-0.03,-1.717, 2.938,-2.882,-2.469, PHS= 0.840,-0.828,-0.415, RAW= 103.8, 5.4, CAL= 114.1, 3.4, ROT= 35.9, -3.4 }Ygot valid direction response: 22:58:25.8913 LVL= 20544, 32145, 26034, 32755, AGC= 60, IDX= 423,-0.03,-1.717, 2.938,-2.882,-2.469, PHS= 0.840,-0.828,-0.415, RAW= 103.8, 5.4, CAL= 114.1, 3.4, ROT= 35.9, -3.4 PDAT read: Bearing 35.9, -3.4 (Local) ~Local bearing/azimuth received: Bearing 35.9, -3.4 (Local) DAT read: Range 10 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.3 m/s ,DAT read: user:2964> BDAT read: Tx time:22:58:27.0189 $Ping request sent.G!?1w,uA6?Y6G?6-96m=y6H`{?@8?V? Tƿ?[? y?ɨ6?6;4y^фB^\#II=I=<٢UT= }^=9};Q }> G٣yY > Nusing accuracyPremultiplier from config59B?5Y! i>IEC IE"$IIErBIE% =&IA.IA6IEu<:IEX FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E F1w,NA65< ?Y61E?6196PA=y6H@?CUE??qſ?s? ?ɨ65< ?6_;6CyRׄBRe#IIvIvnzK~RIK~ 9K|K~K~vT*mBh76Ej>x]A!zpf\TL٢ = O=9N;Q > G٣QGy%Ֆ %> -Nusing accuracyPremultiplier from config)559-Ȇ?55Y-, i-G?15]?=@-goE- ;- ;-̇5E~B Ej@AeB*** querying acoustic contact ***jajaZjiuDNOT Ignoring new targets: 88.60 m.BjuvJjuv ProNav: ac range: 88.599998 m, nav range: 43.015320 m, bearing: 264.714592 deg, approach rate: 0.532860 m/s, LOS rate: -0.498206 deg/s, cmd heading: 39.905988 deg, new cmd heading: 39.371376 deg. 2jHeadingCmd: 0.687160 target range: 88.599998 and range: 88.60 m. j/?jjjihhhhfffrfbf@ I2L1w,*3A6r ?Y6B?6|96(q=y6H`?`BJ@`??@Ŀ@zP?]?y?ɨ6r ?6V@;4yBBBt#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991911Mb@Mb@Mb@ )Y㥛 ?Mb?Mby?=@ )M@I@y\@IIm٢m= >=9;Q > G٣yϼ > Nusing accuracyPremultiplier from config59Y׆?5Y` i'P? ? : SQ? @koEP';e&;5B @NEZjAEDNOT Ignoring new targets: 88.60 m.BjMJjM] ProNav: ac range: 88.599998 m, nav range: 43.212585 m, bearing: 264.511517 deg, approach rate: 0.457173 m/s, LOS rate: -0.468489 deg/s, cmd heading: 39.371376 deg, new cmd heading: 38.764953 deg. 2je eHeadingCmd: 0.676576 target range: 88.599998 and range: 88.60 m. je4-?jijijiiihihihqh}Bfyfyfyrfybf?ɛUBUj< Y][?IY ]jɚYiYI]=Ie4-?iaim=)m4-?)*Fu?2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244530Ju Ju Ju 1Jq Ju :Ju :Ju 3Jq G =G ?G ?G B O > 7$?I S1w,MA2%?Y2@?2Z92=y2H?% ߂?G?@ÿ? ι? ֎?ɨ2%?2|;2CyRBR#IiV=IV+?IZIZ٢b^;= b_=9f;Q f>dd fG٣dyjȼ j>Hr:>Ip Ir;$IIrBIp&Ip.Ip6Irm<:IrO F Nusing accuracyPremultiplier from config 59㆜? 5YE iW? O?@ooE*:n:N5  @ZjAEDNOT Ignoring new targets: 88.60 m.BjM JjM  ProNav: ac range: 88.599998 m, nav range: 43.382217 m, bearing: 264.335549 deg, approach rate: 0.457029 m/s, LOS rate: -0.472246 deg/s, cmd heading: 38.764954 deg, new cmd heading: 38.239129 deg. 2j HeadingCmd: 0.667399 target range: 88.599998 and range: 88.60 m. j*?jjjihh h h f ff1rf1bf55?ɛBv< 隵=?I iɚiI=I*?ii=)*?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497284zK58PK1K1K5K5E=820/'#" EY=*Fm ?2Fi :Fi BFu o0JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750426G = IGBO>#Z1w,ZlA:"?Y:ޞ:?:9:}=y:Hġ?Y{@a ??@?@i? ?ɨ:"?:;:CyBBB#IMb@Mb@Mb@ )Y/$?~jt? rhy&?<CK@ @)7@IC@y@I5 I52٢Ec< E!=9EII MG٣UQGyU> U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]`?mL?m:mC?@]soE]F<]"<]~5 @HEZj9=DNOT Ignoring new targets: 88.60 m.BjeJjmu ProNav: ac range: 88.599998 m, nav range: 43.597317 m, bearing: 264.094258 deg, approach rate: 0.412756 m/s, LOS rate: -0.460728 deg/s, cmd heading: 38.239128 deg, new cmd heading: 37.518869 deg. 2j}}HeadingCmd: 0.654828 target range: 88.599998 and range: 88.60 m. j}ˢ'?jjjihhhhBfffrfbf@nM?ɛBM0; IMՖ?II U_,ɚQiQIUM=I]ˢ'?iYi]U =)]ˢ'?)aE=-|,=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999978*F?2F:FBFO1JFGy GQ Ba O} >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251924;a1w,yAJ>J>J>0J<J>̝:J>:J>ـ3JYNs7?N|; 9Nk=yNH? , r? ?@@Y?1??ɨN>Nӈ;NCyZBZ#IIbIb٢nF= nO=9n\=pp rG٣pyr v> zNusing accuracyPremultiplier from configx~59z?~5Yz  iz>f?@?@zwoEz4;z$5;z75 @Zj9=DNOT Ignoring new targets: 88.60 m.BjEJjEU ProNav: ac range: 88.599998 m, nav range: 43.765549 m, bearing: 263.903020 deg, approach rate: 0.448120 m/s, LOS rate: -0.507443 deg/s, cmd heading: 37.518868 deg, new cmd heading: 36.947378 deg. 2jU ]HeadingCmd: 0.644853 target range: 88.599998 and range: 88.60 m. j]%?jYjYjYiahahahahafififqrfqbfu@ɛB%< !%?I! MKɚIiIIMR=IU%?iQiUؘ=)U%?)QEYEY*Ea"Ea 8$?IZH!RH%?AH-7>I-C I-T$II-BI-& =&I).I-6D6I-d<:I-F FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504079*F?2F:FBFJFGe9=G9 BI Oe >zK KMK h9K K K 22 ՞g1w,bA2,>Y2h4?2192&e=y2Hp'?O.9$?,?M@?^??ɨ2,>2 Ή;0ybBb#I)h hI I2٢<  ;=9*IQ uG٣yyX̼ >Will construct direction to contact in vehicle frame from tetrahedron phase data. i Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760550 5Nusing accuracyPremultiplier from config559?55Yx i,m?9==?=@{oE*<:=5EB E@EEEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 88.60 m.BjJjM] ProNav: ac range: 88.599998 m, nav range: 43.961506 m, bearing: 263.677720 deg, approach rate: 0.402373 m/s, LOS rate: -0.460560 deg/s, cmd heading: 36.947379 deg, new cmd heading: 36.274526 deg. 2j] eHeadingCmd: 0.633110 target range: 88.599998 and range: 88.60 m. je~"?jajjihhhhfffrfbf`է@ IhɛB@9< 隵?I rɚiIQ"=I~"?ii=)~"?)EE*F]?2FY:FYBF]P5JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:58:29.5396  TRx dataTimestamp_ set to:1736377110.848659 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008956G h=GY Bi O >m1w,+2A6>Y6;y1?696@a=y6H`j?Ж 6;6CyBBB#IMb@Mb@Mb@ )Y rh?~jtx~jtyC ?Ļ@ @)@I@y@I-I-٢=$= =T=9ERQQ UG٣UQGy]k ]> eNusing accuracyPremultiplier from configa59e? 5Ye8 ieq? [ ? : #/? @e~oEemI9  I= m$II= BI= ' =&I= HD.I9 6I= <:I= i FBIɟCJIɟCRIɓCZI% =G B O >bI% =jI5t1w,A>:>Y>l.?>(A9>%a=y>H`_?N&s?`]?{w??@?ɨ>:>>;>CyF(BJ#IIRIR3٢^Ԁ= ^T=9bJK`d fG٣dyfh f> nNusing accuracyPremultiplier from confighr59j{-?r5Yj ijXv?prC,?r@joEjw;j;j}5x z@xZjDNOT Ignoring new targets: 88.60 m.Bj%HJj%H5 ProNav: ac range: 88.599998 m, nav range: 44.248653 m, bearing: 263.309513 deg, approach rate: 0.416851 m/s, LOS rate: -0.536039 deg/s, cmd heading: 35.743370 deg, new cmd heading: 35.173532 deg. EWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:58:29.5395 LVL= 16272, 32753, 25650, 32755, AGC= 59, IDX= 421, 0.16,-0.402,-2.075,-1.755,-1.233, PHS= 0.919,-0.796,-0.525, RAW= 98.4, 5.1, CAL= 108.1, 3.5, ROT= 41.9, -3.5 Ygot valid direction response: 22:58:29.5395 LVL= 16272, 32753, 25650, 32755, AGC= 59, IDX= 421, 0.16,-0.402,-2.075,-1.755,-1.233, PHS= 0.919,-0.796,-0.525, RAW= 98.4, 5.1, CAL= 108.1, 3.5, ROT= 41.9, -3.5 PDAT read: Bearing 41.9, -3.5 (Local) ~Local bearing/azimuth received: Bearing 41.9, -3.5 (Local) DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed 0.3 m/s ,DAT read: user:2965> BDAT read: Tx time:22:58:30.6689 $Ping request sent. I %z1w,A V!>YV +?VU9V!`=yVHi?@E?? Nٽ?@ͫ?@?ɨV!>V ;VCyr7Br#IMb@Mb@Mb@ )Y"~j?~jt~jtyS?r@ @)@IK@y3@I-I-(٢H|= .=9`) G٣y > Nusing accuracyPremultiplier from config59=?5Y  i"{??:"?@oE; ;5B @BEku@?kuM kq kuA:kuBBkufBZku@"ut$0;L/r i| "eU@uxqZȿTI*Y^?Jku;=Rku㜯*u2j50z[_6xT@u[,0ǿ~NJп6zR?"ku*kuku4灜?kuQ 2kuUCku?kqkuCku2BkuSđ@ addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.527683 s, deltaX: -1.299995 m, approachRate: -0.368513 m/s, rangeRepo size: 4  Added new target pos. range: 87.300003 m, bearing: 234.463227 deg, lat: 36.904576 deg, lon: -122.120779 deg, deltaT: 3.527683 s, deltaX: -1.299995 m, approachRate: -0.368513 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 87.30 m.BjJj ProNav: ac range: 87.300003 m, nav range: 44.640133 m, bearing: 260.994621 deg, approach rate: 0.000000 m/s, LOS rate: -0.536039 deg/s, cmd heading: 35.173531 deg, new cmd heading: 34.386118 deg. 2j)-HeadingCmd: 0.600151 target range: 87.300003 and range: 87.30 m. j-?j1j1j1i1h1h1h9h=PBf9f9fArfAbfE?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛBؒ< 隵t?I V {ɚiIn==I?iiҘ=)?)E-a>E)*F?2F:FBFJFG =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai Aҁ1w,A6z>Y6u9)?6Z96{=y6H`?`U?)?R?@!`8???8?ɨ6z>6;6CyBEBB#IIJIJ%x٢R= Vs=9Va3I I$IIÅBI&I.I6I<:IX F*F 2F :FBF0JFG=GBOG>}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] OK] +9KY K] K] `;*$"   RKm ?JKm >1w,!A2)>Y2%?2ݽ92s=y2H`[?s@]5?@wV?μȦ?G??ɨ2)>2;;0yBUBB#IIJIJ٢m?= u>=9$< G٣y >  Nusing accuracyPremultiplier from config=59@Y?M5Y i8?q}?}@oE</<5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.@EJuJuJu0JqJu:JuU:Juـ3JqJu<Ju<Jue;Jue;mB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.30 m.Bj6Jj6󻝊 ProNav: ac range: 87.300003 m, nav range: 44.921818 m, bearing: 260.629848 deg, approach rate: 0.327302 m/s, LOS rate: -0.425268 deg/s, cmd heading: 33.917483 deg, new cmd heading: 33.295339 deg. 2j푼HeadingCmd: 0.581113 target range: 87.300003 and range: 87.30 m. j?jjjihhh!h!f!fQfQrfYbf]?ɛB I ḫ< ׮?I qɚiI P=IE?iAiE/=)E?)I*F?2F:FBFo0JF) -GE|uA]A  Y|uAyOB Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G n=G BA O >u@1w,;AZX>YZK"?ZLԽ9Z'n=yZHѝ?U8憎?͘? Ĵ? ǣ??ɨZX>Z߉;ZCyfmBf$I)h hMb@Mb@Mb@ )YMbX9?~jt rhy?C\@ M@)I@y@II٢d= C=9- G٣y > Nusing accuracyPremultiplier from config59zg?5Y i??:?@oE;;5 ?@ZjDNOT Ignoring new targets: 87.30 m.Bj%<Jj%<5 ProNav: ac range: 87.300003 m, nav range: 45.063473 m, bearing: 260.441967 deg, approach rate: 0.392078 m/s, LOS rate: -0.518389 deg/s, cmd heading: 33.295338 deg, new cmd heading: 32.733486 deg. 2j5ⱼ=HeadingCmd: 0.571307 target range: 87.300003 and range: 87.30 m. j=/A?j9j9j9i9hAhAhAhMcBfIfIfIrfIbfU`?ɛy}ޣN= y}?I XnɚiIJy=I/A?iiy=)/A?)EA*F?2F:FBF_5JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760252GqByO\> ;$?IH 1>I C I $II ݅BI &I .I 6I <:I s F{1w,xUA6?>Y6F?6$Ƚ96i=y6H-?@?`?@h c???ɨ6?>6;6CyF{BF.$IIRIRb1٢Z= Z^=9Z\\ ^G٣bQGyb b> fNusing accuracyPremultiplier from configdj59ft?j5Yf' if~?hn.?n@foEf2 ;f ;fS5rB rn@r=EZjDNOT Ignoring new targets: 87.30 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007231Bj-Jj-E ProNav: ac range: 87.300003 m, nav range: 45.191368 m, bearing: 260.269390 deg, approach rate: 0.347265 m/s, LOS rate: -0.467258 deg/s, cmd heading: 32.733487 deg, new cmd heading: 32.217237 deg. 2jEV]HeadingCmd: 0.562297 target range: 87.300003 and range: 87.30 m. j]?jajajaiahahahhfffrfbfC@ɛ7>= E?I iɚiI铞=I?ii=)?)*F?2F:FBF\0JFzKEMKEs9KAKEKEBKI:KMrAG= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267861GQ J J J 1J J ̝:J 9J 3J J ;J ;J 8;J 8;B O- > I VH1w,RoAyBD$IMb@Mb@Mb@ )Yx&1?y&1~jty?`eD@ @)@I@y@II٢= :=9Q >)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=v?E5Y= i=?M?M:M?M@=oE=r;=;=K5Q UI@]:EZjDNOT Ignoring new targets: 87.30 m.BjJj ProNav: ac range: 87.300003 m, nav range: 45.349522 m, bearing: 260.061923 deg, approach rate: 0.350715 m/s, LOS rate: -0.458465 deg/s, cmd heading: 32.217237 deg, new cmd heading: 31.597032 deg. 2jRHeadingCmd: 0.551472 target range: 87.300003 and range: 87.30 m. jI- ?jjjihhhhUBfffrfbf@ɛ.= ?I TdɚiI吝=II- ?ii$=)I- ?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516273*Fm?2Fi:FiBFuP0JFqGe_̈=G!B)OMR> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.76704801w,^0A6>Y6I?6m96 g=y6HT?`R#g@?AM?熸 ]f?/??ɨ6>6 U;6CyNBRg$IIVIV̍٢f> f\=9fThh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rY?v5Yr0 ir?tv?z@roErU:r:rޠ5| ~@~7EZj!%DNOT Ignoring new targets: 87.30 m.Bj-Jj-E ProNav: ac range: 87.300003 m, nav range: 45.473171 m, bearing: 259.893577 deg, approach rate: 0.344326 m/s, LOS rate: -0.467519 deg/s, cmd heading: 31.597032 deg, new cmd heading: 31.093379 deg. 2jEmMHeadingCmd: 0.542682 target range: 87.300003 and range: 87.30 m. jM2 ?jIjIjQiQhQhQ e=$?Iahhfffrfbf @ɛamz]= im?Ii mw_ɚiI?=I2 ?iiv=)2 ?)EEZHQRHU@AHaIa Ie$IIeBIe( =&Ia.Ia6Iey<:IeP F*FM?2FI:FIBFU_0JFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.e>amBDAT read: Rx Time:22:58:33.1877 mTRx dataTimestamp_ set to:1736377114.385952mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021529G5XH=G) B9 OU >zK >`JK 9K K K  [Z1w,A>6>Y>n?>멽9>WBi=y>H?`?#?~?෿:7? ??ɨ>6>>a;>!CyVBV$IIvIv(1٢.= ==9- G٣QGyEX¼ M> Nusing accuracyPremultiplier from configi5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2750309m?5Ym im‰?? @JUJUJU0JQJU\:JU9JUـ3JQJUi;JUk;JU$7;JU%7;moEm=m=mڢ5 %@B*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 87.30 m. QIQBjU$JjU$򻝊 ProNav: ac range: 87.300003 m, nav range: 45.627972 m, bearing: 259.680413 deg, approach rate: 0.308518 m/s, LOS rate: -0.423395 deg/s, cmd heading: 31.093378 deg, new cmd heading: 30.456083 deg. 2jIHeadingCmd: 0.531559 target range: 87.300003 and range: 87.30 m. j ??j j j i h h hhfffrfbf @ɛ:9= 隍z?I XɚiI=I??ii=)??)*FU?2FY:FYBF][0JFYu Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:58:33.1877 LVL= 13168, 25425, 19410, 27203, AGC= 59, IDX= 418, 0.18, 1.196,-0.564,-0.364, 0.202, PHS= 1.082,-0.719,-0.568, RAW= 94.3, 2.4, CAL= 103.0, 0.1, ROT= 47.0, -0.1  Ygot valid direction response: 22:58:33.1877 LVL= 13168, 25425, 19410, 27203, AGC= 59, IDX= 418, 0.18, 1.196,-0.564,-0.364, 0.202, PHS= 1.082,-0.719,-0.568, RAW= 94.3, 2.4, CAL= 103.0, 0.1, ROT= 47.0, -0.1  PDAT read: Bearing 47.0, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 47.0, -0.1 (Local)  DAT read: Range 10 to 50 : 85.9 m (Round-trip 114.6 ms) speed 0.4 m/s  ,DAT read: user:2966>  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.137541,0.034669,0.989889] Fpublishing direction and range infoq 9u 5c2*?,?yu ̫Bq u p3u Qc u K)u CjIq iu ~?u b8u shu ?u += u ?)u :Iu ~Q?iu q q u }KBB?oۿ@1 m?)u ZIu u+iu JB9@u 9ضq q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G= x=G B! O= >1w,&ȾAF>YFr?F-9Fym=yFH?o zo?F?^g ^ ?\??ɨF>F;F CyrЅBr$I-Mb@Mb@Mb@))) )))Y-T㥛 ?~jth?yy G٣y嶼 > Nusing accuracyPremultiplier from config59[?5Y i? ?:?@oEH;;ɤ5B 4@4EkϚ?k k kMA:k̫BBkBZkt@"kY%'E| @BU@5c2*?,?JkJB9@Rk9ض* K,Ju'J8$T@*קrsſfv%wz*H P>?"k;*kTfk D?k$ 2kCkԃ?k? kkBk4@ addTargetRange:: Added new target pos. range: 85.900002 m, deltaT: 3.537244 s, deltaX: -1.400002 m, approachRate: -0.395789 m/s, rangeRepo size: 4  Added new target pos. range: 85.900002 m, bearing: 219.171110 deg, lat: 36.904546 deg, lon: -122.120701 deg, deltaT: 3.537244 s, deltaX: -1.400002 m, approachRate: -0.395789 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 85.90 m.BjJj!E ProNav: ac range: 85.900002 m, nav range: 39.766041 m, bearing: 252.829155 deg, approach rate: 0.000000 m/s, LOS rate: -0.423395 deg/s, cmd heading: 30.456083 deg, new cmd heading: 29.928041 deg. 2jIMHeadingCmd: 0.522343 target range: 85.900002 and range: 85.90 m. jMC?jQjQjQiQhQhQhyh}oBfffrfyU@bfՔ?ɛƓp= v?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:58:34.3190 $Ping request sent.$?Ia*F?2F:FBF_0JFHiIi Im %IIm.BIm' =&Ii.Ii6Im<:Ima FG =G B O >ܵ1w,ĕAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251144:Iu>Y:?:#39:pr=y:H@_?U@6@2??h?D?`?ɨ:Iu>:_;:"Cy^B^$I`bAIfIf٢n5> ri=9rLpt vG٣tyvӼ v> }Nusing accuracyPremultiplier from configy59}F?5Y} i}֌??@}oE}B2;}B2;}_5 7@ZjDNOT Ignoring new targets: 85.90 m.Bj ]Jj ]% ProNav: ac range: 85.900002 m, nav range: 39.906620 m, bearing: 252.661107 deg, approach rate: 0.400334 m/s, LOS rate: -0.476871 deg/s, cmd heading: 29.928041 deg, new cmd heading: 29.425687 deg. 2j%-HeadingCmd: 0.513575 target range: 85.900002 and range: 85.90 m. j-y?j)jjihhhhfffrfbf ޏ?ɛ= 隕t?I NɚiIOЙ=Iy?iiʒ}=)y?)Ei>E>zKezKK9KKK]PExceeded connect timeout, disconnecting.*F}?2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506623 a Ii G x}=G B O >1w,eA2|D>Y2:?2/92V=y2H,? `?G?L1ց?ª?`V?ɨ2|D>2䪉;2Cy>B>$I5Mb@Mb@Mb@111 1)1Y5Mb?y&1?~jtxy5?5`<5Ļ5@ 5@)5@I5@1y5@IMIMb٢]= ]C=9e;Q e>aa mG٣m QGyu u> }Nusing accuracyPremultiplier from configy59}|̇?5Y} i}?F?:?@}oE}{;};}"5 D@ZjDNOT Ignoring new targets: 85.90 m.BjBJjB ProNav: ac range: 85.900002 m, nav range: 40.071102 m, bearing: 252.481832 deg, approach rate: 0.416435 m/s, LOS rate: -0.452022 deg/s, cmd heading: 29.425688 deg, new cmd heading: 28.890088 deg. 2jHeadingCmd: 0.504227 target range: 85.900002 and range: 85.90 m. j?jjjihhhhBfffrfbfL?ɛ)-= )-P?I) 5Iɚ1i1Ic=I?ii(]=)?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756082*F5?2F1:F1BF50JF1GIGU ?GU$?G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007133J J J J J :J 9J J a @a @a @a @ ] ?$?IY 1w,Z AB>YBO?B>39Bh=yBH,? `?o?悱?` ??ɨB>B;@yvBz$IIId٢= N=9O! G٣y%S %> -Nusing accuracyPremultiplier from config)559-oڇ?55Y- i-?1=x?=@-oE-X ;-;-ܩ5MB M)@M2EZjquDNOT Ignoring new targets: 85.90 m.Bj}Jj} ProNav: ac range: 85.900002 m, nav range: 40.231758 m, bearing: 252.306718 deg, approach rate: 0.405528 m/s, LOS rate: -0.440259 deg/s, cmd heading: 28.890088 deg, new cmd heading: 28.366857 deg. 2jHeadingCmd: 0.495095 target range: 85.900002 and range: 85.90 m. j}>jjjihhhhfffrfbf?jH <bH 4<H/>I IB%II\BI&I.I6I<:IBICJICRIZI' =bI' =jI]\4ɛ]B]= ae?Ia euCɚiI=I}>iiXi=)}>)*F%?2F!:F!BF%P5JF!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259854GE=G B) OE >zK BoJK 9K K K  U nManaging dock network, ignoring radio surface power off1w,&AB>YBH ?BΆ9B-u=yBH?6???@'?eصְ???ɨB>BK;BCyN.BN %IiR=IR< V=V=I I ۳٢M > UH=Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5164079;Q %>1Y eG٣ayC > Nusing accuracyPremultiplier from config I59ꇜ?5Y` iˑ??@oE;<ݫ51 5b@1}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 85.90 m.BjJj ProNav: ac range: 85.900002 m, nav range: 40.418198 m, bearing: 252.103531 deg, approach rate: 0.396461 m/s, LOS rate: -0.430080 deg/s, cmd heading: 28.366858 deg, new cmd heading: 27.760133 deg. 2jHeadingCmd: 0.484506 target range: 85.900002 and range: 85.90 m. j">jjjihh1h9h9fAfYfYrfabf?ɛ b= >?I ~<ɚiI=I">ii=)">) E*F2F:FBF_5JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763253G =G B O > 1w,.@Ay~>B~%IMb@Mb@Mb@ )YL7A`? G٣!QGy > Nusing accuracyPremultiplier from config59/?5Y` i?{?:c?@oE;y;}5B d@/EZj)5DNOT Ignoring new targets: 85.90 m.Bj5Jj5E ProNav: ac range: 85.900002 m, nav range: 40.575829 m, bearing: 251.938075 deg, approach rate: 0.437768 m/s, LOS rate: -0.457712 deg/s, cmd heading: 27.760133 deg, new cmd heading: 27.265708 deg. 2jEMHeadingCmd: 0.475876 target range: 85.900002 and range: 85.90 m. jU>jQjQjQiQhQhQhYh]BfYfYfarfabfe@ɛB= =隕y?I `7ɚiI=I>ii֠=)>)*F%?2F):F)BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016410G=GqAG*JA"JEa=JK KKK"KJUJUJQJQJU̝:JU9JQJQ @$?IG BO-O>H.>I I%IIBI( =&I.I6I<:IQ Fo(1w, YAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267213:̠>Y:?:-h9:Ij=y:H-}?w_ @G? k?@O?@#?`m?ɨ:̠>:9;:CybRBb6%IIjIjT٢r{= rZ=9vxx zG٣xy~- ~> Nusing accuracyPremultiplier from config 59? 5Yj i?N?@oE:U:!5 +@!ZjAMDNOT Ignoring new targets: 85.90 m.BjMJjMe ProNav: ac range: 85.900002 m, nav range: 40.733437 m, bearing: 251.768758 deg, approach rate: 0.420945 m/s, LOS rate: -0.450469 deg/s, cmd heading: 27.265707 deg, new cmd heading: 26.759733 deg. 2jemHeadingCmd: 0.467045 target range: 85.900002 and range: 85.90 m. jm >jijijqiqhqhQhQhQfYfYfYrfYbfe`m@ɛ߯= s?I 1ɚiI.=I >iix=) >)zK5JK1K1K5K5*FM?2FI:FIBFMZ0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522729  I hG =G B O > vA% AQ1w,usA 2Y2vAy2B6 >Y6?6TZ96r=y6H6?#;K`p ?@?s P?~e?}?ɨ6 >6;6 CyB[BBA%I)D DHJAmMb@Mb@Mb@iii i)iYm?)\(?Mb`ym ?mGa=mi m@)m@Im@iym@I} I}<2٢!= @=9 G٣y > Nusing accuracyPremultiplier from config59?5Y iƖ? ?:L ?@oE;%;5 @)EZjDNOT Ignoring new targets: 85.90 m.BjJj ProNav: ac range: 85.900002 m, nav range: 40.923489 m, bearing: 251.576437 deg, approach rate: 0.447163 m/s, LOS rate: -0.450398 deg/s, cmd heading: 26.759733 deg, new cmd heading: 26.185473 deg. 2j HeadingCmd: 0.457023 target range: 85.900002 and range: 85.90 m. j >j jjihhhhBfff!rf!bf%@ɛIM,= QU?IQ ]+ɚYiYI],=Ie>iaie=)e>)iEqAEsA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771223*F?2F:FBF_0JFGx=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:58:36.8360  TRx dataTimestamp_ set to:1736377118.164698 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024285Ji Jm Ji Ji Ji Jm 9Ji Ji A$?I I:1w,Ay~nB~X%III(٢= %R=9%Q %>)) -G٣-"QGy5 5> ENusing accuracyPremultiplier from configAM59E$?M5YEw iER?IIM@EoEE:E":E5Y ]x@YZjDNOT Ignoring new targets: 85.90 m.BjJj ProNav: ac range: 85.900002 m, nav range: 41.098934 m, bearing: 251.400879 deg, approach rate: 0.448602 m/s, LOS rate: -0.446974 deg/s, cmd heading: 26.185473 deg, new cmd heading: 25.661061 deg. 2j`HeadingCmd: 0.447870 target range: 85.900002 and range: 85.90 m. j8O>jjjihhHI I%IIBI&I.I6Ir<:IG Fhhfffrfbf @ɛ  =  p?I  I%ɚiI,7=I8O>ii=)%8O>)!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276234E}S,=*F-?2F1:F1BF1JF1zK K +9K K K  RK >JK ?G =G Will construct direction to contact in vehicle frame from tetrahedron phase data.JiJmAAB IDAT read: 22:58:36.8360 LVL= 13344, 24353, 18674, 28275, AGC= 54, IDX= 416, 0.04, 2.769, 1.014, 1.010, 1.638, PHS= 1.218,-0.578,-0.631, RAW= 88.5, -0.1, CAL= 95.9, -4.5, ROT= 54.1, 4.5 Ygot valid direction response: 22:58:36.8360 LVL= 13344, 24353, 18674, 28275, AGC= 54, IDX= 416, 0.04, 2.769, 1.014, 1.010, 1.638, PHS= 1.218,-0.578,-0.631, RAW= 88.5, -0.1, CAL= 95.9, -4.5, ROT= 54.1, 4.5 PDAT read: Bearing 54.1, 4.5 (Local) ~Local bearing/azimuth received: Bearing 54.1, 4.5 (Local) O?11w,ADAT read: Range 10 to 50 : 84.6 m (Round-trip 112.8 ms) speed 0.2 m/s ",DAT read: user:2967> "BDAT read: Tx time:22:58:37.9190 &$Ping request sent.&?)ڝ|٠Iڝq?iڝ|٠=ڙڙ۝3|M?1KO+*\)۝| I۝|:i۝à@۝} ۙۙE:publishing transmit ping time$EFpublishing direction and range infoؙ9؝ آo{r?9lٜ?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝3|M?1KO+*\)ۙIۙiۙۙۙۙ5c>Y5X>5s395=y5H? ޿c??f x? ? $?ɨ5c>5;5CyBq%IMMb@Mb@Mb@III I)IYMCl?A`"?yM?MY=MMz@ Ml@)Ml@IMz@IyM@II1٢w= <9o19 =G٣9y=( E> MNusing accuracyPremultiplier from configAu59Eo>?u5YE  iE?u?u:u?u@EoEE=;E;E5B C@'EWill construct direction to contact in vehicle frame from tetrahedron phase data.kKJ?kr  k kA:k3BBk BZk H@"2"1]+w}e&@CT@ آo{r?9lٜ?Jkà@Rk} *dC50(L2]?*kAkcIC?k  2kCkkQ kUCkmAk}@= addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.780789 s, deltaX: -1.300003 m, approachRate: -0.343844 m/s, rangeRepo size: 4 m Added new target pos. range: 84.599998 m, bearing: 179.098238 deg, lat: 36.904546 deg, lon: -122.120539 deg, deltaT: 3.780789 s, deltaX: -1.300003 m, approachRate: -0.343844 m/s, posRepo size: 4 ZjquDNOT Ignoring new targets: 84.60 m.Bj}Jjy ProNav: ac range: 84.599998 m, nav range: 28.178520 m, bearing: 241.573101 deg, approach rate: 0.000000 m/s, LOS rate: -0.446974 deg/s, cmd heading: 25.661062 deg, new cmd heading: 24.755384 deg. 2jHeadingCmd: 0.432063 target range: 84.599998 and range: 84.60 m. j[7>jjjihhhhɂBfffrf`f&U@bf`Ҧ?ɛimz= m6=mp?Ii u3*ɚqiqIuP=I}[7>iyi}*(=)}[7>)yEm @o=Eu l>Eu >*F% ?2F! :F! BF% 1JF! e Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J 9J J eB$?IaHI I%IIۆBI&I.I6I<:IS FG 6=GBO5??1w,LA6ji>Y6\a>6?,96=y6H1? C޿z&??=Y?@ኰ??ɨ6ji>6ω;4y>BB%IIJIJM٢R v= V3=9V+;Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b.P?f5Yb\ ib6?hj?j@boEb;b;b5nB no@n$E~B*** querying acoustic contact ***j|j|Zj  DNOT Ignoring new targets: 84.60 m.BjoJjo% ProNav: ac range: 84.599998 m, nav range: 28.401661 m, bearing: 241.333416 deg, approach rate: 0.523185 m/s, LOS rate: -0.557561 deg/s, cmd heading: 24.755384 deg, new cmd heading: 24.042015 deg. 2j-S5HeadingCmd: 0.419612 target range: 84.599998 and range: 84.60 m. j5m>j1j1j1i1h1h9h9h9f9fAfArfAbfMh?ɛw= &=?I QɚiI}=Im>i!i-ә=)-m>)1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E.=*F2F:FBFP0JFGuƠ=GIBQOuW>zKqkKKKKKBK :K pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934526 I -1w,A>Y>8!9'z=yH\^?@ݿzW?>M?`!?@R?N?ɨ>];CyB%IMb@Mb@Mb@ )Y9v??~jtxy?L=Ļ\@ 7@)d@I/@y(@IIʴ٢˜< :=9;Q > G٣#QGyԼ > Nusing accuracyPremultiplier from config59b?5Y iX?%?%:%?@oE<<p5 ,@ZjDNOT Ignoring new targets: 84.60 m.BjJj% ProNav: ac range: 84.599998 m, nav range: 28.628244 m, bearing: 241.083202 deg, approach rate: 0.485301 m/s, LOS rate: -0.531668 deg/s, cmd heading: 24.042015 deg, new cmd heading: 23.297360 deg. 2j%pmHeadingCmd: 0.406616 target range: 84.599998 and range: 84.60 m. jm/>jijijiiihqhqhqhuBfyfyfyrfybf}?ɛ>= ?I N ɚiId=I/>iiq=)/>)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185900EE;6=EI*F ?2F :F BF _5JF G  G nA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438596G%uX= C$?IG!B9O]?h2w,AZv>YZ>Z]9Z[q=yZHq?Aݿ*w?r?B?`!?`X?ɨZv>ZY;Z"CynBn%I)p pI~I~٢L<  +=9 #;Q  > G٣jH=<bH=<HAIA IE&IIEBIA&IA.IA6IE<:IE] Fym > Nusing accuracyPremultiplier from config59w?5Y i}?j?@oE'::5 @!EZj%DNOT Ignoring new targets: 84.60 m.Bj%%Jj-%] ProNav: ac range: 84.599998 m, nav range: 28.879223 m, bearing: 240.805191 deg, approach rate: 0.528001 m/s, LOS rate: -0.579787 deg/s, cmd heading: 23.297360 deg, new cmd heading: 22.470635 deg. 2j]ƼeHeadingCmd: 0.392187 target range: 84.599998 and range: 84.60 m. je>jajajaiahahihihfffrfbfk?ɛ t= C@I HɚiI=I%>i!i%k=)->))E=Will construct direction to contact in vehicle frame from tetrahedron phase data.??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691741*F?2F:FBF5JFG=GiBqO>zKU FJKU 9KQ KU KU     y 2w,S)AeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.945455J@AJ@AJJJJJJ:JJ IIIJ;a]J;aeJC;auJC;auyMBM%IMb@Mb@Mb@ )Yi|?5?ˡE?I +y?'=94/@ )I@y@II 2٢f< =9Q > G٣$QGy > Nusing accuracyPremultiplier from config59)?5Y iI??: ?@oE;;ҽ5 @Zj%DNOT Ignoring new targets: 84.60 m.Bj- Jj- ] ProNav: ac range: 84.599998 m, nav range: 29.132919 m, bearing: 240.521114 deg, approach rate: 0.504458 m/s, LOS rate: -0.559945 deg/s, cmd heading: 22.470634 deg, new cmd heading: 21.625891 deg. 2j]$mHeadingCmd: 0.377443 target range: 84.599998 and range: 84.60 m. jm6@>jqjqjyiyhhhhfffrfbf;@ɛEBM!= IM@II uuɚqiqIuԍ=I}6@>iyi}䴾=)}6@>)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193895*F ?2F :F BF W1JF G=G?G>GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446694BO ?2w,?nLA ZD$?Ihf_>Yf?>fJ̼9fi=yfH?Aۿ/Z?`5?@?(˯`z?&?.?ɨf_>ff;fCyB%II%I%b٢5q< 5;=9=AA UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e?m5Ye ie?im?u@eoEe ;e.:e5}B }I@}EZjDNOT Ignoring new targets: 84.60 m.Bjk#Jjk# ProNav: ac range: 84.599998 m, nav range: 29.347492 m, bearing: 240.268002 deg, approach rate: 0.488042 m/s, LOS rate: -0.571487 deg/s, cmd heading: 21.625892 deg, new cmd heading: 20.872154 deg. 2jļHeadingCmd: 0.364288 target range: 84.599998 and range: 84.60 m. j>jjjihhhhfffarfabfe@H->I I&IIBI&I.I6I<:Ii FBIJIRIZI( =bI( =jIŽ 4ɛF= <@I @LɚiI=I>ii=)>)*F2F:FBFJFGJ=GaBqO[>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697919L2w,fA6RjV>Y6 ->6ѭ96f=y6Hv?oڿLXq??`:?󽮿`ʹ?%׬?%?ɨ6RjV>6";6 CyBBB%IiF%>IF< Jp=HIJIJ1٢f jR=9j ll nG٣lyrgļ r> vNusing accuracyPremultiplier from configtz59vҮ?z5Yv ivğ?x~?~@voEv:v ;vm5 @E%B*** querying acoustic contact ***j!j!Zj1=DNOT Ignoring new targets: 84.60 m.BjE#JjE#U ProNav: ac range: 84.599998 m, nav range: 29.535631 m, bearing: 240.045031 deg, approach rate: 0.486731 m/s, LOS rate: -0.573170 deg/s, cmd heading: 20.872153 deg, new cmd heading: 20.207531 deg. 2jUļUHeadingCmd: 0.352688 target range: 84.599998 and range: 84.60 m.zK&6MK+9KKK j]>jj1j1i1h9h9hAhAfAfIfIrfQbf}`H@ɛBL= W@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:58:40.4348  TRx dataTimestamp_ set to:1736377121.693468checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953356I -nCۼɚ)i)I-?=I5>i1i59=)5>)9JuJuJqJqJu:Ju9JqJqJu;Ju;Ju8;Ju8; F$?I*F?2F:FBFW0JFG=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201833?2w,bA2K>Y2>>2ё92Qa=y2H x8?ڿ ?y?b?+?gj9? Y%? P?ɨ2K>2Yu;2CyBBB%IEMb@Mb@Mb@AAA A)AYEʡE? G٣%QGyʼ > Nusing accuracyPremultiplier from config59F?5Y i?G?:}>@oE;;IÃ5 @EZjDNOT Ignoring new targets: 84.60 m.Bj/Jj/  ProNav: ac range: 84.599998 m, nav range: 29.737425 m, bearing: 239.781806 deg, approach rate: 0.474139 m/s, LOS rate: -0.614279 deg/s, cmd heading: 20.207531 deg, new cmd heading: 19.423269 deg. 2j ҼHeadingCmd: 0.339000 target range: 84.599998 and range: 84.60 m. jh>jj!j!i!h!h!h)h-Bf)f)f)rf1bf53 @ɛ=B=;= AM@II uͼɚyiyI}=Ih>iin=)h>)Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:58:40.4348 LVL= 12016, 24353, 18738, 28467, AGC= 56, IDX= 436,-0.09, 1.682, 0.101,-0.164, 0.715, PHS= 1.055,-0.567,-0.883, RAW= 81.3, 4.4, CAL= 86.2, 3.1, ROT= 63.8, -3.1 EYgot valid direction response: 22:58:40.4348 LVL= 12016, 24353, 18738, 28467, AGC= 56, IDX= 436,-0.09, 1.682, 0.101,-0.164, 0.715, PHS= 1.055,-0.567,-0.883, RAW= 81.3, 4.4, CAL= 86.2, 3.1, ROT= 63.8, -3.1 MPDAT read: Bearing 63.8, -3.1 (Local) M~Local bearing/azimuth received: Bearing 63.8, -3.1 (Local) ]DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.1 m/s e,DAT read: user:2968> mBDAT read: Tx time:22:58:41.5190 m$Ping request sent.m?nF= ?)k]=IӇ?ik]F?ne')Vʳ?) -I5i@:publishing transmit ping timeiFpublishing direction and range info9:!dÿ ?7Gഄ?y )Ii )IiF?ne')Vʳ?)Ii IhG]ڧ=GB!O=>ZHRH?AHI I&II BI&I.I5D6I<:IZ F(&2w,ԙA2A>Y2>2Mh92<[=y2H`XY? ٿ?W}?L?@ b ?m?j?ɨ2A>2[;2CyBBB%IIJIJ̍٢r{l rT=9vxx zG٣|y\μ => ENusing accuracyPremultiplier from configAM59Ef҈?M5YE` iE?IUp>U@EoEE:E:EŃ5]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:22:58:41.5182 B @Ek55C^?k5 k1 k5iA:k5fBBk5?BZk5A3*@"5i)6"5@?S@5:!dÿ ?7Gഄ?Jk5@Rk5*5$aӽ3Dhء$@m|g}+T@59ߩ0ο(Ϛ?{՝l`?"k5U%A*k5k5aR?k54# 2k5Ck5 D?k5$ k1k5ݴAk5us@ addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.525431 s, deltaX: -0.900002 m, approachRate: -0.255288 m/s, rangeRepo size: 4  Added new target pos. range: 83.699997 m, bearing: 152.371154 deg, lat: 36.904522 deg, lon: -122.120405 deg, deltaT: 3.525431 s, deltaX: -0.900002 m, approachRate: -0.255288 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 83.70 m.BjJj ProNav: ac range: 83.699997 m, nav range: 22.607946 m, bearing: 217.957445 deg, approach rate: 0.000000 m/s, LOS rate: -0.614279 deg/s, cmd heading: 19.423268 deg, new cmd heading: 18.632006 deg. 2j%HeadingCmd: 0.325190 target range: 83.699997 and range: 83.70 m. j%I>j!j!j!i!h!h)hIhIfQfQfQrfUT@bfU@?ɛB= @I *qɚ i I 7=II>ii=)I>)*F?2F:FBF_0JFzKJKH9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! J J J J J <:J 9 G$?I G J=J J J ;J ;J $7;J %7;G B OU >) C - tANS,2w,OAA > Y>tAy>Bfa6>Yf&C>f}RC9fVt=yfH@$|?ؿ? ?@l?@l~)j? ??ɨfa6>f4;f Cy B %I) A]Mb@Mb@Mb@YYY Y)YY]ʡE?y&1|Qy]?]`廹]u]@ ]@)]l@I]@Yy]@II?1٢< 0=9;Q > G٣y > Nusing accuracyPremultiplier from config59P戜?5Yԧ i??:>@oE +;T;ƃ5 @ZjDNOT Ignoring new targets: 83.70 m.Bj%Jj%껝5 ProNav: ac range: 83.699997 m, nav range: 22.853834 m, bearing: 217.783993 deg, approach rate: 0.586367 m/s, LOS rate: -0.409179 deg/s, cmd heading: 18.632006 deg, new cmd heading: 18.117264 deg. 2j5h=HeadingCmd: 0.316206 target range: 83.699997 and range: 83.70 m. j=>j9j9j9i9hAhAhAhEBfIfIfIrfIbfUi?ɛ}B6]= 隅@I ɚiI]=I>iiP=)>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF h0JF G-=GBOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.932w,3A FH$?IDNrE,>YN>N 9NS=yNH? ?ؿ`\?C?`׋?K'7?@?`?ɨNrE,>N"*;NCyzB~%II I %x٢#; i=9%$!! %G٣-&QGy- -> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=?IM>M@=oE=U:=U:=ȃ5UB U@UEZjDNOT Ignoring new targets: 83.70 m.BjػJjػ ProNav: ac range: 83.699997 m, nav range: 23.043612 m, bearing: 217.647661 deg, approach rate: 0.531501 m/s, LOS rate: -0.378673 deg/s, cmd heading: 18.117265 deg, new cmd heading: 17.711645 deg. 2jHeadingCmd: 0.309127 target range: 83.699997 and range: 83.70 m. jE>jjjihhhhfffrfbf C@?HYIY IYIYIY&IY.I]6D6I]1<:I] FɛB= @I .ɚiI=IE>iib=)E>)E*FE?2FA:FIBFM0JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm ,Ů=G1 B9 O] >f92w,kA6`G>Y6>696p=y6H@ ?}׿@l???@Ocv? ? ?ɨ6`G>6X;4yBBB%IININ㔳٢Vݼ VR=9V8;Q V>XX ZG٣XyZ[ ^> bNusing accuracyPremultiplier from config`f59b?f5Ybڣ ib?dj >j@boEb3:b:b;ʃ5p r@pB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 83.70 m.Bj һJj5һE ProNav: ac range: 83.699997 m, nav range: 23.252806 m, bearing: 217.492908 deg, approach rate: 0.502856 m/s, LOS rate: -0.368644 deg/s, cmd heading: 17.711645 deg, new cmd heading: 17.251574 deg. 2jE|EHeadingCmd: 0.301097 target range: 83.699997 and range: 83.70 m. jM[)>jIjIjIiIhIhqhqhqfqfyfyrfybf} ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK K h9K K  K  9OYZJ8& qIyJyJyJ}/JyJyJyJ}(N3JyJyJ};JyJyɛ5t= AE?II U얼ɚQiYI=I[)>ikG)*F2F:FBF~0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751089G Υ=G B O >z@2w,]A2Ĵ>Y2YR>2'ܺ92jc=y2H 2? ֿ㇒???窿ğ[?*q?V?ɨ2Ĵ>2 9;2Cy>B>%IiB)>IBx> F=F=Mb@Mb@Mb@ )YV-?I +~jtyh?94D @)@Iy@I  I <2٢L< .=9,!! -G٣)y5m 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=} i=F?Ew?:>@=oE=<=~<=G̃5B @EZjDNOT Ignoring new targets: 83.70 m.BjEJjEU ProNav: ac range: 83.699997 m, nav range: 23.506533 m, bearing: 217.294521 deg, approach rate: 0.556046 m/s, LOS rate: -0.430075 deg/s, cmd heading: 17.251574 deg, new cmd heading: 16.662858 deg. 2jU]HeadingCmd: 0.290822 target range: 83.699997 and range: 83.70 m. j]>jYjYjYiYhhhhBfffrfbfQ?ɛUBUD= QU8@IQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003195 ]NɚiIL҆=I>ii=)>) I$?I*F?2F:FBF0JFjH<bH<HI I&IIBI&I.I5D6Ig<:I= FG =G G pAG B O >|F2w,@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255271^>Y^k>^Yc ;9^?Z=y^H?տd???OA@jaD?[?ɨ^>^9;^ CyzBz%IIIb٢Ƽ S=9N" G٣%'QGy% %> -Nusing accuracyPremultiplier from config)559--?55Y- i-?9=>=@-oE-G:-&:-̓5A E@AZjIMDNOT Ignoring new targets: 83.70 m.BjUUJjUU𻝊 ProNav: ac range: 83.699997 m, nav range: 23.714561 m, bearing: 217.127682 deg, approach rate: 0.528614 m/s, LOS rate: -0.420228 deg/s, cmd heading: 16.662858 deg, new cmd heading: 16.166746 deg. 2j3HeadingCmd: 0.282163 target range: 83.699997 and range: 83.70 m. jw>jjjihhhhf!f!f!rf)bf-`@ɛd= 隽)?I zxɚi!I%2=I%w>i)i-P=)-w>))*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509320zK% MK%9K! ]J$?IYK% K% _$n:L_'0# vY=#JY J] J] 0JY JY J] 9J] ـ3Ge N=JY JY JY J] 8;J] 8;G B O >M2w,m7Af=Yfl>fˮ;9fS=yfH3? qտ?`%?E*?`M iu n? ?ɨf=fj;fCyrBr%IMb@Mb@Mb@ )Y(\?yy }G٣yyּ > Nusing accuracyPremultiplier from config59A?5Yٝ i?j?:>@oE;t;σ5 @ EZjDNOT Ignoring new targets: 83.70 m.BjJj ProNav: ac range: 83.699997 m, nav range: 23.946131 m, bearing: 216.909922 deg, approach rate: 0.550742 m/s, LOS rate: -0.512890 deg/s, cmd heading: 16.166745 deg, new cmd heading: 15.519812 deg. 2jHeadingCmd: 0.270872 target range: 83.699997 and range: 83.70 m. j>jjjihhhhBff f rf bf  @ɛ1=1> 9=@I9 =!_ɚAiAIE<=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760162Ie>iaienr=)e>)i*F?2F:FBFW0JFG:=GiBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:58:44.0340  TRx dataTimestamp_ set to:1736377125.220874 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012436 A IA T2w,7PA>=Y>>>hg<9>rP=y>H O?sԿ)?d?`9G?i?@́`8 ??ɨ>=>;>CynBn%I)p ptvAH+>I I &IIBI' =&I.I6Ib<:I9 FIzIz0٢e e]=9mii uG٣qyu u> Nusing accuracyPremultiplier from config59R?5Ym i?x>@oE;_;у5B @ EZjQ]DNOT Ignoring new targets: 83.70 m.Bj]nJjenm ProNav: ac range: 83.699997 m, nav range: 24.139210 m, bearing: 216.726167 deg, approach rate: 0.497954 m/s, LOS rate: -0.470117 deg/s, cmd heading: 15.519812 deg, new cmd heading: 14.972972 deg. 2jQHeadingCmd: 0.261328 target range: 83.699997 and range: 83.70 m. j̅>jjjihhhhfffrfbf{P @ɛAE> AE?IA M3DɚIiqIus=I}̅>iyi}=)}̅>)*F?2F:FBF[0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263118G- ‘=G B O- >1Z2w,Will construct direction to contact in vehicle frame from tetrahedron phase data. K$?I*J1"J5p=zKmOKm]9KiKm KmpXJ?3 }xqmf`]YWWTPPOJHECB@>;855541/+)(''%$BKy:K}rA?<9R=yHj?`ӿq? ?b?72Z??ɨ=T; DAT read: 22:58:44.0340 LVL= 11584, 25633, 18274, 26387, AGC= 58, IDX= 427, 0.05,-2.977, 1.992, 1.240, 2.416, PHS= 0.978,-0.376,-1.179, RAW= 68.4, 6.2, CAL= 69.9, 7.5, ROT= 80.1, -7.5 Ygot valid direction response: 22:58:44.0340 LVL= 11584, 25633, 18274, 26387, AGC= 58, IDX= 427, 0.05,-2.977, 1.992, 1.240, 2.416, PHS= 0.978,-0.376,-1.179, RAW= 68.4, 6.2, CAL= 69.9, 7.5, ROT= 80.1, -7.5 PDAT read: Bearing 80.1, -7.5 (Local) ~Local bearing/azimuth received: Bearing 80.1, -7.5 (Local) 騥CyMBU%IuDAT read: Range 10 to 50 : 83.1 m (Round-trip 110.8 ms) speed 0.0 m/s ,DAT read: user:2969> BDAT read: Tx time:22:58:45.1191  $Ping request sent. }:publishing transmit ping time Fpublishing direction and range info94IԘĿ sͮv?nϖD?y3B! -G٣-(QG@-!d bG)gI:i5^z?y閿Θ?k= y(?) >I?i y=c }> Nusing accuracyPremultiplier from configP? M n?)fILhܽi?އ59j?5Y{ }:publishing transmit ping time}Fpublishing direction and range info94IԘĿ sͮv?nϖD?y )Ii )Ii.?>@oE_==Ӄ5 @k) ?kri iP? M n?)Iik k{nA:k3BBkBZk[@"id*h C@ZAb#R@4IԘĿ sͮv?nϖD?Jk?Rkއ*[U6Wv<@H""R@~5)__ѿ1ړoIA?iҷ?"k,A*kuk.?k- 2k CkaR?k  kkǬAkIM@M addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.530827 s, deltaX: -0.599998 m, approachRate: -0.169931 m/s, rangeRepo size: 4  Added new target pos. range: 83.099998 m, bearing: 127.976033 deg, lat: 36.904504 deg, lon: -122.120258 deg, deltaT: 3.530827 s, deltaX: -0.599998 m, approachRate: -0.169931 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 83.10 m.Bj Jj - ProNav: ac range: 83.099998 m, nav range: 21.597248 m, bearing: 183.782655 deg, approach rate: 0.000000 m/s, LOS rate: -0.470117 deg/s, cmd heading: 14.972972 deg, new cmd heading: 14.175400 deg. 2jIUHeadingCmd: 0.247407 target range: 83.099998 and range: 83.10 m. jU^X}>jQjQjQiQhYhYhYhYfYfafarfe`fT@bfeʡ?ɛΕ= ?I  $ɚ i) I- r=I5 ^X}>i1 i= :9=)= ^X}>)9 u Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:22:58:45.1183 *F 2F :F BF 5JF G*=GBO?{b2w,!A @Rz=YR>RBtn<9R4Z=yRH` ?`w>ӿw? Q?`x?@C΍B? ?ɨRz=R;RCyrBr%I-Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQJJJJJ:J9JJa@a@a@a@Mb@Mb@Mb@ )Y?ˡE:vy ?'@ @)@I?@y\@II<٢; 0=9;Q >!! %G٣!y%i -> 5Nusing accuracyPremultiplier from config)559-~?=5Y- ZHiRHm@AHu,>Iq Iu&IIuBIu( =&Iq.Iq6Iun<:IuA FBI)JI)RI)ZI)bI)jI-ed4i-ܗ?: ?:'o>@-pE-JQ<-P<-Ճ5B @EB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 83.10 m.Bjۑ;Jjۑ;E ProNav: ac range: 83.099998 m, nav range: 21.839029 m, bearing: 183.889912 deg, approach rate: 0.581342 m/s, LOS rate: 0.255036 deg/s, cmd heading: 14.175400 deg, new cmd heading: 14.493606 deg. 2jE/jIjIjIiIhIhQhQh]{BfYfYfarfabfe c?ɛ- > @I ɚiIjɂ=I  >i )1*F?2F:FBFY0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G `=G B O >i2w,ץAJ !=YJ;>Jy<9J_=yJH@?ҿ@)?7??Q s3?@?ɨJ !=JÊ;HyRBV%IiZ=IZ%=I^I^(٢j<= jw=9n;Q r?pt vG٣tyvμ v? ~Nusing accuracyPremultiplier from configx~59z̍?5Yz izٖ?f>@zpEz ;z2 ;zA׃5  x@Zj1=DNOT Ignoring new targets: 83.10 m.BjE;JjE;] ProNav: ac range: 83.099998 m, nav range: 22.018038 m, bearing: 183.963834 deg, approach rate: 0.578950 m/s, LOS rate: 0.237135 deg/s, cmd heading: 14.493607 deg, new cmd heading: 14.713569 deg. 2j]"jijijiiihihihqhqfqfqfqrfybf}5?ɛ > Ye@Ia eɚaiaIe=ImR{>i c) UL$?IQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.936124*Fu?2Fq:FqBFu_0JFqzKE#NKEs9KAKE KE    8}FTG3ybR;$wGUmԍ=G!BIO]>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190319I3o2w,:ҏ<9:O=y:HE?jҿ?}?}?E`?0?ɨ:솔=:Y;: Cy~B~%IMb@Mb@Mb@ )Y rh?Zd;OI +yC ?j<94@ @)@IV@y @IIT߳٢,<  8=9 ,\;Q  > G٣)QGyj? > %Nusing accuracyPremultiplier from config!559%?55Y% i%?5 ?5:5V>=@% pE%O;%M;%1ك5A E]@EEZjDNOT Ignoring new targets: 83.10 m.BjV;JjV; ProNav: ac range: 83.099998 m, nav range: 22.257408 m, bearing: 184.051103 deg, approach rate: 0.518971 m/s, LOS rate: 0.187169 deg/s, cmd heading: 14.713570 deg, new cmd heading: 14.972558 deg. 2js<5HeadingCmd: 0.261320 target range: 83.099998 and range: 83.10 m. j=˅>j9j9j9i9h9h9hAhEBfafifirfibfma?ɛ.= 3@I ֢ɚiIKD=I˅>iܑ)*Fm?2Fi:FiBFiJFiGq Gq =M$?I9uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.440698JJJ/JJ:J9J(N3JHu +>Iu C Iu %IIu BIq &Iq .Iq 6Iu T<:Iu . FG ghs=GY Bi O >Iv2w,OA6ڂ=Y6X>6<96X=y6H@H? ѿ? ??I< ?(?ɨ6ڂ=6;6CybBb%IIjIj<٢r = v_=9v';Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59;?5Y is?vO>%@ pE;̯;ڃ5MB M@MEZjq}DNOT Ignoring new targets: 83.10 m.Bj}KV;Jj}KV; ProNav: ac range: 83.099998 m, nav range: 22.455681 m, bearing: 184.118213 deg, approach rate: 0.558453 m/s, LOS rate: 0.187352 deg/s, cmd heading: 14.972558 deg, new cmd heading: 15.172109 deg. 2j<HeadingCmd: 0.264803 target range: 83.099998 and range: 83.10 m. jK>jjjihhhhfffrfbf ?ɛh> @I akɚiI=IK>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693667*Fu?2Fq:FqBFuz1JFqGM'\=G BO--> ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944835zK} z\OK} 9Ky K} K} cXONIF@<::400($    Q F|2w,zA^vArA M7YUvAyU$ByB%I) Mb@Mb@Mb@ )YQ?lMbpy?@  @)@I @y@II̍٢< #=9Q > G٣y > Nusing accuracyPremultiplier from config59Cȉ?5Y ip?J ?:v^>@pE;;܃5 @Zj!-DNOT Ignoring new targets: 83.10 m.Bj-R`;Jj-R`;M ProNav: ac range: 83.099998 m, nav range: 22.720652 m, bearing: 184.216026 deg, approach rate: 0.537533 m/s, LOS rate: 0.196115 deg/s, cmd heading: 15.172109 deg, new cmd heading: 15.462125 deg. 2jMjijqjqiqhqhyhhBfffrfbf@@ɛB{> @I ɺɚiI J=I+>i[)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197563*Fu?2Fy:FyBF}0JFyG &/=Gy B O >R*2w,F A bN$?IdyrBr%II~I~(*٢ (=  =9 Q  ? G٣*QGy ? %Nusing accuracyPremultiplier from config!-59%։?-5Y% i%Β?)15@%pE%3:%:%Wރ5=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.448856MB M1@MEJKcw3 K.-KK"KJJJ0JJ:JJـ3JZj1=DNOT Ignoring new targets: 83.10 m.Bj=K;Jj=K;M ProNav: ac range: 83.099998 m, nav range: 22.886652 m, bearing: 184.276140 deg, approach rate: 0.494990 m/s, LOS rate: 0.177950 deg/s, cmd heading: 15.462126 deg, new cmd heading: 15.641158 deg. 2jM@;}HeadingCmd: 0.272990 target range: 83.099998 and range: 83.10 m. j}Oŋ>jyjyjyiyhyhhhfffrfbf`:@ɛ > @I (ɚiI-}=IOŋ>ijHbH<H,>IC I&IIBI&I.I6I<:IV F) *F?2F :F BF O5JF Gfx=GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701407S2w,h'AZ=YZL؃>Z<9ZK=yZH [?@##п? J??H D??ɨZ=Z;Z CyfBf%IIn In2٢vK` vL=9zxx zG٣|yĐ > Nusing accuracyPremultiplier from config %59 牜?%5Y  i ?!-A>-@ pE {; nu; 59 =^@AmB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 83.10 m.Bj2;Jj2; ProNav: ac range: 83.099998 m, nav range: 23.100224 m, bearing: 184.337019 deg, approach rate: 0.553432 m/s, LOS rate: 0.156300 deg/s, cmd heading: 15.641159 deg, new cmd heading: 15.822108 deg. 2j;HeadingCmd: 0.276148 target range: 83.099998 and range: 83.10 m. jAc>jjjihhhhfffrfbf@]@ɛB> 隽@I N:ɚiI,@|=IAc>iA) P$?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953739*F?2F:FBFO0JFzKMKh9KKK G:^<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:58:47.6333  TRx dataTimestamp_ set to:1736377129.004742 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205889B2w,AA%%e=9%?=y%H ?LϿ)Ϩ?`??,p? ?ɨ%<%i;!y=B=%IiE=IE; Ea=Ea=Mb@Mb@Mb@ )YZd;O?Mb`y~ ?̼@ @)IM@yII<٢%= %7=9%~;Q ->)) 5G٣1y5PX 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=v?M ?M:MR>M@=pE=;=;= 5UB ]@]EZjyDNOT Ignoring new targets: 83.10 m.BjWF;JjWF; ProNav: ac range: 83.099998 m, nav range: 23.338606 m, bearing: 184.413590 deg, approach rate: 0.545414 m/s, LOS rate: 0.173403 deg/s, cmd heading: 15.822108 deg, new cmd heading: 16.049473 deg. 2j;HeadingCmd: 0.280116 target range: 83.099998 and range: 83.10 m. jbk>jjjihhhhBfffrfbfq @ɛF> @I R;ɚiIʲz=Ibk>iߑ)Ep>E>*F?2F:FBFY0JFGu5<G1BAOuX> IUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.457161JJJ/JJ\:J 9J(N3JHa Ia  Ie &IIe BIe ' =&Ia .Ia 6Ie m<:Ie A Fg2w,ZA2S2 =92*7=y2H?2οPI?xM?1?@;0` ޳??ɨ2S<2^;2CyB†BB%IIJIJ٢f < fd=9f;Q f>hh jG٣j+QGyjJ n> =Nusing accuracyPremultiplier from config9E59=1 ?E5Y= i=l?AE>N>E@=pE=*:= :=5UB U@UEZjDNOT Ignoring new targets: 83.10 m.Bj8;Jj8; ProNav: ac range: 83.099998 m, nav range: 23.536999 m, bearing: 184.473966 deg, approach rate: 0.535625 m/s, LOS rate: 0.161629 deg/s, cmd heading: 16.049473 deg, new cmd heading: 16.229072 deg. 2j;HeadingCmd: 0.283251 target range: 83.099998 and range: 83.10 m. j>>jjjihhhhfffrfbf @ɛ> @I N@;ɚiIF7y=I>>io>)Will construct direction to contact in vehicle frame from tetrahedron phase data.յ=յ%=%DAT read: 22:58:47.6333 LVL= 11456, 20465, 14690, 21427, AGC= 57, IDX= 435,-0.11, 0.114,-0.933,-2.095,-0.842, PHS= 1.043,-0.045,-1.256, RAW= 58.2, 2.6, CAL= 58.8, 1.2, ROT= 91.2, -1.2 5Ygot valid direction response: 22:58:47.6333 LVL= 11456, 20465, 14690, 21427, AGC= 57, IDX= 435,-0.11, 0.114,-0.933,-2.095,-0.842, PHS= 1.043,-0.045,-1.256, RAW= 58.2, 2.6, CAL= 58.8, 1.2, ROT= 91.2, -1.2 EPDAT read: Bearing 91.2, -1.2 (Local) E~Local bearing/azimuth received: Bearing 91.2, -1.2 (Local) *Fu?2Fq:FqBFu_0JFqDAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.0 m/s ,DAT read: user:2970> BDAT read: Tx time:22:58:48.7191 $Ping request sent.ٹٹٹ ڹ)ڹIڹiڹڹڹ۽==?S*쿌k?)۹I۹i۹۹۹۹ Q$?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.zK qKK 9K K K y2w,AtAz =9ʭ=yH ?@Fiο 4?O??%yN}??ɨii mG٣iy# > Nusing accuracyPremultiplier from config59I ?5Yc i"?J>@#pE:j:5B @Ek v?kmAJ k k`A:kBBkݣBZkV:?"M{ F HH@ :dP@ÆCE?@U.o?Jk?Rk0k*@Wtj,8L^D@?=mQ@5R$ƿ80?ذ6 ?"k&B*kSdk@m?k+2B 2k Ck D?k4# kCkmAkP/@} addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.781933 s, deltaX: -0.599998 m, approachRate: -0.158649 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 108.874461 deg, lat: 36.904522 deg, lon: -122.120133 deg, deltaT: 3.781933 s, deltaX: -0.599998 m, approachRate: -0.158649 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 23.678280 m, bearing: 156.949696 deg, approach rate: 0.000000 m/s, LOS rate: 0.161629 deg/s, cmd heading: 16.229072 deg, new cmd heading: 16.455954 deg. 2jHeadingCmd: 0.287211 target range: 82.500000 and range: 82.50 m. j%D >j!j!j)i)h)h)h)h1f1f1f1rf5T@bf=?ɛUBU i > QUF@IQ U;ɚYiYI]w=ID >i)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=]0JF9G] zQGQ BY y Iy O >2w,A66 =96 =y6H ?g;οR?? ?@^3`Y?@?ɨ6<6*;6CyZɆBZ%I`bArWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]K7?MbPy] ?]]]E@ ]ݸ@)]@IYYy]@IuIuƲ٢< U=9U:Q > G٣yV > Nusing accuracyPremultiplier from config590?5Y i/? ?:w>@&pE;;E5B ~@EZjDNOT Ignoring new targets: 82.50 m.Bjh<Jjh< ProNav: ac range: 82.500000 m, nav range: 23.841824 m, bearing: 157.244319 deg, approach rate: 0.453632 m/s, LOS rate: 0.811605 deg/s, cmd heading: 16.455954 deg, new cmd heading: 17.333688 deg. 2j? = HeadingCmd: 0.302530 target range: 82.500000 and range: 82.50 m. j 4>j j j i hZHqRHqH+>I I&IIBI&I.I6Ib<:I9 Fhhh΂Bfffrfbf=?ɛ!%C*> )-@I) U1<ɚQiQIUv=I]4>iYi]B )]4>)Y*Fe?2Fa:FaBFe_0JFaG=g{GB O-o>Will construct direction to contact in vehicle frame from tetrahedron phase data.F2w,SAJJ=9J=yJH1?sο1???h@ӡ3? &?ɨJ ~T=9:Q >   G٣,QGy; > -Nusing accuracyPremultiplier from config)559-B?=5Y-ċ i-4?AE1z>E@-)pE-Q;-g;-5I U@QB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 82.50 m.Bj%M<Jj-M<] ProNav: ac range: 82.500000 m, nav range: 24.009508 m, bearing: 157.542608 deg, approach rate: 0.407486 m/s, LOS rate: 0.719799 deg/s, cmd heading: 17.333688 deg, new cmd heading: 18.222230 deg. 2j]jijijiiihihihhfffrfbfs? R$?Iɛ  G>  @I 5Z#<ɚiIrt=Iբ>iiq0)%բ>)!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J]J]J]0JYJ]<:J]9J]ـ3JYJYauJYauJ]$7;auJ]%7;au*F2F:FBF0JFzKBoIK+9KKKRK>JK>G͍G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479587ũ2w,A:: =9:=y:H? ο`o?`?@s?x @q?\?ɨ:<: W;:CyFƆBF%IMb@Mb@Mb@ )YMbX?~jt?~jthy ?D<D\@ Ʒ@)@I7@yG@I5I5F٢E < EE=9M<:Q M>IQ UG٣QyU7< U> Nusing accuracyPremultiplier from config59T?5Y" i? ?:>@-pEU;;5 @EZj%DNOT Ignoring new targets: 82.50 m.Bj%!m<Jj%!m<5 ProNav: ac range: 82.500000 m, nav range: 24.192245 m, bearing: 157.880047 deg, approach rate: 0.452504 m/s, LOS rate: 0.829266 deg/s, cmd heading: 18.222231 deg, new cmd heading: 19.226791 deg. 2j5G=EHeadingCmd: 0.335571 target range: 82.500000 and range: 82.50 m. jEϫ>jAjAjAiIhIhIhIhUBfQfQfYrfYbf] ?ɛ#> 隅i@I =<ɚiI\r=Iϫ>iiZ)ϫ>)*F 2F :FBF[5JFGqA GpAGvżG S$?IhBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731572H}*>I}C I}&II}BI}( =&Iy.Iy6I}<:I}e FBIJIRIZIbIjI 5Զ2w,A6=Y6ׂ>6=96=y6H ?}Ͽ z?@*?? ,`3߼??ɨ6=65;4yV†BV%II^I^b2٢v vP=9ve&:Q v>|| G٣y D<  > -Nusing accuracyPremultiplier from config!559%e?E5Y% i%?AEn>E@%0pE%;%;%~5Y ]@aZjDNOT Ignoring new targets: 82.50 m.BjX<JjX< ProNav: ac range: 82.500000 m, nav range: 24.354746 m, bearing: 158.178747 deg, approach rate: 0.415233 m/s, LOS rate: 0.758165 deg/s, cmd heading: 19.226791 deg, new cmd heading: 20.116837 deg. 2j=HeadingCmd: 0.351105 target range: 82.500000 and range: 82.50 m. j ij>jjjihhhh f f f rf bf @UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983551ɛYeV> ae@Ia e.[<ɚaiiImb2q=I ij>iiϏt) ij>)*F%?2F!:F!BF%@5JF)G0GBO-p> I Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235821*Je a="Je a=Jm Jm Ji Ji Jm :Jm u9Ji Ji Jm P;Jm Q;Jm /;Jm /;zK JK h9K K K 82w,,AZS>+=YZ_>ZoA=9Za=yZH`?4п@ְ?`-?L?r>硿ҿ?k?ɨZS>+=Zݼ;ZCy~ĆB%III٢u+< u4=9cQ > G٣-QGyx< > Nusing accuracyPremultiplier from config59`y?5Yӆ iވ?>@4pE:;y5B @EZjaeDNOT Ignoring new targets: 82.50 m.Bjm [<Jjm [<} ProNav: ac range: 82.500000 m, nav range: 24.548111 m, bearing: 158.532500 deg, approach rate: 0.422041 m/s, LOS rate: 0.766020 deg/s, cmd heading: 20.116837 deg, new cmd heading: 21.169613 deg. 2j}m=HeadingCmd: 0.369479 target range: 82.500000 and range: 82.50 m. ji,>jjjihhhhfffrfbf®@ɛ}!> @I Ǖw<ɚiIii.)i,>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488108*F2F:FBFV4JFG H0G B O > T$?I 2w,`sAZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739473yB%IMb@Mb@Mb@ )YMbX?~jt?MbPy<@ @)@IM@y@jH <bH <H+>IC I&IIBI' =&I.I6I/<:I FI5I5(٢Eν EM=9EQ M>II MG٣IyU U> eNusing accuracyPremultiplier from configam59e?m5Ye) ie?u ?u:uM>u@e7pEeQ;e;e55y }.@yZjDNOT Ignoring new targets: 82.50 m.Bjg<Jjg< ProNav: ac range: 82.500000 m, nav range: 24.717106 m, bearing: 158.843557 deg, approach rate: 0.443147 m/s, LOS rate: 0.810086 deg/s, cmd heading: 21.169613 deg, new cmd heading: 22.096316 deg. 2j =HeadingCmd: 0.385653 target range: 82.500000 and range: 82.50 m. j_t>jjjihhhhĂBfffrfbf`@ɛ  I&> a<|@I Ґ<ɚiIm=I_t>ii/)_t>)*F=?2F9:F9BF=Y0JF9G_NGBOi>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:58:51.2328 mTRx dataTimestamp_ set to:1736377132.532608}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9933732w,:*ANX=YN>NH=9N4>yNH@?пLE?@jH?`I? @Z?b?ɨNX=N?;N CynBr%I)t tIzIzb٢y b=9 Q  >    G٣ y9< > Nusing accuracyPremultiplier from config%59w?%5Y i:?)->-@;pEU;;55B =m@=E]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 82.50 m.Bju]<Jju]< ProNav: ac range: 82.500000 m, nav range: 24.869999 m, bearing: 159.126551 deg, approach rate: 0.421791 m/s, LOS rate: 0.775903 deg/s, cmd heading: 22.096316 deg, new cmd heading: 22.940014 deg. 2j=HeadingCmd: 0.400379 target range: 82.500000 and range: 82.50 m. j s>j j j i h h hhfffrfbf% @ =U$?I9ɛeBm'> im @Ii VD<ɚiIIl=Is>iiL)s>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245066J9J9J9J9J9J9J9J9J9J9J9J9)Y ]C*F?2F:FBF_0JF9GuzK:IK9KKK Y!y%BGaBOd> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:58:51.2328 LVL= 12160, 22209, 16962, 25123, AGC= 58, IDX= 430,-0.19, 1.901, 1.138,-0.167, 0.954, PHS= 1.035, 0.231,-1.124, RAW= 51.6, -1.5, CAL= 53.4, -4.7, ROT= 96.6, 4.7 E Ygot valid direction response: 22:58:51.2328 LVL= 12160, 22209, 16962, 25123, AGC= 58, IDX= 430,-0.19, 1.901, 1.138,-0.167, 0.954, PHS= 1.035, 0.231,-1.124, RAW= 51.6, -1.5, CAL= 53.4, -4.7, ROT= 96.6, 4.7 M PDAT read: Bearing 96.6, 4.7 (Local) M ~Local bearing/azimuth received: Bearing 96.6, 4.7 (Local) 2w,DA6fQr=Y6)B>6 =96>y6HZ?A'ѿ@ ɲ?Z?.m?`@q ?q?ɨ6fQr=6Š;6CyRBR%IrDAT read: Range 10 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.0 m/s r,DAT read: user:2971> vBDAT read: Tx time:22:58:52.3191 v$Ping request sent.zٵ;ߏٵf?ٵPwּ ڵn?)ڵIڵu?iڵ=ڱڱ۵?"VZ/-1)۵OĘI۵aa eG٣e.QGyeS< m> Nusing accuracyPremultiplier from config591?5Ye i?_ ?:>@?pEQ;;5 @k.=?kԇ k kZBA:k3BBkBZk?"V X?ΧǤK@;cN@l?&:C?f?JkG?Rk Q*o "mttӕF@PM`P@b8rH"%?˳i%y?"k4B*kkc֝?k/WX 2k@CkcIC?k- k CkRBk @ addTargetRange:: Added new target pos. range: 82.099998 m, deltaT: 3.527968 s, deltaX: -0.400002 m, approachRate: -0.113380 m/s, rangeRepo size: 4  Added new target pos. range: 82.099998 m, bearing: 101.657882 deg, lat: 36.904557 deg, lon: -122.119917 deg, deltaT: 3.527968 s, deltaX: -0.400002 m, approachRate: -0.113380 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.10 m.BjJj ProNav: ac range: 82.099998 m, nav range: 34.080284 m, bearing: 124.918809 deg, approach rate: 0.000000 m/s, LOS rate: 0.775903 deg/s, cmd heading: 22.940015 deg, new cmd heading: 24.112930 deg. 2jHeadingCmd: 0.420850 target range: 82.099998 and range: 82.10 m. )I) j-y>j)j1j1i9h9h9hahe΂Bfafafirfm`fT@bfm?ɛ;> @I QD<ɚ!i!I%aj=I-y>i)i-Ž)-y>))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:58:52.3183 HI I&IIBI( =&I.I6I'<:I F*F5?2F1:F1BF5^0JF1G ڋG rAG rAG B O >u2w, I_AB/=YBȘ>B<9Be'>yBH ?ѿ 8?:?T?@¿@\??ɨB/=B֣;BCy^B^%IIfIf٢~hʽ ~k=9Q ? G٣ y <  ? =Nusing accuracyPremultiplier from config1=595 ?E5Y5 i5Y?AE>E@5BpE5:5a:5l5mB u@uEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 82.10 m.Bjk<Jjk< ProNav: ac range: 82.099998 m, nav range: 34.131538 m, bearing: 125.220256 deg, approach rate: 0.152944 m/s, LOS rate: 0.898172 deg/s, cmd heading: 24.112929 deg, new cmd heading: 25.015833 deg. 2j=HeadingCmd: 0.436609 target range: 82.099998 and range: 82.10 m. j+>jjjihhhhf f)f1rf1bf5@?ɛy}d5> 隅?I |<ɚiI h=I+>iiNս)+>)EMy= V$?I*F ?2F :F BF \0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J J 9J 3J J J J 8;J 8;G G B O >zK- K- +9K) K- K- )14650-..+((*+'%# q2w,2yA=Yt><9/>yH?@jѿ3?`?@8?tÿ?ʄ?ɨ=خ;CyB%Ii%R=I!Mb@Mb@Mb@ )Y?Mbyf?S@ V@)@Iy(@AAII<2٢y -=9TQ >!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=595ъ?=5Y5} i5?=j?E:Eʗ>E@5FpE5;5;5y5I M@MEZjquDNOT Ignoring new targets: 82.10 m.Bj}Wr<Jj}Wr< ProNav: ac range: 82.099998 m, nav range: 34.209290 m, bearing: 125.611484 deg, approach rate: 0.168811 m/s, LOS rate: 0.847487 deg/s, cmd heading: 25.015833 deg, new cmd heading: 26.186678 deg. 2jg=HeadingCmd: 0.457044 target range: 82.099998 and range: 82.10 m. j>jjjihhhhBfffrfbfnW?ɛBTL> k?I 8e<ɚi I sf=I >iio9)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew<*F-?2F1:F1BF5`0JF1 I G .G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.@2w, AZHRHHI I%IIBI' =&I.I6Ib<:I9 FE<=YE>EJ<9Ep7>yEH È?ҿF???\Ŀ?1z?ɨE<=E;E CyBv%III٢%%m -:=9-Q 5>9A EG٣E/QGyER< E> UNusing accuracyPremultiplier from configIU59Mn䊜?U5YM| iM?Y]>]@MIpEM;M;Me5i m@iZjDNOT Ignoring new targets: 82.10 m.Bjm<Jjm< ProNav: ac range: 82.099998 m, nav range: 34.281738 m, bearing: 125.978405 deg, approach rate: 0.164520 m/s, LOS rate: 0.831456 deg/s, cmd heading: 26.186679 deg, new cmd heading: 27.284972 deg. 2j=HeadingCmd: 0.476213 target range: 82.099998 and range: 82.10 m. j#>jjjihhhhfffrfbfs?ɛB`> ?I `<ɚ i I -e=I #>ii)#>)E!E!*E!"E!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F] ?2FY :FY BF] _0JFY G5 ݽGE ?GE >G B O5 >2w,A6p=Y6.>6l<96hA>y6H@n?@$ӿg ?@~?(?ƿyT?@fl?ɨ6p=6;4yBBBo%IIJIJF2٢V' Z=9^Q ^?\\ bG٣`yb4= b? fNusing accuracyPremultiplier from configdj59fk?j5Yfz if-?ln >n@fLpEfX ;f ;f5rB rS@rEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.10 m.Bj"m<Jj%"m< =W$?I9 ProNav: ac range: 82.099998 m, nav range: 34.327900 m, bearing: 126.216215 deg, approach rate: 0.161189 m/s, LOS rate: 0.829273 deg/s, cmd heading: 27.284972 deg, new cmd heading: 27.997404 deg. 2jG=HeadingCmd: 0.488647 target range: 82.099998 and range: 82.10 m. j/>jjjihhhhfffrfbfQ?ɛQU,K8> UiaieN)e/>)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*F%?2F!:F!BF%4JF!zKgMK9KKK ._#4G`zwjWA* GGA BI O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958470n2w,1]A6=Y6ޥ>6ܦ<96hK>y6H`>T?ӿ^?k^??@!ǿ:۔ A?=]?ɨ6=6;6CyNmBRX%I)T TVAVAuMb@Mb@Mb@qqq q)qYuNbX9? rh rhyu?uCuCu@ u?@)u@Iu@qyu@I I(2٢ <=9dYQ > G٣y< > Nusing accuracyPremultiplier from config59?5Yy iy??:Θ>@OpE8;;5 @ZjDNOT Ignoring new targets: 82.10 m.Bj j<Jj j<% ProNav: ac range: 82.099998 m, nav range: 34.402740 m, bearing: 126.572629 deg, approach rate: 0.172877 m/s, LOS rate: 0.821499 deg/s, cmd heading: 27.997403 deg, new cmd heading: 29.064190 deg. 2j% =-HeadingCmd: 0.507266 target range: 82.099998 and range: 82.10 m. j-,?j)j1j1i1h1h1h9h=Bf9f9fArfAbfEg@ɛmBm(#> qut?Iq }B<ɚyiyI}a=I,?ii2),?) =X$?I9*F2F:FBFP0JFGGYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220540JJJ0JJ<:J9Jـ3Ja@a@a@a@HE)>IEC IE%IIEˆBIE( =&IA.IA6IED<:IE" FҮ2w,q9A2=Y29.>2Fi<92:U>y2H3?`hoԿ@Ƶ??D?9ȿ䬒 u?M?ɨ2=2;2 CyNiBRR%IIZIZ0٢~ ~V=9Q >   G٣ y  =  > Nusing accuracyPremultiplier from config59?%5Yxw i ~?!%N>%@SpEL ;] ;55-B -@5޴EZjQ]DNOT Ignoring new targets: 82.10 m.Bjej<Jjej< ProNav: ac range: 82.099998 m, nav range: 34.467304 m, bearing: 126.886345 deg, approach rate: 0.169085 m/s, LOS rate: 0.820046 deg/s, cmd heading: 29.064190 deg, new cmd heading: 30.003487 deg. 2j =HeadingCmd: 0.523660 target range: 82.099998 and range: 82.10 m. j?jjjihhhhfffrfbfY(@ɛB(> 1?I <ɚiIR_=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474835*F?2F:FBF^0JF 9I9GoGqAGqAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726509zK] OK] h9KY K] K] |l[QQMIGDB?8* 2w,>?AR.C>YR>R8<9R^>yRH`?4տ'?C?e?*ɿ搿`???ɨR.C>RNr;RCyvcBzK%II5I5F2٢] C=9Q >)1 5G٣50QGyM< M> Nusing accuracyPremultiplier from config59%?5Yzu iz?e>@VpE<%<15 1@ ZjDNOT Ignoring new targets: 82.10 m.Bj^<Jj^< ProNav: ac range: 82.099998 m, nav range: 34.542339 m, bearing: 127.259772 deg, approach rate: 0.156361 m/s, LOS rate: 0.776463 deg/s, cmd heading: 30.003488 deg, new cmd heading: 31.121183 deg. 2j8=HeadingCmd: 0.543167 target range: 82.099998 and range: 82.10 m. j ?jjjihhhhfffrfbf @ɛ]BeY> aeX?Ia e<ɚiiiImw]=I ?ii ) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:58:54.8328 TRx dataTimestamp_ set to:1736377136.072782checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980081Eo=<  Z$?I! *FM ?2FI :FQ BFU 45JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230673J J J J J :J 9J J jH! bH% <H- *>I)  I- %II- BI) &I) .I) 6I- I<:I- & FBIJIRIZIbIjI4G5GBO5>:3w,!AJT>YJo>Jd<9Jrd>yJH?Oտ\?`?7?ɿ`S]?3?ɨJT>JR;J Cy^UBb:%Iije>Ijp; lnp=eMb@Mb@Mb@aaa a)aYe#~j?/$Zd;Oye?e,eje@ a)aIe@aye@I}I}(٢@[ "=9Q > G٣y< > Nusing accuracyPremultiplier from config59a9?5Ys iv?r?:Z>@ZpE;W;=5 @۴EZjDNOT Ignoring new targets: 82.10 m.BjPt<JjPt< ProNav: ac range: 82.099998 m, nav range: 34.628796 m, bearing: 127.640309 deg, approach rate: 0.194600 m/s, LOS rate: 0.854385 deg/s, cmd heading: 31.121183 deg, new cmd heading: 32.259787 deg. 2j =HeadingCmd: 0.563039 target range: 82.099998 and range: 82.10 m. j[#?jjjih)h1hqhuBfffrfbf k @ɛBq> 隍?I =ɚiIe[=I[#?ii&)[#?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:58:54.8328 LVL= 19888, 22593, 19778, 24819, AGC= 60, IDX= 444, 0.10,-1.919,-2.830, 2.345,-3.060, PHS= 1.229, 0.277,-0.881, RAW= 56.8, -6.9, CAL= 63.3, -12.9, ROT= 86.7, 12.9 Ygot valid direction response: 22:58:54.8328 LVL= 19888, 22593, 19778, 24819, AGC= 60, IDX= 444, 0.10,-1.919,-2.830, 2.345,-3.060, PHS= 1.229, 0.277,-0.881, RAW= 56.8, -6.9, CAL= 63.3, -12.9, ROT= 86.7, 12.9 PDAT read: Bearing 86.7, 12.9 (Local) ~Local bearing/azimuth received: Bearing 86.7, 12.9 (Local) DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.1 m/s E!<,DAT read: user:2972> BDAT read: Tx time:22:58:55.9192 $Ping request sent.%7a%}?%Ϣ %i?)%fI%?i%f>!!%I?]RΚp)%?I%=i%?%g!!:publishing transmit ping timeFpublishing direction and range info!9%%.a?aE(s?G/?y!!!! !)!I!i!!!!! !)!I!i!!!%I?]RΚp)!I!i!!!!*Fe?2Fa:FiBFmP0JFiGM G! B1 OM > ! I! ^b 3w,|3ABWill construct direction to contact in vehicle frame from tetrahedron phase data.BJDAT read: TxSync time:22:58:55.9184 JFAAJDy~KB~-%II I  ٢%P -Q=9-Q ->YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mJ?u5Ymr im r?q@m^pEm;m;m5 @k]%=E?k]qH kY k]$A:k]BBk]ޢBZk]E?"]%YB!@\YH@ v"P@]%.a?aE(s?G/?Jk]?Rk]g*]뺈A@X/EvR@]b tvX?R?"k] B*k]~Gk])AnC?k]5 2k] Ck]@m?k]5 k] Ck]Bk]I@] addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.539353 s, deltaX: -0.099998 m, approachRate: -0.028253 m/s, rangeRepo size: 4 m Added new target pos. range: 82.000000 m, bearing: 95.018494 deg, lat: 36.904589 deg, lon: -122.119825 deg, deltaT: 3.539353 s, deltaX: -0.099998 m, approachRate: -0.028253 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 82.00 m.BjJj ProNav: ac range: 82.000000 m, nav range: 39.711384 m, bearing: 116.637567 deg, approach rate: 0.000000 m/s, LOS rate: 0.854385 deg/s, cmd heading: 32.259786 deg, new cmd heading: 33.315587 deg. 2jHeadingCmd: 0.581467 target range: 82.000000 and range: 82.00 m. j?jjjihh!h!h)f)zKMjNKM 9KIKMKMxw*,=;as%xoeXMIE=862/+'&$"! RKm?JKm>ffrfT@bf@} ?ɛB!> 隭?I m =ɚiI `Y=I?iiʲ#)?)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 05JF  [$?I G-G5 ?G5?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:JJJGB1HAIEC IE%IIEBIA&IA.IA6IEU<:IE/ FOe ?S3w,WVA^b:>Y^29>^;9^{>y^HBp?D<ؿs?`?t?`N̿{ !? ?ɨ^b:>^`ш;^"CyvDBz%%IMb@Mb@Mb@ )Y{Gz?A`"/$y?Yb@ (@)/@I@y@IIƲ٢P =9NQ  >    G٣ 1QGy.= > %Nusing accuracyPremultiplier from config!-59%Ya?-5Y%o i%l?5?5:5K>5@%bpE%;%E;%k5=B =0@=ִE]B*** querying acoustic contact ***jajaZjiuDNOT Ignoring new targets: 82.00 m.Bju]X<Jju]X< ProNav: ac range: 82.000000 m, nav range: 39.756283 m, bearing: 117.050724 deg, approach rate: 0.082320 m/s, LOS rate: 0.756636 deg/s, cmd heading: 33.315586 deg, new cmd heading: 34.553452 deg. 2j=HeadingCmd: 0.603072 target range: 82.000000 and range: 82.00 m. jb?jjjihhhhBfffrfbf?ɛUBU> Y]?IY ]~=ɚYiyIW=Ib?iim)b?)*FU?2FY:FYBF]Y0JFYG5AGBOm>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. I x3w,pA2xG>Y2^>2^;92b~>y2H@G? ؿL?@]? d?̿F~sf??ɨ2xG>2;2 CyNHBN*%IIZIZ&ѳ٢b< bb=9bQ f>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr59n9p?r5Ynn invi?pv>v@nepEn:n:n5zB z@zӴEG|uA =#YE|uAyEBZjiWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239519*J"JDNOT Ignoring new targets: 82.00 m.Bjv<<Jjv<< ProNav: ac range: 82.000000 m, nav range: 39.783852 m, bearing: 117.316200 deg, approach rate: 0.068489 m/s, LOS rate: 0.659061 deg/s, cmd heading: 34.553452 deg, new cmd heading: 35.349277 deg. 2j'<HeadingCmd: 0.616961 target range: 82.000000 and range: 82.00 m. j-?jjjihhhhf f frfbfi?ɛ]B].(> YeT?Ia e=ɚaiaIemT=I-?ii )-?)*Fe?2Fa:FaBFe_0JFazKgNK9KKK G WE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491277Ga B O >+_"3w,A6V>Y6>6m;96>y6H? ٿTJ??`2?`̿-p??ɨ6V>6~h;6!CyRGBR(%I-Mb@Mb@Mb@))) )))Y-Pn?{GzZd;Oy-?-ף-j-@ -@)-@I-@)y-@IEIE٢UԻ UB=9UBQ U>Ya eG٣e2QGymU = m> uNusing accuracyPremultiplier from configq59u?5Yunl iud??:1>@uipEu_;u;u 5 @ZjDNOT Ignoring new targets: 82.00 m.Bjh<Jjh< ProNav: ac range: 82.000000 m, nav range: 39.825066 m, bearing: 117.627884 deg, approach rate: 0.107842 m/s, LOS rate: 0.814713 deg/s, cmd heading: 35.349279 deg, new cmd heading: 36.283273 deg. 2j =HeadingCmd: 0.633263 target range: 82.000000 and range: 82.00 m. j"?jjjihhhhǂBfffrfbfQ? \$?IɛB?,> ?I! %: =ɚ)i)I-R=I="?i9iEq)E"?)I*F?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744113ZHRHHI Iz%IIBI' =&I.I6Is<:IF FGUcJJJJJ:Ju9JJJa5Ja5J/;a=J/;aEGBOk>=(3w,ͣA6d>Y6]>6;96>y6H@d?`rڿ?@~?`L?̿~ur@:?K?ɨ6d>6m;6CyNKBR.%IIZIZ٢b< fT=9f:Q f>hh jG٣hyjl= n> rNusing accuracyPremultiplier from configpv59r%?v5Yrj irE`?tv>v@rlpErL:r:r 5| ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995180 дEZjDNOT Ignoring new targets: 82.00 m.Bj5RF<Jj=RF y}q?Iy }j&=ɚiIP=Iu%?ii)u%?)*Fe?2Fa:FaBFeo0JFa ]$?IJJAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247915G :G B O >.3w,νAzK+LK9KKK--9u>Y->-7;9->y-H ?`jۿ?Nk?=?IͿcr S??ɨ--9u>-4;-CyMUBM:%IMb@Mb@Mb@ )YMbX9?Dl~jty?O@ @)/@I@y@II٢= +=9%MQ > G٣y o =  > Nusing accuracyPremultiplier from config59?5Yh tIi[??:c>@ppE<< 5 :@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500625Zj)-DNOT Ignoring new targets: 82.00 m.Bj5N<JjUN 隅B?I -=ɚiI;GN=I*?ii5)*?)*Fe?2Fa:FaBFaJFa aIa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751063G ?H )>I C I t%II BI &I .I 6I <:I _ FG B O5 >63w, Ax>Yx>f;9>yHo?Kܿ $?@X?~}?`Ϳ,p??ɨx>;y-iB-R%II=I= 2٢M= MX=9UQ U>QQ UG٣U3QGy]60= ]> mNusing accuracyPremultiplier from configam59eδ?u5Yef ieW?quе>u@espEej:e:eD5}B @ʹEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.00 m.Bj^<Jj^< ProNav: ac range: 82.000000 m, nav range: 39.924629 m, bearing: 118.533165 deg, approach rate: 0.076834 m/s, LOS rate: 0.779434 deg/s, cmd heading: 38.173780 deg, new cmd heading: 38.996591 deg. 2j=HeadingCmd: 0.680619 target range: 82.000000 and range: 82.00 m. j =.?jjjihhhhfffrfbf@ɛBp$B> 8_;%?I! %2=ɚ!i!I%PTL=I- =.?i)i-Y)- =.?)1EE]>EE>*F?2F:FBFP5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:58:58.4322 5TRx dataTimestamp_ set to:1736377139.601442=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004977G1nGBO> u ^$?Iu h2<3w,)A6=m>Y662F;96 ?>y6H@0?"5ݿ$?tI?=? Ϳ#hΖ??ɨ6=m>6 ;6CyenBmY%I)q quAuAI}I}Բ٢L< H=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255406JKـ3 K .KK"KJJJJJJ9JJJJJ$7;J%7;9Q > G٣y"= > Nusing accuracyPremultiplier from config59ŋ?5Yd iS?\>@vpE:5 @Zj)-DNOT Ignoring new targets: 82.00 m.Bj5O<Jj5O 隕?I 8=ɚiI-J=IDK2?ii)DK2?)*FI2FI:FIBFM5JFIzK-K-9K)K-K-!$GU"G B9 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510359O >C3w, A6H>Y6Q?6;96c>y6Hw?%޿H? A??`̿O[cۤ??ɨ6H>6;6 Cyj}Bnk%I !I!Mb@Mb@Mb@ )YMbX?A`"~jty ?YD-@ @)@Iy@IIF٢= H=9ۺQ > G٣y0= > Nusing accuracyPremultiplier from config59K֋?5Yb i"Q?r ?:>@zpE;;5B @ʴEZjDNOT Ignoring new targets: 82.00 m.Bj1S<Jj1S< ProNav: ac range: 82.000000 m, nav range: 39.970325 m, bearing: 119.147755 deg, approach rate: 0.043492 m/s, LOS rate: 0.738559 deg/s, cmd heading: 39.904274 deg, new cmd heading: 40.839140 deg. 2jn<HeadingCmd: 0.712777 target range: 82.000000 and range: 82.00 m. jx6?jjjihh h h BfQfQfQrfQbfU @ɛEBE.> 隍?I ?@=ɚiIuG=Ix6?iie)x6?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:58:58.4322 LVL= 15664, 23793, 20466, 22243, AGC= 58, IDX= 438, 0.38,-2.768, 2.124, 1.326, 2.014, PHS= 1.589, 0.157,-0.690, RAW= 68.4, -10.6, CAL= 79.8, -19.4, ROT= 70.2, 19.4 Ygot valid direction response: 22:58:58.4322 LVL= 15664, 23793, 20466, 22243, AGC= 58, IDX= 438, 0.38,-2.768, 2.124, 1.326, 2.014, PHS= 1.589, 0.157,-0.690, RAW= 68.4, -10.6, CAL= 79.8, -19.4, ROT= 70.2, 19.4 PDAT read: Bearing 70.2, 19.4 (Local) ~Local bearing/azimuth received: Bearing 70.2, 19.4 (Local)  DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.0 m/s ,DAT read: user:2973> BDAT read: Tx time:22:58:59.5192 $Ping request sent.IQ IU%IIUBIU( =&IQ.IQ6IU<:IUV FeR#Rx 1: Read range and direction messages.m\direction in FSK: [0.151932,0.438550,0.885771]m:publishing transmit ping timeuFpublishing direction and range infoة9ح|S5r?5?P$٭ף0٭Θ?٭q= ڭaF?)ڭ-\Iڭ Ԝ?iڭ-\>ککۭN&?0ߣ迎ǿ)ۭjfIۭGl=>iۭ_?ۭH۩۩:publishing transmit ping timeFpublishing direction and range infoة9ح|S5r?5?P$]iI3w,y'AZ>YZz?Z:9Zrp>yZHa?`r߿ ?`??b̿Sɜ?@5?ɨZ>ZY ;ZCyBz%IIUIU٢>n= G=9#:Q > G٣4QGy"= > Nusing accuracyPremultiplier from config559狜?55Y` i\N?1=l>=@~pE/</<5A E @Ak֌?k`V k kuA:k3BBkBZkض?"o&(@^jRA@]R@|S5r?5?P$ 隥?I F=ɚiIE=I:?iit):?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiyJJJJJ<:J9JJJ;J;J3;J3;E<*F 2F :F BF ^2JF zK ƒLK 9K K K -<QSPLIDA@>95220*'(%#" *49735<FHEDEEDEIKH@=830)G)IWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?R3w,.HA2+>Y2l ?292>y2H^?`L<=?3?`%i?̿`UR?c?`D?ɨ2+>2ǻ;2 Cy>B>%IiBC=IBp< B=@Mb@Mb@Mb@ )Ysh|??Zd;OMbpy ?jC@ @)@I@y@II٢5= =9ȒQ > G٣yK = > Nusing accuracyPremultiplier from config59B?5Yn\ i!M? ?:a?@pEH;G;5  @ǴEZj)-DNOT Ignoring new targets: 81.60 m.Bj5u<Jj5u 隕$?I ON=ɚiIeRB=IgX@?ii )gX@?) -`$?I1Eϩ;*F?2F:FBFv3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im%IImBIm' =&Ii.Ii6Im<:Imi FBIƜCJIƜCRIZI' =bI' =jI4G 9SG B O% >$;X3w,bA6(a>Y6?6Q96V>y6HY?]u 4??%?`]d̿ qb?D??ɨ6(a>6m;6CyRBR%IIZIZ%٢b= b]=9fAQ f>dh jG٣hyjS8= n> vNusing accuracyPremultiplier from configpv59r ?v5YrY irOL?xz?z@rpEr3:r:r5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.60 m.BjOb<JjOb< ProNav: ac range: 81.599998 m, nav range: 37.099300 m, bearing: 111.248375 deg, approach rate: -0.079411 m/s, LOS rate: 0.791425 deg/s, cmd heading: 43.049122 deg, new cmd heading: 43.963752 deg. 2j=HeadingCmd: 0.767312 target range: 81.599998 and range: 81.60 m. jnD?jjjihhhhff!f!rf!bf%`0 ?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɛBA> 隕?I vT=ɚiI-?=InD?i i K)nD?) !I!Emyb];EurAEunA*F ?2F :F BF _5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499233J- J- J) J) J- :J- 9J) J) J- P;J- Q;J- 1;J- 1;zKmx,NKm]9KiKmKm hF GFGBO? a3w,gAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751291y޵B޵%I) EMb@Mb@Mb@AAA A)AYEDl?~jtx?~jtx?yEO ?E;E;E@ E@)E/@IE/@AyAII(*٢\= =9Q >  G٣ 5QGy   > Nusing accuracyPremultiplier from config59e"?5YU iM?%T ?%:%?%@pE;[;,5-B -@5ĴEZjyDNOT Ignoring new targets: 81.60 m.Bjt<Jjt< ProNav: ac range: 81.599998 m, nav range: 37.035469 m, bearing: 111.751512 deg, approach rate: -0.108457 m/s, LOS rate: 0.856355 deg/s, cmd heading: 43.963752 deg, new cmd heading: 45.475395 deg. 2j=HeadingCmd: 0.793695 target range: 81.599998 and range: 81.60 m. j/K?jjjihhhhPBfffrfbfm?ɛBl-> 隭)@I T^=ɚiIo<=I/K?ii.)/K?)*E="E= Ea$?IEhEE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002906ZH RH H &>I  I %II цBI ( =&I .I 6I <:I _ F*F= ?2F9 :F9 BF= 0JF9 G]?G9BIOe?h3w,A>7>Y>?>r99>5>y>H, ?@?sz? @?ʿA? n?@]?ɨ>7>>(ڈ;>CyJ͆BJ%IIRIR<٢^8= ^>=9^g;Q b>`` bG٣`yff> f> nNusing accuracyPremultiplier from configlr59n2?r5YnpQ injN?pr?r@npEn:nn:n5zB z@zEZjDNOT Ignoring new targets: 81.60 m.Bj%o<Jj%o<5 ProNav: ac range: 81.599998 m, nav range: 36.978783 m, bearing: 112.109298 deg, approach rate: -0.132757 m/s, LOS rate: 0.839200 deg/s, cmd heading: 45.475396 deg, new cmd heading: 46.550267 deg. 2j5==HeadingCmd: 0.812455 target range: 81.599998 and range: 81.60 m. j=O?j9j9j9iAhAhAhAhIfIfIfIrfQbfU >@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253864JdJ> 隝@I e=ɚiI9=IO?ii )O?)EE*E"E I!*F?2F:FBF_5JF) C~GvAGN Y vAy BGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505634Je Je Je /Ja Je :Je 9Je (N3Ja Je ;Je ;Je :;Je :;n3w,YkAy~ֆB%III zK}5LK}h9KyK}K}RK?JK>٢l1= 9=9 Q  >! %G٣)y > Nusing accuracyPremultiplier from configU59tD?]5YqM iDO?aam@pE3<<5B P@EZj%DNOT Ignoring new targets: 81.60 m.BjM_<JjM_<] ProNav: ac range: 81.599998 m, nav range: 36.918530 m, bearing: 112.501244 deg, approach rate: -0.120226 m/s, LOS rate: 0.783337 deg/s, cmd heading: 46.550266 deg, new cmd heading: 47.727848 deg. 2j]f=eHeadingCmd: 0.833008 target range: 81.599998 and range: 81.60 m. je@U?jajajaiaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757913hAhIhIhIfIfQfQrfQbfUY@ɛB:> @I m=ɚiI%ק6=I%@U?i!i-!)-@U?))E=e>E=>*F2F:FBFP5JF c$?IG wV)G ?G ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:59:02.0311 e TRx dataTimestamp_ set to:1736377143.381039m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011181H %>I  I %II BI ) =&I .I 6I [<:I / FJ J @AG B O% >-1v3w,A 44b>YbE'?bVpm;9bф>ybHh?2 P?s??.ɿm`j?`?ɨb>b0;b Cy~چB~%IMb@Mb@Mb@ )Yv?)\(? rh?y?Ga=C<-@ @)E@Iy(@II<٢%x< %;=9-M;Q ->)) 5G٣56QGy5ѳ= 5> =Nusing accuracyPremultiplier from config9E59=S?M5Y=!I i=9R?M?M:M% 隽@I t=ɚiI24=I Z?ii) Z?)*F?2F:FBFP0JFGmhL)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262350G!B1OUu> Q IQ Q|3w,A6>Y6b,?6;964>y6H?,??@?4?@Hɿ xv?-?ɨ6>6\1;6CybBb%IIjIj(1٢b= _=9;Q >!! %G٣!y%^= -> 5Nusing accuracyPremultiplier from config)559-8a?=5Y-)E i-T?9=?A?=@-pE- ;-. ;-"5I M@ImB*** querying acoustic contact ***jijiZjy}DNOT Ignoring new targets: 81.60 m.Bj܁<Jj܁< ProNav: ac range: 81.599998 m, nav range: 36.761238 m, bearing: 113.180355 deg, approach rate: -0.214555 m/s, LOS rate: 0.908273 deg/s, cmd heading: 48.803146 deg, new cmd heading: 49.769314 deg. 2j=HeadingCmd: 0.868638 target range: 81.599998 and range: 81.60 m. j_^?jjjih!h!h!h!f)f)f)rf)bf5@. @]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYDAT read: 22:59:02.0311 LVL= 14464, 31217, 19538, 31171, AGC= 56, IDX= 428, 0.08, 1.447,-0.169,-0.370, 0.197, PHS= 1.338,-0.319,-0.570, RAW= 83.0, -5.0, CAL= 91.7, -12.3, ROT= 58.3, 12.3 JJJ0JJJ9Jـ3Ja@a@a@a@Ygot valid direction response: 22:59:02.0311 LVL= 14464, 31217, 19538, 31171, AGC= 56, IDX= 428, 0.08, 1.447,-0.169,-0.370, 0.197, PHS= 1.338,-0.319,-0.570, RAW= 83.0, -5.0, CAL= 91.7, -12.3, ROT= 58.3, 12.3 PDAT read: Bearing 58.3, 12.3 (Local) ɛłBO> @I {=ɚiI1= ~Local bearing/azimuth received: Bearing 58.3, 12.3 (Local) DAT read: Range 10 to 50 : 80.8 m (Round-trip 107.8 ms) speed 0.3 m/s ,DAT read: user:2974> %BDAT read: Tx time:22:59:03.1192 %$Ping request sent.%AJ%)?Ty&5?y]BY]8]y ]RL)]yI]8i]C?]S]]}l?]¸ ]?*F?2F!:F!BF%[0JF!)][I]S>?i][>zKBHK9KKKBK):K)YY]v0 y? ')mT))]J%I]b=i]!?]YY:publishing transmit ping time!Fpublishing direction and range infoY9]i*e?>AJ%)?Ty&5?yYYYY Y)YIYiYYYYY Y)YIYiYYY]v0 y? ')mT))YIYiYYYY Will construct direction to contact in vehicle frame from tetrahedron phase data.GE b!G B O% >;3w, ARG>YR1?R;9R~>yRH`Ù??v?@E?mȿ`F8b??ɨRG>R;R C IyB%IMb@Mb@Mb@ )YS?/$?{Gz?y?=ף<p@ @)/@Iyz@I5I5T߳٢E; +=9i;Q > G٣y,= > Nusing accuracyPremultiplier from config598r?5Yz? iMY?2?:Q?@pE;[;$5B w@EkdP?kmY k k˝A:kBBk|BZkd^@"G7"?'1@F&S@i*e?>AJ%)?Ty&5?Jk!?Rk*~@P!ր9Lx{,T@;N8?0t|&t?"ky*k~@k?k,n/Y 2k%Ck)AnC?kkkBk? addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.528646 s, deltaX: -0.799995 m, approachRate: -0.226715 m/s, rangeRepo size: 4  Added new target pos. range: 80.800003 m, bearing: 346.225349 deg, lat: 36.904721 deg, lon: -122.119825 deg, deltaT: 3.528646 s, deltaX: -0.799995 m, approachRate: -0.226715 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 80.80 m.BjJj ProNav: ac range: 80.800003 m, nav range: 34.226280 m, bearing: 101.171184 deg, approach rate: 0.000000 m/s, LOS rate: 0.908273 deg/s, cmd heading: 49.769314 deg, new cmd heading: 51.143496 deg. 2jHeadingCmd: 0.892622 target range: 80.800003 and range: 80.80 m. jd?jj j i h h hhBfffrf@33T@bf@w?eWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HI I#&IIBI&I.I6I۰<:I FɛȂB.J> 隭@I qk=ɚiI.=Id?iisB)d?)E*FU?2FQ:FQBF]]0JFYG-FGBO >;d3w,d'A:S>Y:(7?:<9:>y:H`?0E^?? ]?ǿDv`a??ɨ:S>:ǻ;8yNBR%IbWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ ٢m: }n=9;Q ? G٣7QGy= ? Nusing accuracyPremultiplier from config%59~?%5YN; iu\?)-W?-@pE;;"&51 5@9ZjYeDNOT Ignoring new targets: 80.80 m.BjeIu<JjeIu< ProNav: ac range: 80.800003 m, nav range: 34.098797 m, bearing: 101.455537 deg, approach rate: -0.383138 m/s, LOS rate: 0.857784 deg/s, cmd heading: 51.143497 deg, new cmd heading: 51.999677 deg. 2j,=HeadingCmd: 0.907566 target range: 80.800003 and range: 80.80 m. j8Vh?jjjihhhhfffrfbf`d?ɛu˂Bud> u09u@Iy }=ɚyiyI}6d,=I8Vh?iio)8Vh?) d$?I*FE?2FA:FABFEo0JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm ,GA BI Om >GN3w,RHAAzKBoHK+9KKK   RKU?JKU>?Y=?.<9>yH6?@>g??^? ǿ@yم?k?ɨ? ;Cyޥ݆Bޭ%IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YbX9?1Zd?Q?yE?"=u<-@ )@I@y@II٢=E (=9L_;Q > G٣y?J=  > Nusing accuracyPremultiplier from config 59 ?5Y r5 i `??:h?@ pE Y; ; 4(5) -@)ZjIUDNOT Ignoring new targets: 80.80 m.BjUa^<Jj]a^ @I =ɚiI%)=I:7m?iiA):7m?)*F?2F:FBFJF e$?IG 9 G >G ?} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ̝:J 9J J H $>I  I 6&II "BI &I .I 6I ΰ<:I FG B O >v3w,J ?YJ4D?JyL<9JNo>yJH  ?X@1R??1?R?` ǿ6?r?ɨJ ?JC;JCyb׆Bb%IInInƲ٢0  =9  ;Q  ? G٣y= ? eNusing accuracyPremultiplier from configam59e1?m5Yet1 iec?quo?u@epEe:eD 隅@I =ɚiIL'=Ilp?ii%)lp?)EqAEqA*F-?2F):F)BF-P5JF1GVGBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data. I h$3w,tA>!?Y>I?><9>N>y>H j? ?@b? ?:9ƿ@? ?ɨ>!?>;>CyFʆBF%IiJ=IJ> Np=LIRIRb٢b܇ bO=9bdd fG٣f8QGyf)[= j> nNusing accuracyPremultiplier from confighr59ja?r5Yj, ijf?prt?v@jpEj;j;jE+5zB z4@zEB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 80.80 m.Bj%]<Jj%] 隍?I إ=ɚiI8$=IMt?ii])Mt?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.)qEzKLK 9KKK T #'!  zri`VLB;72+)'$ BK:K*F5?2F9:F9BFE1JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211612G I Gq By O >33w,A:?Y:O?:l-<9:>y:H;?`?Y?&?`n?hſjq?@K?ɨ:?:T‰;:CyFBF%I%Mb@Mb@Mb@!!! !)!Y%On?!rh?{Gzt?y%?%l=%ף;%@ %@)%E@I%@!y!I5I5F2٢M M/=9Us;Q U>QQ ]G٣Yy]<= e> mNusing accuracyPremultiplier from configam59e~?u5YeK& iei?uL?u:u|?u@epEe@ZHRHH">ICWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461641 I/&IIBI&I.I4D6Ib<:I2 FBIJIRIZI) =bI) =jI4JJJ/JJ:J9J(N3JJP;aJQ;aJZ5;a%JZ5;a%ɛUׂB]ޠ@> Y]?IY e<=ɚaiaIe!=Imx?iiimj)mx?)qE*:*F?2F:FBF_5JFGӋGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714123k_3w,A"PExceeded connect timeout, disconnecting.f?YfT?f&<9fǃ>yfHY?>??@i?Ŀ }`/?'?ɨf?fs;dyrBr%IIzIz(*٢  O=9 ;Q  > G٣yF= > %Nusing accuracyPremultiplier from config!-59%J?-5Y%  i%k?15?5@%pE%A;%P:% /5EB EE@EEZjDNOT Ignoring new targets: 80.80 m.BjY<JjY< ProNav: ac range: 80.800003 m, nav range: 33.269756 m, bearing: 102.982953 deg, approach rate: -0.438652 m/s, LOS rate: 0.761065 deg/s, cmd heading: 55.724556 deg, new cmd heading: 56.604547 deg. 2j= HeadingCmd: 0.987936 target range: 80.800003 and range: 80.80 m. j [|?j j j  f$?Iih!h!h!h)f)f)fQrfQbfUF@ɛڂB\> ?I =ɚiIc=I[|?iiZ )[|?)E!E!*E!"E!EY>E>Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:59:05.6296  TRx dataTimestamp_ set to:1736377146.909991checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967833*FM?2FI:FIBFUP5JFQG zK 9NK +9K K K  G BO5>83w,nNA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.219421E%Y%?YE#]?EB<9E>yEH?k;H?`?<2?G¿fG`0q??ɨE%Y%?EX;ECy]B]%I)a aii Mb@Mb@Mb@    ) Y B`"?S㥻?Mb`y ? /=  @ ) /@I @ y @II٢5+ 5"=95 W99 =G٣=9QGyE= E> Nusing accuracyPremultiplier from config59Ō?5Y1 iSm??:?@pE<;;N15 @Zj  DNOT Ignoring new targets: 80.80 m.BjD<JjD< )I)M ProNav: ac range: 80.800003 m, nav range: 33.053177 m, bearing: 103.330339 deg, approach rate: -0.424679 m/s, LOS rate: 0.685629 deg/s, cmd heading: 56.604547 deg, new cmd heading: 57.653410 deg. 2jME EǒE?II uƘ=ɚqiqI}=Ì?iiT)̀?)*F2F:FBFC5JFH!>I I&IIBI* =&I.I6I<:Ij F-Will construct direction to contact in vehicle frame from tetrahedron phase data.JAJAJUJUJQJQJU\:JU9JQJQJUi;JUk;JU$7;JU%7;DAT read: 22:59:05.6296 LVL= 18832, 29137, 21730, 31555, AGC= 57, IDX= 429, 0.35, 2.525, 0.949, 1.125, 1.633, PHS= 0.981,-0.637,-0.511, RAW= 94.0, 2.2, CAL= 102.6, -0.3, ROT= 47.4, 0.3 Ygot valid direction response: 22:59:05.6296 LVL= 18832, 29137, 21730, 31555, AGC= 57, IDX= 429, 0.35, 2.525, 0.949, 1.125, 1.633, PHS= 0.981,-0.637,-0.511, RAW= 94.0, 2.2, CAL= 102.6, -0.3, ROT= 47.4, 0.3 PDAT read: Bearing 47.4, 0.3 (Local) ~Local bearing/azimuth received: Bearing 47.4, 0.3 (Local) DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.4 m/s ,DAT read: user:2975> BDAT read: Tx time:22:59:06.7192 $Ping request sent.3w,A6f)?Y6dHb?6Q=96魃>y6H)H?`???ผX:XE??ɨ6f)?6*8;6 CyRBRv%IInInb2٢-. -O=95F)19 =G٣9y=B4= => mNusing accuracyPremultiplier from configAu59EWΌ?u5YE9 iEn?q}?}@EpEE;E;E25 @kˊj?kZ k koeA:kfBBkLBZkΤ@"60&%yѴ @I搻S@3\Cc]~??JkO6@RkeC*hO@f{1/-S\S@jx?Ij$e˿ET?"kv*k@kFo?k1 2kCkK،?kR kCkɈAkw-? addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.527810 s, deltaX: -1.100006 m, approachRate: -0.311810 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:59:06.7184  Added new target pos. range: 79.699997 m, bearing: 295.086867 deg, lat: 36.904792 deg, lon: -122.119993 deg, deltaT: 3.527810 s, deltaX: -1.100006 m, approachRate: -0.311810 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 79.70 m.BjJjM ProNav: ac range: 79.699997 m, nav range: 17.098581 m, bearing: 89.604151 deg, approach rate: 0.000000 m/s, LOS rate: 0.685629 deg/s, cmd heading: 57.653408 deg, new cmd heading: 58.479504 deg. 2jQUHeadingCmd: 1.020660 target range: 79.699997 and range: 79.70 m. j]?jYjyjyiyhyhhhfffrfS@bf`? nManaging dock network, ignoring radio surface power offɛB P>  ?I +=ɚiI`=I ?i i x?) ?) aIa*F 2F :FBFU0JFG4սGGBO5> =/Y9y= Bu Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,nA6.?Y6Ag?6=96?>y6H?@U?*? z_?*V?y?ɨ6.?66A;6CyBqBB\%IIJIJ<٢j"ٽ jQ=9n$;Q > G٣y%G= %> -Nusing accuracyPremultiplier from config)559--׌?55Y- i-n?15e?5@-pE-:-q ;-45A E@MEmB*** querying acoustic contact ***jijiZjy}DNOT Ignoring new targets: 79.70 m.Bj<Jj< ProNav: ac range: 79.699997 m, nav range: 16.897638 m, bearing: 89.954971 deg, approach rate: -0.533394 m/s, LOS rate: 0.942305 deg/s, cmd heading: 58.479506 deg, new cmd heading: 59.544353 deg. 2j!=HeadingCmd: 1.039245 target range: 79.699997 and range: 79.70 m. j?jjjihhhhfffrfbf.?ɛBY> *?I 0=ɚiI=I?iia/)?)E*F?2F:FBF_0JFzKLKs9KK!K %*/27:;<BFILPSTSRk Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.G#鼽 eg$?IaGBO>3w,VHAHz>Ix Iz%IIzۆBIx&Ix.Ix6Iz<:Izo FeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.993097*J}C="J}4=yލ\BލC%I ==J}J}J}0JyJ}̝:J}:J}ـ3JyJ};J};J}C;J}C;Mb@Mb@Mb@ )Y{Gz?333333?{Gzy?=# @)E@I@yII٢Ԯ -=9Q > G٣:QGy > Nusing accuracyPremultiplier from config59Tጜ?5Yn  im? A? : '? @pE;Y;65 "@ZjAEDNOT Ignoring new targets: 79.70 m.BjMG<JjMG<] ProNav: ac range: 79.699997 m, nav range: 16.688831 m, bearing: 90.368121 deg, approach rate: -0.451334 m/s, LOS rate: 0.904184 deg/s, cmd heading: 59.544353 deg, new cmd heading: 60.799099 deg. 2j]"=eHeadingCmd: 1.061144 target range: 79.699997 and range: 79.70 m. jeӇ?jajajaiihihihqhu܂Bfqfqfqrfybf}I?ɛ}B}@> 隅?I =ɚiI-=IӇ?ii)Ӈ?)E  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246225*F ?2F :F BF 4JF A IE hG!GB O-?>3w,*:A6#6?Y6n?6X2=96{>y6H@?`@\+? ?`?@]II@ ?o?ɨ6#6?6v;6 CyBPBB4%IJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495895IRIR(٢^dQ ^2=9^L`d fG٣dyj8= j> nNusing accuracyPremultiplier from configlr59nꌜ?r5Yn inl?pv߉?v@npEn;n;n85 @ZjDNOT Ignoring new targets: 79.70 m.Bjn<Jjn<5 ProNav: ac range: 79.699997 m, nav range: 16.479342 m, bearing: 90.766885 deg, approach rate: -0.433109 m/s, LOS rate: 0.834896 deg/s, cmd heading: 60.799100 deg, new cmd heading: 62.010410 deg. 2j5>==HeadingCmd: 1.082286 target range: 79.699997 and range: 79.70 m. j=W?j9j9jAiAhAhAhihifififqrfqbfu7?ɛBJeB> 隅9?I a=ɚiI=IW?iiϽ)W?)E}NJκ*F?2F:FBF]0JFzKuF)NKu9KqKu"Kuq_W]SMIFCBDC@@?>>??==8/$  $*/,-)$## RK>JK ?G5]ŽMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748192GaBO> Y Ia 3w,SAy@B!%IMb@Mb@Mb@ )YK?:v?y&1y^>T=`e@ )@Id@y@II(1٢ؐ 9=9Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y ii?>:]?@pE;;:5B @%EZjIUDNOT Ignoring new targets: 79.70 m.BjUR<JjUR 隵?I ͨ=ɚiI=I3?ii)3?)*E="E=H >I I%IIBI+ =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000101EqErAEpA*F?2F:FBF^0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252654G c ] h$?IY G B O >ս3w,`?qAy 2B %II% I%2٢UT U:=9YQ ]>YY eG٣e;QGya e> uNusing accuracyPremultiplier from configi}59mC?}5Ym  img?y@mpEm@;m;m<5 @ZjDNOT Ignoring new targets: 79.70 m.Bj<Jj< ProNav: ac range: 79.699997 m, nav range: 16.110580 m, bearing: 91.560420 deg, approach rate: -0.418785 m/s, LOS rate: 0.923749 deg/s, cmd heading: 63.204207 deg, new cmd heading: 64.417730 deg. 2j}=HeadingCmd: 1.124301 target range: 79.699997 and range: 79.70 m. j?jjjihhhhfffrfbfx[@ɛB%:}D> !-&?I) -O=ɚ)i)I-=I5?i1i5 )5?)9-Will construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J=/J9J=<:J=9J=(N3J9aE@aE@aE@aE@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510108Em9*F?2F:FBF_0JFGxG B O >zK K{NK 9K K #K "&*.1/138?<<>;<:7.BK :K qA>3w,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758830 QIQy](B]%IMb@Mb@Mb@ )Y rh?S㥛?Mby>/<@ )@I7@yQ@I)I)٢]& e.=9iQ u>yy }G٣yyy > Nusing accuracyPremultiplier from config59M?5Y< id?>:5~?@pE;;>5 p@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.70 m.Bj<Jj< ProNav: ac range: 79.699997 m, nav range: 15.931710 m, bearing: 92.006473 deg, approach rate: -0.379307 m/s, LOS rate: 0.956496 deg/s, cmd heading: 64.417727 deg, new cmd heading: 65.770643 deg. 2j$=HeadingCmd: 1.147914 target range: 79.699997 and range: 79.70 m. j?jjjihhhhBfffrfbf@ @ɛ-B-:@> 15?I1 =6=ɚAiAIMt =I]?iiI?!)?)EE*E%"E%H}>Iy I}a%II}uBI}* =&Iy.Iy6I}<:I}q F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:59:09.2282 5TRx dataTimestamp_ set to:1736377150.440618=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008923*F] ?2FY :FY BFY JFa G%GBOM?=F3w,AJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260014ZC?YZ{?Z\=9Zq>yZH C?)?@ˏ??F 4]?`8 ?ɨZC?ZT;XybBf$IIrIr(*٢ezn e;=9m^=Q m>qq uG٣u Nusing accuracyPremultiplier from configy59}?5Y} i}`??@}pE}<}<}@5 @@ZjDNOT Ignoring new targets: 79.70 m.Bj }<Jj }< ProNav: ac range: 79.699997 m, nav range: 15.762495 m, bearing: 92.394899 deg, approach rate: -0.382809 m/s, LOS rate: 0.888147 deg/s, cmd heading: 65.770644 deg, new cmd heading: 66.948257 deg. 2ja=%HeadingCmd: 1.168468 target range: 79.699997 and range: 79.70 m. j%X?j!j!j!i!h)h)h)h)f1f1f1rf1bf5 @ IIIɛuBuB> y}?Iy }u=ɚyiyI} =IX?iiV)X?)E%e>E%>*F?2F:FBFg0JFGU8GB)O[>EWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:59:09.2282 LVL= 15856, 31777, 20946, 32755, AGC= 59, IDX= 429, 0.48, 1.889, 0.190, 0.635, 1.091, PHS= 0.886,-0.854,-0.459, RAW= 102.5, 5.4, CAL= 112.7, 3.5, ROT= 37.3, -3.5 JKm3 K(.KK"KJJJ0JJ:J :Jـ3JYgot valid direction response: 22:59:09.2282 LVL= 15856, 31777, 20946, 32755, AGC= 59, IDX= 429, 0.48, 1.889, 0.190, 0.635, 1.091, PHS= 0.886,-0.854,-0.459, RAW= 102.5, 5.4, CAL= 112.7, 3.5, ROT= 37.3, -3.5 PDAT read: Bearing 37.3, -3.5 (Local) ~Local bearing/azimuth received: Bearing 37.3, -3.5 (Local) DAT read: Range 10 to 50 : 78.5 m (Round-trip 104.7 ms) speed 0.4 m/s ,DAT read: user:2976> BDAT read: Tx time:22:59:10.3193 $Ping request sent.y6H^?`D%?@O?`b?I??ɨ6 OF?6*;6CyNBN$IiR>IR= V=Va=IZIZ(٢vU< vT=9v`xx zG٣xyz= > -Nusing accuracyPremultiplier from config!e59%F?m5Y% i%h]?y}3?@%pE%~D<%r=<%=B5 -@EklA?k{=P zKUMKU59KQKU$KUk khA:kBBkBZk:ש@")C0qr~ *͖S@}lVʿ 庿?D?Jkc+Rk\*{K/@kW7b?dPR@k?Kӿ}^?"k*k|AkyJ?k|T 2kR Ck?k,n/Y kk@k@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:59:10.3185  addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 3.531456 s, deltaX: -1.199997 m, approachRate: -0.339802 m/s, rangeRepo size: 4 E Added new target pos. range: 78.500000 m, bearing: 304.098667 deg, lat: 36.904817 deg, lon: -122.120214 deg, deltaT: 3.531456 s, deltaX: -1.199997 m, approachRate: -0.339802 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 78.50 m.BjUJjQ ProNav: ac range: 78.500000 m, nav range: 4.558656 m, bearing: 296.324067 deg, approach rate: 0.000000 m/s, LOS rate: 0.888147 deg/s, cmd heading: 66.948257 deg, new cmd heading: 68.188252 deg. 2jHeadingCmd: 1.190109 target range: 78.500000 and range: 78.50 m. jU?jjjihhhhfffrfS@bf `? Mi$?IIɛ]B}>> 隅?I Ǹ=ɚiI =IU?iiD)U?)*FU?2FQ:FYBF]_0JFYG5>GBO >H I  I /%II LBI &I .I 6I <:I i FBIMʛCJIMʛCRIIZIM* =bIM* =jIM$4] Will construct direction to contact in vehicle frame from tetrahedron phase data.J J P3w,ѯAy=B=$IMb@Mb@Mb@ )Y{Gz?{Gz?y>#=b@ )@IM@y@I%I%٢=1 =7=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configI]59M?]5YM iMZ?]>]:]?e@MpEM[;MH;M,D5mB m@iZjDNOT Ignoring new targets: 78.50 m.BjJj ProNav: ac range: 78.500000 m, nav range: 4.676607 m, bearing: 294.359529 deg, approach rate: 0.325704 m/s, LOS rate: -5.286932 deg/s, cmd heading: 68.188251 deg, new cmd heading: 62.463533 deg. 2jbHeadingCmd: 1.090194 target range: 78.500000 and range: 78.50 m. j}?jjjihhhh|Bfffrfbf@A)?ɛB:V> ?I  ҵ=ɚiINg=I%Vm?i%/}3w,A:}N?Y:=~?:t=9:M~>y:H`~?h9?8M?ٓ?7i\?e?ɨ:}N?:9;: CyN!BN$IIVIV 3٢n= rd=9rtt vG٣v=QGyz= z> ~Nusing accuracyPremultiplier from config| 59~%? 5Y~" i~qX?  ?@~pE~0;~0;~E5 @ZjAEDNOT Ignoring new targets: 78.50 m.BjM#JjM#] ProNav: ac range: 78.500000 m, nav range: 4.780671 m, bearing: 292.869180 deg, approach rate: 0.289866 m/s, LOS rate: -4.060463 deg/s, cmd heading: 62.463535 deg, new cmd heading: 58.098769 deg. 2je*.eHeadingCmd: 1.014015 target range: 78.500000 and range: 78.50 m. je=ˁ?jijijiiihihihqhqfqfqfyrfybf}r?ɛB?R>Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJQJQJU\:JU9JQJQ ?I L =ɚiI=I?iir)=ˁ?)E*F2F:FBF@5JFG}GQBaO}Y>zK ؞KK h9K K %K   Will construct direction to contact in vehicle frame from tetrahedron phase data. > p= I II e4w,pAR,V?YR?Rxí=9R2>yRH-?z? S?{v?SñnH??ɨR,V?RO;RCyj#Bn$I)p pttmMb@Mb@Mb@iii i)iYm/$??mL=mt)) -G٣)y5,= 5> =Nusing accuracyPremultiplier from config9E59=,?E5Y=( i=nV?Ev>E:Eh?M@=pE=;= ;=G5Q ]@Y}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 78.50 m.BjFJjF ProNav: ac range: 78.500000 m, nav range: 4.924938 m, bearing: 291.131794 deg, approach rate: 0.323792 m/s, LOS rate: -3.784579 deg/s, cmd heading: 58.098771 deg, new cmd heading: 53.053151 deg. 2jU"HeadingCmd: 0.925952 target range: 78.500000 and range: 78.50 m. j4 m?jjjihhhhBfffrfbf?ɛB H> ?I h=ɚiIP=Iш?ii)4 m?)H->I) I-%II-3BI)&I).I)6I-<:I-_ F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.*Fa2Fa:FaBFe4JFaG ,GY Bi O >V 4w,>,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747633RZ?YR?R*=9R>yRHQ?v),? ? ?@q|@ȫ%??ɨRZ?RÉ;R Cy^'B^%IIj Ij̍2٢r\< ra=9v,tx zG٣xyz,= z> Nusing accuracyPremultiplier from config 59z1? 5Y iT?  V? @pE:.:GI5B e@EZjAEDNOT Ignoring new targets: 78.50 m.BjM\JjM\ I ProNav: ac range: 78.500000 m, nav range: 5.047662 m, bearing: 289.808750 deg, approach rate: 0.339629 m/s, LOS rate: -3.572064 deg/s, cmd heading: 53.053153 deg, new cmd heading: 49.186747 deg. 2j%7%HeadingCmd: 0.858471 target range: 78.500000 and range: 78.50 m. j%[?j)j)j)i)h)h)h1h1fQfYfYrfYbf] V1?ɛBxP> 隭?I k=ɚiI=I#?iiL =)[?)) C-G9Y k Yy8B*F?2F:FBF[0JF%@ BGGaBqO[>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999583J}J}JyJyJ}:J}:JyJyz4w,L5FA6^?Y6R?6 =96ݐ>y6H #a?  }?@F??$US?@?ɨ6^?6C;4yj1Bj %IIrIrb2٢~7@= ~H=9~z G٣y%=  > Nusing accuracyPremultiplier from config59b7?5Yr ivR?!%o?%@pE2;=3;K51 5@1ZjY]DNOT Ignoring new targets: 78.50 m.BjeSkJjeSk ProNav: ac range: 78.500000 m, nav range: 5.190545 m, bearing: 288.424332 deg, approach rate: 0.349391 m/s, LOS rate: -3.291815 deg/s, cmd heading: 49.186747 deg, new cmd heading: 45.154882 deg. 2j2 HeadingCmd: 0.788101 target range: 78.500000 and range: 78.50 m. jI?jjjihhhhfffrfbfF@ɛBPT> ?IzK&(KK9KK&K 5=ɚ1i9I=Ie=Iu{z?iyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254571i2=)I?)EEqA Ih*F?2F:FBF_0JFGٲGiByO~>H% >I% C I% %II% .BI% , =&I! .I% 3D6I% հ<:I% F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503557ݞ4w,_AZ}9c?YZڍ?Z=9Zғ>yZH B%Ii >I < Mb@Mb@Mb@ )Y`"?l?Q?y>=u<-@ @)S@Iy@II0٢w= ?=9&;Q > G٣>QGy= > Nusing accuracyPremultiplier from config59">?5Yh iP?>:B?@pE0;w;L5 @ZjDNOT Ignoring new targets: 78.50 m.BjdJjd ProNav: ac range: 78.500000 m, nav range: 5.348310 m, bearing: 286.962707 deg, approach rate: 0.356204 m/s, LOS rate: -3.202371 deg/s, cmd heading: 45.154883 deg, new cmd heading: 40.907613 deg. 2j\ HeadingCmd: 0.713973 target range: 78.500000 and range: 78.50 m. j6?jjjihhhhBfffrf bf <@ɛB2M> ?I z=ɚiI=Ic?ii.Q>)6?))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755983G(,GB j$?IO>94w,yA6"g?Y6ˏ?6p=965R>y6H?`%?^?7?}=@ ??ɨ6"g?6ڬ;6CyVOBV3%IIb Ib<2٢j= jZ=9j;Q j>ll rG٣pyr%= r> zNusing accuracyPremultiplier from configx~59zC?5Yz izM?@?@zpEz8;z;zN5  @EZj1=DNOT Ignoring new targets: 78.50 m.Bj=fJjEfM ProNav: ac range: 78.500000 m, nav range: 5.491226 m, bearing: 285.773155 deg, approach rate: 0.398303 m/s, LOS rate: -3.228727 deg/s, cmd heading: 40.907611 deg, new cmd heading: 37.436337 deg. 2jU} UHeadingCmd: 0.653387 target range: 78.500000 and range: 78.50 m. j]dD'?jYjYjYiYhYhahahafafifirfibfun @ɛ Ba> 隥?I G=ɚiI)dD'?)Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:59:12.8259 TRx dataTimestamp_ set to:1736377153.970342checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010507*F5?2F1:F1BF50JF1G R}GBO)>zKm BoHKm 9Ki Km 'Km  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262251 I $4w,!AyrTBr9%IMb@Mb@Mb@ )YPn?T㥛 ? G٣y > Nusing accuracyPremultiplier from config59"J?5Y` iK?(?:?@pE1;;tP5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.50 m.Bj%#QJj%#Q ProNav: ac range: 78.500000 m, nav range: 5.676481 m, bearing: 284.465751 deg, approach rate: 0.428550 m/s, LOS rate: -2.925467 deg/s, cmd heading: 37.436335 deg, new cmd heading: 33.647986 deg. 2jHeadingCmd: 0.587268 target range: 78.500000 and range: 78.50 m. j4W?jjjihhhh5Bfffrfbf  @ɛ B8Q> 隕7?I f=ɚiIJI I%II3BI- =&I.I6I<:IP F) Will construct direction to contact in vehicle frame from tetrahedron phase data.iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514117JeJeJaJaJeL:Je:JaJaJeO;aJeP;aJeCG;aJeDG;a*F?2F:FBF0JFG dG B O >*4w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: 22:59:12.8259 LVL= 24304, 32753, 28962, 32755, AGC= 63, IDX= 423,-0.49, 1.210,-0.377, 0.240, 0.624, PHS= 0.673,-0.955,-0.387, RAW= 110.1, 9.4, CAL= 119.7, 6.9, ROT= 30.3, -6.9 RYgot valid direction response: 22:59:12.8259 LVL= 24304, 32753, 28962, 32755, AGC= 63, IDX= 423,-0.49, 1.210,-0.377, 0.240, 0.624, PHS= 0.673,-0.955,-0.387, RAW= 110.1, 9.4, CAL= 119.7, 6.9, ROT= 30.3, -6.9 VPDAT read: Bearing 30.3, -6.9 (Local) Z~Local bearing/azimuth received: Bearing 30.3, -6.9 (Local) bDAT read: Range 10 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.5 m/s f,DAT read: user:2977> fBDAT read: Tx time:22:59:13.9193 j$Ping request sent.j1T?y2B02^2 2"q)0I2?i2I,?2zt2$ƾ2 2ȴ@)2Ϣ=I2a?i2Ϣ002L?] }ſU ?)2}0I2q'i2!200 :publishing transmit ping timeh Fpublishing direction and range info0922ԅҿW2vͿ>1T?y0000 0)0I0i00000 0)0I0i00 aIa02L?] }ſU ?)0I0i0000-l?Y-M?- t=9-Id>y-H g?)??`l=?P? 1%? ?ɨ-l?-ў;)y[BB%I) II(*٢w<  7=9 zQY ]G٣]?QGy]0= ]> mNusing accuracyPremultiplier from configau59e[P?u5Yeq ie?I?qu|?u@epEe;e<;erR5B )@Ek2[1?k2 k0 k2UA:k2BBk2BZk2@"2$!~2:6F$Q19XK)Q@22ԅҿW2vͿ>1T?Jk2!Rk2*2}ط7@I~l;OP@2ZӢ^?1=ZZֿdz/?"k2*k2Ak2 ?k28b 2k2Ck2Fo?k21 k0k2Ak22@ addTargetRange:: Added new target pos. range: 76.800003 m, deltaT: 3.780082 s, deltaX: -1.699997 m, approachRate: -0.449725 m/s, rangeRepo size: 4 E Added new target pos. range: 76.800003 m, bearing: 310.711037 deg, lat: 36.904863 deg, lon: -122.120377 deg, deltaT: 3.780082 s, deltaX: -1.699997 m, approachRate: -0.449725 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 76.80 m.BjUJjQ ProNav: ac range: 76.800003 m, nav range: 21.202396 m, bearing: 287.690236 deg, approach rate: 0.000000 m/s, LOS rate: -2.925467 deg/s, cmd heading: 33.647984 deg, new cmd heading: 29.399096 deg. 2jHeadingCmd: 0.513111 target range: 76.800003 and range: 76.80 m. j>[?jjjihhhhfffrf@33S@bf?ɛ-B-uP> )-P?I) 5=ɚ1i1I5t[?)a*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >14w,ffAyrlBrV%IIzIz?٢ = %o=9%Q %?!) -G٣)y- -? =Nusing accuracyPremultiplier from config1=595T?E5Y5 i5RG?AAE@5pE5 ;56;5S5I U@QZjq}DNOT Ignoring new targets: 76.80 m.Bj~Jj~ ProNav: ac range: 76.800003 m, nav range: 21.342699 m, bearing: 287.418528 deg, approach rate: 0.463056 m/s, LOS rate: -0.890849 deg/s, cmd heading: 29.399094 deg, new cmd heading: 28.589385 deg. 2jHeadingCmd: 0.498979 target range: 76.800003 and range: 76.80 m. j*z>jjjihhhhff f rf bfX?zK5rKK559K1K5(K5RKe?JKe>}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBOv> .?I iIi }g=ɚyiyI})*F92F9:F9BFEP5JFAG<GBO>H I  I /%II LBI &I .I 6I <:I q F% Will construct direction to contact in vehicle frame from tetrahedron phase data.Je Je Ja Ja Je \:Je :Ja Ja Je i;Je j;Je C;Je C;74w,@A2o?Y2?2=92\K>y2H?`Krڬ??@M}?s?Y-?/.?ɨ2o?2ת;0yRnBRY%I5Mb@Mb@Mb@111 1)1Y5i|?5?333333?Q?y5?5=5u<5C@ 5@)5@I11y5@IMIMF٢]+< ]F=9e]ai mG٣iym = m> }Nusing accuracyPremultiplier from configy59}Z?5Y}% i}C??:?@}pE}/;}I;}U5 @ZjDNOT Ignoring new targets: 76.80 m.BjqJjq ProNav: ac range: 76.800003 m, nav range: 21.539057 m, bearing: 287.066356 deg, approach rate: 0.475449 m/s, LOS rate: -0.844951 deg/s, cmd heading: 28.589386 deg, new cmd heading: 27.542623 deg. 2jHeadingCmd: 0.480709 target range: 76.800003 and range: 76.80 m. j>jjjihhhhUBfffrfbf{?ɛ=B=\> 9= ?I9 E=ɚAiAIE)q*F%?2F!:F!BF%O0JF!G=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOf> YIY$>4w,rA6[p?Y6?6!=969:>y6HT?v`? )?@E?P?YN?`5E?ɨ6[p?6Ɋ;6CyRqBR\%IiVp=IVR= V=V=IZIZ٢bdh jG٣j@QGyr8'< r> vNusing accuracyPremultiplier from configtz59v_?z5Yv iv;@?xz?~@vqEv:v'jjjihhhhfffrfbf@+>?ɛ5B5f> 9=iAiI)M>)I*F?2F:FBF_0JFG!=GABQOm5> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jIK 9K K )K BK :K pA e k$?Im hD4w,AyvrBv^%IMb@Mb@Mb@ )Y/$?ˡE?I +?y?=94<@ Ʒ@)@Iz@y\@II(*2٢; *=9Q > G٣y% %> MNusing accuracyPremultiplier from config)U59-f?U5Y- i-:?]?]:]?]@-qE-Z;-H;-yY5eB m@jHm<bHiHu>Iq IuH%IIuaBIu, =&Iq.Iq6Iuʰ<:Iuy FBI=ÚCJI=ÚCRI9ZI=, =bI=, =jI=55EB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 76.80 m.Bj5sJj5sE ProNav: ac range: 76.800003 m, nav range: 21.971571 m, bearing: 286.328747 deg, approach rate: 0.512633 m/s, LOS rate: -0.852465 deg/s, cmd heading: 26.588373 deg, new cmd heading: 25.352378 deg. 2jEBUHeadingCmd: 0.442482 target range: 76.800003 and range: 76.80 m. jU>jQjQjQiYhYhYhYheOBfaffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J-J-J-/J)J-|:J-9J-(N3J)J-;J-;J-:;J-:;ɛ=BUV> QU?IQ ]ߥ=ɚYiYI]ii)>)*F?2F:FBFZ0JFG_)>GGpAGBO>*K4w,.A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002377>A)n?Y>R?>S@>9>>y>H/?`[?`? ?m? c?z?ɨ>A)n?>7$;>Cy^pBb[%IIjIj 2٢rf rv=9v=Q v?tt zG٣xyz@ z? I Nusing accuracyPremultiplier from configy59}k?5Y} i}5??@}qE} :}:}[5 @ZjDNOT Ignoring new targets: 76.80 m.BjށJjށ% ProNav: ac range: 76.800003 m, nav range: 22.152277 m, bearing: 286.026667 deg, approach rate: 0.547826 m/s, LOS rate: -0.908308 deg/s, cmd heading: 25.352378 deg, new cmd heading: 24.453609 deg. 2j%-HeadingCmd: 0.426796 target range: 76.800003 and range: 76.80 m. j->j)j1jQiQhQhQhYhYfYfYfarfabfe@=@ɛBXr> ?I g=ɚiImii)>) *F?2F:FBF`0JFGuR>GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254445=R4w,ɫHA21k?Y2֑?2>92jS=y2H ?@`g?`?b?)?Ǹ?.?ɨ21k?2V;2CyRuBRa%I)T TTTIZ IZ̍2٢fҿ< fL=9f9hh jG٣jAQGyn r> vNusing accuracyPremultiplier from configtz59vq?z5Yv iv/?x~?@v qEvRQ;vQ;v\5 B @ EZj15DNOT Ignoring new targets: 76.80 m.Bj=wJj=wM ProNav: ac range: 76.800003 m, nav range: 22.350328 m, bearing: 285.694877 deg, approach rate: 0.520398 m/s, LOS rate: -0.864077 deg/s, cmd heading: 24.453609 deg, new cmd heading: 23.467163 deg. 2jM@UHeadingCmd: 0.409579 target range: 76.800003 and range: 76.80 m. jU_>jQjQjQiQhYhYhahafafafarfibfmu@ɛEBE@h> AEY?II Mz=ɚIiIIMgii) _>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509719) IzK%BHK%9K!K%*K%*F%?2F!:F)BF)JF)G>GBO>Hu >Iq  Iu [%IIu pBIq &Iq .Iq 6Iu <:Iu F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758459Jq Ju AAJ} J} J} 0Jy J} :J} u9J} ـ3Jy J} P;J} Q;J} /;J} /;p;X4w,96FQ=y6H e? ~X?`? ?Ƹ?9}?`?ɨ64g?6>;4yRjBRT%IMMb@Mb@Mb@III I)IYMy&1?~jt? G٣y > Nusing accuracyPremultiplier from config59x?5Y͘ i%?5'?:?@qE; ;^5 <@ZjDNOT Ignoring new targets: 76.80 m.Bj{Jj{ ProNav: ac range: 76.800003 m, nav range: 22.582458 m, bearing: 285.317086 deg, approach rate: 0.546364 m/s, LOS rate: -0.880059 deg/s, cmd heading: 23.467162 deg, new cmd heading: 22.345592 deg. 2jHeadingCmd: 0.390004 target range: 76.800003 and range: 76.80 m. j>jjjihh h h FBf ffrfbf:@ɛB`> W<?I zg=ɚiI ii)>)1*F?2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:59:16.4234 mTRx dataTimestamp_ set to:1736377157.748668mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011572 IG>H~GG ?G > ) ] &YY ye BG B O > G٣y U> eNusing accuracyPremultiplier from configam59e~?m5YeS ieL?iiu@eqEe:eq:eG`5y }@yZjDNOT Ignoring new targets: 76.80 m.BjvJjvWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264193 ProNav: ac range: 76.800003 m, nav range: 22.800102 m, bearing: 284.971247 deg, approach rate: 0.546764 m/s, LOS rate: -0.860518 deg/s, cmd heading: 22.345592 deg, new cmd heading: 21.318094 deg. 2jHeadingCmd: 0.372071 target range: 76.800003 and range: 76.80 m. j>jjjihhhhfffrfbfF @ɛ-!B-g> )-6?I1 5=ɚ1i1I5iAiA)M>)Q*F?2F:FBFP5JFG5>G B O5 >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} =} %= I zK% BoHK! K! K% +K%  0:><;7552-+&"!'VT[0L@y%}b DAT read: 22:59:16.4234 LVL= 10912, 26609, 22818, 30003, AGC= 58, IDX= 412,-0.25,-2.517, 1.879, 2.663, 3.004, PHS= 0.849,-1.079,-0.344, RAW= 112.2, 6.9, CAL= 122.3, 3.8, ROT= 27.7, -3.8  Ygot valid direction response: 22:59:16.4234 LVL= 10912, 26609, 22818, 30003, AGC= 58, IDX= 412,-0.25,-2.517, 1.879, 2.663, 3.004, PHS= 0.849,-1.079,-0.344, RAW= 112.2, 6.9, CAL= 122.3, 3.8, ROT= 27.7, -3.8  PDAT read: Bearing 27.7, -3.8 (Local)  ~Local bearing/azimuth received: Bearing 27.7, -3.8 (Local)  DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.3 m/s  ,DAT read: user:2978>  BDAT read: Tx time:22:59:17.5193  $Ping request sent. ?ٵϢ= ڵD@)ڵԇ=Iڵ>iڵԇڱڱ۵AMy?DYs?)۵L >fv[?Y>2?>>9>ə;y>Hf?`.@t?:?@R?@J?mpÿ@$s??ɨ>fv[?>I6;>CI۵my5MB}0%Ii۵۵3۱۱}:publishing transmit ping timeFpublishing direction and range infoر9صc4_ϿHTѿ@?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵AMy?DYs?)۱I۱i۱۱۱۱i=Ip< =R=-%5pFailed to parse device response: 6.0619,3.69367,9067.07 Mb@Mb@Mb@ )Y#~j?sh|??~jty%?=ļS@ @)@I7@yII<2٢q #=9EII MG٣MBQGyUC U> ]Nusing accuracyPremultiplier from configYe59]?5Y]d i] ?['?:?@]qE] ;]t;]xb5  @EWill construct direction to contact in vehicle frame from tetrahedron phase data.k<M?k8 k kVA:kBBkBZk@"Xa2d\{O4: ]tQ@c4_ϿHTѿ@?JkRk3*$ U0-@j[oq0mdMQ@wr?*5̿Ϯ?"k*kiAkvV?k&; 2k CkyJ?kkR CkAkn/@u addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.531305 s, deltaX: -1.800003 m, approachRate: -0.509727 m/s, rangeRepo size: 4  Added new target pos. range: 75.000000 m, bearing: 311.592313 deg, lat: 36.904941 deg, lon: -122.120377 deg, deltaT: 3.531305 s, deltaX: -1.800003 m, approachRate: -0.509727 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 75.00 m.BjJj ProNav: ac range: 75.000000 m, nav range: 26.599689 m, bearing: 302.925062 deg, approach rate: 0.000000 m/s, LOS rate: -0.860518 deg/s, cmd heading: 21.318094 deg, new cmd heading: 19.955494 deg. 2jHeadingCmd: 0.348289 target range: 75.000000 and range: 75.00 m. jR>jjjihhhh)Bfffrf R@bf `?ɛ$BR> 5?I w=ɚiI ii)R>))*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  m$?I hG 0P>G rAG rAG B O >Ul4w,AJ;T?YJ?J!>9Jk荼yJH P?? r?ɍ?`"?(Ŀ)?ɨJ;T?J;J"Cyr7Bv%II~I~V٢   a=9 # G٣y咽 > %Nusing accuracyPremultiplier from config!-59%ޏ?-5Y%Մ i%?QUjjjihhhhff!f!rf!bf% ?ɛ&B҈m> 隕Q?I =ɚiIzii)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.JmJmJm1JiJm<:Jm9Jm3Jia}@a}@a}@a}@Eq9*F2F:FBF1JFG 8U>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936505 AIAzK]=OK9KK,KF&?GJJGEB=7441,'%&#  O>t4w,`AUM?YU#?U'>9UAyUH@ng?@ivy?`?@>z?`&?@Ŀ@@Q?ɨUM?UUŊ;UCye#Be$IquAEMb@Mb@Mb@AAA A)AYEMb?{Gz? G٣yP > Nusing accuracyPremultiplier from config59q?5Y| i>"?:?@#qE;p;jf5 @%EZjDNOT Ignoring new targets: 75.00 m.Bj{Jj{ ProNav: ac range: 75.000000 m, nav range: 26.918531 m, bearing: 301.923550 deg, approach rate: 0.338971 m/s, LOS rate: -1.073484 deg/s, cmd heading: 18.757385 deg, new cmd heading: 16.970228 deg. 2j.8HeadingCmd: 0.296186 target range: 75.000000 and range: 75.00 m. j>j jjihhhhIC IB%II\BI&I.I4D6I<:Io Fbf=@4l?ɛ*B9L> ]<隽C?I #=ɚiI#ii)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185710EM <*F ?2F :F BF _0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437314 IGE(K>GM ?GM?GBO-?#}4w,A>l>?Y>jqw?>ϕ0>9>:Hy>H?`tB7???v?ſ}`|?ɨ>l>?>`;> CyJBJ$IIRIRm٢^ ^$=9^`` bG٣bCQGyf f> jNusing accuracyPremultiplier from confighn59j:?n5Yju ij̵>lr?r@j(qEj*:j:jh5t v@tZjDNOT Ignoring new targets: 75.00 m.BjJj ProNav: ac range: 75.000000 m, nav range: 27.075508 m, bearing: 301.369616 deg, approach rate: 0.328236 m/s, LOS rate: -1.151533 deg/s, cmd heading: 16.970228 deg, new cmd heading: 15.318544 deg. 2jEHeadingCmd: 0.267359 target range: 75.000000 and range: 75.00 m. jI>jjjihhhhfffrfbf-`?ɛ,Bb~U> ?I d=ɚiIi!i!)%I>)QE%'<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690456J J J /J J ̝:J :J (N3J *F?2F:FBF0JFG G B O > 4w,-AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942078 2n$?I0zKMK9KK-K07?Y߬o?o5>9I3*yH? 2 7? ]??jW? ƿ@B錄@Fx?ɨ07?;CyޭBޭ$IMb@Mb@Mb@ )YQ?l?+y?=@ @)@Iz@y@I Ib3٢ !=9F$ G٣yt >  Nusing accuracyPremultiplier from config 59*?5Yn i$>H?: ?@,qE ; ;j5%B %@%EZjDNOT Ignoring new targets: 75.00 m.BjJj ProNav: ac range: 75.000000 m, nav range: 27.220201 m, bearing: 300.836193 deg, approach rate: 0.274848 m/s, LOS rate: -1.007849 deg/s, cmd heading: 15.318545 deg, new cmd heading: 13.727215 deg. 2j,]HeadingCmd: 0.239585 target range: 75.000000 and range: 75.00 m. j]Uu>jYjYjYiYhahahahe(Bfififirfibfu ~@H$>IC I%II3BI) =&I.I6I<:IV Fɛ/BTK> 隭K?I =ɚiIS;ii)Uu>)E!E!*E!"E!Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.193744*FQ 2FQ :FQ BFU ^0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.450846G>GB O=?4w,5A <>@z>/?Yzg?z:>9z׼yzH o?,A`@?`?? u?E?D!ǿ Wv?ɨz>/?zx܉;xyB$Ii,>I= a=p=I4IV3٢5 5,=95L99 =G٣=DQGyE E> UNusing accuracyPremultiplier from configIU59M?]5YMh iM&Y>Y]6?]@M1qEM;M7;Ml5a m@iB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.00 m.BjJj ProNav: ac range: 75.000000 m, nav range: 27.350641 m, bearing: 300.333752 deg, approach rate: 0.284623 m/s, LOS rate: -1.091098 deg/s, cmd heading: 13.727214 deg, new cmd heading: 12.227442 deg. 2j3;HeadingCmd: 0.213409 target range: 75.000000 and range: 75.00 m. jZ>jjjihhhhfffrfbf 5@ɛ1Bp?R> У?I ;=ɚiIi i )Z>)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697350J5J5J50J1J5\:J59J5ـ3J1GGBO>4w,NA6k'?Y6h`?6e=>96c y6H@H'?E[?`%?@"w?|?`ǿgs?ɨ6k'?6;6 CyBBB]$IIJIJ3٢VA  VU=9V6XX ZG٣XyZ< ^> ENusing accuracyPremultiplier from config9M59=Iɍ?M5Y=c i= >IM?M@=4qE=D;=T;=n5 eo$?IehmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>iuBDAT read: Rx Time:22:59:20.0217 uTRx dataTimestamp_ set to:1736377161.278481}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952502 @ZjDNOT Ignoring new targets: 75.00 m.zKm$JK9KK.KBjEJjE ProNav: ac range: 75.000000 m, nav range: 27.456102 m, bearing: 299.908784 deg, approach rate: 0.239842 m/s, LOS rate: -0.962750 deg/s, cmd heading: 12.227442 deg, new cmd heading: 10.957655 deg. 2j.%HeadingCmd: 0.191247 target range: 75.000000 and range: 75.00 m. jKC>jjjihhhhff f rf bf  ~@ɛU3B]I> Y]?IY ]N=ɚYiaIeA6ii)KC>)*F?2F:FBF0JFH%%>I! I%$II%BI%( =&I!.I!6I%<:I% F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201394G (K>G B O- >R4w,hAB?YBX?BwA>9B=;yBH`? :?|?E?b?_ȿ b? nm?ɨB?B̋;BCyRBR9$IMb@Mb@Mb@ )Ysh|??S㥫? rhy ?/]=C @ @)-@I@y@I%I%<2٢5 5'=9= 99 EG٣AyEW E> UNusing accuracyPremultiplier from configIU59M|Ս?]5YMM^ iM=] ?]:]rr?]@M8qEMr;M;Mp5a m@mEZjDNOT Ignoring new targets: 75.00 m.BjRJjR ProNav: ac range: 75.000000 m, nav range: 27.559258 m, bearing: 299.439240 deg, approach rate: 0.238020 m/s, LOS rate: -1.079360 deg/s, cmd heading: 10.957655 deg, new cmd heading: 9.554590 deg. 2j09HeadingCmd: 0.166759 target range: 75.000000 and range: 75.00 m. j*>jjjihhhhBfffrfbf @ɛ5B vN>  ?I *=ɚiIii)*>)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:59:20.0217 LVL= 14640, 22801, 22002, 26451, AGC= 60, IDX= 426,-0.11,-2.867, 1.261, 1.499, 2.197, PHS= 1.307,-0.889,-0.701, RAW= 94.4, 2.7, CAL= 103.1, 0.5, ROT= 46.9, -0.5 Ygot valid direction response: 22:59:20.0217 LVL= 14640, 22801, 22002, 26451, AGC= 60, IDX= 426,-0.11,-2.867, 1.261, 1.499, 2.197, PHS= 1.307,-0.889,-0.701, RAW= 94.4, 2.7, CAL= 103.1, 0.5, ROT= 46.9, -0.5 PDAT read: Bearing 46.9, -0.5 (Local) ~Local bearing/azimuth received: Bearing 46.9, -0.5 (Local) DAT read: Range 10 to 50 : 73.6 m (Round-trip 98.2 ms) speed 0.2 m/s  ,DAT read: user:2979> BDAT read: Tx time:22:59:21.1194 $Ping request sent.ϙe¿5jm?`Y?yu3Bqu09uY uU)uSgIu<iuK?uc aIiut3uB?uA= uS?)u5mE?)u Iu>Biu {:@uqq:publishing transmit ping timeFpublishing direction and range infoq9u>ϙe¿5jm?`Y?yqqq*F?2F:FBF_5JFq q)qIqiqqqqq q)qIqiqqquz6L?6ؗۿ >mE?)qIqiqqqqG 2>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:59:21.1186 JK|3 KL.KK"KJY JY JY JY JY JY JY JY [4w,TƂA6D?Y6AP?6! F>96Gcϙe¿5jm?`Y?Jk {:@Rk*8At?0PV?@/u[4_R@vzUz?+?2}|?"ky@*kΐ?k^;=?kg 2k* Ckkk* CkAk\ @ addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.525563 s, deltaX: -1.400002 m, approachRate: -0.397100 m/s, rangeRepo size: 4 % Added new target pos. range: 73.599998 m, bearing: 73.847016 deg, lat: 36.904941 deg, lon: -122.120377 deg, deltaT: 3.525563 s, deltaX: -1.400002 m, approachRate: -0.397100 m/s, posRepo size: 4 Zj)-DNOT Ignoring new targets: 73.60 m.Bj-Jj)e ProNav: ac range: 73.599998 m, nav range: 27.628141 m, bearing: 299.105790 deg, approach rate: 0.000000 m/s, LOS rate: -1.079360 deg/s, cmd heading: 9.554590 deg, new cmd heading: 8.414872 deg. 2jHeadingCmd: 0.146867 target range: 73.599998 and range: 73.60 m. j]d>jjjihhhhfffrf`ffR@bf4c?ɛ57B=}fK> 9=/?I9 ==ɚ9iAIEiqiq)u]d>)q*F?2F:FBF 4JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data. QIY'U TFailed to parse incomplete device message.Ge >Ga Bq O >Ħ4w,`AF?YF H?FrI>9F;yFH@=jx@ @)@I@y@II 3٢ ?=9;Q > G٣yє > Nusing accuracyPremultiplier from config59n鍜?5YV i û>:+a?@>qE#;;s5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 73.60 m.*J!"J%%=Bj%큼Jj%큼U ProNav: ac range: 73.599998 m, nav range: 27.702995 m, bearing: 298.711990 deg, approach rate: 0.173200 m/s, LOS rate: -0.908720 deg/s, cmd heading: 8.414872 deg, new cmd heading: 7.236838 deg. 2j]]HeadingCmd: 0.126307 target range: 73.599998 and range: 73.60 m. j]V>jajajaiahahahihmBfqfqfqrfybf}u?ɛ58B=A> =*<=?I9 ==ɚ9iAIE#iiii)mV>)q*F?2F:FBFP0JFG > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% > a Ii ) SC ~G tA1 4w,>A Z"YZtAy^Bzs?Yzpt@?zfL>9z.YoyzH@?D? j?[?`?`AqɿMRm|\?ɨzs?zc;zCy (B #II%I% 2٢- 5R=95F99 =G٣9yEK E> MNusing accuracyPremultiplier from configIU59M?U5YMR iMXY]xY?]@MAqEMp3;M3;Mu5mB m@mEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 27.767391 m, bearing: 298.349300 deg, approach rate: 0.178646 m/s, LOS rate: -1.003829 deg/s, cmd heading: 7.236838 deg, new cmd heading: 6.151429 deg. 2j:,HeadingCmd: 0.107363 target range: 73.599998 and range: 73.60 m. j=jjjihhhhfffrfbf-?ɛ:BF> 隽 w?I  =ɚiIG B O >>س4w,6 A2 ?Y29?2?4P>92RI9y2Hv?z6@]?`?i? ?@ɿ(?@@W?ɨ2 ?2Y;2!Cy> BB#IiF>IF?IJIJb٢R RS=9RTT VG٣VFQGyZ Z> fNusing accuracyPremultiplier from configdj59f?j5Yf4O ifUͽlnR?n@fDqEf: ;f ;fbw5p rK@rEZjDNOT Ignoring new targets: 73.60 m.BjJj- ProNav: ac range: 73.599998 m, nav range: 27.827999 m, bearing: 297.985871 deg, approach rate: 0.156244 m/s, LOS rate: -0.934852 deg/s, cmd heading: 6.151429 deg, new cmd heading: 5.063656 deg. 2j-e 5HeadingCmd: 0.088377 target range: 73.599998 and range: 73.60 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490858 jM@=jIjQjYiYhahahihqfqfqfyrfybf}O? p$?Iɛ;BW?> g?I 5=ɚ9i9IE<zKUqLKU9KQKU0KUI@=ii)@=)*F?2F:FBF_0JFH&>I I#IISBI&I.I6Ip<:ID FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742835JY J] ?AJa Ja Ja Ja Ja Ja Ja Ja Je i;au Je k;au Je 8;au Je 8;a} G} 7>GY Ba O > 4w,,(AyEBE#IMb@Mb@Mb@ )YQ?~jt?I +y>=94@ @)I@I@yp@IIm?3٢ 4=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-4 ?55Y-]K i-&5>5:=jO?=@-GqE-;-;-[y5A E@AZjq}DNOT Ignoring new targets: 73.60 m.Bj}wJjw ProNav: ac range: 73.599998 m, nav range: 27.892231 m, bearing: 297.594087 deg, approach rate: 0.142002 m/s, LOS rate: -0.864142 deg/s, cmd heading: 5.063656 deg, new cmd heading: 3.891183 deg. 2jCHeadingCmd: 0.067914 target range: 73.599998 and range: 73.60 m. jy=jjjihhhhBfffrfbf p?ɛ=Bv^:>  Y?I  =ɚ i I 6#GiByO>s4w,AZ)Z>YZ) ?ZO_^>9Zb;yZHqT?Ե۽?L??:?˿Mt?`}??ɨZ)Z>Z;Z Cyf؄Bfe#IInInT3٢vB z9=9z[=Q ~>|| ~G٣|ye >  Nusing accuracyPremultiplier from config 59 ?5Y G i 6G&6?@ KqE 0; ; H{5%B %@-EZjIUDNOT Ignoring new targets: 73.60 m.BjU}JjU}e ProNav: ac range: 73.599998 m, nav range: 27.937492 m, bearing: 297.203177 deg, approach rate: 0.102861 m/s, LOS rate: -0.886937 deg/s, cmd heading: 3.891183 deg, new cmd heading: 2.720526 deg. 2je,mHeadingCmd: 0.047482 target range: 73.599998 and range: 73.60 m. ju|B=jqjqjqiqhyhyhyhyfffrfbf>@ɛ>B@4> =隍L?I =ɚiIlIA  IE #IIE BIA &IA .IA 6IE <:IE FG ,>G B O >n@4w,,"A.Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752732JZJZJZ/JXJZ:JZ:JZ(N3JXJZ;JZ;JZyE;JZzE;݊>Yi?b>95k;騭!CyBC#I) A]Mb@Mb@Mb@YYY Y)YY]1Zd??~jthy]">]<]D]@ ]-@)]QAI]@Yy]@I}"I}q3٢l ,=9%};Q %>)) 5G٣5GQGy59 => MNusing accuracyPremultiplier from configIU59M $?]5YMD iMeve>e:e'?m@MNqEM;M;M^}5q uI@qZjDNOT Ignoring new targets: 73.60 m.BjmJjm ProNav: ac range: 73.599998 m, nav range: 27.973501 m, bearing: 296.800956 deg, approach rate: 0.074305 m/s, LOS rate: -0.828917 deg/s, cmd heading: 2.720526 deg, new cmd heading: 1.515601 deg. 2j8HeadingCmd: 0.026452 target range: 73.599998 and range: 73.60 m. j[<jjjih h hhBfffrfbfQI@ɛ@B<1>  >?I U|>ɚYiYI]'G%qAG!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255803GBO-?^4w,~DA6 j>Y6 1?62e>96W6;6 CyVBV)#II^I^M3٢f f4=9j;Q j>hh jG٣lyny n> rNusing accuracyPremultiplier from configpz59r0?~5YrA irˑ|~?~@rQqEr/Y;rI;rW5 @EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.BjkiJjki  ProNav: ac range: 73.599998 m, nav range: 28.002527 m, bearing: 296.420374 deg, approach rate: 0.062321 m/s, LOS rate: -0.816280 deg/s, cmd heading: 1.515601 deg, new cmd heading: 0.375198 deg. 2j  HeadingCmd: 0.006548 target range: 73.599998 and range: 73.60 m. jE;jjjihhh9hQfYfyfyrfbf @ɛAB/> 2?I L%>ɚiItzK NK @9K K 2K f%yvm`YPJFA<879EKJF>7.*&$! } DAT read: Range 10 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.3 m/s  ,DAT read: user:2980>  BDAT read: Tx time:22:59:24.7194  $Ping request sent. ]])\]?]= ]{?)]w>I]^?i]wYY] B?Yl TcQ?)]$@I]i]@]ᗿYY5 :publishing transmit ping time = Fpublishing direction and range infoY9])ǿIl5?.?yYYYY Y)YIYiYYYYY Y)YIYiYYY] B?Yl TcQ?)YIYiYYYY44w,8^AHI IA#IIBI&I.I6I˰<:I FyB#IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:59:24.7186 JJJ0JJ :J:Jـ3JJ;J;JDG;JDG;Mb@Mb@Mb@ )Yn?t<t<Z@ C@)zAI/@yp@YYIYIY٢M #=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 >?5Y > i >;?@ TqE r; ; 5A E@AkCҊ?kB@ k kPSA:k̐BBk͏BZkL@"U74*/07@۴lP@)ǿIl5?.?Jk@Rkᗿ*ѬӝO$|?84@P"Q@+¿xzo?t堦J?"k٦A*kz'k̊?ku 2kCkk&; k CkAkJ@ addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 3.529902 s, deltaX: -1.199997 m, approachRate: -0.339952 m/s, rangeRepo size: 4 - Added new target pos. range: 72.400002 m, bearing: 116.651222 deg, lat: 36.904941 deg, lon: -122.120311 deg, deltaT: 3.529902 s, deltaX: -1.199997 m, approachRate: -0.339952 m/s, posRepo size: 4 Zj)5DNOT Ignoring new targets: 72.40 m.Bj5Jj1 ProNav: ac range: 72.400002 m, nav range: 22.889801 m, bearing: 302.490455 deg, approach rate: 0.000000 m/s, LOS rate: -0.816280 deg/s, cmd heading: 0.375198 deg, new cmd heading: 359.150375 deg. 2jHeadingCmd: 6.268356 target range: 72.400002 and range: 72.40 m. j`@jjjihhhhЂBfffrf R@bf G?ɛmBB}+> y}(?Iy }>ɚiI hY6I>6 j>966H;4y>~B>"IIJIJԲ٢R_ R6=9RTT VG٣VHQGyV Z> ^Nusing accuracyPremultiplier from config\b59^~K?b5Y^< i^hdfA ?j@^WqE^k;^5k;^|5p r.@pZj DNOT Ignoring new targets: 72.40 m.Bj Jj% ProNav: ac range: 72.400002 m, nav range: 22.885736 m, bearing: 302.051364 deg, approach rate: -0.009485 m/s, LOS rate: -1.024870 deg/s, cmd heading: 359.150362 deg, new cmd heading: 357.833103 deg. 2j%/-HeadingCmd: 6.245366 target range: 72.400002 and range: 72.40 m. j- @j)j)j)5Will construct direction to contact in vehicle frame from tetrahedron phase data.i9h9h9hAhAfAfAfArfIbf?ɛCB.> s?I [>ɚiIGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O> ! I) zK >NK ŷ9K K 3K 4w,akA%Q'w>Y%>%i j>9%rW%;%!CyelBe"IZHRH@AHI I"IIBI' =&IGD.I6I<:Iv FEMb@Mb@Mb@AAA A)AYEV-?AED)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9m59=Y?m5Y=: i={;m>m;m?u@=ZqE=;=;=5}B }Y@}|EZjDNOT Ignoring new targets: 72.40 m.Bj؋Jj؋- ProNav: ac range: 72.400002 m, nav range: 22.876226 m, bearing: 301.563562 deg, approach rate: -0.019061 m/s, LOS rate: -0.978107 deg/s, cmd heading: 357.833092 deg, new cmd heading: 356.369413 deg. 2j-'5HeadingCmd: 6.219820 target range: 72.400002 and range: 72.40 m. j5@j1j1j1i1h1h9h9h=BEWill construct direction to contact in vehicle frame from tetrahedron phase data.fafafarfabfe.?*J"JR=JJJJJ|:J:JJJ;J;JC;JC;ɛ%DB=K'> AE?IA M>ɚIiIIM Will construct direction to contact in vehicle frame from tetrahedron phase data.  s$?I G B9 O] >е4w,{OA6U>Y6P>6x'j>96-+X6!o;6"CynZBn"IIvIv?1٢~ѽ ~d=99Q ?  G٣yȽ ? Nusing accuracyPremultiplier from config%59c?%5Ys8 iV۾)-z>-@\qEy;-;51 =@9ZjYeDNOT Ignoring new targets: 72.40 m.Bje畼Jjm畼} ProNav: ac range: 72.400002 m, nav range: 22.866236 m, bearing: 301.227560 deg, approach rate: -0.031161 m/s, LOS rate: -1.048435 deg/s, cmd heading: 356.369409 deg, new cmd heading: 355.361072 deg. 2j}3HeadingCmd: 6.202221 target range: 72.400002 and range: 72.40 m. jx@jjjihhhhfffrfbf_0?ɛEB0> ; ?I H>ɚiI4GaBiO>94w,A22B3>Y2>2k>92!@2@;2Cy>RB>"IDFAIJIJ?13٢n  nM=9r ;Q r>pp rG٣rIQGyvu v> Nusing accuracyPremultiplier from configx59zp? 5Yz6 iz뾙  a> @z_qEz-e;zX;zΈ5B @yE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 72.40 m.BjUWJjUWe ProNav: ac range: 72.400002 m, nav range: 22.850101 m, bearing: 300.829944 deg, approach rate: -0.040368 m/s, LOS rate: -0.995542 deg/s, cmd heading: 355.361082 deg, new cmd heading: 354.167575 deg. 2je*mHeadingCmd: 6.181390 target range: 72.400002 and range: 72.40 m. jm@jijijiiihqhqhqhyfyfyfrfbf?ɛFB6)> 隵?I 6>ɚiI.I6I<:IV FBIYJI]ǜCRIYZI]( =bI]( =jI]ǔY4GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158431J J AAJ J J J J :J 9J J J ;J ;J O>;J O>;G4w,Af>Yfº>f7Wl>9fxH1f;fCy?B="IMb@Mb@Mb@ )YM?{Gz?~jt?yn>#<@ @)zAI@yp@II<2٢-j -7=9-q>;Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM59E(~?M5YE4 iEU>U;UL>U@EbqEEx;E;EÊ5a e:@aZjDNOT Ignoring new targets: 72.40 m.BjŏJjŏ ProNav: ac range: 72.400002 m, nav range: 22.824074 m, bearing: 300.382534 deg, approach rate: -0.058431 m/s, LOS rate: -1.005557 deg/s, cmd heading: 354.167575 deg, new cmd heading: 352.824073 deg. 2j,HeadingCmd: 6.157942 target range: 72.400002 and range: 72.40 m. j @jjjihhhhBfffrfbf@Z@ɛ%> >I '>ɚiIG ?G ?Gy B O >D5w,%A6=Y6|>6sl>965 /B>"IIF(IF̍3٢r rb=9ry9Q r>tt vG٣tyvI z> ~Nusing accuracyPremultiplier from configx59z?5Yz3 iz  L> @zdqEzF-;zL:zW5 4@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.660791ZjIUDNOT Ignoring new targets: 72.40 m.Bj]Jj]m ProNav: ac range: 72.400002 m, nav range: 22.799561 m, bearing: 300.021959 deg, approach rate: -0.067458 m/s, LOS rate: -0.993331 deg/s, cmd heading: 352.824077 deg, new cmd heading: 351.741326 deg. 2jmm*HeadingCmd: 6.139044 target range: 72.400002 and range: 72.40 m. j s@jjjihhhhfffrfbf@M@ɛGBU&> h>I >ɚiIwWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.912341zK LK }9K K 5K 5w,AHQIQ IU"IIU(BIU( =&IQ.IQ6IUh<:IUA Fyޕ Bޕ"Ii,>Ip; p=Mb@Mb@Mb@ )Y5^I ?~jtx?Mb?y>;<Z@ -@)3 AI@yG@IIb2٢ .=9Q > G٣JQGy > Nusing accuracyPremultiplier from config59?5Y1 i>:>@gqEw;;c5 ;@ vEZjYDNOT Ignoring new targets: 72.40 m.Bj JjEWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:59:27.2190 MTRx dataTimestamp_ set to:1736377168.588785Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.165438] ProNav: ac range: 72.400002 m, nav range: 22.766428 m, bearing: 299.542241 deg, approach rate: -0.070186 m/s, LOS rate: -1.017672 deg/s, cmd heading: 351.741328 deg, new cmd heading: 350.300400 deg. 2j].*J"JC=HeadingCmd: 6.113895 target range: 72.400002 and range: 72.40 m. j@jjjihhhhBfffrfbfxW @ɛims|> m E=m>Ii u>ɚqiqIu#G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.416180Gi By O >Z! 5w,7Ay Bk"II0I(3٢Ľ U=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YZ0 iR@iqE::5! -h@)ZjY]DNOT Ignoring new targets: 72.40 m.BjeJje ProNav: ac range: 72.400002 m, nav range: 22.740519 m, bearing: 299.148829 deg, approach rate: -0.068331 m/s, LOS rate: -1.038718 deg/s, cmd heading: 350.300404 deg, new cmd heading: 349.118998 deg. 2j72%HeadingCmd: 6.093276 target range: 72.400002 and range: 72.40 m. j%@jAjIjIiIhIhIhQhQfQfQfQrfYbf]E @ɛHBv"> 隵>I W:>ɚiI -BDAT read: Tx time:22:59:28.3194 5$Ping request sent.5G B O >5w,;PAF@YF@`>Fg>9F;yFH p?a˿`8?&?h>? (?̿Ս~?`:/?ɨF@F.;FCyVBVZ"IIb Ibb3٢jg j`=9jVQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v뱎?z5Yvn/ ivq"xzho>~@vlqEv ;v ;v5B R@qE%B*** querying acoustic contact ***j!j!= addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.781391 s, deltaX: -0.800003 m, approachRate: -0.211563 m/s, rangeRepo size: 4 Zj9EDNOT Ignoring new targets: 72.40 m.BjEُJjEُ] ProNav: ac range: 72.400002 m, nav range: 22.699984 m, bearing: 298.781976 deg, approach rate: -0.110970 m/s, LOS rate: -1.006092 deg/s, cmd heading: 349.119000 deg, new cmd heading: 348.016620 deg. 2j],eHeadingCmd: 6.074036 target range: 72.400002 and range: 71.60 m. je^@jajajaiahahahihifififqrfu`fQ@bf}? v$?Iɛaek > ae>Ia e}>ɚiiiImv<uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:59:28.3186 }T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IG+Vii)^@)*FI2FQ:FQBF]_0JFYzKBoHK9KK6KBK):K-qAH(>I I`"IIBI' =&I.I6I<:I FGQG) B1 OM >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991$15w,jAR7*@YR`;E>R@d>9RE[;yRH?@_ȿ??@j?T?tF̿ sr?5?ɨR7*@R<;R!Cy^BbG"IuMb@Mb@Mb@qqq q)qYuy&1?Mb`?yu`>u;uup@ u@)u AIu&@qyu@I I(2٢֐ >=9Q > G٣KQGy > Nusing accuracyPremultiplier from config59y?5Yv. i[-`>:I>@oqE;H;5 L@ZjDNOT Ignoring new targets: 72.40 m.Bj tJj t ProNav: ac range: 72.400002 m, nav range: 22.644136 m, bearing: 298.327640 deg, approach rate: -0.129889 m/s, LOS rate: -1.059286 deg/s, cmd heading: 348.016607 deg, new cmd heading: 346.650511 deg. 2j5%HeadingCmd: 6.050193 target range: 72.400002 and range: 71.60 m. j%.@j!j!j!i)h)h)h1h5"Bf1f1f1rf9bf= ?ɛae> ae>Ii m>ɚiiiImMG G ?u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013451J J J J J J :J J G B1OU>"5w,pЈAJV^@YJ@+>J a>9J\?;yJH@? '+ſ`???\?˿`K|?9?ɨJV^@J;JCyR߃BV4"II^ I^<2٢f+ f9=9f$Q j>hh jG٣hyntf n> vNusing accuracyPremultiplier from configp59rю?5Yr- irn8!%n0>%@rrqEr Q]>IY ] >ɚYiYI])uP?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264893GG B O >zKU KU 9KQ KU 7KU H I  I 5"II BI &I .I 6I <:I _ F=(5w,yAyU̓BU"I Mb@Mb@Mb@    ) Y /$?{Gz{Gzy > ף # @ @)  AI K@ y  @EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.519876IUIU1٢uТ u3=9}Q }>yy }G٣y > Nusing accuracyPremultiplier from config59⎜?5Y, i]EO>:c=@uqE;:x5 o@ZjDNOT Ignoring new targets: 72.40 m.Bj<Jj< ProNav: ac range: 72.400002 m, nav range: 22.511814 m, bearing: 297.375491 deg, approach rate: -0.166941 m/s, LOS rate: -1.134689 deg/s, cmd heading: 345.251719 deg, new cmd heading: 343.786295 deg. 2jBHeadingCmd: 6.000203 target range: 72.400002 and range: 71.60 m. j@jjjihhhh$Bfffrfbf?ɛA%> c>I QE>ɚiIyGiGmpAG9BIOe?05w,fA6@Y6W=6st]>96@tx G٣LQGy > %Nusing accuracyPremultiplier from config%59?-5Y, iR)-j=-@yqE::x5Q ]@]kEZjDNOT Ignoring new targets: 72.40 m.Bj?Jj? ProNav: ac range: 72.400002 m, nav range: 22.430992 m, bearing: 296.894182 deg, approach rate: -0.173487 m/s, LOS rate: -1.036857 deg/s, cmd heading: 343.786288 deg, new cmd heading: 342.337484 deg. 2j1HeadingCmd: 5.974916 target range: 72.400002 and range: 71.60 m. j2@jjjihhh h fffrfbf)@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020745JMJMJM1JIJM:JM:JM3JIɛ> 隥4`>I /}>ɚiI65w,AzK}JK}9KyK}8H*>IC I "IIBI&I.I6I<:I FK}**#   m@Ym@-=mSN[>9m'?@P@m3?~? ?}#?D4˿?`D?ɨm@mP;m CyB!IMb@Mb@Mb@ )YGz?V-y&1y>`e@ @)rAI@y=@I6Im3٢ս 0=9 Q > G٣ys > Nusing accuracyPremultiplier from config59?5Yl, i_4>:<@|qE2;x1;{5 &AB*** querying acoustic contact ***jjZj)5DNOT Ignoring new targets: 72.40 m.Bj=!Jj=! ProNav: ac range: 72.400002 m, nav range: 22.340899 m, bearing: 296.407319 deg, approach rate: -0.198684 m/s, LOS rate: -1.078000 deg/s, cmd heading: 342.337496 deg, new cmd heading: 340.871355 deg. 2j8HeadingCmd: 5.949327 target range: 72.400002 and range: 71.60 m. j`@jjjihhhh*Bfffrfbf@ɛiu > qu/>Iq u>ɚqiqI} I #<5w,~A2+@Y2j=2vTX>92:%BB!IIJ2IJ?3٢R Ru=9RQ R?TT VG٣TyZ Z?bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.780796 ^Nusing accuracyPremultiplier from config\f59^|?j5Y^r, i^%ihj"j@^~qE^]u;^u;^5rB rArhEZj  DNOT Ignoring new targets: 72.40 m.Bj;Jj;% ProNav: ac range: 72.400002 m, nav range: 22.272694 m, bearing: 296.056911 deg, approach rate: -0.203895 m/s, LOS rate: -1.050732 deg/s, cmd heading: 340.871355 deg, new cmd heading: 339.817036 deg. 2j-F4-HeadingCmd: 5.930926 target range: 72.400002 and range: 71.60 m. j-&ʽ@j1j1j1i1h1h1h9h9f9fAfArfAbfEUg@ɛAM> IM=II Mm>ɚIiQIUpuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:59:30.8193 TRx dataTimestamp_ set to:1736377172.129304checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034426GG?Gi Bq O >yC5w,[A6@Y65<6gOU>96dATT ZG٣ZMQGyZ Z> bNusing accuracyPremultiplier from config\b59^"?f5Y^, i^tdf f@^qE^Q:^:^5h jPAlZj DNOT Ignoring new targets: 72.40 m.Bj xJj x% ProNav: ac range: 72.400002 m, nav range: 22.186268 m, bearing: 295.634123 deg, approach rate: -0.214299 m/s, LOS rate: -1.052408 deg/s, cmd heading: 339.817047 deg, new cmd heading: 338.543964 deg. 2j%4-HeadingCmd: 5.908707 target range: 72.400002 and range: 71.60 m. j- @j)j)j)i)h)h)h1h1f1f9f9rf9bf=6 @ɛGBy> =I  >ɚiI=Iii) @)! Uy$?IY*F2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284893jH<bHH+>zK< MK9G>I I!IIBKI&I.I5D6Ið<:I FK9K BIqJIuǝCRIqZIu' =bIu' =jIuǷ4G B! O= >} Will construct direction to contact in vehicle frame from tetrahedron phase data.y i} A DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.2 m/s  ,DAT read: user:2982>  BDAT read: Tx time:22:59:31.9195  $Ping request sent. *AE@YE -:E_Q>9E}Q8ף3@ @)AI@y(@ILI4٢I ,=9Q > G٣yu > Nusing accuracyPremultiplier from config 59 B5?5Y -- i >:߿@ qE ; ; Π5%B %A5eE addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.540034 s, deltaX: 0.099998 m, approachRate: 0.028248 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 72.40 m.BjǕJjǕ ProNav: ac range: 72.400002 m, nav range: 22.069511 m, bearing: 295.125935 deg, approach rate: -0.239417 m/s, LOS rate: -1.047575 deg/s, cmd heading: 338.543954 deg, new cmd heading: 337.011710 deg. 2j3HeadingCmd: 5.881964 target range: 72.400002 and range: 71.70 m. j 9@jjjih h hhBfffrfQ@bfʽ?ɛim > qu=Iq u>ɚqiqIuX=I}l;iyiy) 9@))  C Uz$?IQG|uA %$Y%|uAy-B*F]?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:59:31.9187 G >G B O >P5w,DA6@Y6h/@6"N>96Z[B>!IIFIF 2٢r rq=9r,Q v?tt vG٣tyz7 z? ~Nusing accuracyPremultiplier from config|59~B?5Y~- i~ 8 @~qE~:~:~E5 QAZjAMDNOT Ignoring new targets: 72.40 m.BjM陼JjU陼e ProNav: ac range: 72.400002 m, nav range: 21.985094 m, bearing: 294.773469 deg, approach rate: -0.256837 m/s, LOS rate: -1.076481 deg/s, cmd heading: 337.011697 deg, new cmd heading: 335.950365 deg. 2je8mHeadingCmd: 5.863440 target range: 72.400002 and range: 71.70 m. jmM@jijijiiihqhqhqhqfyfyfyrfybf?ɛ= > 隵'=I >ɚiILa=I־ii)M@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU_0JFQ"G]V>G]N>Gu>G}rAG}qA 9I9GQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. = %=\&W5w,]AzKY_LK9KK:KHU->IQ IU!IIUlBIU& =&IQ.IQ6IU<:IU FzB@YQ@UI>9g;yHFV?`T?#?`3Q \?@3ɿ,s?`b?ɨzB@Es; CyIBz!I %=%p=Mb@Mb@Mb@ )YX9v?&1{Gzy>PI@ `@)AI@y@II?13٢ /=91#Q > G٣NQGyl > Nusing accuracyPremultiplier from config59}U?5Y. i>:_#@qE;;P5 AbEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 72.40 m.BjE3JjE3U ProNav: ac range: 72.400002 m, nav range: 21.859306 m, bearing: 294.279916 deg, approach rate: -0.253804 m/s, LOS rate: -1.001568 deg/s, cmd heading: 335.950368 deg, new cmd heading: 334.461544 deg. 2jU+]HeadingCmd: 5.837455 target range: 72.400002 and range: 71.70 m. j]o̺@jYjYjaiahahahihm Bfififirfqbfu#h?ɛFBQ> ;I ^>ɚiIu=I 6i i)o̺@)JKـ3 K .KK"KJ-J-J)J)J-L:J-:J)J)eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.J-O;a}J-Q;a}J-nN;aJ-oN;a*F=?2FA:FABFAJFI % {$?I! GQ G1 B9 OU >Q]5w,awA2f@Y2u@2D>92o&@~qE~:~a:~Υ5 AZj9=DNOT Ignoring new targets: 72.40 m.BjEJjEU ProNav: ac range: 72.400002 m, nav range: 21.764685 m, bearing: 293.921826 deg, approach rate: -0.303111 m/s, LOS rate: -1.152087 deg/s, cmd heading: 334.461550 deg, new cmd heading: 333.382743 deg. 2jUEeHeadingCmd: 5.818626 target range: 72.400002 and range: 71.70 m. je02@jajajaiahihihihqfqfqfqrfybf}`?ɛEB> 隥I d>ɚiI=Iii)02@)*F-?2F):F)BF-0JF)G GBO >eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51267554d5w,A2#@Y2@2 @>92[?/=ǿ`?`n?ɨ2#@25I;2 CyB#BBL!IIJ0IJ(3٢fړ jL=9j3Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59vFs?z5Yv0 ivxz:Z~@vqEv; ;vX ;v5B "AaEZjDNOT Ignoring new targets: 72.40 m.BjJj I ProNav: ac range: 72.400002 m, nav range: 21.650402 m, bearing: 293.505493 deg, approach rate: -0.274292 m/s, LOS rate: -1.004513 deg/s, cmd heading: 333.382736 deg, new cmd heading: 332.127357 deg. 2jX,HeadingCmd: 5.796716 target range: 72.400002 and range: 71.70 m. j~@jjjihhhh!f!f)f1rfabfe[?ɛ-DB5j> 15I1 5>ɚ9i9I==I=iAiA)E~@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765472*F?2F:FBF0JFG GZHIRHIH].>IY I]s!II]CBIY&IY.IY6I]ݰ<:I] FzKuoKKqKqKu;Ku lWGm >GI Bi O >JM JM JI JI JM :JM :JI JI JM ;JM ;JM J;JM J; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018097Xbj5w,獫Af@Yf@fO>>9fk]H]t]@ Y)]AI]x@Yy](AIu:Iu3٢a 1=9?Q > G٣OQGym > Nusing accuracyPremultiplier from config59B?5Y1 i랿C>:Us@qET;;5 AZjDNOT Ignoring new targets: 72.40 m.BjѕJjѕ  ProNav: ac range: 72.400002 m, nav range: 21.518595 m, bearing: 293.039288 deg, approach rate: -0.294451 m/s, LOS rate: -1.047847 deg/s, cmd heading: 332.127347 deg, new cmd heading: 330.720461 deg. 2j3HeadingCmd: 5.772161 target range: 72.400002 and range: 71.70 m. j@jjjihhh!h%Bf)f1f1rf9bf=;@ɛ> I >ɚiIm=I{ii)@) |$?I*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.S?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269179G >G B O >Gq5w,J^A>|ļ@Y>@>;>9>H ?K?z?~Ŀ@:?BYǿ?`t?ɨ>|ļ@>VE;>!CyNBN%!IITIT٢^ҽ bm=9bjQ b?dd fG٣dyfȧ f? nNusing accuracyPremultiplier from confighr59j?r5Yj3 ijpr r@jqEj ;j7:j5vB z!Az^EZj!-DNOT Ignoring new targets: 72.40 m.Bj-IJj-I= ProNav: ac range: 72.400002 m, nav range: 21.417082 m, bearing: 292.693649 deg, approach rate: -0.294994 m/s, LOS rate: -1.009172 deg/s, cmd heading: 330.720464 deg, new cmd heading: 329.678753 deg. 2jE%-EHeadingCmd: 5.753980 target range: 72.400002 and range: 71.70 m. jM @jIjIjIiIhIhIhQhQfYfYfYrfYbf] 6@ɛCBE= 隝ɚiI:}=Izii) @)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521664*F12F1:F1BF52JF1GQ IG1BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772655tw5w,FAH~0>I~C I~A!II~BI~% =&I|.I|6I~<:I~ FzK5"NK59K1K5<K5  VJ[8d(}N&}iR>)zrmhf`[XTBKEpA:KA@Y@D9>9? x?ɨ@Xl;CyB!IMb@Mb@Mb@ )YʡE?~jt{Gzy->D#hA v@)/AI@ypA@AI*I3JJJJJL:J :JJJO;JQ;JS;JS;=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:59:34.4205 MTRx dataTimestamp_ set to:1736377175.661864Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027372٢m1 m=9usQ > G٣PQGy;C > Nusing accuracyPremultiplier from config59?5Y 5 iy>:,@qE;;5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 21.250170 m, bearing: 292.144485 deg, approach rate: -0.283852 m/s, LOS rate: -0.941234 deg/s, cmd heading: 329.678751 deg, new cmd heading: 328.018808 deg. 2j}!HeadingCmd: 5.725008 target range: 72.400002 and range: 71.70 m. jD3@jj!j!i!h!h!h)h- BfQfYfYrfabfm@ɛ=AB=fr= 9=IA E9>ɚAiiIm6=Iuiqiq)uD3@)y*F 2F :F! BF% 0JF! }$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276684GGqAGrAGBO?5w,gA>P'@Y>6@>ݰ3>9>(H֐?)~??ο`?@XXƿ?`?ɨ>P'@>";IZ4<I^4I^V3٢fʽ f_=9jjQ j>lp rG٣py=) => MNusing accuracyPremultiplier from configAM59E?M5YE6 iEQU#U@EqEE :E:E+5eB mAm[EZjDNOT Ignoring new targets: 72.40 m.BjJj ProNav: ac range: 72.400002 m, nav range: 21.134922 m, bearing: 291.797292 deg, approach rate: -0.331369 m/s, LOS rate: -1.003711 deg/s, cmd heading: 328.018797 deg, new cmd heading: 326.971662 deg. 2j5,HeadingCmd: 5.706732 target range: 72.400002 and range: 71.70 m. j@jjjihhhhfffrfbft @ɛM@BU= Ye7Ia m1a>ɚiiqIuF=Iji i )@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:59:34.4205 LVL= 15728, 16865, 15810, 20755, AGC= 56, IDX= 444,-0.34,-0.509,-0.326,-2.498,-1.104, PHS= 0.684, 0.826,-1.397, RAW= 26.7, -1.1, CAL= 26.3, -2.9, ROT= 123.7, 2.9 %Ygot valid direction response: 22:59:34.4205 LVL= 15728, 16865, 15810, 20755, AGC= 56, IDX= 444,-0.34,-0.509,-0.326,-2.498,-1.104, PHS= 0.684, 0.826,-1.397, RAW= 26.7, -1.1, CAL= 26.3, -2.9, ROT= 123.7, 2.9 -PDAT read: Bearing 123.7, 2.9 (Local) 5~Local bearing/azimuth received: Bearing 123.7, 2.9 (Local) =DAT read: Range 10 to 50 : 72.6 m (Round-trip 96.8 ms) speed -0.2 m/s E,DAT read: user:2983> EBDAT read: Tx time:22:59:35.5195 M$Ping request sent.MnF >)4QOI, @i4QO=x0l4 Aq@m(j)W^пImїL75w,bA"Will construct direction to contact in vehicle frame from tetrahedron phase data."="R=*JDAT read: TxSync time:22:59:35.5187 zoM@Yz\@z1>9z 11 5G٣1y= => MNusing accuracyPremultiplier from configAM59EFď?U5YEe8 iE³Y]]@EqEE~C;E&D;E밄5a epAik%?k%% k! k%; A:k%3BBk%3BZk%?"%?ko-@ SP@A;1B<@%o!?5 6I?t`Lu?Jk%?Rk%Ѿ*% yFZH:@uJwN@G/R=@%' ?uXh?=9%?"k%sB*k%Ak%4 ?k% 2k%Bk%vV?k%g k%Ck%Ak%ۤ> addTargetRange:: Added new target pos. range: 72.599998 m, deltaT: 3.532818 s, deltaX: 0.900002 m, approachRate: 0.254755 m/s, rangeRepo size: 4  Added new target pos. range: 72.599998 m, bearing: 66.296975 deg, lat: 36.904942 deg, lon: -122.120062 deg, deltaT: 10.854243 s, deltaX: 0.199997 m, approachRate: 0.018426 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 72.60 m.BjJj ProNav: ac range: 72.599998 m, nav range: 8.233818 m, bearing: 18.448666 deg, approach rate: 0.000000 m/s, LOS rate: -1.003711 deg/s, cmd heading: 326.971674 deg, new cmd heading: 325.750742 deg. 2juHeadingCmd: 5.685423 target range: 72.599998 and range: 72.60 m. ju@jqjyjyiyhyhyhhfffrf`f&R@bf_?ɛ?B= )5HI1 55>ɚ1i1I5 =I=i9i9)=@)AH}1>Iy I}!II}BIy&Iy.Iy6I}<:I}g FzKPK9KK=KPKJFB?>8783/1/.-+'      *Fe?2Fa:FaBFm5JFi*J"J4=JJJJJl:J :JJJ;J;JR;JR;Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O >a5w,3A6y@Y6/@6->963;y6H@&??? oҿ?" Vſ`@r??ɨ6y@6i\;6C R~$?IRhyVтBV IEMb@Mb@Mb@AAA A)AYEkt?kty&1|yE >E 0E`EA E@)E+AIE@AyE=AI#I%x3٢8 @=9Q > G٣y2y > Nusing accuracyPremultiplier from config59ӏ?5Y^: iu)>:Ǿ@qEW;;Ʋ5 AXEZj)-DNOT Ignoring new targets: 72.60 m.Bj5.=Jj5.=M ProNav: ac range: 72.599998 m, nav range: 8.086006 m, bearing: 19.359964 deg, approach rate: -0.352467 m/s, LOS rate: 2.212677 deg/s, cmd heading: 325.750737 deg, new cmd heading: 328.532301 deg. 2jMѽ=UHeadingCmd: 5.733970 target range: 72.599998 and range: 72.60 m. jU|@jQjQjQiQhYhYhYh]Bfafafarfabfm +1?ɛ>B^= 隕ZI  >ɚiI1 =I4if)|@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-^0JF)GU>G]?G] ?G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.rJ5w,yMA:@Y: @:F+>9:+ tt vG٣vQQGyz҅ z> ~Nusing accuracyPremultiplier from config|59~?5Y~5< i~  sԾ @~qE~f;~U;~i5 IA!ZjAMDNOT Ignoring new targets: 72.60 m.BjM %=JjM %=] ProNav: ac range: 72.599998 m, nav range: 7.960468 m, bearing: 20.212495 deg, approach rate: -0.334711 m/s, LOS rate: 2.308789 deg/s, cmd heading: 328.532290 deg, new cmd heading: 331.128344 deg. 2je=eHeadingCmd: 5.779280 target range: 72.599998 and range: 72.60 m. je@jijijiiihihihqhqfqfyfyrfybfY?ɛɚiIg =IiiT`>)@)*F5?2F1:F1BF5`0JF9 $?IG >GBO&>]Will construct direction to contact in vehicle frame from tetrahedron phase data.H 4>I  I II ؂BI $ =&I .I 6I {<:I ] FBIMɞCJIMɞCRIIZIM% =bIM% =jIM;J5zK} MKy Ky K} >K} w5w,gAyzB~ IWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=sh|??+~jtxy=>==Ļ=A =QA)=AAI=@9y=\AIUIU ٢eX e4=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y}Y> i}S>:*Ѿ@}qE}d;}t;}d5B AUEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.60 m.Bj%=Jj%= ProNav: ac range: 72.599998 m, nav range: 7.813501 m, bearing: 21.248454 deg, approach rate: -0.321551 m/s, LOS rate: 2.309088 deg/s, cmd heading: 331.128336 deg, new cmd heading: 334.291280 deg. 2j=HeadingCmd: 5.834484 target range: 72.599998 and range: 72.60 m. j@jjjihhh h Bf ffrfbf@?ɛ;BP= CI l>ɚ!i!I-? =I5;i1i5Yd4>)=@)9PExceeded connect timeout, disconnecting.*F?2F:FBF_0JF I G!9 eb#YayeBe Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.G= C|>G1 BA Oe > ^5w,iA6U@Y6e@6(>96L\VBB IIF$IF<3٢R Rl=9VQ V?TT VG٣TyZR Z? bNusing accuracyPremultiplier from config\b59^?b5Y^%@ i^Ŀdf澑f@^qE^";^1;^跄5l nHApZj DNOT Ignoring new targets: 72.60 m.Bj 3=Jj 3= ProNav: ac range: 72.599998 m, nav range: 7.707790 m, bearing: 22.100456 deg, approach rate: -0.308122 m/s, LOS rate: 2.517360 deg/s, cmd heading: 334.291287 deg, new cmd heading: 336.880491 deg. 2j%=%HeadingCmd: 5.879674 target range: 72.599998 and range: 72.60 m. j-J&@j)j)j)i)h)h)h1h1f1f9f9rf9bf=ɚyiyI} =IJJJJJ:J:JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000977G!B)OM1> i Ii 5w,ZAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252778:@Y:@:N'>9:f'If=Ij>Ij3٢vȉ vF=9v$Q v>xx zG٣zRQGy~/e ~> Nusing accuracyPremultiplier from configy59}( ?5Y}xB i}`ɿ@}qE}:}:}ǹ5 AZj DNOT Ignoring new targets: 72.60 m.Bj I8=JjI8=% ProNav: ac range: 72.599998 m, nav range: 7.583048 m, bearing: 23.206904 deg, approach rate: -0.285943 m/s, LOS rate: 2.577832 deg/s, cmd heading: 336.880503 deg, new cmd heading: 340.250349 deg. 2j-$=-HeadingCmd: 5.938489 target range: 72.599998 and range: 72.60 m. j-@j1j1j1i1h1h1hAhAfAfAfArfIbfM :@ɛ8B1= I >ɚiI =Ižii| ;)@ZHRHH9>IC I IIBI&I.I6D6I<:Iz F)*F-?2F1:F1BF50JF9zKgKKŷ9KK?KG=cKW>GBO=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506674  nManaging dock network, ignoring radio surface power off ] $?IY ж5w,SA2δ@Y2*޻@2I&>92?6Oٿ5D? Ŀ3?R?ɨ2δ@22;2CyJBJ IMb@Mb@Mb@ )Yףp= ?:vMbpy>ԼIA zA)AI;@yAIXI4٢j 8=93Q > G٣y%Uc %> -Nusing accuracyPremultiplier from config)559-?55Y-D i-yͿ= >=:==@-qE-;-M;-5B ' AREZjDNOT Ignoring new targets: 72.60 m.BjC6=JjC6=  ProNav: ac range: 72.599998 m, nav range: 7.466979 m, bearing: 24.291728 deg, approach rate: -0.268626 m/s, LOS rate: 2.549553 deg/s, cmd heading: 340.250354 deg, new cmd heading: 343.551560 deg. 2j =HeadingCmd: 5.996106 target range: 72.599998 and range: 72.60 m. j@jj%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756957jiAhAhAhAhMBfIfIfIrfIbfU6@ɛ6B= .I >ɚiIfw =IĢiiK)@)*F2F:FBFd3JFG5>GG0?GaBqO}>J J J 1J J :J :J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:59:38.0215  TRx dataTimestamp_ set to:1736377179.188641 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0098145w,A2d@Y2(@2e%>92.XX ZG٣XyZ~ ^> %Nusing accuracyPremultiplier from config%59$?-5YF iп)-Q-@qEa:a:@51 5 A9ZjaeDNOT Ignoring new targets: 72.60 m.BjmF=JjmF=} ProNav: ac range: 72.599998 m, nav range: 7.372246 m, bearing: 25.266991 deg, approach rate: -0.266933 m/s, LOS rate: 2.783217 deg/s, cmd heading: 343.551548 deg, new cmd heading: 346.512152 deg. 2j=HeadingCmd: 6.047778 target range: 72.599998 and range: 72.60 m. jf@jjjihhhhfffrfbfy@ɛ4B{= II >ɚiI$=I[ii.)f@)EqAErA I*F?2F:FBFO0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261063Gq4>GiByO>HM @>IM C IM IIM BIM " =&II .IM 7D6IM <:IM q FzK k3IK 9K K @K FP C  0  ^ 4  5w,ABj@YBz@BxD$>9B=yBHI]? ?u?`}?ۿ? rĿ@? l?ɨBj@BK;B Cyr]BrX I)  )-AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 73.4 m (Round-trip 97.9 ms) speed -0.3 m/s ,DAT read: user:2984> -X#Rx 1: Read range message, but no direction.ةyح̒BةT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Y5^I ? ףp= Mb`y>Q8A A)XAIQ@yAI8I3٢5糽 5=9= Q =>99 =G٣ESQGyE( E> uNusing accuracyPremultiplier from configiu59m3?u5YmI imտ}J>}:}5}@mqEmU;m;m}5 t AOE=B*** querying acoustic contact ***jaja addTargetRange:: Added new target pos. range: 73.400002 m, deltaT: 3.528404 s, deltaX: 0.800003 m, approachRate: 0.226732 m/s, rangeRepo size: 4 $?IhZjDNOT Ignoring new targets: 72.60 m.Bjg@=Jjg@= ProNav: ac range: 72.599998 m, nav range: 7.259443 m, bearing: 26.694911 deg, approach rate: -0.209383 m/s, LOS rate: 2.691383 deg/s, cmd heading: 346.512162 deg, new cmd heading: 350.853709 deg. 2j=HeadingCmd: 6.123552 target range: 72.599998 and range: 73.40 m. j$@jyjyjyihhhhBfffrfYR@bf ?ɛ=2B== 9EվIA E >ɚAiAIE /=IM3iIiMa_)M$@)*F ?2F :F BF 4JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Tx time:22:59:39.1195 U $Ping request sent.] G B O >,5w,A:в@Y:@:">9:B!=y:H?"? u?dܿ`Y?B}sIĿ? 0?ɨ:в@:N1;8yb@Bb5 IIj;Ij&3٢u3 u=9}₻Q }?yy G٣y.u ? Nusing accuracyPremultiplier from config59=?5YK inؿ@qE ; ;5 V AZjDNOT Ignoring new targets: 72.60 m.Bj9b=Jj9b= ProNav: ac range: 72.599998 m, nav range: 7.195582 m, bearing: 27.589380 deg, approach rate: -0.223949 m/s, LOS rate: 3.164459 deg/s, cmd heading: 350.853704 deg, new cmd heading: 353.558805 deg. 2j>HeadingCmd: 6.170765 target range: 72.599998 and range: 73.40 m. jv@jjjihhh h f f f rfbf0?ɛE0BE$= IMII >ɚiI/=I} ii )v@)JuJuJu0JqJu:Ju:Juـ3Jq*F}?2Fy:FyBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827GM=GUrAGQGB)OEQ> I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503170J5w,A65@Y6E@6@>96C=y6H?ҳ? Q11 5G٣1y=C => ENusing accuracyPremultiplier from configAM59EH?U5YEN iEۿQ]]@EqEEG;E6H;E„5a e AaZjDNOT Ignoring new targets: 72.60 m.BjPW=JjPW= ProNav: ac range: 72.599998 m, nav range: 7.119311 m, bearing: 28.767458 deg, approach rate: -0.192941 m/s, LOS rate: 3.011867 deg/s, cmd heading: 353.558814 deg, new cmd heading: 357.126043 deg. 2j0>HeadingCmd: 6.233025 target range: 72.599998 and range: 73.40 m. jt@jjjihhhhfffrfbf ?ɛ.B= I f>ɚiI=Im"7ǽiiii)mt@)qE}a>E}>jHbH<HF>IC Iy IIxBI =&I.I8D6I<:I F*F%?2F):F)BF5_0JF1"GU=GU>G]=zKWPK@9KKAK t  p ` D FKZL3J iDm^L@5-    GqBO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756743 I 5w,&6A2ܻ@Y2\˸@2Ѻ>92Vo=y2HW?y?r?n޿ ?jÿ ڋ?1?ɨ2ܻ@2֋;2CyVBV IiZR=IZi>=Mb@Mb@Mb@999 9)9Y=$C?S㥫:vy=>=/]=T= A =A)=rAI=@9y=AIU;IU&3٢eڽ eG=9mQ m>ii uG٣uTQGy} > Nusing accuracyPremultiplier from config59eT?5YP iC࿙>:z"@qE;0;`Ą5B g ANEZjDNOT Ignoring new targets: 72.60 m.Bj`=Jj`= ProNav: ac range: 72.599998 m, nav range: 7.047844 m, bearing: 30.052136 deg, approach rate: -0.173252 m/s, LOS rate: 3.145664 deg/s, cmd heading: 357.126030 deg, new cmd heading: 1.012845 deg. 2j>HeadingCmd: 0.017677 target range: 72.599998 and range: 73.40 m. j\А<jjjih h hh݂Bfffrfbf ?ɛ,B{= uWill construct direction to contact in vehicle frame from tetrahedron phase data.>a=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007948I Q>ɚiIu=I%` iIiI)M\А<)I*F?2F:FBF`0JFG<GyBO^>J J J J J <:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2592375w,YPA:}Y@Y:h@:E>9:?Q=y:Hr?,?@@?@t߿?UÿO?ƌ?ɨ:}Y@:;: CyFBFIIR IR<2٢V ZW=9ZλQ Z>X\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f_?j5YfCS if/俙hjh%j@fqEf;f;fƄ5t v? AtZjDNOT Ignoring new targets: 72.60 m.Bjhe=Jjhe=- ProNav: ac range: 72.599998 m, nav range: 6.987268 m, bearing: 31.256506 deg, approach rate: -0.160029 m/s, LOS rate: 3.209010 deg/s, cmd heading: 1.012845 deg, new cmd heading: 4.652110 deg. 2j- >5HeadingCmd: 0.081195 target range: 72.599998 and range: 73.40 m. j5`I=j1j1j9i9h9h9hAhAfAfAfArfIbfM`?ɛ}*B"= 隅I >ɚiI==IT"=ii)`I=) e$?Ia*FU?2FQ:FQBFUw1JFQG-JiG5 ?G5 ?GBO)>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511205HL>IC IA IIJBI =&I.I6Ih<:Ic F5w,!55j5 A 5~A)5\AI5@1y5AIEHIE<3٢ms u1=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config59l?5YV i鿙>:.@qE;; Ȅ5  AZjDNOT Ignoring new targets: 72.60 m.Bj}=Jj}= ProNav: ac range: 72.599998 m, nav range: 6.920243 m, bearing: 32.872956 deg, approach rate: -0.145371 m/s, LOS rate: 3.539406 deg/s, cmd heading: 4.652110 deg, new cmd heading: 9.535915 deg. 2j>HeadingCmd: 0.166433 target range: 72.599998 and range: 73.40 m. jqm*>jjjihhhhBfffrfbf@@ɛ5'B5z= 9=IA eQ>ɚaiaIe>=ImJ=iiiq)uqm*>)qEy YIa*F=?2F9:F9BF=0JF9GErA GEqAG풽GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0152145w,A62@Y6wB@6A>961=y6HCd?^?tH?߿@O?GĿ ¿?`~?ɨ62@6Bn;6Cyb΁BbI)d dIjVIjn4٢rK rg=9vcQ v>tt vG٣vUQGyzZ z> ~Nusing accuracyPremultiplier from config|59~v?5Y~VY i~6  L/ @~qE~:~L:~Ʉ5B AKE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 72.60 m.BjU*=JjU*=e ProNav: ac range: 72.599998 m, nav range: 6.873354 m, bearing: 34.126133 deg, approach rate: -0.132655 m/s, LOS rate: 3.569307 deg/s, cmd heading: 9.535915 deg, new cmd heading: 13.315299 deg. 2je>mHeadingCmd: 0.232396 target range: 72.599998 and range: 73.40 m. jm+m>jijijiiihihqhqhqfqfyfyrfybfY@ɛ&Bv= 隵+I v>ɚiIs=ID'>ii)+m>)*F=?2F9:F9BF=4JF9G uνWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268035GBO--> U$?IY= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519161C%5w,{A2L@Y2\@2֓>92=y2H@u?J? ? 3߿Q?@Nſ"¿@"?8{?ɨ2L@2 ;0yrBrII~GI~3٢%) %F=9%_5Q %>)) -G٣)y5; 5> =Nusing accuracyPremultiplier from config9E59= ?E5Y=i\ i=9AMK.M@=qE=:=:=d˄5Q UAYZjyDNOT Ignoring new targets: 72.60 m.BjI=JjI= ProNav: ac range: 72.599998 m, nav range: 6.821915 m, bearing: 35.615211 deg, approach rate: -0.124986 m/s, LOS rate: 3.645020 deg/s, cmd heading: 13.315299 deg, new cmd heading: 17.806490 deg. 2jX>HeadingCmd: 0.310782 target range: 72.599998 and range: 73.40 m. j>jjjihhhhfffrfbf.@ɛ#BNМ= 6I I>ɚiIu=IȞ>ii)>)ZHQRHUAAH]S>I]C I]II]BI] =&IY.I]9D6I]B<:I]N FBI¡CJI¡CRI”CZI =bI =jI6*Fm?2Fi:FqBFum1JFyzK=jNK=9K9K=CK=  J]J]JYJYJ]m:J]9JYJYJ];aeJ];aeJ];%;amJ]<%;amWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771338GwGqAGG B O >)) - SC A IA vA 5 !Y5 vAy5 B%L5w,ƷA6W@Y6ל@6 >968=y6Hǚ??|?,߿@d?`2&ƿ`p*?v?ɨ6W@6U׌;6CyNBRgI-Mb@Mb@Mb@))) )))Y- +?B`"۹-ν-t-A -A)-AI-@)y-AIELIE4٢U  UH=9U[Q U> G٣yZ< > Nusing accuracyPremultiplier from config59!?5Y_ ic>:6@qEm(;;?̈́5 A IEZj15DNOT Ignoring new targets: 72.60 m.Bj=ʍ=Jj=ʍ=M ProNav: ac range: 72.599998 m, nav range: 6.777372 m, bearing: 37.295618 deg, approach rate: -0.104477 m/s, LOS rate: 3.966763 deg/s, cmd heading: 17.806489 deg, new cmd heading: 22.866918 deg. 2jM%*>UHeadingCmd: 0.399103 target range: 72.599998 and range: 73.40 m. jU;W>jQjQjQiYhYhYhYheBfafafarfabfm@F @ɛ B,= 隝CI u1>ɚiI=IbO>ii);W>)EE]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:59:41.6233 mTRx dataTimestamp_ set to:1736377182.982708}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039033*Fi2Fi:FiBFmZ0JFiGErGBO-N> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.28762595w,xA^ر@Y^[@^ܻ>9^>y^H? ?/ߦ?@޿t?@*ǿ ?l?ɨ^ر@^[;\ynvBn<Iir=Ir4<IvOIv 4٢~b0 ~O=9Q >  G٣ VQGy <  > Nusing accuracyPremultiplier from config59՛?%5Y c i!%!4%@qE@::΄5) 5A1Zjq}DNOT Ignoring new targets: 72.60 m.Bj}=Jj}= ProNav: ac range: 72.599998 m, nav range: 6.740642 m, bearing: 38.807946 deg, approach rate: -0.096360 m/s, LOS rate: 3.988707 deg/s, cmd heading: 22.866918 deg, new cmd heading: 27.418494 deg. 2j+>HeadingCmd: 0.478543 target range: 72.599998 and range: 73.40 m. j>jjjihhhhfffrfbfK @ $?IɛBN= 隍SI =ɚiI=I>ii)>)*F]?2Fa:FaBFe_0JFaG=dk"GBOM>eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.7 ms) speed -0.6 m/s ,DAT read: user:2985> BDAT read: Tx time:22:59:42.7195 $Ping request sent.IUC IUIIUЁBIU =&IQ.IU:D6IUn<:IUu Fb5w,͏AzK.}LK.59K,K.DK. 0BP[fz{vrpkd`WMHF@=<BD@YBT@B>=9BVA$>yBH?h?6:?~ݿඍ?Hɿ6'@J?Z?ɨBD@B;@yZ`BZ"IJJBAJJJJJ:JH9JJJ;J;JQ;JR;Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:59:42.7187 Mb@Mb@Mb@ )Y#~j?`"&1y?PXA v@)I3@yG AINI@ 4٢%ý %9=9mQ u>y G٣y< > Nusing accuracyPremultiplier from config59-?5Y"g iJ ?:4@qE*;M;Є5 hAm addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.793206 s, deltaX: 1.299995 m, approachRate: 0.342717 m/s, rangeRepo size: 4 ZjiuDNOT Ignoring new targets: 72.60 m.Bju*=Jju*= ProNav: ac range: 72.599998 m, nav range: 6.700230 m, bearing: 40.819356 deg, approach rate: -0.087271 m/s, LOS rate: 4.368972 deg/s, cmd heading: 27.418493 deg, new cmd heading: 33.465323 deg. 2jf;>HeadingCmd: 0.584080 target range: 72.599998 and range: 74.70 m. jF?jjjihhhhpBfffrf̬R@bf?ɛ=BN= 隅]I c=ɚiIo=I r>ii)F?) I*F?2F:FBFJFG WGiBqO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.G6w,]A>@Y>wȹ@> =9>48>y>H=? C?h?x9ݿ?ʿⱼ?I?ɨ>@>;> CyJHeadingCmd: 0.663067 target range: 72.599998 and range: 74.70 m. j)?jjjihhhhfffrfbf ?ɛ=BEjU= AE=nIA E=ɚIiIIM+=I* ?ii))?)*F 2F :F BF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GVSwGBOI> Ip6w,4AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001746j[@Yjck@jiJ=9jfK>yjH`?`?lqc?H ܿ4?[̿,? i4?ɨj[@j/`;hyz(B~I)  I%3I%ʴ3٢5w =B=9=qżQ =>AA EG٣EWQGyMA= M> UNusing accuracyPremultiplier from configI59MWŐ?5YMm iM *@MqEM?IC IYIIBI =&IFD.I;D6IY<:In FZjy}DNOT Ignoring new targets: 72.60 m.Bj/=Jj/= ProNav: ac range: 72.599998 m, nav range: 6.639740 m, bearing: 44.200180 deg, approach rate: -0.073207 m/s, LOS rate: 4.201647 deg/s, cmd heading: 37.990923 deg, new cmd heading: 43.625138 deg. 2j84>HeadingCmd: 0.761402 target range: 72.599998 and range: 74.70 m. jCB?jjjihhhhfffrfbf@K?ɛ]Berm= aevIa e\=ɚaiiImy=I%?ii)CB?)*F?2F:FBF~0JFzK>NKKKEK:65300-++&"   JKm3 KS}-KK"KJ=J=J9J9J=:J=9J9J9J=!;J=";J=\ ;J=] ;Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252521G : $?I hG B O% > 6w,V(9Ay BIMb@Mb@Mb@ )YDl?OnÿMbyO ?A @)AIAy AII?13٢ƽ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59Ԑ?5Yq i H?:,3@qE;;ք5B AEEZj9=DNOT Ignoring new targets: 72.60 m.BjMb=JjMb=] ProNav: ac range: 72.599998 m, nav range: 6.620395 m, bearing: 46.243366 deg, approach rate: -0.048708 m/s, LOS rate: 5.158405 deg/s, cmd heading: 43.625139 deg, new cmd heading: 49.747892 deg. 2j]B]>eHeadingCmd: 0.868264 target range: 72.599998 and range: 74.70 m. jeF^?jajajaiihihihihuUBfqfqfqrfqbf} ?ɛBn%L= 隭I =ɚiId=IB9?ii)F^?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521791*F]?2FY:FYBF]_5JFaGGy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772236E6w,[RA6ɴ@Y65ٻ@6s}=96|>y6HK7? ?c{ٿ`+?`Pп `h)?@L?ɨ6ɴ@6HC;4y>BBIIF;IF&3٢Rt Rb=9RowQ R>TT ZG٣XyZ]= Z> bNusing accuracyPremultiplier from config\b59^:␜?f5Y^t i^dfm%f@^qE^X:^z:^ׄ5h jPAlZjDNOT Ignoring new targets: 72.60 m.Bj =Jj = ProNav: ac range: 72.599998 m, nav range: 6.599752 m, bearing: 47.986402 deg, approach rate: -0.057000 m/s, LOS rate: 4.827278 deg/s, cmd heading: 49.747891 deg, new cmd heading: 54.977971 deg. 2jO>%HeadingCmd: 0.959547 target range: 72.599998 and range: 74.70 m. j%٤u?j!j!j!i!h!h)h1h1f1f1 E$?IAfrfbf@?ɛBhA= I  8=ɚiI=I@M?ii)٤u?)!E)*F?2F:FBF/5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.սR?ս4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024516Hi>IC IIIQBI =&I.I:6w,lAzKZ-MKZ9KXKZFKZZ@YZ@Z@ =9Z>yZH?@Ob?@4`ؿ@]?>ѿݱ?`.?ɨZ@Z;XyjBnIin=In< ra=r=J~J~J|J|J~p:J~9J|J|J~;J~;J~2;J~3;}Mb@Mb@Mb@yyy y)yY}-?sh|?ſV-y}??})}h}#A }@)}\AI}7Ayy} AI^I&4٢Q ;=9üQ > G٣XQGys= > Nusing accuracyPremultiplier from config59?5Yx i'=?: @qEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276211;<ل5UB UAUBEZjDNOT Ignoring new targets: 72.60 m.Bj =Jj =% ProNav: ac range: 72.599998 m, nav range: 6.577760 m, bearing: 50.226091 deg, approach rate: -0.047368 m/s, LOS rate: 4.838703 deg/s, cmd heading: 54.977972 deg, new cmd heading: 61.686956 deg. 2jEO>MHeadingCmd: 1.076640 target range: 72.599998 and range: 74.70 m. jM[ω?jIjQjQiQhQhQhYh]BfYfYfYrfabfe @ɛ BRS= I <=ɚiI=IXf?ii 9I9)[ω?)A*F%?2F!:F)BF-5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531827G] J G9 BA O >=!6w,A2m@Y21}@28vo=92Iߐ>y2H?w?୵ ֿ? ѿiꭿ{?`ά?ɨ2m@2";0yB߀BBIIJQIJ4٢v߽ vW=9zGQ z>|| ~G٣|y= >  Nusing accuracyPremultiplier from config 59 ?5Y I| i @ qE X ; u ; >ۄ5! %A!EB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 72.60 m.BjUK=JjUK=m ProNav: ac range: 72.599998 m, nav range: 6.560343 m, bearing: 52.183660 deg, approach rate: -0.049237 m/s, LOS rate: 5.547564 deg/s, cmd heading: 61.686956 deg, new cmd heading: 67.553521 deg. 2jmm>uHeadingCmd: 1.179031 target range: 72.599998 and range: 74.70 m. ju?jyjyjyiyhyhyhhfffrfbfV@ɛ B.= 隽I =ɚiIR=Ix?ii)?)*Fu?2Fq:FqBFu^0JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780206 =$?I9G}:GIBYOu>)'6w,yA6B@Y6Q@6k,C=96]ϖ>y6H-?6?r謹`տ 9?ҿ`0c` ?`K?ɨ6B@6 ;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:22:59:45.2257 FTRx dataTimestamp_ set to:1736377186.524644Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.033328yNBNIIV3IVʴ3٢^= ^M=9b޼Q b>`` fG٣dyf= j> nNusing accuracyPremultiplier from configlr59n=?r5Yn inmtv)v@nqEn*:n:n܄5x zYAz?EZj%DNOT Ignoring new targets: 72.60 m.Bj%r=Jj%r=5 ProNav: ac range: 72.599998 m, nav range: 6.543573 m, bearing: 54.242382 deg, approach rate: -0.042162 m/s, LOS rate: 5.188173 deg/s, cmd heading: 67.553522 deg, new cmd heading: 73.720261 deg. 2j5^>=HeadingCmd: 1.286661 target range: 72.599998 and range: 74.70 m. j=Q?jAjAjAiAhAhAhIhIfIfIfQrfYbf]R@ZH?ARHHp>IC IIIBI =&I.I=D6I<:IJ FɛB0==  '=隅!I =ɚiIhW=Iȇ?ii)Q?)EEqA*FU?2FQ:FQBFU_0JFQGeqA GerAzKujIKuh9KqKuGKu=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286046GQG) BI Om > ) I) -6w,EgA@Y@P=9,>yH o?7m?Rӿ@~?.ҿ @?r?ɨ@7; Cy߀BI)! !Mb@Mb@Mb@ )Y|?5^?V-ǿV-y?|?(A ~@)XAI Ay\AI?IT3٢ 9=9мQ > G٣YQGyz[= > mNusing accuracyPremultiplier from configu59&?u5Yh i{ u?}:}}@qE\ ;] ;ބ5 AZjDNOT Ignoring new targets: 72.60 m.Bj=Jj= ProNav: ac range: 72.599998 m, nav range: 6.537838 m, bearing: 56.517747 deg, approach rate: -0.012467 m/s, LOS rate: 4.948441 deg/s, cmd heading: 73.720260 deg, new cmd heading: 80.518466 deg. 2jAT> HeadingCmd: 1.405312 target range: 72.599998 and range: 74.70 m. j F?j j j ihhhhBfffrfbf%'9 @ɛmBu := qu߈Iq u=ɚqiyI}6=I}t?iWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս=ՍR=DAT read: 22:59:45.2258 LVL= 13008, 19825, 14594, 20371, AGC= 57, IDX= 451,-0.33,-2.721,-1.492, 2.294,-2.938, PHS= 0.305, 1.493,-1.054, RAW= 2.2, -6.8, CAL= 2.3, -10.2, ROT= 147.7, 10.2 Ygot valid direction response: 22:59:45.2258 LVL= 13008, 19825, 14594, 20371, AGC= 57, IDX= 451,-0.33,-2.721,-1.492, 2.294,-2.938, PHS= 0.305, 1.493,-1.054, RAW= 2.2, -6.8, CAL= 2.3, -10.2, ROT= 147.7, 10.2 PDAT read: Bearing 147.7, 10.2 (Local) ~Local bearing/azimuth received: Bearing 147.7, 10.2 (Local) -DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.1 ms) speed -0.4 m/s -,DAT read: user:2986> 5BDAT read: Tx time:22:59:46.3196 =$Ping request sent.=ٍ?ٍy醿ٍnF=ٍ ڍl$=)ڍK6Iڍ$@iڍK6>ډډۍFݿeBР"䖠J)ۍϏIۍ=iۍI˭?ۍYۉۉ:publishing transmit ping time9Fpublishing direction and range info؉9؍v-?/F?RSn#k?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍFݿeBР"䖠J)ۉIۉiۉۉۉۉ*F?2F:FBFJFG JM JM JI JI JM s:JM 9JI JI ae @ae @ae @ae @G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:22:59:46.3188 d46w,1A6̸@Y6mܿ@6<96ޛ>y6H? ?<$ҿ 54?ҿ(ۚv-??ɨ6̸@6E;4 b$?I`ynBnIIv:Iv3٢m8$< R=9ϼQ > G٣yey= > Nusing accuracyPremultiplier from config%597?%5Y i$)-f-@qEC;m;55B =A=IC IIIBI =&I.I6Ir<:I FBI}ǧCJI}ǧCRI}ǕCZI} =bI} =jI}Χ6G G B O >!:6w,A~T@Y~Ԙ@~<9~>y~H?A?V 'пn? ҿ)?@?ɨ~T@~;~!CzKBoIK]9KKHK!)..*'&"$#  y%B%IMb@Mb@Mb@ )YCl?sh|?ſy&1y?)`e(0A @)AAI AyAII#3٢< C=9ԼQ > G٣yh= >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59H?5Y i&?:@qE;;o5 sAZj DNOT Ignoring new targets: 76.50 m.BjEx<JjMx< $?I-tAEA= ProNav: ac range: 76.500000 m, nav range: 23.911076 m, bearing: 82.308574 deg, approach rate: 0.205534 m/s, LOS rate: 1.255249 deg/s, cmd heading: 86.459874 deg, new cmd heading: 88.020948 deg. u2YutAyu1+B2jm]W=HeadingCmd: 1.536255 target range: 76.500000 and range: 76.50 m. j?jjjihhh h Bfff9rf9bf=`?ɛBC= I "=ɚiI{=I Q?ii)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.E \J=E t>E >*F- ?2F) :F1 BF1 JF1 "G= >G= >J9J9JE~JE{JE1JAJE{m:JE-9JE3JAGUBG1B9O]?KjD6w,˄AWill construct direction to contact in vehicle frame from tetrahedron phase data.B7@YB-@BC9B;>yBH"C? ?갿CR˿?a%ҿxHq?_?&?ɨB7@B;B CyNBNIiRC=IRt>IZ IZ̍2٢^w= b=9bQ b>dd fG٣fZQGyj= j> nNusing accuracyPremultiplier from configlr59n(`?r5Ynf in^*tv1v@nqEn;n);n5zB ~A~9EuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 76.50 m. IBjS<JjS< ProNav: ac range: 76.500000 m, nav range: 24.013025 m, bearing: 83.008514 deg, approach rate: 0.196767 m/s, LOS rate: 1.345147 deg/s, cmd heading: 88.020948 deg, new cmd heading: 90.110876 deg. 2jf=HeadingCmd: 1.572731 target range: 76.500000 and range: 76.50 m. jDO?jjjihhhhfffrfbf@I3?ɛEBEWG= MNǵI III =&I.I>D6I<:IP FG5 :G! B1 OM >J6w,@,Az@Yz{@z59zf>yzH`l??L+ȿ?ҿ?इ?@?ɨz@z;zCy=BEII1I3٢= <=9pQ >zKX8MKػ9KKIKRK?JK? G٣yY= > Nusing accuracyPremultiplier from config59u?5Yu i?-  Sྑ @rE::5B eA8E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745752ZjIMDNOT Ignoring new targets: 76.50 m.BjUj<JjUjy2H@??@5Z)ſ ??ѿ?l?`?ɨ2r@2k;2Cy>"B>IMb@Mb@Mb@ )YK7? rhX9vy ?C -A h@)AI AyAI-I-[3٢== =%=9=KQ =>AA EG٣AJJJ0JJp:J9Jـ3Jy-N= > Nusing accuracyPremultiplier from config59?5Y i/H?:bƾ@rEf;;5 A!ZjimDNOT Ignoring new targets: 76.50 m.Bju<Jju< ProNav: ac range: 76.500000 m, nav range: 24.172365 m, bearing: 84.225005 deg, approach rate: 0.151202 m/s, LOS rate: 1.237624 deg/s, cmd heading: 91.960485 deg, new cmd heading: 93.746989 deg. 2jWT=HeadingCmd: 1.636194 target range: 76.500000 and range: 76.50 m. jn?jjjihhhh"Bfffrfbfu#@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250346ɛ-B-a= 15fI1 5=ɚ1i1I5=Ies?iaia)en?)aEupAEuoA aIehEeF<*F?2F:FBF`0JFG 3G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501781O >HU w>IQ  IU IIU BIU  =&IQ .IQ 6IU 4<:IU g Fq5Y6w,ӟfA:m@Y:q}@:s29:9<>y:H^??~8¿b?>ѿĥ?ID??ɨ:m@:8;:CyF8BFI)H HLLIRIRF3٢Z= ZT=9ZAzQ ^>\` bG٣b[QGyb= b> jNusing accuracyPremultiplier from configdj59fu?n5Yf if_0lnn@f rEf;fc;f5p vAv5EZjDNOT Ignoring new targets: 76.50 m.BjK<JjK<- ProNav: ac range: 76.500000 m, nav range: 24.225952 m, bearing: 84.687688 deg, approach rate: 0.149620 m/s, LOS rate: 1.288982 deg/s, cmd heading: 93.746990 deg, new cmd heading: 95.131683 deg. 2j-']=5HeadingCmd: 1.660361 target range: 76.500000 and range: 76.50 m. j5?jAjAjAiAhIhIhQhQfQfYfYrfabfeX@ɛB5F= 隽eZI t=ɚiI=IfV?ii)?)zKKK9KKJKBK:K-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754930E=< e$?Ia*F?2F:FBF_0JFG BG B O >=S`6w, ]AyRBIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:59:48.8279 TRx dataTimestamp_ set to:1736377190.056665checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006703Mb@Mb@Mb@ )Yx&1?ˡE~jtxyA?什Ļp-A @)rAIAyGAII(*3٢d= 4=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i0?:@rEe;j;{5   A Zj15DNOT Ignoring new targets: 76.50 m.Bj=<Jj=GB)O}> g6w,џA <>@e@Ye' @eW9e>yeHu?۴?F\!@?ѿ =?:?r?ɨe@eV;eCy}dB}&III2٢= .=9~Q > G٣y= > Nusing accuracyPremultiplier from config59?5YE iI1r|@rE ;` ;5B ~A2EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:59:48.8279 LVL= 19008, 16209, 17186, 23619, AGC= 59, IDX= 439,-0.10,-2.250,-1.961, 2.041,-2.956, PHS= 0.794, 1.042,-1.289, RAW= 24.4, -5.0, CAL= 24.5, -8.6, ROT= 125.5, 8.6 5Ygot valid direction response: 22:59:48.8279 LVL= 19008, 16209, 17186, 23619, AGC= 59, IDX= 439,-0.10,-2.250,-1.961, 2.041,-2.956, PHS= 0.794, 1.042,-1.289, RAW= 24.4, -5.0, CAL= 24.5, -8.6, ROT= 125.5, 8.6 =PDAT read: Bearing 125.5, 8.6 (Local) =~Local bearing/azimuth received: Bearing 125.5, 8.6 (Local) ZHm@ARHm@AHqIq IuIIuQBIu =&Iq.Iq6Iud<:Iu FDAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed -0.3 m/s ,DAT read: user:2987> B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 76.50 m.%BDAT read: Tx time:22:59:49.9196 -$Ping request sent.-¸ !>)`IR/ @i`>:Eѥ!7R">)zտI*=i0C?:publishing transmit ping time)Fpublishing direction and range info9Z Ҽm?s?t?y )jyIi )Ii:Eѥ!7R">)IiihhhhfffrfS@bf'?ɛBi= @7<隍@I Z=ɚiI=I=f?iAiA)E?)I*F ?2F :F BF p0JFzK} K} 9Ky K} KK}  Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A JDAT read: TxSync time:22:59:49.9188 $?I G G B O >m6w,AZʿ@YZ@Z 9Z>yZH??ª@!?`3ѿ?? ӫ?ɨZʿ@ZԊ;Z CyvBvPIiz>Iz= ~=~a=EMb@Mb@Mb@AAA A)AYEv?y&1:v?yE>E`eET  7=9/ȻQ > %G٣%\QGy%f= %> 5Nusing accuracyPremultiplier from config)559-ё?=5Y-ޘ i-0=>=:=ս=@-rE-w;-;-5EB EuAM/Ek-a!?k- "w k) k-=֣A:k-BBk-BZk-l?"-m =%@i$Q@!<@-Z Ҽm?s?t?Jk-0C?Rk-*- 2rP*@V,\M@n9 H@-AjW?0u_1?66q?"k-oB*k-RAk-􀌐&?k-Oul 2k-Bk-􀌐&?k-Oul k-Bk-uBk-l? addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.531714 s, deltaX: 1.500000 m, approachRate: 0.424723 m/s, rangeRepo size: 4  Added new target pos. range: 78.000000 m, bearing: 77.629081 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 3.531714 s, deltaX: 1.500000 m, approachRate: 0.424723 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 78.00 m.BjJj ProNav: ac range: 78.000000 m, nav range: 61.413082 m, bearing: 77.628869 deg, approach rate: 0.000000 m/s, LOS rate: 1.097334 deg/s, cmd heading: 98.387721 deg, new cmd heading: 99.776736 deg. 2j!-HeadingCmd: 1.741433 target range: 78.000000 and range: 78.00 m. j-C?j1j1j1i1h1h1h9h=Bf9f9fArfAbfEP?ɛB.܀= 隵.I 3=ɚiI=IC?ii)C?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_1JFG G B O >*J R="J a=J= J= {J9 J9 J= }:J= -9J9 J9 t6w,pA2Will construct direction to contact in vehicle frame from tetrahedron phase data.y~B~fII  I V2٢%J= -m=9-Q -?11 5G٣1 AIAyE E? MNusing accuracyPremultiplier from configIU59Mߑ?5YMS iM0@MrEM%Iq Iu`IIuBIq&Iq.Iq6Iu#<:IuX FGa Gm rAGm qAGA BI Ou >Uz6w,AFAJc@YJMs@J9JG>yJHG?@e~?⥿#?`ѿ???ɨJc@Ju;JCyRBV~II^I^<٢v= zN=9}>Q > G٣yQ= > %Nusing accuracyPremultiplier from config]59&?e5Y iC/i;^@rEN<Y<5 LA,EZjIUDNOT Ignoring new targets: 78.00 m.BjU;Jj];zKuk3IKus9KqKuLKu 2}kWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 78.000000 m, nav range: 61.362453 m, bearing: 77.973450 deg, approach rate: -0.073325 m/s, LOS rate: 0.431748 deg/s, cmd heading: 100.239959 deg, new cmd heading: 100.810890 deg. 2j'<HeadingCmd: 1.759482 target range: 78.000000 and range: 78.00 m. j6?jjjihhhhfffrfbf@[?ɛނB@= !%1I! %0=ɚ!i!I%= 5$?I1IM6?iIiI)U6?)QEe<*FA 2FA :FA BFE 1JFA E Will construct direction to contact in vehicle frame from tetrahedron phase data.GiGABYOu?B6w, AJ{%@YJ=J!9J|>yJH\?@+̜`VM??`4ѿ;?M?@ӽ?ɨJ{%@J;JCy^B^I)` ```UMb@Mb@Mb@QQQ Q)QYUtV? ףp= ?S㥛?yU>UQ8=U/ G٣]QGy= >  Nusing accuracyPremultiplier from config 59 X?5Y  i g-+>:q=@  rE ; ; 5) -A1ZjY]DNOT Ignoring new targets: 78.00 m.JaJe@ABjm;Jjm;} ProNav: ac range: 78.000000 m, nav range: 61.286690 m, bearing: 78.187365 deg, approach rate: -0.158077 m/s, LOS rate: 0.446871 deg/s, cmd heading: 100.810887 deg, new cmd heading: 101.453397 deg. 2j}W<HeadingCmd: 1.770696 target range: 78.000000 and range: 78.00 m. j)?jjjihhhhBfffrfbf?ɛۂBO= I =ɚiIE =I)?ii))?)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IENJN<*F?2F:FBF4JFG G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.jHU <bHU 4=H] w>IY  I] II] ЁBI] =&IY .IY 6I] f<:I] FBI˩CJI˩CRI˓CZI =bI =jI:5?d6w,$d'AZ@YZ =Z%9ZL>yZH ? -T*@??ѿ ?Fm?`?ɨZ@ZS;ZCybʁBbIInIn2٢zt= z]=9~;Q >  G٣ yS= > %Nusing accuracyPremultiplier from config!-59%?55Y%E i%,1=M>E@%#rE%v;%Ӆ;%5UB U\AU)E-B*** querying acoustic contact ***j)j)ZjQ]DNOT Ignoring new targets: 78.00 m.Bj]c;Jjec;m ProNav: ac range: 78.000000 m, nav range: 61.227272 m, bearing: 78.342597 deg, approach rate: -0.148026 m/s, LOS rate: 0.387103 deg/s, cmd heading: 101.453396 deg, new cmd heading: 101.919535 deg. 2juՄ<}HeadingCmd: 1.778831 target range: 78.000000 and range: 78.00 m. j}?jyjyjyiyhhhhfffrfbfE@ɛقB= JI <=ɚiI =I?ii)?)JJJJJv:J9JJJU;aJV;a JaJaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) ]C I E= 7<zKwMiK9KKM|uAAE %6Y%|uAy-z/BKsh_O:,yy{F2*F ?2F :F BF Y5JF G G ?G >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492391GBO->ɹ6w,y6H?`x@@s?w?@Oѿ |?m-?8?ɨ6@6!;6 CyB́BBI]Mb@Mb@Mb@YYY Y)YY]e;O?A`"?S㥛?y]>]=Y]+A ]~@)]/ AI]AAYy]AIu IuV2٢< =9{;Q > G٣^QGyT= > Nusing accuracyPremultiplier from config59/(?5Yj i)>:>@'rEf;qe;5 IAZjDNOT Ignoring new targets: 78.00 m.Bj;Jj; ProNav: ac range: 78.000000 m, nav range: 61.110523 m, bearing: 78.548569 deg, approach rate: -0.241340 m/s, LOS rate: 0.426591 deg/s, cmd heading: 101.919536 deg, new cmd heading: 102.538605 deg. 2jb< HeadingCmd: 1.789636 target range: 78.000000 and range: 78.00 m. j ?j j j ihhhhȃBfffrfbf%@ɛ]ւB]w= aeIa e6=ɚaiaIm =Im?iqiq)u?)qEyEy*Ey"Ey $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747150*F2F:FBFA5JFG- 3G B OU >b6w,+cAF@YF@0=Fk!9Fal>yFH?nQ??!?3ѿ ~#??`?ɨF@FCh;F!Cy^ЁB^Iib!>IbC= ba=bp=Ij"Ijq3٢r< rE=9rtt vG٣tyz7= z> ~Nusing accuracyPremultiplier from config|59~X8?5Y~Ɣ i~'ՠ>@~*rE~:~Y;~5B 1A&EH5v>I1 I5II5BI1&I1.I16I52<:I5a FZjamDNOT Ignoring new targets: 78.00 m.BjmS;JjmS;} ProNav: ac range: 78.000000 m, nav range: 61.011635 m, bearing: 78.713465 deg, approach rate: -0.235892 m/s, LOS rate: 0.393988 deg/s, cmd heading: 102.538604 deg, new cmd heading: 103.034083 deg. 2j}1<HeadingCmd: 1.798284 target range: 78.000000 and range: 78.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:59:52.4291 TRx dataTimestamp_ set to:1736377193.601922checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001733 j+.?jjjihhhhfffrfbf^@ɛԂBN= I V=ɚiI6=I+.?ii)+.?)*Fe?2Fa:FaBFe_0JFiG-:*Ja="JJ%J%J!J!J%:J%9J!J!J%!;J%#;J%] ;J%] ;GABO>  I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251976zK OK K K NK ].pT8}vog_\YSOKFA>;9841.*(%$"" BK :K 郞6w,|Ay~ˁB~IMb@Mb@Mb@ )YX9v??{Gz?y>>ף<t'A @) AIAy AII3٢G <=9Q > G٣y > Nusing accuracyPremultiplier from config59I?5Y͒ i%  ? : ?> @-rE;:5 [AZjAEDNOT Ignoring new targets: 78.00 m.BjE;JjM;u ProNav: ac range: 78.000000 m, nav range: 60.897911 m, bearing: 78.891146 deg, approach rate: -0.264584 m/s, LOS rate: 0.414155 deg/s, cmd heading: 103.034080 deg, new cmd heading: 103.568102 deg. 2ju<HeadingCmd: 1.807604 target range: 78.000000 and range: 78.00 m. j_?jjjihhhhBfffQrfQbfU @ɛ҂B= 隥3I `=ɚiI=I_?ii)_?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 79.0 m (Round-trip 105.4 ms) speed -0.2 m/s ,DAT read: user:2988> -X#Rx 1: Read range message, but no direction.ةyحBةT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F%?2F!:F!BF%^0JF!Ge 3Gm qAGi G9 BI Oe >  $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Tx time:22:59:53.5196 e $Ping request sent.e VE9V ^>yVHȄ?@)ſޗ??@AY?=ѿ&(??`x?ɨV@V;VCyrȁBrII~I~[3٢  W=9 ƪ G٣yUH> ]> }Nusing accuracyPremultiplier from configy59}FY?5Y} i}`$.>@}1rE}z:}X:}_5 zA#E addTargetRange:: Added new target pos. range: 79.000000 m, deltaT: 3.544236 s, deltaX: 1.000000 m, approachRate: 0.282148 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 78.00 m.Bj;Jj%;U ProNav: ac range: 78.000000 m, nav range: 60.786625 m, bearing: 79.046561 deg, approach rate: -0.279637 m/s, LOS rate: 0.391236 deg/s, cmd heading: 103.568105 deg, new cmd heading: 104.035191 deg. 2jU@<]HeadingCmd: 1.815757 target range: 78.000000 and range: 79.00 m. j]j?jajajaiahahahihififfrfS@bf?ɛЂB{= I =ɚiI=Ij?ii )-j?))*F?2F:FBF_0JFZHRHAAHu>IC I IIBI =&I.I6I<:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251505G:G B O >6w,ANY@YN,K>N8Ǡ9N>yNH]?ȿ)?9?0?uѿ?@'??ɨNY@NA;NCyZBZI)\ \IfIf(٢r:" rO=9r$tt vG٣v_QGyz= z> Nusing accuracyPremultiplier from config -59 Fh?55Y  i "AM>U@ 4rE < 8 < 5q }A!EJJJJJ:J9JJJn;Jp;Jg; $?IhJh;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504837]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 78.00 m.zKmOKm9KiKmOKm    Bju;Jju; ProNav: ac range: 78.000000 m, nav range: 60.673546 m, bearing: 79.197041 deg, approach rate: -0.252411 m/s, LOS rate: 0.336523 deg/s, cmd heading: 104.035194 deg, new cmd heading: 104.487467 deg. 2jf<HeadingCmd: 1.823650 target range: 78.000000 and range: 79.00 m. j`m?jjjihhhhfffrfbf`?ɛ5΂B5= 9=I9 ==ɚ9i9I=L=IE`m?iAii)m`m?)i*F2F :F BF `0JF G!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756321G B O% >~6w,vA6;Y6eg>6}96 >y6H.?@c,̿@?ܬ??п_?,?|?ɨ6;6-;6 CyBBBIMb@Mb@Mb@ )Y+?zG?~jthyv> =D)A @) AIAy3AI5I5٢r ?=9;Q > G٣y= > Nusing accuracyPremultiplier from config59x?5YA i! ?:c>@7rE;;5B %AEZjDNOT Ignoring new targets: 78.00 m.Bj<Jj< ProNav: ac range: 78.000000 m, nav range: 60.548466 m, bearing: 79.364217 deg, approach rate: -0.349680 m/s, LOS rate: 0.468331 deg/s, cmd heading: 104.487469 deg, new cmd heading: 104.990020 deg. 2j<HeadingCmd: 1.832422 target range: 78.000000 and range: 79.00 m. jʌ?j!j!j!i!h!h)h)h5Bf1f1f9rf9bf=|?ɛêBe= am Ii mP=ɚiiiIm=Iuʌ?iqiy)}ʌ?)y*F 2F :F BF 1JF  I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007578GG?G(?GBO>*6w,WA6=Y64>6(YO96v>y6H`e? ͛ϿX?G4??ѿ?@v? w?ɨ6=6zX;4y^BbkIdfAAIjIjHrt>Ip IpIpIp&Ip.Ir=D6IrE<:Irm F٢   T=9 G٣y= > -Nusing accuracyPremultiplier from config!-59%?55Y% i%"!15>5@%:rE% ;%. ;%59 EAAZjamDNOT Ignoring new targets: 78.00 m.Bjm0;Jju0;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259662 ProNav: ac range: 78.000000 m, nav range: 60.431465 m, bearing: 79.512264 deg, approach rate: -0.303685 m/s, LOS rate: 0.385011 deg/s, cmd heading: 104.990021 deg, new cmd heading: 105.435011 deg. 2j<HeadingCmd: 1.840188 target range: 78.000000 and range: 79.00 m. jI?jjjihhhhfffrfbf^Q?ɛʂB= ?I =ɚiI=II?ii)I?)*F 2F:FBFP5JF*J4="JJK KKK"KJG5BJJJJJ9JJ IGB - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511826JJo;J;J;OM >zK nLK K K PK Ծ6w,4A6/=Y6>6c96dh>y6H۴?mqѿA?A?}?ѿr̀? ?}?ɨ6/=6ގ;6Cy^B^ZIib>Ib>Mb@Mb@Mb@ )YMbX9?x&?S㥛y?7=/ݼ(A ~@) AI\ Ay=AI0I(3٢t ==9/) G٣`QGyA= > Nusing accuracyPremultiplier from config 59? 5Y i9!?:>@>rE;;~5 MA%EZjAMDNOT Ignoring new targets: 78.00 m.BjM;JjM;] ProNav: ac range: 78.000000 m, nav range: 60.305077 m, bearing: 79.684817 deg, approach rate: -0.292354 m/s, LOS rate: 0.399974 deg/s, cmd heading: 105.435014 deg, new cmd heading: 105.953743 deg. 2j]? $?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015616ۺ6w,pA6=Y63>6Mj.96)>y6H8r?ҿb? 7?0:?ѿHe??@?ɨ6=6If;6 CyByBB@IIJIJm?3٢Rl Ra=9VyTX ZG٣XyZМ= Z> bNusing accuracyPremultiplier from config`f59b?j5Ybm ib\!hjM>j@bArEb1;b!;b5p rApZj  DNOT Ignoring new targets: 78.00 m.Bjv;Jjv;% ProNav: ac range: 78.000000 m, nav range: 60.195415 m, bearing: 79.827093 deg, approach rate: -0.301959 m/s, LOS rate: 0.392480 deg/s, cmd heading: 105.953740 deg, new cmd heading: 106.381338 deg. 2j%<-HeadingCmd: 1.856705 target range: 78.000000 and range: 79.00 m. j-?j)j)j)i)h)h1h1h1f1ffrfbf @ɛEǂBEe= IU&Iq u)=ɚqiqIu=I}?iyi)?)*F2F:FBFW0JFG GjH<bH<HI IIIBI =&I.I6Is<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267781G:GpAGG B O >6w,1AymB1II56I5m3٢E7q MA=9UQ ]>ii uG٣qy > Nusing accuracyPremultiplier from config59?5Yւ i!  @DrE<< 55B =cAEE $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522829B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.00 m.Bjk;Jjk;zK KK9KKQK  += ProNav: ac range: 78.000000 m, nav range: 60.063385 m, bearing: 79.999729 deg, approach rate: -0.270095 m/s, LOS rate: 0.353938 deg/s, cmd heading: 106.381337 deg, new cmd heading: 106.900369 deg. 2jEr6w,KABU>YB">B ;9B+>yBH?տ`??A?lп`yE? ?ɨBU>B=;BCyNRBRI)T TTT-Mb@Mb@Mb@))) )))Y-Zd;?Mbp?J +y->-;-H-(A -Z@)-3 AI-I A)y-AIEIE[3٢U ]I=9]aa eG٣eaQGye> e> uNusing accuracyPremultiplier from configi}59mƒ?}5YmӀ im"}?}:}*>}@mHrEm;m;m 5 7AZjquDNOT Ignoring new targets: 78.00 m.Bj};Jj}; ProNav: ac range: 78.000000 m, nav range: 59.957218 m, bearing: 80.156527 deg, approach rate: -0.290353 m/s, LOS rate: 0.429582 deg/s, cmd heading: 106.900370 deg, new cmd heading: 107.371585 deg. 2jh<HeadingCmd: 1.873988 target range: 78.000000 and range: 79.00 m. j?jjjihhhhBfffrfbf@i @ɛEĂBEDF= Eb6w,eA6j/.>Y6>6*<96V>y6H`? d:׿f?_?p?QTп`S`N? ?ɨ6j/.>6Y܍;4HFu>ID IFIIFՁBIF =&ID.ID6IF;<:IFg FBIMCJIMCRIIZIM =bIM =jIM<5yV@BVII^;I^&3٢fF fS=9j-hl nG٣lyn= r> zNusing accuracyPremultiplier from configtz59vՒ?z5Yv~ iv$!>@vKrEv.;v>/;ve 5 B A EZj1=DNOT Ignoring new targets: 78.00 m.Bj=;Jj=;M ProNav: ac range: 78.000000 m, nav range: 59.848862 m, bearing: 80.309164 deg, approach rate: -0.298356 m/s, LOS rate: 0.421040 deg/s, cmd heading: 107.371585 deg, new cmd heading: 107.830313 deg. 2jMzG5> $?Ic~GvA Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:59:56.0300 LVL= 10512, 16369, 17810, 26051, AGC= 57, IDX= 429, 0.32,-2.973, 2.485, 1.061, 2.124, PHS= 1.274, 0.408,-1.066, RAW= 51.5, -6.1, CAL= 56.1, -11.4, ROT= 93.9, 11.4 } Ygot valid direction response: 22:59:56.0300 LVL= 10512, 16369, 17810, 26051, AGC= 57, IDX= 429, 0.32,-2.973, 2.485, 1.061, 2.124, PHS= 1.274, 0.408,-1.066, RAW= 51.5, -6.1, CAL= 56.1, -11.4, ROT= 93.9, 11.4  PDAT read: Bearing 93.9, 11.4 (Local) G B ~Local bearing/azimuth received: Bearing 93.9, 11.4 (Local) Ga Bq zKU qALKU 59KQ KU RKU Qi Z;' O > = 5Y= vAy= .BM DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.0 m/s U ,DAT read: user:2989>  BDAT read: Tx time:22:59:57.1196  $Ping request sent. % r% f?% ^ ڽ % >z?)% %KI% M?i% %K>! ! % rJ?FݪZ=)% I% =i% ?% cQ! !  :publishing transmit ping timeؙ  Fpublishing direction and range info! 9% |Aa˹?8~?Bfb?y! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! !6w,uAUrJ?FݪZ=)QIQiQQQQyu-BuI-only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V  @ @ @  @ BAI.I3٢5 5=95Q 5>99 =G٣9yE E>mWill construct direction to contact in vehicle frame from tetrahedron phase data. }bBottom track data is 0.5 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq}59uw钜?5Yu{ iu%+::@uOrEuQ;u?u<5 eAkU~y)?kUF` kQ kUxA:kUfBBkUTBZkU?"UYi @Į:J@. \VM@U|Aa˹?8~?Bfb?JkU?RkUcQ*UUh ߫D5B@6;SQ@Ub1|}s<?Q w?"kUB*kUEkUr&?kUu- 2kU|CkQkQkQkUnBkU߳? addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.781979 s, deltaX: 0.699997 m, approachRate: 0.185087 m/s, rangeRepo size: 4  Added new target pos. range: 79.699997 m, bearing: 98.452367 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 7.326215 s, deltaX: 1.699997 m, approachRate: 0.232043 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 79.70 m.BjJj ProNav: ac range: 79.699997 m, nav range: 59.704288 m, bearing: 80.514623 deg, approach rate: 0.000000 m/s, LOS rate: 0.421040 deg/s, cmd heading: 107.830314 deg, new cmd heading: 108.521899 deg. 2jHeadingCmd: 1.894064 target range: 79.699997 and range: 79.70 m. jp?jj9j9i9h9hAhAhAfAfIfIrfMS@bfMJ?ɛB\= 隽II {=ɚiIyj6w,AFb>YFF>Fn<9F >yFH?7ٿF?_^?@?৔Ͽ Փ?a?ɨFb>Fɍ;F CybBbIif=If=I~"I~q3٢ >ɽ  r=95B E? ubBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configI59M ?5YMy iM& ::c>@MQrEMIa IelIIeBIe =&Ia.Ia6Ie?<:IaeWill construct direction to contact in vehicle frame from tetrahedron phase data.EON<*F2F:FBFJFG : m $?Iq 5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>6w,AzKBWMKB9K@KBSKB dnDEy]B]I        Mb@Mb@Mb@ )YS㥛?S㥻Dly>/ݽOG%A $@) AIAy AII(1٢-lԼ -=9-Q 5>11 5G٣9y= => ENusing accuracyPremultiplier from configAM59EV ?M5YENx iEb*UT:U>U:U~>U@EUrEE?;E;E{5a e*AiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.70 m.Bj&;Jj&; ProNav: ac range: 79.699997 m, nav range: 59.508038 m, bearing: 80.852071 deg, approach rate: -0.187080 m/s, LOS rate: 0.407673 deg/s, cmd heading: 108.910242 deg, new cmd heading: 109.535868 deg. 2j<HeadingCmd: 1.911762 target range: 79.699997 and range: 79.70 m. j?jjjih hhh{Bfff!rf!bf%@:?ɛMBMD= QUTIQ Ue=ɚQiQIU# Yf?fU<9f]>yfH [?@(P޿Vn??e?`͛ͿJ.?`ҵ?ɨf">fQd;fCyvBvII~I~(*٢ Kb  4=9 Jm G٣cQGy7> > %Nusing accuracyPremultiplier from config!559%?55Y%v i%|-9=>=@%YrE%#=;%=;%u5EB EAEEZjimDNOT Ignoring new targets: 79.70 m.Bju;Jju; ProNav: ac range: 79.699997 m, nav range: 59.410992 m, bearing: 81.025902 deg, approach rate: -0.218230 m/s, LOS rate: 0.391538 deg/s, cmd heading: 109.535867 deg, new cmd heading: 110.058198 deg. 2jZ<HeadingCmd: 1.920878 target range: 79.699997 and range: 79.70 m. jT?jjjihhhhfffrfbfE?ɛMBUY-= QUbZIQ U&=ɚYiYI]I I.IIkBI&I.I6IX<:I| FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684988*F?2F:FBF_0JFG G B O- >]6w,%A z$?I|&9>Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.940139Y ?xC<9ý>yHQ? @߿ ղ?@ ?BW?&Ϳ`?@?ɨ&9>R;騽 CyeBeI)i iMb@Mb@Mb@ )Y"~?V-Zd;y>y&A @)Iy( AI6Im3٢}\ =9;Q > G٣zKMK59KKTK "N  M  t y>= > Nusing accuracyPremultiplier from config59V+? 5Yt i0 V> : #> @\rE;-;5 AZj9EDNOT Ignoring new targets: 79.70 m.BjE;JjM;U ProNav: ac range: 79.699997 m, nav range: 59.309223 m, bearing: 81.215742 deg, approach rate: -0.194164 m/s, LOS rate: 0.362816 deg/s, cmd heading: 110.058199 deg, new cmd heading: 110.628676 deg. 2j]x<]HeadingCmd: 1.930835 target range: 79.699997 and range: 79.70 m. j]%?jajajaiahahahihmpBfififqrfqbfu @ɛB;= %:[I! %Q=ɚ!i!I%U7w,A65߲>Y6?6<96Ғ>y6H`?,V?B?b?ʂ̿7p`?`?ɨ65߲>6;6Cy>B>IIF<IF3٢Rf< R=9VE@^^rE^a;^B;^ 5]B eAe EZjDNOT Ignoring new targets: 79.70 m.BjW;JjW; ProNav: ac range: 79.699997 m, nav range: 59.249516 m, bearing: 81.321989 deg, approach rate: -0.186847 m/s, LOS rate: 0.332820 deg/s, cmd heading: 110.628676 deg, new cmd heading: 110.947734 deg. 2jid<HeadingCmd: 1.936403 target range: 79.699997 and range: 79.70 m. j?jjjihhhhff frfbf p@ɛMBM= IMYIQ :.=ɚiIjHA bHE <HM w>IM C IM IIM BBIM =&II .II 6IM p<:IM F 7w,)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693042 >Y  ? ;=9 >y H?e?`??@J˿F`'.? 5?ɨ >  ; "CyEBEIIU,IU3٢ż ;=9;Q > G٣dQGy]= > Nusing accuracyPremultiplier from config59C?5Yq i5>@arEL::5 AZj!-DNOT Ignoring new targets: 79.70 m.BjU:;JjU:;e ProNav: ac range: 79.699997 m, nav range: 59.157166 m, bearing: 81.478309 deg, approach rate: -0.217857 m/s, LOS rate: 0.369340 deg/s, cmd heading: 110.947735 deg, new cmd heading: 111.417417 deg. 2jmy}<HeadingCmd: 1.944601 target range: 79.699997 and range: 79.70 m. j?jjjihhhhfffrfbf@ɛB%o"= !ZI =ɚiIW7w,CA2G>Y2?2s=92>y2H@7?s? ?`20? k˿a>?R?ɨ2G>2;2Cy>B>IiB%>IB<Mb@Mb@Mb@ )Y&1?S㥛:vy>$TG%A @)E AI`Ay AI9I3٢= J=9a;Q > G٣yk= > Nusing accuracyPremultiplier from config59QQ?5YCp iu8>:L>@drE3\;Z;5 `A EB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 79.70 m.Bj5;Jj5;E ProNav: ac range: 79.699997 m, nav range: 59.076115 m, bearing: 81.622903 deg, approach rate: -0.202290 m/s, LOS rate: 0.361379 deg/s, cmd heading: 111.417420 deg, new cmd heading: 111.851790 deg. 2jEx% Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:59:59.6306 LVL= 16880, 27745, 21810, 28915, AGC= 58, IDX= 449, 0.25,-0.612,-1.472,-2.680,-1.796, PHS= 1.272, 0.371,-0.887, RAW= 54.5, -8.1, CAL= 61.4, -14.5, ROT= 88.6, 14.5  Ygot valid direction response: 22:59:59.6306 LVL= 16880, 27745, 21810, 28915, AGC= 58, IDX= 449, 0.25,-0.612,-1.472,-2.680,-1.796, PHS= 1.272, 0.371,-0.887, RAW= 54.5, -8.1, CAL= 61.4, -14.5, ROT= 88.6, 14.5  PDAT read: Bearing 88.6, 14.5 (Local)  ~Local bearing/azimuth received: Bearing 88.6, 14.5 (Local)  DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.0 m/s  ,DAT read: user:2990>  BDAT read: Tx time:23:00:00.7197  $Ping request sent. ?j-ȃk?y]3BY]A]al ]2U)]pI]:i]Т?]>]oc]"s?] ]>+?)]I].?i]>YY]^R?HOuQ`¿)]d9I]>i]6?]>^YY::publishing transmit ping timeQ:Fpublishing direction and range infoY9]i?h>?j-ȃk?yYYYYyr"BvI Y)YIYiYYYYY Y)YIYiYYY]^R?HOuQ`¿)YIYiYYYYIm$Im<3٢ղ= I=9Q > G٣y= => MNusing accuracyPremultiplier from configAU59E&_?]5YEn iE$;YY]@EgrEE?j-ȃk?Jk]6?Rk]>^*]9*Q=Lt@@ԗ)R@]vXK6CK?_?"k]B*k]ak] ?k]  2k]7 CkYkYkYk]kBk]D? addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.534725 s, deltaX: 0.400002 m, approachRate: 0.113163 m/s, rangeRepo size: 4  Added new target pos. range: 80.099998 m, bearing: 102.703088 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 3.534725 s, deltaX: 0.400002 m, approachRate: 0.113163 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 58.993088 m, bearing: 81.772144 deg, approach rate: 0.000000 m/s, LOS rate: 0.361379 deg/s, cmd heading: 111.851793 deg, new cmd heading: 112.339830 deg. 2jHeadingCmd: 1.960700 target range: 80.099998 and range: 80.10 m. j7?jjjih!h!hAhafififirfm`fT@bfu`0?ɛBE8= 隝HI =ɚiI$"D6Id<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:00:00.7189 *F?2F:FBF4JFG GrAG G B O >O17w,uUwAJ~J}JJJ{m:JS9JJJ<;a&J=;a&J:a&J:a& .$?I0Y>YT*?8=9>yH(? j?$?Y?hɿ!桿 ;??Will construct direction to contact in vehicle frame from tetrahedron phase data.ɨY>~;騉yM%BMIzKOK59KKVK' > Mb@Mb@Mb@    ) Y 㥛 ?I +:vy > 9 Լ &A @)  AI A y ( AI}I}٢e(< =9Z;Q > G٣eQGy= > Nusing accuracyPremultiplier from config59o? 5Yk iL= > : >@jrE;Ǵ;5 AZjYeDNOT Ignoring new targets: 80.10 m.Bje;Jjm; ProNav: ac range: 80.099998 m, nav range: 58.863884 m, bearing: 81.946744 deg, approach rate: -0.260525 m/s, LOS rate: 0.352832 deg/s, cmd heading: 112.339830 deg, new cmd heading: 112.864763 deg. 2j%r<HeadingCmd: 1.969862 target range: 80.099998 and range: 80.10 m. jn$?jjjihhh h Bf)f)f1rf1bf5`?ɛB?>= 隥\FI  @=ɚ iI Mc=9UQ U>QQ ]G٣Yy] ]> mNusing accuracyPremultiplier from configam59ez?u5Ye(j ie>qqu@elrEe:e*:ef!5}B }AEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjamDNOT Ignoring new targets: 80.10 m.Bjmö;Jjmö; ProNav: ac range: 80.099998 m, nav range: 58.776848 m, bearing: 82.065217 deg, approach rate: -0.234425 m/s, LOS rate: 0.319569 deg/s, cmd heading: 112.864764 deg, new cmd heading: 113.220704 deg. 2jQ[<HeadingCmd: 1.976074 target range: 80.099998 and range: 80.10 m. j?jjjihhhhfffrfbf ?ɛMBM'= IM8II U0=ɚQiQIUI III3BI&I.I=D6I<:IM FBIǩCJIRIZIbI =jI5G5 : Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >+7w,B!A6>Y6]I8?6 =96H>y6H ?@|? ?>c?ƿւ??ɨ6>6";6 CyRTBRIIZIZ٢b= bU=9fYQ f>dd jG٣hyj\> j> rNusing accuracyPremultiplier from configpv59r?v5Yrg irL@tv?z@rorErv:r@:r#5| ~CA|Zj)-DNOT Ignoring new targets: 80.10 m.Bj5;Jj5;E ProNav: ac range: 80.099998 m, nav range: 58.675793 m, bearing: 82.189230 deg, approach rate: -0.279744 m/s, LOS rate: 0.343888 deg/s, cmd heading: 113.220706 deg, new cmd heading: 113.593380 deg. 2jElG]>JJJJJs:J9JJJ;J;Jg;Jh; u6YtAy.BWill construct direction to contact in vehicle frame from tetrahedron phase data.zK57MK59K1K5WK5i'`;! GEBGM?GM?GBO5>y27w,+A6Will construct direction to contact in vehicle frame from tetrahedron phase data.Z|l?YZ??ZȽ=9Z >yZH`[h??r?? Kƿ`֡7? ?ɨZ|l?ZZ;XyEeBE'IMb@Mb@Mb@ )YʡE?QMbP?y>:b&A @) AIAy AII2٢%= %6=9%B:Q %>)) -G٣-fQGy5= 5> =Nusing accuracyPremultiplier from config9E59=R?E5Y=d i=@E:>M:M.?M@=rrE= ;=:= %5Y ]A]E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 80.10 m.Bj-;Jj5;= ProNav: ac range: 80.099998 m, nav range: 58.534073 m, bearing: 82.319160 deg, approach rate: -0.315595 m/s, LOS rate: 0.290041 deg/s, cmd heading: 113.593382 deg, new cmd heading: 113.984109 deg. 2jE G{87w,A6?Y6 G?6ua=96 x>y6H@~?1ex? q?)?ԝſ`/KS??ɨ6?6;6Cy>}B>EIiB;>IB> F=F=IJ9IJ3٢RP> Rf=9V#;Q V>TT VG٣XyZ= Z> bNusing accuracyPremultiplier from config\f59^(?f5Y^b i^rAhj5?j@^urE^s6;^6;^&5l rApZj DNOT Ignoring new targets: 80.10 m.Bj 2;Jj 2;% ProNav: ac range: 80.099998 m, nav range: 58.419018 m, bearing: 82.419456 deg, approach rate: -0.324702 m/s, LOS rate: 0.283606 deg/s, cmd heading: 113.984109 deg, new cmd heading: 114.285586 deg. 2j%B<=HeadingCmd: 1.994660 target range: 80.099998 and range: 80.10 m. jEQ?jAjIjIiQHt>IC IIILBI =&I.I6I<<:Ih Fhhhhfffrfbf&@ɛeBm=I= imI =ɚiImՅ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239029*Fu?2Fq:FqBFu0JFqG)G B 1 I1 O= >*J C="J %=J ~J ~J J J {m:J f9J J J <;J =;J :J :- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490001>7w,A6?Y6WN?66q=96#>y6H`>$?@"5??`?@pĿ!m`h??ɨ6?6=;6 CyzB~WIzKmMKm}9KiKmXKmBKy:KyMb@Mb@Mb@ )YS?S㥛? rh?y>/<C<&A -@)AIyG AII2٢˂= 7=9:Q > G٣y-= > Nusing accuracyPremultiplier from config59? 5Y] i@A >:Z?@xrEx1;0;(5 AZjAMDNOT Ignoring new targets: 80.10 m.BjU^;JjU^;e ProNav: ac range: 80.099998 m, nav range: 58.245174 m, bearing: 82.533248 deg, approach rate: -0.389830 m/s, LOS rate: 0.255931 deg/s, cmd heading: 114.285587 deg, new cmd heading: 114.627978 deg. 2je/  $?I ZE7w,A6?Y6U?6=96ۍ>y6H?`?෦??&CĿ ~?c?ɨ6?6A;6Cy^BbwIIj&Ij3٢r> r]=9v=K:Q v>tx zG٣zgQGyzI= M> ]Nusing accuracyPremultiplier from configQe59U_?e5YUWZ iUAae`?e@U{rEU:U:U5*5i uAEZjDNOT Ignoring new targets: 80.10 m.Bj;Jj; ProNav: ac range: 80.099998 m, nav range: 58.094109 m, bearing: 82.627215 deg, approach rate: -0.392566 m/s, LOS rate: 0.244824 deg/s, cmd heading: 114.627978 deg, new cmd heading: 114.910612 deg. 2j(<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:00:03.2298 TRx dataTimestamp_ set to:1736377204.444736checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992450HeadingCmd: 2.005569 target range: 80.099998 and range: 80.10 m. j<[@jjjihhhhfffrfbf`a:@ɛ5B5f= 15WI9 =b=ɚ9i9I=A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243372L7w,m2Ab])?Yb`Yb?bM}=9b2ʏ>ybHE?9??@w?ÿN??ɨb])?bK;bCyvBzI)| |AI%0I%(3٢=W= EE=9EQ E>II MG٣IyM= M> ]Nusing accuracyPremultiplier from configYe59]结?e5Y]YV i]@aem?e@]~rE];];]+5y }XAyZj!%DNOT Ignoring new targets: 80.10 m.Bj-{;Jj-{;] ProNav: ac range: 80.099998 m, nav range: 57.929375 m, bearing: 82.718944 deg, approach rate: -0.394288 m/s, LOS rate: 0.220176 deg/s, cmd heading: 114.910611 deg, new cmd heading: 115.186577 deg. 2je eBDAT read: Tx time:23:00:04.3197 e$Ping request sent.eC0?|pP翓ip )&SIN>iK?w•:publishing transmit ping timeaFpublishing direction and range info96Qݻ?%W m?ӊ˚v?y *F?2F:FBF0JF)Ii )IiC0?|pP翓ip )Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:00:04.3189 G G B O >S7w,6OAN0?YN(i?N=9N>yNH?@vQ?}C??L¿``_? ۺ?ɨN0?N6;Ly B IMb@Mb@Mb@ )Y r?/$?L7A`?y?=+=(A $@)AI`Ayp AIe)IeW3٢}w= &=9awQ > G٣yJ\= > Nusing accuracyPremultiplier from config59Ɠ?5YyP i??:@9k$LR@6Qݻ?%W m?ӊ˚v?JkK?Rkw•*pQiu)@N S@`h6nn.h~?%?"kKA*kkCS?kMb! 2kVCkCS?ku- k|Ck Bk,? addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.529744 s, deltaX: -0.599998 m, approachRate: -0.169984 m/s, rangeRepo size: 4  Added new target pos. range: 79.500000 m, bearing: 96.156384 deg, lat: 36.904969 deg, lon: -122.119715 deg, deltaT: 3.529744 s, deltaX: -0.599998 m, approachRate: -0.169984 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 79.50 m.BjJj ProNav: ac range: 79.500000 m, nav range: 34.395901 m, bearing: 92.287533 deg, approach rate: 0.000000 m/s, LOS rate: 0.220176 deg/s, cmd heading: 115.186578 deg, new cmd heading: 115.513750 deg. 2j%HeadingCmd: 2.016095 target range: 79.500000 and range: 79.50 m. j%@j!j!j!i!h!h)h)h-UBf)f1f1 YIYrfeS@bfe?ɛB q= 隵I ڜ=ɚiI4H) I)  I- II- BI) &I) .I) 6I- <:I- FqY7w,hAJ28?YJp?J =9J)>yJH??? [Y?@+z\!?`W?ɨJ28?J?;J CyZ؁BZIIj%Ij)3٢vw> zi=9z}Q ?    G٣ hQGy;= > -Nusing accuracyPremultiplier from config!559%͓?55Y%=L i%>9=?E@%rE%{;%;%/5MB M!AMEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ZjYeDNOT Ignoring new targets: 79.50 m.Bjm1;Jjm1; ProNav: ac range: 79.500000 m, nav range: 34.238930 m, bearing: 92.442697 deg, approach rate: -0.431739 m/s, LOS rate: 0.428725 deg/s, cmd heading: 115.513744 deg, new cmd heading: 115.981358 deg. 2j<HeadingCmd: 2.024256 target range: 79.500000 and range: 79.50 m. jk@jjjihhhhf f f rf)bf5^?ɛ}B}DX}= 隅ɾI =ɚiIIo`7w,ʂAzK,K.59K,K.ZK.    0Mgrvvskifb^YRNy݁BIi%C=I%Y> -=-a=Mb@Mb@Mb@ )YV-?K7A?X9v?y ? ><t'A ;@)rAIvAyII(*٢< ==9Q > G٣y > Nusing accuracyPremultiplier from config59֓?5YlF i=x?:?@rE;;15B AEZj!-DNOT Ignoring new targets: 79.50 m.Bj-<Jj-J% J% J! J! J% }:J% y9J! J! a- @a- @a- @a- @f7w,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.402063JE?YJX~?J=9Jč>yJHUt?}%r?@-??t`0`|?`?ɨJE?J;J$CyV߁BZIIbIbԲ٢jR; j\=9jɻQ j>ll rG٣pyr> r> vNusing accuracyPremultiplier from configtz59vݓ?z5YvAA iv{<| ?@vrEvN3;v_3;v)35  A Zj9EDNOT Ignoring new targets: 79.50 m.BjE;JjE; ProNav: ac range: 79.500000 m, nav range: 33.830456 m, bearing: 92.774715 deg, approach rate: -0.513488 m/s, LOS rate: 0.391848 deg/s, cmd heading: 116.543190 deg, new cmd heading: 116.983409 deg. 2jv<HeadingCmd: 2.041746 target range: 79.500000 and range: 79.50 m. j@jjjihhhhfffrfbf` ?ɛ=BE'<= AEIA Eո=ɚAiAIMII IIIځBI =&I.I6I<:I FG 3=Will construct direction to contact in vehicle frame from tetrahedron phase data.E>E?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.656123GBO >l7w,'A2?L?Y2"?2Oi=92mP>y2H`?d?0D?_U? m`n??ɨ2?L?2?;2CyBBBIIJ)IJW3٢R= RM=9R:Q V>TT VG٣TyZZ= Z> bNusing accuracyPremultiplier from config\b59^㓜?f5Y^; i^L;df?f@^rE^:^7:^45h nAl I ZjDNOT Ignoring new targets: 79.50 m.Bj%;Jj%;5 ProNav: ac range: 79.500000 m, nav range: 33.622501 m, bearing: 92.923047 deg, approach rate: -0.520736 m/s, LOS rate: 0.373733 deg/s, cmd heading: 116.983409 deg, new cmd heading: 117.431148 deg. 2j5><=HeadingCmd: 2.049560 target range: 79.500000 and range: 79.50 m. j=+@j9j9jAiAhAhAhAhIfIfIfIrfIbfU?ɛ}B}= 隍>I sK=ɚiI = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158051*s7w,bAJlS?YJ/?J˯=9J,>yJH?O?e?D8?@ݻ@;>j? k?ɨJlS?J;J CyVBVI\^A}Mb@Mb@Mb@yyy y)yY}gfffff?(\??y}3?}z>}<}x'A }C@)}vAI}zAyyyIIT3٢ ;=9K!9Q > G٣iQGy= > Nusing accuracyPremultiplier from config59铜?5Y(5 i :?:"?@rE;M;65 AZjDNOT Ignoring new targets: 79.50 m.Bj q;Jj q; ProNav: ac range: 79.500000 m, nav range: 33.379711 m, bearing: 93.073976 deg, approach rate: -0.559726 m/s, LOS rate: 0.350481 deg/s, cmd heading: 117.431142 deg, new cmd heading: 117.887212 deg. 2jp<%HeadingCmd: 2.057520 target range: 79.500000 and range: 79.50 m. j%h@j!j!j!i!h)h)h)h5Bf1f1f1rf1bf= @ɛeBm⦇= imIi u=ɚqiqIuz7w,?AN~m[?YN?N[=9NB>yNH@"F? @j?@,?H?@$ৼ??ɨN~m[?Nߊ;NCyZBZIH^u>I\ I^II^BI^ =&I\.I\6I^_<:I^ FBIͽCJIɽRIɽZIͽ =bIɽjIͽ74IM&IM3٢]< ]O=9eG:Q e>aa mG٣iym= m> Nusing accuracyPremultiplier from config59?5Y'/ i8?@rE::85 fAEB*** querying acoustic contact ***Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.662198jjZjDNOT Ignoring new targets: 79.50 m.Bj%;Jj%;U ProNav: ac range: 79.500000 m, nav range: 33.155491 m, bearing: 93.202742 deg, approach rate: -0.550347 m/s, LOS rate: 0.318194 deg/s, cmd heading: 117.887207 deg, new cmd heading: 118.276113 deg. 2jU_Z<]HeadingCmd: 2.064308 target range: 79.500000 and range: 79.50 m. j]@jYjYjYiahahahahififfrfbf`X@ɛB?= %I c=ɚiID 7w,kAzK[MK9KK\KyBIMb@Mb@Mb@ )Y ףp= ?HzG?~jt?yQ?= >D<K%A ) AIAy AI6Im3٢. B=9Q > G٣y > Nusing accuracyPremultiplier from config59? 5Y( i8 8? : ? @rE ;{;_:5 AEZjAEDNOT Ignoring new targets: 79.50 m.BjM;JjM;] ProNav: ac range: 79.500000 m, nav range: 32.916264 m, bearing: 93.350022 deg, approach rate: -0.585903 m/s, LOS rate: 0.363330 deg/s, cmd heading: 118.276118 deg, new cmd heading: 118.721158 deg. 2j]YyJ J J 1J J p:J 9J 3J 217w,*A*Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.420733mFGj?Yma?mĢ=9mU>ymH?n??p?/@`?`?ɨmFGj?m^;m CyޅBޅII:I3٢E; ==9'Q > G٣jQGy > > Nusing accuracyPremultiplier from config59?5Y! iM7?@rE;<;C<5 AZj  DNOT Ignoring new targets: 79.50 m.BjuȬ;JjuȬ; ProNav: ac range: 79.500000 m, nav range: 32.663139 m, bearing: 93.479951 deg, approach rate: -0.584055 m/s, LOS rate: 0.302119 deg/s, cmd heading: 118.721160 deg, new cmd heading: 119.113961 deg. 2jWO<HeadingCmd: 2.078931 target range: 79.500000 and range: 79.50 m. j4 @jjjihhhhfffrfbf`& @ɛMBU:= QU IQ UK=ɚQiYI]7 mBDAT read: Tx time:23:00:07.9197 $Ping request sent.L7w,7A 4I4>q?Y>A?>[=9>>y>HTA?#? b? ? -`??ɨ>q?>b;R@Tؤ]S@EASRmJחKw?7e3͓?JkEk$@RkE;<*E v@$@%R*nz|)S@EF4`?:p4{ſ??"kEHV*kE%AkEg?kE`} 2kE CkAkE  kE7 CkEAkEj? addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 3.781146 s, deltaX: -1.000000 m, approachRate: -0.264470 m/s, rangeRepo size: 4 =PExceeded connect timeout, disconnecting.E Added new target pos. range: 78.500000 m, bearing: 307.754898 deg, lat: 36.904969 deg, lon: -122.119744 deg, deltaT: 3.781146 s, deltaX: -1.000000 m, approachRate: -0.264470 m/s, posRepo size: 4 ZjAEDNOT Ignoring new targets: 78.50 m.BjMJjI} ProNav: ac range: 78.500000 m, nav range: 29.859207 m, bearing: 93.886211 deg, approach rate: 0.000000 m/s, LOS rate: 0.302119 deg/s, cmd heading: 119.113964 deg, new cmd heading: 119.445769 deg. 2jyHeadingCmd: 2.084722 target range: 78.500000 and range: 78.50 m. jl@jjjihhhhfffrfS@bfoD?ɛB@8=  I  -Y=ɚ1i1I5Ɓ% Will construct direction to contact in vehicle frame from tetrahedron phase data.57w,QAjy?Yj)?jt2=9j̅>yjHa??^??@݆??ɨjy?jH;jCyvׁBvIMb@Mb@Mb@ )Y9v?rh|?Mb`?y?=;t'A @)AIvA YIYy AI(I̍3٢@9 #=9=Q > G٣y= >  Nusing accuracyPremultiplier from config 59 ?5Y  i '6H?:̲?@ rE /; 8; ?5! %1AaZjDNOT Ignoring new targets: 78.50 m.Bj;Jj;JJJ0JJy:J9Jـ3J ProNav: ac range: 78.500000 m, nav range: 29.569410 m, bearing: 94.024709 deg, approach rate: -0.588944 m/s, LOS rate: 0.284223 deg/s, cmd heading: 119.445774 deg, new cmd heading: 119.865333 deg. 2jC<HeadingCmd: 2.092045 target range: 78.500000 and range: 78.50 m. j@jjjih}Will construct direction to contact in vehicle frame from tetrahedron phase data.hhhWBfffrfbf [?ɛ B Ľ= nI 4=ɚiIO8S7w,4oAJ?YJǜ?J=9J>yJH?~@ S?@?r?`"f??ɨJ?J[;J CyrʁBvI)x xI~I~(٢   Y=9n:Q > G٣kQGy@= > -Nusing accuracyPremultiplier from config!-59%?-5Y% i%515g?5@%rE%n:%n:%A59 =AEEmB*** querying acoustic contact ***jijiZjquDNOT Ignoring new targets: 78.50 m.Bj};Jj}; ProNav: ac range: 78.500000 m, nav range: 29.353481 m, bearing: 94.117216 deg, approach rate: -0.598400 m/s, LOS rate: 0.258248 deg/s, cmd heading: 119.865339 deg, new cmd heading: 120.144898 deg. 2j;1<HeadingCmd: 2.096924 target range: 78.500000 and range: 78.50 m. j4@jjjihhhhfffrfbf ?ɛae{b= ae;Ia m=ɚiiiIm`zK BIK 9K K ^K  $389820+-(%%"   /7w,+A2;d?Y2y2H?@Bn?@g?P? `r@:?`?ɨ2;d?2k;0y>B>IMb@Mb@Mb@ )YQ?MbX?y&1|y\?=` $@) AI`Ay AIIF٢=9 =:=9=Q E>AA EG٣AyM4= M> UNusing accuracyPremultiplier from configQ]59U?]5YU iU5e?e:e?e@UrEU;U;UC5i mAiZjDNOT Ignoring new targets: 78.50 m.Bj;Jj; ProNav: ac range: 78.500000 m, nav range: 29.109360 m, bearing: 94.222518 deg, approach rate: -0.557476 m/s, LOS rate: 0.242485 deg/s, cmd heading: 120.144899 deg, new cmd heading: 120.463452 deg. 2jj&<HeadingCmd: 2.102484 target range: 78.500000 and range: 78.50 m. j@jjjih h h Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493002h EBf1f1f1rf1bf=C?ɛBeu= 隅1׾I ?=ɚiIZ7w,W A6?Y6X?6P=96+<>y6H?` 9?@Z?k?A ??@A?ɨ6?61;4ybBbIIj4IjV3٢r  rc=9v:;Q v>tx zG٣xyzĤ= z> Nusing accuracyPremultiplier from config|59~ ? 5Y~# i~5  Y? @~rE~7:~z:~E5 AZjAMDNOT Ignoring new targets: 78.50 m.BjMr;JjUr;e ProNav: ac range: 78.500000 m, nav range: 28.907797 m, bearing: 94.298796 deg, approach rate: -0.557296 m/s, LOS rate: 0.212369 deg/s, cmd heading: 120.463445 deg, new cmd heading: 120.693873 deg. 2je Q IQ 7w,GA>?Y>:?> =9>>y>H s:?-? ?,? [p@f;??ɨ>?>K;>CyJBJIiNa>IN=IV7IV3٢ZI ^M=9^u:Q ^>`` bG٣blQGyf= f> jNusing accuracyPremultiplier from confighn59j< ?n5Yj1 ij5pr8?r@jrEj4;j;jF5t vgAtZjDNOT Ignoring new targets: 78.50 m.Bj%KP;Jj%KP;5 ProNav: ac range: 78.500000 m, nav range: 28.684324 m, bearing: 94.370717 deg, approach rate: -0.561455 m/s, LOS rate: 0.182105 deg/s, cmd heading: 120.693869 deg, new cmd heading: 120.911314 deg. 2j5;=HeadingCmd: 2.110301 target range: 78.500000 and range: 78.50 m. j=*@jAjAjAiAhAhAhIhIfIfIfIrfQbfU@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249683ɛ 8b= 隕I T=ɚiIO- Will construct direction to contact in vehicle frame from tetrahedron phase data.- >- <= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501846n7w,mA6?Y6ث?6=96->y6H?k?8'??鄟Ѡ`g??ɨ6?6h;6 Cy^BbqI tItMb@Mb@Mb@ )YZd;O?Mb?{Gzy~ ?=#K%A C@)vAIAy AIBI3٢ ;=9:Q > G٣yb= > Nusing accuracyPremultiplier from config59g ?5Y i5 ?:?@rEI;U9;H5 AZj!-DNOT Ignoring new targets: 78.50 m.Bj5);Jj5);E ProNav: ac range: 78.500000 m, nav range: 28.446495 m, bearing: 94.435327 deg, approach rate: -0.541795 m/s, LOS rate: 0.148417 deg/s, cmd heading: 120.911314 deg, new cmd heading: 121.106763 deg. 2jE;MHeadingCmd: 2.113712 target range: 78.500000 and range: 78.50 m. jMG@jIjIjIiIhQhQhQhUBfYfYfYrfYbf]8@ɛB^= 隕I 1 =ɚiI%=H% t>I!  I% II% ՁBI% =&I! .I! 6I% `<:I% F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:23:00:10.4272 E TRx dataTimestamp_ set to:1736377211.756597E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0059017w,ܞA6"?Y6`?6=96*>y6H?`R ?7W?Ƭ?`R? ?ɨ6"?6ʐ;6CyBBBbIIJGIJ3٢Re R^=9V{Q:Q V>TX ZG٣XyZE= Z> MNusing accuracyPremultiplier from configAM59E ?U5YEK iE5QU0?U@ErEE|;E;EjJ5a eBAaB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.50 m.Bj>;Jj>; ProNav: ac range: 78.500000 m, nav range: 28.235609 m, bearing: 94.481577 deg, approach rate: -0.539093 m/s, LOS rate: 0.119112 deg/s, cmd heading: 121.106767 deg, new cmd heading: 121.246552 deg. 2j};HeadingCmd: 2.116152 target range: 78.500000 and range: 78.50 m. jo@jjjihhh!h!f!f!f)rf)bf-@ɛ^UP= 隝I 7=ɚiIG>JJJ1JJ]:J9J3JJ:;aJ<;aJ\ ;aJ] ;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256947G:G ?G>G B O >U~7w,\u AzK&m$JK&h9K$K&`K&B'?YB(?B'( =9BŽ>yBH5?@? ? ]?@.D՚? ?ɨB'?Bӎ;B CyJBJQI)L L%Mb@Mb@Mb@!!! !)!Y%#~j?㥛 ?~jtxy%?%=%Ļ%#A %@)!I!!y% AI=?I=T3٢M܃ M@=9M:Q M>QQ UG٣UmQGy]= ]> eNusing accuracyPremultiplier from configam59e ?m5Ye ie5m1?u:u_?u@erEeU;e;e2L5y }A}EZjDNOT Ignoring new targets: 78.50 m.Bjo;Jjo;] ProNav: ac range: 78.500000 m, nav range: 28.021904 m, bearing: 94.531992 deg, approach rate: -0.534898 m/s, LOS rate: 0.127150 deg/s, cmd heading: 121.246554 deg, new cmd heading: 121.398953 deg. 2ju;}HeadingCmd: 2.118811 target range: 78.500000 and range: 78.50 m. j}@jyjyjyiyhhhhBfffrfbf` @Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:00:10.4272 LVL= 19440, 32753, 25714, 32755, AGC= 60, IDX= 430, 0.28,-0.603,-2.292,-1.742,-1.350, PHS= 0.834,-0.896,-0.395, RAW= 106.3, 6.0, CAL= 116.8, 3.7, ROT= 33.2, -3.7 5Ygot valid direction response: 23:00:10.4272 LVL= 19440, 32753, 25714, 32755, AGC= 60, IDX= 430, 0.28,-0.603,-2.292,-1.742,-1.350, PHS= 0.834,-0.896,-0.395, RAW= 106.3, 6.0, CAL= 116.8, 3.7, ROT= 33.2, -3.7 =PDAT read: Bearing 33.2, -3.7 (Local) E~Local bearing/azimuth received: Bearing 33.2, -3.7 (Local) ]DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.3 ms) speed 0.4 m/s m,DAT read: user:2993> ɛu)H= quIq }R=ɚyiyI}$\ Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:00:11.5190 }7w,Y$A:.?Y:l?: =9:>y:H?@j~?@? ?g~_x??ɨ:.?:;:Cy^B^KIIf2If?3٢d M=9%:Q %>!) -G٣)y-$= -> =Nusing accuracyPremultiplier from config1=595 ?E5Y5 i55AE?E@5rE5:5:5M5I MAQk% ?k% k! k%bA:k%̚BBk%™BZk%x@"%Ͷ_-11*"%ՒR@%Ki̿n59ſOJ?Jk%Rk%ϭ*% jy=>@NTX3L Q@%@gm*YB?!пNF?"k% *k%aAk%b?k% 2k%$Ck!k%Mb! k!k%~Ak%? addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.528191 s, deltaX: -1.099998 m, approachRate: -0.311774 m/s, rangeRepo size: 4  Added new target pos. range: 77.400002 m, bearing: 327.439712 deg, lat: 36.904969 deg, lon: -122.119958 deg, deltaT: 3.528191 s, deltaX: -1.099998 m, approachRate: -0.311774 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 77.40 m.BjJj ProNav: ac range: 77.400002 m, nav range: 8.968369 m, bearing: 104.306271 deg, approach rate: 0.000000 m/s, LOS rate: 0.127150 deg/s, cmd heading: 121.398949 deg, new cmd heading: 121.553366 deg. 2jHeadingCmd: 2.121506 target range: 77.400002 and range: 77.40 m. j@jjjihhhhfffrfYS@bf?jH<bH<ɛSD=  I! %i=ɚ!i!I%IC IIIBI =&I.I6I%<:IR FBIJIRIZIbI =jIûY5*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.)&= cCGm NG} 5tA I G B J6Y 5tAy -BO >M +@M $B7w,,>AJ&J&J$J$J&̈́:J&9J$J$J&;J&;J&' ;J&( ;F ?YFG?F=9FO>yFH`!{???@? A?`4n? ?ɨF ?F;FCyRwBR>IIZ:IZ3٢bX bQ=9b!Q b>dd fG٣dyj~= j> nNusing accuracyPremultiplier from configlv59ng ?v5Yn in5xz?z@nrEn_;nGH;nO5 +AZj)-DNOT Ignoring new targets: 77.40 m.Bj52g<Jj52g<]Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 77.400002 m, nav range: 8.767117 m, bearing: 104.612551 deg, approach rate: -0.519344 m/s, LOS rate: 0.808509 deg/s, cmd heading: 121.553366 deg, new cmd heading: 122.493208 deg. 2j =HeadingCmd: 2.137910 target range: 77.400002 and range: 77.40 m. j@jjjihhhhfffrfbf@7w, XA I y%jB%.Ii-a=I-e>Mb@Mb@Mb@ )YMb?ʡE?Mb`y?=b&A C@)IMAy AII2٢g 9=9Q > G٣nQGy > Nusing accuracyPremultiplier from config59 ?5Y i5 ? : ? @rE;;Q5 AZj9EDNOT Ignoring new targets: 77.40 m.BjM)e<JjM)e<] ProNav: ac range: 77.400002 m, nav range: 8.543912 m, bearing: 104.956751 deg, approach rate: -0.506458 m/s, LOS rate: 0.801399 deg/s, cmd heading: 122.493214 deg, new cmd heading: 123.552664 deg. 2j] =eHeadingCmd: 2.156401 target range: 77.400002 and range: 77.40 m. jex @jajajiiihihihqhuBfqfqfqrfybf}Q)?ɛ)56= 9=Ia ex~=ɚaiaIm_ Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,qA:Ć?Y:?:=9:ӣ>y:Hc$?TAS? h?E?5?:??ɨ:Ć?:tr;:CyBhBB+IIJ IJ<2٢Z/ Z`=9^0Q ^>`` bG٣`yb$> f> jNusing accuracyPremultiplier from configdj59fr ?n5Yf if5L?@frEf7w,ཋABɨ?YB?Bqm=9B>yBH ?x@)??@G?㳙?̡@f ??ɨBɨ?BO;BCzKNLKN9KLKNbKN  -B^xwne]TH?5/)"  BKT:KVpAyZ`BZ"I=Mb@Mb@Mb@999 9)9Y=)\(?x&?~jthy=G?=7==D="A =@)=` AI99y= AIMAAIUAIUk3٢ 9=9:;Q > G٣yyl= > Nusing accuracyPremultiplier from config59 ?5Y i5j?:?@rE;;U5 B A EZj1=DNOT Ignoring new targets: 77.40 m.Bj=VC<Jj=VC Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2479017w,A2 P?Y2 ?2i=92>y2H6p?@ ??Fb?L?`~?T?ɨ2 P?2q;2"CyBSBFIIN8IN3٢fՌ f]=9j5q;Q j>hh jG٣joQGyn= n> vNusing accuracyPremultiplier from configpe59r?e5Yr ir6ae ?m@rrErލII IMSIIMBII&II.IM 7w,~sAJJJJJ]:J"9JJJ:;J;;J;J;=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751923yMVBUIImEIm3٢}3< }@=9Q > G٣y > Nusing accuracyPremultiplier from config59[?5Y) i 6@rE{8;8;X5 4AZjDNOT Ignoring new targets: 77.40 m.Bj)<Jj)< ProNav: ac range: 77.400002 m, nav range: 7.735834 m, bearing: 105.876884 deg, approach rate: -0.521927 m/s, LOS rate: 0.593197 deg/s, cmd heading: 125.650988 deg, new cmd heading: 126.382850 deg. 2j<HeadingCmd: 2.205797 target range: 77.400002 and range: 77.40 m. j+ @j j j i h h hhfff!rf)bfdl@ɛB`)=  I -*Y=ɚ1i1I54*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:00:14.0250  TRx dataTimestamp_ set to:1736377215.286744 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008163  I G :G B O >7w,+2A6(|?Y6(?6 =96>y6H@@r??`W?\ӣ`?`?ɨ6(|?6cՊ;6!CyVLBV IMb@Mb@Mb@ )YX9v?RQ?{Gzt?y>=ף; C@)IAy3 AIDI3٢$ /=9 ;Q  > G٣y= > %Nusing accuracyPremultiplier from config%59?-5Y i5-J?-:-?5@rEJ; ;Z59 =A9ZjquDNOT Ignoring new targets: 77.40 m.BjuL;Jj}L; ProNav: ac range: 77.400002 m, nav range: 7.500242 m, bearing: 105.957952 deg, approach rate: -0.504662 m/s, LOS rate: 0.179111 deg/s, cmd heading: 126.382856 deg, new cmd heading: 126.633698 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2559602j%;-HeadingCmd: 2.210175 target range: 77.400002 and range: 77.40 m. j-s @j)j)j1i1h1h1h9h=Bf9f9f9rfAbfEVK @ɛt= 隵%I 3=ɚiIqI I@IIzBI =&I.I6Ib<:I~ FG B Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:00:14.0250 LVL= 22800, 32753, 26514, 32755, AGC= 64, IDX= 422,-0.25,-2.797, 2.073, 2.746, 3.003, PHS= 0.571,-0.883,-0.260, RAW= 115.3, 9.1, CAL= 124.4, 5.8, ROT= 25.6, -5.8  Ygot valid direction response: 23:00:14.0250 LVL= 22800, 32753, 26514, 32755, AGC= 64, IDX= 422,-0.25,-2.797, 2.073, 2.746, 3.003, PHS= 0.571,-0.883,-0.260, RAW= 115.3, 9.1, CAL= 124.4, 5.8, ROT= 25.6, -5.8  PDAT read: Bearing 25.6, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 25.6, -5.8 (Local)  DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.8 m/s  ,DAT read: user:2994>  BDAT read: Tx time:23:00:15.1198  $Ping request sent. ڝ @)ڝ 4Q=Iڝ >iڝ 4QϽڙ ڙ ۝ 4}? 66δ:?)۝ èI۝ "i۝ "۝ (ۙ ۙ - :publishing transmit ping time - Fpublishing direction and range infoؙ 9؝ 5/Ʉҿw ]Կ ?yؙ ؙ ؙ G1 B9 ؙ ٙ )ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۝ 4}? 66δ:?)ۙ Iۙ iۙ ۙ ۙ ۙ O >37w,A tIt#ͺ?Y# ?+(=99>yH`Q⻿h?P?0`'f???ɨ#ͺ?a;"Cy%BB%II5WI544٢mD m>=9m;Q u>qq uG٣pQGya> > Nusing accuracyPremultiplier from config59?5Y i5?@rE;;\5 Ak],S?k]= kY k]kA:k]fBBk]aBZk]p@"]${u5o=8|Q@]5/Ʉҿw ]Կ ?Jk]"Rk](*]PRE@l(3- w=N@]%1?ծNɿ\?"k]Ym*k]*,Bk]5&?k]|b@ 2k]7Bk]g?k]|b@ kYk]Ak]e[@ addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.527858 s, deltaX: -1.700005 m, approachRate: -0.481880 m/s, rangeRepo size: 4  Added new target pos. range: 75.699997 m, bearing: 340.983370 deg, lat: 36.905080 deg, lon: -122.120204 deg, deltaT: 3.527858 s, deltaX: -1.700005 m, approachRate: -0.481880 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 75.70 m.BjJj% ProNav: ac range: 75.699997 m, nav range: 18.114517 m, bearing: 305.023061 deg, approach rate: 0.000000 m/s, LOS rate: 0.179111 deg/s, cmd heading: 126.633702 deg, new cmd heading: 126.878273 deg. 2j!-HeadingCmd: 2.214444 target range: 75.699997 and range: 75.70 m. j-r @jIjIjIiQhQhQhahafafafarfmR@bfm׃?ɛ?<= 隽k+I =ɚiIzK ]PK 9K K dK |xrifb]YVRPJHEB><;;:730/-,++&$$$"! 8w,A2@Ҿ?Y2@?2|(=92㟈>y2HU@Z? B?ݿ@]?`@?a?ɨ2@Ҿ?2*~;2Cy^LB^IWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-)\(?(\µ?~jthy-G?-=-D-%A --@))I))y- AIEIEF2٢MM= MN=9I9Q > G٣y}= > Nusing accuracyPremultiplier from config59W?5Yf i5?:?@rE;:;E^5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.70 m.BjFJjF- ProNav: ac range: 75.699997 m, nav range: 18.310141 m, bearing: 304.828250 deg, approach rate: 0.508563 m/s, LOS rate: -0.501040 deg/s, cmd heading: 126.878277 deg, new cmd heading: 126.300108 deg. 2j-5HeadingCmd: 2.204353 target range: 75.699997 and range: 75.70 m. j5 @j1j1j9i9h9h9h9hEBfAfAfArfAbfM]?ɛuBuQ= qu|&Iy }=ɚyiyI}D! 8w,|*AVx?YVx?V+=9Vb>yVH&ſ`sz6=?S?@sÿ?@]b??ɨVx?V.;V CjH^<bH^<Hbo>I` Ib4IIbpBI`&I`.I`6Ib4<:Ib] Fy CB II%OI% 4٢5C 5^=9=?:Q =>99 EG٣AyE$= E> MNusing accuracyPremultiplier from configI]59MF?]5YMϯ ]tIiM5Y]?e@MrEM*;M`+;M_5i mAmEZjDNOT Ignoring new targets: 75.70 m.BjnJjn ProNav: ac range: 75.699997 m, nav range: 18.487597 m, bearing: 304.672626 deg, approach rate: 0.500128 m/s, LOS rate: -0.434387 deg/s, cmd heading: 126.300102 deg, new cmd heading: 125.837723 deg. 2jHeadingCmd: 2.196283 target range: 75.699997 and range: 75.70 m. j @jjjihhhhfffrfbf?ɛq}< }:<}/+Iy }#=ɚyiI [ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248330 8w,WDA^?Y^?^M)=9^i>y^H`KɿIr.?`R?@y_ǿ?(S?`?ɨ^?^Ȋ;\yvNBv I)x xI~I~2٢%"[= %K=95Q =>AA EG٣EqQGyM= M> UNusing accuracyPremultiplier from configQ]59U드?]5YU iU5ae?e@UrEUe&;U&;Ua5mB mmAmEZjDNOT Ignoring new targets: 75.70 m.BjzӻJjzӻ ProNav: ac range: 75.699997 m, nav range: 18.688820 m, bearing: 304.521120 deg, approach rate: 0.496463 m/s, LOS rate: -0.369775 deg/s, cmd heading: 125.837725 deg, new cmd heading: 125.388109 deg. 2j}HeadingCmd: 2.188435 target range: 75.699997 and range: 75.70 m. jS @jjjihh1h9hAfqfyfyrfbfk?ɛEBMI`= QU&IQ ]?Ƣ=ɚYiaIwl78w,D^A2?Y2y2H7̿h!?`$?doʿڹ?`!A??ɨ2?2a;2Cy>SB>IJQJUJQJQJQJU9JQJQ}Mb@Mb@Mb@yyy y)yY}NbX9?ʡE?~jtx?y}?}=};}"A y)} AI}7Ayy} AI(I̍3٢"< B=9;Q > G٣y~= > Nusing accuracyPremultiplier from config59㓜?5Y_ iF5?:@@rE;^;pc5 BAZjDNOT Ignoring new targets: 75.70 m.BjJj  ProNav: ac range: 75.699997 m, nav range: 18.909443 m, bearing: 304.409712 deg, approach rate: 0.527900 m/s, LOS rate: -0.263461 deg/s, cmd heading: 125.388107 deg, new cmd heading: 125.057789 deg. 2j4HeadingCmd: 2.182670 target range: 75.699997 and range: 75.70 m. j%ް @j!j!j!i!h!h)h)h-Bf1f1f1rf1bf5?ɛaex=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768644 #I ۡ=ɚ i I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020414= GU vAsj8w, ExA $I&h 2(4Y2vAy62-Bjlv?Yjk?j8=9j~>yjH пu??`Ϳ?9@?X?ɨjlv?j5;j"CyrRBrIIz@Iz3٢= =P=9= ;Q E>AA EG٣AyM= M> UNusing accuracyPremultiplier from configQ]59U!ۓ?]5YUj iU4aeB@e@UrEU,;U;U(e5i mHAqZjDNOT Ignoring new targets: 75.70 m.BjvJjv ProNav: ac range: 75.699997 m, nav range: 19.117996 m, bearing: 304.324150 deg, approach rate: 0.531088 m/s, LOS rate: -0.215510 deg/s, cmd heading: 125.057786 deg, new cmd heading: 124.803901 deg. 2jHeadingCmd: 2.178239 target range: 75.699997 and range: 75.70 m. jDh @jjjihhhhfffrfbf`{4@ɛB^Y= $I !Ӡ=ɚiI (%8w,AE?YE/?EW==9Ep1>yEH`ѿ% ?`x?`nп9ݽ?+?,?ɨE?EQe;E Cy]ZB]I IMb@Mb@Mb@ )Yp= ף?Pn?Mb?y?><"A C@)Iy\ AI-II-d4٢=;< =&=9EM&;Q M>QQ ]G٣erQGyea= e> mNusing accuracyPremultiplier from configi59mBГ?5YmQ im"47 ?:@@mrEmc;ma;mQg5 AuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 75.70 m.BjiJji ProNav: ac range: 75.699997 m, nav range: 19.381903 m, bearing: 304.253366 deg, approach rate: 0.500342 m/s, LOS rate: -0.132373 deg/s, cmd heading: 124.803894 deg, new cmd heading: 124.594434 deg. 2jHeadingCmd: 2.174583 target range: 75.699997 and range: 75.70 m. j_, @jjjihhhhBff!f!rf!bf%B|@ɛ15V$= 15 I1 =l=ɚ9i9I=FI  I :II uBI  =&I .I =D6I r<:I F*F- ?2F) :F) BF- _0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.e>4=BDAT read: Rx Time:23:00:17.6220 TRx dataTimestamp_ set to:1736377218.829020checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029813GM3G)B1OU?Q-8w,{ݷA LILj?Yj?j}@=9j橉>yjH&ӿ ?p?`3ҿ&Ͽ?`y ?`?ɨj?jj;j"Cyz`Bz!IIWI44٢i< $=9ߦ:Q > G٣y%i= %> -Nusing accuracyPremultiplier from config)559-ē?55Y-U i-V39=@=@-rE-;-;-yi5A EAEEZjy}DNOT Ignoring new targets: 75.70 m.BjJj庝 ProNav: ac range: 75.699997 m, nav range: 19.645658 m, bearing: 304.206227 deg, approach rate: 0.569950 m/s, LOS rate: -0.100495 deg/s, cmd heading: 124.594439 deg, new cmd heading: 124.454922 deg. 2jHeadingCmd: 2.172148 target range: 75.699997 and range: 75.70 m. jz @jjjihhhhfffrfbf@ @ɛB(= I {L=ɚiIx748w,AzKNIKKN9KLKNgKNRKb ?JKb?Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:00:17.6220 LVL= 24896, 30289, 25522, 32755, AGC= 64, IDX= 409, 0.17,-1.546,-3.091,-2.083,-2.051, PHS= 0.593,-0.994,-0.035, RAW= 126.9, 6.3, CAL= 134.3, 1.0, ROT= 15.7, -1.0 Ygot valid direction response: 23:00:17.6220 LVL= 24896, 30289, 25522, 32755, AGC= 64, IDX= 409, 0.17,-1.546,-3.091,-2.083,-2.051, PHS= 0.593,-0.994,-0.035, RAW= 126.9, 6.3, CAL= 134.3, 1.0, ROT= 15.7, -1.0 PDAT read: Bearing 15.7, -1.0 (Local) ~Local bearing/azimuth received: Bearing 15.7, -1.0 (Local)  DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.5 m/s ,DAT read: user:2995> BDAT read: Tx time:23:00:18.7198 $Ping request sent.iڽ5ڹڹ۽H?j?끐T?)۽ o=I۽Ni۽3۽Atw۹۹E:publishing transmit ping timeEFpublishing direction and range infoع9ؽr~Ͽ3bH U?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽H?j?끐T?)۹I۹i۹۹۹۹ $?IhyiB,ImMb@Mb@Mb@iii i)iYmDl?S㥛?Q?ymO ?m$>mu G٣sQGy > Nusing accuracyPremultiplier from config59?5Y iv2I?:N@@rE;k; l5 AEk2?ks JJJJJ̈́:J59JJk kN@r~Ͽ3bH U?Jk3RkAtw*7Lk5VK@L?˜ˏH@_'դ?60b?wMb?"kfr?*kZBk'?k3s 2kBkb?kk$CkBk@} addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.544826 s, deltaX: -2.199997 m, approachRate: -0.620622 m/s, rangeRepo size: 4  Added new target pos. range: 73.500000 m, bearing: 0.992186 deg, lat: 36.905264 deg, lon: -122.120204 deg, deltaT: 3.544826 s, deltaX: -2.199997 m, approachRate: -0.620622 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 73.50 m.BjJj ProNav: ac range: 73.500000 m, nav range: 35.647575 m, bearing: 332.364113 deg, approach rate: 0.000000 m/s, LOS rate: -0.100495 deg/s, cmd heading: 124.454926 deg, new cmd heading: 124.264431 deg. 2jHeadingCmd: 2.168823 target range: 73.500000 and range: 73.50 m. j @jjjihhhhʂBfff rf% `R@bf% ?m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:23:00:18.7190 ɛ B d2= 隕 DI K=ɚ i I ǻ$tGB!OE?X<8w,AjWill construct direction to contact in vehicle frame from tetrahedron phase data.~x?Y~?~==9~>y~H຤ؿ$`י?~?׿:?`𴧿@6??ɨ~x?~lj;~Cy wB->IIEIE(*2٢uޛ= }Z=9}Q }> G٣yq> > Nusing accuracyPremultiplier from config59?5YG i1 @@sE::m5B AEZj15DNOT Ignoring new targets: 73.50 m.Bj=Jj=m ProNav: ac range: 73.500000 m, nav range: 35.832161 m, bearing: 332.212181 deg, approach rate: 0.562149 m/s, LOS rate: -0.460320 deg/s, cmd heading: 124.264432 deg, new cmd heading: 123.810993 deg. 2jmuHeadingCmd: 2.160909 target range: 73.500000 and range: 73.50 m. juWL @jqjyjyiyhyhyhh Ifffrfbf ?ɛB < GI 0=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.=C8w, AyBHIMb@Mb@Mb@ )Y9v?Q? G٣y% %> -Nusing accuracyPremultiplier from config)=59-"?=5Y-ς i-J1=2?=:= @E@-sE-I;-U=;-xo5I MAIZjq}DNOT Ignoring new targets: 73.50 m.Bj}Jj} ProNav: ac range: 73.500000 m, nav range: 36.050327 m, bearing: 332.021750 deg, approach rate: 0.530208 m/s, LOS rate: -0.460002 deg/s, cmd heading: 123.810989 deg, new cmd heading: 123.243173 deg. 2jٝHeadingCmd: 2.150999 target range: 73.500000 and range: 73.50 m. j @jjjihhhhBfffrfbf?zKBHKs9KKhKBKqA:KɛB = kI A=ɚiITO Will construct direction to contact in vehicle frame from tetrahedron phase data.fI8w,m'A>y?Y>@>[0=9>>>y>H;Iܿ`?? zڿ.?k`j??ɨ>y?>I;!) -G٣)y5+> 5> ENusing accuracyPremultiplier from configAM59E?U5YE"~ iE0 @@E sEE:I I`IIBI =&I.I}LP8w,@AA2i?Y24@21=92\>y2Hݿo(?G? ]ܿ ?=8??ɨ2i?2G;2Cy>B>]Ii@IB>IJIJm?3٢R ^= RR=9V)k:Q V>TT VG٣ZtQGyZ = Z>J`JbJ`J`J`JbH9J`J`Jb;ajJb;ajJbQ;ajJbR;aj =Nusing accuracyPremultiplier from config9E59=P?E5Y=3y i=0IM@M@= sE=:=:=r5UB UAAUEZjDNOT Ignoring new targets: 73.50 m.BjxۻJjxۻ ProNav: ac range: 73.500000 m, nav range: 36.471539 m, bearing: 331.724262 deg, approach rate: 0.569995 m/s, LOS rate: -0.383752 deg/s, cmd heading: 122.799930 deg, new cmd heading: 122.355897 deg. 2jHeadingCmd: 2.135513 target range: 73.500000 and range: 73.50 m. j@@jjjihhhhfffrfbf`?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445ɛmBm= 隕I B=ɚiIzKE KKE 9KA KE iKE NwE)?H:! 9]_b_PGCD Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003341 I uV8w,[A2d?Y2`Q@2~1=92H>y2H W߿ -#??`ݿ E?!??ɨ2d?2Ն;0yRBRhIMb@Mb@Mb@ )YGz?rh|?y&1?yp?=`e<%A @)AIAy AIJI)4٢= ;=9Q > G٣y~= > Nusing accuracyPremultiplier from config59 {?5Ys i/ ?:@@sEU;;t5 AZjDNOT Ignoring new targets: 73.50 m.BjлJj л ProNav: ac range: 73.500000 m, nav range: 36.716526 m, bearing: 331.571331 deg, approach rate: 0.588738 m/s, LOS rate: -0.365060 deg/s, cmd heading: 122.355900 deg, new cmd heading: 121.900179 deg. 2jz%HeadingCmd: 2.127559 target range: 73.500000 and range: 73.50 m. j%)@j!j)j)i)h1h9hAhEBfIfQfYrfYbfe Y@ɛBT= IMIQ Ub=ɚQiQIUTHl>I IIIBI =&I.I6I:I; F\8w,tA6:?Y6@6_1=96G݆>y6H_ ?u? ߿q?6*??ɨ6:?6;6 CyRBRmIbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507764IZ*IZ3٢n< nX=9r29Q r>pp vG٣tyv= v> zNusing accuracyPremultiplier from configx~59zm?5Yz/o iz/@@zsEz ;z" ;zZv5 B AZj1DNOT Ignoring new targets: 73.50 m.Bj㾻Jj㾻 ProNav: ac range: 73.500000 m, nav range: 36.939240 m, bearing: 331.444351 deg, approach rate: 0.588962 m/s, LOS rate: -0.333772 deg/s, cmd heading: 121.900176 deg, new cmd heading: 121.521537 deg. 2jeHeadingCmd: 2.120951 target range: 73.500000 and range: 73.50 m. j@jjjihhh!h!f!f!f)rf)bf-d@ E$?IEhɛB= 隝I =ɚiIMJJJJJ-:J9JJJ;J;J;J;uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759439c8w,ߎAyuBu~I)y y-Mb@Mb@Mb@))) )))Y-)\(?A`"?y&1?y-G!?-=)-#A -p@))I-MA)y)IEWIE44٢U3p= U4=9UQ ]>YY ]G٣]uQGye e> mNusing accuracyPremultiplier from configiu59mE^?u5YmQi im.}#?}:}@}@msEm;m;mTx5 gAZjDNOT Ignoring new targets: 73.50 m.BjuλJjuλ ProNav: ac range: 73.500000 m, nav range: 37.208054 m, bearing: 331.279266 deg, approach rate: 0.592109 m/s, LOS rate: -0.360999 deg/s, cmd heading: 121.521537 deg, new cmd heading: 121.029875 deg. 2jwHeadingCmd: 2.112370 target range: 73.500000 and range: 73.50 m. j1@jjjihhhh&Bfffrfbf \@ɛBH&= !%I) -=ɚ)i)I-u Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:23:00:21.2195  TRx dataTimestamp_ set to:1736377222.608555 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264312i8w,SA:?Y: @:a7=9:t>y:H‡>/J???J?R I?`?ɨ:?:괊;:Cy}B}IISI4٢w\= T=9;Q > G٣y= > Nusing accuracyPremultiplier from config 593P? 5Yyd in.@5@sE:;;z59 =A9ZHYRH]AAHeh>IeC IeIIeƁBIe =&Ia.Ia6IeG<:Ied FBI!JI!RI!ZI% =bI!jI%5B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.50 m.BjJj ProNav: ac range: 73.500000 m, nav range: 37.442974 m, bearing: 331.155189 deg, approach rate: 0.585146 m/s, LOS rate: -0.307117 deg/s, cmd heading: 121.029873 deg, new cmd heading: 120.659981 deg. 2jRHeadingCmd: 2.105914 target range: 73.500000 and range: 73.50 m. jK@jjjih hhhfffrfbfY< @ɛB(= 隥I A=ɚiIjp8w,A6,?Y6D @6>=96He>y6HLF?@q?@@?@ԧlk?`l*?ɨ6,?6;6CyRBVIJbJbJ`J`JbM:Jbb9J`J`Jb ;Jb!;Jb0.;Jb1.;I^9I^3٢vC= vY=9vӒ;Q v>xx zG٣xy~^/= ~> Nusing accuracyPremultiplier from config 59{B? 5Y_ i>.@@!sE::{5 A%EZjAMDNOT Ignoring new targets: 73.50 m.BjMҰJjMҰe ProNav: ac range: 73.500000 m, nav range: 37.669312 m, bearing: 331.043688 deg, approach rate: 0.631397 m/s, LOS rate: -0.309175 deg/s, cmd heading: 120.659977 deg, new cmd heading: 120.327490 deg. 2je/TmHeadingCmd: 2.100111 target range: 73.500000 and range: 73.50 m. jm7h@jijqjqiqhqhqhyhyfyffrfbfM @ɛB= 隵I F=ɚiIH>=Z=A>=j"@=5= =%@)=lI=I=!i=ϳ鿉=}&ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse*FU?2FQ:FQBFU_5JFQ"G]e>G]%>GMwG BO5.>zK MK h9K K kK      Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse 1 I9 *v8w,keA2&?Y2 @26F=92{Y>y2H2Q?`1? w?%ܨ ?`=?ɨ2&?2d;2Cy>ÁBBIiF=IF!! %G٣%vQGy- < -> UNusing accuracyPremultiplier from configQ]59Ui1?]5YU)Z iU.ei*?e:es@e@U&sEU;U;U}5i mAiZj%DNOT Ignoring new targets: 73.50 m.Bj%઻Jj%઻U ProNav: ac range: 73.500000 m, nav range: 37.952202 m, bearing: 330.903803 deg, approach rate: 0.608772 m/s, LOS rate: -0.298786 deg/s, cmd heading: 120.327484 deg, new cmd heading: 119.910962 deg. 2jU M]HeadingCmd: 2.092841 target range: 73.500000 and range: 73.50 m. j]@jYjajaiahahahh/Bfffrfbf`T@ɛ B  3= I e=ɚiICeHUe>IQ IUIIUځBIU =&IQ.IU;D6IUL<:IUe FH|8w,S7?Y>: @>SQ=9>=6T>y>H@F?&?@?@' yM??F?ɨ>7?><;> CyVƁBVIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseI^/I^3٢j< jb=9n;Q n>pp rG٣pyr< v> zNusing accuracyPremultiplier from configtz59v#?~5YvU iv.|@@v*sEv;vI;v,5 B A EZj9=DNOT Ignoring new targets: 73.50 m.BjE/JjE/U ProNav: ac range: 73.500000 m, nav range: 38.179764 m, bearing: 330.796697 deg, approach rate: 0.665931 m/s, LOS rate: -0.311564 deg/s, cmd heading: 119.910965 deg, new cmd heading: 119.591565 deg. 2jUU]HeadingCmd: 2.087267 target range: 73.500000 and range: 73.50 m. j]Ǖ@jYjYjaiahahahahifififirfibfu>@ɛBn= 隥'I ̓=ɚiIJJJJJ:JO9JJJ;J;Jf,;Jf,;uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseك8w,#AM=?YM @M[=9ML>yMH ֣???(We? m`i?P?ɨM=?M;MCyޥāBޥIMMb@Mb@Mb@III I)IYMʡE?kt?{GztyM-2?M =MףMA M@)M AIMAIyM AaaIeIem?3٢u{ u'=9};Q }>yy }G٣ye< > Nusing accuracyPremultiplier from config59?5YN i/3?:@@zKLK9KKlKBK:K/sE;E;R5BWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse AEZj DNOT Ignoring new targets: 73.50 m.BjJj% ProNav: ac range: 73.500000 m, nav range: 38.507740 m, bearing: 330.640002 deg, approach rate: 0.659132 m/s, LOS rate: -0.312226 deg/s, cmd heading: 119.591572 deg, new cmd heading: 119.125503 deg. 2j-GV-HeadingCmd: 2.079132 target range: 73.500000 and range: 73.50 m. j5@j1j1j1i1h1h1h9h=Bf9f9fArfAbfEe<@ɛmBu1= qu{Iq uߒ=ɚqiyI}} Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapse(8w,v)A "@R?YR @Rz:j=9RmB>yRH@@FQ?@?@E ?9CP?@_?ɨR?R;R CyrρBrII~VI~n4٢ =  |=9 4IC IIIBI =&IGD.I6I<:I F ProNav: ac range: 73.500000 m, nav range: 38.726974 m, bearing: 330.537735 deg, approach rate: 0.666743 m/s, LOS rate: -0.309256 deg/s, cmd heading: 119.125507 deg, new cmd heading: 118.820447 deg. 2j=T%HeadingCmd: 2.073808 target range: 73.500000 and range: 73.50 m. j%E@j!j)j)i)h)h)hqhqfqfqfyrfybf}@ɛB= o޾I @=ɚiIIMp=)UE@)Y*F=?2FA:FABFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse IGA G! B) OE >8w,hCA6ߝ?Y6 @61y=960>y6Hp1P?4?`FV?F!@?@>x?ɨ6ߝ?6r;4y<@IJOIJ 4٢VZ VQ=9VXX ZG٣Xy^$: ^> fNusing accuracyPremultiplier from configdj59f?j5YfSE if1hn@n@f7sEfW;fB;fr5p r9ApB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 73.50 m.BjJj- ProNav: ac range: 73.500000 m, nav range: 38.986572 m, bearing: 330.418553 deg, approach rate: 0.682423 m/s, LOS rate: -0.311216 deg/s, cmd heading: 118.820443 deg, new cmd heading: 118.465282 deg. 2j-UHeadingCmd: 2.067609 target range: 73.500000 and range: 73.50 m. jS@jjjihhhhfffrf bf,@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseɛB$= 隵I J=ɚiI$ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK5 BoIK5 s9K1 K5 mK5 RK JK ? $?I 8w,]A>[?Y> @>=9>m>y>H@>~?`h?(^?瀰0?`,?ɨ>[?>ĉ;>CyRʁBRI}Mb@Mb@Mb@yyy y)yY}`"?~jt?:vy}7?}=}T}AA }@)yIyyy} AI?IT3٢[ <=9/  G٣yڗ > Nusing accuracyPremultiplier from config59(ᒜ?5Y7? iq28?:@@)@)JJJJJ:J9JJa@a@a@a@*Fm?2Fi:FiBFiJFiEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseGUP=G!B1OUS>H]>IC III =&I.I:D6Iy<:I~ F>8w,wA2e?Y2 @29"=92\5>y2H`ɰ??`,S?ǀ?Ƨ?ɨ2e?2Y ;2CyBÁBBIiF%=IF=NWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseIV3IVʴ3٢^A ^Z=9b*`` bG٣fxQGyfWH f> jNusing accuracyPremultiplier from confighn59jђ?r5Yj9 ij3pr]@r@jAsEj;jw;j5t vAxZj%DNOT Ignoring new targets: 73.50 m.Bj%IJj%I ProNav: ac range: 73.500000 m, nav range: 39.540535 m, bearing: 330.152541 deg, approach rate: 0.682512 m/s, LOS rate: -0.325726 deg/s, cmd heading: 118.040012 deg, new cmd heading: 117.672907 deg. 2j_HeadingCmd: 2.053780 target range: 73.500000 and range: 73.50 m. j q@jjjihhhhfffrfbfi@ YIYɛeBm) q@)*F?2F:FBFn0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseG= =G B9 Om >n98w,طAu?Yu @u˓=9u=yuH`{`j p?`?l6'H?Gu ??ɨu?uΊ;qyޅBޅIMb@Mb@Mb@ )YzG?Dl?:vy 7?O=ԼA 3@)AI AyAI-LI-4٢=$G =2=9MII UG٣QyUw U> ]Nusing accuracyPremultiplier from configYe59]?m5Y]g3 i]5m8?m:uv@u@]FsE]94;]2;]5}B }A}EZjDNOT Ignoring new targets: 73.50 m.BjJj ProNav: ac range: 73.500000 m, nav range: 39.851212 m, bearing: 329.998539 deg, approach rate: 0.677388 m/s, LOS rate: -0.333163 deg/s, cmd heading: 117.672903 deg, new cmd heading: 117.214508 deg. 2jdMHeadingCmd: 2.045779 target range: 73.500000 and range: 73.50 m. jM @jIjIjQiQhQhQhQh]BfYfYfYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapserfYbf`=@ɛBz = I %=ɚ i I ) @)zK}BHKyKyK}nK}BKrA:KrA -$?I)*F?2F:FBF0JFG}m!>GIBQOu}>J J J J J :J 9J J = Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseQ8w,EA:\?Y:-r @:m=9:S=y:HA:Gu?;0? ?`11 5G٣1y=ټ => MNusing accuracyPremultiplier from configAU59E?U5ZHRH?AH\>I IIIBI =&I.I6I}<:I FYE3. iEu7@@EJsEExm)@)*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 1I1G% >G B O% >68w,A>i?Y> @>ɢ=9>ю=y>Hx?;[?`K»?S ,}?I?ɨ>i?>]Y;> CyRBRlI)X XI^FI^%3٢f3̽ fQ=9ji hl nG٣nyQGynɼ r> vNusing accuracyPremultiplier from configpv59r]?z5Yr( irf9xz-@z@rOsErL:r:rI5B AEB*** querying acoustic contact ***jjZj15DNOT Ignoring new targets: 73.50 m.Bj=ͻJj=ͻM ProNav: ac range: 73.500000 m, nav range: 40.359539 m, bearing: 329.739641 deg, approach rate: 0.705287 m/s, LOS rate: -0.360033 deg/s, cmd heading: 116.845959 deg, new cmd heading: 116.442730 deg. 2jMwUHeadingCmd: 2.032309 target range: 73.500000 and range: 73.50 m. jUZ@jQjQjYiYhYhYhYhafafafarfabfm+@ɛBv< 隝I Q=ɚiI)Z@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*FM?2FQ:FQBFUV0JFQG)GBO )> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse % $?I% hzK) K- h9K) K- oK- `8w,ZAy~B~aIMb@Mb@Mb@ )YQ?x&?Qy5?7=A A)vAIAyAI6Im3٢Y$ :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YF" i;6?:@@TsE;;35  A ZjQ]DNOT Ignoring new targets: 73.50 m.Bj]MJjeMm ProNav: ac range: 73.500000 m, nav range: 40.651672 m, bearing: 329.590962 deg, approach rate: 0.662000 m/s, LOS rate: -0.334499 deg/s, cmd heading: 116.442732 deg, new cmd heading: 115.999908 deg. 2jue}HeadingCmd: 2.024580 target range: 73.500000 and range: 73.50 m. j}@jyjyjyiyhyhhh{Bfffrfbfw @ɛ5B5c< 9=qI9 =v=ɚ9i9I=2)M@)IJJJJJ<:Ju9JJ*F ?2F :F BF [0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseHI IIIˁBI&I.I6Iʰ<:I FBI]ǤCJI]ǥCRIYZI] =bI] =jI]6GM J>GQ GU rAG! B9 OU >% c~GA 8w,9A *Y(y*ABWill construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapsefL?Yf E @fװ=9fJ|S=yfHO@l K? ;[?SS? ?ɨfL?ff;fCyr~BrFIIz>Iz3٢   X=9 G٣y > -Nusing accuracyPremultiplier from config!-59%?-5Y% i%=15v@5@%XsE%:%. ;%ڐ5=B EAEEZjamDNOT Ignoring new targets: 73.50 m.BjuλJj}λ ProNav: ac range: 73.500000 m, nav range: 40.901794 m, bearing: 329.455442 deg, approach rate: 0.669282 m/s, LOS rate: -0.360408 deg/s, cmd heading: 115.999903 deg, new cmd heading: 115.595838 deg. 2jXwHeadingCmd: 2.017528 target range: 73.500000 and range: 73.50 m. j.@jjjihhhhfffrfbf7!@ $?IɛmB< 隕=I pu=ɚiIG B O >@8w,SA2?Y2h@2]@=924=y2HLx$K? @]?@9඿?D?ɨ2?2Њ;2!CyRoBV4IiV4=IV4= ^=^=EMb@Mb@Mb@AAA A)AYE"~?sh|??I +yE3?E=E94E A EA)EAIAAyEAI]YI]4٢m. m.=9m;Q m>qq uG٣uzQGy} }> Nusing accuracyPremultiplier from config59r?5Y i@5?:+@@]sE;;撅5 !AZjDNOT Ignoring new targets: 73.50 m.BjJj ProNav: ac range: 73.500000 m, nav range: 41.210052 m, bearing: 329.296233 deg, approach rate: 0.656918 m/s, LOS rate: -0.336748 deg/s, cmd heading: 115.595843 deg, new cmd heading: 115.121798 deg. 2jgWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 2.009254 target range: 73.500000 and range: 73.50 m. j@jjjihhhhoBf f frfbf@2"@ɛB`x< I )-'I) -.=ɚ)i)I-AG JJJJJ:JO9JJB)OE> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsejH <bH H ]>I  I rII BI  =&I .I 6I <:I Fg8w,/A6x?Y6;@6ۼ=96=y6Hi[1Y 4?@@?Ӓ??ɨ6x?6;6CyRWBRIIZGIZ3٢b bV=9f|;Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59nd?v5Ynz inuCtvP@v@nbsEn:n:n5x zA~ EZjDNOT Ignoring new targets: 73.50 m.Bj轻Jj轻 ProNav: ac range: 73.500000 m, nav range: 41.460407 m, bearing: 329.163535 deg, approach rate: 0.630289 m/s, LOS rate: -0.332059 deg/s, cmd heading: 115.121800 deg, new cmd heading: 114.726119 deg. 2jcHeadingCmd: 2.002348 target range: 73.500000 and range: 73.50 m. jz&@jjjihhhhfffrfbfN"@ɛB'< 隵4I  =ɚiIM8w,KAn(?YnN@n=9n8+;n"Cyz>BII-TI-4٢eؽ m4=9ml;Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59S?5Y  iFi@@gsE%;;5 AEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 73.50 m.Bj-̻Jj-̻= ProNav: ac range: 73.500000 m, nav range: 41.756268 m, bearing: 329.002327 deg, approach rate: 0.662437 m/s, LOS rate: -0.358391 deg/s, cmd heading: 114.726114 deg, new cmd heading: 114.245927 deg. 2jEuEHeadingCmd: 1.993968 target range: 73.500000 and range: 73.50 m. jET:?jIjijiiihihihqhqfqfqfyrfybf}#@ɛB< ۄN=AI  =ɚiI IzK KK }9K K qK   8w,VeAFt[?YF@F<=9Fa G٣{QGy > Nusing accuracyPremultiplier from config%59B?%5Y iJ%0?%:%@e@lsEM<X(<5uB uuAu EZjDNOT Ignoring new targets: 73.50 m.BjJjH`>I I.IIkBI&I.I6I<:I F ProNav: ac range: 73.500000 m, nav range: 42.063446 m, bearing: 328.839029 deg, approach rate: 0.625298 m/s, LOS rate: -0.329984 deg/s, cmd heading: 114.245924 deg, new cmd heading: 113.759621 deg. 2jwbHeadingCmd: 1.985480 target range: 73.500000 and range: 73.50 m. j5$?jjjih!h)h)h-Bf)f1f1rf1bf5{$@ɛ}ÂBc< OI =ɚiI38w,I؀AB?YBS@BC=9B6V8w, A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Response Not Received &*response not received*,DAT read: user:2997> *BDAT read: Tx time:23:00:29.6699 .$Ping request sent.. G٣y -> uNusing accuracyPremultiplier from configA59E;&?5YEp iEO^'?:w@@EusEEqI C I II 3BI  =&I FD.I ;D6I <:I FEM $=E] R>E] >*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501923 )I)GEL=GB O%?8w,vAJz?YJh\@JJ=9J=yJH;ܿގr?ܿ>?t1 4?@?ɨJz?J;J CyRۀBR}I Z=Zp=I^ I^b3٢ji j2=9j7:Q n>ll nG٣n|QGyrv r> vNusing accuracyPremultiplier from configtz59v?z5Yv: ivR|~ @~@vysEvI;v;vQ5 AZj)5DNOT Ignoring new targets: 73.50 m.Bj5ĻJj5ĻU ProNav: ac range: 73.500000 m, nav range: 42.850357 m, bearing: 328.423126 deg, approach rate: 0.628263 m/s, LOS rate: -0.343826 deg/s, cmd heading: 112.963454 deg, new cmd heading: 112.519771 deg. 2jUk]HeadingCmd: 1.963840 target range: 73.500000 and range: 73.50 m. j] _?jYjYjYiahahahahafififirfqbfu a'@ɛƂB`> 隝uI ^[=ɚiIFI=IM _?iIiMÔ=)M _?)QEE\J=JJJJJ :J9JJJS;aJT;aJ ;aJ ;a*F?2F:FBFp0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753983GG B O >8w,%YAnR?Yn(@n=9n~=ynH_ۿ`" ? }ۿ`^o?O2??ɨnR?nɉ;nCyvŀBvcIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005978Mb@Mb@Mb@ )YK?K7A?L7A`堿y^? >+ A zA)AIQAyp AI,I3٢ý ;=93yQ > $?Ih G٣yҼ >  Nusing accuracyPremultiplier from config59 ?5Y iU?:'@@~sE;$;<5%B %YA-EEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 73.50 m.Bj]rJj]rm ProNav: ac range: 73.500000 m, nav range: 43.102451 m, bearing: 328.299459 deg, approach rate: 0.571675 m/s, LOS rate: -0.278800 deg/s, cmd heading: 112.519771 deg, new cmd heading: 112.150945 deg. 2jmV?uHeadingCmd: 1.957403 target range: 73.500000 and range: 73.50 m. ju1?jqjqjyiyhyhyhhځBfffrfbfB(@ɛuǂBu*H quIq }'~=ɚyiyI}=I1?icQH= m>I= C I= II= BI=  =&I9 .I=  G٣y4ռ > %Nusing accuracyPremultiplier from config!-59%?55Y% i%W15@5@%sE%;%t;%ࡅ59 EAAZjamDNOT Ignoring new targets: 73.50 m.Bjm Jju  ProNav: ac range: 73.500000 m, nav range: 43.317093 m, bearing: 328.192199 deg, approach rate: 0.573630 m/s, LOS rate: -0.285230 deg/s, cmd heading: 112.150948 deg, new cmd heading: 111.830769 deg. 2jCHeadingCmd: 1.951815 target range: 73.500000 and range: 73.50 m. j?jjjihhhhfffrfbf)@ɛȂB-ֈ -`x=-ąI) 5 {=ɚ1i1I5r =I=?i=%9w, A2{?Y2<@2lx=927 =y2H`Uڿ5:`?s|ڿO?@丿?G?ɨ2{?2;2 Cy>BB@IDDIJaIJ+4٢R RK=9R:Q V>xx zG٣z}QGy~ ~> -Nusing accuracyPremultiplier from config5592?55Y iiY15 @5@sE;;5A E7AAZjDNOT Ignoring new targets: 73.50 m.BjJj󡻝 ProNav: ac range: 73.500000 m, nav range: 43.552052 m, bearing: 328.070887 deg, approach rate: 0.551426 m/s, LOS rate: -0.283174 deg/s, cmd heading: 111.830769 deg, new cmd heading: 111.468799 deg. 2jVBHeadingCmd: 1.945498 target range: 73.500000 and range: 73.50 m. j?jjjihhhhfff!rf)bf-@)@ɛuɂBu* quއIq }x=ɚyiyI}ˬ=I?iڒMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610 m$?IizK MK 59K K tK   BK qA:K qAL7 9w,&A6(?Y6f?6=96=y6H`Eٿ I^Pp ? ٿײ? Rظ? C?ɨ6(?6;6!CyNBN3IMb@Mb@Mb@ )YQ?HzG?y&1y?= >` A A)I~Ay= AIPI 4٢E 8=9Q >  G٣ yg > %Nusing accuracyPremultiplier from config!-59%㑜?55Y% i%[5?=:= @=@%sE%b;%`;%5I MAMEZjy}DNOT Ignoring new targets: 73.50 m.BjJj ProNav: ac range: 73.500000 m, nav range: 43.795975 m, bearing: 327.948437 deg, approach rate: 0.569272 m/s, LOS rate: -0.284183 deg/s, cmd heading: 111.468797 deg, new cmd heading: 111.103499 deg. 2jCHeadingCmd: 1.939122 target range: 73.500000 and range: 73.50 m. j%5?jjjihhhh́BfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266110ffrfbf*@ɛʂBzR 隵ˊI 1t=ɚiIA=I%5?iIC IlIÌBI =&I.I=D6IL<:Is FBI]ĥCJI]ĦCRI]ĔCZI] =bI] =jI]ފ6*F?2F:FBFL3JF)9 9~G 5 !Y1 y5 BG mԍ=G ?G -? i Ii u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519765Gy B O >&9w,n@AR?YR ?RI=9R,2=yRHlٿ`5qЫa?G?8ؿ?p`)?@N?ɨR?R;R"Cy^B^%IIj]Ij$4٢ry r\=9v>Q v>tt zG٣xyz  z> ~Nusing accuracyPremultiplier from config|59~ؑ?5Y~f i~|]* @@~sE~V;~V;~55 %A!ZjIUDNOT Ignoring new targets: 73.50 m.BjUעJj]ע ProNav: ac range: 73.500000 m, nav range: 44.000389 m, bearing: 327.843249 deg, approach rate: 0.555910 m/s, LOS rate: -0.284732 deg/s, cmd heading: 111.103498 deg, new cmd heading: 110.789403 deg. 2jhCHeadingCmd: 1.933640 target range: 73.500000 and range: 73.50 m. j?jjjihhhhfff!rf!bf%@v~+@ɛim quӍIq up=ɚqiqI}) =I?i K9w,gZAn)?Yng?n (=9nkF=ynH`jؿb?l?@l:ؿ? ;`d??ɨn)?ns;nC |I|yzBIi C>I C= a= 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:00:32.1598 ETRx dataTimestamp_ set to:1736377233.452836Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027214Mb@Mb@Mb@ )YZd;O?On?{Gzy~ ?>#I A zA)\AIy AI[IK!4٢ <=9~fQ > G٣~QGyIӼ > Nusing accuracyPremultiplier from config59X̑?5Y\ i^?:@@sE;Y;5 B AE5B*** querying acoustic contact ***j1j1Zj9EDNOT Ignoring new targets: 73.50 m.BjE勻JjM勻] ProNav: ac range: 73.500000 m, nav range: 44.228840 m, bearing: 327.736705 deg, approach rate: 0.527225 m/s, LOS rate: -0.244615 deg/s, cmd heading: 110.789404 deg, new cmd heading: 110.471427 deg. 2j]'eHeadingCmd: 1.928090 target range: 73.500000 and range: 73.50 m. je?jajajaiahah!h)h-ʁBf)f)f1rf1bf=^,@ɛ˂B,ʌ 隭I  l=ɚiIK =zKozLK9KKuKI?iI C I FII BI =&I .I 6I W<:I FG f=G qAG qAGBO >E9w,0yAy%B%I 5$?I1IEXIE4٢u8p }*=9}Q }> G٣yWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ%=Օ%=DAT read: 23:00:32.1598 LVL= 23792, 31505, 21490, 31939, AGC= 70, IDX= 346, 0.11,-2.651, 2.139, 3.052, 3.110, PHS= 0.610,-0.924,-0.062, RAW= 124.1, 5.7, CAL= 132.4, 0.8, ROT= 17.6, -0.8 Ygot valid direction response: 23:00:32.1598 LVL= 23792, 31505, 21490, 31939, AGC= 70, IDX= 346, 0.11,-2.651, 2.139, 3.052, 3.110, PHS= 0.610,-0.924,-0.062, RAW= 124.1, 5.7, CAL= 132.4, 0.8, ROT= 17.6, -0.8 PDAT read: Bearing 17.6, -0.8 (Local) ~Local bearing/azimuth received: Bearing 17.6, -0.8 (Local)  DAT read: Range 10 to 50 : 64.2 m (Round-trip 85.7 ms) speed 0.5 m/s  ,DAT read: user:2998> BDAT read: Tx time:23:00:33.2700 $Ping request sent.?yؕfBؑؕ\ؕ{ ٕS)ٕ|IٕFiٕ(?ٕDlٕ}ٕ @ٕ%= ڕh@)ڕdiڕdڑڑە?:"p+?vl?)ە24=Iە˽iە'ە^ۑۑ:publishing transmit ping timeFpublishing direction and range infoؑ9ؕŕͿz޿>?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑ >  Nusing accuracyPremultiplier from config 59 ?5Y = i `ڑڑە?:"p+?vl?)ۑIۑiۑ@ sE < < i5 0AEۑۑۑkŏ?ktp k k2}A:kfBBkBZk,~=",d]-cif2>SK@ŕͿz޿>?Jk'Rk^*)qA@z @fU4&K@?Kp ?$? !?"k_@*kEBk?k-p 2k$Bkkk7Bk2Bk@ addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 14.623579 s, deltaX: -9.300003 m, approachRate: -0.635959 m/s, rangeRepo size: 4  Added new target pos. range: 64.199997 m, bearing: 5.860867 deg, lat: 36.905264 deg, lon: -122.120204 deg, deltaT: 14.623579 s, deltaX: -9.300003 m, approachRate: -0.635959 m/s, posRepo size: 4 ZjAEDNOT Ignoring new targets: 64.20 m.BjMJjI ProNav: ac range: 64.199997 m, nav range: 44.506630 m, bearing: 327.608719 deg, approach rate: 0.000000 m/s, LOS rate: -0.244615 deg/s, cmd heading: 110.471425 deg, new cmd heading: 110.055551 deg. 2jHeadingCmd: 1.920832 target range: 64.199997 and range: 64.20 m. j?jjjihhhhfffrf P@bf?ɛIM8 imIq u kg=ɚqiqIuG =I}?igDA A)rAIAy AI?IT3٢; =9Q > G٣QGy > Nusing accuracyPremultiplier from config 59? 5Y| ib?:'@@sE;S;ԭ5B AEzK-K-h9K)K-vK-ZjQ]DNOT Ignoring new targets: 64.20 m.Bj]Jj]m ProNav: ac range: 64.199997 m, nav range: 44.808945 m, bearing: 327.465455 deg, approach rate: 0.585602 m/s, LOS rate: -0.275638 deg/s, cmd heading: 110.055548 deg, new cmd heading: 109.628665 deg. 2ju+=uHeadingCmd: 1.913381 target range: 64.199997 and range: 64.20 m. ju?jyjyjyiyhyhyhhBfffrfbf?ɛ 隽I c=ɚiI=IE?iE-I9 I=4II=BI= =&I9.I=>D6I="<:I=Z F*F]?2FY:FYBF] 2JFYG% `hZ=G B O% >F-9w,LAJ7%?YJ3c?J=9J"=yJHֿ ??`Dֿ?@;j? ?ɨJ7%?J;J CyZB^"IIfIf#3٢n< n^=9rQ r>pp rG٣tyvǮ v> zNusing accuracyPremultiplier from configx~59z?~5Yz izc @@zsEz" ;z ;zp5  A Zj9EDNOT Ignoring new targets: 64.20 m.BjEҞJjEҞU ProNav: ac range: 64.199997 m, nav range: 45.007725 m, bearing: 327.363099 deg, approach rate: 0.541712 m/s, LOS rate: -0.277706 deg/s, cmd heading: 109.628668 deg, new cmd heading: 109.322960 deg. 2j]>eHeadingCmd: 1.908046 target range: 64.199997 and range: 64.20 m. je:?jajajaiahahihihififqfqrfqbfuy? $?Iɛ̂Bڼ 隽I 2_=ɚiIT=I:?iaz Will construct direction to contact in vehicle frame from tetrahedron phase data.49w,)A6Uq?Y6Q?6;0=962=y6HBֿ@??տL?@`J1?@?ɨ6Uq?6B݊;6Cy>B>$IIJIJ3٢R; RN=9VQ V>TX ZG٣XyZkb Z> bNusing accuracyPremultiplier from config\b59^░?f5Y^ i^qddf @f@^sE^:^:^,5h nAlZj DNOT Ignoring new targets: 64.20 m.Bj vJjv% ProNav: ac range: 64.199997 m, nav range: 45.222237 m, bearing: 327.251963 deg, approach rate: 0.540753 m/s, LOS rate: -0.278829 deg/s, cmd heading: 109.322963 deg, new cmd heading: 108.991140 deg. 2j%[?-HeadingCmd: 1.902254 target range: 64.199997 and range: 64.20 m. j-}?j)j1j1i1h1h1h9h9f9fAfArfAbfE2&?ɛP nI z[=ɚiI[=I}?iЖzK2QKKKKwK  J) J- zJ) J) J) J- 9J) J) a= @a= @a= @a= @*:9w,AB=?YB{?BqF=9BeM=yBH@Eտ È?`3?]տ 8Ÿ? 􃳿??ɨB=?B5;B CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVBV.IiZ>IZi> Z=Z=5Mb@Mb@Mb@111 1)1Y5On?@5^I ?:v?y5?5b>5T<5A 5zA)5\AI57A1y5 AINI@ 4٢= :=9׻Q > G٣QGy >Hz>I I@IIBI&I.I6I!<:I Nusing accuracyPremultiplier from config59D?%5Yյ ie%?%:%x @%@sE;;!5) 5AEEmB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 64.20 m.BjJj ProNav: ac range: 64.199997 m, nav range: 45.472656 m, bearing: 327.110353 deg, approach rate: 0.549362 m/s, LOS rate: -0.308949 deg/s, cmd heading: 108.991139 deg, new cmd heading: 108.568656 deg. 2jTHeadingCmd: 1.894881 target range: 64.199997 and range: 64.20 m. jr?jjjihhhhBfffrfbf?ɛQ] Y];IY ]W=ɚaiaIe =Ier?im:'A9w,AyB?II5=I5=3٢Em= ES=9EQ E>II MG٣IyM U> eNusing accuracyPremultiplier from configYe59]?m5Y] i]eiim@]sE]":]:]˴5q }'AyZjDNOT Ignoring new targets: 64.20 m.Bj䵻Jj䵻 ProNav: ac range: 64.199997 m, nav range: 45.685440 m, bearing: 326.991369 deg, approach rate: 0.571442 m/s, LOS rate: -0.318048 deg/s, cmd heading: 108.568657 deg, new cmd heading: 108.213374 deg. 2jEZHeadingCmd: 1.888680 target range: 64.199997 and range: 64.20 m. jA?jjjihhhhf*J]C="J]=ffrfbf`>@ɛIMl QUÈIQ UlT=ɚQiQIUl=IeA?ie‰e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507082G9w,8 AybBbQI =@= =@= =@E  E@E IEJIE)4٢U= UI=9YQ ]>aa eG٣aya e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}59m#t?}5Ym4 im/f+::@msEm:;m=>m:5B AEZjDNOT Ignoring new targets: 64.20 m.BjЯJjЯ ProNav: ac range: 64.199997 m, nav range: 45.912647 m, bearing: 326.865655 deg, approach rate: 0.558367 m/s, LOS rate: -0.307417 deg/s, cmd heading: 108.213371 deg, new cmd heading: 107.838099 deg. 2jRHeadingCmd: 1.882130 target range: 64.199997 and range: 64.20 m. j?jjjihhhhfffrfbf@;@ɛ0˼ %:I! %GQ=ɚ!i!I%=I-?i)i-tD=)-?)1zK*LK9KKxK&6?JORPLIGEFDCB?=;81+&! *FU?2FQ:FYBF]0JFYGE; =JuzJqJqJqJu`:JqJqJqGBO-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759741jHbH<H{>I I_IIÀBI&I.I6I=<:Io FM9w,:A2fa?Y2c?2=92"ʧ=y2H`ԿGP?D?ԿB ?FY`P? ?ɨ2fa?2P;2"CyNBRTI)T TTTIZRIZW4٢C< P=9-Q >    G٣ QGyh > !I%h 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-bi?=5Y-ƥ i-f= :AEc:E@E@-sE-7;-M?-]5I MAMEZjquDNOT Ignoring new targets: 64.20 m.Bj}Jj} ProNav: ac range: 64.199997 m, nav range: 46.132263 m, bearing: 326.737957 deg, approach rate: 0.555986 m/s, LOS rate: -0.321744 deg/s, cmd heading: 107.838100 deg, new cmd heading: 107.456837 deg. 2j\HeadingCmd: 1.875476 target range: 64.199997 and range: 64.20 m. j?jjjihhhhfffrfbf@ɛ˂BZ> I ?M=ɚiI=I?i4̗ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263188T9w,dyTA2?Y2?2nr=92Ϭ=y2H-ӿV@?`W?`Vӿ ?;I@?@?ɨ2?2m;2CyBʀBBiIIJFIJ%3٢R.= VP=9VDQ V>TX ZG٣XyZ Z> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^^?f5Y^e i^fj9hj8:j@j@^sE^(;^?^E5l rApZj DNOT Ignoring new targets: 64.20 m.Bj,Jj,% ProNav: ac range: 64.199997 m, nav range: 46.348442 m, bearing: 326.611310 deg, approach rate: 0.552269 m/s, LOS rate: -0.322033 deg/s, cmd heading: 107.456839 deg, new cmd heading: 107.078677 deg. 2j-]-HeadingCmd: 1.868876 target range: 64.199997 and range: 64.20 m. j-P7?j1j1j1i1h1h9h9h9fAfAfArfAbfE`U= @ɛim𱯼 y}2Iy }J=ɚyiyI-=IP7?iK BDAT read: Tx time:23:00:36.8700 $Ping request sent.+ @5> 5@)5C=I5>i5C115?bR?FZ;?߫?)5RD=I5i58 5o@11-:publishing transmit ping timeر-Fpublishing direction and range info195+H;6=ҿ @ܿ@:?y1111 1)1I1i11111 1)1I1i111G=5?bR?FZ;?߫?)1I1i1111GyBO>zKMKh9KKyKRK ?JK?J {J ~J J J d:J f9J J )[9w,bnA2?Y2?2b\=92ְ=y2H@uӿLa^ɰ?^g?Uӿ`׳?  ?@?ɨ2?2Pʉ;2"C>Will construct direction to contact in vehicle frame from tetrahedron phase data.>JDAT read: TxSync time:23:00:36.8692 yNӀBNsIHyIy I}II}BIy&Iy.Iy6I}7<:I}k FBI=CJI=CRI=CZI= =bI= =jI=4 M M MM MM  M M MMb@Mb@Mb@III I)IYMV-?X9v? G٣y2 > Nusing accuracyPremultiplier from config59Q?5Y igT:H4? : @ @sE;;V5 Ake ?kev7  ka ke1`_A:ke3wBBkeuBZkep@"eU?2'1aY=.G;}o(JJ@e+H;6=ҿ @ܿ@:?Jke8 Rkeo@*eS,>%`A@dhJtI@eBKGI?KӻB\?"keU*ke BkeKœ?keE  2keBkake3s ke$BkeBkeP@ addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.534011 s, deltaX: -2.399998 m, approachRate: -0.679114 m/s, rangeRepo size: 4  Added new target pos. range: 61.799999 m, bearing: 352.758172 deg, lat: 36.905264 deg, lon: -122.120007 deg, deltaT: 3.534011 s, deltaX: -2.399998 m, approachRate: -0.679114 m/s, posRepo size: 4 Zj%DNOT Ignoring new targets: 61.80 m.Bj%Jj!5 ProNav: ac range: 61.799999 m, nav range: 39.735374 m, bearing: 347.915423 deg, approach rate: 0.000000 m/s, LOS rate: -0.322033 deg/s, cmd heading: 107.078679 deg, new cmd heading: 106.597701 deg. 2j1eHeadingCmd: 1.860481 target range: 61.799999 and range: 61.80 m. je=$?jajajaiihihihihmBfqfqfqrfu`fN@bf}Z? NG!9 u"YqyuBɛʂB0 隽{I [F=ɚiIE=I=$?ivsb9w,~A6;o?Y68?6(0C=96\=y6Htxӿfñ?q?`P)ӿ`n?c E??ɨ6;o?6<;6Cy>ՀB>vIiB=IB4< F=Fp=ININ3٢VL< Vm=9VLQ V?XX ZG٣Xy^; ^? bNusing accuracyPremultiplier from config`f59b`H?f5Yb  ib%gdjy@j@bsEbT&;b&;bһ5nB rArE~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 61.80 m.Bj1oJj1o- ProNav: ac range: 61.799999 m, nav range: 39.888996 m, bearing: 347.651198 deg, approach rate: 0.488210 m/s, LOS rate: -0.836470 deg/s, cmd heading: 106.597704 deg, new cmd heading: 105.808135 deg. 2j-5HeadingCmd: 1.846700 target range: 61.799999 and range: 61.80 m. j5`?j1j1j1i1h9h9h9h9fAfAfArfAbfEM?ɛ15T 15zI1 52D=ɚ9i9I=4=IE`?iAiEA=)E`?)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF^0JFG=GBOA> ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990211p,h9w,RHA2W6?Y2St?2s/=92#=y2H w^ӿ`ƾ? w?$ӿZ?쥿WB?@ G٣QGy# > Nusing accuracyPremultiplier from config59IY I]II]BIY&IY.IY6I]M<:I]z FG=G ?G ?Ga Bq O >]Un9w,mAR5?YR0&?R=9R=yRH M:ӿ`f??ҿ ?z6? ?ɨR5?R+V;RCy\ b$?Id\IzIz ٢=: %V=9%cQ %>)) -G٣)y-ͻ 5> ]Nusing accuracyPremultiplier from config1m595i1?m5Y5= i5@gimV@m@5sE5;5:;5i5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494777ZjDNOT Ignoring new targets: 61.80 m.Bj]hJj]h ProNav: ac range: 61.799999 m, nav range: 40.278446 m, bearing: 346.952866 deg, approach rate: 0.458304 m/s, LOS rate: -0.812601 deg/s, cmd heading: 104.686617 deg, new cmd heading: 103.723592 deg. 2jk HeadingCmd: 1.810318 target range: 61.799999 and range: 61.80 m. j?jIjQjQiQhQhQhYhYfYfYfYrfabfe`?ɛ Q=]xI  #==ɚ i I la=I?ii=)?)*F?2F:FBF]0JFG}LN=GQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746311=u9w,A6xs?Y6s?68!=96|=y6Hkӿo@õ?y?ͺҿ&?@^㠿e??ɨ6xs?6;4yRހBRI)T TTTIZ;IZ&3٢fC< fP=9fi=Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r&?v5Yr#} ir,gtz@z@rsEr;r;r!5B jAEZjDNOT Ignoring new targets: 61.80 m.BjlJjl ProNav: ac range: 61.799999 m, nav range: 40.465824 m, bearing: 346.622163 deg, approach rate: 0.470036 m/s, LOS rate: -0.825719 deg/s, cmd heading: 103.723594 deg, new cmd heading: 102.736183 deg. 2j HeadingCmd: 1.793085 target range: 61.799999 and range: 61.80 m. j̃?jjjihhhhfffrfbf(?ɛ-ȂB-ռ )- uI) 5e:=ɚ1i1I5=I=̃?i9i=$=)=̃?)A Ih*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003216G-{=G zK k3IK 9K K {K RK- >JK- ?B9 Oe >g{9w,A&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251888Hy>I IIIBI =&I.I6I3<:If FyπBoIMb@Mb@Mb@ )YV-?B`"۹?{Gzt?yM?=ף;A  A)/AI Ay3AI2I?3٢~ -=9Q > G٣QGy > Nusing accuracyPremultiplier from config59E?5Ys ig1O?:?@sE;;/Å5 A ZjDNOT Ignoring new targets: 61.80 m.Bj"Jj" ProNav: ac range: 61.799999 m, nav range: 40.700283 m, bearing: 346.198196 deg, approach rate: 0.498479 m/s, LOS rate: -0.896187 deg/s, cmd heading: 102.736181 deg, new cmd heading: 101.471824 deg. 2j5HeadingCmd: 1.771017 target range: 61.799999 and range: 61.80 m. j5?j1j1j9i9h9h9hAhEBfAfAfrfbf`F@ɛUǂBUXw Y]|IY ]L6=ɚYiYI]w=I?iiq=)?) $?Ih*FU?2FY:FYBF]j0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502881G5=GUpAGUrAG! B) OM > PExceeded connect timeout, disconnecting.O9w,IJ A2c?Y2?2v<92=y2HҿĆX?g? Oҿ5?@u?@C?ɨ2c?2ӏ;0y:̀B>kIIJFIJ%3٢j jr=9j}ܼQ n?pp rG٣pyrUȼ v? zNusing accuracyPremultiplier from configtz59v?~5Yvcm ivg|~?@vsEvF;v\;vą5B AE5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 61.80 m.BjMJjM] ProNav: ac range: 61.799999 m, nav range: 40.868690 m, bearing: 345.894054 deg, approach rate: 0.525274 m/s, LOS rate: -0.944726 deg/s, cmd heading: 101.471824 deg, new cmd heading: 100.563238 deg. 2j]"eHeadingCmd: 1.755160 target range: 61.799999 and range: 61.80 m. je?jajajaiahihihihifqfqfqrfqbf}@ɛƂB 隭M}I 3=ɚiIv=I?iiF=)?)J}JyJ0JJ[j:J9Jـ3JJ;a J;aJ:aJ:aUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754180EJz=*F?2F:FBF0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:00:39.3534 5 TRx dataTimestamp_ set to:1736377240.516771M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013848G =G B O >79w,:u$AN\?YNX?N<9Nw=yNH,ҿক??`ҿ??f?ɨN\?Nh%;N CyjŀBjbIin!>Inp< np=na=eMb@Mb@Mb@aaa a)aYeV-?:v?~jtxyae=eĻeA a)eEAIe AayeAI5I3٢d 8=9"Q > G٣yK > Nusing accuracyPremultiplier from config59?5Yd igJO?:o?@sE;;ƅ5 +AZjDNOT Ignoring new targets: 61.80 m.Bj+~Jj+~ ProNav: ac range: 61.799999 m, nav range: 41.090317 m, bearing: 345.500206 deg, approach rate: 0.502889 m/s, LOS rate: -0.888848 deg/s, cmd heading: 100.563238 deg, new cmd heading: 99.388242 deg. 2jHeadingCmd: 1.734652 target range: 61.799999 and range: 61.80 m. j ?jjjih!h!h)h)f)f)f)rf1bf55 @zKBoHK9KK|K ɛ-łB5~ 15I1 =+0=ɚYiYIeN=Im ?iiim,=)m ?)qEuQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258483*F-?2F1:F1BF5_5JF9H{>I III&I.I6IZ<:I FG =GBO> I II ؎9w,AF>AyBPIeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513427IAIk3٢Z 8=9Q >   G٣ QGy   > Nusing accuracyPremultiplier from config59??5 %nManaging dock network, ignoring radio surface power offY[ i[hAAE@sEA;;ȅ5Q UAQZjDNOT Ignoring new targets: 61.80 m.BjuJju ProNav: ac range: 61.799999 m, nav range: 41.317200 m, bearing: 345.104844 deg, approach rate: 0.496151 m/s, LOS rate: -0.859829 deg/s, cmd heading: 99.388241 deg, new cmd heading: 98.208844 deg. 2jHeadingCmd: 1.714068 target range: 61.799999 and range: 61.80 m. jf?jjjihhhhf f f rf bf g @ɛĂBҼ uI b,=ɚiI=If?ii1 >) f?) EE*Eq"EqJK3 K.-KK"KJ|JuJJJ;g:J9JJJՊ;J׊;Jf:Jg: Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 23:00:39.3534 LVL= 22992, 27121, 27170, 32755, AGC= 64, IDX= 408,-0.08, 2.086, 0.516, 1.466, 1.630, PHS= 0.545,-1.067,-0.167, RAW= 123.9, 9.9, CAL= 131.4, 5.3, ROT= 18.6, -5.3 E Ygot valid direction response: 23:00:39.3534 LVL= 22992, 27121, 27170, 32755, AGC= 64, IDX= 408,-0.08, 2.086, 0.516, 1.466, 1.630, PHS= 0.545,-1.067,-0.167, RAW= 123.9, 9.9, CAL= 131.4, 5.3, ROT= 18.6, -5.3 M PDAT read: Bearing 18.6, -5.3 (Local) M ~Local bearing/azimuth received: Bearing 18.6, -5.3 (Local) ] DAT read: Range 10 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.5 m/s e ,DAT read: user:3000> e BDAT read: Tx time:23:00:40.4700 m $Ping request sent.m  t@) q=I 6>i q   *,^t??n?ZU?) =I 0i B  |   :publishing transmit ping timei  Fpublishing direction and range info 9 ӿ0zݿT?y     ) I i      ) I i    *,^t??n?ZU?) I i    *FU ?2FQ :FQ BFU 0JFQ E$?IAGui=G}?G}?GYBWill construct direction to contact in vehicle frame from tetrahedron phase data.O ?9w,CaAyB8I) }Mb@Mb@Mb@yyy y)yY}|?5^?Zd;O?~jty}M?}j=}ļ}A } A)}/AI}I Ayy}3AI9I3٢ =9Q > G٣y > Nusing accuracyPremultiplier from config59萜?5YIQ iwiBO?:?@sE;;ʅ5 <A!Ek&M?k=}  k k+QA:kmBBklBZk@"F{i2̍;If]H@ӿ0zݿT?JkB Rk|*BZ mA@K:6vȫN(G@j(?_B q+?"k^*ki Bkda?k"! 2kBk?k"! kBkBk>@ addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.778046 s, deltaX: -2.399998 m, approachRate: -0.635248 m/s, rangeRepo size: 4  Added new target pos. range: 59.400002 m, bearing: 347.200860 deg, lat: 36.905232 deg, lon: -122.119972 deg, deltaT: 3.778046 s, deltaX: -2.399998 m, approachRate: -0.635248 m/s, posRepo size: 4 Zj!-DNOT Ignoring new targets: 59.40 m.Rj--Powering the camera and arming the capture device at range: 59.40 m."j5Bj]JjYu ProNav: ac range: 59.400002 m, nav range: 37.435223 m, bearing: 347.789458 deg, approach rate: 0.000000 m/s, LOS rate: -0.859829 deg/s, cmd heading: 98.208845 deg, new cmd heading: 96.808312 deg. zKIKKh9KK}K2jqHeadingCmd: 1.689624 target range: 59.400002 and range: 59.40 m. jE?jjji"jhhhhoBfffrf@3M@bf+?ɛ‚B !%I! %Kc'=ɚ!i!I-=I-E?i)i5[>)5E?)i#}&Changing to mode: 2#}Armed mode.mWill construct direction to contact in vehicle frame from tetrahedron phase data.#2Commanding negative:54482HI IIIBI&I.I6I<:IU F*Fy2F:FBF0JFG] S0=G B! O= >69w,{A6Qd?Y6L?6N~;96d=y6HMп@YK?? п ?OwG??ɨ6Qd?6S;6CyB}BB IIJIJM3٢zS zk=9~"Q ~? G٣QGy'ƽ  ? Nusing accuracyPremultiplier from config 59 ?%5Y jJ i i!%v?%@ sE @; H@; u̅5) 5aA5E AIEhZjamDNOT Ignoring new targets: 59.40 m.RjimPowering the camera and arming the capture device at range: 59.40 m."jiBjuJju ProNav: ac range: 59.400002 m, nav range: 37.590115 m, bearing: 347.433464 deg, approach rate: 0.451074 m/s, LOS rate: -1.032442 deg/s, cmd heading: 96.808315 deg, new cmd heading: 95.744862 deg. 2j#1HeadingCmd: 1.671063 target range: 59.400002 and range: 59.40 m. je?jjji"jhhhhfffrfbf?ɛB$U I $=ɚiI  =Ie?ii>)e?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fp>2F:FBFP0JFG4 >GaBiO9>*J- a="J- p=J5 {J5 zJ1 J1 J5 d:J5 9J1 J1 J5 ";J5 $;J5 P:J5 Q: Will construct direction to contact in vehicle frame from tetrahedron phase data.:9w,{A2?Y2:?2u;92Ն=y2Hοs?@T?`ο`(?n@װ?2?ɨ2?2W;2CyBuBBIIJIJi4٢b  fM=9fQ f>hh jG٣hyjL n> rNusing accuracyPremultiplier from configpv59r֐?v5YrvB iryjtz?z@rsEr;r;r3΅5| A%B*** querying acoustic contact ***j!j!Zj)5DNOT Ignoring new targets: 59.40 m.Rj15Powering the camera and arming the capture device at range: 59.40 m."j1BjJj% ProNav: ac range: 59.400002 m, nav range: 37.767338 m, bearing: 347.023936 deg, approach rate: 0.446108 m/s, LOS rate: -1.026021 deg/s, cmd heading: 95.744861 deg, new cmd heading: 94.522240 deg. 2j% 0-HeadingCmd: 1.649724 target range: 59.400002 and range: 59.40 m. j-**?j)j)j1i1"j1h1h9h9h9f9f9fArfAbfEXB?ɛB 隽I  =ɚiI =I**?ii>)**?)i 5$?I1*F-<2F):F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G + >G rAG Ga Bq O >zK K 9K K ~K qH9w,SAR?YRZ?R)):9R.]=yRHͿ?q*? ̿dԌ?#^ e?` ?ɨR?R;RCyb^BfIifJ>If>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499353uMb@Mb@Mb@qqq q)qYu}?5^I?ʡE?X9vyuMB?u=uurA u A)uAIu` AqyqII҅4H|>I IIIBI =&I.I6I<:ID FBIaJIaRIaZIe =bIe =jIe4٢ؽ ;=9\Q > G٣y > Nusing accuracyPremultiplier from config59+ː?5Y9 iAkD?:-?@sE;;?Ѕ5B YA"EZjamDNOT Ignoring new targets: 59.40 m.RjiuPowering the camera and arming the capture device at range: 59.40 m."jqBjuJj}񄼝 ProNav: ac range: 59.400002 m, nav range: 37.974705 m, bearing: 346.578937 deg, approach rate: 0.435679 m/s, LOS rate: -0.929831 deg/s, cmd heading: 94.522237 deg, new cmd heading: 93.194779 deg. 2jHeadingCmd: 1.626556 target range: 59.400002 and range: 59.40 m. j2?jjji"jhhhh-+Bf)f)f)rf1bf5@ʺ?)Q YGtAA %$Y-tAy-BɛeBey amIi m=ɚiiqIuNM!=I2?iih!>)2?)! !I)*F82F:FBFJFG~>Will construct direction to contact in vehicle frame from tetrahedron phase data.:??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751905Gi Bq O >09w,0Af+?Yf%S?fN::9f)=yfH˿@J?@F?˿H?YG@4?@?ɨf+?f;f CyIBII-I-פ4٢EԽ ES=9MBFQ M>II MG٣MQGyUH' U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]2 i]kim?m@]sE]7:]:]х5q uAyZjDNOT Ignoring new targets: 59.40 m.RjPowering the camera and arming the capture device at range: 59.40 m."jBjJj ProNav: ac range: 59.400002 m, nav range: 38.129791 m, bearing: 346.240991 deg, approach rate: 0.447756 m/s, LOS rate: -0.971722 deg/s, cmd heading: 93.194776 deg, new cmd heading: 92.185172 deg. 2j&HeadingCmd: 1.608935 target range: 59.400002 and range: 59.40 m. j?jjji"jhhhhfffrfbf ?ɛB`} I V=ɚiI!=I%?i!i%F#>)%?))JJAAJJyJJJv:J9JJJU;JV;J:J:*F@72F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004882G>GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257439^9w,Am?Ym?m%9mQQ UG٣QyU# ]> eNusing accuracyPremultiplier from configYe59]W?m5Y]F+ i]lm47?u:u?u@]tE]#;]D";]Ӆ5y }A} EZjDNOT Ignoring new targets: 59.40 m.RjPowering the camera and arming the capture device at range: 59.40 m."jBjxJjx ProNav: ac range: 59.400002 m, nav range: 38.310345 m, bearing: 345.857509 deg, approach rate: 0.411411 m/s, LOS rate: -0.869681 deg/s, cmd heading: 92.185171 deg, new cmd heading: 91.040309 deg. 2j6HeadingCmd: 1.588953 target range: 59.400002 and range: 59.40 m. jb?jjji"jhhhh؁Bfafifirfqbfu@$@ɛ%B%6= )-I) -H=ɚ)i1I5"=I5b?i9i=Gt$>)=b?)YEmqAEmqAzKK9KKK*F342F:FBFJFGv">G?G ?]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509030HI I@IIBI&I.I6Iӯ<:I" FGBO>9w,yA2?Y2?2S92 G٣yN > %Nusing accuracyPremultiplier from config!-59%ͱ?-5Y%$ i%nm)-.?5@%tE%*:%:%KՅ59 =A9ZjaeDNOT Ignoring new targets: 59.40 m.RjamPowering the camera and arming the capture device at range: 59.40 m."jiBjmc{Jjmc{ ProNav: ac range: 59.400002 m, nav range: 38.457138 m, bearing: 345.538663 deg, approach rate: 0.406293 m/s, LOS rate: -0.879127 deg/s, cmd heading: 91.040309 deg, new cmd heading: 90.087513 deg. 2jHeadingCmd: 1.572324 target range: 59.400002 and range: 59.40 m. jA?jjji"jhhhhfffrfbf@ɛBOb I \=ɚiIV#=IA?ii #>)A?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760726*Fu22F:FBF?5JFGL&">GBO>*J C="J m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:00:42.9500 } TRx dataTimestamp_ set to:1736377244.294161 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014862hl9w,fA:3?Y:.=?:ڣ9:3dd fG٣dyjK j> rNusing accuracyPremultiplier from configlv59n ?v5Yn in$=IO?ii!>)O?)*F5/2F1:F1BF54JF1 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266772G<">GBO]>zK} >`JK} s9Ky K} K} BK pA:K J% J% wJ! J! J% s:J% 9J! J! a- @a- @a- @a- @%9w,0A2釾?Y2?2Ӻ92YT;y2Hno|??@ԧEcZ?z{??ɨ2釾?2m;2 Cy^B^QI%Will construct direction to contact in vehicle frame from tetrahedron phase data.jH=<bH=<HIII IMIIMwBII&II.II6IMJ<:IMz FDAT read: 23:00:42.9500 LVL= 15600, 32753, 21714, 32755, AGC= 60, IDX= 406, 0.33,-2.120, 2.518,-2.991,-2.787, PHS= 0.754,-0.932,-0.208, RAW= 115.4, 5.3, CAL= 125.4, 1.7, ROT= 24.6, -1.7 Ygot valid direction response: 23:00:42.9500 LVL= 15600, 32753, 21714, 32755, AGC= 60, IDX= 406, 0.33,-2.120, 2.518,-2.991,-2.787, PHS= 0.754,-0.932,-0.208, RAW= 115.4, 5.3, CAL= 125.4, 1.7, ROT= 24.6, -1.7 PDAT read: Bearing 24.6, -1.7 (Local) ~Local bearing/azimuth received: Bearing 24.6, -1.7 (Local) ]DAT read: Range 10 to 50 : 56.9 m (Round-trip 75.9 ms) speed 0.6 m/s e,DAT read: user:3001> uBDAT read: Tx time:23:00:44.0700 $Ping request sent.Կ)i?y-cB)-<- -T))I-<i-%A?-n-T-.@-q= - @uMb@Mb@Mb@qqq q)qYux&1?/$?+yu!?u1>uuA u A)qIu Aqyu=AII4٢* $=91>Q > G٣QG)-i-))-mAl?v}ʘȃԾ?)-ZI-Կ)i?y)))) )))I)i))))) )))y > Nusing accuracyPremultiplier from config59?5Y iooc%?:i?@tEf;;:م5I)i)))-mAl?v}ʘȃԾ?))I)i))))i uAyk-TF\W?k- k) k-2A:k-cBBk-bBZk-˺@"-$%0(2^$A&J@-urasE ̿Ӣ>Կ)i?Jk-F Rk-;*- ]4@*lݟ#{WJ@- A?ƿ*\KT?"k-*k-BAk-~b?k-$E 2k-4Bk-Kœ?k-$E k)k-Bk-s@u addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 3.528433 s, deltaX: -2.500000 m, approachRate: -0.708530 m/s, rangeRepo size: 4  Added new target pos. range: 56.900002 m, bearing: 334.457610 deg, lat: 36.905227 deg, lon: -122.119968 deg, deltaT: 3.528433 s, deltaX: -2.500000 m, approachRate: -0.708530 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 56.90 m.RjPowering the camera and arming the capture device at range: 56.90 m."jBjJj ProNav: ac range: 56.900002 m, nav range: 38.141827 m, bearing: 345.092721 deg, approach rate: 0.000000 m/s, LOS rate: -0.877096 deg/s, cmd heading: 89.044350 deg, new cmd heading: 87.614526 deg. 2jHeadingCmd: 1.529162 target range: 56.900002 and range: 56.90 m. j?jjji"jhhhhBfffrf @3sL@bf |~?ɛUBUcO Q I]ijI =ɚiI%=I?ii,&>)?)*F,2F:FBFV2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:00:44.0692 G h >G pAG pAG B O >-9w,7UMAJD?YJ>2?J8ܺ9J@;yJH 2Or??$3R f[? (r?`?ɨJD?J;JCybBb;Iin=In<IvIv]4٢´ _=9 DQ %>!! %G٣!y-` -> }Nusing accuracyPremultiplier from config1}595w?5Y5 i5Jp?@5tE5:5P:5څ5 A!EZjDNOT Ignoring new targets: 56.90 m.RjPowering the camera and arming the capture device at range: 56.90 m."jBj tJj t= ProNav: ac range: 56.900002 m, nav range: 38.270279 m, bearing: 344.804339 deg, approach rate: 0.381481 m/s, LOS rate: -0.853565 deg/s, cmd heading: 87.614525 deg, new cmd heading: 86.752353 deg. 2j=rEHeadingCmd: 1.514114 target range: 56.900002 and range: 56.90 m. jE~?jAjAjAiA"jIhIhihqhqfqfqfqrfybf}?ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data. ÷I =ɚiI;%=I~?ii`!>)~?)*F/*2F:FBFP0JFG]_r#>G9BIB]'JO[> I Will construct direction to contact in vehicle frame from tetrahedron phase data.V9w,*gA:?Y:?:Y4E9:ϝy:H`_1R?Z`.th? `q?ɨ:?:)Ҏ;: Cy^B^/IMb@Mb@Mb@ )Y|?5^?/$?Q롿y ?\` A ) AII Ayp AII4٢=: >=9JQ > G٣QGy3 > Nusing accuracyPremultiplier from config%59?%5Y  iIq% ?-:-?-@tE<;;܅5 AZj %DNOT Ignoring new targets: 56.90 m.Rj!%Powering the camera and arming the capture device at range: 56.90 m."j!Bj-EJj-EM ProNav: ac range: 56.900002 m, nav range: 38.409920 m, bearing: 344.500309 deg, approach rate: 0.319036 m/s, LOS rate: -0.692087 deg/s, cmd heading: 86.752350 deg, new cmd heading: 85.843656 deg. 2jM|UHeadingCmd: 1.498254 target range: 56.900002 and range: 56.90 m. jUƿ?jQjQjQiQ"jYhYhYhYhe_Bfafafarfibfm^?ɛBvB 隝I  <ɚiI &=Iƿ?iix>)ƿ?)zK%k3IK%9K!K%K% =eM QKQWMRK5?JK5?J}J{J1JJ[j:J-9J3J*F%'2F!:F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.H z>I  I II DBI  =&I .I 6I <:I V FG- X&>G= ?G= >G! B) Oe >  I h&<9w,HA:?Y:3?:V09:ۋy:HB% 5`F?>@?pf?B{?ɨ:?:gO;:CyBBB#IIRIR4٢ZN Z`=9Zh:Q Z>\\ ^G٣\ybb b> fNusing accuracyPremultiplier from configdj59fO?j5Yf ifrhj8?n@ftEf:f:fCޅ5rB r0Ar$EZj  DNOT Ignoring new targets: 56.90 m.Rj Powering the camera and arming the capture device at range: 56.90 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data."jBjVJjV ProNav: ac range: 56.900002 m, nav range: 38.523659 m, bearing: 344.245357 deg, approach rate: 0.336140 m/s, LOS rate: -0.751250 deg/s, cmd heading: 85.843655 deg, new cmd heading: 85.081103 deg. 2jHeadingCmd: 1.484945 target range: 56.900002 and range: 56.90 m. j?jjji"jhhhhfffrfbf?ɛB 隍I -<ɚiI'=I?iiVG>)?)*Fm@%2Fi:FiBFm_0JFiGEX >GB)OMR> Will construct direction to contact in vehicle frame from tetrahedron phase data.vh9w,Ay~yB~I)  A   IIļ4٢%fƼ %C=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=?M5Y= i=sIIM@= tE=:=:=5Q ]YAY}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 56.90 m.RjPowering the camera and arming the capture device at range: 56.90 m."j $?IBjGJjG% ProNav: ac range: 56.900002 m, nav range: 38.656849 m, bearing: 343.950836 deg, approach rate: 0.316643 m/s, LOS rate: -0.697772 deg/s, cmd heading: 85.081105 deg, new cmd heading: 84.200659 deg. 2j%o=-HeadingCmd: 1.469579 target range: 56.900002 and range: 56.90 m. j-(?j)jQjYiY"jYhYhYhahafafafarfibfm :?ɛBÕ RI 2<ɚiI R(=IE(?iiiu$(>)u(?)y}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F=`"2F9:FABFE`0JFIG >zK} OKy Ky K} K} }w{oe^XUSOPONKLJC>=>=;735521025.4^b?KBK oA:K oAJ J yJ /J J J 9J (N3J G B O >H I  I II BI &I .I 6I \<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964769|9w,MAJWb?YJQ?JR9JyJH@w :? ?a\]*W?`-X?ɨJWb?J ;HyRBV$IMb@Mb@Mb@ )Yx&1?Mb?~jtyA?>I A ` A)` AI` Ay AII4٢< ==90A;Q >    G٣ y ν > Nusing accuracyPremultiplier from config%59˂?-5Y is5w?5:5?5@$tEr;l;5I (AZjDNOT Ignoring new targets: 56.90 m.RjPowering the camera and arming the capture device at range: 56.90 m."jBjY0JjY0E ProNav: ac range: 56.900002 m, nav range: 38.777000 m, bearing: 343.672203 deg, approach rate: 0.266760 m/s, LOS rate: -0.616700 deg/s, cmd heading: 84.200660 deg, new cmd heading: 83.367414 deg. 2jEӼ}HeadingCmd: 1.455036 target range: 56.900002 and range: 56.90 m. j}>?jjji"jhhhhMBfffrfbf?@ɛ=B=. I 隍!I 9v<ɚiI:)=I>?ii >)>?)*FU@2FQ:FQBFU_0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217796G-X&>G B O= >y9w,`A6`{?Y6Z?6M :96H{y6Hė?voO?ʘv??{A io`?ɨ6`{?6-;6!CyBBB"IIJIJ4٢Ri Rc=9V;Q V>TT ZG٣ZQGy^р b> fNusing accuracyPremultiplier from config`f59b~?j5YbQ ibthj?j@b'tEb:b:b5p r4ApZj  DNOT Ignoring new targets: 56.90 m.Rj Powering the camera and arming the capture device at range: 56.90 m."jBj#DJj#D- ProNav: ac range: 56.900002 m, nav range: 38.874458 m, bearing: 343.437638 deg, approach rate: 0.285700 m/s, LOS rate: -0.685906 deg/s, cmd heading: 83.367418 deg, new cmd heading: 82.665523 deg. 2j-]뼝-HeadingCmd: 1.442786 target range: 56.900002 and range: 56.90 m. j53?j1j1j1i1"jAhAhIhIhIfIfQfQrfQbf]`*@ɛB =隍I <ɚiI*=I3?i1i5f>)53?)9EUpAEUpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469536*F2F:FBFI5JF yIyG:'>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ >Օ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7244789w,pxAc?Y]?C;9и;yHç? p`?? ᪂?Wh?}h7`??ɨc? ;Cy5B5%IiE>IE=EMb@Mb@Mb@AAA A)AYE +?rh|?MbpyE>E=EE A A)EvAIEI AAyE AIUXIU4٢e 4< e1=9u/;Q u>qy }G٣yy}C }> Nusing accuracyPremultiplier from config59z?5Yq i8t>:?@*tE.F;G;5 A!EZjDNOT Ignoring new targets: 56.90 m.RjPowering the camera and arming the capture device at range: 56.90 m.lFinal approach. Armed for intercept at range: 56.90 m.\Transitioning guidance mode to: FINAL_APPROACH*j@Bj2Jj2 ProNav: ac range: 56.900002 m, nav range: 38.991043 m, bearing: 343.146393 deg, approach rate: 0.251251 m/s, LOS rate: -0.625780 deg/s, cmd heading: 82.665527 deg, new cmd heading: 81.794475 deg. 2jּHeadingCmd: 1.427583 target range: 56.900002 and range: 56.90 m. j ?jj j i h h hhIBfffrfbf%@g@ɛUBUٍ Q]IY ]<ɚYiYI]L+=Ie ?iid%>) ?)zKeiOKe9KaKeKeqjt< 4}{J}{J}xJ}0JyJ}d:J}9J}ـ3JyH{>I IIIBI&I.I6IG<:Ix FBIiJIiRIiZIibIijIm`4*F2F:FBFK5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:00:46.5468 TRx dataTimestamp_ set to:1736377247.828268checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977465G};}>GQBYOuz>5GMvAeA $oYvAyeB a Ia :w,FA2?Y2.?24;92# hh jG٣hynx n> rNusing accuracyPremultiplier from configpv59rv?v5Yr irWttz,?z@r-tEr:r7:r5 AZj)-DNOT Ignoring new targets: 56.90 m.Rj)Bj56Jj56]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.228815 ProNav: ac range: 56.900002 m, nav range: 39.076809 m, bearing: 342.924316 deg, approach rate: 0.246451 m/s, LOS rate: -0.636744 deg/s, cmd heading: 81.794473 deg, new cmd heading: 81.129734 deg. 2j~ڼHeadingCmd: 1.415981 target range: 56.900002 and range: 56.90 m. j>?jjjihhhhff!f!rf!bf%x @ɛmBmm 隕ӴI KZ<ɚiI,=I>?iix =)>?)*F2F:FBFP0JFGm>GaBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 23:00:46.5468 LVL= 18256, 24977, 24722, 32755, AGC= 64, IDX= 405,-0.21, 1.717,-0.129, 0.742, 0.980, PHS= 0.825,-1.062,-0.241, RAW= 115.7, 5.9, CAL= 125.6, 2.3, ROT= 24.4, -2.3 U Ygot valid direction response: 23:00:46.5468 LVL= 18256, 24977, 24722, 32755, AGC= 64, IDX= 405,-0.21, 1.717,-0.129, 0.742, 0.980, PHS= 0.825,-1.062,-0.241, RAW= 115.7, 5.9, CAL= 125.6, 2.3, ROT= 24.4, -2.3 U PDAT read: Bearing 24.4, -2.3 (Local) ] ~Local bearing/azimuth received: Bearing 24.4, -2.3 (Local) } DAT read: Range 10 to 50 : 54.4 m (Round-trip 72.6 ms) speed 0.5 m/s  ,DAT read: user:3002>  BDAT read: Tx time:23:00:47.6701  $Ping request sent. i l$ Bn?=|4 B?) ;I tҽi D œ  :publishing transmit ping time؉  Fpublishing direction and range info 9 g!SsͿ Hտ= G٣QGy > Nusing accuracyPremultiplier from config59r?5Yb it5@1tE2<92<59 EAAk=s`?k=)3 k9 k=O<A:k=YBBk=$XBZk=@a@"=@)(K2fZnH@=g!SsͿ Hտ=)EJ?)IE ewV=E ?E >zK xNK K K K ynVB71,*)&!"    H ~>I  I II BI =&I .I 6I <:I ] F Will construct direction to contact in vehicle frame from tetrahedron phase data.*F! 2F! :F! BF% 0JF! QIUhG]7>G1BIO?X?:w, AAB f?YB?B <9BR:yBHѴ?_Le??@Ҵ?`?2} R_??ɨB f?B3;BCyNBNYI)P P-Mb@Mb@Mb@))) )))Y-bX9?"~j?{Gzt?y-E>-S=-ף;- A ))- AI))y- AIE IE2٢<  =9;Q > G٣yg > Nusing accuracyPremultiplier from config59ro?5Y itt>:?@5tE3;;5 A$EB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 54.40 m.Rj)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.BjUUDJjUUDe ProNav: ac range: 54.400002 m, nav range: 38.212723 m, bearing: 341.748810 deg, approach rate: 0.227569 m/s, LOS rate: -0.686592 deg/s, cmd heading: 80.255495 deg, new cmd heading: 79.111951 deg. 2je뼝mHeadingCmd: 1.380764 target range: 54.400002 and range: 54.40 m. jm༰?jijijiiihqhqhqhuwBfyfyfyrfybf}@q?ɛB 隵I l<ɚiI.=I༰?iiLm=)༰?)EPڀ=*FE2FA:FABFM 5JFIJiJiJuzJu{JqJqJu`:Ju-9JqJqJuo;a}Juq;a}Ju:aJu:aG > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992518GY Bi O >f:w,ZART?YRMϼ?R$e<9R nZ=9n):Q n>pp rG٣rQGyv v> zNusing accuracyPremultiplier from configx59zkm?5Yz* izjt ? @z8tEzS;z#T;z'5 AZj9EDNOT Ignoring new targets: 54.40 m.RjABjE>JjE>U ProNav: ac range: 54.400002 m, nav range: 38.293102 m, bearing: 341.500637 deg, approach rate: 0.215684 m/s, LOS rate: -0.664529 deg/s, cmd heading: 79.111950 deg, new cmd heading: 78.369038 deg. 2j]伝eHeadingCmd: 1.367798 target range: 54.400002 and range: 54.40 m. je?jajajaiahahihihififqfqrfqbf}C+? $?IɛBh 隵I U5<ɚQiQI](/=I]?iaie$[=)e?)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.244325E-׃=*F2F:FBF@5JFG=Gi Bq O >zK DMK +9K K K 2531-&%&$!RK% ?JK% >HE >IE C IE IIE DBIE =&IA .IA 6IE 5<:IE n FҐ:w,StAF?YF?F<9Fg G٣y > Nusing accuracyPremultiplier from config59pk?5Y is?:r?@ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000375Ij&Ij3٢rZ> r7=9v:Q v>tt vG٣yj > Nusing accuracyPremultiplier from config%59i?%5Y iks)-}?-@@tE::"5]B ]A]"EZjDNOT Ignoring new targets: 54.40 m.RjBj`OJj`O ProNav: ac range: 54.400002 m, nav range: 38.488823 m, bearing: 340.842679 deg, approach rate: 0.213749 m/s, LOS rate: -0.725214 deg/s, cmd heading: 77.376741 deg, new cmd heading: 76.400394 deg. 2j HeadingCmd: 1.333438 target range: 54.400002 and range: 54.40 m. j ?j jjihhhhfffrf!bf%@ɛuBu&u q} Iy }<ɚyiyI} 2=I?ii =)?) I*F2F:FBFP0JFGUG=G1B9O]T>eWill construct direction to contact in vehicle frame from tetrahedron phase data.m?m4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254034A+:w,yAy[BIMb@Mb@Mb@ )Ygfffff?"~j?Zd;O?y3?S=j<A )I` AyAI?IT3٢|= :=9 Q  >   G٣QGy > %Nusing accuracyPremultiplier from config%59hh?-5Y ir-?-:-Y?-@DtE@;; 59 =[A9Zjq}DNOT Ignoring new targets: 54.40 m.RjyBj}gJj}g ProNav: ac range: 54.400002 m, nav range: 38.588783 m, bearing: 340.493281 deg, approach rate: 0.232262 m/s, LOS rate: -0.809735 deg/s, cmd heading: 76.400392 deg, new cmd heading: 75.355035 deg. 2j HeadingCmd: 1.315193 target range: 54.400002 and range: 54.40 m. jBX?jjjihhhhBfffrfbf@H>I IIIwBI =&I.I6IH<:I} FzK IMK s9K K K   =~.7872&BKpA:KqAɛB%@q !%lI! %<ɚ!i)I/3=IBX?iiK>)BX?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507374*F%2F):F)BF)JF) IG- L=G5 qAG5 rAG! B9 Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756350l2:w,ANu?YN?N/<9N5=yNHI?˛??@1S? Zs?\`?@L?ɨNu?NT&;NCyVrBVIiu?If5If3٢ny= n]=9rp:Q r>pp vG٣tyv2 v> ~Nusing accuracyPremultiplier from configx59zg? 5Yz iz]r  ? @zHtEz/;zy-;z5 A5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 54.40 m.RjABjMfJjMf] ProNav: ac range: 54.400002 m, nav range: 38.669312 m, bearing: 340.194909 deg, approach rate: 0.218312 m/s, LOS rate: -0.807197 deg/s, cmd heading: 75.355032 deg, new cmd heading: 74.461857 deg. 2j]~ eHeadingCmd: 1.299605 target range: 54.400002 and range: 54.40 m. jeqY?jajajiiihihihihqfffrfbf@ɛuBu|q y}醿Iy {=<ɚiI@3=IqY?ii=)qY?)*Fe2Fa:FaBFe`0JFaGEm=Jm|JmsJm1JiJm;g:Jm9Jm3JiJm֊;Jm׊;Jm<:Jm=:GB!O=Q>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:00:50.1442 TRx dataTimestamp_ set to:1736377251.356852checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009593 A II +8:w,cEA2h?Y2a:?2C<92G*=y2Hൽ?5@˥?Y?Q?@Ef?` "G??ɨ2h?2Hۑ;2!CynBnI)p pIz$Iz<3٢ =  J=9 J1Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%2g?-5Y%ָ i%q)-f?-@%KtE%:% :%l5=B =A9ZjaeDNOT Ignoring new targets: 54.40 m.RjiBjmgJjmg ProNav: ac range: 54.400002 m, nav range: 38.756149 m, bearing: 339.868023 deg, approach rate: 0.215110 m/s, LOS rate: -0.807925 deg/s, cmd heading: 74.461855 deg, new cmd heading: 73.483496 deg. 2j HeadingCmd: 1.282529 target range: 54.400002 and range: 54.40 m. j)?jjjihhhhfffrfbf  @ɛBf I w<ɚiI!4=I)?ii=))?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260449*F2F:FBF0JFG5 =H >I  I LII BI &I .I ?D6I )<:I g FzKm ANGy B  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 23:00:50.1442 LVL= 12688, 24881, 20690, 29811, AGC= 55, IDX= 409, 0.31, 0.976,-0.917,-0.269, 0.150, PHS= 0.914,-1.020,-0.422, RAW= 107.6, 6.2, CAL= 118.1, 3.8, ROT= 31.9, -3.8 = Ygot valid direction response: 23:00:50.1442 LVL= 12688, 24881, 20690, 29811, AGC= 55, IDX= 409, 0.31, 0.976,-0.917,-0.269, 0.150, PHS= 0.914,-1.020,-0.422, RAW= 107.6, 6.2, CAL= 118.1, 3.8, ROT= 31.9, -3.8 E PDAT read: Bearing 31.9, -3.8 (Local) M ~Local bearing/azimuth received: Bearing 31.9, -3.8 (Local) U DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.4 m/s ] ,DAT read: user:3003> e BDAT read: Tx time:23:00:51.2701 e $Ping request sent.e ܃c?y RB 1 1a P) stI 7i i? \ bؾ va? k= A@) ԇ=I Ӈ?i ԇ p[,?h`˿k.g?) ^I ޽i O) N  :publishing transmit ping timea  Fpublishing direction and range info 9 &Ϳ#;ۡȿ>܃c?y  ) I i ) I i p[,?h`˿k.g?) I O >Km h9Ki Km Km {laZMC<3*)nUSee=- RK >JK ?i }V>:w,%#A6v?Y6o?6A3<96k4=y6H?@|`??@0??>?[ƀ??ɨ6v?69;4 Iy=BE)IMb@Mb@Mb@ )Yx&1?Q?II MG٣UQGyU U> ]Nusing accuracyPremultiplier from configY59]f?5Y]Ұ i]=q=#?:?@]PtE]PC<]G<]5 AkY?ke k kF A:kRBBkPBZk d@"^'-4$N*WI@&Ϳ#;ۡȿ>܃c?JkO)RkN*@$@-D*d`tH@qƥ?ăcUutпnZM?"kW*k"Ak ?kcq 2kBk~b?kkBkAkƶ@% addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.528135 s, deltaX: -1.900002 m, approachRate: -0.538529 m/s, rangeRepo size: 4 5 Added new target pos. range: 52.500000 m, bearing: 306.874076 deg, lat: 36.905080 deg, lon: -122.119968 deg, deltaT: 3.528135 s, deltaX: -1.900002 m, approachRate: -0.538529 m/s, posRepo size: 4 Zj1=DNOT Ignoring new targets: 52.50 m.Rj9EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:23:00:51.2693 BjeJja} ProNav: ac range: 52.500000 m, nav range: 25.227297 m, bearing: 327.260505 deg, approach rate: 0.000000 m/s, LOS rate: -0.807925 deg/s, cmd heading: 73.483499 deg, new cmd heading: 72.218922 deg. 2jyHeadingCmd: 1.260458 target range: 52.500000 and range: 52.50 m. jV?jjjihhhhIBfffrf@J@bf ?ɛ-B-3 )-wI1 5f<ɚ1i1I5C5=I]V?iYi]A<>)]V?)a*F2F:FBF_0JFJ3K;m3 K;L.K3K3"K3J wJ vJ 0J J W:J ϣ9J ـ3J J z;J z;J :J :G !=G ?G ?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >@E:w,sAy BCII%I%(*٢5g= 5a=9=Q =>99 EG٣AyM M> UNusing accuracyPremultiplier from configQ]59Uf?]5YUȪ iUpYY]@UTtEUa;U ;U5i mAm EZjDNOT Ignoring new targets: 52.50 m.RjBj¼Jj¼ ProNav: ac range: 52.500000 m, nav range: 25.354816 m, bearing: 326.828858 deg, approach rate: 0.404021 m/s, LOS rate: -1.360700 deg/s, cmd heading: 72.218923 deg, new cmd heading: 70.930723 deg. 2juiHeadingCmd: 1.237975 target range: 52.500000 and range: 52.50 m. ju?jjjihhhhfffrfbf?ɛB0 lI u]<ɚ i I R6=Iu?iiį>)u?)! AIEh*F2F:FBFO5JFG]=G)B9OU2>Will construct direction to contact in vehicle frame from tetrahedron phase data.1K:w,'1A2?Y2/?2h;92 =y2H`?i`a?e? ?f8lm`*`??ɨ2?2:;2CyBBBSIiF=IFMT G٣yQ > Nusing accuracyPremultiplier from config59f?5Y9 ijpv2?:?@XtE;;5 vAZjDNOT Ignoring new targets: 52.50 m.RjBjJjHI IIIBI =&I.I6I+<:Ii FBICJICRIZI =bI =jI 55 ProNav: ac range: 52.500000 m, nav range: 25.512550 m, bearing: 326.288843 deg, approach rate: 0.383406 m/s, LOS rate: -1.304487 deg/s, cmd heading: 70.930722 deg, new cmd heading: 69.321140 deg. 2j5_=HeadingCmd: 1.209882 target range: 52.500000 and range: 52.50 m. j=kݚ?j9j9j9i9h9hAhAhEqBfIfIfIrfIbfU x?zKkOK9KKK  )8?@@;:95541/)%$%#!-254542.-+ɛB@ cI #1Q<ɚiI 7=Ikݚ?i Will construct direction to contact in vehicle frame from tetrahedron phase data.i F8>)kݚ?))= =G]tA*Fy2Fy:FyBF}@5JF 0YtAyc(B IG= J>GA GE nAG B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.nR:w,JA6iԒ?Y6a?6):96=y6H?@Q~?W??@z>RO?*?ɨ6iԒ?6N$;4yBȀBBfIIJIJV٢Rn= RY=9R'ѻQ V>TT VG٣VQGyZ: Z> ^Nusing accuracyPremultiplier from config\b59^f?b5Y^Z i^pdf?f@^]tE^:^7:^5h jAhMB*** querying acoustic contact ***jIjIZjyDNOT Ignoring new targets: 52.50 m.RjBjJj ProNav: ac range: 52.500000 m, nav range: 25.655947 m, bearing: 325.801043 deg, approach rate: 0.367233 m/s, LOS rate: -1.242241 deg/s, cmd heading: 69.321140 deg, new cmd heading: 67.866250 deg. 2j"UHeadingCmd: 1.184489 target range: 52.500000 and range: 52.50 m. jZ?jjjihhhhfffrfbf@(?ɛ=}B=I AEZIA EtF<ɚAiAIE87=IMZ?iIiMj+>)uZ?)q*F 2F :F BFP0JFG >J%zJ%sJ!J!J%`:J%9J!J!J%p;J%q;J%<:J%=:GBOA>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. i Iq !X:w,VdA6ؑ?Y6?6ݺ96\=y6H?D\?J??H@٢[?dd jG٣hyj j> rNusing accuracyPremultiplier from configlr59n>g?v5Ynڔ inotv?v@natEn:nX:nL5x zA|Zj%DNOT Ignoring new targets: 52.50 m.Rj!Bj-˿Jj-˿}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748894 ProNav: ac range: 52.500000 m, nav range: 25.812761 m, bearing: 325.272033 deg, approach rate: 0.400078 m/s, LOS rate: -1.341435 deg/s, cmd heading: 67.866249 deg, new cmd heading: 66.289280 deg. 2j'fHeadingCmd: 1.156966 target range: 52.500000 and range: 52.50 m. jx?jjjihhhhfffrfbf@z?ɛzBI= UI! -sR;<ɚIiQIUD8=Ix?ii;>)x?)*F2F:FBFJFHI IIIBI&I.I6I,<:I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000863zKU uMKU h9KQ KU KU (&% !%%   G (1>G B Ou > Y IY ^:w,~ABUQ?YBM?By49B=yBH`D?/,?5?t;?u&@f?`??ɨBUQ?Bd;B"CyJрBJrI)L LRARAEMb@Mb@Mb@AAA A)AYE(\?K7?MbPyEz4?EI >EEEA A)AIAAyEAI]8I]3٢e p< m?=9Q > G٣yۼ  > %Nusing accuracyPremultiplier from config559h?=5Yk iQoE7?M:M?M@ftE;;?5mB mAuEZjDNOT Ignoring new targets: 52.50 m.RjBjJj ProNav: ac range: 52.500000 m, nav range: 25.988474 m, bearing: 324.679358 deg, approach rate: 0.385362 m/s, LOS rate: -1.291005 deg/s, cmd heading: 66.289281 deg, new cmd heading: 64.523869 deg. 2j]HeadingCmd: 1.126154 target range: 52.500000 and range: 52.50 m. j%?jjjihhhhBfffrfbf`@ɛwB2 8b=RI ./<ɚiI&8=I%?i!i%EK>)%%?)!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252843*F2F:FBFJFGA#>GiBqO}>*J R="J R=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504729e:w,A6f?Y6^֪?696 =y6H?y` ?`??<^p?p?J?ɨ6f?65;6 CyrˀBrjII~/I~3٢6 Q=9WQ > G٣%QGy%V %> -Nusing accuracyPremultiplier from config)559-i?=5Y-b i-&oAEe?E@-ktE-|;-Q;-5a eAiZjDNOT Ignoring new targets: 52.50 m.RjBjJj ProNav: ac range: 52.500000 m, nav range: 26.134167 m, bearing: 324.186715 deg, approach rate: 0.391283 m/s, LOS rate: -1.315686 deg/s, cmd heading: 64.523868 deg, new cmd heading: 63.054519 deg. 2jaHeadingCmd: 1.100509 target range: 52.500000 and range: 52.50 m. jz݌?j j j i hhhhfffrfbf`@ IhɛtB%J !%qTI! %$<ɚ!i)IEGp9=IUz݌?iQi]*qT>)]z݌?)a*F2F:FBF^0JFG:>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761793O>%l:w,rA6 ?Y6I?6uC96[=y6H r?O ??Ag?^@ fw?@k*??ɨ6 ?6;6CyNɀBNgIJ}vJ}rJyJyJ}{T:J}9JyJya@a@a@a@ZHRHH>I III)BI =&I.I6In<:I F-Mb@Mb@Mb@))) )))Y-On?Pn?~jty-8?->-D-/A - A)-vAI))y-AI(I̍3٢( 3=9{Q > G٣yټ > Nusing accuracyPremultiplier from config59k?5Y| i?o;?:?@ptE;;5 A Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:00:53.7419 TRx dataTimestamp_ set to:1736377254.888763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013930Zj!%DNOT Ignoring new targets: 52.50 m.zKeNMKe9KaKeKe !    RjBj¼Jj¼ ProNav: ac range: 52.500000 m, nav range: 26.311321 m, bearing: 323.568936 deg, approach rate: 0.393451 m/s, LOS rate: -1.362793 deg/s, cmd heading: 63.054517 deg, new cmd heading: 61.214325 deg. 2jiHeadingCmd: 1.068392 target range: 52.500000 and range: 52.50 m. j?jjjihhhhBfffrfbf`)v@ɛqB7 TI m<ɚiI:=I?ii#e>)?) I*FY2FY:FYBFe_0JFaG= :>GA GE rA Will construct direction to contact in vehicle frame from tetrahedron phase data. > = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265825G1 BA O] >r:w,>AA6zA?Y6r?696sÀB>`IiB=IBp;IJ!IJi3٢R Rr=9RQ V?TT VG٣TyZ) Z? ^Nusing accuracyPremultiplier from config\b59^l?b5Y^ v i^Mo`f6?f@^ttE^G;^G;^V5l n$AlzB*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 52.50 m.Rj Bj X¼Jj X¼% ProNav: ac range: 52.500000 m, nav range: 26.441593 m, bearing: 323.112583 deg, approach rate: 0.389949 m/s, LOS rate: -1.359277 deg/s, cmd heading: 61.214327 deg, new cmd heading: 59.852286 deg. 2j%7i%HeadingCmd: 1.044619 target range: 52.500000 and range: 52.50 m. j-?j)j)j)i)h)h)h1h1f1f1frfbf@` @ɛoBk VI c<ɚiI\:=I?iim>)%?)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523478Exr=*F2F:FBFJF IGG>G B O >y:w,~A6Cm?Y6   G٣ y   > Nusing accuracyPremultiplier from config59]o?%5Y$n i[o!%`?%@ytE ; ;'51 5A5EZjYeDNOT Ignoring new targets: 52.50 m.RjaBjmJjmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:00:53.7419 LVL= 15040, 26289, 24626, 32755, AGC= 58, IDX= 418, 0.05,-2.795, 1.531, 1.910, 2.495, PHS= 1.082,-0.917,-0.588, RAW= 98.8, 4.6, CAL= 108.6, 2.9, ROT= 41.4, -2.9 Ygot valid direction response: 23:00:53.7419 LVL= 15040, 26289, 24626, 32755, AGC= 58, IDX= 418, 0.05,-2.795, 1.531, 1.910, 2.495, PHS= 1.082,-0.917,-0.588, RAW= 98.8, 4.6, CAL= 108.6, 2.9, ROT= 41.4, -2.9 PDAT read: Bearing 41.4, -2.9 (Local)  ProNav: ac range: 52.500000 m, nav range: 26.600679 m, bearing: 322.551509 deg, approach rate: 0.382923 m/s, LOS rate: -1.342417 deg/s, cmd heading: 59.852285 deg, new cmd heading: 58.179631 deg. 2jRf HeadingCmd: 1.015426 target range: 52.500000 and range: 52.50 m. j |?j j j i~Local bearing/azimuth received: Bearing 41.4, -2.9 (Local) -DAT read: Range 10 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.4 m/s h1h9h9h9fAfAfIrfIbfM`{@,DAT read: user:3004> BDAT read: Tx time:23:00:54.8201 $Ping request sent.)=|?)aE]`=JxJJJH>IC III =&I.I6I<:I FJZ:JJJJ ;aJ ;aJ:aJ:a*F2F:FBFp0JFG3kb>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B zK ~MK 59K K K   RK ?JK >O > I @:w,AynBnHIMb@Mb@Mb@ )Y/$?n?~jty&1?V>ļA ) AIAyI5I5̍٢eƼ m5=9uQ u> G٣QGy > Nusing accuracyPremultiplier from config59|q?5Ye io4?:$?@~tE;3;* 5B AEḳ?knv k k>A:kJBBkrIBZkϢ@"l"2bO%H@:iǿ&XRi?Jk-:Rkǃ*ط!;?`$s,H@0) G?8z^ʿ *O?"k'*k?k+1#?kx 2kBk j?kkBk5AkJs@ addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.784509 s, deltaX: -1.799999 m, approachRate: -0.475623 m/s, rangeRepo size: 4 - Added new target pos. range: 50.700001 m, bearing: 273.293663 deg, lat: 36.905053 deg, lon: -122.119968 deg, deltaT: 3.784509 s, deltaX: -1.799999 m, approachRate: -0.475623 m/s, posRepo size: 4 Zj15DNOT Ignoring new targets: 50.70 m.Rj1Bj=Jj9m ProNav: ac range: 50.700001 m, nav range: 24.526020 m, bearing: 317.723615 deg, approach rate: 0.000000 m/s, LOS rate: -1.342417 deg/s, cmd heading: 58.179633 deg, new cmd heading: 56.214196 deg. 2jiuHeadingCmd: 0.981123 target range: 50.700001 and range: 50.70 m. ju*{?jqjqjqiqhyhyhyh}hBfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfYI@bf8=?ɛiBbT \I b;ɚiI;=I%*{?i!i- >)-*{?))E1E1*E1"E1*Fe 2Fa :Fa BFe o0JFa = Will construct direction to contact in vehicle frame from tetrahedron phase data.G0d>G?G ? $?IhGaBO?Ӈ:w, AJG?YJ>O?J5b9J9pt vG٣tyvݽ z> ~Nusing accuracyPremultiplier from configx~59zt?5Yz<] izp?@ztEz:ze:z% 5 BAZj9EDNOT Ignoring new targets: 50.70 m.RjABjMʼJjMʼ] ProNav: ac range: 50.700001 m, nav range: 24.710770 m, bearing: 317.115823 deg, approach rate: 0.434443 m/s, LOS rate: -1.418525 deg/s, cmd heading: 56.214195 deg, new cmd heading: 54.405087 deg. 2j]aseHeadingCmd: 0.949548 target range: 50.700001 and range: 50.70 m. jes?jajajaiahahihqhqfqfqfqrfybf}R?ɛgBČb 隥zcI) Ms(;ɚIiIIMC<=IUs?iQiUq>)Us?)Y*F2F:FBF@5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBOeV>jH] <bH] 4<He >Ia  Ie IIe BIe  =&Ia .Ia 6Ie <:Ie FJ vJ wJ 1J J {T:J 9J 3J J Gu;J Ju;J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data.1:w,:A6Uɀ?Y6L?6ex964A )I AIvAy AII٢~ ?=9EQ > G٣QGy@* > Nusing accuracyPremultiplier from config59x?5YU ip)?:?@tEn;;5 A IZjDNOT Ignoring new targets: 50.70 m.RjBj%఼Jj%఼ ProNav: ac range: 50.700001 m, nav range: 24.875666 m, bearing: 316.581288 deg, approach rate: 0.384180 m/s, LOS rate: -1.237102 deg/s, cmd heading: 54.405086 deg, new cmd heading: 52.812544 deg. 2j@T5HeadingCmd: 0.921753 target range: 50.700001 and range: 50.70 m. j5k?j1j1j1i9h9h9h9hE*BfAfAfArfAbfM` ?ɛdB?] 2lI /;ɚiI<=I%k?i!i% >)%k?)*Fe2Fa:FaBFeP5JFaG5>eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>ߔ:w,rTA6P{?Y6 ?6`96nOh;y6H?̈́Z`??ӌ$?6 m?-?ɨ6P{?6i;6CyNyBNIIVAIVk3٢^:ǽ ^[=9bx;Q b>`` fG٣dyf f> jNusing accuracyPremultiplier from confighn59j`{?r5Yj`O ij,qpr?r@jtEj ;j~ ;j5t vyAzEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 50.70 m.Rj)Bj-Jj-𱼝E ProNav: ac range: 50.700001 m, nav range: 25.016350 m, bearing: 316.113413 deg, approach rate: 0.376339 m/s, LOS rate: -1.244541 deg/s, cmd heading: 52.812546 deg, new cmd heading: 51.417108 deg. 2jEUMHeadingCmd: 0.897398 target range: 50.700001 and range: 50.70 m. jMݻe?jIjIjIiQhQhQhQhYfYfYfarfabfe@?ɛaBz 隕jtI <գ;ɚiIiu==Iݻe?ii)ݻe?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFP0JF IGPd>GGpAGBO5 >m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972406Y:w,gnAsvu?Y1? L97ܹyHxh?@ u )? i?@?`8? m;@]?ɨsvu?R;騥!CynBIi,>I> a==Mb@Mb@Mb@ )YQ?i|?5?ly?= A ` A)I` Ay AIGI3٢. "=9$;Q > G٣yB > Nusing accuracyPremultiplier from config59:?5YG i!r?:m?@tED;:;5 AHI IIIBI&I.I6Ij<:I FBIëCJIëCRIZI =bI =jI25JExJErJE0JAJEZ:JE9JEـ3JAJE ;JE ;JE:JE:ZjaeDNOT Ignoring new targets: 50.70 m.RjiBjmJjm ProNav: ac range: 50.700001 m, nav range: 25.180851 m, bearing: 315.538421 deg, approach rate: 0.321293 m/s, LOS rate: -1.115681 deg/s, cmd heading: 51.417107 deg, new cmd heading: 49.703938 deg. 2jk?HeadingCmd: 0.867497 target range: 50.700001 and range: 50.70 m. jO^?jjjihhhhBfffrf)bfMb@vAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224190 s"YvAy-BɛU^BU7[ Y]xIY ] m;ɚYiYIe5>=IO^?ii)O^?)zK RKK 9K K K  Ih*F2F:FBF4JFG- >G B O- >c:w,KAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475431J]Do?YJ&?Jx/9J8 yJH`A?F{g}F?`:?@[? &pv?ɨJ]Do?J;J CyV]BVII^3I^ʴ3٢fʽ ft=9fs;Q j?ll nG٣nQGyrg r? vNusing accuracyPremultiplier from configtz59vރ?z5YvnB ivr|~N?~@vtEv-;v;vQ5 YAZj)-DNOT Ignoring new targets: 50.70 m.Rj)Bj5vJj5vE ProNav: ac range: 50.700001 m, nav range: 25.287937 m, bearing: 315.152764 deg, approach rate: 0.328561 m/s, LOS rate: -1.178251 deg/s, cmd heading: 49.703939 deg, new cmd heading: 48.552030 deg. 2jE'JMHeadingCmd: 0.847393 target range: 50.700001 and range: 50.70 m. jMX?jIjQjQiQhQhQhYhafafafarfibfmv@ɛ\B =隝I >0\;ɚiI>=IX?ii)X?)I*F2F:FBF]0JFG8U>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:00:57.2900 TRx dataTimestamp_ set to:1736377258.417111checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729297GBOM >  I 9:w,}ͣA2]i?Y2?292mדy2H A?s? jB???`[?zR`?ɨ2]i?2;2CyB@BBIIJ>IJ3٢R VM=9V;Q V>XX ZG٣XyZ=| ^> fNusing accuracyPremultiplier from config`f59b?j5YbZ< ibshj3?j@btEb:bX:b5p r?ApZj  DNOT Ignoring new targets: 50.70 m.Rj Bj주Jj주% ProNav: ac range: 50.700001 m, nav range: 25.411263 m, bearing: 314.693635 deg, approach rate: 0.309463 m/s, LOS rate: -1.146498 deg/s, cmd heading: 48.552031 deg, new cmd heading: 47.181606 deg. 2j%D-HeadingCmd: 0.823474 target range: 50.700001 and range: 50.70 m. j-7R?j)j)j)i)h1h1h1h1f9f9f9rfAbfE@ɛYBw(  G ?G>ZH1 RH5 AAHE >IA  IE fIIE ȀBIA &IA .IA 6IE P<:IE FG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235270V:w,ZAzK>iJK>59K<K> \I\K>b?Y?Hһ9#;yHa?d?d?Ӵ?@#SIz?Xx?@?ɨb?q;騵 Cy2BI) Mb@Mb@Mb@ )Y#~j?MbX?~jty?= A  A)I Ay( AIWI44٢Nd +=9;Q > G٣yX > Nusing accuracyPremultiplier from config59?5Y5 it?:?@tE{;;#5 AZjDNOT Ignoring new targets: 50.70 m.RjBj%Jj%5 ProNav: ac range: 50.700001 m, nav range: 25.536648 m, bearing: 314.198008 deg, approach rate: 0.250075 m/s, LOS rate: -0.983637 deg/s, cmd heading: 47.181605 deg, new cmd heading: 45.702373 deg. 2j5(=HeadingCmd: 0.797657 target range: 50.700001 and range: 50.70 m. j=>3L?j9jYjihhhh%Bf!f!f!rf!bf- @ɛUB% )-I) -)e:ɚ1iQIU@=I]>3L?iYiY)]>3L?)aEm]>Ei}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiyDAT read: 23:00:57.2900 LVL= 12992, 24481, 21570, 29731, AGC= 52, IDX= 413,-0.00, 1.967,-0.018,-0.014, 0.840, PHS= 1.215,-0.811,-0.857, RAW= 88.9, 4.5, CAL= 95.9, 3.1, ROT= 54.1, -3.1 Ygot valid direction response: 23:00:57.2900 LVL= 12992, 24481, 21570, 29731, AGC= 52, IDX= 413,-0.00, 1.967,-0.018,-0.014, 0.840, PHS= 1.215,-0.811,-0.857, RAW= 88.9, 4.5, CAL= 95.9, 3.1, ROT= 54.1, -3.1 PDAT read: Bearing 54.1, -3.1 (Local) ~Local bearing/azimuth received: Bearing 54.1, -3.1 (Local) MDAT read: Range 10 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.4 m/s U,DAT read: user:3005> ]BDAT read: Tx time:23:00:58.3702 ]$Ping request sent.]?)}k]=I}q?i}k]yy}ޘp3P?1C|Jp?)} I}i}ڰ@}yy:publishing transmit ping timeY Fpublishing direction and range infoy9};@yvſpY?D?yyyyy y)yIyiyyyyy y)yIyiyyy}ޘp3P?1C|Jp?)yIyiyyyy*F2F:FBFP0JFJ J J J uJ J J J 9J J a @a @a @a @G- @Z>GB-Will construct direction to contact in vehicle frame from tetrahedron phase data.O5>:w,AZ[?YZk3?Zi9ZwJgI~3٢- -G=9-;Q ->11 5G٣5QGy=L => ENusing accuracyPremultiplier from configAM59E?M5YEo0 iEuQUD?U@EtEE;E;E5Y ]A]Ekq ?kVͫ k kJA:kDBBk|CBZkg@",n Ɛ@s] H@;@yvſpY?D?Jkڰ@Rk*#"BWUH@wxBcǿ,Zǹw?uN?"kږ*kk?k? 2koBk ?kcq kkɥAk0@ addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.531973 s, deltaX: -1.500000 m, approachRate: -0.424692 m/s, rangeRepo size: 4 $?Ih Added new target pos. range: 49.200001 m, bearing: 207.534995 deg, lat: 36.904980 deg, lon: -122.119966 deg, deltaT: 3.531973 s, deltaX: -1.500000 m, approachRate: -0.424692 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 49.20 m.RjBjJj ProNav: ac range: 49.200001 m, nav range: 20.723360 m, bearing: 297.562492 deg, approach rate: 0.000000 m/s, LOS rate: -0.983637 deg/s, cmd heading: 45.702374 deg, new cmd heading: 44.550113 deg. 2jHeadingCmd: 0.777546 target range: 49.200001 and range: 49.20 m. jD G?jjjihhh h f f f rfH@bf ?ɛERBE AEIA M:ɚIiIIM)UD G?)YE0f=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]R0JFYG 8U>HA IA  IE -IIE BIE  =&IA .IA 6IE X<:IE FGa Bq O >V:w,AR*V?YRlS?RQ)º9RMh=MM A M3 A)M AIM AIiMIm$Im<3٢}ǽ }4=9}[;Q }> G٣ySJ > Nusing accuracyPremultiplier from config59*?5YF+ iiv>:P?@tE;S;5 AEWill construct direction to contact in vehicle frame from tetrahedron phase data.MB*** querying acoustic contact ***jIjIZjQDNOT Ignoring new targets: 49.20 m.RjBjFJjF ProNav: ac range: 49.200001 m, nav range: 20.863689 m, bearing: 297.135661 deg, approach rate: 0.301591 m/s, LOS rate: -0.911152 deg/s, cmd heading: 44.550114 deg, new cmd heading: 43.278453 deg. 2jTHeadingCmd: 0.755351 target range: 49.200001 and range: 49.20 m. j^A?jjjihhhhfffrfbfE?ɛ%NB%k )-EI) -6ɚ)i)I-B=I5^A?i1 Ii5>)^A?zK2KK9KKK%O YeFlO6$ RK ?JK>)EW^=*FM2FI:FIBFM_0JFI} Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Gu >Gy G} nAGI BQ Om >3:w,ZA6vO?Y63?6;967 %G٣!y% %> -Nusing accuracyPremultiplier from config)559-ğ?55Y-& i-)w9=,?=@-tE- ;- ;-5A MAIZjq}DNOT Ignoring new targets: 49.20 m.RjyBj}`Jj}` ProNav: ac range: 49.200001 m, nav range: 20.981085 m, bearing: 296.767967 deg, approach rate: 0.315234 m/s, LOS rate: -0.981813 deg/s, cmd heading: 43.278452 deg, new cmd heading: 42.181684 deg. 2js(HeadingCmd: 0.736209 target range: 49.200001 and range: 49.20 m. j6x)6xG B1 OU >_:w,+A"Will construct direction to contact in vehicle frame from tetrahedron phase data. i &checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483502B)I?YBҀ?BY;9Bdd jG٣jQGyjp j> rNusing accuracyPremultiplier from configlr59nХ?v5Yn" inwtv?v@ntEnz:n:nU5x zA|Zj!%DNOT Ignoring new targets: 49.20 m.Rj!Bj5TJj5T ProNav: ac range: 49.200001 m, nav range: 21.097755 m, bearing: 296.390465 deg, approach rate: 0.296328 m/s, LOS rate: -0.953497 deg/s, cmd heading: 42.181684 deg, new cmd heading: 41.055594 deg. 2j#HeadingCmd: 0.716555 target range: 49.200001 and range: 49.20 m. j+p7?jjjihhh!h!f!f!f!rf)bf-I/?ɛHB*> kI ɚ iI+D=IU+p7?iYi])]+p7?)aHIC IIIwBI =&I.I6Io<:I F*F2F:FBFS5JFG4>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735129 i Ii zK= NK= 9K9 K= K=  #+,.-,**(''&&##" BKM pA:KM oA\F:w,XEA>6#A?Y>&y?>ES<9> H`!? w? [|? ?z@x_? x?ɨ>6#A?> ;94=ļI A  A)I Ay AI@I3٢ ==9n G٣y > Nusing accuracyPremultiplier from config59?5Ys ixj>;?@tE;C;: 5  A Zj9EDNOT Ignoring new targets: 49.20 m.RjABjMwJjMw ProNav: ac range: 49.200001 m, nav range: 21.200760 m, bearing: 296.006690 deg, approach rate: 0.233833 m/s, LOS rate: -0.866977 deg/s, cmd heading: 41.055594 deg, new cmd heading: 39.910027 deg. 2jHeadingCmd: 0.696561 target range: 49.200001 and range: 49.20 m. j Q2?jjjihh!eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990408hyhOBfffrfbf`2@ɛuDBu qu#Iy }\SɚyiyI}'F=IQ2?iiu>)Q2?)*FY2FY:FYBFe@5JFaJ xJ uJ J J Z:J 9J J G 3r>G ?G 7? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239752Gy B O > Y IY :w,0_ANo9?YNq?NW<9N>=yNH`?w`ڳ?`q??+k`*q&?|?ɨNo9?Nˌ;LyZBZxIIf0If(3٢n焻 nT=9rvpp rG٣tyvڟ v> zNusing accuracyPremultiplier from configx~59z'?~5Yz iz{y)?@ztEzT ;z ;z!5 B A EZjAEDNOT Ignoring new targets: 49.20 m.RjABjMcJjMc ProNav: ac range: 49.200001 m, nav range: 21.289318 m, bearing: 295.661368 deg, approach rate: 0.233052 m/s, LOS rate: -0.904971 deg/s, cmd heading: 39.910028 deg, new cmd heading: 38.878489 deg. 2jDHeadingCmd: 0.678558 target range: 49.200001 and range: 49.20 m. j-?jjjih h h h fQfQfQrfQbf]t*@ɛABk =I JEɚiIeG=I-?iik>)-?)ErAErA*F2F:FBFP0JFG]U;>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491564G9BQOmV>H >I  I II ]BI &I .I 6I x<:I F:w,"yA:1?Y:=j?:<9: =y:H@߁?TX?Z? ?*PV:q:??ɨ:1?:;8yFBFIUMb@Mb@Mb@QQQ Q)QYUT㥛 ?{Gz?Uף G٣QGyM > Nusing accuracyPremultiplier from config59ݺ?5Y] i6z> ;;x?@tE;;#5 AB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 49.20 m.Rj)Bj5WwJj5WwE ProNav: ac range: 49.200001 m, nav range: 21.370407 m, bearing: 295.285366 deg, approach rate: 0.187253 m/s, LOS rate: -0.864975 deg/s, cmd heading: 38.878489 deg, new cmd heading: 37.754914 deg. 2jEgMHeadingCmd: 0.658948 target range: 49.200001 and range: 49.20 m. jMɰ(?jIjIjQiQhQhYhYh]bBfYfafarfabfe`6h@ $?IɛU=B]uء Y]IY ]}ɚaiaIeH=Ieɰ(?iiimc>)mɰ(?)zK׀MKKKK)B")00*$   *--**'&%%#"" RK>JK ?*Fa2Fa:FaBFaJFi= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 U BDAT read: Rx Time:23:01:00.8382 e TRx dataTimestamp_ set to:1736377262.205057m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002387G Yv>G G rAGa Bi O >:w,lAy~B~II%&I%3٢=ɼ EN=9MQ M>QQ ]G٣Yye e> Nusing accuracyPremultiplier from configq59u?5Yu  iuz@utEu +;u*;u%5 AZjDNOT Ignoring new targets: 49.20 m.RjBj%|sJj%|s5 ProNav: ac range: 49.200001 m, nav range: 21.445898 m, bearing: 294.941601 deg, approach rate: 0.187649 m/s, LOS rate: -0.851487 deg/s, cmd heading: 37.754912 deg, new cmd heading: 36.727365 deg. 2j5=HeadingCmd: 0.641013 target range: 49.200001 and range: 49.20 m. j=u$?j9jAjAiAhAhAhIhIfIfIfIrfQbfU@o @ɛ}:Bt 隅TI )}ɚiI&J=Iu$?iiu>)u$?)J={J9J9J9J=d:J9J9J9*F 2F :FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248269G p> IGBOY>= Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,GA:DAT read: 23:01:00.8382 LVL= 9344, 20321, 15138, 22899, AGC= 55, IDX= 427,-0.14,-0.505,-2.119,-2.933,-1.652, PHS= 1.235,-0.420,-1.284, RAW= 70.3, 4.3, CAL= 72.7, 3.4, ROT= 77.3, -3.4 >Ygot valid direction response: 23:01:00.8382 LVL= 9344, 20321, 15138, 22899, AGC= 55, IDX= 427,-0.14,-0.505,-2.119,-2.933,-1.652, PHS= 1.235,-0.420,-1.284, RAW= 70.3, 4.3, CAL= 72.7, 3.4, ROT= 77.3, -3.4 RPDAT read: Bearing 77.3, -3.4 (Local) R~Local bearing/azimuth received: Bearing 77.3, -3.4 (Local) ZDAT read: Range 10 to 50 : 47.9 m (Round-trip 63.9 ms) speed 0.1 m/s ^,DAT read: user:3006> z"?Yz([?zG=9z"=BDAT read: Tx time:23:01:01.9202 $Ping request sent. G٣y6 > Nusing accuracyPremultiplier from config59ː?5Y i{&i?@H->I) I-II-SBI- =&I).I)6I-T<:I- FBIĪCJIĪCRIZI =bI =jIC|5tE<<'5q usAqkmɝ ?kmA  )F= ]C1MtAaki km A:km?B %YtAyOBBkmQ>BZkmne*@"mcaXr4@(`E@m,g"6v;?,r?JkmS?Rkm3+*mjG1IJ"@ېE@m+^-׿ֳ7o?ݵ ?"kmPA*kmЌkmxò?kmz+ 2kmNBkm+1#?kmx km;Bkm+[Akm%@= addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 3.527490 s, deltaX: -1.299999 m, approachRate: -0.368534 m/s, rangeRepo size: 4 M Added new target pos. range: 47.900002 m, bearing: 152.546615 deg, lat: 36.904896 deg, lon: -122.119900 deg, deltaT: 3.527490 s, deltaX: -1.299999 m, approachRate: -0.368534 m/s, posRepo size: 4 ZjIUDNOT Ignoring new targets: 47.90 m.RjQBj}Jjy ProNav: ac range: 47.900002 m, nav range: 13.698021 m, bearing: 268.022432 deg, approach rate: 0.000000 m/s, LOS rate: -0.851487 deg/s, cmd heading: 36.727365 deg, new cmd heading: 35.290508 deg. 2jHeadingCmd: 0.615936 target range: 47.900002 and range: 47.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. j?jjjihhhhfffrf@3G@bf ?ɛ4Bq 隝{I ɚiI,L=I?iiuT>)? Ih)zKe }MKe @9Ka Ke Ke BKm qA:Km qAE ;=*F2F:FBFU5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G:d>G?G>GBO&?=p:w,xA>?Y>_M?>29=9>Hd8?@@(?R?B?5?>.? ?ɨ>?>,4;> CyF+BFI%Mb@Mb@Mb@!!! !)!Y%Zd;?Mb?Mby%>%<%% A % A)%` AI%zA!y% AI=I=T3٢My= M=9MQQ UG٣UQGy]yͽ e>JJ Nusing accuracyPremultiplier from config 59 א?5Y   i |>;R?@ tE ; ; 2*5! %A- EZjQUDNOT Ignoring new targets: 47.90 m.RjQBj]Jj] ProNav: ac range: 47.900002 m, nav range: 13.856058 m, bearing: 267.460697 deg, approach rate: 0.317987 m/s, LOS rate: -1.117357 deg/s, cmd heading: 35.290508 deg, new cmd heading: 33.625021 deg. 2j?HeadingCmd: 0.586867 target range: 47.900002 and range: 47.90 m. j<?jjjihhhhsBfffrfbf?-Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ0B  I D )I)ɚ)i)I-N=I5<?i1i5OA>)=<?)9E>=*F2F:FBF4JFGm[>GIBQOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.-:w,=A61/?Y6G?6uM=96dh jG٣hyjl j> rNusing accuracyPremultiplier from configlr59nߐ?v5Yn  ing}tvPM?v@ntEn:nz:n+5x ~A|ZjQ}DNOT Ignoring new targets: 47.90 m.RjBjJj= ProNav: ac range: 47.900002 m, nav range: 13.957951 m, bearing: 267.091592 deg, approach rate: 0.252982 m/s, LOS rate: -0.909729 deg/s, cmd heading: 33.625021 deg, new cmd heading: 32.525933 deg. 2j=}HeadingCmd: 0.567685 target range: 47.900002 and range: 47.90 m. jS?jH>I III]BI&I.I>D6IF<:I| Fjjihhhhfff rf bf ?ɛu+B}ɡ y}z{Iy }ɚiIO=IS?iit]@>)S?)EE*E"EJK K S}-KK"KJzJwJJJ`:J9JJJp;aJq;aJ:aJ:aEWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IzK% m$JK% 9K! K% K% N<.i V. *F 2F :F BF B5JF G !U> Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>L;w,9AJ+ ?YJB?J`=9JIMף;MI M A)MAIIIyM\ AIeIeb٢= =9 G٣y * > Nusing accuracyPremultiplier from config 59 쐜?5Y  i /~T>;)" ?)E*FY2FY:FaBFeP0JFaG5N>GB!O5P>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IIQ: ;w,)AJ8?YJ;?Jw=9Jf =yJH`?`'[@qA?`?`?z?@?`8? f?ɨJ8?J8B;HyfeBfIIzIzm?3٢= Z=9 r  G٣QGyj > %Nusing accuracyPremultiplier from config%59?-5Y i~)->?-@tE::/5=B =)A=EZjamDNOT Ignoring new targets: 47.90 m.RjqBj}.Jj}. ProNav: ac range: 47.900002 m, nav range: 14.222654 m, bearing: 266.086955 deg, approach rate: 0.289866 m/s, LOS rate: -1.106340 deg/s, cmd heading: 30.776839 deg, new cmd heading: 29.541897 deg. 2j=HeadingCmd: 0.515603 target range: 47.900002 and range: 47.90 m. j?jjjihhhhfffrfbf @ɛ#B0Ɩ  ˯=+_I U(ɚiIES=I?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980108ii1D>)?)*F2F:FBF_0JFHI IIIwBI&I.I6IM<:I FGA>JU{JUyJQJQJUd:JU9JQJQJU#;JU$;JU:JU:GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231922 A II ;w,}CAzK>OK>K9K<K>K> 6yX^&' sQ*rFq]F0  ~ytpypBIMb@Mb@Mb@ )Y333333?I +?~jtx?y>9<;vA zA)AIAy AI!Ii3٢X= >=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iM>:H?@tE;;15 AZj)-DNOT Ignoring new targets: 47.90 m.Rj1Bj5PJj5PE ProNav: ac range: 47.900002 m, nav range: 14.360728 m, bearing: 265.607471 deg, approach rate: 0.321953 m/s, LOS rate: -1.107270 deg/s, cmd heading: 29.541897 deg, new cmd heading: 28.117585 deg. 2jM=eHeadingCmd: 0.490744 target range: 47.900002 and range: 47.90 m. jeB>jajijiiihyhyhh́Bfffrfbf;@ɛMBU QU.WIQ U 4ɚYiYI]U=I]B>iaie\>)eB>)a Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485306*F2F:FBF^0JFG GG E>G ?G >G B O >4;w,]A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735847:P>Y::>;:CyVBZIi^>I^<Ib'Ib@3٢jL> j\=9j r$?Iptx zG٣xyz z> Nusing accuracyPremultiplier from config 59 ? 5Y i  Ujqjqjyiyhyhyhyhfffrfbf@ɛB FI (?ɚiIV=I>ii|@>)>)EqAE*F2F:FBFo0JFGe}I>GB1OmW>Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:01:04.3875 -TRx dataTimestamp_ set to:1736377265.730077=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992023B;w,wAHV>IT IV4IIVBIT&IT.IT6IVD<:IVx Fg>Y/)?sW=9 7=yH3?@B??@L?C? ?s?ɨg>jo;騥Cy޽B޽6IJyJ{JJJ]:J-9JJJ;J;J:J:Mb@Mb@Mb@ )Yq= ףp?J +?{Gzt?y>H=ף;A  A)AIMAy AI(I̍3٢= .=9;Q > G٣QGyN > Nusing accuracyPremultiplier from config59?5Y iJ>:=D?@tE3;M;J55B OAEZj)5DNOT Ignoring new targets: 47.90 m.Rj1Bj5%Jj5%E ProNav: ac range: 47.900002 m, nav range: 14.639440 m, bearing: 264.617889 deg, approach rate: 0.364480 m/s, LOS rate: -1.231988 deg/s, cmd heading: 26.830168 deg, new cmd heading: 25.178526 deg. 2jM`SMHeadingCmd: 0.439448 target range: 47.900002 and range: 47.90 m. jMZ>jQjY}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244199 IjYihh!h!h%Bf!f)f)rf)bf-qi @ɛuBt 隝:I JɚiIX=IZ>iiI>)Z>)zKOK9KKKmhc__[VOLIE@=<96641-**('%!""! RK?JK>ED=*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: Range 10 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.0 m/s = ,DAT read: user:3007> E BDAT read: Tx time:23:01:05.4702 E $Ping request sent.E GaGaGQBO?%;w,lA&y>Y?v=9)1=yH ?d?p?&?}?`Ͳ ? ; Cy%B=FIIM&IM3٢]f= ]/=9e;Q e>ii mG٣iymĽ u> }Nusing accuracyPremultiplier from configq}59uw%?5Yu iu8?@utEum ;uG ;uS75B AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.528818 s, deltaX: -0.500000 m, approachRate: -0.141691 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 47.90 m.RjBjpJjp ProNav: ac range: 47.900002 m, nav range: 14.796949 m, bearing: 264.046607 deg, approach rate: 0.338063 m/s, LOS rate: -1.213067 deg/s, cmd heading: 25.178526 deg, new cmd heading: 23.483447 deg. 2j!PHeadingCmd: 0.409863 target range: 47.900002 and range: 47.40 m. j>jjjihhhhff f rf @3G@bf ^?ɛ=B=Ys AE#2IA E%TɚAiIIMZ=IM>iQiU֏:>)U>)Q-Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:01:05.4694 5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. $?IE"=*FQ2FQ:FQBFUm0JFQG-V>G BO-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498422 +;w,"A:z->Y:?:=9:1=y:Hr? f2?? ?.r?,??ɨ:z->:C؋;:!Cy~ƀB~cI) II(1٢%= -O=9-YQ ->11 5G٣1y5d => ]Nusing accuracyPremultiplier from configQm59UK1?m5YU iUiu"3?u@UtEU4s;UlK;U95 AEZjDNOT Ignoring new targets: 47.90 m.RjBjꟼJjꟼHu~>IuC IufIIuȀBIu =&Iq.Iq6IuL<:Iu| F ProNav: ac range: 47.900002 m, nav range: 14.929588 m, bearing: 263.557835 deg, approach rate: 0.306248 m/s, LOS rate: -1.118477 deg/s, cmd heading: 23.483447 deg, new cmd heading: 22.030487 deg. 2j?HeadingCmd: 0.384505 target range: 47.900002 and range: 47.40 m. j>jjjihhhhfffrfbf-?ɛUBU: a QU$IY ]l^ɚYiYI] \=Ie>iaieq>>)>)EE*E"EJJyJJJs:J9JJJ;J;J:J:EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750641 I*F 2F :F BF ^0JF zK NK 9K K K  BK :K oA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002166G \J>G?G ?GBO>S,4;w,A2>Y2c?2*ѓ=927=y2H`?@E.8? Z9??y? v ɣ??ɨ2>2o;2#Cy>ҀB>rIMb@Mb@Mb@ )YV-?I +?Mb`?y|>9=; )EAIAy AII̍٢h== !=9Q > G٣QGyB > Nusing accuracyPremultiplier from config59A?5Y] i?:>?@tE;W;C;5 AEZj  DNOT Ignoring new targets: 47.90 m.Rj BjJj% ProNav: ac range: 47.900002 m, nav range: 15.123294 m, bearing: 262.925280 deg, approach rate: 0.413570 m/s, LOS rate: -1.333209 deg/s, cmd heading: 22.030487 deg, new cmd heading: 20.157832 deg. 2j%d-HeadingCmd: 0.351821 target range: 47.900002 and range: 47.40 m. j-!>j1j1j1i1h1h1h9h=RBf9f9f9rfAbf?ɛE BE%n^ AEIA MSgɚIiIIM^^=IU!>iQiUG>)U!>)Q*F2F:FBF0JFG/E>GWill construct direction to contact in vehicle frame from tetrahedron phase data.յ?յU?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255206B IhOg>P:;w,=CAB̧>YB:b ?BaQ=9B>=yBH`>=?aB??1U?z?E&K?$?ɨB̧>Bg;B"CyJۀBJ}IIVIVF٢^K== ^\=9bVQ f>dd fG٣dyjm j> nNusing accuracyPremultiplier from configlr59nM?r5Yn intv9?v@ntEn:n:n<5x ztA|Zj%DNOT Ignoring new targets: 47.90 m.Rj!Bj%Jj-= ProNav: ac range: 47.900002 m, nav range: 15.265199 m, bearing: 262.455737 deg, approach rate: 0.381253 m/s, LOS rate: -1.249773 deg/s, cmd heading: 20.157833 deg, new cmd heading: 18.762590 deg. 2j=mVEHeadingCmd: 0.327469 target range: 47.900002 and range: 47.40 m. jE>jAjIjIiIhIhIhQhQfQfYfYrfYbf]?ɛB*o 隍*I mɚiIl`=I>iiH>)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506276*FI2FI:FQBFU05JFQqvA #YvAyBH-|>I) I-II-BI- =&I).I)6I-<:I- FBIJIRIZI =bI =jIƋ5GM s>> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761588G B O >6A;w,A6z>Y6+?6,=96=y6H?PA?@ ? ?[w?@A ɡ?/?ɨ6z>6;6Cy>ڀBB|I F=F=-ronly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 00, 3.07  r@r r@r r@v  v@v IvIv3٢ F=9 y:Q  >   G٣yY > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config559qZ?55Y iH5+:15:5{3?=@tEp;>Z>5EB E|AEEZjimDNOT Ignoring new targets: 47.90 m.RjqBjuLJjuL ProNav: ac range: 47.900002 m, nav range: 15.419965 m, bearing: 261.934888 deg, approach rate: 0.374311 m/s, LOS rate: -1.247044 deg/s, cmd heading: 18.762589 deg, new cmd heading: 17.216123 deg. 2jUHeadingCmd: 0.300478 target range: 47.900002 and range: 47.40 m. jBؙ>jjjizKsLKKKKRK%?JK%>h!h)h)h)f)f1fQrfQbfU?ɛBF\ 隥I vɚiIda=IBؙ>iiL>)Bؙ>)*Fi2Fi:FiBFm4JFiGED>eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019763GBO=P>J |J |J J J ;g:J @9J J a @a @a @a @`G;w,A 4I4V>YVo?V6=9V =yVH]?޿ p?f??@p? t??ɨV>V;TbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270160yBII5&I53٢= B=9Q > G٣QGy> > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59ch?5Y i ::t.?@tEM7;V??5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.90 m.RjBjUJju ProNav: ac range: 47.900002 m, nav range: 15.576767 m, bearing: 261.401420 deg, approach rate: 0.372816 m/s, LOS rate: -1.255597 deg/s, cmd heading: 17.216124 deg, new cmd heading: 15.632256 deg. 2jmWHeadingCmd: 0.272834 target range: 47.900002 and range: 47.40 m. j>jjjihhhhfffrfbf @ɛBdT }I! %K}ɚ!i!I%c=I->i)iUS>)U>)Q*F2F :F BF O0JF uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522167G ZH>G ?G 2?Gq B O >EM;w,8AjH4bH4HB{>I@ IBIIB BIB =&I@.I@6IBu<:IB FՈ>Y>Z=9=yH3?ݿ}u? !?@H?8l?z@]?`@?ɨՈ>;CyBI        Mb@Mb@Mb@ )YS㥛?x&?{Gzy$?7 >#  A)AIzAy AII[3٢Ÿ 5=9cQ > G٣yG, >  Nusing accuracyPremultiplier from config 59 w?5Y  i JT:| ?:M=?@ tE ; j; A5) -A-E M$?IIZjYeDNOT Ignoring new targets: 47.90 m.RjaBjmܭJjmܭ} ProNav: ac range: 47.900002 m, nav range: 15.766415 m, bearing: 260.844847 deg, approach rate: 0.419395 m/s, LOS rate: -1.216005 deg/s, cmd heading: 15.632256 deg, new cmd heading: 13.983104 deg. 2jPHeadingCmd: 0.244051 target range: 47.900002 and range: 47.40 m. jy>jjjihhhhBfffrfbf1@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774467ɛB T YI zlɚiIS>e=Iy>iie\>)y>)*F2F:FBFP0JFGP>GBO>zKEjIKE@9KAKEKEu Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:23:01:07.9375 } TRx dataTimestamp_ set to:1736377269.264666 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027331)sT;w,RAF{~>YF>F=9F]=yFH.|? ~ܿ@??c?H?@/ֶ??ɨF{~>F;FCybBbI)d dIjIjF3٢r)< rs=9vQ v?tx zG٣xyzi z? Nusing accuracyPremultiplier from config|59~? 5Y~ i~  e8? @~tE~:~:~B5Y eAiZjDNOT Ignoring new targets: 47.90 m.RjBj Jj  ProNav: ac range: 47.900002 m, nav range: 15.906472 m, bearing: 260.429107 deg, approach rate: 0.401855 m/s, LOS rate: -1.182333 deg/s, cmd heading: 13.983104 deg, new cmd heading: 12.747067 deg. 2j JHeadingCmd: 0.222478 target range: 47.900002 and range: 47.40 m. jZc>jjjih!h!h!h!f)f)f)rf)bf-5 @ɛ}B}^ y隅TI XzɚiIf=IZc>ii\>)Zc>)EE*FI2FI:FIBFM_0JFIGUqA GUqAJM{JMvJIJIJMd:JMϣ9JIJI AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278210GuQ>GI Bq O >yZ;w,lA6:l>Y6>6=96t=y6H _?\ۿ`?@?? q:(?[?ɨ6:l>6>;6CyBBBIIJ,IJ3٢R RO=9VQ V>XX ZG٣ZQGy^5 ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib5hj3?j@btEbU:b@:bD5nB rArEZj DNOT Ignoring new targets: 47.90 m.Rj Bj mJjm% ProNav: ac range: 47.900002 m, nav range: 16.070513 m, bearing: 259.937197 deg, approach rate: 0.429884 m/s, LOS rate: -1.275923 deg/s, cmd heading: 12.747068 deg, new cmd heading: 11.286734 deg. 2j%Z-HeadingCmd: 0.196991 target range: 47.900002 and range: 47.40 m. j-I>j)j)j)i1h1h1h9h9fAfAfArfAbfE@_ @ɛmBuj` quIq u,ɚiI;h=II>iiid>)I>)=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.0 m/s U,DAT read: user:3008> UBDAT read: Tx time:23:01:09.0202 ]$Ping request sent.]GrAGqAGIBQOm5>HI IIIBI =&I.I6If<:I F 5 $?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:01:09.0194 Ka;w,`Ay~B~IMb@Mb@Mb@ )YE?K7? rhy?I >C/A  A)\AI AyfAI#I%x3٢ :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i؄7 ?:05?@tE!;b;F5 ,A% addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.535715 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Zj!-DNOT Ignoring new targets: 47.90 m.Rj)Bj-WJj-WzK5BoHK59K1K5K5 ProNav: ac range: 47.900002 m, nav range: 16.254732 m, bearing: 259.406111 deg, approach rate: 0.420454 m/s, LOS rate: -1.198372 deg/s, cmd heading: 11.286734 deg, new cmd heading: 9.711952 deg. 2jMHeadingCmd: 0.169506 target range: 47.900002 and range: 47.40 m. jܒ->jjjihhhhBfffrfbfh?ɛEBE3R AEIA Mɚ)i)I-=i=IEܒ->iiim|>)mܒ->)yMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=2FA:FABFE_0JFAG Z>Jm }Jm zJi Ji Jm [j:Jm 9Ji Ji G B O >  I g;w,z8A2G>Y2.>2e=92!2f%;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.y~րB~xII I (٢җ L=9Q > G٣y˸ > Nusing accuracyPremultiplier from config59K?5YC ig+?@tE:@:dH5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.90 m.RjBj'Jj' ProNav: ac range: 47.900002 m, nav range: 16.419380 m, bearing: 258.909440 deg, approach rate: 0.382121 m/s, LOS rate: -1.141119 deg/s, cmd heading: 9.711952 deg, new cmd heading: 8.237225 deg. 2jC HeadingCmd: 0.143767 target range: 47.900002 and range: 47.40 m. j 7>jjjihhhhfff!rf!bf%?ɛMBMMe QU IQ UOɚQiQI]Uk=I]7>iYie%.p>)e7>)a*F2F:FBF1JFG0)a>GBOc>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZHa RHe @AH I  I I I =&I .I 6I x<:I Fn;w,AN<5>Y>GX=9!;騭CyȀBfI 9IAMb@Mb@Mb@ )YMb?i|?5?:vy?=ԼA 3 A)AI Ay AIIF2٢?| 3=9bQ > G٣QGyD > Nusing accuracyPremultiplier from config59G?5Y i!.?:a!?@tE7;b6;cJ5 AEZj!%DNOT Ignoring new targets: 47.90 m.Rj!Bj-@Jj-@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256490E ProNav: ac range: 47.900002 m, nav range: 16.592461 m, bearing: 258.358621 deg, approach rate: 0.404771 m/s, LOS rate: -1.274703 deg/s, cmd heading: 8.237225 deg, new cmd heading: 6.602476 deg. 2jMZUHeadingCmd: 0.115235 target range: 47.900002 and range: 47.40 m. jUM=jQjQjQiQhYhYhYh]lBfafafirfibfu@zC?ɛB֬h 隥I *YɚiI&l=IM=iiP{>)M=)*Fe2Fa:FaBFm3JFiGEy>GM ?GM>GB!O=s>UPExceeded connect timeout, disconnecting.zKuBHKu9KqKuKu Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508648t;w,A>tN&>Y>>>~G=9> %HO?׿A?E? ?ejN@ꜗ??ɨ>tN&>>Ȼ;> CyVBVIIIjIjm?3٢. n=9 BQ ? G٣y$ > Nusing accuracyPremultiplier from config59ˑ?5Y i?@tE;t;K5 AZj  DNOT Ignoring new targets: 47.90 m.Rj Bj5$Jj5$E ProNav: ac range: 47.900002 m, nav range: 16.728792 m, bearing: 257.923550 deg, approach rate: 0.373752 m/s, LOS rate: -1.183013 deg/s, cmd heading: 6.602476 deg, new cmd heading: 5.308131 deg. 2jEJMHeadingCmd: 0.092644 target range: 47.900002 and range: 47.40 m. jMT=jIjIjIiQhqhqhyhyfyfyfyrfbf`0?ɛB  I  ɚiI?n=IT=ii>)T=)J~JJJJ{m:JJJ*F2F:FBF/5JF  M$?IMh]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760436GIz>G B O- >{;w,;A:>Y:.f>:B<=9::L;8yFBFGIHJAININ[3٢V2 VP=9Z+Q Z>\\ bG٣`yb9 b> fNusing accuracyPremultiplier from configdj59fؑ?j5Yf if=lnD?n@ftEfP ;f ;fM5rB rAvEZj DNOT Ignoring new targets: 47.90 m.RjBjJj- ProNav: ac range: 47.900002 m, nav range: 16.869156 m, bearing: 257.470931 deg, approach rate: 0.377692 m/s, LOS rate: -1.207766 deg/s, cmd heading: 5.308131 deg, new cmd heading: 3.961834 deg. 2j-8O5HeadingCmd: 0.069147 target range: 47.900002 and range: 47.40 m. j5=j1j1j1i1h1h1hAhAfAfIfIrfIbfM @ɛ}B}^ y}Iy bɚiICo=I=ii禃>)=)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.029664*F52F1:F1BF5P0JF1G E1>GBO )>Hz>I IIIBI =&I.I6I<:I F U$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280523P;w,/mA6u=Y6>60=96J = + A  A) EAI  A y fAIeIe 3٢u᰽ }>=9}ڻQ }> G٣QGyF > Nusing accuracyPremultiplier from config590葜?5Y# iN?:"?@tE e;c;|O5 AZjDNOT Ignoring new targets: 47.90 m.RjBj䯼Jj䯼 ProNav: ac range: 47.900002 m, nav range: 17.013268 m, bearing: 256.936613 deg, approach rate: 0.334640 m/s, LOS rate: -1.230205 deg/s, cmd heading: 3.961834 deg, new cmd heading: 2.372890 deg. 2jSHeadingCmd: 0.041415 target range: 47.900002 and range: 47.40 m. j)=jjjihhh h OBf f f nManaging dock network, ignoring radio surface power offrf!bf-`xw@ɛUBU倽 Q]$IY ]GɚYiYI] q=Ie)=iaie >)e)=)izKqKu@9KqKuKu*F 2F :F BF JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.532671G-.>G5pAG5rAG B O- > I IQ J J J J J v:J 9J J +;w,_F"A2%)=Y2%¥>2&$=92`Xʘ??ɨ2%)=2 ;2!Cy>B>IIJIJ?13RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.784484٢V ͽ ZX=9ZQ Z>X\ ^G٣\ybOh b> fNusing accuracyPremultiplier from configdj59f0?j5Yf ifhj;>j@fuEf:f:f#Q5rB r!ArEZjDNOT Ignoring new targets: 47.90 m.RjBjJj  ProNav: ac range: 47.900002 m, nav range: 17.138666 m, bearing: 256.463340 deg, approach rate: 0.312794 m/s, LOS rate: -1.171878 deg/s, cmd heading: 2.372889 deg, new cmd heading: 0.963759 deg. 2j I5HeadingCmd: 0.016821 target range: 47.900002 and range: 47.40 m. j5ˉ<j1j9j9i9h9h9hAhAfAfAfArfIbfM`@ɛB· D-I ɚiImr=IˉGYBiOZ>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:01:11.4878 ]TRx dataTimestamp_ set to:1736377272.808564]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037409)M &= M cCjH <bH p<H w>I C I II BI =&I .I =D6I v<:I FBI˩CJI˩CRIZI =bI =jI˴5 c~G ! Z;w,4E=AEA A)EAIE AAyE AI]3I]ʴ3٢uν u%=9}Q }>yy }G٣yy > Nusing accuracyPremultiplier from config59i?5YX i`>:>@uEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288692];3;NS5 A5B*** querying acoustic contact ***j1j1ZjDNOT Ignoring new targets: 47.90 m.RjBj౼Jj౼ ProNav: ac range: 47.900002 m, nav range: 17.280085 m, bearing: 255.837925 deg, approach rate: 0.283640 m/s, LOS rate: -1.244091 deg/s, cmd heading: 0.963759 deg, new cmd heading: 359.103558 deg. 2jsUHeadingCmd: 6.267540 target range: 47.900002 and range: 47.40 m. j@jjjihh9h9h=BfAfAfArfAbfE @ɛB*ʆ 8I 窼ɚiIFDt=I-+i)iY)]@)iEQEQzKBoHK9KKK "(3?HQYbfimrvw|~~}~~~zyxy|{ztle^]]]]ZZ*F2F:FBFO0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: Range 10 to 50 : 47.5 m (Round-trip 63.4 ms) speed -0.1 m/s m ,DAT read: user:3009> m BDAT read: Tx time:23:01:12.5703 u $Ping request sent.u BQ } :publishing transmit ping timeq Q yQ Q G c>G B O5>7;w,^ZAu]=Yu.>uU =9u| G٣QGyz > Nusing accuracyPremultiplier from config59?5Y i>@uE+;v=;U5 AE addTargetRange:: Added new target pos. range: 47.500000 m, deltaT: 3.543348 s, deltaX: 0.099998 m, approachRate: 0.028221 m/s, rangeRepo size: 4 ZjVStarting intercept timer at range: 47.50 m.%DNOT Ignoring new targets: 47.90 m.Rj!Bj=?üJj=?üe ProNav: ac range: 47.900002 m, nav range: 17.390377 m, bearing: 255.312216 deg, approach rate: 0.288328 m/s, LOS rate: -1.365581 deg/s, cmd heading: 359.103561 deg, new cmd heading: 357.536850 deg. 2jeKjmHeadingCmd: 6.240195 target range: 47.900002 and range: 47.50 m. jm@jijijqiqhqhqhyhyfyfyfrfG@bfZ? $?JJ@AIɛށBM# QUCIQ UrɚQiQIUu=IeF0iiii)m@))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:12.5695 *F2F:FBF]0JFG ^>G B O >Q;w,sA"Will construct direction to contact in vehicle frame from tetrahedron phase data.RR=9Rٷ    G٣ yp > Nusing accuracyPremultiplier from config%59%?%5Y  i!%i>-@ uE ;:V51 5VA1ZjamDNOT Ignoring new targets: 47.90 m.RjiBjmJju ProNav: ac range: 47.900002 m, nav range: 17.489943 m, bearing: 254.823204 deg, approach rate: 0.263039 m/s, LOS rate: -1.284535 deg/s, cmd heading: 357.536853 deg, new cmd heading: 356.078501 deg. 2jd\HeadingCmd: 6.214742 target range: 47.900002 and range: 47.50 m. j+@jjjihhhhfffrfbf͌?ɛ܁B;2 LI LɚiIv=I}+iyiy)}+@)yHv>I ISIIBI =&I.I6Io<:I F*F 2F :FBF0JFJJJJJ}:J9JJJ;aMJ;aUJg;a]Jh;ae }$?IGh>=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>9;w,aA6R ;Y6xg>6<96%=y6H J,?@Є̿? ?`0+?S頿}x??ɨ6R ;6z;4yf6BjIllzK~NK~s9K|K~K~UUVUVSUQOOPQTTSW\]abefeebb`]_]VUSRH93,)Cw~xrkb[YSOLRK ?JK ?mMb@Mb@Mb@iii i)iYmkt?I ++ym >m94mmA mM A)mAIm Aiym AIIV٢j A=9Q > G٣y` > Nusing accuracyPremultiplier from config59R6?5Y iL>:R>@ uE;C;X5B AEZjTStopped intercept timer at range: 47.50 m.DNOT Ignoring new targets: 47.90 m.RjBj%Jj%5 ProNav: ac range: 47.900002 m, nav range: 17.580643 m, bearing: 254.248115 deg, approach rate: 0.212889 m/s, LOS rate: -1.342845 deg/s, cmd heading: 356.078498 deg, new cmd heading: 354.362674 deg. 2j5efHeadingCmd: 6.184795 target range: 47.900002 and range: 47.50 m. j@jjjihhhhЁBff f)rf1bf5`?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛفB᛽ 隵QI ɚiI_x=Iɽii)@)*F2F:FBF0JF q Iy G ^>G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.d;w, cA6e@Y6@L>6c<96C2=y6H ,Z?Dɿ?f?X?@tV?4?ɨ6e@6;6CyBBBIIR IR<2٢VG ZZ=9Z׻Q Z>\\ ^G٣^QGyb@ b> fNusing accuracyPremultiplier from configdj59fD?j5Yf) ifhj7>j@fuEf;f;f9Z5p rAtZjVStarting intercept timer at range: 47.50 m. DNOT Ignoring new targets: 47.90 m.Rj Bj ޴Jj޴E ProNav: ac range: 47.900002 m, nav range: 17.658279 m, bearing: 253.737150 deg, approach rate: 0.193058 m/s, LOS rate: -1.265008 deg/s, cmd heading: 354.362672 deg, new cmd heading: 352.836899 deg. 2jE YMHeadingCmd: 6.158165 target range: 47.900002 and range: 47.50 m. jM@jIjIjIiIhQhqhqhyfyfyfyrfybfp)?ɛׁBA 3]I ܿɚiIy=I.ii)@)*F2F:FBFQ5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GZHi RHm AAH} s>Iy  I} II} BI}  =&Iy .Iy 6I} <:I} FG B O >JcKkـ3 Kk u $?Iy a;w,AKcKc"KcJ=J=J9J9J= :J=9J9J9J=T;J=U;J=;J=;r@Yrw1>r3<9r=yrH?`ſ a?@??]D`-Σ?p?ɨr@r\N;r!Cy BIWill construct direction to contact in vehicle frame from tetrahedron phase data.յ ?յ?Mb@Mb@Mb@ )Y?㥛 Q롿yf>\ 7 A)AI7 Ayp AIIm?3٢~` 6=9eQ m>ii mG٣iyui u> }Nusing accuracyPremultiplier from configy59}V?5Y} i}>:x<@}uE}H@;}>;}A\5 AEB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 47.50 m.DNOT Ignoring new targets: 47.90 m.RjBj]ӼJj%]Ӽ5 ProNav: ac range: 47.900002 m, nav range: 17.721731 m, bearing: 253.083717 deg, approach rate: 0.144070 m/s, LOS rate: -1.478307 deg/s, cmd heading: 352.836890 deg, new cmd heading: 350.884409 deg. 2j5}=HeadingCmd: 6.124088 target range: 47.900002 and range: 47.50 m. j=@j9j9j9i9h9hahaheBfififirfibfu u4?ɛՁBY RbI =ƼɚiI=|{=Ib"ii)@)*F2F:FBF?5JFzKMNKM9KIKMKMFA>;FQH@91+'!   e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.G c>G B9 Om >;w,dxAN:@YN>N<9Nx=yNH?K¿?i?&? ;'' ?@"?ɨN:@N;N"CybBblI n=lIr@Ir3٢zֽ z[=9~4VQ ~>|| G٣y > Nusing accuracyPremultiplier from config 59 ^d?5Y " i 1b@ uE : E: ]5! %A)ZjUUVStarting intercept timer at range: 47.50 m.]DNOT Ignoring new targets: 47.90 m.RjYBj]̼Jj]̼u ProNav: ac range: 47.900002 m, nav range: 17.767561 m, bearing: 252.580125 deg, approach rate: 0.130660 m/s, LOS rate: -1.432014 deg/s, cmd heading: 350.884412 deg, new cmd heading: 349.377897 deg. 2juu}HeadingCmd: 6.097795 target range: 47.900002 and range: 47.50 m. j}"!@jyjyjyiyhyhyhhfff rf bf `x@ɛUӁBU Q]TkIY ]˼ɚYiYI]|=I=ii)"!@)JJAA $?I*FA2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270043GAG B) OE >;w, 6AWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521445VR@YV@==VǦ<9VM=yVH?o?g??ؔ H?(?ɨVR@V;TyrBrZII HI <3٢R ?=9MԻQ > G٣QGy? > Nusing accuracyPremultiplier from config%59u?-5Y i׍)--@uE{;V;_5=B = A=߳EZjDNOT Ignoring new targets: 47.90 m.RjBj ɼJj ɼ ProNav: ac range: 47.900002 m, nav range: 17.814270 m, bearing: 251.958380 deg, approach rate: 0.105918 m/s, LOS rate: -1.406147 deg/s, cmd heading: 349.377891 deg, new cmd heading: 347.518237 deg. 2jAqHeadingCmd: 6.065338 target range: 47.900002 and range: 47.50 m. j?@jjjihhHq>IC III]BI =&I.I)?@)*F2F:FBFJF IJJJJJ]:J[9JJJ:;J;;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773228G ^>G B O >;w,wAJ@YJ5q=JL<9JJK-?Mb@Mb@Mb@ )Y#~j?Zd;Mby> A  A) AI Ay AI7I3٢<׼ K=9 G٣y挽 > Nusing accuracyPremultiplier from config59#?5Y} if>:Q@uE;;qa5 5AZj  TStopped intercept timer at range: 47.50 m.DNOT Ignoring new targets: 47.90 m.RjBjXּJjXּ% ProNav: ac range: 47.900002 m, nav range: 17.835279 m, bearing: 251.374953 deg, approach rate: 0.054050 m/s, LOS rate: -1.499163 deg/s, cmd heading: 347.518249 deg, new cmd heading: 345.770603 deg. 2j--HeadingCmd: 6.034835 target range: 47.900002 and range: 47.50 m. j-_@j1j1j1i1h1h9h9h=cBf9fAfArfAbfE@ɛm΁Bmeý qurIq u.ؼɚqiyI}=I}~O~ii >)_@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:23:01:15.0386 UTRx dataTimestamp_ set to:1736377276.343683echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030274*F 2F :F BF ^0JF GGBOg> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277086;w,/(A@Y=!<90AI UG٣Qye*x e> Nusing accuracyPremultiplier from configy59}s?5Y} i}k@}uE};};}Pc5B bAܳEZjVStarting intercept timer at range: 47.50 m.DNOT Ignoring new targets: 47.90 m.RjBjļJjļ ProNav: ac range: 47.900002 m, nav range: 17.855165 m, bearing: 250.739746 deg, approach rate: 0.043164 m/s, LOS rate: -1.377191 deg/s, cmd heading: 345.770595 deg, new cmd heading: 343.867833 deg. 2jIl HeadingCmd: 6.001626 target range: 47.900002 and range: 47.50 m. j R @j j j i h hhhfffrfbf1 @ɛMˁBMy| IMtII Uu߼ɚQiQIU=I](iYiY)]R @)a*F2F:FBF_0JFG GrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:01:15.0386 LVL= 13664, 20449, 20658, 28019, AGC= 56, IDX= 430, 0.14,-2.679,-1.897, 1.921,-2.857, PHS= 0.266, 1.007,-1.508, RAW= 13.3, 2.1, CAL= 13.0, 1.9, ROT= 137.0, -1.9 Ygot valid direction response: 23:01:15.0386 LVL= 13664, 20449, 20658, 28019, AGC= 56, IDX= 430, 0.14,-2.679,-1.897, 1.921,-2.857, PHS= 0.266, 1.007,-1.508, RAW= 13.3, 2.1, CAL= 13.0, 1.9, ROT= 137.0, -1.9 PDAT read: Bearing 137.0, -1.9 (Local) ~Local bearing/azimuth received: Bearing 137.0, -1.9 (Local) DAT read: Range 10 to 50 : 48.1 m (Round-trip 64.2 ms) speed -0.3 m/s ,DAT read: user:3010> BDAT read: Tx time:23:01:16.1203 $Ping request sent.=`?=%=,m>=Q = =Vh>)==I=@i=99=.Uҿ XD>?)=GI=>i=?=p:99:publishing transmit ping timeعFpublishing direction and range info99=3YJ?e v?k--?y9999 9)9I9i99999 9)9I9i999=.Uҿ XD>?)9I9i9999jH<bH<Hn>I III?BI =&I.I6I<:I FGE h>GU qAGQ GI B O > $?I J5 J5 J1 J1 J5 -:J5 9J1 J1 J5 ;J5 ;J5 ;%;J5 <%;o;w,3CAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:01:16.1195 yBHI=Mb@Mb@Mb@999 9)9Y=uV?~jtÿy=r>==̼=` A =3 A)9I= A9y9IU"IUq3٢{ 3=9Q > G٣QGy > Nusing accuracyPremultiplier from config59ݥ?5YN iv>:Г@"uE;;Ie5 AkE7?kE3 kA kE 6A:kEf@BBkE?BZkE'?"E/n?zG@"L'k!@E3YJ?e v?k--?JkE?RkEp:*ErqNǿvKG@"=C$@E]lo 'H? ?"kEG B O- >];w, ^A>o@Y>c@>_r<9>X$=y>H`?`ڦ?`?4@ ?C\??ɨ>o@>;>"CyfBfIIInIn 3٢v; vl=9v^Q z?xx zG٣xy~ ~? Nusing accuracyPremultiplier from config 59ಒ? 5Y ix@%uEa];p;f5) -A-ٳEEB*** querying acoustic contact ***jAjAZjUUVStarting intercept timer at range: 48.10 m.]DNOT Ignoring new targets: 48.10 m.RjYBj]4Jje4m ProNav: ac range: 48.099998 m, nav range: 10.950988 m, bearing: 235.194237 deg, approach rate: 0.129377 m/s, LOS rate: -2.524984 deg/s, cmd heading: 342.067102 deg, new cmd heading: 339.591211 deg. 2juؽuHeadingCmd: 5.926985 target range: 48.099998 and range: 48.10 m. j}ܩ@jyjyjyiy $?Ihhhhfffrfbfq)?ɛƁBؽ  sI  [ɚiI!=Ir䯾ii)ܩ@)*Fu2Fq:FqBFu2JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991578z;w, xAj-@Yj@jo<9ji{%=-~GyjH`)?٦?J?@|%?_ k?p?ɨj-@EtAj;j CY /&YtAyByލBލOIHm>I III0BI =&I.I6I<:I FBIeCJIeCRIaZIe =bIe =jIe5 =R=II1٢F< ==9yڹQ > G٣yz > ]Nusing accuracyPremultiplier from configYe59]Ò?e5Y] i]aem@](uE]:]C:]h5q ZAZjDNOT Ignoring new targets: 48.10 m.RjBj))Jj)) ProNav: ac range: 48.099998 m, nav range: 11.003878 m, bearing: 234.120339 deg, approach rate: 0.117110 m/s, LOS rate: -2.366280 deg/s, cmd heading: 339.591214 deg, new cmd heading: 336.388532 deg. 2jʽ HeadingCmd: 5.871088 target range: 48.099998 and range: 48.10 m. j ߻@j j jihhh!h!f!f!f!rf)bf-LF?ɛÁB] 隥3oI LɚiI=I|Ҿii)߻@) I*FY2FY:FqBF}2JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243241G ^>G ?G ?Gy B O >Hc;w,bgA2@Y2@2[<92{%=y2H@ ?i?e?ui`?p??ɨ2@2~;2!CyBBBPIzKjOKj}9KhKjKjGW9YeOHEA=<97521.-)&'&" MMb@Mb@Mb@III I)IYMoʡ?sh|?ſM)MtMA M A)M` AIM3 AIyIIeIe(٢u; }Q=9}PQ > G٣QGy$ > Nusing accuracyPremultiplier from config59ђ?5Y iߐ>:fԾ@+uE;u;`j5B UAֳEZjTStopped intercept timer at range: 48.10 m.DNOT Ignoring new targets: 48.10 m.RjBj5Jj5 ProNav: ac range: 48.099998 m, nav range: 11.044394 m, bearing: 233.176903 deg, approach rate: 0.109646 m/s, LOS rate: -2.543631 deg/s, cmd heading: 336.388538 deg, new cmd heading: 333.571013 deg. 2j5ڽHeadingCmd: 5.821912 target range: 48.099998 and range: 48.10 m. jM@jjjihhhhaBff f rf bf @T(?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495229ɛBŽ  AmI  -!ɚ1i1I5Û=I=ۄi9i9)=M@)9*F2F:FBF#5JF $?IJJJ/JJ}:J9J(N3Ja@a@a@a@Gc>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748603͌;w,?A6tվ@Y6@6@m<965=y6H ?l?܅?`K?)C@?.?ɨ6tվ@6;6 Cy>B>^IIF3IFʴ3٢Nr= RY=9RtD;Q R>TT VG٣TyV, V> ^Nusing accuracyPremultiplier from configX^59Zߒ?b5YZ iZ>`bJ⾑b@Z.uEZ ;Ze ;Zl5h jAlZjVStarting intercept timer at range: 48.10 m.DNOT Ignoring new targets: 48.10 m.RjBj0'Jj0' ProNav: ac range: 48.099998 m, nav range: 11.082662 m, bearing: 232.241957 deg, approach rate: 0.096057 m/s, LOS rate: -2.338672 deg/s, cmd heading: 333.571003 deg, new cmd heading: 330.778190 deg. 2jȽHeadingCmd: 5.773169 target range: 48.099998 and range: 48.10 m. j̽@jjjihhhhfffrfbf?ɛBý 0fI %?ɚ!i!I%J=I-i)i))-̽@))*F2F:FBFP0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999157GuY>ZHRHHI III&I.I6I<:I FGQBYO}> I t;w,A6M@Y6 @6TQu<96z&=y6H@?G ?F?@?@1`ߩKC? ?ɨ6M@6;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251076yFBFlI)H H%Mb@Mb@Mb@!!! !)!Y%V-?~jtÿMby%>%%%A % A)!I%I A!y!I=5I=3٢MQ= M?=9U:Q U>QQ ]G٣Yye{ e> mNusing accuracyPremultiplier from configiu59m?u5Ym" imu>u:uᾑ@m1uEmG pAG G B O >;w,AN5@YNmE@N<9N=yNH^?`W&?i?@ÿ?F@T??ɨN5@N#;NCyZBZIIbAIbk3٢j= jR=9n7:Q n>pp rG٣rQGyr܀ r> zNusing accuracyPremultiplier from configt~59v&?~5Yva ivǑ|~q~@v4uEv;v;vo5  A ӳE E$?IAJJBAJJJ0JJm:J9Jـ3J B*** querying acoustic contact ***j j Zj5=VStarting intercept timer at range: 48.10 m.=DNOT Ignoring new targets: 48.10 m.Rj9BjE'*JjE'*u ProNav: ac range: 48.099998 m, nav range: 11.170885 m, bearing: 230.243835 deg, approach rate: 0.103907 m/s, LOS rate: -2.380184 deg/s, cmd heading: 327.653491 deg, new cmd heading: 324.813352 deg. 2ju/̽}HeadingCmd: 5.669063 target range: 48.099998 and range: 48.10 m. j}h@jyjyjyihhhhfffrfbf@ɛ%B%И )MSII MɚQiQIUž=IUiYiY)]h@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.խ>խa=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759264*F2F:F BF [0JF GA G! B) OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:01:18.5903 m TRx dataTimestamp_ set to:1736377279.872830m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332@;w,A2k@Y2M{@2<92=y2H?eC?@a?4ƿ~?gϡ@ķB?`?ɨ2k@22;2 CHEh>IEC IEIIEIBIE =&IA.IE;D6IE<:IE Fyޅ%BޅII(I̍3٢= <=9l:Q > G٣yjh > Nusing accuracyPremultiplier from config59 ?5Y i@8uE:;{q5 dAZjimDNOT Ignoring new targets: 48.10 m.RjiBj=8Jj=8 ProNav: ac range: 48.099998 m, nav range: 11.215670 m, bearing: 229.182264 deg, approach rate: 0.109167 m/s, LOS rate: -2.577216 deg/s, cmd heading: 324.813362 deg, new cmd heading: 321.644780 deg. 2jݽHeadingCmd: 5.613760 target range: 48.099998 and range: 48.10 m. j@jjjihhhhfffrfbf9 @ɛUBU Y]GIY ]QɚYiYI]go=Ie7"iaii)m@)i 9I=h*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263233GM c>G! B9 O} >X@Y>ֿ@>]<9> =y>H_?$??Fɿ [?U 5?u?ɨ>X@>0!;>!CyF3BFIzK3LK9KKK\p N~cH/Ca=ZK}kQ6% -Mb@Mb@Mb@))) )))Y-(\?q= ףpy->-뽹--A - A)- AI-3 A)y- AIE)IEW3٢Uۍ= UR=9]|;Q ]>Ya eG٣ayep e> uNusing accuracyPremultiplier from configiu59m!?}5Ym im6}@>}:}ᾑ}@m;uEm;m ;m.s5B AгEZjTStopped intercept timer at range: 48.10 m.DNOT Ignoring new targets: 48.10 m.RjBj*Jj*-Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 49.4 m (Round-trip 65.9 ms) speed -0.5 m/s M,DAT read: user:3011> ]BDAT read: Tx time:23:01:19.6703 ]$Ping request sent.eG B1 OU > @Y>]@>.<9>=y>H6?.?`d?`̿`1?o֡??ɨ>@>K;> CyJHBJIIV/IV3٢^= bT=9b ;Q b>dd fG٣fQGyf j> nNusing accuracyPremultiplier from confighr59j*?r5YjE ij]prr@j>uEj2 ;j ;jt5t zPAzӳE= addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.533728 s, deltaX: 1.300003 m, approachRate: 0.367884 m/s, rangeRepo size: 4 ZjEEVStarting intercept timer at range: 49.40 m.EDNOT Ignoring new targets: 48.10 m.RjABjM&JjM&] ProNav: ac range: 48.099998 m, nav range: 11.316817 m, bearing: 227.369867 deg, approach rate: 0.128809 m/s, LOS rate: -2.330096 deg/s, cmd heading: 318.921340 deg, new cmd heading: 316.236198 deg. 2j]ǽeHeadingCmd: 5.519363 target range: 48.099998 and range: 49.40 m. je@jajijiiihihihqhqfqfqfqrfybf}`Qf?ɛB 隭B3I  ɚiI=IY:i1i1)=@)A*F2F:FBFP5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.jH9bH9HEe>IEC IEIIEmBIE =&IA.IA6IE<:IE FG5^>G B O5 > I HWill construct direction to contact in vehicle frame from tetrahedron phase data.>=>?F@YF+@FV<9F<6=yFH? xP?x?@~>Ͽ@?"O`Oݑ@TѦ??ɨF@Fu;F!CyR_BRIMb@Mb@Mb@ )Yy&1?t`; )vAII Ayp AII3٢= ;=9̹Q > G٣yk > Nusing accuracyPremultiplier from config59V9?5YU ikX>: о@AuE;;v5B AгEZjTStopped intercept timer at range: 49.40 m.DNOT Ignoring new targets: 48.10 m.RjBjJj%5 ProNav: ac range: 48.099998 m, nav range: 11.383958 m, bearing: 226.429001 deg, approach rate: 0.153514 m/s, LOS rate: -2.138465 deg/s, cmd heading: 316.236201 deg, new cmd heading: 313.432617 deg. 2j5s=HeadingCmd: 5.470431 target range: 48.099998 and range: 49.40 m. j= @j9j9j9i9h9hAhAhEBfffrfbf?ɛB !%R&I t<ɚiIZl=I`Nii) @)*F2F:FBF4JFzK}KOK}9KyK}K}-Will construct direction to contact in vehicle frame from tetrahedron phase data.G c>G B O > G٣yi > %Nusing accuracyPremultiplier from config!-59%F?-5Y%? i%x15ܾ5@%DuE% ;% ;%px59 = A9ZjemVStarting intercept timer at range: 49.40 m.mDNOT Ignoring new targets: 48.10 m.RjiJJ@AJJJJJ̝:J:JJBjJj% ProNav: ac range: 48.099998 m, nav range: 11.441134 m, bearing: 225.607235 deg, approach rate: 0.149780 m/s, LOS rate: -2.141876 deg/s, cmd heading: 313.432627 deg, new cmd heading: 310.981230 deg. 2j%-HeadingCmd: 5.427646 target range: 48.099998 and range: 49.40 m. j-G@j)j)jIiIhQhQhQhQfYfYfYrfYbfeց?ɛB4% I |1ɚiI =IYii)G@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFb4JFGG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.dd fG٣jQGyjtHrb>Ip Ir-IIrBIr =&Ip.Ir:D6Ir<:Ir F ~> Nusing accuracyPremultiplier from config 59TT? 5YX i辑@FuE:@:.z5 AͳE=B*** querying acoustic contact ***j9j9ZjAMDNOT Ignoring new targets: 48.10 m.RjIBjUJjUe ProNav: ac range: 48.099998 m, nav range: 11.499395 m, bearing: 224.749912 deg, approach rate: 0.145889 m/s, LOS rate: -2.135833 deg/s, cmd heading: 310.981218 deg, new cmd heading: 308.424075 deg. 2jm9mHeadingCmd: 5.383016 target range: 48.099998 and range: 49.40 m. jmA@jqjqjqiqhqhyhyhyfyffrfbf ?ɛB% 隵/I ɚiIo=Iqfii)A@)*Fm2Fi:FqBFuP0JFq $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gh>GQBYO>$5̼15EA 5 A)5AI53 A1y1IM"IMq3٢]Q= eA=9e;Q e>ai mG٣iymD m> }Nusing accuracyPremultiplier from configq}59ub?5Yu iu.>:Ͼ@uIuEu';u;u|5 AzKVBJKK9KKKRK?JK?ZjTStopped intercept timer at range: 49.40 m.DNOT Ignoring new targets: 48.10 m.RjBjL JjL  ProNav: ac range: 48.099998 m, nav range: 11.575572 m, bearing: 223.912708 deg, approach rate: 0.181038 m/s, LOS rate: -1.976502 deg/s, cmd heading: 308.424077 deg, new cmd heading: 305.930658 deg. 2jHeadingCmd: 5.339497 target range: 48.099998 and range: 49.40 m. j)ݪ@jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007662jihhh h +Bf f f rfbf`:"@ɛB䑽 隽I ɚiIyK=Ioii))ݪ@)*Fm2Fi:FiBFmW0JFi $?IGM^>G1 BI O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260581&)+5@Y6D@6n<964=y6H@0?7?@0??,տ+?[B-`Jd?m?ɨ6>5@6;6"CyRBR@IIZIZF3٢b= bU=9f;Q f>dd fG٣hyjh j> nNusing accuracyPremultiplier from configlr59n p?v5Yn intvɾv@nLuEn ;n<;n}5zB zXA~ʳEZjVStarting intercept timer at range: 49.40 m.DNOT Ignoring new targets: 48.10 m.RjBjJj ProNav: ac range: 48.099998 m, nav range: 11.644217 m, bearing: 223.147154 deg, approach rate: 0.170046 m/s, LOS rate: -1.885189 deg/s, cmd heading: 305.930648 deg, new cmd heading: 303.648798 deg. 2jHeadingCmd: 5.299671 target range: 48.099998 and range: 49.40 m. j薩@jjjihhhhfffrfbfY@ɛ5B=:; 9=I9 =v_ɚ9iAIE=IE{iIiI)M薩@)I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511701) H~G vA9 eZ(YevAye!BZH?ARHHE^>IEC IEfIIEȀBIA&IEGD.IA6IE<:IE FBIƥCJIƥCRIƔCZI =bI =jIc6G}c>G}?G}?GiByO> q Iq J= J= J9 J9 J= :J= :J9 J9 J= 7;au J= 9;a} J= DG;a J= EG;a l2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766744~@Y~$@~'O<9~=y~H?o?? cֿ?`*)?4?ɨ~@~.;~#Cy B HI-Mb@Mb@Mb@))) )))Y-5^I ?~jt?Mbp?y->-D<-;-/A - A)-AI- A)y)IE.IE3٢U< U3=9UC;Q U>YY ]G٣]QGye5 e> mNusing accuracyPremultiplier from configiu59mf?u5Ymz im})>:@mOuEm8;mM7;m5 #AZjTStopped intercept timer at range: 49.40 m.DNOT Ignoring new targets: 48.10 m.RjBj[Jj[ ProNav: ac range: 48.099998 m, nav range: 11.735796 m, bearing: 222.316783 deg, approach rate: 0.210470 m/s, LOS rate: -1.893421 deg/s, cmd heading: 303.648791 deg, new cmd heading: 301.178737 deg. 2jnHeadingCmd: 5.256561 target range: 48.099998 and range: 49.40 m. j5@jjjihhhhDBfffrfbf@ɛ%B% )-}I) -ɚ)i)I-=I5i1i1)=5@)9*F2F:FBFJFzKKK9KKK  ,{rQ6  BKpA:K Will construct direction to contact in vehicle frame from tetrahedron phase data. i BDAT read: Rx Time:23:01:22.1425 TRx dataTimestamp_ set to:1736377283.400824checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016837G G B O > Q IQ A8)A MG٣IyM&m U> eNusing accuracyPremultiplier from configYe59]ŋ?m5Y] i]͒imu@]RuE]>;];]L5}B }AyZjVStarting intercept timer at range: 49.40 m.DNOT Ignoring new targets: 48.10 m.RjBjIJjI ProNav: ac range: 48.099998 m, nav range: 11.808982 m, bearing: 221.644606 deg, approach rate: 0.198142 m/s, LOS rate: -1.808518 deg/s, cmd heading: 301.178749 deg, new cmd heading: 299.175577 deg. 2j%HeadingCmd: 5.221599 target range: 48.099998 and range: 49.40 m. jW@jjjihhhhfffrfbf@ @ɛBڕ I }bɚiI%=I%0i!i)W@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269351*F2F:FBF0JFG-^>GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 51.0 m (Round-trip 68.0 ms) speed -0.6 m/s % ,DAT read: user:3012> - BDAT read: Tx time:23:01:23.2204 - $Ping request sent.- IFC IFIIFBIF =&ID.IF9D6IF<:IF F8@YOH@s<9zP=yHcx??@?`ؿs?@ɦ}͜?Q?ɨ8@2 ;Cy5B5]IMAIQQIU'IU@3٢)= A=9/J;Q > G٣yUE >  Nusing accuracyPremultiplier from config 59ϙ?5Y i!--@UuER;Sd<&5y }A}dzEB*** querying acoustic contact ***jj $?I addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 3.525575 s, deltaX: 1.599998 m, approachRate: 0.453826 m/s, rangeRepo size: 4 ZjTStopped intercept timer at range: 51.00 m. DNOT Ignoring new targets: 48.10 m.Rj Bj5ZJj5ZE ProNav: ac range: 48.099998 m, nav range: 11.891445 m, bearing: 220.877576 deg, approach rate: 0.187299 m/s, LOS rate: -1.730030 deg/s, cmd heading: 299.175591 deg, new cmd heading: 296.891734 deg. 2jEiuHeadingCmd: 5.181738 target range: 48.099998 and range: 51.00 m. juХ@jqjqjqiqhqhyhyhyfyffrfI@bf`?ɛB֑ kؾI )ɚiICٌ=Iii)Х@))JJJJJL:J:JJJP;JR;JJ;JJ;*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:23.2196 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G c>G qAG GA BI Om > MEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501344zKkMK9KKK   " I! 94=A )AI AyAI}I}F9Q > G٣QGy > Nusing accuracyPremultiplier from config59ۧ?5Y i>;d@WuE;;5 ZjDNOT Ignoring new targets: 48.10 m.RjBj|Jj| ProNav: ac range: 48.099998 m, nav range: 11.985623 m, bearing: 220.175055 deg, approach rate: 0.231057 m/s, LOS rate: -1.709976 deg/s, cmd heading: 296.891740 deg, new cmd heading: 294.801719 deg. 2jHeadingCmd: 5.145261 target range: 48.099998 and range: 51.00 m. j @j j j i h hhhjBfffrfbfr?ɛEBM- IMD־II ULɚQiQIUt=I]l%iYiY)]@)a*Fi2Fq:FqBFuP5JFq $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753989G ^>G B O >yKIC IIIBI =&I.I8D6I<:I FGGiBqO> IJ J J /J J :J :J (N3J J ;J ;J DG;J EG;dRyy }G٣yy}7- > Nusing accuracyPremultiplier from config59“?5Y i>;@]uE;;5 AZjDNOT Ignoring new targets: 48.10 m.RjBj6Jj6 ProNav: ac range: 48.099998 m, nav range: 12.153505 m, bearing: 218.823869 deg, approach rate: 0.206908 m/s, LOS rate: -1.666101 deg/s, cmd heading: 293.085412 deg, new cmd heading: 290.778682 deg. 2j펽 HeadingCmd: 5.075046 target range: 48.099998 and range: 51.00 m. j f@j j j i h hhhLBfffrfbf?ɛEBM IM۾II MɚIiQIU@=IUgiYiY)]f@)Y*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509030zK%GOK%@9K!K%K%]m1l7wCu[D/ {tpliea][XTG c>G ?G 6?G B O > I =Xll nG٣lyr&h r> vNusing accuracyPremultiplier from configtz59v8͓?z5YvI ivӓxzz@v_uEv:v:v 5 AZjQ]DNOT Ignoring new targets: 48.10 m.RjaBjmJjm꼝 ProNav: ac range: 48.099998 m, nav range: 12.224511 m, bearing: 218.240843 deg, approach rate: 0.200518 m/s, LOS rate: -1.636853 deg/s, cmd heading: 290.778693 deg, new cmd heading: 289.040339 deg. 2jkHeadingCmd: 5.044705 target range: 48.099998 and range: 51.00 m. j:n@jjjihhhhfffrfbf 5m?ɛBt =隥YپI jɚiIc]=Iii):n@) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]3?]0?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762434*F2F:FBFJFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013223^I III =&I.I6Iհ<:I FymBmFII#I%x3٢- <=9Q > G٣QGy > Nusing accuracyPremultiplier from config59?ۓ?5Y i*@buEr;q;5B 2AE ]$?IYeB*** querying acoustic contact ***jajaZjq}DNOT Ignoring new targets: 48.10 m.RjyBj}Jj}輝 ProNav: ac range: 48.099998 m, nav range: 12.315265 m, bearing: 217.519749 deg, approach rate: 0.205763 m/s, LOS rate: -1.622824 deg/s, cmd heading: 289.040328 deg, new cmd heading: 286.894049 deg. 2j7HeadingCmd: 5.007246 target range: 48.099998 and range: 51.00 m. j[;@jjjihhhhfffrfbf@A-@ɛB) I  ɚiIU =IQii)[;@)JKcw3 K.-KK"KJJJ0JJL:J:Jـ3JJP;JQ;JI;JI;*F2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269040G ^>G B O >e<9A  A)AI AyG AI5'I5@3٢EDݽ EQ=9EJ6II MG٣QyUͽ U> ]Nusing accuracyPremultiplier from configYe59]N瓜?e5Y] i]m>m:m7m@]duE];]y;]5y }AWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517362zKEOKAKAKEKEQROOMJBAB@<98735431/-+/,(('&%#!!  ZjaeDNOT Ignoring new targets: 48.10 m.RjaBjmyJjmy} ProNav: ac range: 48.099998 m, nav range: 12.384155 m, bearing: 216.842565 deg, approach rate: 0.170631 m/s, LOS rate: -1.667914 deg/s, cmd heading: 286.894036 deg, new cmd heading: 284.874667 deg. 2j}HeadingCmd: 4.972001 target range: 48.099998 and range: 51.00 m. j@jjjihhhh(Bfffrfbfo@ɛ B ˔ I v"ɚiIŐ=I-ԧi)i))-@)1*F2F:FBFn0JFG G 9I9Gh>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770434G B O >kdd fG٣dyjV j> nNusing accuracyPremultiplier from configlr59n(?r5Yn intv;z@nguEnE;nU9;nV5| AEZjDNOT Ignoring new targets: 48.10 m.RjBj0Jj0 ProNav: ac range: 48.099998 m, nav range: 12.451393 m, bearing: 216.170954 deg, approach rate: 0.177550 m/s, LOS rate: -1.763851 deg/s, cmd heading: 284.874677 deg, new cmd heading: 282.871587 deg. 2jPHeadingCmd: 4.937040 target range: 48.099998 and range: 51.00 m. j<@jjjihhhhfffrfbf@So@ɛB I w$ɚi!I%lt=I%{Ni)i))-<@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021112ZH@ARHH%T>I! I%II%BI!&I!.I!6I%<:I% FExj=*F2F:FBF_0JF E$?IAG] c> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276538Gq B O >Qs}t}C }A y)}AI}7 Ayy}p AI<I3٢  '=9:Q > G٣QGy%*8 %> 5Nusing accuracyPremultiplier from config)559-K?=5Y-D i-ݕ=3>=:==@-juE-I;-;-y5Q ]AaZjDNOT Ignoring new targets: 48.10 m.RjBj Jj  ProNav: ac range: 48.099998 m, nav range: 12.525422 m, bearing: 215.231269 deg, approach rate: 0.154932 m/s, LOS rate: -1.954914 deg/s, cmd heading: 282.871574 deg, new cmd heading: 280.071537 deg. 2jHeadingCmd: 4.888170 target range: 48.099998 and range: 51.00 m. jk@jjjihhhhBfffrfbf@(D @ɛBT CI! %"&ɚ!i!I%T=I-ڏi)i))-k@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525398zKeoMKe9KaKeKe   Fn\NE?:3,(& EUO= I *F 2F :F BF ^0JF J J J J J :J :J J a @a @a @a @G^>MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779755GB!O=>z.vࣿ ??ɨ6Q@6f^;4yBbBBIiJ=IJa=IN5IN3٢Vٽ V4=9Z&K;Q Z>XX ZG٣Xy^Hǽ ^> bNusing accuracyPremultiplier from config`-59b?E5Ybw ibAM+%M@bnuEboIC IlIÌBI =&I.I9D6I<:I FBIǢCJIǢCRIǓCZI =bI =jIN5 I hGM c>G! B9 O] >DށXX ZG٣Xy^` ^> bNusing accuracyPremultiplier from config`f59b?f5Ybf ibJhj*j@bquEb;b:b95nB raAvEWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2845785B*** querying acoustic contact ***j9j9ZjDNOT Ignoring new targets: 48.10 m.Rj Bj=3Jj=3 ProNav: ac range: 48.099998 m, nav range: 12.643544 m, bearing: 213.578972 deg, approach rate: 0.123707 m/s, LOS rate: -1.742942 deg/s, cmd heading: 277.463212 deg, new cmd heading: 275.141196 deg. 2jHeadingCmd: 4.802120 target range: 48.099998 and range: 51.00 m. j@jjjihhhhfffrfbfPd@ɛ=BE IMIq }*ɚiI**=Iii)@)*F)2F1:F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536710GI zK NK K9K K K    RK ?JK ?G) B1 OM > 0A  A)AI3 AyI=I=3٢ <=9g Q > G٣QGy"T > Nusing accuracyPremultiplier from config59(?5YX i/>:/G@tuE1;/; 5 A Zj9EDNOT Ignoring new targets: 48.10 m.RjABjE-JjM-] ProNav: ac range: 48.099998 m, nav range: 12.689041 m, bearing: 212.636082 deg, approach rate: 0.117762 m/s, LOS rate: -2.431666 deg/s, cmd heading: 275.141193 deg, new cmd heading: 272.325063 deg. 2j]нeHeadingCmd: 4.752969 target range: 48.099998 and range: 51.00 m. jeR@jajajaiahahihihmʁBfifqfqrfqbfu@ɛB꺽 _=隥'I ;,ɚiIm=Iunÿiqiq)uR@)yJJJJJ<:J9JJ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785254*F12F1:F1BF5P5JF1GI GU rAGQ G! B1 OM >Y(hh jG٣hynz n> rNusing accuracyPremultiplier from configpv59rU3?v5Yr irtz Mz@rwuEr:r:rØ5~B ~AEZj!-DNOT Ignoring new targets: 48.10 m.Rj)Bj-[Jj-[E ProNav: ac range: 48.099998 m, nav range: 12.726732 m, bearing: 211.827894 deg, approach rate: 0.102309 m/s, LOS rate: -2.187178 deg/s, cmd heading: 272.325052 deg, new cmd heading: 269.909183 deg. 2jEMHeadingCmd: 4.710804 target range: 48.099998 and range: 51.00 m. jM辖@jIjIjIiIhQhQhYhYfYfYfarfabfe`F@ɛB:ξ 隕1IjH<bH<H%Y>I! I%-II%BI% =&I!.I!6I%Ȱ<:I% F .ɚqiqIu=I}7ǿiyiy)}辖@)y I*F)2F):F)BF-P0JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.293903GqG B O >pp vG٣tyv_ v> ~bBottom track data is 0.4 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z>?5Yz izÙ+:  : R @zzuEzB;zI>z25 YAZjAEDNOT Ignoring new targets: 48.10 m.RjABjM;JjM;e ProNav: ac range: 48.099998 m, nav range: 12.766170 m, bearing: 210.952105 deg, approach rate: 0.096824 m/s, LOS rate: -2.143453 deg/s, cmd heading: 269.909186 deg, new cmd heading: 267.291859 deg. 2je᷽mHeadingCmd: 4.665123 target range: 48.099998 and range: 51.00 m. jmH@jijijiiihihqhqhqfyfyfyrfybf@ɛBp 隵|;I 1ɚiI=I`Ϳii)H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542460*Fi2Fi:FiBFiJFizKc{LKKKKBKqA:K $?IGyGi Bq O >J J J J J \:J 9J J E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7934089dd fG٣fQGyf=n f> -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from configh559jI?55Yj ij= :9=:=X=@j}uEjZG>H%Z>I! I%II%bBI% =&I!.I!6I% <:I% F i Iq G ^>Gq B O >GЋ;8yZBZPIi^ll rG٣pyr\ r> ubBottom track data is 1.2 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu59m6U?}5Ym imk}9y}d:}q^}@muEm6);m?mY5 AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300294}B*** querying acoustic contact ***jyjyZjmDNOT Ignoring new targets: 48.10 m.RjiBj} Jj  ProNav: ac range: 48.099998 m, nav range: 12.842496 m, bearing: 209.157787 deg, approach rate: 0.083209 m/s, LOS rate: -1.982185 deg/s, cmd heading: 264.712833 deg, new cmd heading: 261.929083 deg. 2j HeadingCmd: 4.571525 target range: 48.099998 and range: 51.00 m. jI@jjjihhhhff f rf bf ނ@ɛ]B]½ aeMIa e6ɚaiaIm4=Iۿii)I@)E=*F-2F):F)BF)JF)] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549213zK RIK 9K K K RK ?JK ?Gu c>  I GI BQ Om >7~ G٣y[ > Nusing accuracyPremultiplier from config59b`?5Yb  iRT:?:@uE ;;,5 AZjDNOT Ignoring new targets: 48.10 m.RjBj MJj M ProNav: ac range: 48.099998 m, nav range: 12.857194 m, bearing: 208.042924 deg, approach rate: 0.037859 m/s, LOS rate: -2.868199 deg/s, cmd heading: 261.929094 deg, new cmd heading: 258.592317 deg. 2j JJJJJ:Ju9JJUHeadingCmd: 4.513288 target range: 48.099998 and range: 51.00 m. jUl@jQjYjYiYhYhahh_Bfffrfbf4@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801280ɛB&ͽ OI T9ɚiI$o=I߿ii)l@)EAEA*EA"EAE rAE *F 2F :F BF JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053114ZH RH H ]>I C I II :BI  =&I .I :D6I <:I FGa $?IGB)OU?XX ZG٣ZQGyZK Z> bNusing accuracyPremultiplier from config\f59^l?j5Y^ i^Qhjj@^uE^!E;^dE;^95l n4ArEZj DNOT Ignoring new targets: 48.10 m.Rj BjEJjE% ProNav: ac range: 48.099998 m, nav range: 12.872990 m, bearing: 206.788280 deg, approach rate: 0.034858 m/s, LOS rate: -2.765099 deg/s, cmd heading: 258.592328 deg, new cmd heading: 254.838694 deg. 2j%5-HeadingCmd: 4.447774 target range: 48.099998 and range: 51.00 m. j-+T@j)j)j)i)h1h1h1h1f9f9f9rf9bfE@ɛu~Bu׽ qucVIq }Hl<ɚyiyI}O=I^i!i!)%+T@)!*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308298GyGQBaO}>AA EG٣AyMK M> UNusing accuracyPremultiplier from configQ]59Uw?]5YU iU)e%?e:eZe@UuEU;U;U35mB mLAmE IhZjDNOT Ignoring new targets: 48.10 m.RjBj}LJj}L ProNav: ac range: 48.099998 m, nav range: 12.878255 m, bearing: 205.490802 deg, approach rate: 0.011614 m/s, LOS rate: -2.860477 deg/s, cmd heading: 254.838702 deg, new cmd heading: 250.954153 deg. 2jcHeadingCmd: 4.379976 target range: 48.099998 and range: 51.00 m. j(@jjjihhh h:Bfffrfbfi@ɛe|Bm{vϽ quVIq u?ɚqiqI}0M=I}iyi)(@)*F%2F!:F!BF-o0JF)JIJMBAJJJJJM:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809206Gm ^>GA BQ Om >,.??ɨ6C@6x;6Cy>B>0IIFUIF4٢jQh jd=9nQ n>pp rG٣pyr+ v> zNusing accuracyPremultiplier from configtz59v5?~5Yv  ivϞ|~Y~@vuEv ;vK ;vģ5  aA Zj1=DNOT Ignoring new targets: 48.10 m.Rj9BjEMJjEMU ProNav: ac range: 48.099998 m, nav range: 12.881715 m, bearing: 204.462553 deg, approach rate: 0.009680 m/s, LOS rate: -2.875815 deg/s, cmd heading: 250.954155 deg, new cmd heading: 247.873377 deg. 2jU]HeadingCmd: 4.326207 target range: 48.099998 and range: 51.00 m. j]Ip@jYjYjYiYhahahahafififirfibfm` @ɛ{B 隥WI VBɚiI=I)zii)Ip@)*F2F:FBF]5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063297Hua>IuC IuIIuBIu =&IuFD.Iq6Iu<:Iu F $?IG5c>G=?G=>GBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313034iIQ UG٣UQGyUL U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]\' i]vm$+?m:mm@]uE];];]5y }VAyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 48.10 m.RjBjSJjS ProNav: ac range: 48.099998 m, nav range: 12.882345 m, bearing: 203.121262 deg, approach rate: 0.001391 m/s, LOS rate: -2.959631 deg/s, cmd heading: 247.873384 deg, new cmd heading: 243.856667 deg. 2jHeadingCmd: 4.256102 target range: 48.099998 and range: 51.00 m. j1@jjjihhhh9Bfffrfbfe @ɛyBDѽ 隝UI 6EɚiI =I2ii)1@)*F 2F :F BF ^5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565571zKAKE 9KAKEKE iIiG= ^>G B) O] >>tt vG٣tyv v> ~Nusing accuracyPremultiplier from configx59z5?5Yz&- iz@zuEz. ;z ;zM5 B AEZjAMDNOT Ignoring new targets: 48.10 m.RjQBj]QTJj]QT} ProNav: ac range: 48.099998 m, nav range: 12.882257 m, bearing: 202.062482 deg, approach rate: -0.000246 m/s, LOS rate: -2.969948 deg/s, cmd heading: 243.856659 deg, new cmd heading: 240.683726 deg. 2jHeadingCmd: 4.200724 target range: 48.099998 and range: 51.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818064 jTl@jjjihhhhfffrfbf.!@ɛxB? OIq }GɚyiyI}ȝ=Ilii)Tl@)*F)2F):F)BF5s4JF1) 5.~GiGuc> $ YyBM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069252Gi Bq O >Hm f>Ii  Im IIm BIm  =&Ii .Im ;D6Im ˰<:Im FBImʤCJImʤCRImʔCZIm =bIm =jImʏ)6 a Ia m& @Y>s@><9> =y>H?P'?쑿 ^'@?? eQ?@?ɨ> @>;>!CyJBJKIIRZIR4٢Z8= ZM=9^Q ^>`` bG٣`yfk f> jNusing accuracyPremultiplier from confighr59j\?r5Yj3 ij~prr@juEj;jw;j 5x zAzEZjDNOT Ignoring new targets: 48.10 m.RjBj%TJj%T5 ProNav: ac range: 48.099998 m, nav range: 12.881309 m, bearing: 200.876203 deg, approach rate: -0.002381 m/s, LOS rate: -2.976851 deg/s, cmd heading: 240.683736 deg, new cmd heading: 237.129459 deg. 2j5_=HeadingCmd: 4.138690 target range: 48.099998 and range: 51.00 m. j=&p@j9j9jAiAhAhAhAhIfQfQfQrfQbfUn"@ɛvB׽ 隅:JI JɚiIe=I\ii)&p@)*F2F:FBFP0JFJEJAJAJAJE:JAJAJAJEl;aUJEm;a]JEp#;a]JEq#;a]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321278G^>GGGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573131HX G٣QGyX > I Nusing accuracyPremultiplier from config59?5Y; i*?:J@uE/<<5 AzKjIK}9KKK.AsAtXAZjDNOT Ignoring new targets: 48.10 m.RjBjJJjJ ProNav: ac range: 48.099998 m, nav range: 12.878078 m, bearing: 199.564389 deg, approach rate: -0.006976 m/s, LOS rate: -2.832684 deg/s, cmd heading: 237.129469 deg, new cmd heading: 233.199558 deg. 2j󽝊HeadingCmd: 4.070100 target range: 48.099998 and range: 51.00 m. jC>@jjjih9hAhAhENBfAfIfIrfIbfM@^#@ɛtB̽ 隝iFI MɚiI6t=I=@ ii)C>@)*F=2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826943G} c>GQ BY O} >z X=9%4Q %>)) -G٣)y5kx => MNusing accuracyPremultiplier from configA]59E^?]5YEWA iEXae<m@EuEE_;E;E5 AZjAMDNOT Ignoring new targets: 48.10 m.RjIBjMQJjMQ ProNav: ac range: 48.099998 m, nav range: 12.874868 m, bearing: 198.440248 deg, approach rate: -0.008366 m/s, LOS rate: -2.931061 deg/s, cmd heading: 233.199570 deg, new cmd heading: 229.830411 deg. 2jqHeadingCmd: 4.011297 target range: 48.099998 and range: 51.00 m. j\@jjjihhhhfffrfbf7'$@Will construct direction to contact in vehicle frame from tetrahedron phase data.IC III+BI =&I.I6I<:I F $?Ih*F2F :F BF Z0JF G) Je Je Ja Ja Je ݒ:Je 9Ja Ja Je ;Je ;Je ;Je ;G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. --A - A)-zAI- A)y- AIE%IE)3٢Uf= ]6=9]>Q e>aa eG٣aymT m> Nusing accuracyPremultiplier from config59[?5YH iR ?:G@uE;;5 A E-B*** querying acoustic contact ***j)j)ZjiuDNOT Ignoring new targets: 48.10 m.RjqBjuFKJjuFK ProNav: ac range: 48.099998 m, nav range: 12.870423 m, bearing: 197.171750 deg, approach rate: -0.009962 m/s, LOS rate: -2.843481 deg/s, cmd heading: 229.830401 deg, new cmd heading: 226.029490 deg. 2j󽝊HeadingCmd: 3.944959 target range: 48.099998 and range: 51.00 m. j5z|@jjjihhhhBfffrfbf%@ɛ qBŽ O+I οQɚiI=I~i!i!)%5z|@)AEQEQ*F2F:FBF_0JF"GG Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >xx zG٣zQGy~ ~> Nusing accuracyPremultiplier from config 59>? 5YN  tIi  @ @uE; ;#5 iAZjAEDNOT Ignoring new targets: 48.10 m.RjABjMPJjMP] ProNav: ac range: 48.099998 m, nav range: 12.866242 m, bearing: 196.210381 deg, approach rate: -0.012683 m/s, LOS rate: -2.917135 deg/s, cmd heading: 226.029497 deg, new cmd heading: 223.147021 deg. 2j]@eHeadingCmd: 3.894650 target range: 48.099998 and range: 51.00 m. jeAy@jajajaiahihiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received }*response not received},DAT read: user:3013> -G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Tx time:23:01:34.1705 - $Ping request sent.- H f>I  I II SBI  =&I .I 6I <:I F I huh@::9:``=y:H1?`A?@oFٸ?7oX ?R?ɨ:X@:5(;: CyN8BNIiRhh jG٣hynk r> vNusing accuracyPremultiplier from configpv59rq?z5YreT irxz/z@ruErC:r:rⱆ5B AEZj!-DNOT Ignoring new targets: 48.10 m.Rj)Bj5yGJj=yGM ProNav: ac range: 48.099998 m, nav range: 12.860193 m, bearing: 195.095670 deg, approach rate: -0.015136 m/s, LOS rate: -2.790284 deg/s, cmd heading: 223.147020 deg, new cmd heading: 219.805320 deg. 2jM^}UHeadingCmd: 3.836327 target range: 48.099998 and range: 51.00 m. jU`u@jYjYjYiYhYhYhahafafafirfibfm@y&@ɛnBŽ 隝I hUɚiI=Ifii)`u@)JJJJJM:J9JJJ;J!;J';J';*F52F1:F1BF=O5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253846GqGQBYO}>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503258y@Y>@>9>z=y>H?`?@$` ?>P`?\? ?ɨ>y@>h;>CynVBnI aIa}Mb@Mb@Mb@yyy y)yY}Q?/$ÿ{Gzt?y}\?}}ף;y y)} AIyyy} AII(*2٢ > ==9XQ > G٣y_f > Nusing accuracyPremultiplier from config59ݿ?5YZ i?=:=㧿=@uEs<^s<ų5Y ]AYzK_ATT VG٣VQGyV/ Z> ^Nusing accuracyPremultiplier from configX-59ZĔ?-5YZH` iZ155@ZuEZI IIIBI =&I.I6Ið<:I F U$?IQGU^>G1BIO}>J5 J5 J1 J1 J5 ݒ:J5 9J1 J1 J5 ;J5 ;J5 ;J5 ; Will construct direction to contact in vehicle frame from tetrahedron phase data.ե ?ե U? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259808A=w,4A, @Y@9 =yH&r?c?@ir?t $[?t??ɨ, @Թ;騥 Cy޵}B޽ I) Mb@Mb@Mb@ )Y)\(? rh{Gz?yG?C #<A  A) AI` Ay AIIƲ٢= +=9 Q > G٣yfK > Nusing accuracyPremultiplier from config59Ȕ?5Yf i?:@uEQ;;x5  A %B*** querying acoustic contact ***j!j!Zj15DNOT Ignoring new targets: 48.10 m.Rj1Bj=T+Jj=T+M ProNav: ac range: 48.099998 m, nav range: 12.860667 m, bearing: 191.909825 deg, approach rate: -0.001638 m/s, LOS rate: -2.396623 deg/s, cmd heading: 213.591750 deg, new cmd heading: 210.258446 deg. 2jMͽ]HeadingCmd: 3.669702 target range: 48.099998 and range: 51.00 m. j]fj@jYjYjYiYhahahihmBfififqrfqbfu)@ɛiBȩ 9EwIY 9ZɚiIѣ=IPC'ii)fj@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512984*F52F1:F1BF= 3JF9 1I9zK= BJK= @9K9 K= K= "!  GY G9 BY Ou >*J) "J- a=% =w,-ARV@YRf@R^D;9R=yRH`2?v?G W@4?Dw`jh?@ ? ?ɨRV@R舊;PyZBZ$IIb7Ib3٢j> jq=9nQ n?pp rG٣pyr$ v? zNusing accuracyPremultiplier from configtz59vf˔?~5YvFk ivqe@vuEvbY;vo;v5! -7A)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763386ZjamDNOT Ignoring new targets: 48.10 m.RjiBjmy#Jjuy# ProNav: ac range: 48.099998 m, nav range: 12.859201 m, bearing: 191.122921 deg, approach rate: -0.004259 m/s, LOS rate: -2.286710 deg/s, cmd heading: 210.258440 deg, new cmd heading: 207.898868 deg. 2j+ĽHeadingCmd: 3.628520 target range: 48.099998 and range: 51.00 m. j9h@jjjihhhhfffrfbf@)@ɛhB 隵վI =[ɚiI>=I)ii)9h@)*F2F:FBFY0JFGc> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015196G B jH bH <H I  I _II ÀBI &I .I 6I <:I FO > ) I) =w,IcGA66@Y6@6+I96( =y6H@?`a? Gm`? i8?`c??ɨ66@6;6!CyRBR6IIZIZ#3٢zA= zH=9~TQ ~> G٣QGy S  > Nusing accuracyPremultiplier from config%59yΔ?%5Yp iJ!%%@uED;!E;51 5A5EZjQDNOT Ignoring new targets: 48.10 m.RjBj+)Jj+) ProNav: ac range: 48.099998 m, nav range: 12.856180 m, bearing: 190.171808 deg, approach rate: -0.007516 m/s, LOS rate: -2.366411 deg/s, cmd heading: 207.898869 deg, new cmd heading: 205.047348 deg. 2j˽HeadingCmd: 3.578751 target range: 48.099998 and range: 51.00 m. jC e@jjjihhhhfffrfbf@*@ɛgB_ ƾI -]ɚiI=Ir-ii)C e@)*F2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267961GaGIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251`=w,?aA6x@Y6@6o\96)=y6H`?@.H?`tL@?X8w?.$?@0?ɨ6x@6X;4 `Ibhy5B5CIiE?>IE= Ma=MR=Mb@Mb@Mb@ )YS?y&1y&1|?y>`役`;  A)vAIyIIm?3٢iL= :=97'Q  >    G٣ yJ > Nusing accuracyPremultiplier from config%59є?%5YGv i'->-:-L-@uE;8;5q utA}EZjDNOT Ignoring new targets: 48.10 m.RjBjJjzK-H MK-}9K)K-K-  E ProNav: ac range: 48.099998 m, nav range: 12.857966 m, bearing: 189.233416 deg, approach rate: 0.003967 m/s, LOS rate: -2.083470 deg/s, cmd heading: 205.047347 deg, new cmd heading: 202.234949 deg. 2jEMHeadingCmd: 3.529666 target range: 48.099998 and range: 51.00 m. ju a@jqjqjqiqhqhyhyh}EBfyffrfbf v+@ɛfB⏟ I ^ɚiI+=Im~/iqiq)u a@)yJsK{ـ3 K{KsKs"KsJ J J J J m:J *9J J a-@a-@a-@a-@*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775180G Gy B O >=w,{AN~GX` Y y BU@YUn@U~ꃼ9Uڗ=yUH`?`?@S?j?!}?`??ɨU@UZ9;U"CymBuTII.I3٢= R=9Q > G٣yG > Nusing accuracyPremultiplier from config59Ӕ?5Y*{ i@uE" ; ;Y5B AZjDNOT Ignoring new targets: 48.10 m.RjBjJj ProNav: ac range: 48.099998 m, nav range: 12.854162 m, bearing: 188.399620 deg, approach rate: -0.010070 m/s, LOS rate: -2.207781 deg/s, cmd heading: 202.234948 deg, new cmd heading: 199.734496 deg. 2jeHeadingCmd: 3.486025 target range: 48.099998 and range: 51.00 m. j_@jjjih!h!h!h!f)f)f)rf)bf5@d.,@ɛ]eB]֢ ]M=eIa e_ɚiiiIm5=Im"2iqiq)u_@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:01:36.6520 TRx dataTimestamp_ set to:1736377298.016749checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024948H]c>I]C I]II]BI] =&IY.IY6I]<:I] FBIæCJIæCRIÓCZI =bI =jI(y4 I*F2F:FBF0JFGh>GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276056%=w,AyBYIMb@Mb@Mb@ )YʡE?~jtMb`y>Ľ/A  A) AIvAyAI$I<3٢b< )=9Q > G٣QGy   > Nusing accuracyPremultiplier from config59n֔?5Y i>:%@uE ;{;u5) 5A1UB*** querying acoustic contact ***jQjQZjYeDNOT Ignoring new targets: 48.10 m.RjaBjm Jjm } ProNav: ac range: 48.099998 m, nav range: 12.856977 m, bearing: 187.445539 deg, approach rate: 0.005821 m/s, LOS rate: -1.972920 deg/s, cmd heading: 199.734498 deg, new cmd heading: 196.875390 deg. 2j}?HeadingCmd: 3.436124 target range: 48.099998 and range: 51.00 m. jt[@jjjihhhhgBfffrfbf %-@ɛdBǚ ^I 4`ɚiI=IA66ii)t[@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iADAT read: Range 10 to 50 : 58.0 m (Round-trip 77.4 ms) speed -0.4 m/s ,DAT read: user:3014> BDAT read: Tx time:23:01:37.7705 $Ping request sent.GA BQ Om >+=w,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:37.7697 N@YN&@Nӝ9N28ii)Y@)*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH9RH=?AHE^>IEC IEIIEBIE =&IEGD.IE:D6IE<:IE F IGc>G B O >џ2=w,A6!<@Y6K@61ܸ961Ԋdd fG٣dyj` j> vNusing accuracyPremultiplier from configlv59nؔ?z5YnW inxzz@nuEnR;n(4;nÆ5 AZj)-DNOT Ignoring new targets: 48.10 m.Rj)Bj5 Jj5 E ProNav: ac range: 48.099998 m, nav range: 12.848392 m, bearing: 185.984195 deg, approach rate: -0.014426 m/s, LOS rate: -1.971368 deg/s, cmd heading: 194.875324 deg, new cmd heading: 192.492156 deg. 2jEMHeadingCmd: 3.359622 target range: 48.099998 and range: 58.00 m. jM W@jIjIjIiQhQhQhYhYfYfYfarfabfmDO?ɛ- 15éI1 5bɚ1i9I= =I=;iAiA)E W@)A5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5"@E]Dc=Eq*F2F:FBF}1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I Gq GQ Ba O} >\9=w,DA6@Y61@6ȼ96-ʡ-94-A - A)- AI-A)y-p AzKJK9KKK BKpA:KmAI I2٢%#ż %(=9-zQ ->)1 5G٣5QGy5]> 5> ENusing accuracyPremultiplier from config9e59=ڔ?m5Y= i=m>m:mm@=uE=;= ;=ņ5q }LAyZjDNOT Ignoring new targets: 48.10 m.RjBj Jj  ProNav: ac range: 48.099998 m, nav range: 12.848482 m, bearing: 185.018610 deg, approach rate: 0.000182 m/s, LOS rate: -1.957658 deg/s, cmd heading: 192.492161 deg, new cmd heading: 189.598028 deg. 2j𧽝%HeadingCmd: 3.309110 target range: 48.099998 and range: 58.00 m. j%uS@j!j!j!i!h!h)h)h5GBf9fafarfabfe`>D?JJJJJ\:J9JJɛebBeЍ aeIa mMdɚiiiIm+=Iu;@=w,HA:̗@Y:Dܞ@:<Ӽ9:ӆIV>?IZIZHf[>Id IfIIf#BIf =&Id.Id6Ifð<:If F )I)٢ R=9kQ > G٣yi > Nusing accuracyPremultiplier from config59۔?5Y i@uE::dž5B kAEZj)5DNOT Ignoring new targets: 48.10 m.Rj1Bj=#Jj=#M ProNav: ac range: 48.099998 m, nav range: 12.847348 m, bearing: 184.245237 deg, approach rate: -0.002956 m/s, LOS rate: -2.016234 deg/s, cmd heading: 189.598033 deg, new cmd heading: 187.279048 deg. 2jMUHeadingCmd: 3.268636 target range: 48.099998 and range: 58.00 m. jUU1Q@jQjQjQiYhYhYhYhYfafafarfabfm<,?ɛaB I 7PeɚiI~=I%C?iQiQ)UU1Q@)QEYEY*Ea"EaEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFG ^>G B O >}G=w,A6)@Y68@67Ӽ96TXMQM̼MA M A)IIIIyM AIe8Ie3٢u[ u:=9}f8Q }>y G٣y: > Nusing accuracyPremultiplier from config59ܔ?5Y  i%U>:ÿ@uEl;T`;nɆ5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 48.10 m.RjBjJj ProNav: ac range: 48.099998 m, nav range: 12.842393 m, bearing: 183.319672 deg, approach rate: -0.011279 m/s, LOS rate: -2.107526 deg/s, cmd heading: 187.279047 deg, new cmd heading: 184.503573 deg. 2j̴HeadingCmd: 3.220195 target range: 48.099998 and range: 58.00 m. jN@jjj i 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. Ihh hhhKK]9KYK]K]@MOO\kgklcP;.0=Ww % Y y X )~F#Dy3d.J}J}JyJyJ}:J}:JyJyGy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266217GY Ba O >9@M=w,7A6t@Y6 @6ؼ96\\ ^G٣^QGyb$n b> fNusing accuracyPremultiplier from configdj59fܔ?j5YfÝ ifTln|ƿn@fuEfh;f;fˆ5p raApZjDNOT Ignoring new targets: 48.10 m.RjBj%AJj%A5 ProNav: ac range: 48.099998 m, nav range: 12.836867 m, bearing: 182.520201 deg, approach rate: -0.014618 m/s, LOS rate: -2.115787 deg/s, cmd heading: 184.503572 deg, new cmd heading: 182.105607 deg. 2j5=HeadingCmd: 3.178342 target range: 48.099998 and range: 58.00 m. j=iK@j9j9j9i9hAhAhAhAfIfIfIrfIbfM @ɛ}`B}߯ y隅оI  hɚiaIe+H=ImgFiiii)uiK@)q*F2F!:F!BF%[0JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517978jH]<bH]4<HeY>IeC IeIIeBIe =&Ia.Ie9D6Ien<:Ies F IGE c>G B) OM >$T=w,1`QA>@Y>x͜@>Zܼ9>H@ ?Dk?@򩡿@7m`~? O?|?=? Y?ɨ>@>!;> CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768307yV~BV I)X X\^@AIbQIb4٢j jI=9jQ n>ll nG٣pyr` r> zNusing accuracyPremultiplier from configx59zܔ?5Yzۢ izRɿ@zuEz;z';z̆5 AZj1=DNOT Ignoring new targets: 48.10 m.Rj9BjEJjEU ProNav: ac range: 48.099998 m, nav range: 12.829430 m, bearing: 181.657707 deg, approach rate: -0.018275 m/s, LOS rate: -2.120350 deg/s, cmd heading: 182.105602 deg, new cmd heading: 179.518477 deg. 2jU嵽eHeadingCmd: 3.133188 target range: 48.099998 and range: 58.00 m. je)H@jajajaiahihihqhqfyfyfyrfbftf@ɛT 隭I ._iɚiI=I)H@ii))H@)*FU2FY:FYBFen0JFaG]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:23:01:40.2542 eTRx dataTimestamp_ set to:1736377301.545737mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022911 IGBO>RZ=w,YMkA>@Y>&@>9>H@ ??kll?@~[?컜?ඐ??ɨ>@>;>CzKBePKBK9K@KBKBU9%~}zvtrplc`]YVSRPPLGEB=:62,(&%$"#!BKJqA:KJqAy^kB^IEMb@Mb@Mb@AAA A)AYE r?+Q롿yE?EE\EA E A)E3 AIEAAyEG AI]FI]%3٢ea mA=9m 4Q m>qq uG٣qy}qh }> Nusing accuracyPremultiplier from config59ݔ?5Y iס d? : ǿ@uEP<&<Ά5 AZjDNOT Ignoring new targets: 48.10 m.RjBj Jj  ProNav: ac range: 48.099998 m, nav range: 12.828318 m, bearing: 180.673767 deg, approach rate: -0.002435 m/s, LOS rate: -2.154778 deg/s, cmd heading: 179.518477 deg, new cmd heading: 176.569153 deg. 2jٸHeadingCmd: 3.081713 target range: 48.099998 and range: 58.00 m. j:E@jjjih!h!haheBfififirfibfu% @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272574ɛIMڳ IMIQ UFkɚYiYI#=I%.F@i!i!)%:E@)!*F2F:FBF_0JFG G qAG U Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 59.7 m (Round-trip 79.6 ms) speed -0.4 m/s I  ,DAT read: user:3015>  BDAT read: Tx time:23:01:41.3706  $Ping request sent. I  I II BI  =&I .I 6I <:I FB O >6a=w,AZ7@YZF@Z*b9Z.??ɨZ7@ZHs;ZCyrWBrIIzTIz4٢5ʽ 5N=95$Q 5> G٣QGyo > Nusing accuracyPremultiplier from config59ܔ?5Y6 i!ʿ@uE;;|І5 -Ae addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.527473 s, deltaX: 1.700001 m, approachRate: 0.481932 m/s, rangeRepo size: 4 ZjimDNOT Ignoring new targets: 48.10 m.RjmmZTarget missed at range: 59.70 m. Rolling out."jNTransitioning guidance mode to: ROLLOUT*j@ jjjji"jhhhhfffrfM@bf?ɛ)-*b MMaII U1lɚQiUB\IQI]E@iYiY)Y)e#m&Changing to mode: 1#uStandby mode.#E2Commanding positive:54396J}J}JyJyJ}\:J}9JyJyJ}k;aJ}l;aJ}<;aJ}<;a*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:41.3698 ]PExceeded connect timeout, disconnecting.GA GA Bq O >U`g=w,=A6h@Y6 x@696=y6H 4M??`,U@?0?{0?q}??ɨ6h@6M;6CyfCBfIij=Ija= j=j=]Mb@Mb@Mb@YYY Y)YY](\?ˡE~jty]z?]什]]A ] A)] AI]zAYy] AIuIu2٢½ E=9OjQ > G٣y} > Nusing accuracyPremultiplier from config59vܔ?5Y inE?: ̿@uEc;W;D҆5 AEL Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseLEntering Midcourse tracking update period 60.000000 s sec at 59.700001 m (mode 5.000000 count ).L1MB*** querying acoustic contact ***jjDNOT Ignoring new targets: 48.10 m. jjjj i "j h h  !I%h-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.hhB:uAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1; v@Uninitialize Buoyancy Component.ffrfbf@x? p=Iأ9 ɚ=i%I!I%:E@i)i))))1*F2F:FBF05JFzKNKŷ9KKK   *JQ"JUR=GG G G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751757G B O >m=w,kA2[@Y2ړ@2g92> =y2H@r5?? ˢ"~? y?FҠ?`}d??ɨ2[@2S;0y>3B>IIJIJ4٢VƠ VP=9ZǻQ ^>bb fG)%= )NG5tAA٣d 2Y5tAy)By%| %> 5Nusing accuracyPremultiplier from config)559-[۔?55Y-E i-9=Ͽ=@-uE-*:-:-.Ԇ5 NA2lN@1MqMDNOT Ignoring new targets: 48.10 m. jjjji"jhhhhffrfbfಘ?]EE?]EE?]EM@]E)@Ug QUWEI]9 Yɚ]~ƴi}IyIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004628HW>I IrIIҀBI =&I.I6Iа<:I FBIEģCJIEĤCRIAZIE =bIE =jIE5*F"2F:F!BF% 5JF!GB O- >J J J J J :J J J J ;J ;J J t=w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255907:X@Y:׻@:9:= BnManaging dock network, ignoring radio surface power offy:HO?@g???\9?@v?`?ɨ:X@:q;: CyJ(BJIIVIV̍4٢Z] ^J=9^޻Q ^>`` bG٣`yf f> nNusing accuracyPremultiplier from confighr59jٔ?r5Yj ijprҿr@juEjr;j2;jՆ5x zAx:l qM M %DNOT Ignoring new targets: 48.10 m. j!j!j!j!i!"j!h!h)h)h)f)f1rf1bf5t?]]]]z=w,]AzK*:LK*@9K(K*K*J$̐@YJۗ@J=9JiE=yJH?@?`aI`?@B??@^??ɨJ$̐@J;JCyVBVI)X XXX5Mb@Mb@Mb@111 1)1Y5(\?{GzMby5'?5ף55zA 5 A)5 AI5d A1y5 AIMIMa4٢]R ]B=9]ƆQ ]>aa eG٣aym߄ m> uNusing accuracyPremultiplier from configq}59uה?}5Yu iu})?}: Կ@uuEuw;uo;u׆5 ABlMtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 48.10 m. jjjji"jhhhqhuvBfyfrfbf?])?])?]<,@]w @5= 15+I559 1ɚ5@i1I9I9i9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759841iA)a)aE=P=*F'2F:FBFO0JFG B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013373H! I!  I% :II% BI! &I! .I! 6I% <:I% F==w,!A>@Y>K@>J9>ml=y>H࢖??@UB ??`??`?ɨ>@>ڊ;>"Cy^BbIIjIj4٢ P=9sQ > %G٣!y%S %> -Nusing accuracyPremultiplier from config)559-Ք?=5Y- i-DAE-׿E@-uE-P;-VP;-Nن5I MkAQ}DNOT Ignoring new targets: 48.10 m. jyjyjyjyiy"jyhhhhffrfbf@m@]]]]jD@J 3It9 ɚvkiIIii))EB=*Fm*2Fi:FiBFm^0JFiGq GuqAJJJJJ,:J:JJJ;J;JC;JC;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263799GiByO>f݇=w, A6+0@Y6?@6Q96Fʎ=y6H@惑C? `? (?bұ?`_?ɨ6+0@6;6Cy> BBI Mb@Mb@Mb@    )  !I!Y n?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515886 G٣yr > Nusing accuracyPremultiplier from config59Ҕ?5Y iIe/?:hؿ@vE;;*ۆ5 AE%DNOT Ignoring new targets: 48.10 m. j!j!j!j!i!"j!h)h)h)h-YBf1f1rf1bf5VQ@]Ue/?]Ue/?]U@]U@mQ imf&Im}9 iɚmQiiIqIqiyiy)y)yzKyJK9KKKDu9*E}="E}>EM9m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768544*F .2F :F BF O0JF G &>B O >ێ=w,Q>Ay  i>I= a=a=II٢-4k 59=95Q 5>99 =G٣9y= => MNusing accuracyPremultiplier from configAM59Eϔ?U5YEk iEOQQ]@EvEE 3;E3;E݆5eB mAmE DNOT Ignoring new targets: 48.10 m. jjjji"jhhhhff iImhrfybf @]]]] &I9HU>I IIIBI&I.I6I<:I F%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:01:43.8562 -TRx dataTimestamp_ set to:1736377305.076696-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020896 1ɚ5/i1I1I9iYiY)a)iDU9EYEY*E]"E]JM JM JI JI JM |:JM 9JI JI JM ;JM ;JM <;JM <;*F 02F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272114G h>BO>l=w,E]AyuBuIMb@Mb@Mb@ )Y(\?ʡE~jty.?DA 7A)AII Ay AIID4٢y< =9Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:01:43.8562 LVL= 20848, 19409, 11730, 23283, AGC= 56, IDX= 463, 0.23, 1.576,-2.173,-2.766,-3.066, PHS=-1.553, 0.941, 0.297, RAW= 284.4, 2.8, CAL= 287.2, 3.5, ROT= 222.8, -3.5 -Ygot valid direction response: 23:01:43.8562 LVL= 20848, 19409, 11730, 23283, AGC= 56, IDX= 463, 0.23, 1.576,-2.173,-2.766,-3.066, PHS=-1.553, 0.941, 0.297, RAW= 284.4, 2.8, CAL= 287.2, 3.5, ROT= 222.8, -3.5 5PDAT read: Bearing 222.8, -3.5 (Local) 5~Local bearing/azimuth received: Bearing 222.8, -3.5 (Local) EDAT read: Range 10 to 50 : 61.2 m (Round-trip 81.6 ms) speed -0.2 m/s E,DAT read: user:3016> MBDAT read: Tx time:23:01:44.9705 M$Ping request sent.M֞@+H=k?kby k keA:ktBBk"sBZk%I@ g@)5z=Ix@i5z+ ܦ?0?f9e?)H7@IAKi?t?:publishing transmit ping timeIFpublishing direction and range info"u[@;>%"@8N?MK?]MܚJk?Rkt?*9\V*@gB-9mM?EABw=nQ{"kɱ*kRAk\!?kz 2kː@kkkNBk"MAk=@9?MK?]Mܚy )Ii )Ii+ ܦ?0?f9e?) addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.532198 s, deltaX: 1.500000 m, approachRate: 0.424665 m/s, rangeRepo size: 4 Ii Added new target pos. range: 61.200001 m, bearing: 337.124290 deg, lat: 36.904896 deg, lon: -122.119813 deg, deltaT: 28.735529 s, deltaX: 13.100002 m, approachRate: 0.455882 m/s, posRepo size: 4 %DNOT Ignoring new targets: 61.20 m. j!j!j)j)i)"j)h)h)h1h5IBf1f1rf=N@bf= 9?]8/?]8/?]*t@]`@ )I9 ɚ iIIii))zK5 K5 ж9K1 K5 K5 J J @A Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:01:44.9697 D U9E ?E ?*F `42F :F BF 4JF "G >G p>Gc>BO?/=w,A2@Y2+@21920=y2H@z ?2G -\?? غ?@?ɨ2@2_9;2!C XX ZG٣Xy^J ^> bNusing accuracyPremultiplier from config`f59b5Ŕ?f5Yb  ibLdf忑j@bvEb*;bq+;b5nB rArEHS>I IIIrBI =&I.I6I <:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.k}?k}  ky ky:kyBk}!sBZk}@"}u[@;>%"@8N}?MK?]MܚJkyRky*}&+0Z-@p+LɌM}rT?La;֜N"k}_*k}lAk}??k}, 2k}@k}i?kyk}"Bk}@k}D/1@ DNOT Ignoring new targets: 61.20 m. j j j ji"jhhhhffrfbf%?]a]a]a]e@1 隝I=9 ɚ͵iIIii))D 9*F72F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G h>B! O] >UV=w,LƞA5tK@Y5Z@595؄=y5H 1?s?"?@Â?O?ɨ5tK@5);5 CyE7BMIMb@Mb@Mb@ )YS㥛?I +MbP?y$?9:\A A) AI3 Ay3 AIIh4٢5= 5'=9599 =G٣9yETT E> QIUh ]Nusing accuracyPremultiplier from configQe59U뽔?e5YU) iUZee&?m:m!쿑m@UvEU*;UG);U5q u+AqDNOT Ignoring new targets: 61.20 m. jjjji"jhhhhBffrfbf\?]e&?]e&?]W@]@ f&IF9 ɚ3iIIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F]92FY:FYBFeP0JFazK= BoIK= `9K9 K= K= Jm Jm Jm 1Ji Jm :Jm :Jm 3Ji a} @a} @a} @a} @G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.z=w,&A>F@Y>ť@>;9>=y>H@Ŀ`f?̄)jĿ } ?b Ȼ??ɨ>F@>1; b=9f    G٣ y \y > %Nusing accuracyPremultiplier from config!-59%?-5Y% i%x)--@%vE%7:%7:%i59 =mA9eDNOT Ignoring new targets: 61.20 m. jajajajiii"jihihihqhqfqfqrfqbf}`О?]]]][R@; 隭I9 ɚiYIIii))BD=:D;D9 U$?IQ*F;2F:FBF_0JFH P>I C I II wBI  =&I .I 8D6I <:I  F]Will construct direction to contact in vehicle frame from tetrahedron phase data.G c>B O c=w,tt zG٣xyzV z> Nusing accuracyPremultiplier from config|59~L? 5Y~ i~   @~ vE~C:~:~(5 AMDNOT Ignoring new targets: 61.20 m. jIjIjIjIiI"jIhIhQhQhQfYfYrfYbf]a?Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@)^< 隽I9 ɚiﰼIIii))D@9 9I9*Fmw>2Fq:FqBFu[0JFqm Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii G B O >ĺ=w,*A6]@Y6Mm@6 <96M=y6H@Lɿ$?` @[ Bɿp X`'? ?ɨ6]@6>Ì;6Cy>xB>I Mb@Mb@Mb@    ) Y On?&1~jtx?y ? н ; A ~A)  AI  A y  AI%I%4٢== =>=9= =Q =>AA EG٣AyM$ M> UNusing accuracyPremultiplier from configQ]59Um?]5YU  iUe?e:@@U$vEUlI  I 'II BI  =&I .I 6I <:I FBIQJIUˢCRIQZIU =bIU =jIUͱ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G >B O >ˆ=w,٘ A>҈@Y>@>T*=9> =y>H%j˿?'޿:"˿d~B`H?]?ɨ>҈@>Iύ;> CyNBN#IIVNIV@ 4٢^= ^8=9b=Q b>`d fG٣dyf j> nNusing accuracyPremultiplier from confighn59j젔?r5Yj ijopror@j)vEjL:j*:j5x zWAzijE5DNOT Ignoring new targets: 61.20 m. j1j9j9j9i9h9h9hAhAfAfArfIbfM@]q]q]q]us@%T*= !%I-9 )ɚ-i-nB O >W=w,Y2&AWill construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:23:01:47.4573 "TRx dataTimestamp_ set to:1736377308.604736 (*@5ć@Y5ӎ@5,=95Պ=y5HyϿ,?ೳ=@b+п DN? ?ɨ5ć@5e;1yMBM>I)Q QMb@Mb@Mb@ )Yw/?HzG{Gzty?= ף A)/AIdAyQ AI9I3٢_= $=9c=Q > G٣yLJ > Nusing accuracyPremultiplier from config59?5Y iXF ?:m@-vE+; ;%5 A-DNOT Ignoring new targets: 61.20 m. j)j)j1j1i1h1h1h9h=Bf9fArfbf  @]F ?]F ?] @]Pن@,= Q8I19 ɚ PiB O >®=w,BA .$?I,y€B_II%<I%3٢5_ > =N=9=Q E>AA EG٣AyM M>jHQbHU<H]K>I]C I]SII]BI] =&IY.IY6I]<:I] F uNusing accuracyPremultiplier from configq}59uS?}5Yu iu@u0vEu:u;:u5 AdzEDNOT Ignoring new targets: 61.20 m. jjjjihhhhffrfbf4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] *I9 ɚ i I Iii))Dk9*F}?2Fy:FyBF}O5JFy Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 61.9 m (Round-trip 82.6 ms) speed 0.0 m/s  ,DAT read: user:3017>  BDAT read: Tx time:23:01:48.5706  $Ping request sent. B O >0=w,n\AB:ֆ@YB@BN=9BFp=yBH|ѿ (m?f¿`l+ҿ, ?`?ɨB:ֆ@B;B"Cy^݀BbII?IT3٢-> C=9(=Q >! %G٣)y= E> Nusing accuracyPremultiplier from configy59}S?5Y}$# i}Q@}4vE}n<}l<}5 A QIQu addTargetRange:: Added new target pos. range: 61.900002 m, deltaT: 3.779867 s, deltaX: 0.700001 m, approachRate: 0.185192 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 61.20 m. jqjqjyjyiyhyhyhhffrf@3N@bf ?]]]]@N= 7Iխ9 ɚi)I)I1i1i1)9)9BDEp<:DEp; Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:48.5698 D5+9*F ?2F :F BF 1JF G  G rAJ! J% J! J! J! J% :J! J! zKa Ka Ka Ke Ke   Will construct direction to contact in vehicle frame from tetrahedron phase data.G >B O>=w,EzA:D@Y:7T@:K=9:=y:HҿB? ¿1oFQӿ䰿\??ɨ:D@:3};8yFBFIiJ=IJ<=Mb@Mb@Mb@999 9)9Y=ʡE?ˡEĿ:vy=->='=T=+A = A)=rAI=7A9y=G AIMIM3٢]= e6=9eii mG٣iym' m> }Nusing accuracyPremultiplier from configq59ux?5Yu' iu93?: @u8vEu;u9;u5 RADNOT Ignoring new targets: 61.20 m. jjjjihhhhBffrfbf`(?]3?]3?]a@]5@K= GI9 ɚ Mi I1I1i9i9)9)9 $?IHI III܀BI =&I.I6Iܰ<:I FeWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F 2F :F BF 1JF G &>B O >=w,PAWill construct direction to contact in vehicle frame from tetrahedron phase data.:nʅ@Y:ٌ@:k=9:>y:Hnӿu?@|JĿ@@WԿ`z *W?7?ɨ:nʅ@:;: CyZBZIIf;If&3٢5= 56=9=JAA EG٣AyE; M> UNusing accuracyPremultiplier from configQ]59Um?]5YUI, iUY] e@U;vEU:U:U5mB mAmʳEDNOT Ignoring new targets: 61.20 m. jjjjihhhhffrfbf/?]]]]3@k= DI9 ɚ̴iIIii)) IDu9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F BF P5JF G .>B O >=w,۰A6b@Y6|r@6Z>96' >y6H*Կ`?ſA6տ@g ? /q?ɨ6b@6;6CyRBRI5Mb@Mb@Mb@111 1)1Y5"~?xƿL7A`堿y5>5K75+5A 5A)5nAI5 A1y5 AI"Iq3٢%= E=9 G٣y > Nusing accuracyPremultiplier from config59xc?5Y/ i>:+@>vE;<;r5 A eDNOT Ignoring new targets: 61.20 m. jajajijiiizKuLKu#9KqKuKu  hqhhhɂBffrfbf@?mWill construct direction to contact in vehicle frame from tetrahedron phase data.]>]>]@] ~@Z>  cI 9 ɚ]$iIIii))2D%rA*D%nAD9E ! I! ZH) RH) H= M>I9  I= II= BI9 &I9 .I9 6I= ԰<:I= F*F ?2F :F BF R5JF "G x>G % Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >=w,lAFZ@YF@Fe]>9F^R >yFHhԿ? 4ƿ 4տض ;¿?b?ɨFZ@FRҎ;F"CyRBRI)T TI^PI^ 4٢b< f/=9fhh jG٣hynh r> vNusing accuracyPremultiplier from configpv59rW?z5Yr3 irx~~@rAvEr] ;r ;r{5 A̳E-DNOT Ignoring new targets: 61.20 m. j)j)j)j1i1h1h1h9h9f9f9rfAbfE?]a]a]a]eK7~@}e]> y}`I}9 ɚ]iIIii))JQJQJU1JQJQJQJU3JQJUP;amJUQ;amJUDG;amJUEG;amD9Will construct direction to contact in vehicle frame from tetrahedron phase data.W?<*FE?2FA:FABFEO0JFAG>BO> e $?Ie hu Will construct direction to contact in vehicle frame from tetrahedron phase data.s=w,:AV@YVˋ@VZL>9V+ >yVH@sPտ`|?yǿ ֿ@4dÿ"B?@R?ɨV@Vm؎;V Cyf BfIMb@Mb@Mb@ )Yp= ף?-ƿ)\(y>?5GaA A)OAI~AyAI?IT3٢l< ==91 G٣yڽ > Nusing accuracyPremultiplier from config59M?5Y'7 i>:@DvE;;`5 AϳEDNOT Ignoring new targets: 61.20 m. jjjj!i!h!h!h)h-Bf)f)rf)bf5@X@]]>]]>]]E@]]z9|@mZL> imI 9 ɚ -i IIii))DK9JaJa*F?2F:FBFP0JFzKLK9KKK BK):K-rAWill construct direction to contact in vehicle frame from tetrahedron phase data.G &>B O > Y IY >w,/AJqa@YJp@J[(>9J! >yJHտ`w?Vǿa׿ߤ@ĿXk?@CD?ɨJqa@Jǎ;J#CyfBfIInSIn4٢zZ zW=9z|| ~G٣|y >HO>IC IIIBI =&I.I6I<:I F Nusing accuracyPremultiplier from config59|D?5Y: iP@GvE<<5 ADNOT Ignoring new targets: 61.20 m. jjjjihhhhffrfbf)@-Will construct direction to contact in vehicle frame from tetrahedron phase data.]!]!]!]%p{@=[(> AE5IE9 AɚE2iIIIIIiQiQ)Q)QDe9*F2F:FBF^0JFJJJ0JJܫ:J:Jـ3JJ;J;JI;JI;GE > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:01:51.0580  TRx dataTimestamp_ set to:1736377312.388595BY O} >J$>w,fAy~B~Ii =I IRIW4٢UW ]E=9]Q ]>aa mG٣iy} }> Nusing accuracyPremultiplier from config59f:?5Y,= i5@IvE":C:5 ADNOT Ignoring new targets: 61.20 m. jjjjihhhhffrfbf`&_ @ I]1]1]1]1 郿I;9 ɚյiII)i)i)))))EWill construct direction to contact in vehicle frame from tetrahedron phase data.DMʰ9*F ?2F :F BF P0JF zKu LKu 9Kq Ku Ku   Will construct direction to contact in vehicle frame from tetrahedron phase data. %= %= DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.3 ms) speed -0.2 m/s  ,DAT read: user:3018>  BDAT read: Tx time:23:01:52.1721  $Ping request sent. B9Om>]>w,Auuu=A uA)u|!AIuAqyuAI6Im3jH<bH<H Q>I  I II BI  =&I .I 6I <:I  FBIġCJIRIZI =bI =jIN>5٢= ==99Q E>AA EG٣AyI M> uNusing accuracyPremultiplier from configq}59u-?}5YuA iu<>;@uMvEu;u;u~5B AҳE addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.532367 s, deltaX: 0.500000 m, approachRate: 0.141548 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 61.20 m. jjjjihh 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:01:52.1713 h9h=BfAfArfE@33O@bfEkG?]>]>]s@]~@ fI9 ɚiIIii))D- i9J} J} Jy Jy J} ,:J} :Jy Jy J} ;J} ;J} C;J} C;*F 2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OU?<>w,`AF̂@YFۉ@FHC>9F >yFHؿ?-ɿ@yڿ{ UȿC?@X?ɨF̂@F;F"CyB IIU+IUn3٢ʽ 7=9u=Q > G٣ $?Iy% > Nusing accuracyPremultiplier from config59"?5YD iͷ  @PvEV;";5 ADNOT Ignoring new targets: 61.20 m. jjjjihhhhffrfbf|?]]]]'{@HC>  Ib9 ɚ&iII!i!i!))))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D$9*F2F:FBFP0JFG &>B O >zK LK -9K K K    Will construct direction to contact in vehicle frame from tetrahedron phase data.2>w,TzA2i[@Y2j@2H>924>y2H}ٿ?kɿ @:ۿ`rȿ*?`O!?ɨ2i[@2;2 Cy:րB:wIMb@Mb@Mb@ )YK7A?"~j ףp= y >S㽹Q A A)$AIyAI?IT3٢v H=9!$ G٣y > Nusing accuracyPremultiplier from config 59? 5YG i b> ; @RvEL;;<59 =!A9DNOT Ignoring new targets: 61.20 m. jjjjihhhhBffrfbf?] b>] b>] @] @=H> 9=I=h9 AɚE#iAIAIIiIiI))D9 !I!H T>I  I lII ̀BI  =&I .I 9D6I <:I  F*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G .>B O >$>w,2A6i@Y6@6K>96>y6HWHڿs?@ɿ|`>ܿ`W@FɿĐ?h?ɨ6i@6t;6!Cy>ƀBBdIIF+IFn3٢R R]=9VTT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^K?f5Y^^J i^dff@^TvE^:^:^5h nAlDNOT Ignoring new targets: 61.20 m. jjjjih h h h ffrfbfwZ?JEJAJAJAJE:JAJAJAJE;JE;JAJA]Y]Y]Y]]w=@mK> im}Im9 qɚu85iqIqIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E*F?2F:FBFo0JF 1I9G6>BO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.*>w,- A:p@Y:_@:N>9: >y:H 6ۿ3?ʿEܿɿ`2F? ?ɨ:p@:;: CyFBJ]I N=N=%Mb@Mb@Mb@!!! !)!Y%J +?QJ +y%>%u%Ƚ%|!A !)%(AI%A!y%AI5XI54٢E M@=9M;Q M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam59e4 ?m5YeM ieom&>m;m- m@eWvEef;e;e5}B AճEDNOT Ignoring new targets: 61.20 m. jjjjihhhh'Bffrfbf@%?]&>]&>]3@]y@N> 隽IG9 ɚIiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK۵9KKK D9*F?2F:FBF_0JF 5 $?I1 ZH ?ARH @AH W>I C I :II BI  =&I .I 6I <:I FGu .>B O >2>w,IAR@YR\@RQ>9R`l>yRH`uۿ?E˿UBݿ C὿ ʿ??ɨR@RJ=;R!Cy^B^QIjWill construct direction to contact in vehicle frame from tetrahedron phase data.IfaIf+4٢rx; vL=9v;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config|59~a? 5Y~Q i~    @~YvE~);~;;~m 5B A%׳EMDNOT Ignoring new targets: 61.20 m. jIjIjIjIiQhQhQhQhQfYfYrfYbf]`G@]y]y]y]} @Q> 隕IQ9 ɚ\iIIii))DU39JJJJJ|:J9JJJ;J;J8;J8;*F2F :F BF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BY Ou >@8>w,˜AF;@YF@F6`S>9FP>yFHѳܿD?@~̿Z޿`<ʿG?H?ɨF;@F V;FCy~B=I qIyIE^IE&4٢ <=9";Q > G٣yG  > Nusing accuracyPremultiplier from config!59%?5Y%T i%f @%\vE%<%;%_ 5 A mDNOT Ignoring new targets: 61.20 m. jijijijiiqhqhqhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf1@]I]I]I]ML@}6`S> 隅 Ip9 ɚ,siIIii))2DqA*DrAD 9E) E) *F ?2F :F BF _0JF "G l>G e>u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:01:54.6603  TRx dataTimestamp_ set to:1736377315.917473zK :6LK 9K K K GBO>o@>w,EAJ* @YJ@JjT>9J>yJH jݿs?`Ϳ`߿T`ʿ]? ?ɨJ* @Jf;JCyVBV3I)X XUMb@Mb@Mb@QQQ Q)QYU&1? rhEԸyU>UCUƽU A UA)U3'AIQQyUAImQIm4٢}q *=9-;Q > G٣y > Nusing accuracyPremultiplier from config59?5YX i>:S@^vE;<;m 5 A IhDNOT Ignoring new targets: 61.20 m. jjjjihhhhBffrfbf@q @HY>IC III|BI =&I.I6I<:I F]e>]e>]e@]e@ujT> y}QI}9 yɚ}؃iyIyIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F 2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 23:01:54.6603 LVL= 20096, 15665, 13730, 26611, AGC= 56, IDX= 441,-0.11,-2.680,-0.909,-0.156,-1.106, PHS=-1.486, 0.244, 0.947, RAW= 253.7, 2.8, CAL= 258.3, 4.0, ROT= 251.7, -4.0 - Ygot valid direction response: 23:01:54.6603 LVL= 20096, 15665, 13730, 26611, AGC= 56, IDX= 441,-0.11,-2.680,-0.909,-0.156,-1.106, PHS=-1.486, 0.244, 0.947, RAW= 253.7, 2.8, CAL= 258.3, 4.0, ROT= 251.7, -4.0 5 PDAT read: Bearing 251.7, -4.0 (Local) = ~Local bearing/azimuth received: Bearing 251.7, -4.0 (Local) E DAT read: Range 10 to 50 : 63.0 m (Round-trip 84.0 ms) speed 0.0 m/s M ,DAT read: user:3019> U BDAT read: Tx time:23:01:55.7706 U $Ping request sent.U nr? \@ C@) 5=I g@i 5 %*l< ?w(9G?) W@I Di ǿ {?  :publishing transmit ping timeQ  Fpublishing direction and range info 9 x1Kr?LF׿Ƀy  ) I i ) I i %*l< ?w(9G?) I i G 6>BO=>G>w,Ay]B]-IAAINI@ 4٢H =9Q > G٣!y > Nusing accuracyPremultiplier from config-59;?55Yr] i@9A@bvE=o =5B AڳEmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:01:55.7698 k={?k=C? k9 k=A:k=|BBk=IzBZk=~?"=m?ҥY7f16M=x1Kr?LF׿ɃJk=ǿRk={?*=1EQ~:1@.N=*oG`x? 3#}"k=9A*k=)k="J?k=[ 2k=ֈ@k9k=[ k=@k=Ak= ?E addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 3.527665 s, deltaX: 0.599998 m, approachRate: 0.170084 m/s, rangeRepo size: 4 } Added new target pos. range: 63.000000 m, bearing: 111.679832 deg, lat: 36.904949 deg, lon: -122.119688 deg, deltaT: 10.839899 s, deltaX: 1.799999 m, approachRate: 0.166053 m/s, posRepo size: 4 }DNOT Ignoring new targets: 63.00 m. jjjjihhhhffrfO@bfV?]]]] I9 ɚ{iIIii))BD 4=:D ;D= p9J J J J J ̝:J 9J J a @a @a @a @*F ?2F :F BF O0JF G rA G % Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K k9K K K M> /G.>B9OU?P>w,DAF;T}@YF@F'R>9F >yFH߿`D?@9Ϳ./+ʿ@??ɨF;T}@Fҙ;FCyRBR,IiZ4=IZ< `I`EMb@Mb@Mb@AAA A)AYECl?{Gzt?ˡEyE>Eף;E什EM"A EA)E(AIAAyEQAI]I]3٢mF m=9uiNQ u>y G٣y۪ > Nusing accuracyPremultiplier from config59瓜?5Ya i>;@evEjH<bHH[>I IIIbBI =&I.I:D6I˰<:I Fx==5 A DNOT Ignoring new targets: 63.00 m. j j)j1j1i1h9h9hAhE BfAfIuWill construct direction to contact in vehicle frame from tetrahedron phase data.rfIbfu6?]>]>]I<]$*@'R> (I9 ɚ%iIIii!))))D09*F ?2F :F BF P0JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.% >% !@G6>BO>gqX>w,icA2m|@Y2vF@2Q>927Z>y2HO`?g̿ GTʿ@?^?ɨ2m|@2;2#Cy>B>1IIJIJT3٢^< b/=9f9Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yre ir3xzz@rhvEr9;rs:;r5 A $?IDNOT Ignoring new targets: 63.00 m. jjjjihhh)h)f1fYrfabfe`?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]@5Q> 15I5G9 1ɚ5iYIYIYiaia)a)aD9J J BAJ% J% J! J! J% :J% 9J! J! *F5 ?2F1 :F1 BF= O0JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data. c~GzK M=OK 9K K K G{  S H*gL5"  BK :K pA |uA % Y% |uAy% AG%.>B9Oe>'f`>w,uAFc{@YFo@FSO>9F>yFH@<`@?{Ϳ~&@Aɿif??ɨFc{@Fc;F!CyRBR6I-Mb@Mb@Mb@))) )))Y-Dl?-t<-t-|!A -A)-v*AI))y-zAIEIE#3٢< =9҇Q > G٣y    > Nusing accuracyPremultiplier from configE59ؓ?E5Y^j iE>E;MSM@kvE;~;85Q }AyDNOT Ignoring new targets: 63.00 m. jjjjihhhhBffrfbf@/?HM]>II IMIIMXBII&II.II6IM<:IM FBIäCJIãCRIZI =bI =jI5]>]>]QԷ<]%f@SO> 隵pI9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >7Eg>w,~A <>@^Îy@Y^փ@^wL>9^dD>y^H5+?H'ο u 賿`cɿ@1? ?ɨ^Îy@^;^"CyjBjCIIr_Irb(4٢~ K= ~D=9~/ۻQ ~> G٣y{  > Nusing accuracyPremultiplier from config 59 ѓ?5Y m i %%@ mvE ,; ,;  5) -iA)]DNOT Ignoring new targets: 63.00 m. jYjYjYjaiahahahahififirfibfu`@]]]]@wL> 隥ʚI9 ɚ#iIIii))D9 iIi*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >5km>w,MHAJ2J2J0J0J2L:J2b9J0J0Bx@YB]q@BJ>9BO>yBH`Pw?Bο=@#,ɿH4?e?ɨBx@B;B CyJBJWIuMb@Mb@Mb@qqq q)qYuMb?utuyu#A uA)qIqqyuAIIId4٢= A=9Q > G٣y > Nusing accuracyPremultiplier from config59qʓ?5Y ;( @pvEw;;5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.1?%=߳EDNOT Ignoring new targets: 63.00 m. jjjjihhh!h%FBf!f!rf)bf-#=@]M>]M>]MK@]M{{@eJ> aeIeX9 aɚmöiiIiIiiqiq)q)yzKM6uOKM-9KIKMKM qIqD9H`>I IIIgBI =&IFD.I6I<:I F*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe >\t>w,LA2#w@Y2 @2}H>92+>y2H@)=? 3ο@ ~ ȿ1??ɨ2#w@2;2!CyBƀBBcIIJWIJ44٢RMQ= RZ=9R_Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^Ó?b5Y^t i^ `f f@^rvE^ ;^ ;^5h jAhDNOT Ignoring new targets: 63.00 m. jjj j i h h hhffrfbf 6@]1]1]1]5@M}H> IMIMj{9 IɚUhͶiQIQIQiYiY)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:01:58.2590 TRx dataTimestamp_ set to:1736377319.444799Dm;9*F?2F:FBF0JF = $?I9 G B OU >6z>w,5AWill construct direction to contact in vehicle frame from tetrahedron phase data.y%ӀB%tIMb@Mb@Mb@ )z4@YʡE?Mbv/y->@xi A)(AI~AyI\I#4٢%o= %4=9-Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=|?E5Y=w i=M%>M;MTM@=tvE=r;=;=5Q U)AQDNOT Ignoring new targets: 63.00 m. jjjjihhhh^Bffrfbfh @]%>]%>]@]1~@ IZ9 ɚNضiIIii))JK KKK"KJmJmJiJiJm:Jm9JiJiD 9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:01:58.2590 LVL= 15024, 12273, 12098, 17651, AGC= 56, IDX= 443,-0.19,-2.610,-1.062, 0.062,-1.229, PHS=-1.293, 0.215, 1.288, RAW= 245.5, -1.9, CAL= 247.7, -3.8, ROT= 262.3, 3.8 Ygot valid direction response: 23:01:58.2590 LVL= 15024, 12273, 12098, 17651, AGC= 56, IDX= 443,-0.19,-2.610,-1.062, 0.062,-1.229, PHS=-1.293, 0.215, 1.288, RAW= 245.5, -1.9, CAL= 247.7, -3.8, ROT= 262.3, 3.8 PDAT read: Bearing 262.3, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 262.3, 3.8 (Local) zK BHK ۵9K K K HPS 5CCB>974*F! 2F! :F! BF% 0JF) E DAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.0 m/s U ,DAT read: user:3020> ] BDAT read: Tx time:23:01:59.3722 ] $Ping request sent.] /ݤ?@ W@)ԇI~@iԇ= : X< ]C?i2꠿)? @I]=ilٵq? :publishing transmit ping timeY  Fpublishing direction and range info97b?۪" Yy )Ii )Ii : X< ]C?i2꠿)Ii ! I) G= 6>BA Om >>w,l{AH"d>I"C I"II"BI" =&I .I";D6I"<:I" Fv@YU@ C>9>yH`[? ,ο5 Rȿ_?` ?ɨv@/;yޝ؀BޥyIIGI3٢˙< ;=9,Q > Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:01:59.3714 ) -G٣)y5O 5> =Nusing accuracyPremultiplier from config9E59= ?E5Y=y i=AEM@=vvE=d;=;=r5q uAqkX?k k kA:kf|BBkzBZk@"3v@.4Ѩ?ZԮ4K7b?۪" YJklٵRkq?*],h'B2@ X I=9 ɚ_iIIii))D%%9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF "G p>G l> I hG%&>B)OM>->w,|&A6u@Y6B@6B@>96 >y6HaԒ?@/3ο< f̆ǿ`*?g ?ɨ6u@6;6"CyRBRIIZIZV83٢b1= b?=9fQ f>dh jG٣hyj} j> nNusing accuracyPremultiplier from configlr59nԪ?r5Yn| inztvsz@nyvEn94;n94;nL!5~B ~AEUDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhYhYhahafafirfibfuW?]]]]|@5Will construct direction to contact in vehicle frame from tetrahedron phase data.B@> amϝImބ9 qɚuiyIIii))D9*FI2FI:FIBFM45JFQG .>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.2>w,?@A6$t@Y6@6:h<>96>y6H k]? *Ϳ76kǿ ?p?ɨ6$t@6;6!CzK>\MK>9K<K>K>0-*(&#9zA$ yFBJI)L L]Mb@Mb@Mb@YYY Y)]AY]+? ףp= X9vy]>]Q]}]"#A ]A)])AI]AYy]pAIu&Iu3٢&= ?=9 Q > G٣y > Nusing accuracyPremultiplier from config59?5Y~ iCB> ;# @{vE;;)#5 TADNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf?]MB>]MB>]M;@]Mq@e:h<> aeImx9 iɚmiiIi $?IIii))D|9HUg>IUC IU4IIUBIU =&IQ.IQ6IU<:IU F*Fe?2Fa:FaBFmP0JFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >|7>w,+ZAJJJ1JJm:J9J3JJ;aJ;aJ!;aJ!;aNb t@YN@N8>9Nq>yNH?iͿD``ƿ N-?@8?ɨNb t@N̈;NCyVBVIIbIb3٢j< jW=9nQ n>pp rG٣pyrP v> zNusing accuracyPremultiplier from configtz59v&?~5Yva iv| @v}vEv] ;v ;v$5  .A 5DNOT Ignoring new targets: 63.10 m. j1j1j1Will construct direction to contact in vehicle frame from tetrahedron phase data.j9ihhhhffrfbf+Q?])])])]- im룿Im{9 iɚm#iiIiIyiyiy)y) IDI9*F?2F:FBF3JFGqA GnA] Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 6>B9 O] >n>w,vA6us@Y6Oʀ@67>968>y6H?9Ϳ'Uu@@@vƿ@z?o?ɨ6us@6;6 CyBBBIMMb@Mb@Mb@III I)IYM9v?Zd;lyM>MMMQ"A MhA)M7'AIIIyMAIeFIe%3٢ub< u2=9}VQ }>yy G٣yؤ > Nusing accuracyPremultiplier from config59L?5Y i>#;)@vE|;;&5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhyBffrfbfbS?]>]>][@]i@%7> !%I%9 )ɚaiIIii))BD<:Dp;Will construct direction to contact in vehicle frame from tetrahedron phase data.խ?խ=zK"MK`9KKKD9 I*FM?2FI:FIBFUP0JFQHM h>II  IM YIIM BIM  =&II .II 6IM Ȱ<:IM FU Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >>w,[A6r@Y6u@6`G6>96N!>y6H.1?wͿ@o+*ƿo??ɨ6r@6h;6!CyBBBIiF%>IF> F=F=IrGIr3٢zp< zM=9zQ ~>|| ~G٣|yҩ >  Nusing accuracyPremultiplier from config 59 ?5Y  i )@ vE !; ; (5%B %A%EUDNOT Ignoring new targets: 63.10 m. jQjYjYjYiYhYhYhahafafarfabfm`@]]]]ۈh@`G6> 隝@I9 ɚb iIIii))*Fe?2Fa:FaBFen0JFiJJJJJ:J9JJJm;Jn;J;J;]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> ! I! i!>w,}Arpr@YrG@r@d4>9r#>yrH bஂ?`Ϳp`nƿ?4?ɨrpr@r-;pWill construct direction to contact in vehicle frame from tetrahedron phase data.yBIUMb@Mb@Mb@QQQ Q)QYU9v?K7+ηyQUI UvU#A UA)Ub&AIU~AQyUAImAImk3٢}l  }(=9oxQ > G٣y > Nusing accuracyPremultiplier from config59|?5Y iHl>;,@vE+;;*5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhoBffrfbf@]l>]l>]O@]}ge@-@d4> )-I5t9 1ɚ5i1I9I9i9iA)A)A*F2F:FBF_0JF"Gl>Gx>)&= } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:02:01.8603  TRx dataTimestamp_ set to:1736377322.978136 NG vAG B ! U {YU vAyU AO] >zK BHK u9K K K >w,xA2q@Y2 @2-2>92%>y2HmX?ͿN`ZIF8ƿ`;O?=?ɨ2q@2;2 CyFBFIIN<IN3 Z$?IX٢^! ^=9^կQ b ?`` bG٣`yf f ? jNusing accuracyPremultiplier from confighn59ju?n5Yj$ ijlr-r@jvEj*:j*:j,5t v AxUDNOT Ignoring new targets: 63.10 m. jQjQjQjYiYhYhYhYhafafarfibfmTS @] ] ] ] d@-2> EўIE{r9 AɚE}iAIAIIiIiI)I)QHj>I IlIÌBI =&I.IBO>J J J 0J J M:J 9J ـ3J J ;J !;J F;J G;0>w,)AWill construct direction to contact in vehicle frame from tetrahedron phase data.==> q@Y>@>0>9>%>y>H;}5?`Ϳ \oXſY??ɨ> q@>R;>CyfBfI)h hlnAIr]Ir$4٢~^ ~H=9iQ >  G٣ yυ > =Nusing accuracyPremultiplier from config1M595l?U5Y5y i5ae-m@5vE5d;5<5-5 wAEDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf @]]]] d@0> I%|9 ɚiII i i ) ) I*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.0 m/s =,DAT read: user:3021> MBDAT read: Tx time:23:02:02.9707 m$Ping request sent.uB) OM >y{BU :publishing transmit ping timeiy[>w,BA6fq@Y6d2@6;.>96w&>y6H@$ ?ͺͿ`-/ſj??ɨ6fq@6Ҍ;6!CyR߀BRImMb@Mb@Mb@iii i)iYmQ? rhS㥻ym(>mC m/ݽm#A mA)m%AIiiymAILI4٢ A=9Q > G٣ys > Nusing accuracyPremultiplier from config59b?5Y ix>;N,@vE:;U9;/5 A  addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 3.781888 s, deltaX: -0.199997 m, approachRate: -0.052883 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 63.10 m. j j jjihhhhFBffrf%@3sO@bf%F?]E>]E>]Ẹ@]Ee@];.> aeIe9 aɚe{iaIaIiiiii)q)q2D}*D}BD}:D}=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:23:02:02.9699 *F?2F:FBF4JFGrA GrAzKRIK9KKKv&Qi{}sg]VI9,  IHk>IC IfIIȀBI =&I.I6I<:I FG.>BO% > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai C>w,*A:p@Y:~@:. ,>9:&>y:H `6?0}Ϳ >t hgſ`<_?"?ɨ:p@:;8yRҀBRsII^+I^n3٢fD fX=9jRQ j>hl nG٣lyr r> vNusing accuracyPremultiplier from configtz59vZ?z5Yv8 ivx~,~@vvEvZ;v;v_15 "A =DNOT Ignoring new targets: 63.10 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM?]i]i]i]mYe@}. ,> 隅ٜI<|9 ɚE$iIIii))*F12F9:F9BF=P0JF9JJJ1JJ:J9J3JJ;J;J;J;EWill construct direction to contact in vehicle frame from tetrahedron phase data.G=6>BIOmx> $?I m>w,M+AFbp@YF`/~@F(>9Fe+*>yFHM@5?2Ϳ`K&uĿ?@!?ɨFbp@F;F"CyVɀBVhI Z=XI%I%m?3٢N( ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.9Q > G٣y > Nusing accuracyPremultiplier from config 559 O?=5Y  i  AM&-M@ vE  < < L355B UeA]EDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf &6?] ] ] ] d@m(> imIm9 qɚu)iqIqIyiyiy)y)y*F=?2F9:F9BF=O0JFAM Will construct direction to contact in vehicle frame from tetrahedron phase data.G% .>B9 O} >zK NK `9K K K oib[ZYUPE60.)& #"! lU>w,EA Ih6o@Y6}@6%>96()>y6Ht?NͿX,`NDbs@QĿ ? J&?ɨ6o@6~;6 CyBBBSI Mb@Mb@Mb@    ) Y y&1?Cl绿ʡEy `> ;߽   ) $AI OA y II<2٢ %A=9%C׻Q %>)) -G٣)y-Nv 5>jH9bH=<HEl>IA IESIIEBIA&IA.IA6IEް<:IE F ]Nusing accuracyPremultiplier from configYe59]F?e5Y]n i]e>e;m&m@]vE]+;];]55q uAqDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf8?]M>]M>]M@]MRk@}%> 隅I#9 ɚ.iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFEP0JFAGm ?>Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,ˢ_A^5;o@Y^3Z}@^$>9^(>y^H@ p?`'Ϳp7@tg`Ŀ]?(?ɨ^5;o@^$;\yjBjBIIvEIv3٢z ~]=9~DQ ~> G٣y   > Nusing accuracyPremultiplier from config 59 `>?5Y  i ='@ vE z: : 65) -XA)eDNOT Ignoring new targets: 63.10 m. jjjjihh h h f frfbf`G?]Y]Y]Y]]j@$>  I7}9 ɚf3iIIii) I)*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu 6>By O >>w,NyA6An@Y6?|@6!$>96(>y6H@ lI?K%Ϳ^2T`|Ŀ?(?ɨ6An@6c;6"CyRBR%I)X XEMb@Mb@Mb@AAA A)AYE/$?Q뱿i|?5yE&>E\EEM"A EOA)E|!AIEAAyE=AI]XI]4٢m mD=9uQ u>qy }G٣yy} > Nusing accuracyPremultiplier from config59Y5?5Y i>; @JJJ0JJ-:J9Jـ3Ja@a@a@a@vEz;;85 AEDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf`@]>]>]@]s@!$> I9 ɚiIIii ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.EAEEqA*F?2F:FBF0JF $?IzK=UNK=k9K9K=K=    $*,,(%#HEn>IA IE-IIEBIE =&IA.IA6IE<:IE FG- .>B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,)A6Nn@Y6m|@6#>96ns(>y6H@?@ͿfP?`}ZĿ?*?ɨ6Nn@6␌;6!Cy>B>IIJWIJ44٢RMӼ VX=9V3Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^-?f5Y^ i^Pdff@^vE^:^:^,:5h n;AnEDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@]]]]Lr@#> ŌIъ9 ɚiIIii))*F2F:FBF(2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.GB IO >>w,A2bm@Y2`{@2">92{(>y2H$@?D̿։@<zm? BĿ?$+?ɨ2bm@2Y;2 CyRBVIIjnIjB4٢r## rF=9r.Q v>tt vG٣tyzr ~> Nusing accuracyPremultiplier from config 59$? 5Y/ i  @vE:T:;5 ~AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:02:05.4591 TRx dataTimestamp_ set to:1736377326.756320DNOT Ignoring new targets: 63.10 m. jjjjihhhh fQfQrfQbf]P@]]]]r@"> ގI%9 ɚiIIii))*Fe?2Fa:FaBFeS5JFaJJJJJJJJ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 6>BY Ou > I F>w,VAzK&RMK&-9K$K&K& yuyBuIHI III|BI =&I.I6I<:I FMb@Mb@Mb@ )YT㥛 ?~jtq= ףpy> A ) AIAypAIDI3٢u_ -=9Q > G٣y > Nusing accuracyPremultiplier from config 59 *?5Y R i X >;5@ vE <; 8;  >5! -A)UDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhYhYhYh]Bfafarfqbfu @]- >]- >]-Xs@]-{@q quIu(9 yɚ})WiyIyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.0 m/s ,DAT read: user:3022> BDAT read: Tx time:23:02:06.5722 $Ping request sent.By O >J>w,\ABl@YBz@BU >9Bo'>yBHҌ`q?̿`%?`xĿ`?@/?ɨBl@B;@yNuBNIIVxIVT4٢^f ^p=9bĻQ b?`` fG٣dyfV ? Nusing accuracyPremultiplier from config59g?5Y i0_@vE::?5 A -$?I15 addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.524094 s, deltaX: 0.299999 m, approachRate: 0.085128 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 63.10 m. j9j9j9j9i9h9hAhahafifirfmO@bfu?]]]]9z@ U >  I 9 ɚ iIIii))*F?2F:FBFP0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >Y>w,A6l@Y6-z@6Z>96'>y6H`lwV? N̿@H}?`ÿ`?0?ɨ6l@6;6!CyNtBNIJAJAJMJMJIJIJM:JMm9JIJIKG tA! UYUtAyUcA}Mb@Mb@Mb@yyy y)yY}K7A?I +?|?5^y} >}9<}ҽ} A }~A)}AI}~Ayy}AI.I3٢z[ 0=95Q >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > Nusing accuracyPremultiplier from config59 ?5Y iIf>;@vE; ;A5B AEDNOT Ignoring new targets: 63.10 m. jjjjihhhhyBffrf bf &?]-f>]-f>]-~m=]-@=Z> AEGIE*9 AɚE iAIIIIiIiQ)Q)Q )I1*F?2F:FBFJFzK]LK]9KYK]K]    0drfUBKerA:KeqAHo>I III]BI&I.I6I<:I FBIeǧCJIeǧCRIaZIe =bIe =jIe b5G% 6>B) OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,ARhj@YRfx@RG>9Rr(*>yRH E2?w̿aړ? uÿ`?@1?ɨRhj@R͋;R CyXXIf,If3٢n nm=9rXQ r?pt vG٣tyvm v? zNusing accuracyPremultiplier from configx~59z?5Yzg iz#[@zvEz ;z ;zC5   AEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfU *?]q]q]q]u@G> 隅aI+9 ɚʵiIIii))E*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.GqBO> IW* ?w,.AR3j@YRRx@R^>9R*>yRHed'? r̿@J$ږ?bÿP?1?ɨR3j@RL5;RCyf|BfIIvIvm?3٢~= ~H=9~Q > G٣y ʵ  > Nusing accuracyPremultiplier from config%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-59?55YQ i$155@vEw;a;D5I MAQDNOT Ignoring new targets: 63.10 m. jjjjihhhhff1rf9bf=`+L?]]]]=2@^> ~I9 ɚ2iIIi)i1)1)9*F2F:FBFP0JF*JUC="JU=JeJeJe1JaJe}:JeH9Je3JaWill construct direction to contact in vehicle frame from tetrahedron phase data.  I G B O5 >?w,HAzK4MKKKKG5+!      RK" ?JK"?:i@Y:w@:;>9:,*>y:H@q?̿8?`ÿ ?0?ɨ:i@:3;:"CyF~BF IH9I9 I=II=SBI= =&I9.I96I=<:I= FmMb@Mb@Mb@iii i)iYmK7A?&1?ʡEyimP=m-mOA mA)m|!AImhAiymAICI3٢3< ?=9,;Q > G٣y > Nusing accuracyPremultiplier from config59-?5Y i4>; @vE;/;G5 AmWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf@BT@] >] >] >] 3@;> !%I%9 !ɚ%^i!I!I)i)i))1)1*F?2F:FBF`0JFG .>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.B;?w,{bA>i@Y>-w@>k>9> *>y>H%6?q|̿g?'?ÿ?0?ɨ>i@>W;>CyJBJIIRgIR64٢Z_= Z\=9^:Q ^>`` bG٣`ybּ f> jNusing accuracyPremultiplier from configdj59fE뒜?n5Yfh ifprr@fvEf);f!*;fVH5vB v^AvEDNOT Ignoring new targets: 63.10 m. jjjjih!h!h!h!f)f)rf)bf-@]I]I]I]M<@ $?Ik> If9 ɚiIIii))2DrA*DsAD]9EaEerAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BF!JF!"GAGEe>G 6>B O >?w,}A2oh@Y2v@2@I>92T)>y2H ?̿6r㍚?`ÿ? p/?ɨ2oh@2?;2!Cy>B>,IMb@Mb@Mb@ )Yv?x&?㥛 yԸ>7==A A)AIAy(AI]I$4MWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Ά= *=9:Q > G٣y > Nusing accuracyPremultiplier from config59⒜?5Y i> ;h @vE;;oJ5 AUDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhQhYhYh]Bfafarfabfe@@]>]>]j;>][@@I> 隝uI9 ɚ 'iIIii)) I*FQ2FY:FYBF]X5JFYzK49MKKKKHp>I IIIXBI&I.I6I<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:02:09.0607  TRx dataTimestamp_ set to:1736377330.288627%?w,CA6g@Y6v@6 >96y(>y6HV" /?y̿k@.sP?ÿm?/?ɨ6g@6Ҍ;4y^B^CIIf\If#4٢n= rj=9r ;Q r?pt vG٣tyv]ɼ v? zNusing accuracyPremultiplier from configx~59z`ܒ?5Yz izf @zvEzX ;z ;zK5  FAEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfU`4 @]q]q]q]u@ > 隅[lI09 ɚiIIii))*F?2F:FBFP0JFJJJJJ :J[9JJJT;aJU;aJ;aJ;aeWill construct direction to contact in vehicle frame from tetrahedron phase data. IhG5.>BIOew>c+?w,0A2Kg@Y2ju@2Y>92&*>y2H^Q?ԡ̿ 2?"ÿ?@,?ɨ2Kg@2;2CyBĀBBaI^Will construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.0 m/s f,DAT read: user:3023> jBDAT read: Tx time:23:02:10.1708 j$Ping request sent.j G٣y顼 > Nusing accuracyPremultiplier from configm59Ӓ?m5Y" iFiuu@vEt<wo<N5}B }A}E addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.535975 s, deltaX: -0.100002 m, approachRate: -0.028281 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 63.10 m. jjjjihhh!h!f)f)rf-̌O@bf-?]i]i]i]mˁ@Y> 隥'`I9 ɚiIIii))*F?2F:FBF4JFG GmWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:02:10.1700  I G} &>B O >92?w,AZH2@ARH0H6q>I6C I6II6wBI6 =&I4.I46I6<:I6 FzK>7KK>9K<K>K>Jf@YJt@J >9J+>yJH`,|9N?`^̿ ]?@uÿ@?)?ɨJf@JM;JCyVՀBVwIMb@Mb@Mb@ )YZd;O?~jt?Qy~>D=uA A)IhAyzAIgI64٢= P=9:Q > G٣y: > Nusing accuracyPremultiplier from config59=͒?5Y i>;@vE;o;O5B AEMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiIhQhQhYh]˂BfYfYrfYbfe%>?] >] >]  >] @ > !%zI%p9 !ɚ% oi!I!IQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG- .>B1 OU >J3K3 K/.KK"KJ J J 0J J :J 9J ـ3J J ;J ;J ;J ;} Will construct direction to contact in vehicle frame from tetrahedron phase data.a8?w,bA R$?IPy~B~II ,I 3٢7A> T=9%Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595[ƒ?=5Y5 i5AAE@5vE5!;5u;5IQ5Q UAQDNOT Ignoring new targets: 63.10 m. jjjjih h h h ffrfbfF?]Q]Q]Q]Qi iuGhIu+9 yɚ}iyIyIii))2D*DBD:D*F?2F:FBFS0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G6>BQ Ou >>?w,ݱA:ge@Y:s@:$D!>9:'>y:H @|?@w̿@v `?`6Ŀ?@,.?ɨ:ge@:,;:CyFBFIiJ%<%/]%OA %A)%f AI!!y!IE1IE3٢U= UG=9U:Q U>YY ]G٣YyeR e> mNusing accuracyPremultiplier from configiu59m!?u5Ym( im# u]>}.;}u}@mvEm;mt;mS5 #ADNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf?=Will construct direction to contact in vehicle frame from tetrahedron phase data.]]>]]>]f=]y@$D!> zI9 ɚiIIii)) I*F2F:FBF`0JF"GGHep>Ia Ie@IIeBIa&Ia.Ie=D6Ieư<:Ie FzKN KK9KKK BKpA:KlAG.>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.E?w,A6d@Y6r@6X!>96)>y6H@#c?@̿7Sʢ?E$Ŀ`e?*?ɨ6d@6,;6 Cy>)B>IIJ"IJq3٢j> jS=9n:Q n>pp rG٣pyrϼ r> zNusing accuracyPremultiplier from configtz59v??z5Yv) iv |~~@vvEv ;v;vT5 VA 5DNOT Ignoring new targets: 63.10 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfU$?]i]i]i]m4y@X!> 隅nIO9 ɚiIIii))*FI2FQ:FQBFU1JFQJJJJJJJJJJJJEWill construct direction to contact in vehicle frame from tetrahedron phase data.E>Ea? IG6>BO>L?w,g2A2Zd@Y2yr@2 $>92^o+>y2H3@W? ̿` edb?AzĿ@? m%?ɨ2Zd@2j;2"Cy>DB>IIFLIF4RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢V> VM=9V;Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b#?j5Yb4 ib[ prwv@bvEb;b];bV5 |A%DNOT Ignoring new targets: 63.10 m. j)j)jIjQiQhYhYhhffrfbf$@]]]]x@ $> y`Iɠ9 ɚiII!i!i!)!)I)q uhCGvA*F?2F:FBF0!JF U YUvAyUB*JR="Ja=@BUWill construct direction to contact in vehicle frame from tetrahedron phase data. q Iq Ge .>Bq O >RR?w,}>LAHI IIIBI&I.I6I<:I FBIUCJIQRIQZIU =bIU =jIU$45N0c@YN/r@N&>9N ,>yNH P*?q-Ϳã? ĿP?"?ɨN0c@NX;N CyZ]BZIzK^LK^k9K\K^K^RKf ?JKf ?MMb@Mb@Mb@III I)IYMNbX9?S㥛:vyM>M/ݼMTMA M~A)MOAIM@IyM(AIeIIed4٢u= u>=9ua;Q u>yy }G٣yy m > Nusing accuracyPremultiplier from config59?5Y i >F;$@vE;V;dX5B AEMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiQhQhqhhIBffrfbf@]>]>]i@]wm@5&> 15uI59 9ɚ9i9I9IAiAiA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF P5JF PExceeded connect timeout, disconnecting.G1 B9 OU >J J J 1J J :J m9J 3J J T;J U;J ;J ;e Will construct direction to contact in vehicle frame from tetrahedron phase data. ] $?Ia %Y?w,5fA2c@Y2q@2N(>92+,>y2Hj?\Ϳ$1?@Ŀ0??ɨ2c@2pm;0yR}BREIIjUIj4٢r"> rS=9rs;Q v>tt zG٣xyzz z> ~Nusing accuracyPremultiplier from config|59~?5Y~ i~  % @~vE~.:~ :~Z5 AMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf] 9@]]]]m@N(> 隭fI9 ɚiIIii))DM9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:02:12.6587 TRx dataTimestamp_ set to:1736377333.819869*F?2F:FBFU5JF"GGl>G- 6>B9 OU >`?w,A67c@Y6Vq@61)>96h->y6H {`?{Ϳ`? ſ@|K??ɨ67c@6k;6"CyJBJcIMb@Mb@Mb@ )Ym?lZd;yn>y  A)f AIAyAIHI<3٢= ?=9;Q > G٣y#V > Nusing accuracyPremultiplier from config59?5Y ia >R;2@vE;I;[5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhB Will construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf8 @]=>]=>]=8@]=%k_@M1)> IMIM9 QɚQiQIQIYiYiY)Y)a ID%9*F2F:FBFP0JFHIC III)BI&I.I6IQ<:Is FzK:KK9KKKG .> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 62.8 m (Round-trip 83.8 ms) speed 0.0 m/s - X#Rx 9: Read range message, but no direction. y 3{B B O >*f?w,ޙABb@YBq@BH*>9B/>yBHV?JͿ w?0ſ x?K?ɨBb@B&;@yjBntIir=Ip r=rp=IzFIz%3٢%k= %S=9%3;Q %>)) -G٣)y55 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i= IM2M@=vE=P:=q:=]5 UnManaging dock network, ignoring radio surface power offY ]}Aa addTargetRange:: Added new target pos. range: 62.799999 m, deltaT: 3.528985 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrf`ffO@bf*?]]]];)_@H*> yI9 ɚKwiIIiiii)q)yJAJEJAJAJAJE9JAJAJAJAJEq#;JEq#;%Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9*FI2FI:FIBFMP3JFQGi By O >s{l?w,ZAWill construct direction to contact in vehicle frame from tetrahedron phase data.6b@Y6p@6*>960>y6HW?Ϳ`ZK-@x?`Fſo??ɨ6b@6V;6!CyFBFIINUIN4٢VP= ZM=9Z[:Q Z>\\ ^G٣\y^1 b> ENusing accuracyPremultiplier from config`M59bڌ?M5Yb ib QU:3U@bvEb;b;bd_5y }AEDNOT Ignoring new targets: 63.10 m. j)j)j)j1i1hYhahqhqffrfbfU?]]]]^@*> oI5Ŝ9 1ɚ5i9I9I9iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data. IDQ9*F ?2F :F BF 4JF H I  I 'II fBI &I .I 6I <:I FzK BoHK 89K K K RK- >JK- >G6>BO>et?w,`AJWill construct direction to contact in vehicle frame from tetrahedron phase data.R Zb@YRyp@RL+>9RB0>yRH; v?ͿJ9@C? bſ?@?ɨR Zb@R;R Cy^ʁB^IEMb@Mb@Mb@AAA A)AYE:v?!rhV-yET>El罹EhA E~A)E"AIAAyEAIuBIu3٢= =9]:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i}>V;j@@vE<;3;a5 =EA9DNOT Ignoring new targets: 63.10 m. jjjjihhhhԃBffrfbf=?]}>]}>]#@]$Q@eL+> imIm9 qɚuGiyIyIii))D}g9*F?2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG1 BY O >z?w,A6#b@Y6Bp@6,>96/>y6HuAa?Ϳ0#S?yiſ`?1?ɨ6#b@6B;6CyfЁBfIInUIn4٢vJ< vW=9z9:Q z>xx zG٣xy~ >  Nusing accuracyPremultiplier from config 59|?5Y6 i@@vE:z:Tc5 %A!UDNOT Ignoring new targets: 63.10 m. jQjQjQjQiYhYhYhahafafirfibfm@w?]]]]yQ@,> 隝IV9 ɚ݁iIIii))2DrA*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.DUy9Eq*F?2F:FBFJFJ J J J J M:J *9J J a @a @a @a @e Will construct direction to contact in vehicle frame from tetrahedron phase data. I G .>B O% >?w,bA6'a@Y6&o@67,>96 />y6H -A?Ϳ@ kg&?` mſ”? p?ɨ6'a@68;6 CyRсBRIeMb@Mb@Mb@aaa a)aYe&1?/$I +yeP>e1e9e A eA)eAIe Aaye(AIuIIud4٢q; A=9ވ9Q > G٣yq2 > Nusing accuracyPremultiplier from config59t?5YP i>M;XF@vE;;/e5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf?]->]->]-蒶@]-YK@=7,> AEuIEq9 AɚEiAIAIIiIiI)I)QHo>I I`IIBI&I.I6I<:I FzKK9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBFJFG 6>B O >4?w,j"A2ޠa@Y2ݿo@22,>920>y2H8H)?@Ϳ4 v@*L?@alſ`Ԧ?`?ɨ2ޠa@2w;2"Cy>ԁB>IIFAIFk3٢Nt< NP=9R.]Q R>PP VG٣TyV V> ^Nusing accuracyPremultiplier from configX^59Zm?^5YZg iZe`bFb@ZvEZa:Z:Zf5MB MAMEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 63.10 m. jj Ijjihhhhffrfbf?@]9]9]9]=K@m2,> iuBtIu9 yɚ}iyIyIii))D9*Fm?2Fq:FqBFu0JFq= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Y?w,Y19nM1>ynH@? Ϳ˅O?L\ſ?@?ɨnca@nx;n CyzBzIMb@Mb@Mb@ )Y> ףp=?HzGzGếyQ>=  ׽OA A)f AI@yQAIaI+4٢= 8=9̒Q > G٣yf > Nusing accuracyPremultiplier from config59e? 5Y} i > F; F @vE; ;h5 vAEDNOT Ignoring new targets: 63.10 m. jAjIjIjIiIhIhQhQhUԃBfQfYrfYbfeǓ@]>]>]8m@]MK@+> 隥QxI\9 ɚiIIii))BD?:Dn?JqJqJqJqJqJqJqJqDWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F-?2F):F)BF-2JF)G1 G1jHIbHM<HQIQ IUIIUBIU =&IQ.IQ6IU<:IU FGa Bi O >zK} uKK} 9Ky K} K} ] Will construct direction to contact in vehicle frame from tetrahedron phase data.I?w,/VAVOa@YVM:o@V/+>9V1>yVH`@?Ϳ_E?|Lſ@? X?ɨVOa@VR;VCy^ׁB^IIfKIf4٢n= n[=9r Q r>tt vG٣tyznB z> ~Nusing accuracyPremultiplier from configx59z_?5Yz izzG @zvEzP ;z ;zwj5 AEDNOT Ignoring new targets: 63.10 m. jAjAjIjIiIhQhQhYhafafirfibfmT@]]]] K@/+> 隥~I9 ɚ iIIii))De9*JmC="Ji $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F9:F9BF=0JF9G] .>Bi O >"?w,spA>`@Y>o@>)>9>1>y>H0,@?@6ͿP@ʥΪ? ſQ?>?ɨ>`@>`;>CyJсBJIIRRIRW4٢Zݼ ZJ=9^\Q ^>\\ bG٣`yb= b> jNusing accuracyPremultiplier from configdn59fW?n5Yf ifpr@Gr@fvEf>;f>;f;l5t vAxDNOT Ignoring new targets: 63.10 m. jjjjihh!h!h!f!f)rf)bf-@ @]I]I]I]MsJ@e)> aeIe{9 iɚmIiiIiIqiqiq)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DG|uA*F5?2F9:F9BF=P5JF9Q iY|uAyBJE JE JA JA JE :JE u9JA JA Y IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 OU >]p?w,:A6^`@Y6\n@6(>96G2>y6HmC?`ͿF#?`qĿ?`5?ɨ6^`@6;6 CyNʁBNI]Mb@Mb@Mb@YYY Y)YY]-?A`"!rhy]5^>]ٽ]l]A ]@)YIYYy]AIuZIu4٢f  >=9#Q >HI IIIBI =&I.I6Iܰ<:I FBICJIRIZIbIjI4 G٣y5 > Nusing accuracyPremultiplier from config59 P?5Y  i>G;=@vE;;)n5 CA=DNOT Ignoring new targets: 63.10 m. j9j9j9j9iAhAhAhIhMBffrfbf|{@]5>]5>]5@]5S1T@E(> AEnIM-9 iɚmp iiIiIqiqiq)q)y2D*DzK KK 9K K K DȄ9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F!:F!BF%O0JF)"G=i>G=t>GE 6>BQ Om >O?w, A6U^`@Y6S}n@6#'>962>y6HS?@0YͿ1n`|?Ŀ ?X?ɨ6U^`@6;6!CyBÁBBIIJrIJJ4٢R V[=9V\Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bI?f5Ybc ibdf>j@bvEbC:bz:bo5nB ntAnE IDNOT Ignoring new targets: 63.10 m. jjjjihhmWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m<hhffrfbf.@]]]] T@#'> %{qI%9 !ɚ%.i!I!I1i1iY)Y)YD}ڄ9*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.GY B O >a?w,3AVI_@YVGm@V#>9V1>yVH`} o?@H̿5b?aĿO?`?ɨVI_@VK{;V CybBbIMb@Mb@Mb@ )Yv/?L7A`尿V-yxi>+=A I@)AI`@yfAI-SI-4٢=b =+=9E=Q E>AA EG٣IyMJ M> ]Nusing accuracyPremultiplier from configQ]59UA?e5YUQ iUeC>eH;e2e@UvEUL;U;Uq5i mAJJJ/JJݒ:J9J(N3J QIQeDNOT Ignoring new targets: 63.10 m. jajajajiiihihhheBffrfbf"@Will construct direction to contact in vehicle frame from tetrahedron phase data.]C>]C>] @]`@5#> 15YI59 1ɚ5>i1I9I9i9iA)A)AZHRHAAH%n>I! I%II%BI% =&I!.I%9?w,ZKA^t_@Y^m@^`!>9^;1>y^H@J?̿N&?#Ŀ@&?@ ?ɨ^t_@^(;^"CyjBjvIIviIv:4٢~b ~8=9aQ > G٣ y M  > Nusing accuracyPremultiplier from config59h:?5Y, i!%Y2%@vE:":s5) -cA1]DNOT Ignoring new targets: 63.10 m. jYjYjajaiahahihihifqfqrfqbfu@]]]]g_@`!> 隭_I9 ɚELiIIii))BDA?:D/?D $?I*F92F9:F9BF=Z0JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.[?w,-A6I0_@Y6GOm@6>96X 1>y6H1? T̿ [" h*?3ÿ?$?ɨ6I0_@6>;4yRBRdIIZkIZ=4٢E EG=9EQ E>II MG٣Qy]& e> mNusing accuracyPremultiplier from configau59e3?5Ye ie2@evEe;e[;eu5 A%DNOT Ignoring new targets: 63.10 m. j!j!j)j9i9hAhIhhffrfbfð@]]]]͂_@> ggI19 ɚB\i!I!Iiiiii)q)qD 9 I*F12F9:F9BF=P0JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.H m>I  I `II BI &I .I 6I i<:I FG] .>Bi O >yC?w,A6r^@Y6pl@6>96z1>y6H ,?̿ %' ?ÿ@?'&?ɨ6r^@6I;6CyBBBYIMb@Mb@Mb@ )YZd;?y&1|!rhzK]MK]ж9KYK]K]  $(6DO[htz|peWI=0(# y~>`廹l&A )AII@yp AIYI4٢( D=93Q > G٣yy > Nusing accuracyPremultiplier from config59,?5Yh i >B;!@vE;f;cw5 A EDNOT Ignoring new targets: 63.10 m. jjjj i h h h h"Bffrfbfh@]5 >]5 >]5)@]5mp@M> IM=JIMU9 IɚMhiQIQIYiYiY)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D9EEqA*Fm?2Fq:FqBFuU0JFqJU JU JU 1JQ JU <:JU 9JU 3JQ JU ;ae JU ;ae JU %7;ae JU &7;am I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 6>B O >?w,,A2+y^@Y2)l@2>92d1>y2H7 ? G˿`ެc9`n}?Dÿ?n)?ɨ2+y^@2(;2!Cy:B:GIDFAIJnIJB4٢R RR=9R?ûQ R>TT VG٣TyZK Z> ^Nusing accuracyPremultiplier from config\b59^&?b5Y^ i^`b"b@^vE^n:^:^y5p vAtDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@]]]]p@> WQIT9 !ɚ%ui!I!I)i)i))))1UWill construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F2F:FBF_0JF  I Ge .>Bq O >)?w,\:GA6 ^@Y6 *l@6D:>961>:Will construct direction to contact in vehicle frame from tetrahedron phase data.y6HNw?x˿ @RJ?`\¿B?+?ɨ6 ^@6C;6CyFuBF;IMb@Mb@Mb@ )Y(\?t=ԽA 3@)AI@yz AIkI=4٢z- 5=9Q > G٣ys > Nusing accuracyPremultiplier from config59?5Y i>8;^@vEf;o;{5 AEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhIhIhIhMBfQfQrfQbfU`x@leJTimed out from 2025-01-08T22:52:21.1Zq6elefCompleted lineCaptureHoming:MicromodemComms:CheckIn16e lmAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkmVCompleted lineCaptureHoming:MicromodemComms]}>]}>]}ZC >]}y@D:> 隕:I89 ɚҀiIIii))jHbH<Hk>I I@IIzBI =&I.I6I<:I FD;9*F=?2FA:FABFE4JFAGI GMqAzKJFNKu9KKK -Will construct direction to contact in vehicle frame from tetrahedron phase data.GM &>Ba O >?w,aAB]@YBk@B>9Bt1>yBH\m5?,˿]eܲ?¿U?.?ɨB]@By;;B CyNnBN3IIVmIV3A4٢b b^=9bϻQ b>dd fG٣dyje j> nNusing accuracyPremultiplier from configlr59n?r5Yn inprr@nvEn@:n@:n|5x zAx%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h)h)h)h1f1f1rf1bf5 @5=kEnAggregate::initialize lineCaptureHoming:MicromodemComms16E lE~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6E]Y]Y]Y]]hy@m> imH>Iu9 qɚuiqIqIyiyiy)y)JUJUJQJQJU:JU:JQJQJU;JU ;JUC;JUC; m$?IqDEY>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF4JFG6>B= Will construct direction to contact in vehicle frame from tetrahedron phase data.O ?R?w,A6N]@Y6mk@6#>96Z1>y6H@6? ʿT3| ?0T¿?`1?ɨ6N]@60;6!Cy>sB>9IiB=IB4< F=F=mMb@Mb@Mb@iii i)iYmCl?Dl?+ηymߏ>mO=mvmAA m@)m+AIiiym= AIcIy/4٢< =9,Q > G٣yq5 > Nusing accuracyPremultiplier from config59?5Y i>.;)@vE #;j!;,5 A EDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf y<@]->5Will construct direction to contact in vehicle frame from tetrahedron phase data.]->]- v>]-~@M#> IM IM9 ɚ@iIIii))DI9H-i>I-C I-!II-`BI)&I).I)6I-u<:I- F*F2F:FBF1JFzK eKK 9K K K   BK qA:K pA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >!?w,AB\@YB k@B>9B 1>yBHP`?@vxʿ ௒ $? ¿?a5?ɨB\@B;B Cy^nBb3IIj\Ij#4٢~ؼ U=9ƻQ >    G٣yw e> uNusing accuracyPremultiplier from configiu59m ?}5Ym imy}}@mvEmy;m;m怇5B AEDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf h @]]]]̎~@-> 9=IE9 AɚEiIIIIYiYiY)a)a IhJ;3K;3 K;A.K3K3"K3JJJJJ,:J:JJJ;J;JEG;JEG;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Dj9*Fm?2Fq:FqBFu0JFqG B O >#?w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.6\@Y6j@6\>960>y6H@jrQ?Pʿ߿@ IIN`IN(*4٢VJ4= ZH=9ZлQ Z>\\ ^G٣\y^ce b> fNusing accuracyPremultiplier from config`j59b?j5Yb ibJ hjj@bvEb ;b ;b5l rApDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf 15 I59 9ɚ=ᕶi9I9Iqiyiy) rC)y)c~G5vAa  YvAyUB qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.D|9E *F ?2F :F BF 0JF ZH RH H g>I  I II VBI &I .I 6I D<:I c FBIyJIyRIyZI} =bI} =jI}ʠ5G .>B O >G?w,"AB[@YBi@BQ >9BR1>yBH@( b?͋ɿR߿??,  G٣ y ۼ  > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59?%5Y i*!%+:!- ;--@vE;;G>L51 5A1]DNOT Ignoring new targets: 63.10 m. jYjYjajaiahahahihififirfqbfu $"@Will construct direction to contact in vehicle frame from tetrahedron phase data.Q > 隥I9 ɚiIIii))D9*F]?2FY:FYBF]H2JFa IJ%J%J%0J!J%ܫ:J%:J%ـ3J!J%;J%;J%oN;J%pN;G6>BO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.g?w,A2I[@Y2hi@2>92-w3>y2H :?-Lɿ޿?`?hh jG٣hynZ E> MbBottom track data is 0.9 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIU59M  I9 ɚ1iIIii))D*Fi2Fi:FiBFmP0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G.>B OM > $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.U@w, A2 Z@Y2i@2Ӌ>92%3>y2H @e?`^ȿ@Ym޿`{?अ ???ɨ2 Z@2 ;2 CyJBJiI - - -- --    Mb@Mb@Mb@ )YQ?&1?L7A`尿y\>=+A @)AI@yzAIbI-4٢= ;=92Q > G٣yJ > Nusing accuracyPremultiplier from config59?5YE i|"T:E>-; @vEX ;;Q5 AE%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h)h)h)h-Bf1f1rf1bf5#@]UE>]UE>]UEݲ>]U @mӋ> imImϲ9 iɚm,iqIqIqiyiy)y)Hd>I I!II`BI =&I.I;D6I_<:Is FDe9EiEmrA*F2F:FBFJFzKRKK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO > {@w,#AVZ@YVh@VW>9V2>yVH`"?ȿ ޿@? ? ?`3B?ɨVZ@VR,;V!CyfBfxI jp=jR=Ir`Ir(*4٢~]= ~X=9~Q ~> G٣y Ĕ  > Nusing accuracyPremultiplier from config59鑜?5Y i"%@vE ; ;5) -HA) AIAmDNOT Ignoring new targets: 63.10 m. jqjqjyjyiyhyhyhhffrfbf`$@JJ]A]A]A]ELЀ@UW> Y][I]o9 Yɚ]ئiYIYIaiiii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F%?2F!:F!BF%X0JF!G B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,k=A:*Z@Y:Ih@:G>9:1>y:Hm DU?@Dȿ=ݿ@g*>? tA?E?ɨ:*Z@:ۋ;8y^B^IInYIn4٢v= vK=9v2Q z>xx zG٣xy~U ~> Nusing accuracyPremultiplier from config59Z㑜?%5Y i#)55@vE;;5A EAA}DNOT Ignoring new targets: 63.10 m. jyjyjyjyiyhyhhhffrfbf`%@]y]y]y]}G@G> ZѾIi9 ɚi!I!I9iAiA)I)q 1I9Dݍ9JJJJJ:J:JJa@a@a@a@*F2F:FBF^0JF!-Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH4=H`>IC IGIIBI&I.I6I9<:IU FGe 6>Bq O >@w,BWA6Y@Y6g@6 =961>y6H=% Q?`ǿ kݿ@?`ظ?YmM? G?ɨ6Y@6n;6 CyBρBBIMMb@Mb@Mb@III I)IYMMbX?ʡE?i|?5zK]0(LK]9KYK]K]d9U)zQt-dGm-sZ@&yM>M-=MqMrA M@)MAIIIyM3A}Will construct direction to contact in vehicle frame from tetrahedron phase data.}AiyIuUIu4٢= @=9Q > G٣yr > Nusing accuracyPremultiplier from config59ܑ?5Y? i$Ӕ>6;@vE>;;5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbfE7&@]%Ӕ>]%Ӕ>]%5 >]%'5~@= = 9=̾I=!9 9ɚ=W˳i9IAIAiAiI)I)IDˍ9Ei>E>*FA2FA:FABFE0JFA )I)*J"JR=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >@w,$qA2tY@Y2g@2=92o2>y2H8@t?@ǿ 'ݿOmi?  ,?@}H?ɨ2tY@2Nj;2CyNBRI`bAIj[IjK!4٢zF> zU=9̇Q >   G٣ yjL > %Nusing accuracyPremultiplier from config!559%^֑?5Y%Y i%$:@%vE%F<%L<%E5 BA-DNOT Ignoring new targets: 63.10 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE '@]a]a]a]e<}@}= y}I}9 yɚ}iyIIii))Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF2JFG- .>Ba O I J J J J J :J K:J J E Will construct direction to contact in vehicle frame from tetrahedron phase data.A E < "@w,AZ)Y@YZ'/g@Z=9Z*3>yZHQc?ǿܿ`bn*?ಋ@+?@H?ɨZ)Y@ZZ;XyfBfI]Mb@Mb@Mb@YYY Y)YY]Pn?i|?5?S㥫y]>]q=]/]]A Y)]AI]@YyYI}QI}4٢= A=9DQ > G٣yn > Nusing accuracyPremultiplier from config59ϑ?5YG i$L>D; @vE";j!;5B e AEHU[>IQ IUIIUBIU =&IQ.IU:D6IUY<:IUi FDNOT Ignoring new targets: 63.10 m. jjjjihhhhςBffrfbf'@]-L>]-L>]-J6f>]-w@== 9=̾IEi9 AɚAiAIAIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKL&PK89KKKulea__YRQMHGD?;:5531//.*''$""! D  9E*F 2F :F BF o0JF  $?I J J AAGE6>BQOu>)@w,OYAjWill construct direction to contact in vehicle frame from tetrahedron phase data.yeBe IIu>Iu3٢= ,=9Q > G٣y > Nusing accuracyPremultiplier from config59Ǒ?5Ys i%@vEY<;f=;-5  ADNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@^(@]]]] ̸I9 ɚSȳiIIii))!DWill construct direction to contact in vehicle frame from tetrahedron phase data.*FU ?2FY :FY BFY JFY G I BOE>1@w,u=A6cX@Y6ɂf@6m=96,3>y6H@z@?ƿ:ܿ5?`^!?L?ɨ6cX@63;6 CyR5BV' IJ^J^J^1J\J^:J^h:J^3J\ @ @ @%  %@% I%HI%<3٢=> E2=9EQQ E>II MG٣IyU U> ]bBottom track data is 0.5 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe59]F?m5Y] i]&m+:im;mu@]vE]:;]C>]̓5y } AyDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf`)@Will construct direction to contact in vehicle frame from tetrahedron phase data.m= I9 ɚiIIii))D,9ZHARHE@AHMX>IMC IMIIMBIM =&IMGD.II6IM<:IM F*F12F1:F9BF=P5JF9G} .>B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >zK 9NK 9K K K          7@w,A> X@Y> (f@>=9>!2>y>H ?@cƿ ۿ@w oR?|M U?@/N?ɨ> X@>훊;`` bG٣`yfk f> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from confighn59j깑?r5YjB ij&r :pr;r.r@jvEjA;jX?j攇5x z AxDNOT Ignoring new targets: 63.10 m. jjjji!h!h!h!h!f)f)rf1bf5w*@= I9 1ɚ9i9I9I9iAiA)A)A I Will construct direction to contact in vehicle frame from tetrahedron phase data. < D=9EAEA*F2F:FBFS5JFG 6>B O% >;>@w,A*Will construct direction to contact in vehicle frame from tetrahedron phase data.>W@Y>e@>=9>b2>y>HP?zƿEۿତ?@g弿 J?.P?ɨ>W@>;>"CyJcBJ` IIRDIR3٢Z= ZI=9^ Q ^>\` bG٣`yb% b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f/?n5Yf if&n9pr:rtr@fvEf*;f,?fו5x zb AzEDNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5`=G+@]= Ye`XIe89 aɚaiaIaIiiqiq)q)yE~GU|uAi  Y|uAyB IDM9JJJ0JJL:Jz:Jـ3J*F?2F:FBF 5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H= T>I= C I=  II= !BI=  =&I9 .I= 9D6I= <:I= FBIʥCJIʤCRIʔCZI =bI =jIE.6G B O >D@w,AyruBru ItvA u u uu u}  } } }Mb@Mb@Mb@yyy y)yY}S?MbZd;y}/]>}}y}A }p@)}/AI}@yy}=AI]I$4٢Ϣ= ==9Q > G٣y > Nusing accuracyPremultiplier from config59i?5Y# i'T:e>l;e+@vEi ;e;5  AEDNOT Ignoring new targets: 63.10 m. jjj j i h h hh#Bffrfbf@\$,@]e>]e>]@]Jf@ I9 ɚiIIi!i!)!)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK &LK 9K K K BK:KqADI*F?2F:FBFP0JF $?IG .>B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.K@w,q.A68W@Y6We@6a=96k3>y6H@%?`ƿ?4ۿ`߾@{?(y-?@Q?ɨ68W@6!;6!CyBBB IIJTIJ4٢R> R\=9VQ V>TX ZG٣XyZx Z> fNusing accuracyPremultiplier from configdj59f?j5Yf  if(hj+j@fvEfq:fq:f\5p r ApDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf],@]]]]1f@a= I9 ɚiIIii))DE]>E>*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I R@w,4HARnV@YRle@R=9R3>yRH`K`?@ſڿ?λ ;?GR?ɨRnV@RŠ;RCy^B^ IWill construct direction to contact in vehicle frame from tetrahedron phase data.<Mb@Mb@Mb@ )YB`"?~jtDlyN>O\A -@)AI@yAIOI 4٢=Ȱ= =3=9=EQ =>AA EG٣AyM0 M> UNusing accuracyPremultiplier from configQ]59Uj?]5YU iU(]^>et;ex5e@UvEUU;U;U[5i mnAiDNOT Ignoring new targets: 63.10 m. jjjjihhhh&Bffrfbf-@]^>]^>]@]\@]= aeIe9 aɚeiaIiIiiiiq)q)qjH<bH<HO>IC I` IIdBI =&I.I6IL<:IR FDm9*F)2F1:F1BF1JF1} Will construct direction to contact in vehicle frame from tetrahedron phase data.GU 6>Ba O} >zK "KK K K K /:&A.X@w,ObA^YV@Y^Wd@^=9^3>y^Hm?*ſ`eڿ?@o"?T?ɨ^YV@^;^"CyfBf I n=n=IrTIr4٢z= zb=9~ƒQ ~>|| ~G٣yH >  Nusing accuracyPremultiplier from config 59 ř?5Y J i W)5@ vE  ; m ; 5! %A!MDNOT Ignoring new targets: 63.10 m. jIjQjQjQiQhQhYhYhYfYfarfabfe@3.@]]]]$v\@= 隭oI'9 ɚCiIIii)) 9I9D-9*JR="J4=JJJ1JJl:J^:J3JJ BQ Om >U^@w,y|A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6Ai6A:{V@Y:d@:lb=9:p)3>y:HJ7?cnſ"ڿ[?`? '?@U?ɨ:{V@:;8yRBR IIZVIZn4٢%/v= %H=9%WFQ ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=Z?E5Y= i=)AM5M@=vE=:=:=5Q UAQDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfGW/@]]]]8\@lb= UI9 ɚ5iIIii))D9E*F?2F:FBFP5JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.G- 6>B9 OU >H K>I  I II BI  =&I .I 8D6I G<:I J F=e@w,Ay~‚B IMb@Mb@Mb@ )Y(\?V-+yG>mA C@)vAI@yIHI<3٢< @=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YU i*_>s;V<@vEl;;5B bAE-DNOT Ignoring new targets: 63.10 m. j)j)j1j1i1h1h1h9h=GBf9f9rfAbfE`0@]m_>]m_>]mϿ@]m-U@y 隅I9 ɚziIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKmF5LKm9KiKmKm45.'&! D}9*F?2F:FBF0JF M$?IIJ J J 0J J :J :J ـ3J J Z<J [<J w;J w;% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >9]k@w,*A6V@Y6"d@6=965>y6H``?&ſ`!ڿrY? e?@T?ɨ6V@6ҋ;6$CyB΂BB IIN<IN3٢R= Va=9VӻQ V>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f59b󆑜?f5Yb ibQ+hj<j@bvEbF;b;b,5l rApDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfy0@]]]]dU@-= )-pI-m9 1ɚ5 i1I1I9iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFR5JF Q IY G B O > r@w,! A6'U@Y6%c@6&%=965>y6H?@Ŀ,ٿ[о?8\~?T?ɨ6'U@6;6 Cy>ӂB> I-Will construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYM r?v/sh|?yMC>MxiMMA M@)M` AIM@IyM\AIeKIe4٢u< u3=9}a*Q }>y G٣yn > Nusing accuracyPremultiplier from config59?5Y i ,]>u;<@vEa;;)5 ADNOT Ignoring new targets: 63.10 m. jjjjihhh h %Bf f rfbf0@]]>]]>] ȿ@]pU@ZHRHHF>IC I IIBI =&I.I6Iz<:Ik F&%= !%#I%#9 !ɚ%'i!I!I)i)i))1)1D9E!E!*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG .>B O >zK MK 9K K K   x@w,AF U@YFc@Fq-=9F5>yFH` Yf?`Ŀٿ P @ ?`ڹXg?`W?ɨF U@F̋;F"CyRׂBR IIZ@IZ3٢b< bW=9f5zQ f>dd fG٣hyj j> nNusing accuracyPremultiplier from configlr59n(z?r5Ynu in,tv<v@nvEnz:n:nѥ5 9I9x }AyDNOT Ignoring new targets: 63.10 m. jjjjihh!h!h)f1f1rf9bf=S1@]]]]7U@q-= I9 ɚĴiII*J4="J=JJJ1JJ:J(:J3JJ <J <J;J;iiI)I)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FM ?2FI :FI BFM 5JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM ?>BY Ou >A@w,YAZf#U@YZdBc@Z0=9ZEn3>yZH@6 ?&GĿYٿ+ | ?;@4?@G[?ɨZf#U@Zg;ZCyb݂Bb IIn;In&3٢rM< v7=9v4Q v>xx zG٣xy~h ~> Nusing accuracyPremultiplier from config|59~Ns? 5Y~ i~-V=@~wE~WL;~L;~ç5! %A!MDNOT Ignoring new targets: 63.10 m. jIjIjQjQiQhQhQhYhYfYfYrfYbfe`1@]]]]T@0= 隝I9 ɚִiIIii))BDC?:D?? )I1D59=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFHB>IC I II؂BI =&I.I7D6I<:I~ FG 6>B O >k@w,cAy ւB  IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YK7?{Gzsh|?yI>#A ) AIp@yAIUI4٢W ==9Q > G٣y > Nusing accuracyPremultiplier from config59l? 5Yq iS. ^> t; T7 @wE;;5B A EEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhIhIhQhU2BfQfQrfYbf]-2@]}^>]}^>]}Ц@]}dZ@ P8I9 ɚ0iII!i)i)))))zKe~KKeu9KaKeKeDE i>E *F2F:FBF^0JF I%hJJ@AJJJ0JJ:J%:Jـ3JJ<J<JL;JL;U Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA O] >@w, 4A6ڠT@Y6ؿb@6=96_4>y6HR? ÿ@Dؿ#6@ֿ?`LS?[?ɨ6ڠT@6-;6"Cy^ڂB^ IIfRIfW4٢rs< r[=9v߻Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|59~f?5Y~ i~.  7 @~wE~:~:~I5 AEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfU2@] ] ] ] RZ@== 9=P0IEp9 AɚEiAIAIIiIiI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.)= wC=GUvAi  YvAyBD9*FQ2FQ:FQBFUP0JFQ  $?I GY e Will construct direction to contact in vehicle frame from tetrahedron phase data.Bi O >@w,OARST@YRrb@RYv=9Rl"5>yRHa Z?mÿ`ؿ@B(?`rE &l?`[?ɨRST@R܊;R CyZۂB^ IjHAbHE<HM>>II IM IIMBIM =&II.II6IM|<:IMf FBICJICRIZI =bI =jI6uMb@Mb@Mb@qqq q)qYu?S㥛sh|?yuL>u/ݼquA u@)u AIqqyuAIaI+4٢=; =3=9E60Q E>AA EG٣IyM) M> UNusing accuracyPremultiplier from configQ]59U`?]5YU iU/es_>es;e3e@UwEU;UW;UF5i mAiDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbfX3@]-s_>]-s_>]-@]-Jp^@=Yv= AEuIE9 AɚEiAIAIIiIiI)I)Q2DY*D]qA}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F5 ?2F1 :F1 BF5 ^0JF1 zK K 9K K K  #3" I G ?>B! OE >J:@w,jAv T@Yv#b@vu=9v5>yvHq?ÿTؿP6`? ?`[?ɨv T@vi|;vCyւB II5DI53Jـ3K(3 K(.KK"KJJJ1JJ:J$:J3JJ<J<J~;J~;Will construct direction to contact in vehicle frame from tetrahedron phase data.=4=٢   >=9 Q  > G٣ye9 > ENusing accuracyPremultiplier from configAM59EfY?M5YEf iEu0IM3M@EwEE~:E:E*5Y ]AY DNOT Ignoring new targets: 63.10 m. j j j j i h hhhf9f9rf9bf=t3@]]]]/&^@u= 隽IJ9 ɚU iIIii))DU!9Ea Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF \0JF I G=.>BiO>X@w,ԉAܼS@Ya@=9WC5>yH?Tÿ ؿ`\t?@ Tq?D]?ɨܼS@j;騕!CyޭڂBޭ I5Mb@Mb@Mb@111 1)1Y5B`"?Mb`MbX9y5N>55ʡ5 A 5@)5 AI11y5AIMaIM+4٢]Ї< ]%=9e6$Q e>ii mG٣iym m> }Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.q59u+R?5Yu| iu61 ^> t; S, @uwEuIIC I!IIBI" =&I.I6D6Iw<:I_ F]^>]^>]@]e@= 9=#I=9 9ɚ= iAIAIAiIiI)I)IBDu5?:Du7?D9= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 *F 2F :F BF P0JF "G l>G p>zKe 8LKe 9Ka Ke Ke  aIaG6>BO>2ݩ@w,p_A^2hS@Y^0a@^=9^4>y^Hyً? ÿ׿@ l>?L]? ^?ɨ^2hS@^%#;^"Cyz؂Bz IISI4٢%v  %5=9%ݺQ ->)) -G٣)y5#; 5> =Nusing accuracyPremultiplier from config9E59=zK?E5Y={ i=1IM,M@=wE= ;= ;=H5Q UAU"EDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfa4@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]re@ =  cI 9 ɚ iIIYiqiq)y)yDB9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >(@w,hyA2*S@Y2Ia@2^v=92<3>y2HX?¿׿ wVz?@F2?ka?ɨ2*S@23F;2 Cy>߂B> I \I\InVInn4٢v&< v6=9z9Q z>x| ~G٣|y~ ~>  Nusing accuracyPremultiplier from config 59 D?5Y u i 2,@  wE ; : >5! %kA!]DNOT Ignoring new targets: 63.10 m. jYjajajiiihqhyhyhyffrfbf h4@]]]]*e@^v= 隽pIg9 ɚ iIIii))J%J%J%0J!J%L:J%:J%ـ3J!aU@aU@a]@a]@eWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH8>I III# =&I.I6I<:I FD)*F2F:FBF_0JFG .>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.̮@w,X9AyrڂBr I)t tMb@Mb@Mb@ )Y$C?{Gz?lyZ>ף< @)zAIZ@yAI:I3٢μ <=9Q > G٣y > Nusing accuracyPremultiplier from config 59E>? 5Y i73 g>j;&@zKBoHKu9KKK wE;>;#5) -A1DNOT Ignoring new targets: 63.10 m. jjjjihhhhՂBffrfbfhD5@]]g>]]g>]]=]]XUk@i 隕#ڽ@w,~A6tR@Y6r`@6,r=96 3>y6H`?¿@eֿ`u3?`ƶ>?Zb?ɨ6tR@6K;6Cy>B>!IIFEIF3٢N= Ra=9R Q R>TT VG٣TyV߼ Z> ^Nusing accuracyPremultiplier from configXb59Z8?b5YZ iZ3`bm'b@Z wEZG;ZX;Z5h j+AlDNOT Ignoring new targets: 63.10 m. jj!j!j!i!h)h)h9h9fAfArfAbfM@ڠ5@]]]]j@e,r= ae=Ie9 iɚm iiIiIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. IDP9*F2F:F!BF%0JF!JY J] J] 1JY JY J] :J] 3JY  Will construct direction to contact in vehicle frame from tetrahedron phase data.H 6>I C I !II BI $ =&I .I 6I <:I m FG- 6>B9 OU >1C@w,A6NR@Y6L=`@6HӴ=96a4>y6H`ne?]Y¿ֿୢ? 咶_?`ua?ɨ6NR@6`;6"Cy>BB!ImMb@Mb@Mb@iii i)iYm|?5^?/$?L7A`尿ymR>m,=m+mI A mb@)mMAIm-@iym@I1I3٢ : .=9sݺQ > G٣y` > Nusing accuracyPremultiplier from config59 2?5Y( iJ4a>p;U!@wEk8;6;ĺ5 (ADNOT Ignoring new targets: 63.10 m. jjjjihhhhBff rfbf`c6@]5a>]5a>]5:M>]5p@MHӴ= QUH=IU9 QɚUiQIYIYiYia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D (9zKBHK89KKK $Nisurm I*F2F:FBF<1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս <Ս <G B O- >@w,l1AfyQ@Yf_@fs=9f)4>yfH`b[?`տ@@A?`:Q?c?ɨfyQ@fcO;dyrBr !Iiv%=Iv;IzSIz4٢ = F=9 VQ  >   G٣yƼ > %Nusing accuracyPremultiplier from config-595,?-5Ys i4)-!-@wEu: ;5=B =A=%EuDNOT Ignoring new targets: 63.10 m. jqjyjyjyiyhyhyhhffrfbf\6@]]]]!p@s= 隽=I-9 ɚiIIii))Dp9*Fe?2Fa:FaBFeP0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.GM&>BQO> I @w,KA:9!Q@Y:7@_@: =9:34>y:H@[? uտ`?OS?]c?ɨ:9!Q@:R;: CyfBj !IJ5J5J50J1J5:J5&:J5ـ3J1Will construct direction to contact in vehicle frame from tetrahedron phase data.I5OI5 4٢'; 3=9Q > G٣yVB > Nusing accuracyPremultiplier from config59%?5Y iX5W"@wE:G:5 -A)]DNOT Ignoring new targets: 63.10 m. jYjYjYjYiahahajHm<bHm<Hu5>Iq Iu!IIuBIu% =&Iq.Iu5D6Iu<:Iuk Fhahffrfbf6@]]]]o@M = IM>IU9 QɚU?iQIQIYiYiY)Y)D9E% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! *FE ?2FA :FA BFE Q5JFA zK- X8MK- -9K) K- K- hdc_ZVLE@<95-%#  I Ge6>ByO>@w,;jAZP@YZ^@Z+=9Z_[4>yZH 1?h`Yտh?@޵`X?c?ɨZP@Z;Z!CybBf!IMb@Mb@Mb@ )YS?ˡE?Qy/]>'=u K@)AI@yp@I[IK!4٢3_= 5=9Q > G٣yW? > Nusing accuracyPremultiplier from config 59? 5YG i5 ]i> h;  $@wE;3;5 }AEDNOT Ignoring new targets: 63.10 m. jAjAjIjIiIhIhIhaheBfafarfabfmj7@]]i>]]i>]@>]rn@+=  >I69 ɚѴiII!i!i!-Will construct direction to contact in vehicle frame from tetrahedron phase data.)))ID9*Fa 2Fi :Fi BFm P5JFi e KG Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >c@w,eA6YkP@Y6W^@69=96<25>y6H@@7?Vտ?5s?b? >$?I<ɨ6YkP@6;6 CyFBF*!IHJAINYIN4٢VmT= ZE=9ZΑQ Z>\\ ^G٣\y^5f b> jNusing accuracyPremultiplier from configdj59fc?n5Yf ifO6lnj$n@fwEff;f;fY‡5p r$At=DNOT Ignoring new targets: 63.10 m. j9j9j9j9i9h9h9hAhAfAfIrfQbfU7@]]]]ym@]9= Y]">I]9 aɚeciaIaIii))!2DmrA*DmrAJ!J%J!J!J!J%q:J!J!DqWill construct direction to contact in vehicle frame from tetrahedron phase data.H3>I I"!IIBI&I.I6I<:Io FBI}ŞCJI}ŞCRI}œCZI}$ =bI}$ =jI}5*F2F:FBFP0JFG GqAGQ Ba O >@w,#A"Will construct direction to contact in vehicle frame from tetrahedron phase data.R+P@YRJ^@Rmά=9R4>yRH%M?]@Կ jm?`>`3i?@c?ɨR+P@Rۉ;PynBn9!IMb@Mb@Mb@ )YA`"?~jt?V-yY>=m A 5@)AI@y@IPI 4٢]9U= e2=9eƺQ e>ii mG٣iym! m> }Nusing accuracyPremultiplier from configq59us?5Yu iu6gd>m;]%@uwEu/;uY;uXć5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbfH8@]gd>]gd>]Z5>]l@ mά=  B>I !9 ɚ&iIIii))!zKU{MKU9KQKUKU qIqD 9EE*F?2F:FBFJFJ@AJAAWill construct direction to contact in vehicle frame from tetrahedron phase data.G .>B O >@w,A6O@Y6]@6"٫=96'C5>y6H@(5 sH?`9 mԿS?t u?@c?ɨ6O@6x;6!Cy>#B>L!IIFFIF%3٢R= Rk=9RQ V?TT VG٣TyZ7 Z? =Nusing accuracyPremultiplier from config\E59^) ?E5Y^ i^/7AE%M@^wE^<^<^Ň5UB U?AU(E}DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf78@]]]]el@"٫= ,b>I9 ɚ ňi I Iii)1)9DeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF aIaGBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH I  I ;!II BI & =&I .I 6I <:I | Fx@w,utAVkO@YVi]@ViW=9VI5>yVH@ ?@^@.Կ`- ?Dp?]d?ɨVkO@V;V Cyj-BjY!IMb@Mb@Mb@ )Yn?L7A`?)\(yV>+=Ga @)AI@y@IMI{4٢c3= 7=9<غQ > G٣y >  Nusing accuracyPremultiplier from config 59 ]?5Y ) i 7_>r;m'@ wE J0;  /; LJ5! %A)UDNOT Ignoring new targets: 63.10 m. jQjQjYjYiYhYhYhaheBfafarfabfm@9@]_>]_>]:\ >]Vj@iW= 隥>I9 ɚ'OiII1i1i1)1)1BD=??:D=e?D ҟ9*F?2F:FBF`0JF"GGi>}Will construct direction to contact in vehicle frame from tetrahedron phase data. Y I] hG 6>B O >zK% K% #9K! K% K% R @w,RAJ2J2J21J0J2:J2:J23J0J2Y1O@Y>P]@>8o=9>5>y>HN?ӿL 6? 'z? d?ɨ>1O@>;>CyJ@BJp!IIRhIRV84٢Z= Z`=9^9Q ^>\` bG٣`ybrx b> fNusing accuracyPremultiplier from configdj59f?j5Yf(  if 8ln'n@fwEf ;f6;ffɇ5t v[At]DNOT Ignoring new targets: 63.10 m. jYjYjYjYiYhYhahahafafirfibfm r9@Will construct direction to contact in vehicle frame from tetrahedron phase data.==]!]!]!]%Yj@]8o= Y]>I]9 aɚe<iaIaIiiiii)i)qDIEUe>EU>*F2F:FBF1JFG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 Aw,9(A>N@Y>]@>{=9>%5>y>H@X~?ӿ  ??j s?d?ɨ>N@>;>!CyFDBFu!IINFIN%3٢V< VK=9ZQ Z>X\ bG٣`yb b> fNusing accuracyPremultiplier from configdj59f?j5Yf@  ifu8ln(n@fwEf;fJ;f*ˇ5p v9At%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5x9@]Y]Y]Y]]#j@m{= imΖ>Iu9 qɚuriqIqIyiyi))D9*F2F:FBFE5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Hm2>Ii Im`!IIm4BIi&Ii.Ii6Imа<:Im FGU.>BaO}>Aw,"A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:՜N@Y:ӻ\@:w==9:5>y:H@ f.?@Lӿ`[)]g?ᴿ`~?d?ɨ:՜N@:Hf;: Cy^UBb!I)d ddfAMb@Mb@Mb@ )YA`"?Mb?V-yY><m A @) AI@y@IWI44٢= 8=9Q > G٣yA > Nusing accuracyPremultiplier from config 59? 5YF  i8a>p;e-@wE;p;͇5! %A!MDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhYhYhYh]BfafarfabfeI:@]a>]a>]F=]~d@ $?IUw== Y]>I]A9 Yɚ]2iYIYIaiiii))zKyJKk9KKK BK:KJJJ0JJL:J:Jـ3JJ@ <JA <Jxp;Jxp;Will construct direction to contact in vehicle frame from tetrahedron phase data.D59*F ?2F :F BF 0JF G 6>B O>|&Aw,?A @6cN@Y6ނ\@6pc=96b5>y6H@n t?ӿ`_1+v?ƴ`{?7e?ɨ6cN@6k+;6"Cy>iB>!IIJQIJ4٢N= RC=9RQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from config\b59^된?b5Y^;  i^q9df-f@^wE^/;^90;^·5l n An+EDNOT Ignoring new targets: 63.10 m. jjjjih h h h ffrfbf@:@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]d@pc= >I9 ɚ43iIIii)) ID$9*F)2F1:F1BF51JF1} Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H 1>I  I !II WBI &I .I 6I ư<:I FG .>B O >=LAw,8jZA6!N@Y6@\@6J=96~5>y6HxU?bҿ@9`?@ऋ? d?ɨ6!N@6;6Cy>sB>!I Mb@Mb@Mb@    ) Y x&1?Mbp?Qy A`> ; u  A ) ~AI @ y \@I%SI%4٢0= 4=9Q > G٣y > Nusing accuracyPremultiplier from config59;䐜?5Y&  i9h>i;1@wEk8;6;Ї5 A DNOT Ignoring new targets: 63.10 m. j j j jihhhhςBffrfbf%/);@]Eh>]Eh>]Eћ<]EF`@UJ= Y]ף>I]9 Yɚ]K4iYIYIaiaii)i)qEWill construct direction to contact in vehicle frame from tetrahedron phase data. yID39zKKK89KKK1* *F2F:FBFU5JFJm Jm Ji Ji Jm :Jm ":Ji Ji Jm 4<Jm 4<Jm 7{;Jm 8{; Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu &>B O >Aw,*uAyz~B~!Ii!! -G٣)y- -> Nusing accuracyPremultiplier from config59ݐ?5Y  iy:@ wE: ;;҇5 hADNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@;@])])])])A AEq>IM9 IɚMU4iIIIIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D-E9*F2F:FBFA5JF I G B O >#Aw,iAvM@Yv}[@v=9v 7>yvHl@7A?@T-@[ҿI%?bn?`c?ɨvM@vc;v!CWill construct direction to contact in vehicle frame from tetrahedron phase data.H)I-C I-!II-vBI)&I).I)6I-<:I- FyBe!I]Mb@Mb@Mb@YYY Y)YY]-?Mb`T㥛 y]5^>]]]zA ]@)]hAIYYy]@Iu;Iu&3٢= %=9{׺Q > G٣yR > Nusing accuracyPremultiplier from config594Ր?5Y i;dg>j;3@"wE;>;ԇ5 ADNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf <@]dg>]dg>][@]^@-= )-R>I59 1ɚ5%4i1I1I9i9i9)A)ID]39*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G .>B! O= > $?I )Aw,ຩAzK5XLK5k9K1K5K5BKA:KEpAyMBM!II]^I]&4٢m< mr=9mQ u? G٣y ? Nusing accuracyPremultiplier from config59Sϐ?5Y i;@#wE;;Wև5B A .EMB*** querying acoustic contact ***jIjImDNOT Ignoring new targets: 63.10 m. jijqjqjqiqhyhyhyhffrfbf Xj<@]]]] >IV9 ɚx4iIIii))J]J]JYJYJ]l:J]:JYJYJ] <J] <J]xp;J]xp;De9Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.*F92FA:FABFE[0JFAGe &>Bq O >) &= rC NG |uA) ] Y] |uAy] 1 BY0Aw,PA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2,DAT read: user:3024> :BDAT read: Tx time:23:02:42.2726 >$Ping request sent.>yEH.`?z`ѿ!b '?@]?d?ɨE1L@Ey;ECyUBu!II8I3٢= I=9fQ > G٣y > Nusing accuracyPremultiplier from config59Ȑ?5Y7 i<S4@$wEi:i:؇5B A0E 9I9DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf<@]]]]8]@U= QU>IU9 QɚU5iYIYIYiaia)a)a2D*DDi*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:02:42.2718 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.255065ZHaRHeAAH}0>Iy I}!II}BIy&Iy.Iy6I}ݰ<:I} FBIJIRIZI& =bI& =jI]4G% 6>B1 OM >6Aw,%Ay~B~!IMb@Mb@Mb@ )Y?Mb`p= ףyff>dA @)AI@y@II3٢K< H=9Q > G٣y > Nusing accuracyPremultiplier from config59w?5Y i<o>b;R4@&wEI;)G;ه5 |A-DNOT Ignoring new targets: 63.10 m. j)j)j)j)i)h1h1h9h=ԂBf9f9rfAbfE95=@]]o>]]o>]] @]]E]@y y}>I}69 yɚ}+5iIIii))DU9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503625*F2F:FBF0JF )I)zKa3JK9KKK&6P^E+ G.>BO>*J C="J % Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7545611=Aw,;TA`L@YZ@@ٙ=96>yH ?tS,ѿ q^?6?@f?ɨ`L@Bn;y-B-!IIE9IE3٢U< UP=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configa59e?5Ye ie=4@e'wEedIU19 Yɚ]E5iYIYIaiaia)a)iDt9*F=?2F9:F9BF=2JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005408 IG B O- >| DAw,AJJJ1JJJ9:J3Ja"@a"@a"@a"@Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I !II BI &I .I 6I ߰<:I  F]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260088U8L@YUWZ@U֗=9U)6>yUH+?@<ѿva?hp?h?ɨU8L@U,;QymBm!Iiu=Iu=?5Mb@Mb@Mb@111 1)1Y5v/?y&1?Q뱿y5xi>5`e<5\1 5@)5QAI5x@1y5@IMIM2٢] ]#=9]lQ e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uɱ?}5Yu iu=t>^;H0@u)wEu;u;u݇5 VADNOT Ignoring new targets: 63.10 m. jjjjihhhhłBffrfbf ;>@]t>]t>]i1{=]a@֗=  )>I 9 ɚ @d5i I Iii))BD%9?:D%.?DU 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511181 PExceeded connect timeout, disconnecting. $?I *F 2F :F BF _0JF "G G p>zK.LKKKKGBO5>#KAw,0AJ.AAJ.BA6vK@Y6uZ@6e=966>y6Hzu?`! п 9@v?;|?`g?ɨ6vK@6k;6 Cy>B>!IIF]IF$4٢V)< VY=9^<:Q ^>dd fG٣dyn3 n> ~Nusing accuracyPremultiplier from configt59v?5Yv ivE>0@v*wEv;;v;vp߇5B AA3E]DNOT Ignoring new targets: 63.10 m. jajajajaiahahahihififirfqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761433bf@>@]A]A]A]Ea@e= 隝)>I9 ɚm5iIIii))D9*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013478  I G B O >;RAw, LAy B !IIUI4٢-Hʻ -9=95Q 5>19 =G٣9y= => ENusing accuracyPremultiplier from configA59Eo?5YE iE>@E,wEEY@]]]]) )->I-9 1ɚ55i1I1I9i9i9)9)AJK3 K.KK"KJJJ0JJ:JK:Jـ3JD9mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269079jHbHHI I"IIBI% =&I.I6I}<:IX F*F ?2F :FBF05JFG] 6>Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518092YAw,eA nManaging dock network, ignoring radio surface power off>pkK@Y>oY@>B=9>7>y>Hm?Ž@пZ? ?@e?ɨ>pkK@>WS;<CA @)v@IK@yG@IGI3٢< ?=9O9Q  >  G٣y > -Nusing accuracyPremultiplier from config)=59- ?=5Y- i-c?=t>E^;Em,E@--wE-];-\;-:5Q U$AYDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrf bf  ^?@]Mt>]Mt>]MJ >]Mve@}B= 隅?I9 ɚ؟5iIIii))2DqA*DqADا9EqAEzKBoHK9KKK*F=?2F9:F9BFE4JFAGMpA GI}Will construct direction to contact in vehicle frame from tetrahedron phase data.}>}<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769850G% .>B9 OU >D0_Aw,A6K@Y65Y@6=96V8>y6H?` Ͽ ??ge?ɨ6K@6N;4y^B^!IIjTIj4٢r< r^=9r#Q r>tt vG٣tyzUg z> ~Nusing accuracyPremultiplier from configx59z•?5Yz iz?, @z/wEz;z;z5 AEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiIhIhIhIhIfQfQrfQbfU?@]]]]_e@M= IM\?IMt9 IɚM5iQIQIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:02:44.7597 TRx dataTimestamp_ set to:1736377366.088787checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693Dmը9 I*F?2F:FBFO0JFJJJJJ:J:JJG B Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.H />I  I "II BI & =&I .I 6I ߰<:I FU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276014fAw,WAfJ@YfX@fx=9f 7>yfHY>?@= IϿ@@Z? ʲ ?@f?ɨfJ@fÉ;dyB!IMb@Mb@Mb@ )Y}?5^I?V-?p= ףyMb>m=7A j@)3@I5@y@IcIy/4٢\< <=9Q > G٣y0 > Nusing accuracyPremultiplier from config59?5Y iT@@s>_;%@0wE<z<5B @6EDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf@%@@]@s>]@s>]Uh>]l@x= % ?I%9 !ɚ%5i!I)I1i1i1)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.iADAT read: Range 10 to 50 : 62.2 m (Round-trip 83.0 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.yxB $?ID=e9*F2F:FBFJFzK9 K= `9K9 K= K= %4CO_js~G B) OE >LlAw,{fA&Will construct direction to contact in vehicle frame from tetrahedron phase data.BIrJ@YBHX@Ba=9B6>yBH@a? ο ?`%?2h?ɨBIrJ@B ;@yNBN"I R=PIVMIV{4٢^5<= ^L=9bQ b>dd fG٣dyf[ j> nNusing accuracyPremultiplier from confighn59j(?r5Yj@ ij@pr%r@j2wEj\ ;j ;jx5x z>@x= addTargetRange:: Added new target pos. range: 62.200001 m, deltaT: 32.271170 s, deltaX: -0.599998 m, approachRate: -0.018592 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 63.10 m. jAjIjIjIiIhIhQhQhQfQfYrf]O@bf]CQ?])])])]-6l@ea= ae?Ie9 aɚe5iaIiIiiiiu3>)q)qD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF9JF9 IGa By O >hsAw,A:&J@Y:EX@:뽓=9:5>y:H?fK`4 ο0@?s ?`=j?ɨ:&J@:r;:CyBBF!IJUJUJU2JQJU :JU9:JUc3JQIBI3٢ ,=9!ݺQ > G٣y > Nusing accuracyPremultiplier from config59^?5Y iNA:&@3wEX:;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH9RH=?AHM.>II IM"IIMǃBII&II.II6IM<:IM FuDNOT Ignoring new targets: 63.10 m. jqjqjjihhhhffrfbf%_?]i]i]i]m-k@}뽓= 隅 ?I*9 ɚ5iIIiir>))D 9E  Will construct direction to contact in vehicle frame from tetrahedron phase data. y Iy *F 2F :F BF *3JF G rA G rAG6>BO ?{Aw,uA2%I@Y2$W@28='6TFailed to parse incomplete device message.92*5>y2HX?뻿`MͿm?R?j?ɨ2%I@2_;2"Cy>B>"IIF!IFi3٢N]= N1=9RQ R>TT VG٣TyVV Z> ^Nusing accuracyPremultiplier from configX^59Zx?b5YZ# iZA`E&M@Z5wEZ)1)1Mc~G]vADm(9y J4YvAyS-B*F1 2F1 :F1 BF5 P0JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A I Ge .>Bq O >s]Aw,.A6I@Y6-W@6k=96a5>y6H%?- ˿"@ ??2k?ɨ6I@6;6 CyFƃBF"I)H HTVAI^6I^m3٢f4= f5=9f6Q f>hh jG٣hynȼ n> rNusing accuracyPremultiplier from configpv59rTq?v5Yr irPBtzU'z@r7wEr~C;r6D;r5 A@5DNOT Ignoring new targets: 63.10 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE?]a]a]a]ej@k= g?Iv9 ɚ6iII i)i-!w>)))1D 5Will construct direction to contact in vehicle frame from tetrahedron phase data.HyIy I}"II}̃BIy&Iy.Iy6I}<:I}i F*F 2F:FBF_0JFBIÝCJIÝCRIZIbIjIo4G5r>BAO]T> Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IY ꊉAw,S(A^xH@Y^wV@^6ގ=9^5>y^HG/b?ӺI˿L9?ر?ek?ɨ^xH@^e;\yr΃Br"I}Mb@Mb@Mb@yyy y)yY}S?~jt?v/y}/]>}=}xi}A }&@)}@I}@yy}@INI@ 4٢= 0=9SQ > G٣y5 > Nusing accuracyPremultiplier from config59i?5Y iBq>`;"@8wEM;;5 @9E DNOT Ignoring new targets: 63.10 m. j jjjihhhhBff!rf!bf%E@]Eq>]Eq>]E8>]E*o@]6ގ= ae?Im9 iɚm6iiIiIqiqiu{t>)q)yzK5NK5u9K1K5K5fda^_]XTUSTSPQOMMLJJKKGDCB>=>??>>?;9::98:;8997558786  JJJ1JJ:J :J3JJYG )>G.>B)OE>MjAw,EA>JYH@Y>HxV@> ;=9> 6>y>H9ʬ?eʿ[U?@ϣ?k?ɨ>JYH@>+;>"CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yJ؃BN*"IIVDIV3٢^2A= bI=9b4Q f>hh jG٣hynnl n> rNusing accuracyPremultiplier from configpv59r`c?v5Yro  irCtvV#v@ ~$?I|r:wErw;rrx;rW5 !@ 5DNOT Ignoring new targets: 63.10 m. j1j1j1j1i1h1h9h9h9f9fArfAbfE 7U@]i]i]i]min@} ;= 隅#?I9 ɚ6iIIiipo>))Di*F 2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.jHYbH]<HYIY I]."II]܃BI]% =&IY.IY6I]<:I]~ FG H3z>BQ OM >(Aw,_Ay5B5;"Ii==Q8~A @)@I@y3@I6Im3٢|= 8=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 \?5Y ! i oCe>l;"@ ]-e>]-E%>]-{wo@a ae33?Im9 iɚm2)6iiIiIqiqiuB?p>)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data. IDV9*F?2F:FBFo0JFzK wOK K K K \OFB?=;8767::756799888:875668:769865776865568625245412BK :K qAJ J J 0J J L:J h:J ـ3J J @ <J A <J Mi;J Ni;G +u>B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,yAy~B~V"II JI )4٢= %Z=9!Q %>)) -G٣)y) -> 5Nusing accuracyPremultiplier from config1=595V?E5Y5# i5CAAE@5=wE5!;5u;55I U@QDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrf bf ` @]I]I]I]I 隭>?I: ɚiIIi i`(p>))D i9*F?2F:FBFz1JFG GqAG1r>BWill construct direction to contact in vehicle frame from tetrahedron phase data.Od> IAw,alA6`JG@Y6^iU@6 =965>y6H`U ?@Q}ȿO?%>?@/m?ɨ6`JG@6;6!CyF BFj"IIRCIR3٢Z&= ZR=9ZQ ^>`` bG٣`ybN- f> jNusing accuracyPremultiplier from configdj59fP?n5Yf\$ ifCln#n@f>wEfG;f;f5t v@tDNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5 @]I]I]I]Men@e = aeF?Ie: iɚm_@4iiIiIqiqi}c`>)y)H%Will construct direction to contact in vehicle frame from tetrahedron phase data.I IN"IIBI& =&I.I6I<:I FD}{9*FE?2FA:FABFEB5JFAGm r>B I  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >˪Aw,HA6WG@Y6V-U@6I=965>y6H[7;?sGȿS?,&?`m?ɨ6WG@6;6 Cyn#Br"I)t ttvA}Mb@Mb@Mb@yyy y)yY}|?5^?:v? ףp= yy}T=y}@ }@)}@I}@yy}Q@IKI4٢= <=9غQ > G٣y{ > Nusing accuracyPremultiplier from config59I?5Yu% iRDc^>t;*@@wE;;5B f@]c^>]*2}>]Lg@5I= 15=J?I5: 9ɚ=i9I9IAiAiE9_>)A)I'TFailed to parse incomplete device message.JJJ1JJ:Jz:J3JJ4<J4<Jl;Jl;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Dw9*F- ?2F) :F1 BF5 1JF1 RK ?JK ?G b>B) OM >Aw,dA 6$?I4BF@YBT@B=9B 6>yBH:d[?NXǿ 0?}?@=l?ɨBF@B%NJ;BCyJ1BJ"IRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZ1IZ3٢fƖ= fY=9flCQ j>hh jG٣hynn U> eNusing accuracyPremultiplier from configYe59]C?m5Y]r& i]Dim*+m@]AwE]:]:]:5q u@yDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfM@]]]]f@= WQ?I<: ɚI4iIIiiQZ>) ) D+9ZHRHH->I Iy"IIBI&I.I6II<:I/ FeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF15JFG Mb>B O >2Aw,cA2|F@Y2ěT@22=926>y2H|i ?@Zƿ7 ?9㰿@#?`Jl?ɨ2|F@2R;2!CyB>BB"IMMb@Mb@Mb@III I)IYMNbX9?~jt?MbyME>MIe3٢u]a= u7=9}dQ }> G٣y > Nusing accuracyPremultiplier from config59 =?5Y#' iEVL>;t4@BwE/;X;5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf Q@]VL>]VL>]=]&]@ I2= \O?I: ɚ4iIIiiW>))Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF4JFJ% J% J% 0J! J% ,:J% :J% ـ3J! J% <J% <J% nN;J% oN;zK] MK] 9KY K] K]  G \>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.UAw,A22F@Y2QT@2>=92A7>y2HGpS? n8Yƿ``?İr?k?ɨ22F@2`;2 CyBTBB"IIVIV[3٢^= ^X=9^áQ b>`` bG٣`yfGD f> jNusing accuracyPremultiplier from confighn59jB7?n5Yj' ijXEpr4r@jCwEj ;jm ;j5t vV@tDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@I@]]]]b]@u>= y}vZ?I}: ɚiIIiiS>))BD>?:D[? I-Will construct direction to contact in vehicle frame from tetrahedron phase data.D9ErAEqA*F?2F:FBFP0JFG G*JA "JE a=G [>B O >nAw,ZAH,I, I."II.FBI,&I,.I,6I.ݰ<:I. FFE@YF}T@Fy/=9F`7>yFHu%?Hqſ?@n?@k?ɨFE@F3;F"CjWill construct direction to contact in vehicle frame from tetrahedron phase data.yElBM"II <I 3٢m= u+=9}Q }> G٣y > Nusing accuracyPremultiplier from config559/?55Y( =tIiEae4e@EwEu<o<5uB u@u?EDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf @]Q]Q]Q]UV)]@y/= 隍wf?I: ɚ4iIIiiqQ>)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՍAD 9*F ?2F :F BF O0JF GϮU>BO>Aw,ߣ6AzKQMKk9KKK "5@CBFGFJJE@?>??>>6#  BK8:K8PE@YNS@ =9o8>yHc{ p?wgſ@2?b~ ?Uk?ɨPE@c;Cy=~B="IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YV-? rhMby|?>CA @)p@I@yQ@II#3٢B= "=9Q > G٣y=  > Nusing accuracyPremultiplier from config 59 (?5Y ( i DF%5F>%;%0A%@ FwE ,3; x1; 5) -@)UDNOT Ignoring new targets: 63.10 m. jQjYjYjYiYhYhahaheBfafirfibfm`'~@]5F>]5F>]+)@]4P@ = =J?Ix: ɚ 4i I IiiN>))9)= ~G!9 m Yqy};B M$?IIDʰ9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 2JF G]R>BaO>Aw,5 UAJHJHJNJNJLJLJN:JN:JLJLaR@aR@aV@aV@jkE@YjS@j~=9jL8>yjHF?.`Ŀ9X? -@?(k?ɨjkE@jo;j CyrBv#II~#I~%x3٢ 9,=  C=9 EQ > G٣y7 %> -Nusing accuracyPremultiplier from config!559%!?55Y%) i%F9=yA=@%HwE%:;%:;%5A E@IuDNOT Ignoring new targets: 63.10 m. jqjqjqjyiyhyhyhyhffrfbf@0%@H,>I I"IIoBI&I.I6I<:I FBIaJIaRIaZIabIajIe4]]]]8P@-Will construct direction to contact in vehicle frame from tetrahedron phase data.m~= imN?Im: iɚu,5iqIqIyiyi}J>)y)yDeܰ9*F5?2F1:F9BF=^0JF9GN>B!O=P> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.)Aw,nA $&@F;E@YFZS@Fn=9F(9>yFH c@A?J@uĿ`;!Zu? M? j?ɨF;E@Fa;F!CyrBr#IMb@Mb@Mb@ )YMbX?QyJ>Lu@ @)C@I@y@I%I)3٢= ?=9Q > G٣y޻ > Nusing accuracyPremultiplier from config59?5Y( i8GY>y;F@@IwE] ;;5  "@ =DNOT Ignoring new targets: 63.10 m. j9jAjAjAiAhAhAhIhMނBfIfIrfQbfU@]uY>]uY>]u%@]u(F@n= 隅)\?I: ɚye5iIIiiG>))Dر9zKMK-9KKKRK?JK?*FE?2FA:FABFE`0JFAMWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I TAw,*A2!E@Y2@S@2Œ}=928>y2H`?UkAĿ@#o?*@?k?ɨ2!E@2#L;2 Cy:B: #IIF5IF3RWill construct direction to contact in vehicle frame from tetrahedron phase data.RAiP٢NkA= Va=9VQ V>XX ZG٣Xy^A ^> bNusing accuracyPremultiplier from config`f59b?f5Yb( ibGdfF@f@bJwEb:b:bZ5l n@l DNOT Ignoring new targets: 63.10 m. j j j j i hhhhffrfbf%@Q@]A]A]A]E_F@UŒ}= QU`?IU: Yɚ]5iYIaIaiaimF>)i)iD*F-?2F):F)BF-0JF)GeLI>BiO9>JJJJJ:JB:JJHI I#IIBI&I.I6I<:Ix FUWill construct direction to contact in vehicle frame from tetrahedron phase data.;Aw,舢A:^D@Y:\ S@:&{=9:8>y:HD .? aÿI'y?@_?l?ɨ:^D@:~;8y^B^)#I f=fp=MMb@Mb@Mb@III I)IYMMbX?i|?5 rhyIMqMCM`@ M@)IIIIyM@Im;Im&3٢}= }==9Q > G٣y! > Nusing accuracyPremultiplier from config59d ?5Y( iNH^>t;D@@LwEXD;B;< 5  @BEDNOT Ignoring new targets: 63.10 m. jjjjihh IhhڂBffrfbf  @]^>]^>]n˿@]D@ &{=  ff?I: ɚЬ5iII1i9i=C>)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FI 2FI :FI BFM _0JFI zK ]JK 9K K K BK :K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm $I>By O >Aw, A26D@Y24R@2x=927>y2H `?]ÿ`) rj?6`?m?ɨ26D@2{;2Cy>B>-#IIF6IFm3٢VU< ZC=9^Q b>`d fG٣dyfx f> rNusing accuracyPremultiplier from configlr59n\?v5Yn( inHtvC@v@nMwEn:nL:n 5x ~@|DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf @]]]]BC@ x= )-g?I-: 1ɚ5n5i1I1I9i9i=B>)9)9 III}Will construct direction to contact in vehicle frame from tetrahedron phase data.Du 9*F2F :F BF 0JF J J J 1J J \:J 9:J 3J G D>B O >Aw,iAH&+>I$ I&A#II&BI$&I$.I$6I&`<:I&= FjץD@YjR@jt=9jU7>rWill construct direction to contact in vehicle frame from tetrahedron phase data.yjH@y?ʵ@Nÿ-u?`M?m?ɨjץD@jW@;j!CyB9#II1I3٢%?= %D=9%Q ->)) -G٣)y5sڻ 5> ENusing accuracyPremultiplier from config9E59=u?M5Y=\( i=IIMC@M@=NwE=+;=X:= 5Q U>@YDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf !@]a]a]a]eC@t= l?I: !ɚ-5i)I)Iii3g@>))DE9*F2F:FBFR5JF E$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.G {C>B O >.Aw,A60D@Y6.R@6q=967>y6H *j?`サÿ+/@,?7?`n?ɨ60D@6L;6#CyNBR8#I=Mb@Mb@Mb@999 9)9Y=&1?J +㥛 y=P>=H==I@ =r@)=@I99y=@IU9IU3٢ey: eF=9mQ m>ii uG٣qyu }> Nusing accuracyPremultiplier from configy59}m?5Y}M( i}Jxc>n;lG@@}PwE};};}5 G@DNOT Ignoring new targets: 63.10 m. jjjjihhhh҂Bffrfbf "@]xc>]xc>]@]lG@q= 隕p?I: ɚd6iIIii’>>))2DrA*DzKmBHKm9KiKmKmD}+9EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG- ֶA>B1 OU > ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.dBw, A2[D@Y2zR@2en=92X8>y2H@#? :=»¿0??9ӭ ?m?ɨ2[D@2;Ί;0yNBR3#II^0I^(3٢f fU=9fmQ f>hh jG٣hynNĻ n> =Nusing accuracyPremultiplier from config9E59=?E5Y=>( i=JIMKG@M@=QwE=:=:=k5Q U@QDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf`FR#@] ] ] ] KG@-en= 1=Wn?I=: 9ɚ=6i9IAIIiIiUc<>)Q)YJ+3K+O3 K+Ϛ.K#K#"K#JmJmJiJiJmL:Jm:JiJiHIII IMZ#IIMτBIM% =&II.II6IMϰ<:IM FD99Will construct direction to contact in vehicle frame from tetrahedron phase data.%=*F12F9:F9BF=4JFAG V@>B O >sY Bw,6'A ,I0B0D@YBOR@B3l=9BX9>yBH`?e¿@{2,?`N? l?ɨB0D@B;B"CyNBN0#IMb@Mb@Mb@ )YzG?~jtly W>ļ3@ E@)@IS@y@II٢W)Will construct direction to contact in vehicle frame from tetrahedron phase data. 4=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%鏜?55Y%y( i%TK=Re>=m;=C=@%RwE%L;%lK;%_5EB E@EEEMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiIhIhQhQhUBfQfYrfYbf]B$@]Re>]Re>]k@]VO@e3l= ae?Im: iɚm$6iiIiIqiqiu:>)q)D K9zK} k3IK} k9Ky K} K}  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF @5JF G|_>>B!OE>Bw, 4GA 0I0RD@YR-R@R*|h=9REk9>yRH?@`$¿@R4? ?m?ɨRD@RQ;RCynBn;#I va=tIz6Izm3٢= ,=9%Q %>!! -G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=Ꮬ?E5Y=( i=LIM%CM@=TwE=e:=:=m5Q U@Y}DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf`(%@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] N@M*|h= IMY?IU: QɚUN56iQIQIYiYi]W8>)Y)aDeH9*F?2F:FBFP0JFjH<bHH*>I Ia#IIԄBI& =&I.I6I~<:IR FG% s:;>B) JE JE JA JA JE :JE :JA JA JE ' Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw,x aAC@YQ@f=99>yH 6c(?@el\7_?T ?`l?ɨC@;騕!CyޭBޭ3#IeMb@Mb@Mb@aaa a)aYe"~j?et G٣yT > Nusing accuracyPremultiplier from config59ُ?5YQ) iL;n>d;9@UwE;;d5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbf`g &@]5;n>]5;n>]5%=]5U1X@ U~$?IQEf= QU?IU: : Yɚ]`G6iYIYIYiaie5>)a)iDe~95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG :>B O >EBw,zA6C@Y6Q@6ba=9659>y6H0ӿ?d@Km):?- ?'n?ɨ6C@6J;6 CBWill construct direction to contact in vehicle frame from tetrahedron phase data.zK~RIK|K|K~K~RK= ?JK=>yޝBޝ1#II)IW3٢ɩ Y=9'@Q > G٣y > Nusing accuracyPremultiplier from config59ӏ?5Y) i M:@WwEX;; 5 @DNOT Ignoring new targets: 63.10 m. jjjjihhh!h!f!f!rf!bf-&@]A]A]A]E X@]ba= Y]?I] : YɚeW6iaIaIaiiim@)4>)i)i2Dq*DurAD]9q|uA Y|uAy5B*F?2F :F BF _0JF  AIA5Will construct direction to contact in vehicle frame from tetrahedron phase data.G- 6>B1 OU >i$Bw, A6hC@Y6Q@6_=96(B9>y6HK`㺾?-@z>_?B 2?`Jn?ɨ6hC@6;6Cy^B^0#I)` `dfAIjIIjd4٢v( vY=9vҠQ v>xx zG٣xyzHB ~> Nusing accuracyPremultiplier from config 59H̏? 5YP* iM  _: @XwEL: :5B @HEDNOT Ignoring new targets: 63.10 m. jjjjihhh h f f rfbf`ݘ'@]I]I]I]MW@_= 隅\?I` : ɚZi6iIH)>I III% =&I.I6I<:Iq FBIaJIaRIaZIabIe% =jIe84Iiia70>))Will construct direction to contact in vehicle frame from tetrahedron phase data.D z9*F?2F:FBFo0JF 1 I1 G% 5>BA Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.+Bw,AjI;C@YjGZQ@jE[=9jM8>yjH@?QNB A?x@c?@p?ɨjI;C@jΉ;j!CyB(#IMb@Mb@Mb@ )YQ?v/?i|?5y(\>xi=q@ )Iyf@I6Im3٢% %8=9%Q %>)) -G٣)y5f̻ 5> =Nusing accuracyPremultiplier from config9E59=ď?M5Y=h+ i=MMk>Mf;UJ-U@=ZwE=(j;=i;=5Y ] @aDNOT Ignoring new targets: 63.10 m. jjjjihhhhsBffrfbf`p(@]k>]k>]寄>]d@E[= ͌?I_ : ɚ\{6iIIii#<.>))D9JJJ0JJJG:Jـ3JJJJ;J;*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBHK9KKK#**&)('&%  BK:KpAG %2>B O > ! I! r2Bw,iA2B@Y2Q@21Y=928>y2Hw ?h뿿F?`"?p?ɨ2B@2m;2CyzBz*#II/I3٢< ]=9Q > G٣!y%@ -> 5Nusing accuracyPremultiplier from config)559-n?=5Y-O, i-HN9=-E@-[wE-);-};-=5I M@IuDNOT Ignoring new targets: 63.10 m. jyjyjyjyiyhyhhhffrfbf-)@]]]]d@1Y= @?Iv: ɚ;6iIIiiW*>))BD8?:D`?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fi2Fi:FiBFm@5JFiGr[/>ZHRH@AH(>I IZ#IIτBI&I.I6I<:Ic FBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.'/8Bw,SAMB@YKP@xV=97>yH`,k:?* ! J@?`˪M?`q?ɨMB@Z;!CyB)#I IhMb@Mb@Mb@ )YA`"?Zd;O?~jtyY>j=D@ )b@I@y@I:I3٢5X 5,=9=SQ E>II UG٣Qy]c ]> uNusing accuracyPremultiplier from configi}59m?}5Ym- imNq>`;%@m]wEm ]q>]>]m@%xV= !%?I% : !ɚ%6i!I)I)i)i5'>)1)1De 9Ei Ei *F ?2F :F BF o0JF G  G rAJ- J- J) J) J- \:J- :J) J) J- <J- <J- .Y;J- /Y; Will construct direction to contact in vehicle frame from tetrahedron phase data.zK SMK 9K K K RK ?JK ?Gf+>BO>;p@Bw, Ay5B5+#II]I][3٢m< u<=9uQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from config59c?5YF/ iN@^wEP ; ;4"5 @KEDNOT Ignoring new targets: 63.10 m. jjjyjyiyhhhhffrfbf +@]]]] _?I : ɚ6iIIii:1(>)) }$?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F] ?2Fa :Fa BFe 0JFa H '>I  I T#II ʄBI &I .I 6I <:I T F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge _)>Bq O >:9GBw,8L A: A@Y:P@:NN=9:7>y:H n?n`Tj ?`ҩ? q?ɨ: A@:;8yBBF9#IIN;IN&3٢VxY= VC=9ZQ Z>XX ZG٣Xy^` ^> bNusing accuracyPremultiplier from config`f59ba?f5Yb0 ib+Ohj%j@b`wEb~ ;b ;b $5p r"@rMEDNOT Ignoring new targets: 63.10 m. jj!j!j)i)h1h1hihifqfrfbfK,@]]]]4l@=NN= 9=8?IE : AɚE\6iAIAIIiIiMD>)I)Q2D*D I-Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF o0JF JM JM JI JI JM :JM :JI JI JM ;JM ;JM cW;JM dW;GP)>Will construct direction to contact in vehicle frame from tetrahedron phase data.BO >ֽNBw,= ARxA@YRvO@RɉL=9R7>yRH@ȷ? ;qX ??@wr?ɨRxA@R҉;Py^B^A#IfAdMMb@Mb@Mb@III I)IYM"~?`"?ˡEyMS>M=M'M@ M@)MK@IM@IyM3@zKeXKKe-9KaKeKeBKq:KqIqIq٢I< =9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y2 iiOy>Z;/@bwE;;P&5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhTBffrfbf,@]y>]y>]j?]r@ɉL=  ?I  : ɚ 6i I Iii]>)Y)a IWill construct direction to contact in vehicle frame from tetrahedron phase data.Deƻ9*F 2F :F BF JF G e>B O >UBw,jW A6YA@Y6xO@6H=966>y6H'?`7Ӱc\ ?Ӳ?+t?ɨ6YA@6D ;4y>ĄB>M#IINAINk3٢VZ= V[=9V"Q V>XX ZG٣XyZ  > Nusing accuracyPremultiplier from config%59?%5Y4 iO!%j%@cwE::'51 5@1eDNOT Ignoring new targets: 63.10 m. jajajajaiahahihihififqrfqbfu 1-@jHbHH&>I Ia#IIԄBI&I.I6I:IS F]]]]r@H= &?I: ɚ6iIIii>))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFP0JF IG=>B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A[Bw,x`q A6BA@Y6@"O@66F=966>y6H@Y?|8`_ ?ܨ ? t?ɨ6BA@6B;6CyB؄BBe#IMb@Mb@Mb@ )YJ +?rh|?X9vyH>=p@ )@I@y@I%2I%?3٢5= 5B=9ԂQ > G٣y5F > Nusing accuracyPremultiplier from config591?5Y5 iOo>c;3@ewEx;;)5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhXBf!f!rf!bf%.@]Eo>]Eo>]Esx?]Ezs@]6F= Y]?I]X: Yɚ]h6iYIaIaiaimy>)i)iBD}U?:D}C?JJJJJ:J :JJJ;J;JR;JR;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9zKBoIKKKK M**F5?2F1:F1BF55JF1 |$?I G >B) OE >&bBw, A:@@Y:N@: 8D=9:6>y:H@W޴?)` b ?٪?t?ɨ:@@:o;:!CyFBJs#I N=Na=IZ+IZn3٢jn= nR=9n Q r>tt vG٣ty~ ~>  Nusing accuracyPremultiplier from config 59 Z?5Y ,7 i Oj@ fwE  : q: +5%B %$@-PEUDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhQhYhahamWill construct direction to contact in vehicle frame from tetrahedron phase data.fifqrfqbfuB/@]]]]Ss@ 8D= 隭?I: ɚe6iIIii>))D9*J4="J%=H%>IC Is#IIBI&I.I4D6I<:Is F*FE?2FA:FABFMO0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data. < G% >B1 OM >hBw,K A yIyO{@@YMN@A=9EL7>yH+?ˣZdq0?;?t?ɨO{@@;騁yޕBޕ#I}Mb@Mb@Mb@yyy y)yY}V-?X9v?V-y}|?>}=}}C@ }@)}@I}@yy}@I5I3٢p= /=9sQ > G٣y=/ > Nusing accuracyPremultiplier from config59?5Y8 iOd>m;_@hwEtM;Z;-5 D@UDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhYhYhYh]RBfafirfibfm`0@]d>]d>]+?]Կs@A= 隥?I): ɚ6iIIii1 >))Will construct direction to contact in vehicle frame from tetrahedron phase data.D%.9*F ?2F :F BF P0JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.) F= wC-vAGE->I }- Y}vAy}BzK0NKk9KKKBO>qBw,5 A2C@@Y2bN@2Z?=92ͽ7>y2H @ʲ? <Mf`F?駿?@s?ɨ2C@@2y;2 Cy:B>#IIBIB[3٢J_= NC=9N&ƺQ N>PP RG٣PyR V> ZNusing accuracyPremultiplier from configX^59ZX?^5YZ]: iZ P\^^@ZjwEZX:ZX:ZZ/5` f1@hzDNOT Ignoring new targets: 63.10 m. j|j|j|j|i|h|h|hhff rf bf @0@]9]9]9]=Ns@uZ?= q}?I}: yɚ}6iyI II!i!i% >)!))2D1*D5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.DEEqA*F]?2FY:FYBF]O0JFaG=  >BI Oe >H $>I  I #II BI &I .I 6I <:I k FBIJIRIZI% =bIjI R4JU JU JU 2JQ JU :JU :JU c3JQ JU i;JU j;JU S;JU S;g#wBw, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6?@Y6N@6<=96I8>y6H?Y@A%`g=b? ͔@6?$s?ɨ6?@6Il;4ynBr#IvAtIz%Iz)3٢ =  D=9 ~ʺQ > G٣yW( > %Nusing accuracyPremultiplier from config!-59%'z?-5Y%; i%'P155@%kwE%*:%*:%,159 =@AmDNOT Ignoring new targets: 63.10 m. jijijijiiihihqhqhqfyfyrfybf}0@]]]]@s@<= 隽?I : ɚ%6iIIiiXk>))D9*Fi2Fi:FqBFuo0JFy IWill construct direction to contact in vehicle frame from tetrahedron phase data.G\ >BO>DL}Bw, Ayz+Bz#IMb@Mb@Mb@ )Ysh|??MbX?S㥛y)>=/ݼ-@ @)Iy @I0I(3٢w= A=9Q > G٣y > Nusing accuracyPremultiplier from config59t?5Y%= iDPG>; @lwE];;35 @ DNOT Ignoring new targets: 63.10 m. j j j jihhh!h%Bf!f!rf!bf-yY1@]EG>]EG>]E{ ?]Eq@Y Y]=?I]: Yɚe.6iaIaIaiiim">)i)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKQJK9KK KRK>JK?DO9 {$?I*FQ2FY:FYBF]_0JFa% Will construct direction to contact in vehicle frame from tetrahedron phase data.G ->B O > Bw, A6u?@Y6sM@66=967>y6Hԯ?9`[l@h? ٦@? *t?ɨ6u?@6;4yBpp rG٣pyvњ v> zNusing accuracyPremultiplier from configx~59z@o?~5YzW> iz^P!@znwEz:zz:z45  @ SE=DNOT Ignoring new targets: 63.10 m. j9j9jAjAiAhAhAhIhIfIfIrfQbfU`S1@]q]q]q]u q@6= 隅W?IW: ɚ7iIIii=))BD/?:D?H%#>I! I%#II%!BI%& =&I%HD.I!6I%q<:I%D FJJJ1JJ̶:J:J3JJ;J;JC;JC;Will construct direction to contact in vehicle frame from tetrahedron phase data.Ds9*F2F:FBFo0JF 9 I9 Gu #>B O >Bw,, A6B?@Y6aM@6h 5=967>y6Hb?/`'=)n`hr? ?Bt?ɨ6B?@6;6CyBNBB#IiF=IF< Na=Np=EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAMb@Mb@Mb@ )Y#~j?Q?y&1y%>\=`@ z@)@Iy@II٢= >=9Q > G٣y > Nusing accuracyPremultiplier from config59i?5YM? iP6>;=)@owEh;;65 o@DNOT Ignoring new targets: 63.10 m. jjj!j!i!h!h!h)h-Bf)f)rf)bf5`-2@]M6>]M6>]M>]Mh@eh 5= ae?Ie: iɚm7iiIiIqiqiuF=)q)yDo9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G >B O >zK} K} k9Ky K} K} BK :K qABw,ۥF A2?@Y22M@21=92&8>y2H`:y?5σ*o~?.?Rt?ɨ2?@2ى;2 CyN`BN $IIVIV[3٢^$= ^[=9bQ b>`d fG٣dyf f> pIp jNusing accuracyPremultiplier from confighv59jd?v5Yj @ ijPtzl)z@jpwEj8;jk;jG85  O@eDNOT Ignoring new targets: 63.10 m. jajajajaiihihihihifqfqrfYbfe`Ж2@]]]]h@1= ?IP: ɚ 7iIIii=))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D *F 2F :F BF 0JF jH! bH% <H5 ">I1  I5 #II5 NBI5 ' =&I1 .I1 6I5 r<:I1 J J J 2J J :J 9J c3J J ;J ;J O>;J O>; Will construct direction to contact in vehicle frame from tetrahedron phase data.G =B O >Bw,uc AV>@YVL@V}2,=9V9>yVH?ڈTo`#? J?`r?ɨV>@V;TybpBf $IInIn3٢r,= v1=9v7Q v>xx zG٣xy~4W ~>  Nusing accuracyPremultiplier from config%59^?-5Y$A iP15)5@qwE";;L:5A EL@AuDNOT Ignoring new targets: 63.10 m. jqjqjqjqiyhyhyhyhffrfbf3@ III]I]I]I]MPh@}2,= 隽?I: ɚ7iIIiiB=))2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*Fy 2Fy :Fy BF} 0JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.G =B O >2Bw,cԀ A>r>@Y>L@>@*=9>:>y>H@1?S`,o G?FX,?pq?ɨ>r>@>;>"CyZBZ7$I)\ \`bAMb@Mb@Mb@ )Y(\?l?ly.>=@ d@)@Iy@IIF3٢r= )=9ӀQ > G٣y2 > Nusing accuracyPremultiplier from config59W?5YA iQ#6>;5@rwE;;h<5  &@ =DNOT Ignoring new targets: 63.10 m. jAjAjAjAiAhAhIhIhMBfQfQrfQbfU *3@zKBoHK9KK K]#6>]#6>]r[>]e\@@*= ?I: ɚ7iIIii=))! IUWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF O1JF H1 I1  I5 /$II5 |BI5 & =&I1 .I1 6I5 <:I5 k F*J "J p=J J J 1J J :J :J 3J J i;J j;J yE;J zE;G K=B O >R/Bw," AVKN>@YVImL@V&=9V9>yVH?`EM⪿Sq?Ф? r?ɨVKN>@VT;V Cy^BbS$IIj&Ij3٢~.=Will construct direction to contact in vehicle frame from tetrahedron phase data.  >=9 ` Q  > G٣y > Nusing accuracyPremultiplier from config59Q?5YjB i\Q5@twEX;;[>5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@3@]]]]/n\@%&= !-?I-: )ɚ-i)I)I1i1i5>=)1)9DU}9 -z$?I)*F92FA:FABFMP0JFIGuD=BO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.KBw,n÷ A:>@Y:.L@:#=9:&9>y:H`ݤ?`g7r?y? /s?ɨ:>@:Z;:#CyFBFZ$IMb@Mb@Mb@ )Ykt?t<'@ )j@I\@y@I5*I53٢EC< EH=9EӺQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configQe59UK?e5YUB iUQeL5>e;m?m@UuwEUJ;U;U@5}B }X@}VEDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrf1bf= Y4@]]L5>]]L5>]]i!V=]]DER@m#= im?Im: ɚF4iIIiiȋ=))BD5?:D?Dh95Will construct direction to contact in vehicle frame from tetrahedron phase data.15=*F%?2F!:F)BF)JF)zK5BHK589K1K5 K5 9I9GM =Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.3Bw,^ Aj =@Yj L@jv =9j8>yjH` -ݣ?8ӧ@u? ?t?ɨj =@j|;jCyvBvs$Iiz G٣y% %> -Nusing accuracyPremultiplier from config)559-MF?55Y-B i-Q15@5@-vwE- ;- ;-A5A E@AuDNOT Ignoring new targets: 63.10 m. jqjqjqjqiqhyhyhyhffrfbf4@]]]]ER@v = 隽?I: ɚiIIiiP=))D9*Fm?2Fi:FiBFm[0JFiH1I1 I5g$II5BI5' =&I1.I16I5<:I5Z FGm({=ByO:>=Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! RcBw, A-=@Y-K@-ʧ=9- 8>y-Hآ?@wM@Lv?`?"v?ɨ-=@-h;- CyEBEv$IMb@Mb@Mb@ )YK?:vJ +y^:>TH@ 7@)IE@y@I!Ii3٢!< <=9 Q > G٣y*  > Nusing accuracyPremultiplier from config59??5YB iVRvA>;G%@wwE;j;C51 5@1]DNOT Ignoring new targets: 63.10 m. jYjYjYjYiYhahahaWill construct direction to contact in vehicle frame from tetrahedron phase data.hBff rf bf !05@]MvA>]MvA>]M@]MwJ@]ʧ= Y]?I]0: ɚ4iIIii=))D9J#K+3 K+.K#K#"K#JJJ0JJl:J:Jـ3Ja @a @a @a @*F} ?2Fy :Fy BF P0JF = Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 A u Yq yu [AG I=B zK K k9K K K O >hBw, A I6ߑ=@Y6ݰK@6m=96T8>y6H N`4>?@w@?`??u?ɨ6ߑ=@6B;6!CyBŅBB$IIJ&IJ3٢Rm= RF=9RͺQ V>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b59^t9?f5Y^C i^RdfGf@^xwE^":^":^E5l n@lDNOT Ignoring new targets: 63.10 m. jjjjih h h h ffrfbf`T5@]1]1]1]5H I  I $II ͅBI &I .I 6I U<:I - FBImɜCJImɜCRIiZIm' =bIm' =jImɔ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.ս =ս <>;Bw,j" ABW=@YBUK@BFB=9B 8>yBH`Ƞ?nw̰? :}?v?ɨBW=@BpS;B Cyr̅Br$I)t txzAI~I~3٢%= -C=9-4Q ->11 5G٣1y5|0 5> ENusing accuracyPremultiplier from config9E59=3?M5Y= C i=SIMGM@=zwE=X:=7:=XG5Q ]@YDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf 6@]]]]/J@-FB= )5_?I5 : 1ɚ5 5i9I9I9iAiET=)A)A ID}9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFGU %=Ba O} >zBw,{< ABF=@YBeK@BI=9B+9>yBH T *?T yvP?;H u?Iu?ɨBF=@Ba;@yj؅Bj$IJ~J~J|J|J~:J~:J|J|}Mb@Mb@Mb@yyy y)yY}NbX9?Zd;O:vy}E>}j}T}@ }@)}S@Iyyy}G@II?13٢]= @=9WߺQ > G٣yP > Nusing accuracyPremultiplier from config59:,?5YB iSN>;F@@{wE ;;4I5B @YEMWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 63.10 m. jjjjihhhhӂBffrfbfs6@]N>]N>]0D@]?F@-I= )5G?I5: 1ɚ5/5i1I1I9i9i==)9)i y$?IzKjIK9KKKBK:KD9*Fe ?2Fa :Fi BFm ^0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.G >=B O > Bw,dY A2.=@Y2MK@2M =92A9>y2H@? c桿 gw`?`ب?u?ɨ2.=@24=;2Cy>مB>$IIF$IF<3٢N; NE=9R@Q R>TT VG٣TyZk Z> ^Nusing accuracyPremultiplier from config\b59^%?b5Y^B i^S`fF@f@^|wE^a:^:^K5h j@h~DNOT Ignoring new targets: 63.10 m. j|jjjihhh h f f rfbf6@jHbH<HI I$IIBI&I.I6I<:Ic F]]]]F@M = ?I: ɚ ;5i I Iii=))BD%I?:D%_?D%9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JFG,A=BOH> qIq Will construct direction to contact in vehicle frame from tetrahedron phase data.4Bw,2s AZ<@YZK@Z =9Z~9>yZH]`9)?`[٣埿v? bB?t?ɨZ<@Z;Z!CyfBf$Iij]u]Y]@ ] @)]&@I]/@Yy]@IuIuT3٢/= 6=9Q > G٣y   > Nusing accuracyPremultiplier from config%59??%5YB i_T%~O>-;-H-@~wE/;';L51 5 @1eDNOT Ignoring new targets: 63.10 m. jajajajaiahahihihmɂBfqfqrfqbfuI7@]~O>]~O>]@]VI@ = 隵f?I : ɚt6iIIiiv=))JJJ2JJ<:J:Jc3JD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFe0JFa a Ia zK BoHK k9K K K RK ?JK ?G B O >oBw,wj AJK<@YJIJ@J[=9Jߣ9>yJH@vɗ?@#A w}? ?@u?ɨJK<@J;J CyRBR$II^'I^@3٢fg fT=9fTQ j>hh jG٣hyn6 n> rNusing accuracyPremultiplier from configpv59r?v5YrB irTtzHz@rwEr ;r%;rN5| ~@|%DNOT Ignoring new targets: 63.10 m. j!j!j!j)i)hhhhffrfbfa7@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]];I@-[= )53?I5z: 1ɚ=06i9I9IIiIiM~=)I)QD9HI I$IIBI&I.I6Ii<:I; F*J%R="J%=*Fa2Fa:FaBFe1JFa} Will construct direction to contact in vehicle frame from tetrahedron phase data.GM ׼=BY Ou >EBw,׉ A IJѝ<@YJϼJ@J=9J:>yJH /?G`˚w@(?%!? 6u?ɨJѝ<@Jc;J"CyjBj$IIvIv<2٢= E=9 Q > G٣y %> 5Nusing accuracyPremultiplier from config)E59-,?U5Y-B i-(UYeI@e@-wE-d<-<-{P5i m4@qmDNOT Ignoring new targets: 63.10 m. jijqjqjqiqhqhqhyhyffrfbf )8@]]]]I@= !%?I%: !ɚ-L6i)I)I)i1i5.=)1)q2Dy*DyWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fq 2Fq :Fq BFu 1JFq J= J= J= 0J9 J= :J= 9J= ـ3J9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge/E=ByO>˱Bw,v A :D<@Y:cJ@:$~<9:)8>y:H?>>@y??@Nw?ɨ:D<@:䍉;:!CyFBF$I tIt-Mb@Mb@Mb@))) )))Y-|?5^?:v)\(y-R>-T-Ga-@ -@)-@I-@)y- @IIF2٢{˼ "=9Q > G٣y0 > Nusing accuracyPremultiplier from config59?5YB iUZ>x;H@wE;1;R5 @ \EzKBHKKKKEDNOT Ignoring new targets: 63.10 m. jAjAjAjAiIhIhIhIhMBfQfQrfQbf]@d8@]uZ>]uZ>]u @]uzI@$~< 隍=?I%: ɚf6iIIiig=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9Ea>E>*F?2F:FBF_5JFG GZH RH AAH I  I $II BI ( =&I .I 6I w<:I D FG ِ=B O >!Bw,n A.Will construct direction to contact in vehicle frame from tetrahedron phase data..<.%=>)<@Y>'-J@><9>FB8>y>Hr@ܩ?՟ґ ={ ?y %?yx?ɨ>)<@>i;>#CyZBZ$IIb*Ib3٢j; nR=9n Q n>pp rG٣pyr r> zNusing accuracyPremultiplier from configtz59v?~5YvB iv V|~H~@vwEv ;v ;v`T5 @ DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf9@]A]A]A]E@I@}< y}q?I}: yɚ}L6iyIIii#=)) Ux$?IQDC9*F]?2Fa:FaBFmP0JFiG}Z=BOi> Will construct direction to contact in vehicle frame from tetrahedron phase data.KBw, A6;@Y6J@6C<967>y6H±?e|@,?Ǜ@? y?ɨ6;@6y;6"CyZBZ$IMMb@Mb@Mb@III I)IYMCl?Mb?yMO>M G٣y9ɻ > %Nusing accuracyPremultiplier from config!-59%M?55Y%*C i%lV5=V>5};5B5@%wE%D";% ;%PV59 E3@AmDNOT Ignoring new targets: 63.10 m. jijijijiiihqhqhqhuBfyfyrfbf=m9@]=V>]=V>]U!=]QO@C< 隽\?I: ɚ6iIIii=))BD8?:D5?mWill construct direction to contact in vehicle frame from tetrahedron phase data.D.9*Fy2Fy:FyBFyJFy AIAzKIKK-9KKK A\!r_M?5*# !a'65, G] =Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai .Cw,ǹ AJו;@YJմI@J<9J68>yJH@ Cu?`eh`{E??x?ɨJו;@JMʉ;J CyVBZ$IifC=If= jp=jp=Iv"Ivq3٢< R=9%0Q %>)1 5G٣1yE J E> UNusing accuracyPremultiplier from configQ]59U?e5YUZC iUVimCm@UwEU{;U{;UW5y }@yDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf 9@]]]]O@< u?Iup: qɚuD6iyIyIyiiЮ=))DMR9EYH!>I I$IIBI' =&I.I6IQ<:I) F*F?2F:FBF]0JFJMJMJIJIJM:JM9JIJIJM;a]JM;a]JM:;amJM:;amGE=BO J>Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 +\ Cw,/ A j;@Y I@ _<9 !8>y H@-kf?`%`F~|`n?/˙?ry?ɨ j;@ M҉; Cy%B%$IMb@Mb@Mb@ )YzG?y&1?I +y W>`<945@ ݸ@)@I@Will construct direction to contact in vehicle frame from tetrahedron phase data.y(@I I(2٢: <=90Q > G٣y(̻ >  Nusing accuracyPremultiplier from config59c쎜?5YC i W]>u;=@wE@#;!;Y5%B %@%_EDNOT Ignoring new targets: 63.10 m. jjjjihhhhBff!rf)bf-hA:@]m]>]m]>]m>]mGT@}_< y}?I}: ɚ6iIIiiU=))D`9) U NGm |uA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF Y |uAy ^B %@ B  I G =B O >[Cw,L A6";@Y6AI@6<96i{8>zK:OK:9K8K:K:rcWI<832,*'##   y6HW>h|{ ?@Z?x?ɨ6";@6Gʼn;6!CyDDIRIRM3٢Vs: ZG=9Z@ٺQ Z>\\ ^G٣\ybd- b> fNusing accuracyPremultiplier from config`j59b$厜?j5Yb)D ibSWhj>n@bwEb ;bq ;b[5p r@p DNOT Ignoring new targets: 63.10 m. j j j jihhhhffrfbf`:@]]]]T@< ?I: ɚ 6iIIiiQ=))2Di*DieWill construct direction to contact in vehicle frame from tetrahedron phase data.D r9jH]<bH]4=HqIq Iu%IIu)BIu& =&Iq.Iq6Iuy<:IuF FBIJIRIZIbIjI5*F2F:FBFJFG t=B O >J J J J J J 9J J J J J 8;J 8; Will construct direction to contact in vehicle frame from tetrahedron phase data.%Cw,t]f AZ:@YZI@ZoH<9Z7>yZH@ao`q4|?@}`"?z?ɨZ:@Zʼn;Z Cy~B~$I)   I$I<3٢-t -C=9-"Q ->11 5G٣1 Ew$?IAyEջ M> UNusing accuracyPremultiplier from configI]59Mݎ?]5YMD iMWaeN>e@MwEMX;MY;Mu]5q u@yDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@k;@]]]]S@oH< 隥?If: ɚ6iIIqiqiuF=)q)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.Do9*Fm ?2Fi :Fi BFm ^0JFi Gq  Gq G B O > Cw,X A>Will construct direction to contact in vehicle frame from tetrahedron phase data.yUBU$I%Mb@Mb@Mb@!!! !)!Y%E?v/?ly%F>%xi=%%@ %@)!I%@!y%@I=I=(*3٢M< M(=9UQ U>QQ ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59eՎ?u5YeZE ieWu}R>u;u4u@ewEe3";e;e_5y }@ IMDNOT Ignoring new targets: 63.10 m. jIjIjQjQiQhQhQhYh]BfYfYrfYbfe;@]}R>]}R>]P>]%]@ )?I: ɚ<6iIIiil=)) zKUzMKUk9KQKUKURKe ?JKe?-Will construct direction to contact in vehicle frame from tetrahedron phase data.DE9*F ?2F :F BF JF G "=B O >A&Cw, A2 :@Y2H@2eK<92L6>y2H@f`c{?d~?`v?@|?ɨ2 :@2;2!Cy:B:$IIF,IF3HPIP IPIPIR' =&IP.IP6IR<:IRc F٢^L= ^h=9b)Q b>`d fG٣dyfx f> jNusing accuracyPremultiplier from confighn59jЎ?r5YjE ijXprq5r@jwEj;jX;ja5t vb@x%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5@;@]Q]Q]Q]U,\@eeK< im?Im': iɚm6iiIiIi1i5wv=)1)9BD=L?:D=?JeJeJe1JaJeL:Je :Je3JaJeO;JeP;JeU;JeU;D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JF IG) B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data. -Cw,H AJI<:@YJG[H@J <9Je6>yJH`& r?|?}? {?ɨJI<:@J;J CyVBV$IiZ====@ 9)9I99y==@IUIU[3٢mb< m@=9u؟Q u>qq }G٣yy}# }> Nusing accuracyPremultiplier from config59xɎ?5YF i)XQ>;,@wEW;;b5B 8@bEDNOT Ignoring new targets: 63.10 m. jjjjihhhqhuBfyfyrfybf}(X<@]Q>]Q>]>]He@ < p?I: ɚ}6iIIiiYj=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF=1JF IzK *LK -9K K K BK! :K! Gu v=B O >4Cw,2 AFb :@YF`+H@F<<<9F7>yFHt@/ґ GD@?@{?$'`? {?ɨFb :@F܉;F"CyRBR$IIZIZ?13٢b㻼 bQ=9b Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59n_Î?r5YnG inGXpv-v@nwEn:n:nd5x z@|UDNOT Ignoring new targets: 63.10 m. jQjYjYjYiYhahahahafafirfibfm`<@]]]]e@Will construct direction to contact in vehicle frame from tetrahedron phase data.<<< J?I": ɚ 6iIIii3a=))ZHYRHYHaIa Ie %IIe.BIa&Ia.Ia6IeC<:Ie FD}9*F?2F :F BF P5JF J5J5J1J1J5ܫ:J59J1J1J5;J5;J5$7;J5%7;e Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq G n=B O% >?:Cw, AB9@YBG@By<9B֮8>yBHc@D?0y?r?zy?ɨB9@B;B CyJBJ$IIVIV[3٢ZBo= ^L=9^Q b>`` bG٣`yfh; f> jNusing accuracyPremultiplier from confighE59j?M5YjH ijgXIMQ-M@jwEjg'ACw, A"Will construct direction to contact in vehicle frame from tetrahedron phase data. "yRH@RˏЕ?Uy?! y?8z?ɨR9@R[ ;R#Cy^Bb$I)d dhjA]Mb@Mb@Mb@YYY Y)YY]{Gz?EԸ?y]#>]=]̼Y ]@)]\@I]@Yy]Q@Im Imb3٢ >=9ꩺQ > G٣yIӻ > Nusing accuracyPremultiplier from config59=?5YI iyXLA>;&@wE;;Qh5 @DNOT Ignoring new targets: 63.10 m. jjjjihhh v$?IhbBffrfbfg=@]LA>]LA>]G ?]sk@< ?IB!: ɚ 7iIIi!i%I=)!)!zKk3IKKKKDU9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF HY IY  I] %II] 3BI] & =&IY .IY 6I] x<:I] F FGM Db=BY Ou >GCw,0! A*JjC="JjR=yB$III[3٢| = 7=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YJ iX@wEu;;Jj5 4@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=DNOT Ignoring new targets: 63.10 m. j9j9j9jAiAhAhAhAhIfQfQrfQbfU>@]q]q]q]q 隅?I": ɚ+7iIIiiNJ=)) I =nManaging dock network, ignoring radio surface power offD*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG jNCw,>x< AyB$IMb@Mb@Mb@ )Y+?)\(?/$y>G=@ V@)Iy\@IIT3٢ = >=9Q > G٣y > Nusing accuracyPremultiplier from config59e?5Y)L iXD>;"@wE5;,3;&l5 @eE%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h)h)h1h1f1f1rf1bf=l>@]D>]D>]9?]ȍo@ ?I!: ɚ7iI!J-J-J)J)J-:J-9J)J)I9i9i9)9aM@aM@aM@aM@)aBDm9?:DmB?}Will construct direction to contact in vehicle frame from tetrahedron phase data. ID-9*F?2F:FBFJFzKU BHKU 9KQ KU KU 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G J=B O5 >UCw,y!X AZ 8@YZF@Z<9Zn6>yZH 0A)׈ݠ?`yE?N ?|?ɨZ 8@Z"!;Z"Cy`d j=jp=InIn 39vaQ z>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config59?5YLM iXP#@wE';;m5A IQDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf+>@]]]]n@< I%: ɚ%#7iIIii=))HQIQ IU%IIU8BIQ&IQ.IQ6IUb<:IU5 FJ]@AJ]@AD 9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF[0JF )I1G BQ O >'\Cw,r AWill construct direction to contact in vehicle frame from tetrahedron phase data.}S8@Y}rF@}[<9}k/7>y}H@- ?~u ?7 `?@|?ɨ}S8@}O ;yy޵ B޵$I Mb@Mb@Mb@    ) Y V-??{Gzy h> > ף @ ) E@I  y @IeIe3٢u`< u<9uQ u>y G٣yo > Nusing accuracyPremultiplier from config59E?5YO iB>;@wE#;j;Fp5 G@5DNOT Ignoring new targets: 63.10 m. j1j1j1j1i1hhhh^Bf frfbf5Ih?@]uB>]uB>]u8?]uu@[< 隍?IN: ɚ,7iIIii=))2D*DGvAJJJ0JJܫ:J9Jـ3J -Y-vAy-BE Will construct direction to contact in vehicle frame from tetrahedron phase data. I D 9*F- ?2F) :F) BF- O0JF) zK]BoHK]89KYK]K]RKe ?JKe?Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm#=BO?eCw,l AJ8@YJ5F@J<9J7>yJH`e`<ͦ?1s@? H~? !{?ɨJ8@J];J CyVBV$I)X XI^I^(*3٢f= f2=9jbQ j>hh nG٣lyr, v> Nusing accuracyPremultiplier from config|59~?5Y~vP i~XT@~wE~s6;~y);~Fr5! %@%gEMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiQhQhQhQhQfYfYrfYbfe?@]y]y]y]}t@< 隕^?IX%: ɚ37iIIii<))Hu >Iq Iu%IIu=BIq&Iq.Iq6IuI<:Iu" FBI1JI1RI1ZI5& =bI5& =jI5î65D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JF =t$?IEhG=BO>kCw,h A:A7@Y:?E@:<9:=L8>y:H@>N]?@pk?Q@?z?ɨ:A7@:O ;:"Cy%B-$IIIF3٢ =f< 58=9=ŹQ E>eWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > Nusing accuracyPremultiplier from config59ݓ?5YQ i@wEf;6g;Ft5 @%DNOT Ignoring new targets: 63.10 m. j!j)j)j)iIhIhQhQhQfQfYrfYbf]@&@@]]]]t@< +?I": ɚ;7iIIii<))D 9JKO3 KϚ.KK"KJJJ1JJJO9J3J*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! G =B O>sCw,i AyB$IMb@Mb@Mb@ )YV-?K7?QyI >u ?@)@I@yp@II٢ = 2=9Q > G٣y > Nusing accuracyPremultiplier from config 59 Q?5Y lS i XJ>;@ wE ; ; 5v5%BzK-m$JK-9K)K-K- %@=jEeDNOT Ignoring new targets: 63.10 m. jajajajiiihihihqhu\Bfqfqrfqbf}Q]@@]J>]J>]yD?]rw@ 隭?I%: ɚC7iIIii<))BDE,?:DE"?Will construct direction to contact in vehicle frame from tetrahedron phase data.H!>I I)%IIGBI&I.I6IU<:I+ FD#9*FY 2FY :Fa BFa JFa U Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ G e~<B O >4zCw,O$ ABO7@YB nE@Bh<9B6>yBH ` >wx ?|o2?@W?|?ɨBO7@BYĉ;B CyJ,BJ%IiN`d rG٣pyvƘ v> zNusing accuracyPremultiplier from configx~59z?~5YzT izX~@zwEz:z:zx5 L@=DNOT Ignoring new targets: 63.10 m. j9j9j9j9i9hAhAhAhIfQfQrfQbfU@@]y]y]y]}v@h< 隕?I': ɚiK7iIIiil_<))D*FE?2FA:FIBFM0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gg<BO>J J J 0J J L:J :J ـ3J "eCw,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y5-B= %I IMb@Mb@Mb@ )YS㥛?p= ף?Mby$>>@ )@IM@yz@II3٢; 8=9Q >    G٣ y > Nusing accuracyPremultiplier from config%59?%5YAV ivX-=>-;--@wEa;;y51 55@9DNOT Ignoring new targets: 63.10 m. jjjjih!h!h!h%[Bf)f)rf)bfM@@]=>]=>]H?]w@ 隭{?I $: ɚS7iIIii<))zK5K5u9K1K5K5RKE?JKE>Dm59uWill construct direction to contact in vehicle frame from tetrahedron phase data.E*F ?2F :F BF P0JF Hm >Ii  Im <%IIm WBIm ' =&Ii .Ii 6Im @<:Im  FGM-<BYOu>Cw,t$$AZ6@YZD@ZXp<9Z !6>yZH a ;?iI? Ӥ?@}?ɨZ6@Zh;Xyf9Bf%IInIn(*3٢vf[= v;=9vXQ > G٣y   > Nusing accuracyPremultiplier from config59~?%5YW ilX!%M-@wE}0;0;{51 5u@1]DNOT Ignoring new targets: 63.10 m. jYjYjajaiahahahihififirfqbfuA@]]]]qv@Xp< Will construct direction to contact in vehicle frame from tetrahedron phase data.隭{?I ): ɚ[7iIIiikC<))2D*D yIyDU9*F)2F):F1BF5_0JF1u Will construct direction to contact in vehicle frame from tetrahedron phase data.G Sݮ<B O >Cw,>A6_>6@Y6]]D@6k<96'7>y6H`X 6Q%Ų?Gf ?z@?@|?ɨ6_>6@6މ;4y>OB>3%I)@ @DFAeMb@Mb@Mb@aaa a)aYeV-?rh|?:vyeh>e=eTe@ e(@)e@Ie7@aye@I}"I}q3٢= ;=9%Q > G٣y > Nusing accuracyPremultiplier from config59Hy?5YX i`X@>; @wE9;D;}5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhsBffrfbf$:A@]%@>]%@>]%6?]%/r@=k< 9= ?IE': AɚEc7iAIAIiip;))JeJeJaJaJeܫ:Je:JaJaDC9eWill construct direction to contact in vehicle frame from tetrahedron phase data. s$?I *Fq2Fy:FyBF}1JFyGU<BaO}X>zK qkKK k9K K K BK! :K% pA Will construct direction to contact in vehicle frame from tetrahedron phase data.IڕCw,CXA:6@Y:!D@:b<9:7>y:H` &?굳?c@6?T@?`{?ɨ:6@:);8yFdBFL%IIrIrm?3٢z= zU=9z|| G٣yv > Nusing accuracyPremultiplier from config %59 ft?%5Y Z i TX)-? 5@ wE ; ); m59 E@ADNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@mA@]A]A]A]Eq@b< 隝=?I4&: ɚiIIiiQ;))jHbH<HI IU%IIkBI& =&I.I6IT<:I* FD= 9uWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F2F:FBF0JFG I3<B! O= >)wCw,HtA6G5@Y6EC@6U]<96L8>y6HB0`U? ?_`:? 3?T{?ɨ6G5@6#;6!CyBsBB_%II^I^T3٢f0= f?=9f2Q j>hh jG٣hynI3 n> rNusing accuracyPremultiplier from configpv59rn?v5YrV[ irGXQU ]@rwErwܗCw,CA6E5@Y6CC@6NR<96W57>y6Hd?4?^`? I? |?ɨ6E5@6N;6"Cy>B>v%IiFU=UuUS@ U@)U@IUM@QyU=@ImIm(*2٢}m= }!=9}SQ > G٣yл > Nusing accuracyPremultiplier from config59*h?zKK9KKK"c_9_<# 5Y\ iFX8>;(@wE;;5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrf bf ]8>]W?]Fi@NR< p?I)$: ɚى5iIIii ) ) D9*Fu?2Fy:FyBF}B5JFyH9I9 I=z%II=BI9&I9.I96I=D<:I= FGU:BYO}X>*J"JJJJJJL:J:JJJO;aJQ;aJBr;aJCr;a= Will construct direction to contact in vehicle frame from tetrahedron phase data. y I :Cw,A2/5@Y2 NC@2J<92$7>y2HB0o?`?`[?B`?|?ɨ2/5@2;2CyBBB%IIJIJm?3٢b!= bW=9fBQ f>dh jG٣hyjW j> rNusing accuracyPremultiplier from configlr59nc?v5Yn\] inDXtv*)v@nwEn:n:n*5| ~>@DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfKB@]]]]oh@%J< !-@I-*: )ɚ-i)I)I1i9i=ɻ)9)9Di*F 2F :FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm G:Bq O >)U = U rC  Y y5 _ACw,rA65@Y6%C@6v><965}6>y6H | "Ƿ8Zt?@ ?IZ? ·e?@}?ɨ65@6މ;6 Cy>BB%IWill construct direction to contact in vehicle frame from tetrahedron phase data. !I!Mb@Mb@Mb@ )Y㥛 ?l?:vy>=T&@ @)@I7@yQ@IE%IE)3٢M= MB=9UܺQ U>YY eG٣aye e> mNusing accuracyPremultiplier from configiu59m]?u5Ym ^ imFX5#(>5;50=@mwEm]#(>]u/>]a@Uv>< Y]@Ie&: aɚaiiIiIqiqiuN)q)q2Dy*DyD9zKMOKM9KIKMKMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF P5JF ZH9 RH= @AHA IE C IE %IIE BIE ' =&IA .IA 6IE T<:IE ) FBIJIRIZIbI' =jI`15G 4λB O >Cw, AB|4@YBzB@B_&8<9Bŭ7>yBH?\y?׸?T?  ? |?ɨB|4@Bى;@yb̆Bb%I)d ddfAIjIj2٢r= r9=9vQdQ v>tx zG٣xyz0 z> Nusing accuracyPremultiplier from config|59~X? 5Y~^ i~IX  0 @~wE~:~:~5 >@J%J%J!J!J%ܫ:J%9J!J!J%;J%;J%:;J%:;eDNOT Ignoring new targets: 63.10 m. jajajijiiihihihqhqfqfqrfqbf}fB@]]]]aBa@_&8< 隵<@I*: ɚ 5iIIiiA)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF3JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G UB O >VCw,A6~4@Y6|B@6j+<96 8>y6H:&p~?q^? R_?Am@v?{?ɨ6~4@60;6"CyBBB%IMMb@Mb@Mb@III I)IYM{Gz?V-?MbyM#>Myy }G٣yy > Nusing accuracyPremultiplier from config59PR?5Y^ i^XP'>;C@wE';;Ċ5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhЂBffrfbf~B@] P'>] P'>] Z7>] O@j+< %@I%P(: !ɚ%5i!I!I)i1i5}rX)1)9 r$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.D9E*F5?2F1:F1BF5P0JF1GQ GQGu f AB O >Cw,\ A6]4@Y6}|B@6<968>y6H`inF3?MA?N?h?Kz?ɨ6]4@6;6 CyBBB&IIN IN(2٢Rq= VS=9VQ V>zKZBHKZ-9KXKZKZRK^>JK^?`` bG٣`yf f>jWill construct direction to contact in vehicle frame from tetrahedron phase data. UNusing accuracyPremultiplier from configQ]59UL?]5YU_ iUrXY]9Ce@UwEU:U:U5mB mz@pEDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfaB@]]]]N@< @I': !ɚ=iAIAIIiIiM)I)QBD]P?:D]I?H)I-C I-%II-BI)&I).I)6I-L<:I-" FJJJJJl:J:JJJ;J;J@;J@;D9 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFm O0JFq G UB O >}Cw,Ig5A6<4@Y6[B@6<96m8>y6HL.?º?{M` B>&IiJX\ ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f59bF?j5Yb>_ ibXhjZCj@bwEb :bL:bv5l nW@p5DNOT Ignoring new targets: 63.10 m. j1j1j1j1i1h1h9h9h9f9fArfAbfEN$C@]a]a]a]eN@}<  %@I &+: ɚ 5i!I)MWill construct direction to contact in vehicle frame from tetrahedron phase data.I9iiߏ))D9*F5?2F1:F1BF5_0JF1GBO5O> y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.FCw,OAyB'&IMb@Mb@Mb@ )Ygfffff?~jt/$y33>D@ ׫@)@I @y\@II3٢Z= :=9Q > G٣y > Nusing accuracyPremultiplier from configu59X@?u5Y^ iX}4>};}k?@}@wE<<a5 @DNOT Ignoring new targets: 63.10 m. jjjjihhh hBffrfbf@Z_C@]u4>]u4>]u@]uk?@ 隵z@I%: ɚ 5iIIii."))eWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}KK}9KyK}K}&''*../210../-)(%"!    BK:KqAD 9jHbH<HI I6&II"BI& =&I.I6I;<:I F*F 2F :F BF P0JF J J J J J :J 9J J J ;J ;J <;J <; y I E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O>ȡCw,lAV3@YVA@Vw;9Va8>yVH;>z?@qh?'I?nz?{?ɨV3@V;V"Cyb-BfD&IInIn٢rE= v>=9vgɻQ v>xx zG٣xy~u ~> Nusing accuracyPremultiplier from config 59:? 5Y^ iX  ?@@wE;;C5 #@MDNOT Ignoring new targets: 63.10 m. jIjIjQjQiQhQhQhYhYfYfYrfYbfeC@]]]]?@w; 隕a@I+,: ɚiIIiiڭ))2D*DD59Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG ňB O5 >^Cw,|~A:p3@Y:nA@:>;9:8>y:H+.ǼV?`? F@?`'w? z?ɨ:p3@:b؉;8yJ2BJJ&I)L LPRA QIQ}Mb@Mb@Mb@yyy y)yY}Gz?ly&1y}p=>}}`}K@ }@)}d@Iyyy}@II2٢< >=9Q > G٣y > Nusing accuracyPremultiplier from config593?5Y ^ iYNC>; 7@@wE4;2;#5 @ Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 63.10 m. jjj!j!i!h!h!h)h-Bf)f)rf1bf5XC@]UNC>]UNC>]Uʾ@]U 7@e>; ae3@Im': iɚm& 5iiIiIqiqiu9ɼ)q)yD*F5?2F1:F1BF51JF1G-~FB9OUT> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 [MK5 -9K1 K5 K5 .UuVCw,CA63@Y6A@6桐;96|9>y6H@ʼ{?@\?@E`?8r@?tz?H@I@ IBt&IIBUBIB% =&I@.I@6IBf<:IB5 Fɨ63@6ډ;6CyR9BRR&IIZIZM3٢f= f[=9fRYQ f>hh jG٣lynI n> rNusing accuracyPremultiplier from configpv59r-?v5Yr] irQYxz7@z@rwEr:r;rŕ5~B ~Y@sEMDNOT Ignoring new targets: 63.10 m. jIjIjIjIiIhQhQhhffrfbfC@])])])]- 7@]桐; Y]@I]f*: aɚe45iaIaIiiii))D9*JR="J Uq$?IQ*F?2F!:F!BF%P5JF!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge fBq O >Cw,<AJWill construct direction to contact in vehicle frame from tetrahedron phase data.m3@Ym A@mj;9m9>ymH`H4`8?R?SC?Zm`?y?ɨm3@m[;m CyAB\&I Mb@Mb@Mb@    ) Y E?V-~jty F> m  @ Ϋ@) I 7@ y  @I%I%b٢5d= 5)=95Q =>99 =G٣9yE]v E> MNusing accuracyPremultiplier from configIU59MI&?U5YM\ iMY]R>];]r1@]@MwEM;M:;M5i m@DNOT Ignoring new targets: 63.10 m. jjjjihhh)h)f1f1rf1bf59D@]uR>]uR>]uÿ@]u1r1@j; @I%: ɚ+5iIIii2׼)) BD4?:D#?JJJ1JJ:J:J3Ja@a@a@a@ 9I95Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F! BF% o0JF! GEEBQOm?MCw,pA6 3@Y6A@6&;968>:Will construct direction to contact in vehicle frame from tetrahedron phase data.y6H$R2I??TD`0?Dc@?z?ɨ6 3@6d;4yB@BB[&IiF)) 5G٣1y5չ 5> =Nusing accuracyPremultiplier from config9E59=b?E5Y=[ i=ZIzKMMKMu9KIKM KMwpjd_[j4;Z5w;:i_)Q% ]n1@]@=wE=e;=L;=˙5a e@iDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf .pD@]]]]n1@&; @I): ɚY 6iIIiiԸּ))Hm>Ii Im&IImxBIm& =&Ii.Ii6Im\<:Im- FDu&9JAAJAA I*F?2F:FBF 0JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~>ԼB O > Cw,.vArw]3@Yru|A@r:9r8>yrH@ νN?z;?`B?1W?z?ɨrw]3@rV;r#Cyz=BzX&III2٢-& -A=95Q 5>11 5G٣1y=ɻ E> MNusing accuracyPremultiplier from configAM59E?U5YEZ iE[ZQUD1@U@EwEE:E:E5Y e@aDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf D@]]]]D1@: @I): ɚ,6iIIiiz1))Will construct direction to contact in vehicle frame from tetrahedron phase data.D89E ) }Yyy}B*F2F:FBFP5JFJ1 J5 J1 J1 J1 J5 :J1 J1 q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Dw,YAyr6BrO&IMb@Mb@Mb@ )YCl?ˡEktyd;>' 0@ ׫@)M@I@yp@II3٢ @=9Q > G٣y > Nusing accuracyPremultiplier from config59R?5YZZ iZE>;26@ @wE;;5 @=DNOT Ignoring new targets: 63.10 m. j9j9j9jAiAhAhAhAhMBfIfIrfIbfU@D@]uE>]uE>]uN@]uD26@ 隍R@I*: ɚ  P6i I Iiiܷ))2D!*D!Will construct direction to contact in vehicle frame from tetrahedron phase data.zKdOK89KK!KDeJ9HI I&IIBI&I.I6I,<:I FBIJIRIZIbI& =jIȄ4*F ?2F :F BF Q5JF i Ii G- N޼BA O > Will construct direction to contact in vehicle frame from tetrahedron phase data.S Dw, ,AV63@YVUA@V`p9V!R8>yVH`Y K%?־? A0?kN?v?{?ɨV63@V6;V!CybBb1&I)d dddIj IjV2٢v vC=9zJQ ~>|| ~G٣|y >  Nusing accuracyPremultiplier from config 59  ?5Y Y i [ 6@@ wE ); ); V5! %@%vEMDNOT Ignoring new targets: 63.10 m. jQjQjQjQiQhQhQhYhYfYfYrfabfe@E@]]]]o 6@`p 隥X@I^): ɚieDw,EA6)3@Y6HA@6V96C8>y6H `s rC?`j ?@x?`?@?{?ɨ6)3@61;6$CyBBB"&IEMb@Mb@Mb@AAA A)AYEMb?Mb/$yE@>EE,E@ E|@)E7@IAAyE̼@ImIm2٢uk }B=9}.Q }> G٣y > Nusing accuracyPremultiplier from config p$?IJJJ/JJL:J9J(N3J59t?5YY iP[mE>;)A@@wE;;+5 @DNOT Ignoring new targets: 63.10 m. jjjjihh h h łBf frfbf HE@]5mE>]5mE>]5x@]5G)A@V Will construct direction to contact in vehicle frame from tetrahedron phase data.隍 @I): ɚ 5i97211-,($  H I C I &II BI &I .I 6I ]<:I - FG fB O>gDw,tAcA>3@Y>#A@>G9>8>y>HD@@P?o?=;?vh? ?z?ɨ>3@>eB;> CyJBJ&IIRIR2٢Z/h Z<=9ZQ Z>\\ ^G٣\ybg b> fNusing accuracyPremultiplier from configdj59f?j5Yf:Y if[hjA@n@fwEf:fa:f5a e@aDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfʂE@]y]y]y]}A@G 隍@I(: ɚp5iDw,6}Ar2@Yr@@rK9r8>yrH`'vm?@C?.<@?vp??={?ɨr2@rd;r!Cy B %IiM=Ga===@ =@)= @I99y=(@IU IU<2٢eА e"=9eQ m>ii mG٣iyum u> }Nusing accuracyPremultiplier from configy59}?5Y}Y i}[J2>; :@}wE}Z;}nZ;}C5 @ DNOT Ignoring new targets: 63.10 m. j j j jihhh!h%Bf!f)rf)bf- ?E@]J2>]J2>]>]X@K  @I6': ɚ5i%"zK:C1NK:u9K8K:#K: %8[B3) RKB ?JKB?y6Hu}t@'??7)?`.x?`? |?ɨ6C|2@6';6CyJBJ%IIVIV(*3٢^P ^:=9^Q ^>`` bG٣`yf}d f> jNusing accuracyPremultiplier from configdn59fP?n5Yf5Z if[pru:r@fwEf1;f1;f/5t v@tHYIY I]&II]nBIY&IY.IY6I]$<:I] FDNOT Ignoring new targets: 63.10 m. jjjjihhhh!f!f)rfQbfU`E@]]]]W@ƻ @I(: ɚE6iɩ-Dw,wNAyȆB%III٢%f %D=9%Q ->)) -G٣)y5 => ENusing accuracyPremultiplier from configAM59Ei덜?M5YEZ iE*\IIU@EwEE:E&:E5]B ]P@eyEWill construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 63.10 m. jajajajiiihyhhhffrfbf1F@]]]]q y}@I': ɚi?5Dw,3A @:82@Y:6!@@:7!9:7>y:HX`3?P?0=x==`=@ =O@)=@I=@9y=G@II#3٢L %=9hQ > G٣yw > Nusing accuracyPremultiplier from config597卜?5Y[ i7\k6>;$@wE;0;)5 @%DNOT Ignoring new targets: 63.10 m. j!j!j!j)i)h)h)h)h5/Bf1f1rf1bf5 lF@]Uk6>]Uk6>]Uv4?]U4n@m7! im@Im.: qɚuJ5iu#YI9 I=a&II=EBI=' =&I9.I96I=c<:I=1 FDA qIq*F?2F:FBFP0JFJ J J J J J J J J ;a% J ;a% J a- J a- u Will construct direction to contact in vehicle frame from tetrahedron phase data.G OB O >py2H@ M?^ ?.@FN? [D?T?}?ɨ21@2;2Cy>B>%IIJIJm?3٢N RS=9R2:Q R>TT VG٣TyZֻ Z> ^Nusing accuracyPremultiplier from configXb59ZY?b5YZ\ iZA\df0$f@ZwEZA;ZB;Zڬ5h n@lDNOT Ignoring new targets: 63.10 m. jjjjihh hhffrfbf@IF@]]]]m@X#  p@I /: ɚ 5i  I 9BDw,b A61@Y6?@6!966>y6H@H¿T?`?Z(Q?@?`F?`a}?ɨ61@6;6!CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yRBV%I=Mb@Mb@Mb@999 9)9Y=Q?I +?Qy=\>=94>=u=@ 9)=ݸ@I99y=@IUIU 3٢e_s e?=9e]Q m>ii mG٣iyuHI u> Nusing accuracyPremultiplier from config59)ڍ?%5Y^ i \%f>%k;%%@wEL;;ή5) Uw@QDNOT Ignoring new targets: 63.10 m. jjjjihhhhBffrfbfF@]f>]f>]f?]-+y@%! !%@I%-: !ɚ-;5i-j;I)IQiQiUЈU)Q)YBDeL?:DeT?D9EErAUWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFM O0JFI zK BHK u9K K %K H I C I )&II BI % =&I .I 6I o<:I ; FG- %:B9 OU >IDw,0(A 0I0VC1@YVb?@Vz$9V.36>yVH '^¿?F? $4?`?`c?B~?ɨVC1@V8o;VCyfBf%IilIn;J=J=J=1J9J=ܫ:J=u9J=3J9J=;J=;J=/;J=/;Ie)IeW3٢Iݼ 6=9Q > G٣y > Nusing accuracyPremultiplier from config-59&ԍ?55Yq` i\9=2=@wEq<<5I U@QWill construct direction to contact in vehicle frame from tetrahedron phase data.թխ<DNOT Ignoring new targets: 63.10 m. jjjjihhh h f f rf bf G@]Q]Q]Q]Ux@z$ 隍%@I-: ɚ6i#IIiif[a))D9*F 2F :F BF Z0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.) u c~G Y y AGTB O->-zQDw,/2FA60@Y6?@6t-96m5>y6H YÿS?j? ?? ?~?ɨ60@6l;6"Cy G٣y 0 > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59͍?5Y@b i[+:>;@wEr;>L5B @|EDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfHG@%t- )- @I-e/: 1ɚ58<6i5$I1I9i9i=vq)9)AD 9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFGu|[BO<> Will construct direction to contact in vehicle frame from tetrahedron phase data.WDw,_A>0@Y>>@>19>ru5>y>Hu`ÿ@S?? d ?:?? =?ɨ>0@>+;>CyJBHIVIVm?3٢^ ^X=jHybH}p<HIC I%IIBI& =&I.I6Ie<:I3 FBIECJIECRIAZIAbIAjIE!5zKK89KK&K9{%Q > G٣yjD > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 ȍ?5Y c i [ :;%@ wE 8; _? ~5) -@)DNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf4G@1 隥@I^-: ɚb6iQaIIiiQ))2D*D un$?IqJJJJJ,:J9JJJ;J;J$7;J%7;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E{>E>*F 2F :F BF _0JF G ^B O > ^Dw,C}ABlT0@YBjs>@BV=9Bn5>yBH`ĿA??`??@?6?ɨBlT0@Bԉ;B"CyNBN%I)P PZWill construct direction to contact in vehicle frame from tetrahedron phase data.IV&IV3٢bz< b2=9f]ۺQ f>yy }G٣yy. > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Ye i[9:@wE);?5 @DNOT Ignoring new targets: 63.10 m. jjjjihhhhf f rf bf  IG@5V= 1=x@I=0: 9ɚ= 6i=YI9IAiAiM ݈)I)Y ID59mWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m<*F?2F:FBFh0JFG g<~B O >|eDw,A6/@Y6>@6'?966>y6HE`==ſB??`j @2? A?+?A~?ɨ6/@6m;6 CyRBR%I        Mb@Mb@Mb@ )YS㥻?!rh?:v?y/=lg>T<@ 9@)@I@yµ@II<٢N= <=9yQ > G٣yb > Nusing accuracyPremultiplier from config59м?5Yg iE[T:k>S; @wE ;v;R5 @%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i!h!h!h)h-Bf)f)rf1bf5@iG@]]k>]]k>]]!?]]Oɂ@m'? im@Im@4: qɚuZ6iuPҼIqIyiyi}̍)y)DU9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF  5JF H>I I%IIBI' =&I.I6I<:Is FzK=KK=-9K9K='K=RKM>JKM> IGB O% >J J J J J :J 9J J J ;J ;J 3;J 3; Will construct direction to contact in vehicle frame from tetrahedron phase data.kDw, A>ҹ/@Y>=@>J9>d6>y>H $ſ ?MP??jU?ڡ?J~?ɨ>ҹ/@>S;>CyZB^%IIfIf?13٢n2= nX=9rQ r>tt vG٣tyv! v> ~Nusing accuracyPremultiplier from configx~59z;?~5Yzi izZ @zwEzq ;zK ;z5  @EDNOT Ignoring new targets: 63.10 m. jAjAjIjIiIhIhIhQhQfQfQrfQbf]H@]y]y]y]}ޫ@ J  @I 6: ɚ6iIIYiaieC)a)aBDmF?:DmJ?D= 9EA*F?2F:FBFP0JFG߆BOC>Will construct direction to contact in vehicle frame from tetrahedron phase data. I orDw,AVc//@YVaN=@V}S9V/6>yVHuƿ'?`? x? o? Ŧ?~?ɨVc//@V;V CyfBf%IijC=Ij4< j=j=]Mb@Mb@Mb@YYY Y)YY]1Zd?A`"?I +?y]"=]Y>]9<]/@ Y)YI]@YyYIu Iu<2٢t= A=9ѦQ > G٣y > Nusing accuracyPremultiplier from config59(?5Yk iZ6t>^;@wE #;{!;ӹ5 @DNOT Ignoring new targets: 63.10 m. jj5Will construct direction to contact in vehicle frame from tetrahedron phase data.jjqiqhqhqhyh}BfyfyrfybfTH@]6t>]6t>];?]@}S @I2: ɚG6iIIiiv3)) D5 9*F2F:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I %II BI ( =&I .I 6I }<:I D FzK k3IK 9K K (K BK :K G @ÎB OU >'9yDw,dAyنB%I AIII I2٢L= 9=9Q > G٣y > Nusing accuracyPremultiplier from config59᭍?5Ym iZ@wED;I8;5 1@E=DNOT Ignoring new targets: 63.10 m. j9j9j9jAiAhAhAhIhQfQfQrfYbf]@aH@]y]y]y]y 隝@I2: ɚiIIiiz())JJMWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm-9*F 2F :F BF 4JF G ԣB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,yAy=BE%IIeIe ٢u= uN=9qQ }>yy G٣y > Nusing accuracyPremultiplier from config59+?5Yo iY@wE ;%;y5 @}DNOT Ignoring new targets: 63.10 m. jyjjjihhhhffrfbf H@ 1I1]I]I]I]Ia aeg@I;1: ɚiIIii2))2D*DJJJJJ,:J9JJa@a@a@a@]Will construct direction to contact in vehicle frame from tetrahedron phase data.DM 9EQ EQ *F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai G%B1OM?ÇDw,. A6.@Y6<@6Ike96Ҙ6>y6HaeLǿ@p?@??+??@P}?ɨ6.@6;6Cy>B>&&I)@ @uMb@Mb@Mb@qqq q)qYuQ?/$?/$?yu=u,>u  =9c Q > G٣y > Nusing accuracyPremultiplier from config59Ǣ?5Yq iLYT>;@wE9;8;5 n@E%DNOT Ignoring new targets: 63.10 m. j!j!j!j)i)h)h)h1h5>Bf1f1rf9bf=H@]T>]T>] Ws?]Gzx@zKjIK9KK)K Ike  @I 0: ɚ iIIii_)) -m$?I)mWill construct direction to contact in vehicle frame from tetrahedron phase data.D)9*F9 2F9 :FA BFE 4JFA Ga Bq O >Dw,=A2 R.@Y2q<@2Mj926>y2H@j` [ȿ ?2? ?\? h? |?ɨ2 R.@27;2Cy>'B><&IIJIJ٢RT= RH=9R&WQ R>TT VG٣TyZ] Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^s i^X`bb@^wE^3:^:^}5h jQ@hDNOT Ignoring new targets: 63.10 m. jjjjih hhhffrfbf2I@]9]9]9]=Hx@MMj IM@IU7: QɚU5iQIQIYiYi])Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D*FY2Fa:FaBFm^0JFiGuYBO=> IhJJJ0JJ:J 9Jـ3J= Will construct direction to contact in vehicle frame from tetrahedron phase data.!mDw,nVA:,.@Y:K<@:Zx9:[!7>y:H \ Yȿ?[?` ? ?O?k|?ɨ:,.@:_;:"CyBFBFb&IMb@Mb@Mb@ )Yn?zG?Mb?yV> =< )@Iy̴@I-I-b٢=> =A=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQe59U#?e5YUs iUXm!3>m;m-m@UwEUO;Ub6;UUÈ5y }a@yDNOT Ignoring new targets: 63.10 m. jjjjihhhhyBffrfbfhI@]]!3>]]!3>]]7%?]]yd@mZx 隕@Io1: ɚiIIii))BD8?:DQ?Will construct direction to contact in vehicle frame from tetrahedron phase data.jHYbH]<HaIa IeU&IIe;BIe, =&Ia.Ia6Ie<:IeX FDJ9Ei>E>zKBHK9KK*K *F?2F:FBFP0JF I] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ڛDw,ĵqA~.@Y~!<@~{9~7>y~HrX ȿ\? F?\?"s?P? {?ɨ~.@~y;~!Cy gB &Ii 5C=95OQ =>99 =G٣9yEȻ E> UNusing accuracyPremultiplier from configQ]59U?]5YUt iUvXae-e@UwEU:U:U,ň5i mT@qDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfI@]I]I]I]MjNd@e{ ae@Ie4: aɚiIIiiQý))D EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA*F2F:FBFJFNG  ] YY y] B I IY GE BQ Ji Ji Ji Ji Ji Ji Ji Ji O >p^Dw,S!A2.-@Y2,<@2h{927>y2H V6 ɿTe? ??=?h?`{?ɨ2.-@2;y;2 CyBBB&IUWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}ףp= ? ףp= ?~jtx?y}>}Q8=};}@ } @)}l@Iyyy}z@IIb1٢= 2=93Q > G٣yR > Nusing accuracyPremultiplier from config59p?5Yt iXXc%>;D@wE9;f9;+Lj5B @E DNOT Ignoring new targets: 63.10 m. j j j j ihhhhBffrfbf`LI@]=c%>]=c%>]= >]=!}M@Uh{ QU=@IU~1: QɚYiYIYIYiaieLŽ)a)aDX9*F%?2F!:F)BF-_0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.H I C I &II }BI &I .I 6I ̰<:I y FBIaJIaRIaZIe* =bIe* =jIeo 6G .B! O= >%~Dw,ЧAzKJ3KK89KK+K  0 RsM(?bip|E%  RK>JK>:?-@Y:=;@:il9:XR8>y:H`R@oNɿt?@? F?Y ?? z?ɨ:?-@:;8yFBF&IININ(*٢V> V]=9ZTQ Z>\\ ^G٣`yb;ǻ lIl n> ~Nusing accuracyPremultiplier from configp59rb?5Yrt ir>X  D @rwErm;rz[;rȈ5 @! DNOT Ignoring new targets: 63.10 m. j jjjihhAhAhAfIfIrfIbfUx J@]]]]oWM@il =@I4: ɚiII!i!i%^ɽ)!))2D1*D5qAuWill construct direction to contact in vehicle frame from tetrahedron phase data.D}j9E*F ?2F :F BF `0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe >6Dw,SA @NK-@YNI;@NPq9N98>yNHRhBɿ@k?? ?`-?`t?@z?ɨNK-@N8;N!CyVBV&I)\ \`bAIfIf٢n= n7=9r "Q r>pt vG٣tyU9 ]> Nusing accuracyPremultiplier from config59.?5Yu iX-D5@wE<<ʈ5y ƾ@ k$?I=DNOT Ignoring new targets: 63.10 m. j9j9j9j9iahahahihififirfqbfunJJ@]]]][M@Pq @I1: ɚ'.5iIIiiyrȽ))JJJ1JJl:J9J3JuWill construct direction to contact in vehicle frame from tetrahedron phase data.D|9*F ?2F :F BF _0JF G <ŽB O >aDw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.n-@Yn;@na9ny8>ynH`gQPɿJ?C+? `?˓?@D?y?ɨn-@nVĉ;nCyzBz&IMb@Mb@Mb@ )YK7A`?MbMb`y+>/@ )I@y@ZH@ARHH>I I&IIćBI&I.I6I<:IO FII(*٢7= '=9:TQ > G٣yxҺ > Nusing accuracyPremultiplier from config59~z?5Yt i7+>;9@@wE;@;̈5 0@EDNOT Ignoring new targets: 63.10 m. jAjIjIjIiIhIhIhQhUBfQfQrfQbf]ZJ@zKNKKK,K&D4B/r]A& wme]TMFB?;8440.(%# BK:K]7+>]7+>]@]q9@a @I/: ɚ Щ5i I  )I)I9i9i]"ɽ)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.Df9*FU ?2FY :FY BFY JFY G}]ŽBO>ADw,A6-@Y6;@6"z969>y6H`Nxɿ@׬? WX?k?鎔?`?x?ɨ6-@6͉;6!Cy>ЇB> 'IIJIJ1٢R= R8=9VۺQ V>TT ZG٣XyZ(P Z> ^Nusing accuracyPremultiplier from config\b59^t?b5Y^ t i\df8@f@^wE^:^e:^Έ5h j@nWill construct direction to contact in vehicle frame from tetrahedron phase data.h DNOT Ignoring new targets: 63.10 m. j j j j i hhhhff!rf!bf% J@]A]A]A]E8@U"z im@Iu>6: qɚuiqIqIyiyi}J̽)y)BDWill construct direction to contact in vehicle frame from tetrahedron phase data.>(Dw,=A6q-@Y6o;@6X968>y6H OmɿE?@R? \?`さ?6?x?ɨ6q-@6;6"CyRևBR'IiVC=IV=5Mb@Mb@Mb@111 1)1Y5 ףp= ?5t55@ 1)1I11y5̴@IEIE 2٢UF< U@=9]dQ ]>aa eG٣aym9 m> uNusing accuracyPremultiplier from configi}59mn?}5YmHs imEX<>;0@@mwEm,3;mW1;mЈ5 B@EDNOT Ignoring new targets: 63.10 m. jjjjihhhh Bffrfbf[J@]<>]<>]ʾ@]b0@X 隅@I^1: ɚp"5iIIii˽))Will construct direction to contact in vehicle frame from tetrahedron phase data.HIII IMB'IIMBII&II.II6IM<:IMA FD}9zKqOK9KK-K   I*F?2F:FBF0JF*J- 4="J- 4=JE JE JA JA JE ̝:JE 9JA JA JE ;aU JE ;aU JE $7;aU JE %7;a]  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu cOȽB O >xDw,LP4ArN-@YrL;@rJ9r^9>yrHNmɿ˭?@X? ?ʈ??x?ɨrN-@rO/;rCyz؇B~'IIIF2٢ < %I=9%!Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=h?E5Y=r i=hXAE0@E@=wE=. ;= ;=q҈5Q U%@Q}DNOT Ignoring new targets: 63.10 m. jyjyjyjyihhhhffrfbf`n#K@]]]]֏0@J @I(6: ɚ5iIIiiv ̽))Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFW5JF I hG D;ȽB O >^YDw, NA2-@Y2;@29219>y2H@ M`ڂɿ@)? q?T;?"?@o?@Vx?ɨ2-@2;0yRׇBR'ImMb@Mb@Mb@iii i)iYmV-?imjm@ m@)mV@Im@iym׳@I I<2٢L D=9Q > G٣yn > Nusing accuracyPremultiplier from config59b?5Yq iXkD>;+1@@wE;;CԈ5 5@DNOT Ignoring new targets: 63.10 m. jjjjihhh h Bf f rf bfXK@]-kD>]-kD>=Will construct direction to contact in vehicle frame from tetrahedron phase data.]-@]-+1@M QU@IUt4: QɚU5iQIYIYiYieͽ)a)a2Di*DmrAD9*F?2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H >I  I t'II %BI - =&I .I 6I <:I FG B O- >Dw,niA DIDn-@Yn;@nI9nq 9>ynHZL·ɿֲ?@|? I3?@U6??Wx?ɨn-@nGe;lyzӇBz'IzKzgLKz9KxKz.Kz)  II0٢% -C=9-/%Q ->)1 5G٣1y=U => ENusing accuracyPremultiplier from config9M59=M\?M5Y=q i=XIM%1@M@=wE=Q;=/;=ֈ5Y ]u@YDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbfRK@]]]]%1@I @I4: ɚ6iIIiiͽ))J 3K O3 K (.KK"KJJJ0JJ:J:Jـ3JJ;J;JC;JC;eWill construct direction to contact in vehicle frame from tetrahedron phase data.D*Fm?2Fi:FiBFm4JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Dw,vpA2f-@Y2d;@2Ƽ928>y2H`Jlɿ@?@Ϝ?,`+?zޘ??x?ɨ2f-@2%X;2 CyB‡BB&IIzIz̍٢% %D=9%ɺQ ->)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=V?E5Y=Bp i=XIM1@M@=wE=;=;=׈5Q U@YDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf@K@]]]]1@Ƽ @I3: ɚF6iIIiiϽ)) %j$?I)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG B O >2Dw,^.A> -@Y>;@>ϼ9>pM8>y>HqI3ɿ@?ά?Y???y?ɨ> -@>jy;>!CyRBR&IMb@Mb@Mb@ )Y ףp= ?~jty&1yQ8>ļ`@ )(@Iy@II٢hۼ A=9r%Q > G٣IyM M> ]Nusing accuracyPremultiplier from configQ]59UO?e5YUo iUYe&<>e;e5@e@UwEUn;Uf;Uو5}Will construct direction to contact in vehicle frame from tetrahedron phase data.B ޽@EDNOT Ignoring new targets: 63.10 m. jjjjihhhhЂBffrfbf`K@]&<>]&<>]@] 5@ϼ p@I4: ɚo6iII iiн))BD>?:DQ?HI I'II4BI&I.I6Iw<:I9 F )I)zKJK9KK/KDqJJJJJL:J9JJJO;JP;J$7;J%7;*F2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G ʽB! O= >Dw,A6\-@Y6{;@6>Լ96q8>y6HEQɿ` ?z?`??h?x?ɨ6\-@6;6 CyBBB&IiF=IF= F=Fp=HJ@AININ1٢Rѽ VN=9VQ V>XX ZG٣Xy^! ^> bNusing accuracyPremultiplier from config`f59b#J?f5Yb o ibBYdf4@j@bwEb\ ;b ;bۈ5l n+@l~B*** querying acoustic contact ***j|j| DNOT Ignoring new targets: 63.10 m. j jjjihhhhffrf!bf%@,L@]A]A]A]Eh4@>Լ @Ib7: ɚiIIiipԽ))D9*F=?2F9:F9BF=o0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) hCMG]|uAq >Y|uAyB AIAGgɽBO >`Dw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3025> BDAT read: Tx time:23:03:42.5232 $Ping request sent.yVH@D?ɿJC??<c?3? ?@ey?ɨVV-@V;V"CybBb&IUMb@Mb@Mb@QQQ Q)QYUoʡ?~jt?Zd;OyU->UD=9CQ > G٣y}k > Nusing accuracyPremultiplier from config59D?5Yn i^Y/>;sA@@wE"; ;^݈5 @UDNOT Ignoring new targets: 63.10 m. jQjQjQjQiYhYhYhYheBfifirfibfbjL@]/>]/>]4-=]sA@h@ܼ @I 0: ɚ J/5i I Iii_Խ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:03:42.5224 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250602Du9ZHRH?AHI I{'II*BI, =&I.I6I<:IN FBI]ȚCJI]ȚCRIYZI], =bI], =jI]֐4*F ?2F :F BF P0JF I II zK= k3IK9 K9 K= 0K= J J J J J :J :J J J 5;J 7;J 9P;J 9P;G \ ѽB)Ou>hDw,AV,-@YVK;@Vh9VK8>yVH@Cʿ?P?K?&L?`u?`x?ɨV,-@VL;V Cy^B^&IIjIj٢r3 r4=9rٺQ r>tt vG٣tyzS z> ~Nusing accuracyPremultiplier from config|59~=?5Y~n i~|YIA@@~wE~:~:~Z߈5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501563 @!DNOT Ignoring new targets: 63.10 m. jjjjihhhhfIfIrfIbfMˡL@]]]]IA@h @I23: ɚb5iIIi!i%dٽ)))12DA*DAD9Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754555*FY 2FY :FY BF] R0JFY  I Ga B O >Ew,Ay޵vB޵&I) eMb@Mb@Mb@aaa a)aYe7A`?p= ף?Mbye>e=ee@ eȞ@)aIel@aye@I}I}<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005639٢Ľ =9Q > G٣y > Nusing accuracyPremultiplier from config596?5Yo if%>;;@wEe";] ;5 8@DNOT Ignoring new targets: 63.10 m. jjjj i h h hh{Bffrfbf bL@]=f%>]=f%>]=)>]=2V@I IM\@IM2: QɚU6iQIQIYiYi]ؽ)Y)aD9*F% ?2F! :F! BF% ^0JF! E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257541H! I!  I% U'II% BI% - =&I! .I! 6I% <:I% ] FG #eӽB! OM >B Ew, +A i$?IF,@YF:@F9F5>yFH`2 ˿@?F0?=8*?!?`j?Z{?ɨF,@F?;DyRaBR&II^I^٢f`ݽ fY=9f(Q f>hh jG٣hyn n> vNusing accuracyPremultiplier from configpv59r1?z5YrZo ir{Yxz;~@rwEr{!;rc;r<5 @-DNOT Ignoring new targets: 63.10 m. j)j1j1j9i9h9h9h9hAfAfArfAbfE`M@zKBHKKK1KRK ?JK?]]]]!V@ @I"7: ɚiII!i!i%V2)!))*JR="Ja=JeJeJe1JaJe̝:Je9Je3JaJe;Je;Je:;Je:;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509471D 9*F?2F:FBF_0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761581G ӽB O >ˍEw,wFA2p,@Y2:@2-092i6>y2H* %˿q??@ҹF?D?? $z?ɨ2p,@2;2"Cy>XB>y&IIJIJb1٢R4 R@=9RK;Q V>TT ZG٣XyZ* Z> ^Nusing accuracyPremultiplier from config\b59^,?b5Y^o i\`nE<r@^wE^;^ ;^5mB m@mEDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf HM@] ] ] ] U@%-0 !-@I-2: )ɚ-[#5i)I)I1i1i5c)1)9 IIIDm09Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013653*F2F:FBFo0JFGIBO>ϮEw,e9`A6F,@Y6e:@6$966>y6H`G&˿J? ? @`A? ܞ?ܳ?`Vz?ɨ6F,@6ň;6!CyFGBFc&IiJ>IJa=Mb@Mb@Mb@ )Y rh?V-?MbpyC >= @)?@I?@yG@I-I-V83٢E EB=9Ev:Q E>II MG٣IyUƻ U> ]Nusing accuracyPremultiplier from configYe59]t&?e5Y]p i]WYe7>e;m*m@]wE]Q;];]5q u*@uE%DNOT Ignoring new targets: 63.10 m. j!j!j!j!i)h)h)h)h-ABf1f9rf9bf=}M@]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiY]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265839]7>]7>]w4?]jg@$ 隭 @I6: ɚp5iIIii~b))jH<bH<H>I I#'IIBI, =&I.I6IN<:I F IIQzKk3IK89KK2KD,9JQJQ*FM ?2FQ :FQ BFU 0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018G 5B O >Ew,JA}Ay ?BZ&II!I!٢5  55=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59Mr ?U5YMq iM0YQQ]@MwEM;My);M5a m@iDNOT Ignoring new targets: 63.10 m. jjjjihhhhffrfbf M@]]]] @I5: ɚk5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769403D>9E I*F-?2F1:F1BF5?1JF9GeqA GaJ J J 0J J |:J >:J ـ3J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:03:45.0088  TRx dataTimestamp_ set to:1736377426.336738 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022658Gm sB O >%Ew,wLAy7BP&IMb@Mb@Mb@ )YX9v?333333?~jtx?y=>;@ Ȟ@)@I(@yQ@II3٢  8=9Q > G٣y > mNusing accuracyPremultiplier from configu59?u5Yr iXubG>u;}}@wE<<5 #@DNOT Ignoring new targets: 63.10 m. jjjjihhhh#Bffrfbf`hM@]bG>]bG>] Ha?]G@r@ "@I4: ɚ'6iII i i ) )]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273595H!I! I%&II%BI!&I!.I!6I%)<:I% FD*F1 2F1 :F1 BF= l1JF9 i Iq zK JK u9K K 3K G B O >,Ew,sAWill construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: 23:03:45.0088 LVL= 21776, 30705, 15042, 29811, AGC= 57, IDX= 431, 0.22, 0.399, 0.428, 2.346, 1.271, PHS=-0.784,-0.796, 1.072, RAW= 209.7, 5.5, CAL= 211.5, -1.1, ROT= 298.5, 1.1 2PExceeded connect timeout, disconnecting.6Ygot valid direction response: 23:03:45.0088 LVL= 21776, 30705, 15042, 29811, AGC= 57, IDX= 431, 0.22, 0.399, 0.428, 2.346, 1.271, PHS=-0.784,-0.796, 1.072, RAW= 209.7, 5.5, CAL= 211.5, -1.1, ROT= 298.5, 1.1 :PDAT read: Bearing 298.5, 1.1 (Local) :~Local bearing/azimuth received: Bearing 298.5, 1.1 (Local) BDAT read: Range 10 to 50 : 61.1 m (Round-trip 81.5 ms) speed 0.0 m/s BR#Rx 1: Read range and direction messages.Fbdirection in FSK: [-0.135211,-0.884874,-0.445775]FFpublishing direction and range info9PuBNUPTuܿ̕yftBUw :)stI9i9HKL7?,@Y7:@9AT7>yH E̿@? ^h?{^L?O?`?Ky?ɨ,@F;y--B-D&I)1 1Y]AIeIe1٢m! u,=9}rQ }> G٣y > Nusing accuracyPremultiplier from config59?5YZt iX @wEp;y;5 @k~p?k# k kK̵A:kftBBkrBZk?"-aԅ 'ilK,Ĕ*<;PuBNUPTuܿ̕JktxܿRk>*gU2@NF@>2UBmo?'y?ӳ3"k5B*kAk?ko 2keAk?kkkQBk'Y? addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 60.248463 s, deltaX: -1.100002 m, approachRate: -0.018258 m/s, rangeRepo size: 4  Added new target pos. range: 61.099998 m, bearing: 68.307225 deg, lat: 36.904961 deg, lon: -122.119689 deg, deltaT: 106.890575 s, deltaX: -2.000000 m, approachRate: -0.018711 m/s, posRepo size: 4 UDNOT Ignoring new targets: 61.10 m. jQjQjQjQiQhQhQhYhYfYfYrfěN@bfeP?]]]]ur@ \!@I/: ɚ U6i I Ii!i-)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.D )9 h$?I h*FE ?2FA :FA BFE 0JFA J J J 1J J :J 9J 3J GMȇBYOu?55Ew,A Will construct direction to contact in vehicle frame from tetrahedron phase data.>+@Y>:@>-9>p7>y>H`t̿#?@?T?@ܝ?`?x?ɨ>+@>BŇ;>CyF+BJB&IuMb@Mb@Mb@qqq q)qYurh|?sh|??ut G٣yaJ > Nusing accuracyPremultiplier from config59 ?5Yv i=X]T>;@wE#;!;'5 @E DNOT Ignoring new targets: 61.10 m. j j j j i hhhhBffrfbf%(F?]=]T>]=]T>]=n?]=Iu@U- QUz$@IU[6: QɚU6iQIYIiiiim`P)i)qDM9Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHiRHmAAHqIq Iu&IIuBIq&Iq.Iq6Iux<:Iu; F*F] ?2FY :Fa BFe 0JFa I GE BI zKe k3IKe -9Ka Ke 4Ke $,#tJ'qOj@/+%BKi :Ki O} >y2H ̿3?R?@SK?`ϟ?@ ?x?ɨ2+@2;2!Cy>0B>H&IIFIFb1٢N < VW=9b#Q f>dd fG٣hyjҺ j> nNusing accuracyPremultiplier from configlr59n?r5Yn^w inWtv v@nwEn:n:n5x z@x%DNOT Ignoring new targets: 61.10 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf52?]Q]Q]Q]U)u@eo ae%@Ime=: iɚmI6iiIiWill construct direction to contact in vehicle frame from tetrahedron phase data. nManaging dock network, ignoring radio surface power offIii)!)!BD-9?:D-*?D5_9*F2F:FBF3JFG׏BOE>vA - t*Y5 vAy5 #B Will construct direction to contact in vehicle frame from tetrahedron phase data.MBEw,b A Iji+@Yjf9@j9j7>yjHn`p̿w??B?`6??@x?ɨji+@jć;jCyv3BvK&Iiz%=Iz<II̍٢Ii< G=9%Q %>!! -G٣)y-ջ -> 5Nusing accuracyPremultiplier from config1E595?M5Y5x i5WQe6e@5wE5:;5;55q uY@qDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf)d?]]]]t@  1=t%@I=8: AɚE)6iIJJJ0JJ\:J:Jـ3JIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D5m9E=Y>E=>*F ?2F :F BF T5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I &II BI &I .I 6I <:I FBIJIRIZIbIjIN4G)BAOm>JEw,)AJ+@YJ9@Jqf9J7>yJH`̿Ы?`(?`7?@?? x?ɨJ+@J)݇;J CyZ?BZZ&I IMb@Mb@Mb@ )Yi|?5?/$?~jt?y=&1><@ @)Iyf@IIb2٢2;= %=9ެQ > G٣ya > Nusing accuracyPremultiplier from config59(?5Yzz i WW>{;@wE%g;J;5 @ 5DNOT Ignoring new targets: 61.10 m. j1j1j1j1i9h9h9h9h= BfAfArfAbfE`;?]eW>]eW>]ex?]eEw@qf f&@IR5: ɚ)6iI!I!iIiMW)I)IzKE)OKEk9KAKE5KE$'-"7zsoklfWQQLO]oxuohbZUOHGGCBB?=:89965531.& RKM?JKM?%Will construct direction to contact in vehicle frame from tetrahedron phase data.D]9*F?2F:FBFP5JFG B! O= >c]QEw,oEA>+@Y>~9@>J 9>7>y>H`b FAͿӲ?s? 69?頠?{?x?ɨ>+@>U;<JWill construct direction to contact in vehicle frame from tetrahedron phase data.yNNBNm&IIVIVF2٢^b= ^M=9bѹQ b>`` fG٣dyf` f> nNusing accuracyPremultiplier from confighn59j ?r5Yj{ ijVtvv@jwEj:K;jK;j5x ~@|%DNOT Ignoring new targets: 61.10 m. j!j!j!j!i!h!h)h)h)f1f1rf1bf5M@]Q]Q]Q]Ukw@mJ  imY(@Iu1@: qɚu6iqIqIyiyi}U)y)2D*DDj9 I *FA2FI:FIBFMP0JFIJJJJJ:J:JJEWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>eWEw,r_A6ͅ+@Y6ʤ9@6b96g7>y6H QͿ )??૟&?`?r?@x?ɨ6ͅ+@6;6!CyB[BB|&IEMb@Mb@Mb@AAA A)AYEZd;?~jt?S㥛?yE=E>E/yy }G٣yy > Nusing accuracyPremultiplier from config59?5Y"} i]V}I>;J @wE;;`5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhh'Bffrfbf$@]}I>]}I>]d?]q@b !%f&@I%:: !ɚ%R6i!I!I)i)i5ܠ)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<HI I&IIBI&I.I6I|<:I? F ID}9E*F2F:FBFJFzK NK 9K K 6K u Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 BI Oe >]Ew,uyA2I[+@Y2Fz9@2L 928>y2H ` Ϳ@6??@ 0?!? ? w?ɨ2I[+@2;2 Cy:jB>&IIF IFV2٢N8= NW=9NwQ R>PP RG٣PyVB V> bNusing accuracyPremultiplier from config\r59^팜?r5Y^@~ i^Vpvt v@^wE^#;^;^ 5zB z@zEDNOT Ignoring new targets: 61.10 m. jjj!j!i!h!h!hhffrfbf @]]]](q@-L )-F(@I-=: )ɚ57i1I1I1i9i=Z)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F}?2F:FBFJF g$?IG B! Ou >d3eEw,BЕAB)W+@YB'v9@B& 9Br7>yBH@- ɣͿ@na?@?wm???w?ɨB)W+@B;B"CyN{BN&InWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5x&?V-?:v?y57 >5=5<5z@ 1)5@I5?@1y5 @IMIM(٢m"= u.=9}кQ > G٣yQ > Nusing accuracyPremultiplier from config59猜?5Y- iUn7>;k,@wEe;T;5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhRBffrfbf@ @]=n7>]=n7>]=c6?]=e@u& qu%@Iu4: qɚ}K 7iyIyIii\))BD3?:D6?D9Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I&IIBI&I.I6I<:IJ F*F ?2F :F BF JF I G B O >lEw,<A6 3+@Y6R9@6OC 968>y6H@<Ϳ␳?%? ƕx"?? ?Cw?ɨ6 3+@6n};4y>B>&I F=DIJIJ٢Rh= R@=9R{'Q R>TT VG٣T*JZC="JXJ^J^J\J\J^m:J^:J\J\J^;ajJ^;ajJ^I;anJ^I;anyZ 5> =Nusing accuracyPremultiplier from config1=595ጜ?E5Y5 i5EUAE,E@5wE5:5:55zKUJKUk9KQKU7KUa e@aDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf : @]]]]e@MOC QU&@IU<: QɚU7iQIQIYiYie)a)amWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G B O >-OsEw,PA2}3+@Y2{R9@2927>y2H ͿT?$? ??.? w?ɨ2}3+@2Y7;2#Cy>B>&IIJIJ2٢R= R@=9VQ V>TT fG٣dyf8 %> MNusing accuracyPremultiplier from configA]59ES܌?]5YE܀ iETY],e@EwEE'r;E+Z;E5i m׿@iDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfg@]]]]e@    )@IO<: ɚ!7iIIIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ ZH RH @AH I  I 'II ɇBI &I .I 6I <:I F FGm B O >&zEw,A \I\0+@Y.-9@89"8>yH%ο@V?l?@F?F? ?v?ɨ0+@-?;"CyB&IMb@Mb@Mb@ )Y7A`?/$?/$?y>=<@ Ȟ@)I(@y\@II٢ O=  %=9:Q > G٣y痻 %> -Nusing accuracyPremultiplier from config)559-Ռ?55Y-_ i-T=.>=;=,9=@-wE-;-;-5A E @IuDNOT Ignoring new targets: 61.10 m. jqjqjqjqiqhqhyhyh}Bfyfrfbf࿠@].>].>]?] X@8 z$@I#7: ɚ -7iIIii))2D *D JJJJJ:J:JJJ;J;JA;JA;zKBoHK9KK8KWill construct direction to contact in vehicle frame from tetrahedron phase data.De9*F ?2F :F BF ]0JF! GA BQ Om >SEw,A >+@Y>"9@>Ў9>7>y>H`q@6ο ??@?@ϐ??@w?ɨ>+@>;>#CyFBJ&ILNAIRIRԲ٢Z%= ZO=9ZQ ^>\\ ^G٣\ybҺ b> fNusing accuracyPremultiplier from configdWill construct direction to contact in vehicle frame from tetrahedron phase data.59fЌ?5Yfˁ ifZT!%59%@fwEf;G BOD>Will construct direction to contact in vehicle frame from tetrahedron phase data.ҾEw,| A:4*@Y:29@:9:7>y:H@ Tο`W?Ȣ?@- ??y?v?ɨ:4*@:̈;:"CyFBF&IMb@Mb@Mb@ )Y333333?)\(?y&1?y>Ga=`e<d@ @)@Iy@II٢= <=9ߺQ > G٣y! > Nusing accuracyPremultiplier from config59ʌ?5Y i&T:$>;C@wEP;O;5B p@EDNOT Ignoring new targets: 61.10 m. jjjjihhh!h%Bf!f)rf)bf-;@]M:$>]M:$>]M>]MgN@e ae '@Im=: iɚm\B7iiIiIqiqiu )q)yD9HI I0'IIBI&I.I6I:I=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F)BF-W5JF) f$?IGA BQ Ou >J[ـ3K[3 K[.KSKS"KSJ J J 1J J m:J :J 3J J ;J ;J R;J R;zK K 9K K 9K  )22+"  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,V:AZ*@YZ8@Z[9Z8>yZH`tο??` @?K*?d?`sv?ɨZ*@Zb;ZCyv‡Bz&III٢%=6< %T=9%Q %>)) -G٣)y5@ 5> =Nusing accuracyPremultiplier from config1E595Ō?E5Y5 i5SAECE@5xE5:5*:5F5Q UM@QDNOT Ignoring new targets: 61.10 m. jjjjihh h h f frf1bf=ƒ@]q]q]q]uUN@[ 隵P'@I=: ɚM7iIIiin ))D 9) rC*Fy2Fy:FyBF}15JFyc~G|uA  Y|uAy5B=Will construct direction to contact in vehicle frame from tetrahedron phase data. qIqG }B O >ԔEw,BTAyUӇBU'IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yw/?X9v?Mb?y&><<@ @)Ϋ@Iyf@II(٢ 5=  /=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-%?55Y- i-S5*>=;=UD@=@-xE-;-;-R 5A EF@AuDNOT Ignoring new targets: 61.10 m. jqjqjqjqiqhqhyhyh}Bfyfrfbf`]@]M*>]M*>]M:s@>]MUD@y y隅f&@I8: ɚLX7iIIiis ))De 9Ei jH <bH 4=H I  I ['II BI &I .I 6I <:I N FBIJIRIZIbIjI:/4E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF G rA G qA Y IY GB)OE?YvEw,JEtA2w*@Y2u9@2s$927>y2Hcοd?`=?@؎?ǀ??Sv?ɨ2w*@2J;2 Cy>ׇB>'IININ٢R< RB=9VA˻Q V>TJZ@AJXJ^J^J^0J\J^:J^:J^ـ3J\J^6;J^8;J^nN;J^oN;X jG٣hyj9 n> rNusing accuracyPremultiplier from configlr59nB?v5Ynʁ inStvXD@v@nxEn:nX:n- 5| ~@|-DNOT Ignoring new targets: 61.10 m. j)j)j)j)ihhhhffrfbfV!@zKvLK-9KK:K]]]]fXD@%s$ !%&@I%M<: IɚM'c7iIIIIQiQiU )Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.խ=խ=D!9*F?2F:FBFs2JF] Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia G B O >^Ew,w-A2s*@Y2q8@2#&928>y2H`@Eο@R?}?`Q?@¤? ? \u?ɨ2s*@2 ;2"CyZ؇BZ'IIbIb(1٢jA; j@=9jQ j>ll nG٣lyrKm r> vNusing accuracyPremultiplier from configt~59vj?~5Yv ivS|>D@@vxEv\;v\;v 5  @DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrf bf @@]I]I]I]M>D@]#& 隍'@I<: ɚn7iIIii; ))2D*DqAD9=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2FA:FABFEP0JFAG} B O >©Ew,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vb*@YV`8@V+9V7>yVHwtοb?? ut?`%_??gu?ɨVb*@V;VCyjӇBj'IHYIY I]'II]>BIY&IY.IY6I];<:I] F I-Mb@Mb@Mb@))) )))Y-sh|??:v?~jth?y-)>-T<-D;-z@ -@)-@I-?@)y-@IEIEb1٢MW U5=9U -Q U>YY ]G٣Yye: e> uNusing accuracyPremultiplier from configi}59m/?}5YmM imwS}*>};=@@mxEm#;m;m5 5@EDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf !@]*>]*>]=]u=@+  '@I<: ɚ x7i I Iiim ))De09EqEq*F?2F:FBFJF"G G G>zKeKK9KK;K]Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OE >Ew,.A6f*@Y6c8@6Y-96748>y6H'ο@ɵ? ?`???t?ɨ6f*@6r/;6 Cy^·Bb 'IIxIx٢ b=9 κQ  >  G٣yPh > %Nusing accuracyPremultiplier from config%597?-5Y idS)-=@-@xE ;M;51 =@9mDNOT Ignoring new targets: 61.10 m. jijijijiiihihqhqhqfqfyrfybf} @]]]]M=@Y- 隭W&@IC: ɚb7iIIii ))D>9Will construct direction to contact in vehicle frame from tetrahedron phase data. ue$?Iy*F?2F:FBF_0JFGBO>J J J J J :J :J J a @a @a @a @e Will construct direction to contact in vehicle frame from tetrahedron phase data.նEw,A2*@Y28@2Q1928>y2H ο@?@?@z@?`f ??`tt?ɨ2*@2=;0yN͇BP]Mb@Mb@Mb@YYY Y)YY]/$??y&1|?y],>]<]`;]@ ]@)YIYYy]@IqIq٢47 B=9 Q > G٣y9 > Nusing accuracyPremultiplier from config59E?5Yπ iDS.>;A@@xEt2;0;h5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbfW!@].>].>]ZE>]A@5Q1 1=%@I==: 9ɚ=7i9I9IAiAiE[ )A)IBDL?:DX?ZH1RH1Will construct direction to contact in vehicle frame from tetrahedron phase data.Db9 YIYHaIa IaIaIa&Ia.Ia6Ie<:Ie? F*Fm?2Fi:FiBFmP0JFqGy GyG B O >2Ew,[[A6 *@Y6 8@6B496E8>y6H`0ο;??`w?h?6?`s?ɨ6 *@66;6!Cy>ȇB>'IIF IF2٢Vռ VR=9VQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config59?5Y i&SA@@xE ; ;&5) -@)zKMBoIKM9KIKM<KMeDNOT Ignoring new targets: 61.10 m. jajijijiiihihihqhqfqfqrfybf}%"@]]]]A@Will construct direction to contact in vehicle frame from tetrahedron phase data.B4 隽%@I>: ɚ7iIIii ))Dmq9*F?2F:FBF ]0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia I G B O >uEw,A2*@Y28@2 7928>y2Hcο@n?\? @!? Lߦ?F?4s?ɨ2*@2dӈ;0y>‡B>&IIJIJ(*٢R  RL=9RQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^g i^S`fA@f@^ xE^ ;^;^5h jO@h~DNOT Ignoring new targets: 61.10 m. j|jjjihhh h ffrfbf"@]]]]bA@ 7 U$@I=: ɚ*7iIIii ))JJJJJm:J:JJD *F2F:FBF/2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >BEw, +A @I@BWill construct direction to contact in vehicle frame from tetrahedron phase data.HLIL IN'IIN4BIL&IL.IL6INs<:IN6 FVf*@YVc8@V0;9V f8>yVHο ? ?`ž?q?? s?ɨVf*@Vy;V CybBb&IUMb@Mb@Mb@QQQ Q)QYU'1Z?Mb?Mbp?yU">U@=U;U@ U@)U@IUV@QyU@ImIm٢ۼ 4=9!Q %>!! %G٣!y-ȫ: M> UNusing accuracyPremultiplier from configQ]59U?]5YUu iURe)>e;e^Ge@U xEU;Uw;U5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhBf f rf bf #@]m)>]m)>]m'>]m(J@0; 隭#@IP9: ɚ7iIIiiB ))2DqA*DzKKu9KK=KDI9-Will construct direction to contact in vehicle frame from tetrahedron phase data.-=-<*Fq 2Fq :Fy BF} o0JFy "G p>G >G B O >Ew,"*@Y>8@>>9>Y8>y>H@οܶ?`? b@j?`ԧ??r?ɨ>"*@>T;lp rG٣pyv,$ z> Nusing accuracyPremultiplier from config 59?5Y iRbG@ xEU;+V;5-B 5N@=EDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf $@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.]q]q]q]uZJ@> 隅"@I;: ɚ7iIIiia> ))JmJmJiJiJm:Jm :JiJiD9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O->: Ew,eA6*@Y68@63mB96w8>y6Hο ?`7 ?`?`PK? h?@r?ɨ6*@6v҇;6CyBBB&IMMb@Mb@Mb@III I)IYMQ?Dl?MO=Mt G٣y: > Nusing accuracyPremultiplier from config59؄?5Y iR >;<@ xE!;k;5 !@jHbHp<%DNOT Ignoring new targets: 61.10 m.HI It'II%BI&I.I6I<:Ic F d$?I j!jjji h h h h qBffrfbf Ŵ%@%Will construct direction to contact in vehicle frame from tetrahedron phase data.]] >]] >]]t>]]UU@3mB 隍f&@I7: ɚȡ7iIIii ))D!9*F} ?2Fy :Fy BFy JF zK K 9K K >K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ѰEw,ABt*@YBq8@B\'D9B8>yBH@ "οG?@B(?`/?`?k?q?ɨBt*@Bv؇;@yJBJ&IIRIR ٢5b+ E:=~G9DqQ > Yy B G٣y > Nusing accuracyPremultiplier from config59~? 5Y; iUR<@ xE;l;5) 5@1DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf2&@]]]]6U@\'D 9%@I=: ɚ)7iIIii ))BDF?:DG? aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.DE9EMqAEI*F ?2F :F BF JF G  G J= J= J9 J9 J= :J= :J9 J9 } Will construct direction to contact in vehicle frame from tetrahedron phase data.y y G B O >OEw,.AF*@YF 8@F\LJ9F8>yFH %ο@?3? `?F?`7?q?ɨF*@F˩;DyNBN&IiR-j=-T<-@ -@))I))y- @IMIM٢]e ]/=9e[Q e>ai mG٣iym m> uNusing accuracyPremultiplier from configq59uy?5Yu؁ iuR#>;2@uxEu1;u0;u5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhdBffrfbffq'@]#>]#>]?]H,_@\LJ %@I:: ɚ7iIIiiH))D*Fm?2Fi:FiBFmN5JFi IH>I IU'II BI&I.I6I<:I] FBIJIRIZIbIjI&94-Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 9 BY Ou >*J "J Ew,ϹA2*@Y2߰8@2L92(W8>y2H(οƷ? ?,?`w? ?`?@q?ɨ2*@2;2!CyBBB&IIJIJ 2٢Rf RY=9V1ֺQ V>TT VG٣XyZ@: Z> Nusing accuracyPremultiplier from config\%59^t?%5Y^^ i^Q)-2-@^xE^l<^l<^a!51 5@1eDNOT Ignoring new targets: 61.10 m. jajajajaiahihihihififqrfqbfuB8(@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]6_@zKjIK9KK?KRK ?JK?L X$@IhC: ɚ7iIIii0 ))D9*F2F:FBFO0JF IGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,A2}*@Y28@2Z N92{8>y2Hο?`??i??#? 8q?ɨ2}*@2;2 CyN~BN&IIVIVb1٢^$ ^H=9b?Q b>`` bG٣dyfF f> nNusing accuracyPremultiplier from configlr59no?r5Yn inQpv2v@nxEn":n":n)#5zB zm@zEDNOT Ignoring new targets: 61.10 m. jjj!j!i!h!h!h)h)f)f)rf)bf5)@]]]]"_@EZ N AEK#@IE=: AɚE7iIIIIIiqiu)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.D]9*F2F:FBF4JFZH RH I H I  I 6'II BI &I .I 6I <:I ? FG5 $ BA U Will construct direction to contact in vehicle frame from tetrahedron phase data.Oe >pEw,A 88nt*@Yn8@nO9n@8>ynH ο ?^H? Ʉ2???`]q?ɨnt*@nˇ;nCyvzBv&I}Mb@Mb@Mb@yyy y)yY}zG?!rh?{Gz?y} =}l=}ף G٣yS > Nusing accuracyPremultiplier from config 59k? 5Y؃ iOQ F> ;%@xE+;U;%5 @uDNOT Ignoring new targets: 61.10 m. jqjqjqjqiqhqhyhhGBffrfbf_)@]F>]F>]sR?]Il@O f&@I%=: !ɚ%[7i!I!I)i1i5bQ)1)9JUJUJQJQJU:JU :JQJQJU7;aeJQaeJUS;aeJUS;aeD}9Will construct direction to contact in vehicle frame from tetrahedron phase data.յ<յ<zK=:IK=9K9K=@K=*F ?2F :F BF 2JF G= !& BY O >iFw,  A2f*@Y28@2Q92$=8>y2Hz Ͽ[/?FV?<~?O;?@/?-q?ɨ2f*@2 ;2!Cy>|B>&IIJIJ٢N+< NG=9RxQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configX^59Zf?b5YZ iZQ`b%b@ZxEZ? ;Z ;Z&5h j@l xIxWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfD*@]A]A]A]E=l@mQ qu&@Iu>: qɚu7iqIyIii))D*FM?2FI:FQBFUW0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >ÈFw,#AyvB&IMb@Mb@Mb@ )YEԸ?Mb?:v?y=>< @)@I(@y@I I<2٢%ۼ %5=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=b?E5Y=ƅ i=PE&>E;EfM@=xE=L;=;=(5Y ]@YDNOT Ignoring new targets: 61.10 m. jjjjihhhh>Bffrfbf@+@]&>]&>]l?]r@  '@I?: ɚ"7iII i i ~)) c$?IH I  I )'II BI &I .I 6I ̰<:I x FD9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF%_0JF!GA *JI "JM R=JU JU JQ JQ JU \:JU :JQ JQ JU i;JU j;JU L;JU L;Bq O >YFw,=A"Will construct direction to contact in vehicle frame from tetrahedron phase data.JE*@YJd8@JS9J38>yJH*IϿJ^?Xu?`t? s? ? q?ɨJE*@J;JCzKnBoHKlKlKnAKnyxB&I %a=!!!I-I-٢=*< =Z=9=Q E>AA EG٣AyMY M> UNusing accuracyPremultiplier from configQ59UA^?5YU iUQP@QU;U;Uv*5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf`\,@]]]]Jr@eS aeJ'@IeD: aɚe87iiIiIiiqi))Dm9*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >7Fw,WA6g**@Y6dI8@6T968>y6H {Ͽ@T??@{ky??@f? fp?ɨ6g**@6;6 CyB|BB&IININ(٢V < VT=9VQ V>XX ZG٣Xy^= ^> bNusing accuracyPremultiplier from config`f59bEZ?f5Yb ibOdfj@bxEb":b":b%,5l n@eWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 61.10 m. j jjjihhhhf!f!rf!bf%S-@]]]]r@T '@I9: ɚ7iIIii<))D %9jHY bH] < I H I  I #'II BI + =&I .I 6I <:I ? F*F ?2F :F BF ^0JF "G i>G x> Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO>(Fw,wvAy-B-&I)1 1JJJ1JJ:J:J3JJ7;J8;JI;JI;Mb@Mb@Mb@ )YMb?p= ף?t=z@ @)@Iyf@I=I=2٢UA< U=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mT?u5Ym imoOu\(>u;ug}@mxEmY!;mD;m.5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhPBffrfbf 25.@]\(>]\(>]q?]s@ f&@I\?: ɚ 7i I Iii))2D%rA*D%rAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKu9KKBKD39*F ?2F :F BF _0JF! A II  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՑ GM Bi O >h$Fw,A 6 *@Y6*8@6^U96|8>y6H@yĴϿ@?X?`&x6n? Ũ??zp?ɨ6 *@6D;6!Cy>B>&IIJIJ٢R = RS=9R Q R>TT ZG٣Xy^K ^> bNusing accuracyPremultiplier from config\f59^P?f5Y^ i^ Odff@^xE^":^:^405l n@lDNOT Ignoring new targets: 61.10 m. jjjjih h h h ffrfbf`a.@]]]]s@^U @'@IA: ɚ7iIIii\))DW9*Fe?2Fa:FiBFmG5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge BqO> I H I  I 0'II BI &I .I 6I e<:I - F*Fw,AB)@YB8@BU9Bst8>yBHIQϿ?_?@#vi?@?`?p?ɨB)@B;B CyJBJ&IWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5ʡE?1Zd? rh?y5-=5"=5C =5@ 5@)5@I5V@1y5@IMIM3٢]*= ]>=9] Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq-59uM?55YuŠ iuN5q>5;5"5@uxEu]q>][\c?]o@U %@I>: ɚ>7iIIiix))JJJ0JJJ:Jـ3JJJJnN;JoN;DS9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFM p0JFI GQ  GU rAzK BoHK k9K K CK )I M hC NG vA 5 Y5 vAy= BG AB O5 >2Fw,A>+)@Y>(8@>V9>wN8>y>H`Ͽĸ? ? zu`?ت? ?@p?ɨ>+)@>~;>CyJBJ&IiNhh jG٣lyr r> UNusing accuracyPremultiplier from configQ]59U+I?]5YU iUANae"e@QU:U :U35i m@i IDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf@EZ0@]]]]ro@5V 9=&@I=@: 9ɚ=7i9I9IAiAiM)I)I%Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 5B O >s8Fw,pA2W)@Y2T7@2V92z}8>y2HDп@Ӹ??rb?Ԫ??@Tp?ɨ2W)@2;2"Cy>BB&IEMb@Mb@Mb@AAA A)AYEB`"۹?#~j? G٣yE > Nusing accuracyPremultiplier from config59E?5Y iM >;#1@xE;;55 @DNOT Ignoring new targets: 61.10 m. jjjjih h h h Bffrfbf 0@]5 >]5 >]5 -?]5`@MV IMz$@IM?: IɚM7iQIQIQiYi]k)Y)YZHRHAA !I!HU>IQ IUO'IIUBIQ&IQ.IQ6IU<:IUH FBI)JI)RI)ZI-+ =bI-+ =jI-ē4Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F}?2Fy:FyBF}M5JFyJ9K=m3 K=S}-K9K9"K9J J J J J :J :J J J ;J ;G %B O >>Fw,qVAJ5Z;J5Z;:{)@Y:x7@:X9:8>y:H`oп? 7?p7c? d??o?ɨ:{)@:S;: CyJBN&IZWill construct direction to contact in vehicle frame from tetrahedron phase data.ImIm(*٢E?= ?=9LQ > G٣y% > Nusing accuracyPremultiplier from config59@?5Y iM01@xE&::75 @zKAKE9KAKEDKEDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf71@]]]]t`@X %@I>: ɚ ]7i I Iii))9 ID!E)]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF"G {>G R>G B) OE >yBH >п@!? ?`r W?`@x?@@?o?ɨB)@B);BCyRÇBR&I)T TIZIZF2٢b= bL=9f|Q f>hh jG٣lyn2: n> rNusing accuracyPremultiplier from configpv59r=?v5Yr ir%Mxz1z@rxEr ;r6;rs95| ~@|%DNOT Ignoring new targets: 61.10 m. j!j)j)j)i)h)h)h1h1f1f9rf9bf=ছ1@]q]q]q]ua@ [ 隍n'@IiD: ɚ7iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFP0JFHqIq Iut'IIu%BIu, =&Iq.Iq6Iu<:Iu F a$?IGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.aLFw,B3A6)@Y67@6u\96w8>y6H@:п2?`? rC^? O?"?To?ɨ6)@6Y;6 Cy>ʇB>'IEMb@Mb@Mb@AAA A)AYEi|?5?l?L7A`?yE=E=E+=E@ E@)AIAAyE@I]I]V٢m= mA=9m$Q u>qq uG٣qy} }> Nusing accuracyPremultiplier from config598?5Y iL>;qH@@xE#;^;L;5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf`82@]>]>]->]qH@u\ 3#@Iy?: ɚ7iII!i!i%))))*J"J=Will construct direction to contact in vehicle frame from tetrahedron phase data.D]9zKK9KKEKRKJK>*F?2F:FBFJF I G= 5BI Oe >TPSFw,%MA:d)@Y:a8@:Z_9: 8>y:H@gϿN? ?@uQT??{? _o?ɨ:d)@:F;:CyRՇBV'IIfIf ٢nV= nS=9nGQ n>pp rG٣pyvT|; v> zNusing accuracyPremultiplier from configx~59z4?~5Yz  izLH@@xz@:z:z<55Will construct direction to contact in vehicle frame from tetrahedron phase data. @DNOT Ignoring new targets: 61.10 m. jjjjihhh h f f rfbfq2@]q]q]q]uH@Z_ 隭$@IE@: ɚ8iIIiiH))JJJJJ:J :JJa@a@a@a@DE9*F2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm %By O >/#ZFw,jAVX)@YVU8@V|a9V8>yVH oϿ g?@H?vU?+? ^?` o?ɨVX)@VbM;VCjH\bH^p<H`I` Ib'IIb>BIb+ =&I`.I`6Ib<:IbZ FyrهBr'Iiv}D<}<}@ y)yI}@yyyII(1٢< -=9vQ > G٣y*: > Nusing accuracyPremultiplier from config59`/?5Y iBLm>u;u:@u@xE.<<?5}B }@}EDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf2@Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]>]E=]:@M|a QU3#@IU;: QɚU8iQIQIYiYi]t)a)BD;?:D6?DQ:JmAAJi*F! 2F! :F! BF) JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK iJK C9K K FK Gi Bq O >ԨaFw,A2*@Y228@2c92o;8>y2HOϿt?`٤?zMJ?y??Mo?ɨ2*@2͘;2!Cy:܇B:'IIFIF 2٢N;< NG=9NQ N>PP RG٣PyR^; V> ZNusing accuracyPremultiplier from configT^59V*?^5YVU iVK\^;@^@TVh;V;V@5d f@dDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf(S3@]]]];@c #@IA: !ɚ%n8i!IIIQiYi])Y)a IWill construct direction to contact in vehicle frame from tetrahedron phase data.<DZ:*F?2F:FBFJF"Gp>G{>JE JE JE 1JA JE :JE :JE 3JA } Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >uAhFw,{AP*@YM18@T7f9R8>yH`BϿ@??y[? ì??@m?ɨP*@;騕 CyޥׇBޥ'I5Mb@Mb@Mb@111 1)1Y5#~j?~jtZd;O?y5%>55j<5@ 5ן@)1I5l@1y5@II<٢k #=9oQ > G٣y*' > Nusing accuracyPremultiplier from config59G$?5Y| iK(>;)/@@!xET;(S; C5 һ@%DNOT Ignoring new targets: 61.10 m. j!j!j!j)i)h)h)h1h5ǂBf9f9rf9bfM@3@]}(>]}(>]}oS@]}`)/@T7f 隝!@I#:: ɚ< 8iIIii8))HI I'IISBI&I.I6I<:I F ID9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >fnFw,IdA*JR="JR=:3*@Y:R8@:˸i9:08>y:H CKϿ¹??y~ 8X? 3?@?m?ɨ:3*@:iD;:"CyF؇BF'I)H HHHININ٢V< Vt=9ZC'Q Z?X\ ^G٣\yb~; b? jNusing accuracyPremultiplier from configdj59f ?j5Yf ifKlnJ/@n@f"xEf;fZ;fD5t v@tDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf&)4@]]]]J/@=˸i 9="@IE)G: AɚE 8iAIAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Iqiqiu")q)yDU:*F?2F:FBF1JFzKKu9KKGK IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.MuFw,<A6K*@Y6j8@69m96-9>y6HH@DϿ@?m?`Y@_?뛭??l?ɨ6K*@6;6 CyBɇBB'IIJIJF٢Vؚ VK=9Z*Q Z>XX ZG٣Xy^q; ^> fNusing accuracyPremultiplier from config`f59b?f5Yb@ iboKhja/@j@b#xEb:b:bEF5p r@p DNOT Ignoring new targets: 61.10 m. j j j j ihhhhffrfbf%4@]A]A]A]Ea/@U9m Y]% @I]B: Yɚ]8iYIaIaiaim )i)iJ=J=J=0J9J=|:J= :J=ـ3J9uWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*FQ2FY:FYBF]0JFY `$?I ZH RH ?AH I  I 'II NBI , =&I .I 6I <:I FG 5B O >y{Fw,u"A^Will construct direction to contact in vehicle frame from tetrahedron phase data.yƇB'IMb@Mb@Mb@ )Y/$?{Gz rh?y,>ףC< )I@y@II(٢b< 9=9Q M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe59]?m5Y]x i]DKm.>m;m/@m@]$xE];]S;]DH5y }߼@yDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf@5@].>].>]/E@]/@ G!@I<: ɚ8iIIiiN))Dz:mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF e Gy Y y " BzK BoHK 9K K HK     Gm 4pBy I O >Fw, A2n*@Y2k8@2Kr92J+9>y2H׃ο! ?&?ஊc?@D? ?Ul?ɨ2n*@2/;0y:B:&Ii= B=Ba=IFIFF2٢N NI=9NOQ R>PP RG٣TyV;< Z> fNusing accuracyPremultiplier from config`j59b?n5YbΈ ibKlr 0@r@b%xEbZ;bwT;bI5mB uN@uEDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf k5@])])])]- 0@]Kr aeT@Ie4: aɚeiaIaIiiqiuV )qWill construct direction to contact in vehicle frame from tetrahedron phase data.)BDJ?:D_?D*F2F:FBF4JFJuJuJqJqJu:Ju&:JqJqG B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.A*Fw,p&AyUBU&IEMb@Mb@Mb@AAA A)AYE{Gz?Mbp?Mb?yE#>E;E G٣y > Nusing accuracyPremultiplier from config59 ?5YS iJ$>;!9@@&xE;;L5 .@ IDNOT Ignoring new targets: 61.10 m. jjjjiHI I'II4BI+ =&I.I6I<:I FBIJIRIZIbIjI@W4h1h1h9h=Bf9f9rfAbfE@5@]]$>]]$>]]<]]!9@9 AE@Ie1: aɚe>+5iiIiIiiqiu¢ )q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.D:ErAEqA*FY 2FY :FY BF] 3JFY "Ge !>Ge =M Will construct direction to contact in vehicle frame from tetrahedron phase data.G7 BO?Fw,@GAzK0LK9KKIK~o*@Y~l9@~x9~@ :>y~HͿ`J?@?@[@Ё?m?`?Jj?ɨ~o*@~o;~CyB&I) I%I%٢5~ý 5.=95`Q =>99 =G٣9yE&< E> MNusing accuracyPremultiplier from configIU59M?U5YMڇ iMJY]n9@]@M'xEM:M:MN5a e@aDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfXS6@]]]]n9@x 4@I2: ɚi5iIIii, )) IUWill construct direction to contact in vehicle frame from tetrahedron phase data.QQDm :*F2F:FBFP5JFG-  B1 O] >Fw,QaANWill construct direction to contact in vehicle frame from tetrahedron phase data.%+@Y%}19@%{9%h9>y%H}ͿR? Z?v|?o? ?hj?ɨ%+@%Nˆ;% CyޕsBޝ&I}Mb@Mb@Mb@yyy y)yY}㥛 ?+?Q?y}>}=}u<}/@ y)yI}@yy}@II٢ '=9)Q > G٣y; > Nusing accuracyPremultiplier from config59?5Yׇ i~J>;H@@(xE~<~<1P5I M@IDNOT Ignoring new targets: 61.10 m. jjjjihhhhBf f rf bf i6@]U>]U> aIjH<bH<HI IU'II BI&I.I6I<:I] F]U>]UH@{ )@I,: ɚ86iIIiii))2D *D MWill construct direction to contact in vehicle frame from tetrahedron phase data.D :*F 2F :F BF 1JF G  G qAJ J J J J :J :J J J ;a J ;a J DG;a J DG;a Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O-?àFw,/4A6 (+@Y6G9@6i|96S9>y6H[ͿM?@0?ȅ?}??j?ɨ6 (+@62;6"Cy>WBBw&IIvIv٢~| ~9=9Q >    G٣ yZB; > %Nusing accuracyPremultiplier from config!-59%?-5Y%Շ -tIi%FJ15H@5@%*xE% ;%A;%!R59 =@9mDNOT Ignoring new targets: 61.10 m. jijijijiiihqhqhqhqfyfyrfybf}A7@]]]]+H@i| 隽@I4: ɚiIIii))zKBIKu9KKJK ID :Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFG `B O >kFw,A2U+@Y2t9@2Q}92qf9>y2Hh Ϳ??z?d|?`[?$?j?ɨ2U+@2;2 Cy:AB:\&IiBTT VG٣TyZ*; Z> bNusing accuracyPremultiplier from config\b59^-?f5Y^ԇ i^JdfH@f@\^:^:^S5l n%@lDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfܩ7@]]]]%H@Q} @IF2: ɚiIIii%.)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F2F:FBFO0JF _$?HIC I'IIهBI&I.I6I<:IH FIG- B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. Fw,A6a+@Y69@6^}96*9>y6H``̿??h?Ȣ]??@+ ?8j?ɨ6a+@6׈;6!CyR(BR=&I5Mb@Mb@Mb@111 1)1Y5Dl?#~j?Zd;O?y5O >5=5j<5@ 5ן@)5@I11y5=@IE IE2٢U1 @=9Q > G٣y?: > Nusing accuracyPremultiplier from config59틜?5YM iI%>;8@,xE%H;G;U5 @E-DNOT Ignoring new targets: 61.10 m. j)j)j)j)i)h)h1h1h52Bf9f9rf9bf= 8@]]%>]]%>]]?]]Z@}^} y}@I}p5: yɚiIIii B))BDD?:D8?D+:JJJJJ:J :JJJ;J;JS;JS;*F?2F:FBFR0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK ULK 9K K KK   I JFw, AFU{+@YFR9@FP~9F9>yFH@R̿g4?@8?a?į?@?ej?ɨFU{+@F ;FCyRBR&IIZIZ3٢bo bT=9fQ f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr59n苜?r5Yn in}Itv7v@ln ;nP:n_W5x z6@x=DNOT Ignoring new targets: 61.10 m. j9j9jAjAiAhAhAhIhIfIfIrfQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.bfUFv8@]]]])Z@P~ 隕@IH8: ɚiIIii))D4:*F ?2F :F BF `0JF G^mBO%> Will construct direction to contact in vehicle frame from tetrahedron phase data.% Ai! /!Fw,|ANW+@YNT9@N9NX9>yNH@:̿E?`u?+`?&?9 ?i?ɨNW+@NP;N CyZB^&I)` ```MMb@Mb@Mb@III I)IYMʡE?M?l?yM=Mn>M=I M@)IIIIyM@Ie Ie<2٢u7 u?=HIC I&IIBI&I.I6I<:I F I9QQ > G٣y: > Nusing accuracyPremultiplier from config59㋜?5Y iI@>; @.xE;{;DY5 @DNOT Ignoring new targets: 61.10 m. jjjji h h h hBffrfbft8@]@>]@>]b?]\_q@  @I-2: 1ɚ5-)5i1I1I9i9i="\)A)AeWill construct direction to contact in vehicle frame from tetrahedron phase data.DU:*F?2F:FBFP0JFJ J BAJ J J 1J J ̝:J :J 3J J ;J ;J I;J I; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >4lFw,AR+@YR9@Rר~9R9>yRH̿#.?b?9@ϑ? ϯ?G ?@j?ɨR+@R?9;PyZBZ%IIjIj#3٢n rG=9r):Q r>tt vG٣tyz: z> ~Nusing accuracyPremultiplier from config|59~ދ?5Y~ i~H  @~/xE~:~:~[5 `@=DNOT Ignoring new targets: 61.10 m. j9j9j9jAiAhAhAhQhQfQfQrfQbf]K9@]q]q]q]uNhq@ר~ 隍@Iw7: ɚiIIii))zKeJ3KKe89KaKeLKeBKq:Kq ID:Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFm_0JFiG B O >HFw,(A6+@Y69@6`K969>y6H`,p̿.?F?۩g?@"? ?i?ɨ6+@6P;6CyjBj%IIrIr 3٢zA zJ=9zȹQ ~>|| ~G٣|y ; >  Nusing accuracyPremultiplier from config 59 $ڋ?5Y  i H @ 0xE %; ; \5! %@!UDNOT Ignoring new targets: 61.10 m. jYjYjYjYiYhYhahahafafirfibfmn9@]]]]:wq@`K 隝@I4: ɚ5iIIiiy))Will construct direction to contact in vehicle frame from tetrahedron phase data.DK: IHIC I&IIsBI&I.I6Iϰ<:I| F*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G} B O >dFw,:9A6Ƣ+@Y69@6L~96G9>y6H@m̿? B?ש`l?Hį? ?i?ɨ6Ƣ+@6*;6!CyRBR%IiV=IVR= Z=Z=Mb@Mb@Mb@ )Y&1?I +??y=94>L=@ )@Iy3@II(*2٢ <=9]:Q > G٣y 9  > Nusing accuracyPremultiplier from config%59<Ջ?-5Y iG5V>5};5=@1xE";';^5A E@IDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf$:@JJJ0JJ|:J:Jـ3JJ;J;J.Y;J.Y;]]V>]]V>]]ԅ?]].|@L~ 隕@IA1: ɚˢ5iIIiiF))-Will construct direction to contact in vehicle frame from tetrahedron phase data.)  %|uAA uYu|uAyu-B. @BDzK k3IK 9K K MK RK ?JK ? I *FE ?2FA :FA BFE b0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Fw,XA2ɵ+@Y29@2#929>y2H YH̿<#??`ub??@0?+j?ɨ2ɵ+@2*·;2 Cy>݆B>%IIbIb 2٢n~ n5=9n9Q r>pp rG٣tyv(; z> ~Nusing accuracyPremultiplier from configx 59z4Ћ? 5YzG izF   @z3xEzS;z4T;z`5 W@EDNOT Ignoring new targets: 61.10 m. jAjAjAjIiIhIhIhIhQfQfQrfQbfU :@]q]q]q]ujD|@# 隕Y@Iq4: ɚ5iIIii> ))D^:*Fu?2Fq:FqBFuL5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>  ^$?I jH1 bH5 <H9 I9  I= t&II= UBI9 &I9 .I9 6I= <:I= V FBIɛCJIɛCRIZIbIjI4(Fw,VfrA2`+@Y2]9@2h929>y2H`U̿(?@,?Gx??? i?ɨ2`+@2;2"CyBֆBB%I%Will construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuRQ?x&1?Q?yu=uA>uu=u@ q)qIuƷ@qyqII 3٢ ?=9n8Q > G٣y > Nusing accuracyPremultiplier from config59ˋ?5Y i3F'a>q;@4xE;;b5B @EDNOT Ignoring new targets: 61.10 m. jjjjihh h h Bf frfbf;@]e'a>]e'a>]eq?]eH@uh y}@I}(4: ɚ"6iIIii*))D:E*F2F:FBF:1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G GrAzK BHK 9K K NK  !#     I G5 BA O] >oFw,jA2+@Y29@2ƀ92a9>y2H 0̿ A7?@?@d?(?7?2j?ɨ2+@2C';2Cy>B>%I)@ @DDIzIz 2٢&l= C=9jQ >! %G٣!y%80; %> UNusing accuracyPremultiplier from configIe59M Nj?e5YM iME@M5xEMEFw,'A QIQHI In&IIPBI&I.I6I<:IH FyB%IMb@Mb@Mb@ )YRQ?ףp= ?T㥛 ?y>=@ 1@)@I@y(@IIb1٢< #=9Q > G٣y > UNusing accuracyPremultiplier from configQ]59U?]5YU2 iUD]E>e;ee@U7xEU5;U;Uf5q u@qDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf0;@]E>]E>]C?]Wz@ @I/: ɚx6iIIiiH))2D *D Will construct direction to contact in vehicle frame from tetrahedron phase data.DEl:*F ?2F :F BF e1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O>q Fw,ܛAJ+@YJ9@J9Jٟ9>yJH` ̿@-? 3?@ ?-u?@H?i?ɨJ+@J;J"CyVBV%II^I^F2٢f<0= fM=9jnnQ j>hh jG٣hyn: n> vNusing accuracyPremultiplier from configpv59r?v5Yr] ir(Dxzz@r8xEr:r:rNh5| ~@-DNOT Ignoring new targets: 61.10 m. j1j1j1j1i1h1h1h9h9f9f9rfAbfE@U<@]]]]ez@ @Il7: ɚ%6i!I!I)i1i5)Y)a IzKTMKKKOK     5Will construct direction to contact in vehicle frame from tetrahedron phase data.Du:EErA*F2F:FBFS5JFG B O >Fw,qA2+@Y2 9@2؎92Px9>y2H, ̿? p?ੁ?䎰?@H?`i?ɨ2+@2;2 Cy>B> &Ii@IB= F=Fa=IJIJ٢RE= RB=9RtQ R>TT VG٣TyZR: Z> bNusing accuracyPremultiplier from config\b59^Ĺ?f5Y^ i^Cdff@^9xEjWill construct direction to contact in vehicle frame from tetrahedron phase data.^.;^x;^%j5p ru@p DNOT Ignoring new targets: 61.10 m. j jjjihhhhff!rf!bf%@<@]]]]$rz@]؎ aeG@I95: ɚ6iIIAiQiU)Q) IDH!I! I%&II%dBI!&I!.I!6I%<:I%c F*Fq2Fq:FqBFuO0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.G] `Bi O >Fw,ABZ+@YBW9@B`9B˃9>yBH ˿պ??R~?`Ȱ?@Y?`h?ɨBZ+@B;B!CyJBJ&I-Mb@Mb@Mb@))) )))Y-B`"۹?x&?x&?y-=-7 >-7=-/@ -@))I-@)y-p@IMIM1٢]= e?=9egQ e>ii mG٣iym: m> }Nusing accuracyPremultiplier from configq}59ur?5Yu iuB9>;@u:xEu1;uK;ul5 l@JJeDNOT Ignoring new targets: 61.10 m. jajajijiiihihihqhuKBfyfyrfybf}`84=@]9>]9>]l?]{s@` R@I2: ɚ6iIIi!i%W)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.DU: IhzKѦLK9KKPK,BBqf`\ZYTNJGD?BK:KpA*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU BY O} >I-Gw,dAR+@YR9@R+9Rt9>yRH ˿@??@y?`?,?Wh?ɨR+@RC;R Cyb#Bb7&IInIn2٢r%= r@=9vĺQ 5>99 =G٣9y=: E> MNusing accuracyPremultiplier from configAU59E ?U5YE˘ iE.BQUuU@E;xEE ;E ;Em5Y e@aDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf@!=@]]]]9s@+ @I6: ɚ6iIIii))J#K+3 K+.K#K#"K#JJJ1JJ:J:J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.D:E]>E!>*F-?2F1:F1BF=P0JF9 I H I  I &II BI &I .I 6I <:I F FGM BY O} >l Gw,;4A6+@Y6:@6!96# 9>y6HĮ˿h.?@?k?@?@g? +h?ɨ6+@6$;6"Cy>-B>D&I)D D Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y!rh?(\µ?Zd;?yl==y= G@)(@I @yf@I5I52٢E== EB=9M9Q M>II UG٣QyU_; U> ]Nusing accuracyPremultiplier from configYe59]Ь?m5Y]J i]Am>m;m 2m@]@]>]>]/%?]p`@! f@I1: ɚ]6iIIiib))Dh:*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. m ]$?Ii G B O >Gw,mOA6+@Y6:@6 96V|9>y6H@ W˿@8o?`E?.o?@}?W?$g?ɨ6+@6US;6$CyB?BBZ&IzKJ NKHKHKJQKJ=>=7)RKN?JKN>IRIR٢Z= ^H=9^Q ^>`` bG٣`ybй f> jNusing accuracyPremultiplier from configdj59f?n5Yfș ifAlln@f=xEfP:f:fq5p vM@tDNOT Ignoring new targets: 61.10 m. jjjjihhhhf!f!rf!bf%p>@]]]]`@ @I5: ɚ6iIIiij)) eWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F2F:FBF[0JFJ9 J= J= 0J9 J9 J= :J= ـ3J9  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Gw,iA,@Y/:@ꎽ9)"9>yH@K@Yq˿?i? m_?ٱ?@?f?ɨ,@;C IIQy]IBef&IjHbHp<H>I I&IIBI* =&I.I6Iw<:I< FMb@Mb@Mb@ )Yp= ף? rh?V-?y>C =m=j@ 1@)V@I7@y@II2٢Y= "=9}6Q > G٣y [; > Nusing accuracyPremultiplier from config595?5Y i@>;E@@>xE;;s5 @ DNOT Ignoring new targets: 61.10 m. j jjjihhhhBf!f!rf!bf%>@]M>]M>]MU>]ME@]ꎽ Ye3@Ie-: aɚe7iaIaIiiiim)i)qUWill construct direction to contact in vehicle frame from tetrahedron phase data.DIEQ*F2F:FBF_0JF PExceeded connect timeout, disconnecting.G B O >+!Gw,ARc~G^vAdzWill construct direction to contact in vehicle frame from tetrahedron phase data. 5qY5vAy5AyUBu&Ii9A EG٣AyE M> UNusing accuracyPremultiplier from configQ]59U#?]5YU iU@Yae@QU:Ue:U]u5i m@iDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf`R?@]]]] @I6: ɚ 7iIIiit$))D&: I*Fu?2Fy:FyBF}0JFy'TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >LP'Gw,A61,@Y6P:@696G9>y6H`#˿,?(?Z?=o?`? Ye?ɨ61,@6}ۈ;6"CyRaBR&II^I^(*2٢f+= fe=9jtһQ j>hl nG٣lyn0; r> vNusing accuracyPremultiplier from configpv59rT?z5Yr ir?xzE@z@r?xEr:r:rv5 4@5DNOT Ignoring new targets: 61.10 m. j1j1j9j9i9h9h9hAhAfAfArfIbfM6?@]i]i]i]miE@} y隅&@I9: ɚ7iIIii3))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm:*F?2F!:F!BF-/1JF) IHI I 'IIχBI+ =&I.I6I<:I] FBIJIRIZIbIjIDž4G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >{-Gw,ΌA6;,@Y6Z:@6A96Ժ9>y6H/@ ˿@u? [? [@b?^??d?ɨ6;,@6;6Cy>iB>&ImMb@Mb@Mb@iii i)iYmQ?~jtMb?ym\>mm@=m@ mG@)iIiiym@II٢e= >=9S1Q > G٣y: > Nusing accuracyPremultiplier from config59?5Y iL?x>;-@@@xE;l;x5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhقBff rf bf  @@]-x>]-x>]-վ@]-<-@EA AM@IM1: IɚM7iIIIIQiQiU)Y)Y nManaging dock network, ignoring radio surface power offJiJmJiJiJiJm:JiJiJm;a}Jm;a}JmnN;a}JmoN;a}D:EEWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFu1JFq I zK qKK C9K K SK G -B O >4Gw,bA2 b,@Y2 :@292-^9>y2H  ʿ@&?@?cU?3?@?c?ɨ2 b,@2';2Cy>mB>&I)@ @IFIFb1٢Nu< NS=9RuQ R>PT VG٣TyV7; V> ZNusing accuracyPremultiplier from configX^59Z?^5YZW iZ>!%-@%@ZAxEZg Will construct direction to contact in vehicle frame from tetrahedron phase data.:Gw,A lIpHI I)'IIBI&I.I6I<:IH F w,@Y :@ {9 v9>y Hf'ʿ?t?`S?@j?@t?b?ɨ w,@ ; "CyhB&IMb@Mb@Mb@ )YʡE?V-~jt?y>m=@ )l@Iz@y@I5I5٢E0 E'=9M;%Q M>IQ UG٣QyU 0; U> ]Nusing accuracyPremultiplier from configYe59]?m5Y] i]>m,>m;m !@m@]BxE]%;]*$;]|5}B }@}EDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf*~@@],>],>]'@] !@{ \@I.: ɚ+27iIIi i ) ) %Will construct direction to contact in vehicle frame from tetrahedron phase data.D-:*F 2F :F BF A5JF J% J% J! J! J% ̝:J% :J! J! J% ;J% ;J% .Y;J% .Y; Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9B O >]fBGw, Af,@Yf:@fS'9fR]9>yfH xʿPy?&?`6 K?`??6a?ɨf,@f;f#CyvbBv&II~I~b1٢   W=9Q > G٣y < > %Nusing accuracyPremultiplier from config!-59%Ո?-5Y%$ i%n>15E!@5@%CxE%* ;%K ;%H~59 =@9uDNOT Ignoring new targets: 61.10 m. jqjqjqjqiqhqhqhyhyfyfyrfbf ή@@]]]] E!@5S' 15@I52: 1ɚ5;7i9I9I9iAiE)A M\$?IMh)izKKKKTKWill construct direction to contact in vehicle frame from tetrahedron phase data.D4:*F?2F:FBF]4JFGe Bq O >HGw,$A>,@Y>:@>/9>H9>y>H` ɿ?@? P?s`??`1`?ɨ>,@>X2;>CyJTBJt&IiN=INp= N=N=IVIV0٢Zߍ ZI=9^O Q ^>\` bG٣`yb[ ; f> jNusing accuracyPremultiplier from configdn59fB?n5Yf if->prS!@r@fDxEf@;f B;f5t z@xDNOT Ignoring new targets: 61.10 m. jjjjihh!h!h!f)f)rf)bf-@@]I]I]I]M8S!@m/ im @Im2: qɚuC7iqIqIyiyi})y)yWill construct direction to contact in vehicle frame from tetrahedron phase data. IHI IIDF:I&I.I6I<:I] F*F?2F:FBFP0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >8NGw,7m>A:,@Y:;@:ƥ9:|9>y:H!@ɿ`)?? K?`??_?ɨ:,@:D;:"CyBABB]&IMMb@Mb@Mb@III I)IYMˡE?x&X9v?yM'>M7M G٣y,; > Nusing accuracyPremultiplier from config59%?5Y i=*8>;n @@FxEM ;;끉5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhւBffrfbf`JA@] *8>] *8>] @] n @%ƥ !%p @I%/: !ɚ-M7i)I)I)i1i5^޽))BD:Dq?JJJJJ\:JK:JJJi;Jj;Jc;Jc;Will construct direction to contact in vehicle frame from tetrahedron phase data.DU:EY I*F 2F :F BF JF zK gKK ȱ9K K UK BK :K qA} Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >9VGw,ZAJ,@YJ;@J٧9Jm9>yJH"gɿ@P ?0?R?`1? =?l^?ɨJ,@JB܊;JCyV9BVR&II^I^(1٢f# fG=9f!Q j>hh jG٣hyn&; n> vNusing accuracyPremultiplier from configp~59r5z?5YrΒ ir=  } @ @rGxEr;rz;r5 @!MDNOT Ignoring new targets: 61.10 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf]`BNA@]y]y]y]}y} @٧ 隍c @I0: ɚV7iIIiiZݽ))D=:Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FiBFmW0JFi  Ii jH bH <H >I  I 'II χBI * =&I .I 6I _<:I + FG 5B O >\Gw,-tA>R%-@Y>OD;@>ƕ9>~9>y>H&ɿ_T?:H? @CI?iL?`? ^?ɨ>R%-@>!;>!CyJBJ)&I @ @   @    @  II(٢% %?=9%dLQ %>)) -G٣)y5; 5> =bBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E59=u?M5Y= i==M+:IMo;M @M@=HxE=^;;=>=:5Y ]@aDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfངA@ƕWill construct direction to contact in vehicle frame from tetrahedron phase data. am0@ImN*: iɚmiiIiIqiqiu7ؽ)q)yD JJJJJ:J :JJJ;J;JcW;JdW;*F2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ޽B O >fcGw,mA IJ6-@YJU;@J9J9>yJH'`;ȿH?@D%?Z5Q?͊?`?`\?ɨJ6-@J[֊;J CyRBR&IIbIb 2٢fVɽ jH=9jQ j>ll nG٣lyr,; r> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz59r p?z5Yr irR=~ :|~A;~ @~@rIxErk8;rV?rf5  @ 5DNOT Ignoring new targets: 61.10 m. j1j1j1j1i9h9hAhAhAfAfIrfIbfMA@} y}@I}h*: yɚ} 5iyIIiimc׽))2D*DDmK :EqEqzKk3IK9KKVK    *F2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GݽB1OM1>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.iGw,sAFTN-@YFQm;@F-9F9>yFH)@ȿ?]?` Q?`?`?h\?ɨFTN-@FFߊ;FCy B %III٢-o 5E=95Q 5>99 =G٣9yE`; E> MbBottom track data is 1.3 s old, using for 20.0 s. MNusing accuracyPremultiplier from configIU59Mk?]5YM] iM=]9Y];] @]@MJxEMQ:;M?M]5mB mq@mEDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfBA@- @If(: ɚiIIii%ս)) IH>I I&IIBI&I.I6I<:Ii FD] :*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G }[ܽB O >pGw,UA2f-@Y2;@2p92B9>y2H+}ȿ@??@ O?? G?[?ɨ2f-@2֊;2"Cy:B>%I F=FR=        Mb@Mb@Mb@)! !*JMC="JM%=uG )YˡE?:vy&1?yT`< 5YyB@ @)@I@y@II2Will construct direction to contact in vehicle frame from tetrahedron phase data.٢6 0=9Y!Q >) -G٣)y-R; 5> =Nusing accuracyPremultiplier from config1=595 e?E5Y5 i5<ET:E*>E;Ex4@m@5LxE5;5R;5h5q u@qDNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf+B@]-*>]-*>]-؇@]-ex4@ep ae@Im %: iɚiiiIiIqiqiuҽ)q)y [$?IDzK LK u9K K WK <^_fmBK :K rA*F] ?2FY :FY BFe 0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gg׽BO>IxGw,AyB%II5 I5b3٢E) E<=9EQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59ew_?m5Ye& ie Will construct direction to contact in vehicle frame from tetrahedron phase data.ce~Gw,aA2-@Y2;@2芳929>y2H!.+4ȿ+?4?@LxL?j??Z?ɨ2-@2)W;2!Cy>~B>l%I Mb@Mb@Mb@    ) Y ףp= ?~jt? D= t= @ Ϋ@) I  y  @I%I%3٢5 5M=95.yQ =>99 =G٣AyEI; M> UNusing accuracyPremultiplier from configQ59U=Z?5YU= iU-<2*>;E@UNxEU]2*>]e™>]CL@芳 @I(: ɚiIIiiν))D :*Fa2Fa:FaBFeP0JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY G B O >MGw,)?A:2-@Y:/;@:N9:.9>y:H@-3ȿ:?? ]@I?y??`wZ?ɨ:2-@:;: CyFaBFI%I)H HHJAININ[3٢Z^ ZS=zK^NK^9K\K^XK^]L@6-( RKf?JKf?9^!Q f>hh jG٣hynB n> rNusing accuracyPremultiplier from configpv59rU?v5YrT ir;ttz@rOxEr:r:r5| ~@|%DNOT Ignoring new targets: 61.10 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=B@]Y]Y]Y]]RL@mN im@Imt,: iɚqiqIqIyiyi}#}Ͻ)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.D$ :*F2F:FBFJFJJJ1JJ :J9J3JGӽBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 zGw,"0A2-@Y2;@2992i69>y2H-@T+ȿ2V?N}?@6? ?y?@Z?ɨ2-@2Y;0HPIP IR&IIRBIP&IP.IP6IR6<:IR Fyf8Bf%IIIT3٢t5 6=9%[Q ->i G٣y9 > Nusing accuracyPremultiplier from config%59N?%5Yo ia;IMEM@PxE;;ѐ5Q U@]EDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfC@]]]]LL@ 9  ?I : ɚiIIiip9Ͻ)!)Will construct direction to contact in vehicle frame from tetrahedron phase data.D~ :E*FY 2FY :FY BFe 5JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.G`KҽBO>pGw,NA6vh-@Y6s;@6iC968>y6H`1*`pȿnj?_?@$?@۠?@ ?5[? el=e@=e5@ e@)aIaayeQ@quDAI}I}2٢ 1=9N%Q > G٣y > Nusing accuracyPremultiplier from config59NI?5YC i:j>>;,@QxE;3;5 z@DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf`:C@]j>>]j>>]C-?]@|e@iC 隽@I&: ɚiIIiiDӽ))zK+LKKKYK BK:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.D  :*F2F:FBFO0JFJ J J 0J J |:J 9J ـ3J G _ҽB O% >"Gw,jAWill construct direction to contact in vehicle frame from tetrahedron phase data.niX-@Ynfw;@nֵ9n7>ynHO(ȿFz?v?T%?:?t?d\?ɨniX-@nEp;n"CyzBz$III2٢ D=9-0Q 5>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59UC?]5YU iUN:Ye,e@URxEU:U:U5i mp@mEDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfjpC@]]]]qe@}ֵ y}Q?I}%: yɚiII Z$?IjHm<bHm4=HqIq Iu%IIuBIq&Iq.Iq6Iu<:IuX FiiԽ))Da*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GU `KҽBa O >iGw,PA6-@Y69;@6v967>y6H! ɿ?jY? S?8?@)?\?ɨ6-@6:;6CyZBZ$ImMb@Mb@Mb@iii i)iYmMb?oʡ?Q?ym>m->mu=m@ ml@)mƷ@Iiiym@IIV83٢  B=9.9Q > G٣y > Nusing accuracyPremultiplier from config59>?5Yr i9a>p;P@SxE$;";\5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhh Bf f rf bf C@]a>]a>].l?]u@v @I&: ɚiI5Will construct direction to contact in vehicle frame from tetrahedron phase data.I9i9i=:p۽)9)ABDM;?:DM?D :EE I*F?2F!:F!BF%_0JF!GE %ֽBQ Om >zK KK u9K K ZK  Will construct direction to contact in vehicle frame from tetrahedron phase data.o2Gw,/A%׷,@Y%:@%{t9%<7>y%HSɿ?@?s?ƶ??`j]?ɨ%׷,@%+;%!CyEЅBE$IIUIU 3٢e_ eN=9m矺Q m>ii mG٣qyuYy u> Nusing accuracyPremultiplier from configy59}9?5Y}’ i}9@}UxE};};}5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfC@]]]]qu@%{t !%s?I-(: )ɚ-4i)I)I1i1i5)9)ADU :JJJJJ :J:JJ*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data. qIqGE -۽BQ Hu >Iq  Iu a%IIu uBIq &Iq .Iq 6Iu y<:Iu A FO >+_Gw,AZu,@YZǔ:@Z E9Z6>yZH Iʿ??`6s??Ʀ?@]?ɨZu,@Zr;Z CyfDžBf$I)h hlnAWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y1Zd?"~?+?y"=S>=b@ Ʒ@)I@y(@II3٢/ C=91b9Q > G٣yx > Nusing accuracyPremultiplier from config594?5Y i.8{>X;@VxE#;^;5  @ 5DNOT Ignoring new targets: 61.10 m. j1j1j9j9i9h9h9hAhEBfAfArfAbfMD@]m{>]m{>]m?]mr@} E 隅?I$: ɚ}y5iIIiiM ))D. :*J"J=*Fm?2Fi:FiBFm`0JFiE Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY G B O > yGw,A6:,@Y6Y:@6ݶ966>y6H@{ʿ?`j ?``[?Ӷ? >?^?ɨ6:,@6m;4y>ÅB>$IIJIJ3٢R RY=9RjJQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^i0?f5Y^. i^p7dfRj@^WxE^@;^"A;^5l n@lDNOT Ignoring new targets: 61.10 m. jjj j i h h hhffrfbf@|>D@]9]9]9]=f@ݶ ?I': ɚ5iIIii4))zK=BHK=C9K9K=[K=MWill construct direction to contact in vehicle frame from tetrahedron phase data.BKQ:KQD*F%?2F!:F!BF%0JF!GsB O% >JAKEm3 KES}-KAKA"KAJ J J J J |:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,A j+@Yj:@j2B9j^c6>yjHJO˿(? -?t?@??~^?ɨj+@jĈ;hyrBr~$IIzIzF3٢  E=9 P;:Q  >  G٣y;6 > %Nusing accuracyPremultiplier from config%59+?-5Y i6)--@YxE::d5=B ER@EEmDNOT Ignoring new targets: 61.10 m. jijijijiiihihqhqhqfqfyrfybf}@sD@ Ih]]]]?@2B ?IZ$: ɚ5iIIii))ZHRH@AHI I/%IILBI&I.I6I<:I FD} :]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JFG] ȇBq O > GGw,0A(4 HYLyLn\+@YnY9@n9nt6>ynH@8˿F? +?b? ϶??=^?ɨn\+@n[;n%CyvBv$Ii|I~=Mb@Mb@Mb@ )YI +?Cl?ʡE?y9=;_>-=@ @)ݸ@I/@yII[3٢<< ;=9sQ > G٣y% > Nusing accuracyPremultiplier from configUWill construct direction to contact in vehicle frame from tetrahedron phase data.]59'?]5Y i5]X>]S;]Q ]@ZxE%<<N5i m@DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbfcD@]X>]X>]?]g@ ?I"!: ɚU6iIIii|)) )I)DE Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AzK K K K \K 3( *F] ?2FY :FY BF] 91JFa Gi  Gi GBO> Gw,%A2T+@Y2s9@2V926>y2H`@nu̿]?`? U?@ȶ??]?ɨ2T+@2;2 Cy>DžB>$IIF&IF3٢Z< ^6=9bwX9Q b>dp rG٣pyv3 z> Nusing accuracyPremultiplier from config|59~g"? 5Y~ i~4   @~\xE~;~;~K5 @EDNOT Ignoring new targets: 61.10 m. jAjIjQjQiQhQhYhYhYfYfarfabfeD@]1]1]1]5=@mV quv?IuM$: yɚ}=6iyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D I*FQ2FY:FYBF]O0JFYH>I I#%IIBBI&I.I6I^<:I/ FBIJIRIZIbIjI{3GMBYO}Y> Will construct direction to contact in vehicle frame from tetrahedron phase data.\0Gw,?A6+@Y699@696@6>y6H{@q̿ ?#9?dA??"?]?ɨ6+@6U;4yRۅBR$IEMb@Mb@Mb@AAA A)AYE(\µ?"~?RQ?yE=ES>E=EK@ EƷ@)E@IES@AyE@I]I]T3٢m= m@=9m4غQ u>qq uG٣qy}b }> Nusing accuracyPremultiplier from config59H?5Y i3x>Z;2 @]xEU;O; 5 \@DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf`E@]x>]x>]M0?]@ 隕?I%: ɚ#\6iIIiiPT))DO :J}J}J}1JyJ}L:J}9J}3JyJ}O;aJ}P;aJ}:;aJ}:;a*F%?2F!:F!BF%P0JF!%Will construct direction to contact in vehicle frame from tetrahedron phase data.!! X$?IGM #BY Ou >/Gw,YA6t*@Y6q8@6*96p7>y6H nͿ??V9?R? 7?\?ɨ6t*@6݈;6Cy>B>$I)D FADFAININ(*3٢VQ= VW=9VLQ Z>XX ZG٣Xy^G ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib2dj} j@b^xEb:b:bȤ5l %@!}Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfNE@zKLK9KK]K]]]]т@ * E?I-X&: )ɚ-#{6i1I1IAiAiE8J )A)QDX :*F?2F:FBF[0JFGlBOE>- Will construct direction to contact in vehicle frame from tetrahedron phase data. I H I  I <%II WBI &I .I 6I <:I J FBGw,lsA2 *@Y28@292Y7>y2H XͿξ?`c!?.?^? ?C\?ɨ2 *@28;2"CyNBR$IIjIj 3٢r= rG=9v0Q v>tt vG٣xyz z> Nusing accuracyPremultiplier from config 59r? 5YE i2   @`xE::5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhf!fQrfYbf]DE@]]]]@ 隽?I": ɚiIIiinQ))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM :*F ?2F :F BF P0JF J J J 0J J :J 9J ـ3J J ;J ;J O>;J O>;= Will construct direction to contact in vehicle frame from tetrahedron phase data. I G BO=>fGw,xFABZY*@YBWx8@Bsι9B7>yBH Iο?@V?@@e(? 1?@?M[?ɨBZY*@Bs;BCyNBN$I-Mb@Mb@Mb@))) )))Y-ˡE?㥛 ?Zd;O?y-=->-j=-b@ -@)- @I-j@)y-@I=I=٢M< U*=9UiQ U>YY ]G٣Yy] ]> mNusing accuracyPremultiplier from configam59eZ?u5Ye ie"1uC>u;uu@eaxEe;e;e5 @MDNOT Ignoring new targets: 61.10 m. jIjQjQjQiQhQhQhYh]GBfYfrfbfE@]C>]C>]1?]@c|@sι \?I:!: ɚ64i!I!I!i)i-))))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}jIK}C9KyK}^K}D!*F 2F :F BF JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.G !& B O>Gw,A LILVd"*@YVaA8@V9V}8>yVH@X qο??A!? J??`Z?ɨVd"*@Vӈ;VCyb!Bb$IidIf= df%=InIn2٢rh> v7=9vcQ v>xx ~G٣|y~K ~> Nusing accuracyPremultiplier from config 59? 5Yѣ i@0@bxEq ; ;5B @EUDNOT Ignoring new targets: 61.10 m. jQjQjQjQiQhQhQhYhYfYfarfabfe@nE@]]]]>/|@ 隕?I6%: ɚiIIii))HI In%IIBI) =&I.I6IN<:I" FDmo:*F%?2F!:F!BF%h0JF!GE BOuW>Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,kA6l)@Y6i8@6c 96{.8>y6H@@^ο^$?ೱ??x?c?Y?ɨ6l)@6Ea;6 CyR8BR%IJbJbJ`J`Jb|:Jb9J`J`Jb;Jb;Jb:;Jb:;Mb@Mb@Mb@ )YZd;O?Q?kt?yj=\= =@ Ʒ@)7@Iy\@II٢= ==9պQ > G٣y > Nusing accuracyPremultiplier from config59 ?5Y) i/>;I5@cxE;:;5 @=DNOT Ignoring new targets: 61.10 m. j9j9j9j9i9hAhAhAhEBfIfIrfIbfM.F@]m>]m>]m&?]m\@uWill construct direction to contact in vehicle frame from tetrahedron phase data.=c 9=?I=J: 9ɚ9i9IAIAiIiM)I)i IDI*F?2F:FBFl0JFG ' B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O5 >zK K 9K K _K  -8CMUbp,Gw,FA2ž)@Y27@2hʼ92o8>y2H`cϿ F? ?} ???@X?ɨ2ž)@2A;0yRMBR0%IIf If2٢r= vZ=9v~Q v>xx zG٣xyzh ~> Nusing accuracyPremultiplier from config59'?5Ys i.%5%@ϟ;;&51 5:@1DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf FaF@]9]9]9]=і\@Uhʼ Y])?I]M%: YɚYiYIYIaiaie)i)iDM:*F?2F:FBF_1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GhBOE> IHI I%IIBI&I.I6I<:Ic F`Gw,KA>ޙ)@Y>۸7@>Yž9> 9>y>H@4Ͽq?@ ?Ly@? Ϸ?|?W?ɨ>ޙ)@>{;>!CyFXBF>%IfWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-B`"۹?Mbp?㥛 ?y-=-;-=-@ -@)-d@I-@)y-G@IEIE٢]T= ]B=9eDQ e>ii mG٣iyu䮻 u> }Nusing accuracyPremultiplier from configq}59u?5Yu iuX. Z= ; y1@ @udxEuHw,t` A6r)@Y6ߑ7@6 96T9>y6H FϿ ?3?Zt? 3?`\?V?ɨ6r)@6u;6Cy>fB>O%IIJ IJ̍2٢V= VD=9ZºQ Z>\\ ^G٣\y^W b> fNusing accuracyPremultiplier from config`f59b?M5Yb ib-QUN1@U@`b Hw,J5 A:.)@Y:M7@:dý9::>y:HǢ.п_?s?k&?,g? 2?T?ɨ:.)@:E<;: CyFlBFV%IIRIR(*2٢V< Z5=9ZvQ Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f?j5YfJ if5-hj0@n@fexEf ;f ;fȳ5p rG@p DNOT Ignoring new targets: 61.10 m. j j j j ihhh!h!f!f!rf!bf-G@]A]A]A]Et0@dý H?I\: ɚܱ5iIIiiG ))1eWill construct direction to contact in vehicle frame from tetrahedron phase data.D:) cC*FA2FA:FIBFM0JFIG  Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.G 5B I O >kHw,P An!)@Yn@7@n Ž9nr9>ynH;`8п?h?jZ?O?{?`T?ɨn!)@nH;;n"CyznBzY%Ii~ G٣y|ں > Nusing accuracyPremultiplier from config59?5Y8 i, >;@@fxE<f;յ5  @DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbfDG@] >] >]P@]Ł@% Ž !%?I%: )ɚ-5i)I)I1i1i5m_ )1)YWill construct direction to contact in vehicle frame from tetrahedron phase data.zKENKE9KAKEaKE:<<;9774/+%#$$%%$$%%&&(%$" $&''"###" ""!!! "!!! !D :E! E% qA*F ?2F :F BF 0JF J J J J J ,:J 9J J a @a @a @a @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝< W$?I G@vB!O=>ݚHw,p AB(@YB7@Bǽ9B5o:>yBH`п6?˫?nd@*??`?HR?ɨB(@BX;BCyNjBNT%IIV IV<2٢^ ^2=9bQ b>dd fG٣dyjM˻ j> nNusing accuracyPremultiplier from configlr59n?r5Yn* inQ,tvK@v@ngxEn:n:nٷ5x zd@|DNOT Ignoring new targets: 61.10 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5@zG@]Y]Y]Y]]vK@mǽHyIy I}%II}BI}* =&Iy.Iy6I}İ<:I}x FBI9JI9RI9ZI=) =bI=) =jI=N4 隝?I: ɚH6iIIii"))D :*F!2F!:F!BF%4JF!GPBO-N>%Will construct direction to contact in vehicle frame from tetrahedron phase data.X~"Hw,hu AynhBrQ%IMb@Mb@Mb@ )Yx&?ˡEZd;O?y7 >什j<=-@ ݸ@)I5@yz@I I2٢h1 ==9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yǟ i,'>;@@hxE),;i);5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhBf!f!rf!bf%>G@]U'>]U'>]U1}@]U@a am{?Im : iɚm'/6iiIi}Will construct direction to contact in vehicle frame from tetrahedron phase data.Iiiޑ")) IDD:Ei>E>*F?2F:FBFY5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AzK MK 9K K bK      G B O >c(Hw,N* A2(@Y26@2s̽92q:>y2Hi@Ǐп]?@?^ ?@? ?yP?ɨ2(@2Ŵ;2Cy:bB:J%I)< >AIFIFT3٢n8 nQ=9v[Q v>ii mG٣qyu u> }Nusing accuracyPremultiplier from configy59}?5Y}x i}+@@}ixE}:}:}5 @DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbfSG@]]]]@s̽ ?I: ɚI6i!I!I9i9i=N%)A)IJ-J-J)J)J-|:J-:J)J)Will construct direction to contact in vehicle frame from tetrahedron phase data. AIAD:HI I&IIBI&I.I6I<:Iq F*FM?2FI:FIBFM05JFIG S Will construct direction to contact in vehicle frame from tetrahedron phase data.B O > $0Hw,$ A2(@Y26@22ν92):>y2Hʇ;пt? ? W@?@Sƹ?a?`9O?ɨ2(@2&ڈ;2 Cy>PB>3%IuMb@Mb@Mb@qqq q)qYu/$?bX9ȶl?yu>uEu=up@ u@)u@Iub@qyu@I!Ii3٢9 4=98Q > G٣y޻ > Nusing accuracyPremultiplier from config59H슜?5Y i|++9>;@@jxE3;;l5 @ĴEDNOT Ignoring new targets: 61.10 m. jjj j i h h hh!BffrfbfTH@]+9>]+9>]3@] @2ν ?I0: ɚ3e6iIIii2())D:*Fu?2Fq:FqBFuO0JFq*Jy"J}p=GMe!BYO}X> qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.G6Hw,W A6p(@Y6ُ6@6>ѽ96P:>y6H`-hп@?%? UM? ;?@V ? N?ɨ6p(@6 ;4yN6BN%IIVIV#3٢bU fZ=9ffQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59n芜?v5Yn inE+tv@v@nkxEn:n:n5x ~@yDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf@PH@]]]]@%>ѽ )-8?I-: )ɚ-i)I)I9i9iErA))A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.Du%:zKQMK9KKcK  BK:K*F?2F:FBF^0JFJJJJJ:J:JJGe `)!Bq O > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.pyFH@y@ѿo?9`?M#x?`N?Y?M?ɨFV3(@F ;F!CyRBR$IIZIZV83٢b bJ=9fQ f>dh jG٣hyjp j> rNusing accuracyPremultiplier from configlr59n䊜?v5Yn5 in +tvq@v@nlxEn:n":n5x z@|%DNOT Ignoring new targets: 61.10 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=@́H@]Q]Q]Q]Uq@mҽ imE?Im: iɚiiqIqIqiyiQ,))Will construct direction to contact in vehicle frame from tetrahedron phase data.D}@:*F?2F:FBFP0JFG= dk"BA Oe >_CHw,'!A>(@Y>|/6@>Dս9>:>y>Hs`%ѿ>?π?I`T? (@>9Lj;> CyJBJ$I |I|-Mb@Mb@Mb@))) )))Y-/$?V-Q?y-,>-h-\=-@ - @))I-@)y-Q@IEIE?13UWill construct direction to contact in vehicle frame from tetrahedron phase data.٢] ]@=9e6Q e>ai mG٣iyu[ }> Nusing accuracyPremultiplier from configy59}ߊ?5Y}٘ i}*,>>;|@@}nxE}N;};}‰5 @DNOT Ignoring new targets: 61.10 m. jjjjiIhIhIhQhUBfQfQrfQbf]}H@],>>],>>]DD@]|@Dս 隵?I$: ɚiIIii1.))BD0?:D;?DE:*F?2F:FBFY0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK PCLK C9K K dK RK ?JK >G d (B O >IHw,)!An'@Yn5@n4׽9n/:>ynH j3]ѿ@Tn??A ;? ٺ?`l?L?ɨn'@nF;n!CyzB~$II  I V2٢ C=9Q >)) -G٣)y5 => MNusing accuracyPremultiplier from configIU59Mڊ?]5YM iM*Y]=@]@MoxEM);M1;Mĉ5i m<@iJJJ1JJ̝:J:J3J-DNOT Ignoring new targets: 61.10 m. j)j)j1j1i1h1h1h9h9f9fYrfYbfeH@]]]]=@4׽ 隵ľ?I: ɚiIIii.y1)) QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F5?2F1:F1BF50JF1"G=>G=>HaIa Ie%IIeBIa&Ia.Ia6Ie<:IeQ FG1 BA O] >] Will construct direction to contact in vehicle frame from tetrahedron phase data._PHw,UC!A6ƚ'@Y6ù5@6ؽ96~9>y6H`(a ѿX?@?:@? ??SL?ɨ6ƚ'@6 6;6 Cy^ɅB^$IuMb@Mb@Mb@qqq q)qYu'1Z?y&1l?yu">u`弹u=u@ u @)u@Iu@qyu@I&I3٢$ C=9uQ > G٣y > Nusing accuracyPremultiplier from config59֊?5Y i0*)>;'@@pxE3;^;ZƉ5 f@DNOT Ignoring new targets: 61.10 m. jjj j i hhhhBffrfbf #I@]=)>]=)>]={@]=V'@Uؽ QU?IU": QɚQiQIYIYiYie24)a)aD:*F}?2Fy:FyBF}S5JFy EV$?IEhWill construct direction to contact in vehicle frame from tetrahedron phase data.G |9+B Om >VHw,)]!A6^'@Y6}5@64ڽ96+9>y6H`Wlѿ3?`M(?3@?N?`i?K?ɨ6^'@6;4y^B^b$IIf If(2٢z(< zW=9zJ.Q z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 59 ъ?5Y ו i )'@@ qxE 6; y; ȉ5! %@!DNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf @/WI@Will construct direction to contact in vehicle frame from tetrahedron phase data.])])])]-4'@E4ڽ AE?IE&: IɚIiIIIIQiQiUK7)Q)YzKEV$KKAKAKEeKE#4HRRSSQPMBKQ:KQDa:*Fu?2Fq:FqBFu1JFy 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.jHY bH] <Ha Ia  Ie U%IIe kBIe * =&Ia .Ia 6Ie u<:Ie ? FG .B O >U]Hw,tw!ABt'@YBq$5@Bܽ9B#9>yBHlIҿ ?|?$'?`t?8?NK?ɨBt'@B;@yNBN>$IIV&IV3٢^ ^G=9^7Q b>`` bG٣`yfY f> jNusing accuracyPremultiplier from confighr59j̊?r5Yj ij)tv7'@v@jrxEjW;jYW;jɉ5zB zt@~ǴEDNOT Ignoring new targets: 61.10 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5 ?I@]]]]7'@ܽ p?IZ: !ɚ!i!I!I)i1i5;)9)aWill construct direction to contact in vehicle frame from tetrahedron phase data.DMj:uc~G|uA*F?2F:FBFP5JF Y|uAy BJQ JU JU 0JQ JQ JU :JU ـ3JQ JU ;ae JU ;ae JU .Y;ae JU .Y;am I G% z/B1 OM >|9dHw,!AWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=^&@Y^4@^ݽ9^9>y^H =HZҿ@*?@?`H@??@$?`WK?ɨ^&@^;^#CyjdBn$Iir%=Ir=eMb@Mb@Mb@aaa a)aYe~jt? rh?J +?ye>eC =eH=e@ e @)e@Ie@aye@I}I}3٢Q% >=9 Q > G٣yq! > ]Nusing accuracyPremultiplier from configYe59]hNJ?e5Y] i])e3'>m;m?@m@]sxE];]$;]ˉ5q u@qDNOT Ignoring new targets: 61.10 m. jjjjihhhhiBffrfbfI@]3'>]3'>]Wa>]=?@ݽ ?I: ɚiIIii6M?))D:*Fu?2Fq:FyBF}P0JFyGUGv4BaO}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BMK 89K K fK LGA?<;850(# RK% ?JK% ?ajHw,f!A>B]&@Y>?|4@>߽9>X8>y>H(. wҿA?@?[z}?ջ??J?ɨ>B]&@><;> CyF;BJ#IIf2If?3٢rW rW=9rQ r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from config|59~Ê?5Y~ i~(>?@@~txE~ :~:~[͉5 >@MDNOT Ignoring new targets: 61.10 m. jIjQjQjQiYhYhahqhyffrfbfI@]]]]>?@߽ x?I: ɚiIIiiyD)) YIYD5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe]0JFaHI I$IIBI&I.I6I<:I FBIqJIqRIqZIu* =bIu* =jIuF4G5BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.EqHw,V!A6 &@Y6)4@696lb8>y6Hj @Gӿj?h?/`I?`j ?+?@K?ɨ6 &@6;4yR BR#IMb@Mb@Mb@ )Yp= ף?K?V-?y>^=m=@ M@)Iy@I I(2٢ >=9+Q > G٣y? > Nusing accuracyPremultiplier from config59콊?5Y i(->;8@uxE8;b6;=ω5 @%DNOT Ignoring new targets: 61.10 m. j!j!j!j!i!h!h)h)h-/Bf)f1rf1bf5@K(J@]U->]U->]UX?]UJ0Y@e am)?ImD: iɚiiiIiIqiyi}uH)y)yJK3 K.-KK"KJ5J5J1J1J5|:J5:J1J1J5;J5;J5DG;J5DG; III=Will construct direction to contact in vehicle frame from tetrahedron phase data.D]o:*F?2F:FBFP0JFG <B) OE >jiwHw,U!A2S%@Y2P3@292/8>y2H_ӿY?%?@@? "??K?ɨ2S%@2;2!Cy>B>#I)@ @IJ)IJW3٢R@ R_=9VʉQ V>TX ZG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^A i^'dfP9f@^vxE^;^;^Љ5h j(@l-DNOT Ignoring new targets: 61.10 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf=WJ@]Y]Y]Y]]EX@Will construct direction to contact in vehicle frame from tetrahedron phase data. O?I': ɚiIIiiM))zK5,MK5-9K1K5gK5     BKA:KErAD: AIA*FM?2FI:FIBFU]0JFQ] Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH I  I $II ȅBI &I .I 6I <:I i FG% AB9 OU >f}Hw,!A><%@Y>[3@>v9>07>y>H@ӿ*?(??,??OK?ɨ><%@>d;>CyJBJ}#IIf'If@3٢nj nG=9nȹQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~?5Y~ i~& 9 @~wxE~;~5;~҉5 >@=DNOT Ignoring new targets: 61.10 m. j9jAjAjAiAhAhAhIhIfIfIrfQbfUŋJ@]q]q]q]uhX@v 隍?I: ɚ%4iIIiiR))*F2F:FBF95JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GWDBO8>J] J] JY JY J] ܫ:J] :JY JY J] ;J] ;J] C;J] C; 5 U$?I1 ^rHw,"AWill construct direction to contact in vehicle frame from tetrahedron phase data.Rg$@YR2@RM9Rw7>yRH Կ6?? `?Z?`?DK?ɨRg$@RC;R"CyZ˄B^V#IMb@Mb@Mb@ )Y|?5^?(\?Dl?y=z>O=@ 7@)@I@y(@I!Ii3٢ ==9'ֺQ > G٣y > Nusing accuracyPremultiplier from config59믊?5Y i@&ZC>;c"@xxE;;ԉ5B 3@ʴE-DNOT Ignoring new targets: 61.10 m. j)j1j1j1i1h1h9h9h=BfAfArfAbfE'J@]uZC>]uZC>]u_t?]u2o@M µ?Iw: ɚi I I1i1i5m^)1)1*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iGDBO >zK} LK} 89Ky K} hK}  $('*++.0113223554561020./.,-.-)*,*++Hw,,"AF\#@YFY2@FX9Fc7>yFH Կ'!?eV?Im?{?@?J?ɨF\#@F4x;FCyNBN;#IiRxx ~G٣|y > Nusing accuracyPremultiplier from config%59?%5Y i%!-"-@yxE<;{<;,։51 5@1 IhDNOT Ignoring new targets: 61.10 m. jjjjihhhhf f rf bf J@]y]y]y]}Ro@X 隵B?I?: ɚiIIiiCc))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FyBF}3JFyHI I/$II|BI&I.I6IѰ<:I FGe"PBiO9> Will construct direction to contact in vehicle frame from tetrahedron phase data.*Hw,ZF"A6Ly#@Y6I1@6796q7>y6Hdտ@?k??>E?w??J?ɨ6Ly#@6;6"CyBBB'#IMb@Mb@Mb@ )Y~jt?Cl?ˡE?y=d;>= M@)/@Iy@IM%IM)3٢- -5=9-9Q 5>11 5G٣1y=f => ENusing accuracyPremultiplier from configAm59EF?u5YE iE$u[>uw;uB}@EzxEE];E;;E"؉5 @DNOT Ignoring new targets: 61.10 m. jjjjihhh!h-فBf)f)rf)bf- #/K@]u[>]u[>]u?]u~@7 隕3?IP: ɚ4iIIii,i))El>E!>J J J 1J J |:J  9J 3J J ;J ;J O>;J O>; I*F12F9:F9BF=P0JF9"GE>GE>Will construct direction to contact in vehicle frame from tetrahedron phase data.<G} VB O >Hw,:`"A6#@Y6|/1@6I96M7>y6H տa? Q.?? ???K?ɨ6#@6;6 CyFBF#IIN5IN3٢Vi Vj=9V~nQ Z>XX ZG٣Xy^ b> fNusing accuracyPremultiplier from configdj59fã?j5YfR if$hjj@f{xEf :f:fى5p r3@pDNOT Ignoring new targets: 61.10 m. jjjjihhh!h!f!f!rf)bf-`YK@]A]A]A]Ex~@]I Y]?I]: aɚe/5iaIaIiiiimn)i)i2Du*DuBD}:D}Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFu_0JFqGEeZBYO}>zKU MKUu9KQKUiKU,.-,+)&%##$'&!!#!$"" 6(lGdC4//-+(    IM Will construct direction to contact in vehicle frame from tetrahedron phase data.Hq Iq  Iu #IIu DBIq &Iq .Iq 6Iu İ<:Iu | F؝Hw,rz"A6s"@Y6p0@6Y96wM7>y6H@<ֿ{? ?w@t?@|?-?` K?ɨ6s"@6RT;6!CyBBB#IDFAIJIJF3٢fw fH=9f":Q f>hh jG٣hyn< -> =Nusing accuracyPremultiplier from config1=595?E5Y5 i5D#AE*E@5|xE5 ;5 ;5}ۉ5I U]@Q}DNOT Ignoring new targets: 61.10 m. jyjjjihhhhffrfbfK@]]]]}@Y ?I: ɚŃ5iIIiiEu))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G`BO> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.PŤHw,"A6,"@Y6K0@696T6>y6Hrֿ@??fԂ?~? A? ZK?ɨ6,"@6] ;6Cy>B>"I Mb@Mb@Mb@    ) Y v/?(\?Zd;O?y xi= G> j= $@ @) @I Z@ y  @I%I%M3٢=ռ =C=9=]:Q =>AA EG٣AyEk M> Nusing accuracyPremultiplier from config59?5Ye i`"_d>n; @}xE;;X݉5 @ ]DNOT Ignoring new targets: 61.10 m. jYjajajaiahahahhځBffrfbf0K@]_d>]_d>]"?] Ȃ@  =?I z: ɚ Ұ5i I IiiCWill construct direction to contact in vehicle frame from tetrahedron phase data.zK ״NK C9K K jK .&Hw,:ɭ"A Bĺ!@YB/@Bt9B7>yBH@#]@Sֿ?@ i?xRtt vG٣tyvv z> ~Nusing accuracyPremultiplier from configxJJJJJ\:J :JJa @a @a @a@59za?5Yz՞ iz!!% %@zxEz;z;zމ5 QIQa e @aDNOT Ignoring new targets: 61.10 m. jjjjihhhhffrfbf`K@]]]]}@}t 隅?I: ɚ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I I#II!BI&I.I6Is<:IA F*F?2F:FBF0JFG[mBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.) ڱHw,~"A*~G6vA@ VYVvAyVBy{B"Ii%=Ip< ==-Uionly read 2 of 4 data items for bottom velocity. Device response is::BS, +190, +94,A +190, +33, :BD, +1.13, +260.71, 6.75, 0.00  U@U U@U U@U  U@U I]I]3٢> .=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59%? 5Y i  +:  @;  @xE~;>5 6@=B*** querying acoustic contact ***j9j9MDNOT Ignoring new targets: 61.10 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]2L@ 隍=?I?: ɚ6iIIii^2)) AIA*F?2F:FBF1JFG6qBWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.O=P>Hw,"A6. @Y6+/@6967>y6H.3׿?&.?**?O?i? J?ɨ6. @6@;6CyRBR"IIZ$IZ<3٢bS= bu=9b5Q f?dd fG٣dyj! j? rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n?v5Yn inv :tz;z z@nxEnQ;nN?n5| @-DNOT Ignoring new targets: 61.10 m. j)j)j)j)i1}Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3026> BDAT read: Tx time:23:04:42.7722 $Ping request sent.5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252778H ">I  I #II BI &I .I 6I <:I v FBIJIRIZIbIjIɘ4&Hw,}Z"A: @Y:.@:99:!7>y:H Fؿ&?%?`@l?׼?@n?sI?ɨ: @:=B;: CyFBF"IININ<٢V VL=9V ϺQ V>XX ZG٣XyZd ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59be?j5Ybm ibj9hj:j(j@bxEb(;b?b5p r@rʹE DNOT Ignoring new targets: 61.10 m. j j jjihhhhffrf!bf%ˏL@M9 QUW?IU : QɚU,6iQIQIYiaie )a)a*F2F:FBFP0JFGVSwB!O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506478 ) I) = Will construct direction to contact in vehicle frame from tetrahedron phase data.= == =E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7551754Hw,z8#A6rM @Y6ol.@6`96a(>y6H @#rؿ@N?? @??`l?@]?ɨ6rM @6;4y~B"I)          Mb@Mb@Mb@ )Yl?ˡE?~jt?y='>=h@ @)@I@y=@II 2٢g; 8=9AQ > G٣y! > Nusing accuracyPremultiplier from config59h?5Y i/T:?F>;+ @xE ;T;x5  @ DNOT Ignoring new targets: 61.10 m. jjjjihhhhBffrfbf@L@]?F>]?F>]Ψ?]y@U` QUp?IU : Yɚ]A6iYIYIaiaia)a)a*F%?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954GM 3BQ Ou >zK >KK C9K K lK RK% >JK% >8Hw, /#A2l@Y2i.@292PA*>y2Hhؿ?? ??" ?`Z?ɨ2l@2s;0y:B:#IIFIF٢N,= Na=9REQ R>PP VG٣TyVz V> ZNusing accuracyPremultiplier from configX^5 `Id9Z?f5YZ iZtdf f@ZxEZ,q;ZIC III) =&I.I6I<:I F*F?2F:FBF^0JFG-:B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5140764$Hw,UH#A~q@Y~-@~H9~->y~H @n)ٿ6?@X|?_^? ?"w?kV?ɨ~q@~;~CyB #IMb@Mb@Mb@ )Y?S㥛?Mb?yL=$>=@ @)@I@y@IIT3٢ɪ; 6=9٫7Q > G٣y > Nusing accuracyPremultiplier from config 59 䄊?5Y  i ,>;@ xE D; o; 5! -@)UDNOT Ignoring new targets: 61.10 m. jQjQjQjYiYhYhYhYheEBfifirfibfm0M@],>],>]1d?]~@H 隥?Ie : ɚ$h6iIIii)) I*F92F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763308G SB O >JHw,Pb#A:@Y:,@:n9: 1>y:Hj˥ٿ;N??@@ػ???IQ?ɨ:@:;:!CyFBF#IiJ?>IJ>ININ 3٢V2Y= Vb=9Z79Q Z>XX ^G٣\y^μ b> fNusing accuracyPremultiplier from configdj59fk?j5Yf iflnn@dfy;f;f5p rl@tDNOT Ignoring new targets: 61.10 m. jjjjihhh!h!f!f!rf!bf-^M@]I]I]I]Mk}@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015192un qu_?Iu: qɚ}y6iyIyIii))*F2F:FBF0JFzK=K9K9K=mK=BKepA:Ka IG5:BAJ]J]JYJYJ]̝:J]9JYJYOuy> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894jH bH 4<H $>I  I #II BI ( =&I .I 6I Ѱ<:I FtHw,@|#A2a@Y2,@2X]924>y2H@ ڿ?q? ?@g;??[?L?ɨ2a@2\;0yNBR#IIZ!IZi3٢z=< zF=9~ΐQ ~>| G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y ڨ i 3@ xE ; 1; f5) -"@1]DNOT Ignoring new targets: 61.10 m. jYjYjYjYiYhahahahafifirfibfm`M@]]]]?|@X] 隥?I: ɚ~6iIIii))E*Fm?2Fi:FqBFu]5JFquWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524566GuBBO> I hJa Je @A Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770857_Hw,#AB;@YB8,@B19BJ37>yBH [ڿ?`?@Ni?5?? H?ɨB;@B{7;B CyJBN!#IMb@Mb@Mb@ )YMb?ˡE?K?y==^=@ /@)@I@y @I Ib3٢[< ?=9$wQ > G٣yf > Nusing accuracyPremultiplier from config59|?5YA iX >;,@xE5;;E5 @DNOT Ignoring new targets: 61.10 m. jjjjihh!h!h%wBf!f)rf)bf-M@]M >]M >]Mwh?]Mzfe@]1 Y]=?IeB : aɚe6iaIaIiiiii)q)q*Fu?2Fq:FyBF}0JFyuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:04:45.2582 }TRx dataTimestamp_ set to:1736377486.596628checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023953G} J B O >xHw,[[#A IzK.BoHK.9K,K.nK.RK6?JK6>J @YJ+@J#9Ja/8>yJH@Fڿ ?`x? se?S? ?F?ɨJ @JMd;HyRBR #I)T TI^0I^(3٢f fZ=9jMQ j>pt vG٣tyzn/ ~> Nusing accuracyPremultiplier from config-59z?55Y i15,5@J;;5I U@QDNOT Ignoring new targets: 61.10 m. jjjjihJJJJJJ9JJhQhYhYfYfYrfabfe` M@]]]] e@# ?I : ɚ^6iIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275049Iii))HU%>IQ IU#IIU0BIQ&IQ.IQ6IU<:IUz F*F2F:FBF5JFGcBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:04:45.2582 LVL= 20464, 27377, 14882, 32739, AGC= 54, IDX= 450,-0.13,-1.014,-1.096, 0.848,-0.268, PHS=-0.658,-0.781, 1.113, RAW= 206.7, 3.6, CAL= 207.5, -3.5, ROT= 302.5, 3.5  Ygot valid direction response: 23:04:45.2582 LVL= 20464, 27377, 14882, 32739, AGC= 54, IDX= 450,-0.13,-1.014,-1.096, 0.848,-0.268, PHS=-0.658,-0.781, 1.113, RAW= 206.7, 3.6, CAL= 207.5, -3.5, ROT= 302.5, 3.5  PDAT read: Bearing 302.5, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 302.5, 3.5 (Local)  DAT read: Range 10 to 50 : 61.3 m (Round-trip 81.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.105962,-0.910422,-0.399881] Fpublishing direction and range info؉ 9؍ Jձ[ (r,"¤ٿy؍ 3uB؉ ؍ O؍ j ٍ ":)ٍ Iٍ 6iٍ r(ٍ Gٍ v?ٍ f@ٍ = ڍ g@)ڍ 5zIڍ @iڍ 5z=ډ ډ ۍ  lF?TH?({ ?)ۍ ;?Iۍ Omiۍ ׿ۍ B>ۉ ۉ wHw,Z#A@Y+@9:8>yH|ڿ3?`4?`N??B? 4E?ɨ@,;騵!CyB-#I IMb@Mb@Mb@ )YK?)\(?sh|??y^=Ga==@ =@)@I@y@*J"J4=I%I%2٢}#= }=9GQ > G٣yϻ > Nusing accuracyPremultiplier from config59v?5Y i >;H@@xEj;;65 8@kOq?k & k k7m#A:k3uBBksBZk؇?"\dt&KH6>8Jձ[ (r,"¤ٿJk׿RkB>*hj8@–[=F@@N7SAv逑~?, ?*5#"k0B*kKAkzȔ?k/ 2knAkzȔ?k[ kk@kBkc?  addTargetRange:: Added new target pos. range: 61.299999 m, deltaT: 60.259822 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, rangeRepo size: 4  Added new target pos. range: 61.299999 m, bearing: 60.808534 deg, lat: 36.904949 deg, lon: -122.119688 deg, deltaT: 60.259822 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, posRepo size: 4 %DNOT Ignoring new targets: 61.30 m. j!j!j!j!i!h)h)h1h5Bf1f9rf=`fN@bf=?]e >]e >]eW, ?]e H@} y}?I}u: yɚ}6iyIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FIBFM@5JFIGm :By O >Hw,Q#A 6zR@Y6wq+@696v 9>y6HAqIڿzG?a?@vi0??@?D?ɨ6zR@64ƌ;6Cy>BB7#IIJIJF3٢v`= v=9v3Q z?xx zG٣xy~3 ~? Nusing accuracyPremultiplier from config 59tt? 5Y i] H@@@::t5 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 61.30 m. jYjYjYjYiYhahahahafafirfibfm`L?]]]]|H@ 隥?I: ɚl6iIIii))*F5?2F1:F1BF=[0JF9 IzKK9KKoKBKqA:KqAGcBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHI RHM AAHU &>IQ  IU #IIU :BIQ &IQ .IQ 6IU <:IU x FHw,#A67@Y6 V+@6,968>y6Hjۿb?gy?q? ?`? D?ɨ67@6x8;6 CyPR6#IIZ IZ(2٢b? bM=9b]Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nxq?r5Yn inpvH@v@nxEnd;n;n25x z@xDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`?]]]]H@, i?I% : !ɚ%6i!I!I)i)i))))1MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F? )2Fa:Fy Yyk BBF}]0JF"G>G> IJe Ja Ja Ja Je :Ja Ja Ja Je ;am Je ;am Je :;au Je :;au G [B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.nIw,$AU @YU ++@UV9Uu9>yUH` &ۿKx? G٣yĻ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config590n?5Y i+:;hH@@xEj;v>5 B @ дE=DNOT Ignoring new targets: 61.30 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM?}V y}܃?I}l : yɚj6iIIii))*F 2F :F BF _0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.G5:BIOu> S$?I  Iw,1$A6Q@Y6N+@67968>y6H`Y .=ۿ`(?@? c ? ?`?5C?ɨ6Q@6;6"CzKBBoIKBM9K@KBpKB 5C! RK^?JK^>ynBn+#IIvIv2٢W X=9  Q  >   G٣y > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59\k?-5Y ic- :)-;-XH@5@';Q?59 =M@9eDNOT Ignoring new targets: 61.30 m. jajajijiiihihihqhqfqfqrfqbf}Ґ?7 隥?I : ɚ[6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H '>I  I #II DBI &I .I 6I <:I m FBIœCJIœCRIZI( =bI( =jIO5D=:*F2F:FBFJFG Ge Will construct direction to contact in vehicle frame from tetrahedron phase data. PExceeded connect timeout, disconnecting.G BB1 O} >Iw,uK$AyB &#I)  III        Mb@Mb@Mb@ )YQ?Mb?㥛 ?y\><=I@ @)5@I@y@I+In3٢s -=9Q > G٣y > Nusing accuracyPremultiplier from config 59f?5YǨ iT:!>;(@@xE;;9;5! %@!MDNOT Ignoring new targets: 61.30 m. jIjQjQjQiQhQhQhYh]؂BfYfarfabfe@9@]!>]!>]i=]%(@ 隝ff?I: ɚA6iIIii))JJJJJ|:J9JJJ;J;J8;J8;Will construct direction to contact in vehicle frame from tetrahedron phase data.D=:*F 2F :F BF Y0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >{Iw,i$A^R@Y^O*@^u9^8>y^H6H{ۿ ?? TVK? g\??B?ɨ^R@^5H;^ CyrBr #III3٢ N=9%JQ %>)) 5G٣1y5*: => ENusing accuracyPremultiplier from config9E59=c?M5Y= i=%IM4(@U@=xE=;=;=5Y ]@aDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf@]!]!]!]%4(@Uu QUd?I]: Yɚe6iaIaIii)) IhzKU[LKUC9KQKUqKUBKa:KepAWill construct direction to contact in vehicle frame from tetrahedron phase data.D%2:H=(>I9 I9I9I=) =&I9.I96I=۰<:I= F*F2F:FBF_0JFG BB O >,!Iw,aq$A2ro@Y2o*@2a92I9>y2H`#;@wۿ?@'?@H%.?y??@?ɨ2ro@2;2Cy:B:#IIFIFF3٢N2 NF=9RQ R>PP VG٣TyV Z> ^Nusing accuracyPremultiplier from configX^59Z_?b5YZi iZ`b'@b@ZxEZ:Z@:Zm5d jd@h~DNOT Ignoring new targets: 61.30 m. j|j|jjihhhhffrfbf(@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]b'@  nManaging dock network, ignoring radio surface power offa !%_?I%: IɚM6iIIQIii)) D%: I*F?2F:FBFO1JF"GG>JKm3 KL.KK"KJJJ/JJ\:JO9J(N3JJi;Jk;Je,;Je,;] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE >0'Iw,)$AyB#Ii =I C=Mb@Mb@Mb@ )Yn?Mbp?Dl?yV>;O=A @)Iy@II٢I  ;=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%Z?-5Y% i%5>5;5a&@5@%xE%5;%;%c59 E@AmDNOT Ignoring new targets: 61.30 m. jijijijiiihihqhyh}ނBffrfbf`ܟ @]>]>]Ѭ<]a&@ 隽 W?I: ɚ6iIIii))Dj:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF IGm :Bq O >zK jIK 9K K rK Vo_UI=95/*'$# [-Iw,$AHI I#II5BI( =&I.I5D6I<:Ig F"Will construct direction to contact in vehicle frame from tetrahedron phase data.-,-@Y-)L*@-kN9-9>y-H+ xۿ?a?:? ??@?ɨ-,-@-ƀ;-CyEBE#IIUIU<2٢eۼ eP=9m Q m>ii mG٣iyuZ- u> }Nusing accuracyPremultiplier from configy59}JW?5Y} i}o &@@}xE}/;}@;}5 j@DNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf g@] ] ] ]  &@kN WT?I/: ɚg6iIIii))D:Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fq :Fq BF} 1JFy I J J J 0J J :J 9J ـ3J J 6;J 7;J 3;J 3;G BO=>)55Iw,$A2R@Y2O&*@2S92J9>y2H@"ܿ?΂?M2;к?|??k@?ɨ2R@2E;2$Cy~wB~"ImWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y~jt?~jtx?㥛 ?y>;= @)x@I@yQ@II3٢~ +=9`YQ > G٣ym > Nusing accuracyPremultiplier from config59ZR?5Y i,>;&@@xE$; #;%5 ]@DNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbfEZ@]=,>]=,>]=!=]=Y&@uS qu=J?Iu: qɚuv6iyIyIii))DE:% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF I G=BBIOm> iy:H8ܿ F ?2?`K%??`?@?ɨ:+@:ם;:"CyF`BF"I)l lzKvMKv89KtKvsKv   Iv'Iv@3٢ н  6=9 (D:Q > G٣y > %Nusing accuracyPremultiplier from config!-59%M?-5Y%) i%15&@5@%xE%` ;% ;%5=B =@=ӴEeDNOT Ignoring new targets: 61.30 m. jajajijiiihihihqhqfqfqrfybf}` @]]]]^&@* 隭>?I^: ɚiIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.m%=m4=HI I#IIBI' =&I.I6I<:I FD:*F?2F:FBFO0JFG:BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.KCIw, %A%@Y%)@%H9%*8>y%HYNܿ??` S?}v?9?@A?ɨ%@%j;%Cy=XB="I yIyMb@Mb@Mb@ )Y7A`?{Gzt?Q?y>ף;\=QA @)@I@y@II3٢ <=9!:Q >    G٣ y M > Nusing accuracyPremultiplier from config%59jI?%5YX i}-&>-;-G&@-@xEV5;4T;59 =L@9eDNOT Ignoring new targets: 61.30 m. jajajajaiihihihqhu؂Bfqfqrfqbf}@]&>]&>])D =]G&@-H 15@?I59 1ɚ5I4i1I1I9i9i9)9)AJJAADx:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG B O >gvIIw,K'%A6@Y6)@696349>y6H3|ܿ???r̒?`OB??`A?ɨ6@6ֲ;6 Cy^=B^"IrWill construct direction to contact in vehicle frame from tetrahedron phase data.Iv%Iv)3٢   \=9  ;Q > G٣y% %> 5Nusing accuracyPremultiplier from config1E595E?E5Y5 i5AM&@M@15 V;5+V;55Y ]@Y-DNOT Ignoring new targets: 61.30 m. j)j)j)jIiQhQhQhQhQfYfYrfYbf])c@]]]]3&@ 2?In9 ɚiIIii))DEa : uR$?Iq*F?2F:FBFJFJJJJJ,:J9JJa@a@a@a@zKm}LKmC9KiKmtKm$ HqIq Iu#IIuBIu( =&Iq.Iq6Iu<:Iui FWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >v[PIw,A%A^o@Y^)@^_d9^8>y^H:$ܿ`?` ?{?@?? "C?ɨ^o@^,;^"Cyf5Bj"Iin=InR= r=pIv7Iv3٢~6 ~K=9:Q >  G٣ y L  > Nusing accuracyPremultiplier from config59A?5Y ij!%&@%@xE ;? ;b 5) -o@)UDNOT Ignoring new targets: 61.30 m. jQjYjYjYiYhahahihififirfibfu@]]]]&@_d 隥.?I9 ɚ )4iIIii))) MNGWill construct direction to contact in vehicle frame from tetrahedron phase data.)A uYqyuAD@ :*F?2F:FBFP0JF I*J "J %= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >VIw,yZ[%AVLD@YVHc)@V9V@9>yVHdܿ'?0?@r?ǽ?@? C?ɨVLD@V>;V!Cyf Bf"IUMb@Mb@Mb@QQQ Q)QYU/$? rh?V-?yU1>UC G٣yͻ > Nusing accuracyPremultiplier from config59=?5YE i\>;p+@@xE&;U;8 5 @DNOT Ignoring new targets: 61.30 m. jjjjihhhhĂBffrfbf@4@]\>]\>]j.>]!p+@ .?Ig9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D :*F5 ?2F9 :F9 BF9 JF9 I J J J /J J J 9J (N3J G B zK MKK 89K K uK  'zO >x{]Iw,x%AjHB<bHB<HDID IFZ#IIFτBIF' =&ID.ID6IF|<:IFO FBIYJIYRIYZIYbIYjI]5bWill construct direction to contact in vehicle frame from tetrahedron phase data.e'@YeF)@e~9e 9>yeH`ܿ ?K?@~`?E_?`R?@dE?ɨe'@eN;e"Cy Bg"II!Ii3٢ ,=9%M\;Q %>)Q UG٣Qy]l ]> eNusing accuracyPremultiplier from configam59eO9?m5Ye ie&imS+@m@exEeh;e;eT 5 ,@DNOT Ignoring new targets: 61.30 m. jjjjihhh hffrfbf6@]a]a]a]e5S+@u~ y}"?I}9 yɚ}5iyIyIii))D :*F?2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiqG! BY O > I cdIw,f%A2<@Y28-)@2{92l9>y2Hܿ@?b?@ax޺?k?@A?2F?ɨ2<@2Ȉ;2 Cy>B>G"I)@ @DFAMb@Mb@Mb@ )Yv/?I +? rh?yx=9<C=zA )@II@y@I-#I-%x3٢5  Z=9w;Q > G٣y愻 > Nusing accuracyPremultiplier from config59+6?5Y$ i >;.@@xEƟ;Ӟ;5 @-DNOT Ignoring new targets: 61.30 m. j)j)j)j)i)h1h1h9h=Bf9f9rfAbfE` @]] >]] >]]6C>]].@u{ qu#?Iu9 yɚ}iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DT :*Fm?2Fi:FqBFqJFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BQ O >ץjIw,%Aft@Yfp)@fk9fND9>yfH=ݿrU?`v? k`#? U~??7H?ɨft@fۖ;fCynBn7"IIz+Izn3٢ꀽ K=9 U;Q  >   G٣y$V > Nusing accuracyPremultiplier from config-592?-5Y i)5.@5@<;<;59 =@9mDNOT Ignoring new targets: 61.30 m. jijijijiiihihihqhqfqfqrfybf}ڔ@]]]]x.@=k 9=V?I=H9 AɚE4iAIAIIiIiI)I)Q yIyJJJ0JJL:J9Jـ3JzK-ϋMK-9K)K-vK-<RK5?JK5>H)>IWill construct direction to contact in vehicle frame from tetrahedron phase data. I"#IIBI&IGD.I6I<:Ig FD=:*Fy2Fy:FyBF}o0JFyG BB O >LqIw, ~%A2C@Y2@(@2&92m9>y2H@#ݿ`"?!?@8? ? ?I?ɨ2C@2P";2 Cy>ɃB>"IIJ*IJ3٢R RI=9R;Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^/?b5Y^@ i^ `f.@f@^xE^:^:^{5h j+@jִE~DNOT Ignoring new targets: 61.30 m. j|jjjihhh h f frfbf` @]A]A]A]E..@]& ae?Ie9 aɚeiaIaWill construct direction to contact in vehicle frame from tetrahedron phase data.Iii))D/:*Fe?2Fa:FiBFm 5JFi IG:BO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.VwIw, H%A6B@Y6?(@63۽96"9>y6H@>ݿ ? =?+b?Y?`k?\L?ɨ6B@6B;6"CyFBF!IiHIJ4<%Mb@Mb@Mb@!!! !)!Y%|?5^?ˡE?x&?y%=%'=%7=%A %K@)%@I%@!y%@IM;IM&3٢]<ݽ ]?=9e;Q e>aa eG٣aymW m> uNusing accuracyPremultiplier from configq59u2,?5Yu iu >;;@@uxEu.a;u_;uW5 @DNOT Ignoring new targets: 61.30 m. jjjjihhhqhuyBfqfqrfqbf}@!@]>]>]->];@3۽ )?I9 ɚiII)i1i1)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխADm: I*F- ?2F) :F) BF- 1JF1 J J J J J :J 9J J H I C I "II jBI &I .I 6I <:I U FzK5 KK1 K1 K5 wK5  %Im (06;AFGE;6730-)&U Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm [By O >$~Iw,%AN$@YN!(@NJgֽ9NS~9>yNH`Q]ݿj??`Nѩ?b?`?@M?ɨN$@N9n;N!CyfBf!IIn7In3٢%4 -:=9-;Q ->11 5G٣1y5o => ENusing accuracyPremultiplier from config9M59=(?M5Y=ƞ i=k QUT;@U@=xE=%-;=W-;=C5Y ]@YDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf@!@]]]]T;@Jgֽ  ?IV9 ɚiIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.Dl:*F?2F:FBF_5JF I G :B O >`Iw,#&A6@Y6(@6ɬн96)8>y6H '~lݿxT?M?@ܻ? ?@?P?ɨ6@6Lj;6 CyByBB!IWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeK?p= ף? rh?ye^=e=eC=e3A eb@)aIeI@aye@I}:I}3٢Xӽ :=9~;Q > G٣y > Nusing accuracyPremultiplier from config59%?5Y֞ i >;E@;;/5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhh[Bff rf bf `"@]>]>]?]&L@ɬн \?I9 ɚiII!iAiA)A)ID%T:*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G J B OM > Q$?I 6#Iw,2&A6;@Y68(@6+˽96B\9>y6H/ ݿ??`/_6?Z?0?R?ɨ6;@6䒈;6CyRcBR!I)T TI^<I^3٢f fX=9j5;Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r!?v5Yr irG xzEz@rxEr:rq:r5y }GAyDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`#@]I]I]I]MfdL@}+˽ y隅?I9 ɚiIIii))HI I"II-BI&I.I4D6I<:Is FzKM-NKMC9KIKMxKM"f  q i 8|| BeSva>tlebdb^Z[Y[XTVXVSPQSNUquWill construct direction to contact in vehicle frame from tetrahedron phase data.D=:*F?2F:FBF'3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G [B O >%OIw,/M&A6x@Y6ݗ(@61Ž96D9>y6H Vݿ.? ?-H?x?@?T?ɨ6x@6;6 Cy>EB>v!IIJLIJ4٢R=  RD=9V;Q V>TT ZG٣XyZ& ^> bNusing accuracyPremultiplier from config\b59^{?f5Y^ i^ dfEf@\^:^:^5 0A 1I1DNOT Ignoring new targets: 61.30 m. jAjAjIjIiQhQhYhhffrfbf`x$@]]]]r=L@1Ž >IT9 ɚiIIii)) JJJJJ:JJJJ;aJ;aJ$7;aJ%7;aWill construct direction to contact in vehicle frame from tetrahedron phase data.De:*F ?2F :F BF 3JF G%:B1OU>wzIw,k&AWill construct direction to contact in vehicle frame from tetrahedron phase data.:@@Y:_(@:X9:;9>y:H ݿ?@(?ou&?@)??Y?ɨ:@@:;8yJ1BJ]!IMb@Mb@Mb@ )Y㥛 ?MbX?L7A`?y==+=A x@)-@Iy@I9I3٢ "=9U G٣y߻ > Nusing accuracyPremultiplier from config59H?5Y i >;.@xE;;5 ADNOT Ignoring new targets: 61.30 m. jjjjih!h!h!h%'Bf)f)rf)bf-rP%@]M>]M>]Mxo?]M*c@]X ae?Ie9 aɚe 4iaIaIiiiii)i)q I!D:jH bH 4<HIC IA"IIBI( =&I.I6I<:Ik FzKOKM9KKyKp^TSPLGB>=<;;<;8997677441240.10--../0/,-,,+-*&$%('$##"Will construct direction to contact in vehicle frame from tetrahedron phase data.=<*FE?2FA:FABFEP0JFIG} BB O >CIw,y&Af8@ GYfW(@f]9fӻ8>)yfHݿ?2?f?$?n?\?ɨf8@af;d ܿYyAyޥBޥ5!IiIp< p=p=IJI)4٢7 D=9;;Q > G٣y > Nusing accuracyPremultiplier from config59?5Y ic /@xE ; ;5 A5DNOT Ignoring new targets: 61.30 m. j1j9j9j9i9h9h9hAhAfAfArfIbfM@&&@]i]i]i]mdc@}] y}p>I}9 yɚ}iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID-:JJJJJJJ:J:JJJ;J;JI;JI;*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O- >!Iw,&A6 @Y6((@6[Ʃ969>y6Hm!޿ e?j]?࿤ ҽ?2??^?ɨ6 @6b6;6!Cy>BB!IUMb@Mb@Mb@QQQ Q)QYUDl? rh?Dl?yUO=UC >UO=UA U@)U@IU@QyUz@IeXIe4٢}x  }B=9}2 G٣yܻ > Nusing accuracyPremultiplier from config59?5YР ig+>;I#@xE|j;j;!5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhh!Bffrfbf &@]g+>]g+>]?]n@-[Ʃ 15>I59 1ɚ1i1I1I9i9i9)A)AD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F12F9:F9BF=_0JF9 IGHB O- >H I C I !II BI ' =&I .I 6I <:I g FBI˝CJI˝CRIZI' =bI' =jI˂4GIw,&A2V @Y2S)(@2浣92<8>y2H@h)޿ ?^?`<?)q?@n?wa?ɨ2V @2$;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBJ IzKN/+NKN9KLKNzKN        IZaIZ+4٢b; bW=9fB;Q f>dh jG٣hyj<8 j> rNusing accuracyPremultiplier from configlr59n*?v5Yn in#tvf#v@nxEn:n":n.#5zB ~>A~ٴEDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`6'@] ] ] ] ^n@E浣 AE >IEo9 AɚM3iIIIIii))Db9*F2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G MB O > I 0Iw,e&A~@Y~(@~ f9~9>y~HlS޿??@ ?燳?:?c?ɨ~@~6;~"Cy͂B I)! !!%A*J4="JJJJ1JJ<:J:J3JJ5;J6;JC;JC;5Mb@Mb@Mb@111 1)1Y5i|?5?sh|??㥛 ?y5q=5)>5=1 5@)5@I5A1y5@IMYIM4٢]Ľ ]3=9]Oai mG٣iyuP u> }Nusing accuracyPremultiplier from configy59} ?5Y}ע i}]FC>;@}xE};}+;}-%5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbf@ש(@]FC>]FC>]Y?]ˎw@Will construct direction to contact in vehicle frame from tetrahedron phase data. f 隝q>I=9 ɚAE4iIIii))D%9*F?2F:FBF0JFGA BQ Ou >= Will construct direction to contact in vehicle frame from tetrahedron phase data.XIw,&AJX@YJU'@JU9Jj}8>yJHn,e޿O? ? Ͼ?`?/?e?ɨJX@J ;J!CyVĂBV IIbWIb44٢jPB ng=9rSpp rG٣tyv,ú v> zNusing accuracyPremultiplier from configx59z?5Yzѣ iz@zxEzC*;z*;z&5  6A=DNOT Ignoring new targets: 61.30 m. j9j9j9j9iAhAhIhIhQfQfQrfYbf]_)@ I]]]]cw@U 隝״>Ig9 ɚ4iIIii))ZHRH@AHI I!IIlBI&I.I6I{<:IR FD9Will construct direction to contact in vehicle frame from tetrahedron phase data.zK=9$MK9K9K={K=  "!%)+0651.,-))&" BKMrA:KMrA*Fu?2Fq:FqBFu1JFqG B O >CIw,| 'AyB II5DI53٢e̦ eB=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy59}?5Y} i} @}xE}.:}:}(5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf 7*@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] =>Ir9 ɚ4iIIi!i!)!) mP$?IiDE9JJJ0JJ:J 9Jـ3JJ6;J7;JO>;JO>;*F ?2F :F BF m2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G RB O >Iw,$'A>@@Y>='@>49>]8>y>H ޿;?{?|@?n?`?@j?ɨ>@@>#;> CyNBN IiR5=5A 1)5@I5A1y5f@IEGIE3٢]䥼 ]A=9]<ii mG٣qyu{ u> }Nusing accuracyPremultiplier from configy59},?5Y}] i}FY>z;@}xE}_;};}l*5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbf+@]Y>]Y>]=#?]uy@4 4>I9 ɚ 4iIIii)) ]Will construct direction to contact in vehicle frame from tetrahedron phase data. IDE(9*F?2F:FBFR5JF H I  I f!II 9BI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK C9K K |K RK >JK >GE MBI Ou >5Iw,/@'A2n@Y2'@2j928>y2H Ѩ@a޿D??qq`? ?g?k?ɨ2n@2;0y>B> IIFFIF%3٢N ND=9N4PP RG٣PyV V> ZNusing accuracyPremultiplier from configX^59Z?^5YZ iZ\bb@ZxEZ:Zn:Z<,5d fAdzDNOT Ignoring new targets: 61.30 m. jxjxj|j|i|h|h|hhffrfbf @+@]!]!]!]%/y@j >I]9 ɚ5iIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D09*F?2F!:F!BF% 5JF! IGE HBa O} >hsIw,['A6U@Y6t'@6o,q96>%8>y6H޿`? ?;i`B?!? ? m?ɨ6U@6;6#CyBBB IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMb?n?(\µ?y@=V>= A @)@IAyQ@I YI 4٢%r< %2=9%7;Q %>)) -G٣)y5Z 5> =Nusing accuracyPremultiplier from config1E595?E5Y5r i5Ek>Ef;ERM@5xE5;5;5=.5Q U]AQDNOT Ignoring new targets: 61.30 m. jjjjihhhh Bffrfbf{,@]k>]k>]?]~@o,q {>IO9 ɚ5iIIii))DU9*F2F:FBFP0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i5 AG MB O > I IM hIw,Ͱt'A>T7@Y>QV'@>vc9>&28>y>H͝@߿@?e?a_`ZG?k??fo?ɨ>T7@>ˉ;>!CyJBJ I)L LPRAIVTIV4٢^p; ^f=9b`` fG٣dyf f> jNusing accuracyPremultiplier from confighn59j?r5Yj̪ ijprr@jxEj0;jW1;j/5x zUAxDNOT Ignoring new targets: 61.30 m. jjjj!i!h!h!h)h)f)f)rf)bf5-@]I]I]I]M~@mvc im{>Im9 iɚmZ-5iiIqIqiqiy)y)yJKـ3 K .KK"KJJJJJ:J:JJa@a@a@a@jHU<bHU<H]*>IY I]A!II]BIY&IY.IY6I]<:I]Z FWill construct direction to contact in vehicle frame from tetrahedron phase data.zKJKȱ9KK}KD9*F92F9:F9BF9JF9G B1 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.|Iw,4'A6@Y6<'@6T96}8>y6H E=߿`k/?B?@V`u?`疪? b?0q?ɨ6@6V{;6 Cy~B~ II ZI 4٢-; -C=95 99 EG٣AyEs E> UNusing accuracyPremultiplier from configIU59M 쉜?]5YMd iMY]]@MxEM;M;M15eB eFAmܴEDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`\.@]]]]N~@T >I9 ɚ@5iII Iii))JJD59Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG RB O% >ۡIw,f'A>\@Y>Y&'@>ݠG9>8>y>H ;`AX߿?@'? N?@?? ^r?ɨ>\@>X;>CyNBN IMb@Mb@Mb@ )Y)\(?|?5^?K?yGa=R>^=vA @);@IAy@IWI44٢= @=9;Q > G٣yR > Nusing accuracyPremultiplier from config59(牜?5Y i4cm>d;  @xE;;|35 AMDNOT Ignoring new targets: 61.30 m. jIjIjIjIiIhIhQhQhU.BfYfYrfYbf]?7/@]}cm>]}cm>]}?]}L{@ݠG 隕u>I9 ɚP5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 I*Fm?2Fi:FiBFm0JFiJJJ1JJ:J^:J3JH] +>IY  I] 4!II] BI] & =&IY .I] 5D6I] d<:I] D FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] JQJK] C9KY K] ~K]  #%(&('%$$$""! N ߑIw,c'A6o@Y6l'@6Wj996NW8>y6H`T~߿g? C7?]C/? D+??\s?ɨ6o@6;6!CyBBB IiDIF= F=Fa=IJ\IJ#4٢Ru= R_=9VuXX ZG٣XyZ޾ ^> bNusing accuracyPremultiplier from config\b59^≜?f5Y^9 i^tdff@^xE^` ;^ ;^55h nAlDNOT Ignoring new targets: 61.30 m. jjjjihh h h ffrfbf/@]1]1]1]5{@EWj9 AE>IMg9 IɚM`5iIIIIQiQiQ)Y)Y)F= ]CG 9 mVٿYiymAD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF IGm MB O >Iw,'AF5@YF2&@F ,9F1.8>yFH`߿ T7?@@?<@?ܛ??`t?ɨF5@FĈ;F#CyNBR IeMb@Mb@Mb@aaa a)aYep= ף?I +?+η?ye=e94>ev=e A e-@)e~@IeAaye(@}Will construct direction to contact in vehicle frame from tetrahedron phase data.IYI4٢w= ==9;Q > G٣y1 > Nusing accuracyPremultiplier from config59(މ?5Yj i*mV>};@xEW;;65 JA޴EDNOT Ignoring new targets: 61.30 m. jjjjihhh h jBf f rf bfg0@]-mV>]-mV>]-0Ǜ?]-g!t@E , IM.>IMi9 IɚMEl5iIIIIQiYiY)Y)YD9*F?2F:FBF0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data. N$?I G B O >W3Iw,]'A6@Y6&@6 96ž8>y6H@~w߿$ۿ?S?.#A?ߣ?e?@t?ɨ6@6;6$Cy>тBB IIjTIj4٢r= rK=9rV tt vG٣tyz%Ի z> ~Nusing accuracyPremultiplier from config|59~ى?5Y~ i~Q @~xE~:~:~85 AEDNOT Ignoring new targets: 61.30 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf]@0@]y]y]y]}s@  隍N>I9 ɚOy5iIIii))JJJJJ :J 9JJZHQRHUAAH],>IY I]A!II]BIY&IY.IY6I]<:I]y FBIJIRIZIbIjI'5Will construct direction to contact in vehicle frame from tetrahedron phase data.<zKu5 OKu9KqKuKu) 9 E2 DM9*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 O] >Jw,D(A2ڟ@Y2׾&@2*r92ă8>y2H`}@߿;?RV? M+@g?`@m? ?%v?ɨ2ڟ@2;2 Cy>B> I)@ @FAFAIJMIJ{4٢R= RN=9RI;Q R> XIX\\ ^G٣\y^䅺 b> fNusing accuracyPremultiplier from config`j59bDՉ?j5Yb ibhjxj@bxEb ;b;bx:5l r:ApDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf :1@]]]]s@M*r IMr>IU9 QɚUz5iQIQIYiYiY)Y)Will construct direction to contact in vehicle frame from tetrahedron phase data.De9*F ?2F :F BF O5JF G B O >< Jw,,(AyB!IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y333333?Dl? ףp= ?y=O >Q= )@IAy@IQI4٢= /=9Q > G٣y > Nusing accuracyPremultiplier from config59wЉ?5Yl i9]9> ; ) @xE;;<5 AEDNOT Ignoring new targets: 61.30 m. I j!j!j!j!i!h)h)h)h-Bf1f1rf9bf=1@]}]9>]}]9>]}5W?]}. i@ 隕>I9 ɚ5iIIii))*F]?2FY:FYBF]P0JFYJUJUJU0JQJU:JU:JUـ3JQH->I If!II9BI&I.I6Ia<:IC FE Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK5 NK5 9K1 K5 K5 OJw,\F(A2ԇ@Y2Ѧ&@2892d9>y2Hy(߿ ?va? Q ?Ş? G٣y   > Nusing accuracyPremultiplier from config59̉?%5Y i!%t)-@xE^;m;">5 AEDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf2@]!]!]!]%h@e8 im2G>Im9 iɚmiiIiIqiyiy)y)y*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG9BO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y ] =IJw,`(ABz@YBݙ&@B7m޼9B9>yBH@Ev`B?^g?@B8 ?̛?a?@v?ɨBz@B-;B"CyNBN;!IiR=IR; Ra=Rp=-Mb@Mb@Mb@))) )))Y-:v?/$?(\µ?y-=-=-=-/ A -p@)-@I))y-\@IEIEV83٢U/Y= ]B=9]V;Q ]>aa eG٣ayej m> uNusing accuracyPremultiplier from configi59mOȉ?5Ym" imz8">;E@mxEm̕]8">]-?]#L@7m޼ \=I9 ɚw2iII ii))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG SB O- >Jw,z(A:@Y:&@:ɼ9:k9>y:H@Ay Z?kc? 5?k2?`8 ?`w?ɨ:@:T;: CyF-BFX!IIN3INʴ3٢Vq= VX=9Z;Q Z>XX ^G٣\y^: b> fNusing accuracyPremultiplier from config`f59boĉ?j5Yb1 ibAhjFj@`b:b:bA5p rAtDNOT Ignoring new targets: 61.30 m. jjjjihhh!h!f!f)rf)bf-?2@HE/>IA IE!IIE\BIE' =&IA.IA6IE<:IEe F]i]i]i]mL@ɼ 隅,=Ih9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF/1JFzK%BoHK%u9K!K%K%BK1:K5qAGMBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I $Jw,(A6ٍ@Y6֬&@6Cj969>y6H`{߿`}?@_?@ng??? tw?ɨ6ٍ@6;6Cyv G٣y: > %Nusing accuracyPremultiplier from config!-59%*?-5Y%A i%)5F5@%xE%:%:%pC59 EnAADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf C3@]]]]L@Cj |>I9 ɚ43iII i i ) )2D*DBD:DJMJMJM1JIJMl:JM9:JM3JIJM;aeJM;ae*Fm?2Fi:FiBFm3JFiJMX`;aJMY`;a%Will construct direction to contact in vehicle frame from tetrahedron phase data.GUcBaO}>*Jw,cӭ(A6@Y6&@696 :>y6H y`P@?`\d??]?1?v?ɨ6@6;6CyRGBRy!I)T TVAVA}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y?/$?x&?y><7= A @)@IyzAI)IW3٢X= ?=9:;Q > G٣yڿ > Nusing accuracyPremultiplier from config59+?5Y i>;+@@xEp;;PE5 A-DNOT Ignoring new targets: 61.30 m. j)j)j1j1i1h1h1h9h==Bf9f9rfAbfE@l3@ YIY]m>]m>]mp*>]m+@ 隅IA IE!IIEBIE) =&IA.IA6IE<:IEx FG:BO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K K K K RK ?JK >1Jw,(A:H@Y:E&@:F9::>y:H ]߿@堻?`uY?`? 'w? &6?`v?ɨ:H@:;;:!CyFRBF!IINFIN%3٢Vf= V^=9Z|;Q Z>XX ZG٣\y^P; ^> rNusing accuracyPremultiplier from confighz59j?z5Yj ijxz +@~@jxEj;juI;jF5 A!mDNOT Ignoring new targets: 61.30 m. jqjqjqjqiqhqhqhhffrfbf%@4@]y]y]y]} +@F &=ID9 ɚX3iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFQ2JF MM$?IIG BBA O >Je Je Ja Ja Je ܫ:Je :Ja Ja Je ;Je ;Je n;Je n;= Will construct direction to contact in vehicle frame from tetrahedron phase data.h7Jw,(Af@Yf&@fzo9fƬ:>yfH`߿? =?f(`??`3?cw?ɨf@f/l;f CyrUBv!I}Mb@Mb@Mb@yyy y)yY}ףp= ?QJ +?y}>}}H=}rA }@)}`@I}Ayy}AI$I<3٢y< <=9;Q > G٣y&< > Nusing accuracyPremultiplier from config59?5Yα irE)>;d@@xE;;H5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhUBffrfbf`.4@]E)>]E)>]@]Ad@zo I ɚiII!i!i!)!))*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I9GE :BQ Ou >'>Jw,W^(AF@YF '@F'S9Fn;>yFHT߿`cm?7? )`QF?d?O?Pv?ɨF@F;FCyR_BR!IiVhh jG٣hZHRH?AH 4>I C I !II BI # =&I .I 6D6I <:I  Fyn; }> Nusing accuracyPremultiplier from config59Ȱ?5Y ip@@xE::J5 VADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf4@]]]]p@'S p Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 EJw, M)AyYB!II-4I-V3٢M̼ MB=9UQ U>QQ ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59e﬉?m5Yev ieMqqu@exEe ;e ;eNL5}B }zA}EDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`J5@]]]] !% :KJw,"/)A6?@Y6^'@6.96Z;>y6Hjނ߿`Fù? ?+<^?Ѕ?!T?`Rv?ɨ6?@6u;6!CyNRBR!I-Mb@Mb@Mb@))) )))Y-^I +?L7A`尿Mb?y-X9>-+-=-A -@)-AI))y-AIE=IE=3]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢e eI=9e;Q e>ii mG٣iymHL< u> }Nusing accuracyPremultiplier from configy59}Ψ?5Y}֭ i}G>;@@}xE}(4;}R2;}N5 A IDNOT Ignoring new targets: 61.30 m. jQjQjQjQiQhQhQhYh]qBfYfarfabfe5@]G>]G>]u߽@]€@. uI9 ɚ-33iIIii))D\9EErAH7>IC I!IIBI$ =&I.I6Im<:IR FBIJIƞCRIZI& =bI& =jI6*Fm?2Fi:FiBFmP0JFi"Gu>Gu> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK M|LK u9K K K  G BB O >TRJw,I)A2j@Y2'@2 92;>y2H8`߿{?d?F`??xT?`v?ɨ2j@2i;0y>HB>z!I)@ @IFVIFn4٢v? vK=9z;Q z>x| ~G٣|y~ ; > Nusing accuracyPremultiplier from config-59?-5Y9 i9=@=@xEį;;O5Y ]AYDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`6@]]]]%@ HI9 ɚ2iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA AIADu9*F?2F :F BF _0JF J J J J J L:J :J J J P;J Q;J A;J A; Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O > yXJw,c)A2a@Y2^'@2A92o;>y2H`0_<߿@D?`?bP?v?4U?bv?ɨ2a@2;2 Cy>8B>f!IeMb@Mb@Mb@aaa a)aYeRQ?Q뱿~jt?yeB>e\eD G٣y; > Nusing accuracyPremultiplier from config59?5Y} iO>;@@xE;;Q5 ADNOT Ignoring new targets: 61.30 m. jjjjihhh h WBf f rf bf6@]-O>]-O>]-(Ľ@]-@EA AEuIM9 IɚM2iIIIIQiQiQ)Y)YD;9%Will construct direction to contact in vehicle frame from tetrahedron phase data. 9IA*F2F:FBFJFjH <bH <H ;>I C I !II BI  =&I .I 7D6I ְ<:I FG J B O >^Jw,~)A6@Y6'@6796,;>y6H@߿ J ?@O?`X? ҁ?R? v?ɨ6@6;4yF"BFK!IIRKIR4٢Eڽ G=9 :Q >!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=595?=5Y5ͨ i59E@E@5xE5:5:5{S5I M6AQ}DNOT Ignoring new targets: 61.30 m. jyjyjyjyiyhyhhhffrfbf6@]]]]W@Will construct direction to contact in vehicle frame from tetrahedron phase data.7 xԽI?9 ɚiIIii))D9*F?2F:FBFQ5JFzKLKKKKG]BByO> y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.eJw,)A62@Y6/(@6D596HE;>y6H {޿ ۸?`?@Gfz?Ɓ? G?w?ɨ62@6Y;6CyV BV-!IiZhh nG٣lyr% < r> vNusing accuracyPremultiplier from configtz59vG?z5Yv1 ivxz*@~@vxEv:v;v2U5 A5DNOT Ignoring new targets: 61.30 m. j1j1j1j1i1h9h9hAhAfAfArfIbfU`ZS7@]]]]*@D5 隥 I 9 ɚiIIii))D9JJJJJ,:J9JJa%@a%@a%@a%@*FI2FI:FIBFM 4JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm:BO>lJw,g)A L$?Ih"Will construct direction to contact in vehicle frame from tetrahedron phase data. i"AF @YF+(@F 9Frz;>yFH`޿ ?` v?l?!? M?v?ɨF @Fz;F!CyNBR!IMb@Mb@Mb@ )Y/$?J +y&1>HA )zAIQAyfAI]I$4٢  <=9f>:Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y i8>;@@xE;;W5 ADNOT Ignoring new targets: 61.30 m. j!j!j!j!i!h!h!h)h-Bf)f)rf1bf5A7@]M8>]M8>]M:@]M0@e ae̽Im9 iɚiiiIiIqiqiy)y)H@>IC I!II{BI =&I.I8D6I<:Im FD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FQBFUP5JFQzK] BoHK] 9KY K] K] RKe ?JKe ?G B O >!sJw,! )A2`+@Y2]J(@292:>y2H`q޿uɸ?N[?cu>?@ۂ?2;?@w?ɨ2`+@2;0yV˂BZ IIjfIj44٢nq& rR=9rQ r>tt MG٣IyU]; U> ]Nusing accuracyPremultiplier from configYe59]R?e5Y]f i]ae@m@]xE]:];]X5uB uAuEDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf@(8@]]]]@ 6'Im9 ɚiIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D "9*F?2F:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge BBy O >yJw,)AJ@YJ>(@JX9J/;>yJH`޿`Ѹ? f?7r`??`??ew?ɨJ@J 7;J CyZB^ I)` `UMb@Mb@Mb@QQQ Q)QYUl?~jth?MbpyU>UD;UUA U@)QIUhAQyQIm\Im#4٢} .=98Q > G٣yк >  Nusing accuracyPremultiplier from config 59 ?5Y  i >;)@@ xE ; ; Z5! %A!eDNOT Ignoring new targets: 61.30 m. jajajajaiahahihihmBfifqrfqbf}`8@]>]>]<])@X 隭̽I9 ɚiIIii)) 1I9Will construct direction to contact in vehicle frame from tetrahedron phase data.D]9*F?2F:FBF 5JFZH RH AAH B>I  I f!II 9BI  =&I .I 6I <:I FJU JU JQ JQ JU L:JU :JQ JQ JU Q;a] JU R;a] JU A;ae JQ ae E Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >+6Jw,*A6[+@Y6WJ(@696å:>y6H@޿;ȸ?Q[?u??q3?`w?ɨ6[+@6;6!CyBBB IIJhIJV84٢R  RN=9RRQ V>TX ZG٣Xy^;; ^> bNusing accuracyPremultiplier from config`f59b儉?f5Ybբ ibhj)@j@bxEb:b :b\5l rAp DNOT Ignoring new targets: 61.30 m. j j j j i hhhhffrfbf9@]]]])@   I 9 ɚiIIii))!zKK89KKK +65/+'%$! BK:KD=9 IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG J BI O >Jw,*Am@Ym6(@mU9m;>ymH>޿ø?Kl?Apl? ? d??@nw?ɨm@m7;m"CyޅtBޅt IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yv/?Q?yx=u=+A )AIyAI=fI=44٢E M-=9M:Q M>IQ UG٣Qym# m> }Nusing accuracyPremultiplier from configq}59u?5YuǢ iu>;F@@uxEu;u;u^5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfQbfUԁ9@]u>]u>]u} >]uF@U 隅HIL9 ɚiIIii))D9 I*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >PJw,=*A>Q&@Y>ME(@>7 9>a:>y>H@޿`?_?@Ct@?@YV? +?cx?ɨ>Q&@>Ն;>!CyJPBJH IiN`` bG٣`yf;HjC>Ih Ij!IIjBIj =&Ih.Ih6Ijq<:Ijd F v> zNusing accuracyPremultiplier from configx59zc{?5Yz izF@ @zxEz-;zH@;zm`5  A=DNOT Ignoring new targets: 61.30 m. j9j9jAjAiAhAhAhIhIfIfQrfQbfU]9@JsK{(3 K{(.KsKs"KsJuJuJqJqJu:Ju9JqJqJuj;Juk;Ju:;Ju:;]]]]F@7 隵8IC9 ɚiIIii))AeWill construct direction to contact in vehicle frame from tetrahedron phase data.ae<)a aG M޿YIyM~ADd9v@AzKE MKE9KAKEKE *FE?2FA:FABFAJFA Y IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >Jw,W*Ay59B5, IIEuIEaO4٢UϽ U<=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mv?u5Ym imzqy}@im;m2;mOb5 x ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbfS:@]a]a]a]a 隥eIR9 ɚiIIii))*J!"J!DE19*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G BB O >śJw, `q*A2F @Y2B,(@2`߻92 :>y2H@޿L?u?@l?{?1?@0x?ɨ2F @2Æ;2 C PIPyj!Bj IeMb@Mb@Mb@aaa a)aYeDl?Mb?y&1?}Will construct direction to contact in vehicle frame from tetrahedron phase data.yeO=e>e`e G٣yr > Nusing accuracyPremultiplier from config59r?5Y{ i>;%@xE/;8;d5 ; ADNOT Ignoring new targets: 61.30 m. jjjj i h h hhOBffrfbf P:@]>]>]lj?]b)l@`߻ !%PI-9 IɚQiQIQIaiaia)a)jHybH}p<HE>IC I IIBI =&IFD.I9D6I<:I FBIMơCJIMơCRIMƔCZIM =bIM =jIMڦ6J=J=J9J9J=:J=:J9J9J=;J=;J=EG;J=FG;D95 Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFm Z0JFi zKu }\KKu u9Kq Ku Ku G :B O >`^Jw,!*A2 @Y2+(@2ZŻ92G:>y2H@x ޿0?v?Hl?!x?@'?x?ɨ2 @2 8;2!Cy> BBI)D DIJWIJ44٢R RD=9R:Q V>TT VG٣TyZ? Z> ^Nusing accuracyPremultiplier from config\b59^Pn?b5Y^J i^|`f%f@^xE^:^:^e5jB j AjE%DNOT Ignoring new targets: 61.30 m. j!j)j)j)i)h)h)hhffrfbf.;@ 5K$?I1]A]A]A]E%l@UZŻ QU^ I]n9 YɚYiYIYIaiaia)a)5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBFe_1JFaGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,*AyBIMb@Mb@Mb@ )Y+?^I +?Q?y=X9><+A @)zAI@yAIaI+4٢ ǣ  6=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-i?55Y-إ i-5@>5;==@-xE-;-%;-g5A E AAuDNOT Ignoring new targets: 61.30 m. jqjyjyjyiyhyhyhh Bffrfbf ;@]@>]@>]?]~@ 隽ԣI9 ɚ#iIIii))*F?2F:FBFP5JF )I1=Will construct direction to contact in vehicle frame from tetrahedron phase data.GSBOH5 D>I1  I5 ` II5 dBI5  =&I5 GD.I1 6I5 t<:I5 n FJ J J J J :J &:J J J ;J ;J \;J \;kJw,D*AN@YN'@N'ߺ9N=:>yNHA߿x?`s?P7?@[? >?w?ɨN@NW;N CyvBvII^I&4٢ ȣ \=9> G٣y% %> -Nusing accuracyPremultiplier from config)559-f?55Y- i-155@-xE-:-N;-i5I M AIuDNOT Ignoring new targets: 61.30 m. jqjqjqjyiyhyhyhhffrfbf@ ;@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]~@'ߺ I9 ɚ+iIIii))*FU?2FQ:FQBFUP0JFQzKBoHK9KKKGuJ BO~> !I)M Will construct direction to contact in vehicle frame from tetrahedron phase data.M AiM A)Jw,*AB0@YB,'@BЬl9Bz:>yBH0O߿?@L?L>?-?q.?x?ɨB0@B?;@yNBNIiV=IV4<IZ_IZb(4٢b: bO=9fNu;Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59nb?v5Yny intvv@nxEn :n :n>k5x z A|%DNOT Ignoring new targets: 61.30 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf c<@]]@>]] ~@Ьl  ׽I !9 ɚ i I IQiQiY)Y)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu:ByO> ! I) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.мJw,*AB{@YB'@B:9B~:>yBH@Ϲq߿qŶ?h?$C`(2?Oz\ .?x?ɨB{@Bp;B"CyNBNI-Mb@Mb@Mb@))) )))Y-y&1?S?~jt?y-`e<-/]>-D=) -@))I-QA)y-fAIEeIE34٢U"% U@=9U;Q ]>YY ]G٣Yyec m> uNusing accuracyPremultiplier from configi59m^?5Yma imc>o;m @mxEmw]c>]?]4ك@ : )-̽I59 1ɚ5³i5I1I9i9i9)9)A2DA*DABDi:DiZHRHHI I4 II@BI =&IFD.I6I<:I F*FY2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G J B O >]Jw,+AzKBHK89KKKJ5k@YJ1'@JCQi;9J:>yJH `߿Z? H?`>m??`$*m?*y?ɨJ5k@J;JCyVBVII^iI^:4٢f8< fT=9f;Q f>hh jG٣hyn* n> rNusing accuracyPremultiplier from configpv59rKZ?v5Yr irtv z@rxEr:r:rn5| ~ A|%DNOT Ignoring new targets: 61.30 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5@.=@]Q]Q]Q]Uʃ@mCQi; imdImb9 iɚmim$IqIqiqiy)y)y IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG5:BAO]v>JJJJJ\:J :JJa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,6s)+AfM@Yfl'@fM;9f*:>yfH`Ed߿@ ? ?5X?u y!?@y?ɨfM@fˊ;f"CyvBvI)| |Mb@Mb@Mb@ )Ym=A )Iy=AIRIW4٢P= <=9͆;Q > G٣y > Nusing accuracyPremultiplier from config59V?5Y i_>r;1 @xE};;p5 [ ADNOT Ignoring new targets: 61.30 m. jjjjihh!h!h%*Bf!f)rfbf@=@]_>]_>]?]Z@EM; AEPIE_9 AɚEiEǼIIIiiqiq)q)q I*F!2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GM BBY Ou >H G>I C I ! II 1BI =&I .I 6I t<:I s FZJw,YC+A2 /@Y2N'@2 x;92 :>y2H@r v߿? 8?, q?} ?x?ɨ2 /@2F ;2 Cy> B>IIJSIJ4٢R= R]=9Rv;Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^R?b5Y^~ i^`df^ f@^xE^*:^:^Nr5h j AlUWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf >@]Q]Q]Q]U@e x; aeIes9 aɚm im«IiIii))Ea>E>*FE?2FA:FABFE0JFAzKUKU9KQKUKU#,//-,*''! RKm>JKm? qIqG-:BIO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,n0]+A2e"@Y2aA'@2r<929>y2H,`߿WZ? ?(:~?y?hy?ɨ2e"@2p;2#CyBBBIIJTIJ4٢R= RJ=9R`{;Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^N?b5Y^1 i^'`bw f@^xE^:^:^t5h j AjEDNOT Ignoring new targets: 61.30 m. jj j j i h h hhffrfbf/d>@]9]9]9]=EԂ@Mr< IMGIMl9 IɚU,iUIQIii))JyJ}J}1JyJyJ}&:J}3Jy*Fu?2Fq:FyBF}[5JFy}Will construct direction to contact in vehicle frame from tetrahedron phase data.GJ BO> e J$?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. Jw,w+AF@YF '@F.},<9F!9>yFH`њZ߿?@.? q?&?x?ɨF@FU;F Cy^*Bb IUMb@Mb@Mb@QQQ Q)QYUQ? ףp= ?Q?yUUu=UA Q)UAIQQyQImGIm3٢}= ==9v;Q > G٣y > Nusing accuracyPremultiplier from config59J?5Y iD>;@@xE;^;u5  A=DNOT Ignoring new targets: 61.30 m. j9j9j9j9i9hAhAhAhEXBfIfIrfIbfU>@]D>]D>]C?]@.},< 隭PIX9 ɚi4IIii))jHIbHM4<HYI]C I]4 II]@BI] =&I]GD.IY6I]d<:I]c F*F2F:FBFP5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.GGB = #Y9 y= SAOM >Jw,Pߐ+AzK.N?MK.-9K,K.K.!'(1211' >@Y>'@>UD<9>^9>y>H`@g߿?1?K?`g?@9y?ɨ>@> H;hh nG٣lyr r> vNusing accuracyPremultiplier from configtz59vG?z5Yv ivxzSz@ IvxEvp;voq;vw5  ; A=DNOT Ignoring new targets: 61.30 m. j9j9j9j9i9hAhAhAhAfAfIrfIbfM`4?@]i]i]i]m@}UD< y隅8BI9 ɚitIIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai*FU?2FQ:FQBFUP0JFQ"Ge>Ge>GuBBO~>JAAJAAJJJ0JJ:J :Jـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data./Jw,+AR@YR&@Rx_<9R:>yRHh ℴ?@=?`.c?` ?ax?ɨR@R:;RCyZSB^L IuMb@Mb@Mb@qqq q)qYuT㥛 ?HzG?A`"?yu=u= >uY=u+A u@)uAIuAqyu3AIPI 4٢= ==9x;Q > G٣yz > Nusing accuracyPremultiplier from config59B?5YĴ i!>;F%@xEf;;y5  ADNOT Ignoring new targets: 61.30 m. jjjjihh h h Bffrfbf¢?@]=!>]=!>]=u,?]= l@Mx_< IMIU9 QɚUk iU{:IYIYiYia)a)a I*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G cBO=>HM E>IM C IM l IIM nBIM ! =&II .IM 7D6IM Ұ<:IM FBI ʣCJI ʢCRI ZI  =bI  =jI t 7Jw,+A2@Y2'@2~r<929>y2H q.?*9??&[`?x?ɨ2@2;2"CyBrBBr IIJEIJ3٢R%> R\=9RP;Q V>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\b59^??b5Y^| i^`fE%f@^xE^:^:^ {5h jAhDNOT Ignoring new targets: 61.30 m. jj j j i h h hhffrfbf@@=Will construct direction to contact in vehicle frame from tetrahedron phase data.9=<]A]A]A]El@]~r< Y]I]9 Yɚ]i]Will construct direction to contact in vehicle frame from tetrahedron phase data.3BJw,q+A2@Y2 '@2mU<929>y2H ?=8?@@?JA?`x?ɨ2@2;0y^Bb IICI3٢%= %C=9-});Q ->19 =G٣9y=^9 E> UNusing accuracyPremultiplier from configQe59U:?m5YUO iUimK%u@UxEUw;U<;U|5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbfl7@@]]]],l@mU< QI9 ɚ_Yi I  Will construct direction to contact in vehicle frame from tetrahedron phase data.y6Hࡔ` ;?7?0`?? C}?`x?ɨ6@6t;6CyBBB IeMb@Mb@Mb@aaa a)aYeMb?~jt?I +?ye=e=e94=eA a)aIaayeAI}GI}3٢= D=9;Q > G٣yd 9 > Nusing accuracyPremultiplier from config596?5Yi i>;C@xEY;X;~5 UADNOT Ignoring new targets: 61.30 m. jjjjihhhh߂Bffrfbf(l@@]%>]%>]%.?]%IN@E. < AEIE9 AɚEiMIC I IIBI =&I.I8D6I<:I F*F ?2F :F BF o0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO> PExceeded connect timeout, disconnecting.ESKw,:$,A 4I4>U @Y>Q)'@>`<9>g9>y>HZ Z߿ \?*?@"?@k ?@x?ɨ>U @>,I;> CyRBR IiVhh jG٣hyjl; n> rNusing accuracyPremultiplier from configpv59r3?v5Yr iritvCv@rxEr:r:rp5| ~AzK~FLK~k9K|K~K~ !#'('%#   5DNOT Ignoring new targets: 61.30 m. j1j1j1j1i1h9h9hAhAfAfArfAbfM@@]]]]iN@`< ̽I\9 ɚ̲i} Will construct direction to contact in vehicle frame from tetrahedron phase data.z} Kw,+,A6 @Y6+'@6ѥ<969>y6H ߿D?`m)?@  ?}#?jx?ɨ6 @6d;6Cy^B^ IeMb@Mb@Mb@aaa a)aYeS㥛?y&1?y&1?ye$>e`=9:Q > G٣yn9 > Nusing accuracyPremultiplier from config59.?5Y i# >;2@@xE;;Q5B WAEDNOT Ignoring new targets: 61.30 m. jjjjihhhh'Bffrfbf%@@]# >]# >]*W>].2@ѥ<  WI9 ɚ%Gi!I!I!i)i))))1 qIq*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>H H>I C I II ӂBI  =&I .I 9D6I <:I FJ J J 2J J :J :J c3J J ;a J ;a J L;a J L;a eKw,E,A6+@Y6J'@6<96yW9>y6H@h߿b?`?+%? ?x?ɨ6+@6 ;4yR‚BR IIZCIZ3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢e = eM=9e8Q m>ii mG٣iyuA; u> }Nusing accuracyPremultiplier from configy59}f*?5Y}| i}"2@@y}:}:}5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`wA@]]]]w"2@ <   II 9 ɚiIIii))!*F?2F:FBF5JF enManaging dock network, ignoring radio surface power off eI$?IazK"pMK#9KKK    GuSBO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAKw,_,AN6@YNT'@N]*<9Nd9>yNHE߿ ]?@?'`?` %?@gx?ɨN6@NE;N!CyVЂBZ I)\ \``If@If3٢n= nS=9nK9Q n>pp rG٣pyv: v> zNusing accuracyPremultiplier from configt~59vT&?~5Yv iv;+2@@vxEv+;v),;v5  A DNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf@C:A@]]]]/+2@%]*< !%n-I-9 )ɚ-)/i)I)Iqiqiq)q)y-Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFUP0JFQGBBO> I II  Will construct direction to contact in vehicle frame from tetrahedron phase data.ZKw,^y,A2'd@Y2#'@2V̌<92&>9>y2H î߿N??3?R?!y?ɨ2'd@2;2"CyBւBB IMb@Mb@Mb@ )YMbX9?I +y&1|?y!>94`;XA Q@)3AIyzAI-SI-4٢=< =B=9E1Q E>AI MG٣IyM|; M> ]Nusing accuracyPremultiplier from configQ]59U!?e5YU iU4eW">e;e"@e@UxEU ;U;U5i uAq%DNOT Ignoring new targets: 61.30 m. j!j!j!j!i!h!h)h)h-LBf)fQrfQbfUpA@]W">]W">]r@]h"@V̌< 隥kI9 ɚ/liIIii))jHibHm<HuF>IuC Iu"!IIuBIu =&IuFD.Iu:D6Iud<:Iuh F*F?2F:FBFJFJMJMJIJIJM:JM:JIJIJM;JM;JMJ;JMJ;Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>  I $Kw,l,A:k~@Y:g'@:<9:k9>y:H@?߿sX?@?@9` ?@A ?`x?ɨ:k~@:;: CyJ݂BJ IIRXIR4٢ZS = ZV=9ZeQ Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj59f{?j5Yf if-hj"@n@fxEf:fS;f@5p rKApDNOT Ignoring new targets: 61.30 m. jjjjihh!h!h!f!f)rf)bf-ٞA@zK=LK=9K9K=K=]Y]Y]Y]]"@m< iuP^Iu'9 qɚuiqIqIyiyiy))Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F?2F:FBF3JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G BB! OE >*Kw,2!,A2)@Y2%'@2=<92=V9>y2H /r߿U]?@?D ?@@ ?"y?ɨ2)@2p;2!Cy>ڂB> IiBe9eteA e;@)eAIaayeQAINI@ 4٢~A >=9ͺQ > G٣y'; > Nusing accuracyPremultiplier from config59(?5Y id:>; @@xE; ;!5 _ADNOT Ignoring new targets: 61.30 m. jjjjihhhhKBff rf bf A@]-:>]-:>]-1@]- @E=< AEHaIE'9 IɚMiIIIIQiQiQ)Q)Q IDa*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G :B) OE >H B>I C I A!II BI ! =&I GD.I 7D6I <:I z FJ J J 0J J |:J :J ـ3J J <J <J 9P;J :P;1Kw,,A2u@Y2q'@2{<92 9>y2HU߿ ΅??`L? q?@x?ɨ2u@2_;2 CyR߂BR IIZRIZW4٢b{< bY=9blQ f>dd fG٣dyj,; j>)v= zcC zNusing accuracyPremultiplier from configp%Will construct direction to contact in vehicle frame from tetrahedron phase data.-59rz?5Yrװ G1ir9IU @U@rxE }ڿYyy}ArM=ry\=rnj5 9A=DNOT Ignoring new targets: 61.30 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfMB@]q]q]q]u @{< 隅WI9 ɚʴiIIii))2DrA*DqA IzKBHK89KKKDm#9EqEqWill construct direction to contact in vehicle frame from tetrahedron phase data.*F! 2F) :F) BF- P0JF) GIBYOu>8Kw,*,A6@Y6(@6o<96:>y6H\@{<߿*??=S@? ?\x?ɨ6@6;4yBׂBB IIJjIJ;4٢R R.=9VʺQ V>XX ZG٣Xy^9f; ^> bNusing accuracyPremultiplier from config`f59b ?f5Yb ibdf @f@bxEb:b\,;bӎ5nB noArEDNOT Ignoring new targets: 61.30 m. j j j j i h h hhffrfbf*EB@Will construct direction to contact in vehicle frame from tetrahedron phase data.=]]]]H @o< %fIM9 QɚUciQIYIii))*F?2F:FBF_0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >?Kw,,Ay%͂B% I)1 1HQIUC IUG!IIU BIU =&IQ.IU8D6IU<:IU FBI CJI RI ZI  =bI  =jI 217eMb@Mb@Mb@aaa a)aYe^I +?I +/$yae94eeXA e$@)aIaayaI}_I}b(4٢M/ /=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YZ i0:>;%@@xEt;;ܐ5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhh>Bffrfbf }B@]5:>]5:>]5@]5%@A AEHaIM9 IɚM+JKO3 K..KK"KJUJUJU1JQJU:JU:JU3JQJU;JU;JUI;JUI;iIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFp0JF H$?I G BB O >zK5 k3IK1 K1 K5 K5 BKE qA:KE rAEKw,6-A2&@Y2E(@2P<929>y2H` ޿@ݳ?!_? e??@x?ɨ2&@24;2Cy:B: IBWill construct direction to contact in vehicle frame from tetrahedron phase data.IJfIJ44٢   g=9 5Q > G٣yC< > %Nusing accuracyPremultiplier from config!-59% ?-5Y%x i%y)5%@5@%xE%X:%7:%g59 ={A9eDNOT Ignoring new targets: 61.30 m. jajijijiiihihihqhqfqfrfbfB@]]]]%@P<  I9 ɚiII i i ))*F?2F:FBFS5JFGS=Will construct direction to contact in vehicle frame from tetrahedron phase data.BO- >LKw,2-A @ $I$:#Q@Y:p(@:p=<9:{9>y:H ]޿?-:?p l?@?y?ɨ:#Q@:kLJ;:"CybBb IMb@Mb@Mb@ )Y/$?Zd;O?Zd;Oy,>j<jAA Q@)IAyzAIRIW4٢ @=99Q > G٣y; > Nusing accuracyPremultiplier from config59R?5YЬ i:/>;2@@xEkS;Q;C5 ADNOT Ignoring new targets: 61.30 m. jjjji!h!h!h!h-%Bf)f)rf)bf- B@]M:/>]M:/>]M S >]M2@mp=< imkIm9 iɚmriqIqIyiyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF  5JF HEH>IEC IE4!IIEBIE =&IA.IE9D6IE<:IE FG-:B9O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M y2H ޿.?,?tV?o%?@wx?ɨ2y`@2؇;2!CyZBZ Ii^pp rG٣pyv ; v> zNusing accuracyPremultiplier from configx~59z0?~5Yz: iz|~2@@zxEz:z:z5  lA=DNOT Ignoring new targets: 61.30 m. j9jAjAjAiAhAhAhIhIfIfIrfQbfUWC@]]]]2@$0< ÌIS9 ɚiIIii))2D%*D%BD!:D! I!*F?2F:FBFP0JFzKKu9KKKuWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBYO}>4YKw,Zf-A*J"J=JJJ0JJ:J 9Jـ3Ja@a@a@a@Z߃@YZۢ(@Zk!<9ZC9>yZH X޿ g??@?%~?w8?@y?ɨZ߃@Zf;Z CyfBf IIr]Ir$4٢v- zJ=9zsQ z>x| G٣yk; >  Nusing accuracyPremultiplier from config 59 ?5Y  i B2@@ xE ; ; 5! %A)eDNOT Ignoring new targets: 61.30 m. jajajajaiihihihqhqfqfyrfbfFC@]]]]2@k!< Will construct direction to contact in vehicle frame from tetrahedron phase data.I}.9 ɚiIIii))*F?2F:FBFJF !I)GcBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.`Kw,y-AjH`bHb<Hf>>IfC If!IIfBIf =&Id.If8D6If۰<:If Fy~|B IMb@Mb@Mb@ )YQ?p= ף?/$y\>= $@)IzAyQAIYI4٢V >=9Q > G٣y > Nusing accuracyPremultiplier from config59툜?5Y if>;}E@@xEz[;Y;5 AAEDNOT Ignoring new targets: 61.30 m. j!j!j!j!i!h!h!h)h-Bf)f)rf1bf@?}C@]>]>]>]}E@ FaI~9 ɚ i I I1i9i9)9)9*F?2F:FBF JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G- BB9 OU >,GfKw,T-AzKBoHK-9KKK  :#@Y:(@:c<9:9>y:H`q޿g?{?``?i쁿A?Sy?ɨ:#@:떇;BWill construct direction to contact in vehicle frame from tetrahedron phase data.:"CyJmBJl I)L LPRAIVUIV4٢^橽 ^\=9bEQ b>`` bG٣`yfp; f> jNusing accuracyPremultiplier from confighn59jA舜?n5Yjm ijprE@r@jxEj\ ;jm ;j35t vAtDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`C@]y]y]y]}E@c< 隵pI9 ɚ\FiIIii))*Fm?2Fi:FiBFm_0JFiJEJEJE1JAJE:JE=9JE3JA5Will construct direction to contact in vehicle frame from tetrahedron phase data.GucBO>  I vlKw,C-A>@Y>(@><9>)9>y>H@ `e޿y?`?Ї?`2`?cy?ɨ>@>]];>CyN`BN\ I-Mb@Mb@Mb@))) )))Y-1Zd?y&1?y&1y-"=-`=-`e-A -@)-AI-A)y-AIEmIE3A4٢Umi U@=9];vQ ]>YY eG٣aye\: e> mNusing accuracyPremultiplier from configiu59m∜?u5Ym imr}B>};}q5}@mxEmF;mO;m5 # AmDNOT Ignoring new targets: 61.30 m. jijqjqjqiqhqhqhyh}Bfyfyrfbf@ C@]B>]B>]N?]C\@< R8I9 ɚuiIIii))AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFH:>IC I IIɂBI =&I.I7D6I><:I FG BB O- >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.cYsKw,$ -A2@Y2(@2f<9279>y2H ޿?@?k}?`@Ԁ`?Ky?ɨ2@2A;2CyRUBVN II^WI^44٢fm fT=9f[Q f>hh jG٣hyjt n> rNusing accuracyPremultiplier from configpv59r$ވ?v5Yrm iratvw5v@rxEr:r":r5| ~~ A-DNOT Ignoring new targets: 61.30 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfE kD@]a]a]a]ef\@uf< q} OI}9 yɚ}giyIIii)) G$?ID=19zK}LKyKyK}K} Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Aiՙ*F?2F:FBF_0JFG :B O >J] J] JY JY J] :J] :JY JY 4yKw,-A6@Y6(@6;<96m9>y6H޿ ?-?@[?eG@( ?y?ɨ6@65;4y>OB>G IiF    G٣ y: > ENusing accuracyPremultiplier from configU59؈?e5Y iNn5@xEyb<mb<5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.eDNOT Ignoring new targets: 61.30 m. jijijijiiihihihqhqfqfqrfybf}MD@]]]]\@;< 隵[IL9 ɚ㱴iIIii)) yIy*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G J B! OE >kKw,.AH4I6C I6 II6BI6$ =&I4.I66D6I6<:I6s FJD@YJ@(@J <9J9>yJH`h޿~?@?@ ϶? )?8y?ɨJD@J~;JCyV@BV5 IeMb@Mb@Mb@aaa a)aYe㥛 ?+?ye=e>ee+A e@)eAIeQAayeAI}VI}n4٢ ?=9]~:Q > G٣y > Nusing accuracyPremultiplier from config59Ԉ?5Y i^0>;k!@xEQ; ;`5 # ADNOT Ignoring new targets: 61.30 m. jjjjihhhhyBffrfbfD@]^0>]^0>] ?]Mp@] < Y]HI]Z9 aɚeiaIaIiiii))~G EhYAyEnA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFT5JF qIyG :B O >:Kw,Z.AzK"LK"u9K K"K"2Will construct direction to contact in vehicle frame from tetrahedron phase data.B@YB(@B8 <9B^n9>yBH޿ ??`W?`'@6 ?y?ɨB@BɆ;@y5DB5: IIMjIM;4٢]< ]N=9]s7Q e>aa eG٣aymQN m> uNusing accuracyPremultiplier from configq}59usψ?}5Yu }tIiul!@uxEup;up;u5B  AEDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`ʱD@]]]]wp@8 < ҽI9 ɚD̴iIIi i ) ) *Fu?2Fy:FyBF}P0JFyJ%J%J!J!J%\:J%9J!J!GBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia Kw,}5.A:i@Y:ވ(@:ѳ<9:9>y:HF ޿?$?`x ?j ?(y?ɨ:i@:;: Cy\^9 I)` `fAfAMb@Mb@Mb@ )Y/$?kt?{Gz?y,= 0>#<A )I@yfAIVIn4٢B D=9:Q > G٣y > Nusing accuracyPremultiplier from config59Lˈ?5Yp i 5>;@xE!;n ;5  AEDNOT Ignoring new targets: 61.30 m. jjjjihh!h!h%wBf!f)rf)bf- ,D@]M5>]M5>]Mg?]M~3}@]ѳ< ae̽IeS9 aɚenٴiaIaIiiiiq)q)quWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFHe?>Ia Ie IIeBIe# =&Ia.Ie7D6Ie<:Ie FBI%ƠCJI%ơCRI!ZI% =bI% =jI%T 7G 3BOE> Will construct direction to contact in vehicle frame from tetrahedron phase data.3Kw,RO.AR+@YRJ(@R(&<9R9>yRH޿c? [?h ?ń?`Sy?ɨR+@Ro;PyZEB^; IIfQIf4٢nW< nY=9r@d;Q r>tt vG٣tyzM% z> ~Nusing accuracyPremultiplier from config|59~Lj?5Y~ i~  / @~xE~:~:~5  AEDNOT Ignoring new targets: 61.30 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfULE@ I]]]]|@-(&< )-dƽI-Y9 )ɚ-i1I1IYiYiY)Y)a2Da*DaBDa:DaE*FI2FI:FIBFMY0JFIGQ GQWill construct direction to contact in vehicle frame from tetrahedron phase data.zK.JK9KKKRK?JK ?G%BB9O]>יKw,Hi.Av @Yv(@vQ5<9vb9>yvH7߿kN??]?ˣ?@*y?ɨv @v;tyQBI II%XI%4٢5`Z= =D=9EB;Q E>AA EG٣IyMл M> ]Nusing accuracyPremultiplier from configQ]59URÈ?]5YU  iUae^e@UxEU :U:Uf5i m AqDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbfLE@ Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]|@Q5< ̘I9 ɚiIIii)) I*F2F:FBF%_0JF!G= J BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,.AHJ>IC I IIBI% =&I.I6I<:Ix FF@YF (@F#=<9F`9>yFH`-߿6? S?X.?`VT ?y?ɨF@Fר;F"CyR]BRX IiZE9qq }G٣yG > Nusing accuracyPremultiplier from config 59? 5Y~ iP 1>;@xE;;A59 E8 AADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbf@E@JJJ0JJL:J9Jـ3JJO;aJQ;aJ';a J';a ]]1>]]1>]]Т?]]@}#=< 隅ԣI9 ɚjiIIii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FI:FIBFMg0JFI F$?IG :B O5 >Kw,.A6@Y6'@6XM<96)h9>>Will construct direction to contact in vehicle frame from tetrahedron phase data.y6H`C Q߿`G??@WN ?`@1 ? ty?ɨ6@6 ;6 CyNnBNn IIV]IV$4zKZm$JKZ89KXKZKZ&%#"   ٢f= fU=9j(;Q j>hl nG٣lynһ n> vNusing accuracyPremultiplier from configpv59rb?v5Yr irxzz@rxEr ;r ;rݬ5| A-DNOT Ignoring new targets: 61.30 m. j)j)j)j)i)h)h1h9h9f9f9rfAbfE@IuD9 qɚ}iyIyIyii))*F?2F:FBF_5JFJJCAGBB!O=r>-Will construct direction to contact in vehicle frame from tetrahedron phase data. I Kw,.A2@Y2'@2X<928>y2H 2b߿@Q? ?7J??z?ɨ2@2];2"CyBBB IMMb@Mb@Mb@III I)IYMMb?7A`?:v?yM=M>M G٣y3# > Nusing accuracyPremultiplier from config59จ?5Y iV>;u@xEJ;H;5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbfE@]V>]V>]B?]M}@-X< )-ԣI59 1ɚGiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFmQ5JFiH%Q>I%C I% II%BI% =&I!.I%9D6I%K<:I%O FGmSByO>J J J J J ,:J 9J J J ;J ;J p#;J q#;U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q U =jKw,.A6]@Y6X'@6i<96d-9>y6H`ɻ/߿~۳?C?D>?R"@?y?ɨ6]@6;6CyBBB I)D DFAFAIJSIJ4٢R= VY=9V 0;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\f59^µ?f5Y^ i^ahjj@^xE^5;^5;^^5p rAp DNOT Ignoring new targets: 61.30 m. j j j j i hhhhffrfbf%F@ I]]]]w}@i< FI^9 ɚ`iIIii))!*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKKKKGJ BO5>*J R="J 4=/Kw,.ANs@YN'@Nrr<9Ni8>yNH`߿κ?d?9?T?z?ɨNs@Nׇ;NCyVBV IIbQIb4٢fX= jF=9j[:Q j>ll nG٣lyr4 r> vNusing accuracyPremultiplier from configtz59vU?z5Yv ivxzz@vxEv#;v;v,5 3A5DNOT Ignoring new targets: 61.30 m. j1j1j1j1i1h9h9h9hAfAfArfAbfM`MF@]a]a]a]ekb}@Will construct direction to contact in vehicle frame from tetrahedron phase data.rr< ؼI9 ɚ iI!I!i!i))))) I*F2F:FBFP0JFG :B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH F>I C I II BI  =&I .I 8D6I <:I FAKw,\T/ANE@YNd'@N~<9NsJ9>yNH@vq߿? ?$-`p?_܏J?@Gy?ɨNE@Nb1;N#CynBn ImMb@Mb@Mb@iii i)iYmJ +?B`"۹?Zd;O?ymH=m=mj G٣y ػ > Nusing accuracyPremultiplier from config59?5Y i'=;$@xE;;5B XAEuDNOT Ignoring new targets: 61.30 m. jqjqjqjqiqhyhyhyh}BffrfbfQF@]=]=]>?],m@JJJJJ\:J=9JJJk;Jl;J*;J*;~< ԣI9 ɚiII i i))))1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. IGJ BO >1Kw,,/A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:>6@Y::U'@:&<9:B9>y:H ߿r??@q)?D#?@y?ɨ:>6@:`_;: CyR҂BR IiV UQ=9UA[:Q U>YY ]G٣YyeV e> mNusing accuracyPremultiplier from configiu59m?u5YmX imy}%}@mxEm;m-;mµ5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`жF@]]]]m@&<  I9 ɚiIIii))*F2F:FBF_0JFGSBWill construct direction to contact in vehicle frame from tetrahedron phase data.O%> I @\Kw, 8/A6J@Y6F<'@6ـ<96V9>y6H; :߿@?t"?`"?돐` ?@!y?ɨ6J@6F;6!Cy^B^ IMb@Mb@Mb@ )Y㥛 ?? rh?y=L=C<A @)IyAI>I3٢= B=9h4:Q > G٣yho > Nusing accuracyPremultiplier from config59?5Y` iR=<F@LC;vA;5  ADNOT Ignoring new targets: 61.30 m. jjjji!h!h!h!h%Bf)f)rf)bf-NF@]M=]M=]M?]Mz#K@eـ< aeHIm9 iɚmiiIiIqiyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.HD>I I!IIBI =&I.I6Iq<:Ic F*F]?2FY:FYBF]\0JFa"Gm>Gm>)E= E]CJJJJJ:J9JJJ;J;J:;J:;5 H~GI i yY y AG% J B1 OM >% Will construct direction to contact in vehicle frame from tetrahedron phase data.CKw,]Q/AJ@YJ1'@JqQ<9J$9>yJH`߿?&?;?鐿@?]y?ɨJ@J;J"CyVBV!IIbFIb%3٢j[= jZ=9jkp:Q n>pp rG٣pyrܺ v> zNusing accuracyPremultiplier from configtz59vF?~5Yvg iv|~G~@vxEv` ;v ;v85 iA  AIAMDNOT Ignoring new targets: 61.30 m. jIjIjQjQiQhQhQhYhYfYfYrfabfeG@]y]y]y]}K@qQ< 隕@I9 ɚiIIii))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՍAGUBBazK}K}9KyK}K}O}>mKw,k/A6 @Y6,'@6φ<96NN9>y6H`T@߿`Ա?`)??ِ?$y?ɨ6 @6$;6CyVBV#!I)t txxI~9I~3٢ a=  G=9 Q  > %G٣!y%0B %> -Nusing accuracyPremultiplier from config)559-C?55Y-o i-9= G=@)-\ ;- ;-5A E AImDNOT Ignoring new targets: 61.30 m. jqjqjqjqiqhqhyhyhyfyfrfbf@PG@]]]]K@φ< 隽EI9 ɚ6IiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JF QIYG:BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H F>I  I G!II BI  =&I .I 6I <:I FBIˡCJIRI˓CZI =bI =jILa6WKw,D/A2@Y2%'@2<92]9>y2H ߿? ,?``? ?@ y?ɨ2@2;2 CyNBN8!I]Mb@Mb@Mb@YYY Y)YY])\(? G٣y > Nusing accuracyPremultiplier from config59Ÿ?5Y i=;,@@xE;;ټ5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhKBffrfbfG@]5=]5=]50=]5,@]< aeHIe9 aɚe'iaIiIyiyi))JEJAJE1JAJE :JAJE3JAJE;JE;JAJE:;*FE?2FA:FABFEJ5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9GMBBYO>[Kw,v/A"Will construct direction to contact in vehicle frame from tetrahedron phase data.R@YR.'@R<9R_9>yRHڝc߿ZƳ? B(?;`tt vG٣tyv: z> ~Nusing accuracyPremultiplier from configx59z?5Yzj iz,@@zxEz ;z;z5 A=DNOT Ignoring new targets: 61.30 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfUG@zK}JQJK}9KyK}K}]]]],@< 隝ઽIH9 ɚziIIii))*F?2F:FBFJ2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G)BaO> E D$?II Kw,N/A6@Y6'@6 <96λ9>y6Hؙ1ܳ?`/?@ ?`2~,?x?ɨ6@6{ʆ;6!Cy^BbE!IidIfp< f=fa=mMb@Mb@Mb@iii i)iYm rh?~jt:vymC >mmTm+A i)mAImhAiym3AIIId4٢} >=97Q > G٣yM > Nusing accuracyPremultiplier from config59?5Yz i> >;s@@xE;c;f5 3A DNOT Ignoring new targets: 61.30 m. jjjjihhhhjBf!f!rf!bf% G@]> >]> >]@]s@ < I9 ɚ^ϳiII i i )9UWill construct direction to contact in vehicle frame from tetrahedron phase data.)Y*F2F:FBFP0JFHN>IC I!IIMBI&I.I6IL<:IL FGM :BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.ДKw,"7/AR[@YRV-'@R~<9R r9>yRH@*߿?(? -@?׏ ( ?y?ɨR[@R;RCyb)BbS!I lIpIjYIj4٢zs= zV=9=Q =>9A EG٣AyE; E> UNusing accuracyPremultiplier from configIU59M ?]5YM iM#Y]@]@IM ;M ;MŠ5a eAiDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf@ H@]]]]w@~< dIG9 ɚ)iIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9zK-BoHK-u9K)K-K-RKM>JKM?*F?2F:FBF5JFJK(3 K(.KK"KJ} J} J} 0Jy J} :J} 9J} ـ3Jy a @a @a @a @G B O >RKw,g/AR7@YR2''@Rc x<9R9>yRH`߿?+?@o?>@?x?ɨR7@RX[;R"CWill construct direction to contact in vehicle frame from tetrahedron phase data.yIeLIe4٢uHb: }9=9}wQ }> G٣yb > Nusing accuracyPremultiplier from config59?5Y id|@@xEC:e:Ê5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf`XH@] ] ] ] -|@c x< !%I%9 !ɚ%5)i!I)I)i)i1)1)1D 9IA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G{*BO >H P>I C I !II gBI  =&I .I 9D6I <:I F>Lw,%0A6"@Y6='@6 m<96MT9>y6H-߿?`3"?@$?`? ?Zy?ɨ6"@6;4yB,BBW!IMb@Mb@Mb@ )Y/$?/$S㥛y>/ݼA )I@yAImAImk3٢}r~< }K=9xںQ > G٣yY; > Nusing accuracyPremultiplier from config59ތ?5Y i >; @@xEo;;Ŋ5 AEDNOT Ignoring new targets: 61.30 m. jjjjihhhhdBffrfbfH@] >] >]r@]y @% m< )-HI-9 )ɚ-Ei)I)I1i9i9)9)92DErA*DErAD5#95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF AIAGBBO5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. i ALw,"0A>@Y><'@>e<9>9>y>H@߿=?j"?#? ߢ8?@x?ɨ>@>0;> CyJ$BJN!IIVLIV4٢^  bW=9bYQ b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr59j爈?r5YjѴ ij4pr @r@jxEj;j ;jiNJ5x zAxDNOT Ignoring new targets: 61.30 m. jjj!j!i!h)h)h1h1f1f1rf1bf=CH@zK]XKK]9KYK]K]]Q]Q]Q]U_ @e< I9 ɚeiIIi i ) ) Dm9*F2F:FBFo0JFG GJJBAJJJ1JJJ*9J3J=Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I9 GE 4B O >GLw,e;0A: @Y:?'@:'^<9:9>y:HT-߿W?3!?$?Ջ3?`x?ɨ: @:;8y^B^D!IMMb@Mb@Mb@III I)IYM7A`?MbplyM>MMI I)MAIIIyM=AI}\I}#4٢+  >=9mQ > G٣y9 > Nusing accuracyPremultiplier from config59B?5Y iF>;r(@@xE;;KɊ5 /AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 61.30 m. jjjjihhhhKBffrfbf3H@]F>]F>]0@]r(@%'^< )-PI-I9 )ɚ5}i1I1I1i9i9)9)9D HmX>ImC Im!IImlBIm =&Ii.Im:D6Im<:Im F*F?2F:FBF0JFG MB O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 2.Lw,wU0A6/@Y6N'@6jQ<96) :>y6H?߿@?? ({? *-6 ?x?ɨ6/@6;6!CyB BB/!IIHIH٢n nW=9re Q r>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|59~%?5Y~J i~8 (@ @~xE~:~:~ʊ5 AEDNOT Ignoring new targets: 61.30 m. jAjIjIjIiIhIhIhQhQfQfQrfYbf]9$I@]y]y]y]}k(@jQ< 隕I69 ɚiIIii))BD=:D>Will construct direction to contact in vehicle frame from tetrahedron phase data.DE9*F2F:FBF0JFzKKKKKJ J J J J J J J G RB) OE >_QLw,uxo0A2w'@Y2sF'@2N<92b:>y2H) ߿ x?F?l&?I‰*? x?ɨ2w'@2g;0y:B:!IIFXIF4٢N{ NP=9RQ V>\` bG٣`yfO f> rNusing accuracyPremultiplier from configlv59n{?z5Yn in|~{(@@nxEnV;n;MWill construct direction to contact in vehicle frame from tetrahedron phase data.n̊5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf %ZI@])])])]-p{(@=N< ae(Iev9 aɚeiiIiIiiqiq)q)q ID9EEqA*F=?2FA:FABFEC1JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.H} Y>Iy  I} !II} bBI}  =&Iy .Iy 6I} <:I} FG- MB1 OU >:7"Lw,K0AB~GN|uA\ vzYz|uAyzfA55@Y5T'@5MA<95%:>y5HͧY߿ ?.?*N?)#?tx?ɨ55@5ʇ;5 CyUBU!I-Mb@Mb@Mb@))) )))Y-Mb?Zd;O?-j<=-t-A -@)-AI-`@)y-AIMjIM;4٢]- ]1=9]ݺQ e>ai mG٣iymW: m> }Nusing accuracyPremultiplier from configq}59uv?}5YuN iu">;?@@uyEur>;u<;uΊ5 oADNOT Ignoring new targets: 61.30 m. jjjjihhhhBffrfbf`I@]>]>]>]%?@MA< 隍LI9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]P0JFY C$?IG9 BI Ou >- Will construct direction to contact in vehicle frame from tetrahedron phase data.|Z(Lw,t 0AJ@YJ<'@J@<9Js:>yJH ѡ ߿/Դ?`u"?m$@?@M0?w?ɨJ@J/;HybBb!IIjaIj+4٢rB rg=9rQ r>tt vG٣tyz z> Nusing accuracyPremultiplier from configx59zr?5Yz izu  ?@ @zyEz:,;zl,;z=Њ5 AMDNOT Ignoring new targets: 61.30 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]I@]y]y]y]}|?@@< 隕hI99 ɚiIIii))zKBoIK9KKK "&%#!  *F12F1:F9BF=Z0JF9JJJ2JJ:J9Jc3JGYByWill construct direction to contact in vehicle frame from tetrahedron phase data.՝=՝<O> I.Lw,20A2W$@Y2SC'@2h7<92<:>y2H} ߿??' ű?mM"?x?ɨ2W$@2g?;2"CyNӂBN I]Mb@Mb@Mb@YYY Y)YY]J +??L7A`堿y]=]=]+]A Y)]AI]I@Yy]AIufIu44٢ @=9Q > G٣yr: > Nusing accuracyPremultiplier from config59m?5Y iM>;6@yE;;Ҋ5B tAEDNOT Ignoring new targets: 61.30 m. jjjjihhhh΂Bf frfbf@I@]5M>]5M>]5ϥK?]5[@Eh7< AM#I=C I=s!II=CBI= =&I9.I96I=<:I=z FBIãCJIãCRIÔCZI =bI =jIÛ6*F2F:FBF_0JFG B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. I n5Lw,i0A6@Y6&'@6O9<96'\:>y6H`M߿?+?`-?@9E*? 1x?ɨ6@6];4y>ɂB> IIFiIF:4٢Rf RZ=9R9Q V>TT VG٣TyZڗ Z> bNusing accuracyPremultiplier from config\b59^Ki?b5Y^ i^df6f@^yE^P:^:^ӊ5h nAl DNOT Ignoring new targets: 61.30 m. j j j j i h hhhffrfbf d'J@]]]]x[@O9< 5I9 ɚıiII!i!i!)!))*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iGCBO=>zKMK89KKKy;Lw,J0AF.@YF*#'@Fy 7<9FH9>yFHa ߿?`-?]J?ᆿ`?x?ɨF.@FEB;F CyNłBN IiRdd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nd?r5Ynj intv6v@nyEn;n;:nՊ5x zAx=DNOT Ignoring new targets: 61.30 m. jAjAjAjIiIhQhQeWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf\J@ 9I9]y]y]y]}@t[@y 7< 隍I]9 ɚGiIIii))2D*DBD:D*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G SB! O= >H- [>I- C I- G!II- BI-  =&I) .I) 6I- <:I- FBLw,hx 1Ay~B~ IMb@Mb@Mb@ )YV-?ʡE?{Gzym=>ףA p@)hAI3@yQAIdI?14٢w <=9Q > G٣y > Nusing accuracyPremultiplier from config59_?5Y i)>;d@yE>;;;k׊5  AJ}J}J}1JyJ}<:J}b9J}3JyJ};aJ};aJ}0.;aJ}0.;aDNOT Ignoring new targets: 61.30 m. jjjjihhh!h%Bf!f!rf!bf-AJ@]U)>]U)>]U ?]UKt@a ae<96n:>y6HW! ? I?2@?@ȇ"?x?ɨ6D@6;6"Cy>B> IIJfIJ44٢R> V^=9V:Q V>XX ZG٣XyZ2 ^> Nusing accuracyPremultiplier from config 59[?5Y i==@yEV;N;ي5A EfAIDNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbf >J@] ] ] ] xt@erE>< imR-NLw,.>1A2@Y2&@2:<929>y2H v?Q? ? B?x?ɨ2@2 ;2 CyNBR I)T TTVAmMb@Mb@Mb@iii i)iYmMb?E?{Gztym=mF>mףmE A i)m@ImI@iymf@IZI4٢? <=9~Q > G٣y`+ > Nusing accuracyPremultiplier from config59@W?5YQ iugI>;{@yE;;ڊ5 {ADNOT Ignoring new targets: 61.30 m. jjjjihhh h Bf frfbf=J@]=gI>]=gI>]=#?]=AR@M:< IM=IM9 IɚMġiQIQIYiYiY)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.H\>I I(!IIBI =&I.I6I<:I F*F?2F:FBFO0JFG SB!O=>JJJJJm:J9JJJ;J;Jp#;Jq#; Will construct direction to contact in vehicle frame from tetrahedron phase data.  I ULw, X1A6@Y6 &@6P@<96 :>y6H@sy0O,?f? @Ý? u ?x?ɨ6@6;4yNBR IIZVIZn4٢b@; bY=9bc:Q b>dd jG٣hyj n> rNusing accuracyPremultiplier from configpv59r>S?v5Yrɸ irtvv@ryEr:r7:r܊5x ~sA|%DNOT Ignoring new targets: 61.30 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=P(K@]a]a]a]ey9@uP@< qu=I)9 ɚiIIi!i!)!)!EUqAEUrA*F2F:FBFP0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.GBBO>zKbLK9KKKd`YTSPNKE<863*% 5 8l+sXME6RK?JK?[Lw,q1A6d@Y6΃&@6%@<96=9>y6Hr D<@E/?r?@/ 6? h?@y?ɨ6d@6t&;6CyFBJ IIVlIVm?4٢f5= fJ=9fзQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rN?v5Yr\ irtvz@r yEre:rC:rXފ5~B ~$A~E%DNOT Ignoring new targets: 61.30 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5@[K@=Will construct direction to contact in vehicle frame from tetrahedron phase data.]a]a]a]e,@u%@< qu=Iu9 yɚ}}iII B$?Iii))*F 2F :F BF [0JF G1BAOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH 4<H [>I  I !II BI  =&I .I 6I <:I FvbLw,1A6((@Y6$G&@6 I<969>y6Hc cV@l=? ? ?? r?@x?ɨ6((@6;6#CyB˂BB IiF=IF;MMb@Mb@Mb@III I)IYMM#qy }G٣yy} }> Nusing accuracyPremultiplier from config59 K?5Y, iCM>;t @ yEgP;N;35 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhtBffrfbf@K@]CM>]CM>]JN?]Ճ@ I< !%.>I%9 !ɚ%]i!I!I)i)i))1J]J]JYJYJ]:J]9JYJYJ];J];J];J];)MWill construct direction to contact in vehicle frame from tetrahedron phase data. IDur9*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >[JiLw,1AR6@YR2&&@ROG<9Rj9>yRH Z)d`T?%?~?@a`? y?ɨR6@Rg;RCy^тB^ IIfLIf4٢rs< rI=9rIQ r>tt vG٣tyz֡ z> ~Nusing accuracyPremultiplier from config|59~JG?5Y~ i~~   @~ yE~X:~";~5 AeDNOT Ignoring new targets: 61.30 m. jajajajaiihihihqhqfyfyrfybfUK@]]]]Ń@zK-,NK-k9K)K-K-% OG< 隍|:>I9 ɚ-iIIii))JJ@AWill construct direction to contact in vehicle frame from tetrahedron phase data. IDM`9*F! 2F) :F) BF) JF1 Ga Bq O >pLw,l1AJ@YJ|%@J,J<9J{z9>yJH6Ey?`?v?`mEu?^y?ɨJ@JԈ;HyVBV!IjWill construct direction to contact in vehicle frame from tetrahedron phase data.H\>I I(!IIBI =&I.I6I<:I FMb@Mb@Mb@ )Y:v?+?>t< A )I@y@IIId4٢ Q=  )=9>9Q > G٣y*) > -Nusing accuracyPremultiplier from config!-59%B?55Y%ÿ i%5?>5;5 5@%yE%D;%M;%59 =AAmDNOT Ignoring new targets: 61.30 m. jijijijiiihqhqhqhuBfyfyrfybf}`[L@) ]U?>]U?>]UV!?]U ‚@}H~GvA rYvAyB,J< 9=B>I==9 9ɚ=i9IAIIiQiQ)Q)yBD=:D>JJJ0JJ:Jm9Jـ3JJ8;J:;J;J; IWill construct direction to contact in vehicle frame from tetrahedron phase data.DE r9EY *F 2F :F BF JF G  G GBB!OE>irxLw,m1AB݆@YB٥%@B{H<9B,9>yBH8??u?@f?x?ɨB݆@Bx;B!CyJBN!I)L LIVZIV4٢^]= ^3=9^;RQ b>`` bG٣`yf"̻ f> jNusing accuracyPremultiplier from confighn59j>?n5Yj ijpr r@jyEjL:jL:j5t v@AtWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jj-DNOT Ignoring new targets: 61.30 m. j)j1j1j1i1h1h1h9h9f9f9rfAbfE4?L@]Y]Y]Y]]ܪ@u{H< qu,j>Iu9 yɚ}hiyIyIii))zKUezKKQKQKUKUD@9*Fe?2Fa:FaBFaJFa IWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.GM 3BY Ou >~Lw,01An@Y%@KB<99>yH2 xõ?!?@d?MI`|?@Sy?ɨn@ȉ;騥CyB8!IMb@Mb@Mb@ )Y:v?+?Zd;O?y<>j<I A )`@I@y@IGI3٢= -=9WQ > G٣yHK > Nusing accuracyPremultiplier from config 59:? 5Y i1 #>;R@yE[;;(5 uAEDNOT Ignoring new targets: 61.30 m. jAjAjQjQiYhYhYhYh]ƂBfafarfabfm{L@]#>]#>]C?]~@KB< 隥>I^9 ɚiIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5,DAT read: user:3027> =BDAT read: Tx time:23:05:43.3228 E$Ping request sent.EI IM!II%BI =&I.I;D6I<:I FBIĤCJIĤCRIēCZI =bI =jI;5D*F ?2F :F BF JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:05:43.3220  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250308Gm :By O >92Lw,2AbxY@Ybtx%@b8<9b9>ybH-`j?`6?Y??2y?ɨbxY@b;bCyj/Bj[!IIvIv#3٢~~> ~S=9xҺQ >   G٣ y "\  > Nusing accuracyPremultiplier from config597?5Y i!%d%@yE<Ε<5 ADNOT Ignoring new targets: 61.30 m. jjjjihhhhffrfbflL@]!]!]!]%~@58< 15jR>I59 1ɚ9i9I9IAiAiA)A)I2DUrA*DUrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504404D9*FY2FY:FYBF]]0JFa"Gm>GizK BoHK u9K K K Ju Ju Ju 1Jq Ju m:Ju 9Ju 3Jq a @a @a @a @G B O >Lw,42A (I,BcT@YB_s%@Bf%#<9B@>yBH+,,?m?FG?d?@n?ɨBcT@BҬ;B CyN>BNm!IiR|| ~G٣|yND >  Nusing accuracyPremultiplier from config 59 4?5Y N i j@ yE : : 5! %A!UDNOT Ignoring new targets: 61.30 m. jQjQjQjYiYhYhYhhffrfbfL@]]]]ڴ~@f%#< jp>I9 ɚ|3iII i i ) ) D.9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059H _>I C I !II RBI  =&I .I 6I <:I F*F 2F :F BF ^0JF G B O%>ZLw,CR2A6@Y6%@6,*<96E>>y6H ;Kq4? ^?`?:e??q?ɨ6@6?;6Cy>WB>!IMb@Mb@Mb@ )YQ?y&1?Q?yu=`=u< A K@)@I@y@I-I-[3٢== =,=9=Q =>AA EG٣AyM9; M> UNusing accuracyPremultiplier from configQ]59U/?]5YU  iU[]>e;e(e@UyEU;U;U5 uA$?Iqy }OA}E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258090]DNOT Ignoring new targets: 61.30 m. jYjYjYjYiYhYhahhBffrfbf i"M@]>]>]??]ri@,*<  R8>I 29 ɚiIIiiY)a)aD@9*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509976G zK BoIK 9K K K B O >ELw,Go2AyffBf!IInMIn{4٢vT= v8=9zQ z>xx zG٣|y~ ~> Nusing accuracyPremultiplier from config 59+? 5Y i@yE\:&:5 A!MDNOT Ignoring new targets: 61.30 m. jIjIjIjIiIhIhIhQhQfQfQrfYbf]@RWM@JJJ0JJM:J9Jـ3J]]]] TV>I9 ɚ\3iIIii))BD>:D3? IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761509D]N9*F?2F:FBF JF G% qA G% pAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013326H I  I !II BI &I .I 6I V<:I c FGQ Ba O} >¢Lw,[2A6h@Y6d%@6;96>;>y6H B*ض?? 0 L?r3}aF?@8w?ɨ6h@6ض;6 Cy>B>!I)@ @ Mb@Mb@Mb@    ) Y EԸ?Dl?y = O=  3 A x@) I@I  y (@I%]I%$4٢= -=9Q > G٣yZl; >  Nusing accuracyPremultiplier from config 59 &?5Y  i =;KE@ yE r; Y; 5! % AIDNOT Ignoring new targets: 61.30 m. jjjjihhhh(BffrfbfߕM@]=]=]H?]L@; .>Io9 ɚiIIAiIiI)I)I I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}>}<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265551Dm`9*F?2F :F BF JF G B O >4;Lw,2AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517479RW@YRR%@R}P;9R :>yRH :א?? ?x ?@y?ɨRW@R7Ɖ;R#Cy^B^!IIfZIf4٢n= nP=9r=Q r>pt vG٣ty~ ~> Nusing accuracyPremultiplier from config|59~#? 5Y~ i~ kE@|~"";~";~q5 @=DNOT Ignoring new targets: 61.30 m. j9j9j9j9i9hAhAhihififirfibfuM@]]]]L@}P; U>I9 ɚZ3iIIii))!zK]BHK]9KYK]K]JJAAJ 3K 3 K L.KK"KJJJ1JJݒ:JB:J3J IDm9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769864*F5 ?2F1 :F1 BF5 p0JF1 G J B O >Lw,l2AyvBv!IuMb@Mb@Mb@qqq q)qYuX9v?Q?Qyu=u\=uuu A uK@)u@Iu@qyu@I?IT3٢W< +=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:05:45.8100 TRx dataTimestamp_ set to:1736377547.116617checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022392H ^>I  I "II BI  =&I .I 6I p<:I v FAA MG٣IyM M> UNusing accuracyPremultiplier from configQ59U ?5YU iU=;9@@UyEU.])9@  W>I9 ɚ 3iIIii))2DqA*DD%]9 aIa} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274339*F ?2F :F BF o0JF "G >G >G :B O%>Lw,9_2A>z@Y>ޙ%@>T~;9>9>y>HP6 yv?A?^?@o?y?ɨ>z@>g ;> CyJBJ!IiN>INp<IVLIV4٢^?= ^<=9^nQ ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59j?n5Yj) ijln8@r@jyEj:j":jk5t v@xDNOT Ignoring new targets: 61.30 m. jjjji!h!h!h!h!f)f)rf)bf5@:N@]Q]Q]Q]U8@eT~; aek>Iet9 aɚm,4iiIiIqiyiy)y)y Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 23:05:45.8100 LVL= 24032, 27793, 13618, 28595, AGC= 54, IDX= 447,-0.29,-0.922,-0.955, 0.951,-0.029, PHS=-0.805,-0.879, 0.976, RAW= 208.0, 7.8, CAL= 210.3, 1.8, ROT= 299.7, -1.8 EYgot valid direction response: 23:05:45.8100 LVL= 24032, 27793, 13618, 28595, AGC= 54, IDX= 447,-0.29,-0.922,-0.955, 0.951,-0.029, PHS=-0.805,-0.879, 0.976, RAW= 208.0, 7.8, CAL= 210.3, 1.8, ROT= 299.7, -1.8 MPDAT read: Bearing 299.7, -1.8 (Local) M~Local bearing/azimuth received: Bearing 299.7, -1.8 (Local) UDAT read: Range 10 to 50 : 62.3 m (Round-trip 83.1 ms) speed 0.0 m/s ]R#Rx 1: Read range and direction messages.ebdirection in FSK: [-0.181230,-0.888838,-0.420859]eFpublishing direction and range info 9 82ǿ\q>[ڿy 3yB  ] l 25) oI i {N %a #y? Vh@ 'g > Ij@) =I Rb@i    ;ujޡ?f}? nr?)   D9zK-BoHK-9K)K-K-*FI2FI:FIBFMO1JFIJJJ0JJm:J9Jـ3J I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ս %=ս %=G 3B O >#Lw,n2AR'p@YR"%@R=;9RF9>yRH3``뺷??;-?Էg]? Iy?ɨR'p@R.;PyZBZ!IIfBIf3٢nXt= nI=9r^ Q r>tt vG٣tyzҺ z> ~Nusing accuracyPremultiplier from configx59z?5Yz iz8@@zyEz;z;z25 @kMГ?kM] kI kMW2A:kM3yBBkMwBZkMsJ?"Mou˔&#hd`K< 3]38:M82ǿ\q>[ڿJkMRkMh>*M¨zA@"B@4|̱AM,Rm?+}Q?)]"kMB*kMBkM哜?kMRA  2kMAkIkMRA  kMAkM-ABkMYY? addTargetRange:: Added new target pos. range: 62.299999 m, deltaT: 60.520027 s, deltaX: 1.000000 m, approachRate: 0.016523 m/s, rangeRepo size: 4  Added new target pos. range: 62.299999 m, bearing: 45.311153 deg, lat: 36.904949 deg, lon: -122.119634 deg, deltaT: 60.520027 s, deltaX: 1.000000 m, approachRate: 0.016523 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.30 m. jjjj!i!h!h!h!h)f)f)rf-`f&O@bf5?]]]]8@=; 隕T>I9 ɚq4iIIii))D9*Fe?2Fa:FaBFm4JFi-Will construct direction to contact in vehicle frame from tetrahedron phase data.HM_>IMC IM5"IIMBIM =&II.II6IMn<:IMs F~G|uA \=Y|uAy5BG SB O >Lw,3A Iy}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yp= ף?~jt?V-y>< A 5@)3@I@y=@IYI4٢rh: :=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ? 5YR i@  >;3@@yE;;5 @MDNOT Ignoring new targets: 62.30 m. jIjIjQjQiQhYhYhahe;Bfafarfibfm#?] >] >]:>]3@! !%k>I%9 !ɚ-44i)I)I1i1i1)1)9BD=??:D=K?D *F?2F:FBFP0JFG GqA= Will construct direction to contact in vehicle frame from tetrahedron phase data.G BB O >)Lw,p.3A6 t@Y6%@6/H:96P9>y6H@4`D,?2?}@B?I?@Xy?ɨ6 t@6;4yRBR!I)T TIZUIZ4٢f  f^=9fܽQ f>hh jG٣hynI): n> rNusing accuracyPremultiplier from configpv59r) ?v5Yr irtv3@z@ryEr:r":r5~B ~@~ E5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h1zKqKu-9KqKuKuhhhffrfbf +?]]]]3@/H: Q]Rh>I]9 Yɚ]J4iYIYIaiaia)a)i @$?I!DQWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFR0JFG5 :Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.HE ^>IA  IE T"IIE BIE  =&IA .IA 6IE 6<:IE J FBI̥CJI̥CRIZI =bI =jIg5` Lw,FH3AyuBu"IMb@Mb@Mb@ )YʡE?y&1?Q롿y=`<\ )@I@yI-KI-4٢=== E3=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]eL>e;e7@e@]yE];];]5y }a@yDNOT Ignoring new targets: 62.30 m. jjjjihhhhDBffrfbf?]L>]L>]*p>]D7@ k>I9 ɚ94iIIii))J}J}JyJyJ}:J}9JyJyJ};aJ};aJ};aJ};a ID59}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JFG B O% >iLw,>zd3Ay B !IIWI44٢MO MM=9QQ U>QQ ]G٣YyY ]> mNusing accuracyPremultiplier from configau59e?u5Ye( ieWqq}@ae:e;es5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf`@]]]]Will construct direction to contact in vehicle frame from tetrahedron phase data. _>I9 ɚY4iIIii!)!))2D)*D-qAzKBoIK9KKK  D9 I *F}?2Fy:FyBFyJFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >#Lw,W3A6Jn@Y6F%@6`غ96:>y6H 3 ?`?ಋ?@[??3y?ɨ6Jn@6mI;6!CyBBB!IiF=IF;IJMIJ{4٢RØ RM=9RƻQ V>TT ZG٣XyZf Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^ i^df7@f@^yE^%;^;^05h j@lDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfMk@]]]]:7@M`غ QUW>I}f9 ɚ5iIWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙ IZ"IIBI&I.I6I)<:I@ FD9*FE ?2FA :FA BFE P0JFA J= J= J= 1J9 J= :J= "I:J= 3J9 J= 9;J= :;J= ;J= ; q Iy M Will construct direction to contact in vehicle frame from tetrahedron phase data.GE SBQ Om >;Lw,z3A2:s@Y26%@2Z$929>y2H@U4 ׸??@_y?c??`y?ɨ2:s@2];2 Cy>B>"IMMb@Mb@Mb@III I)IYMA`"?J +?yy G٣yr): > Nusing accuracyPremultiplier from config59?5Y iD=; D@@yE;8;:5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhh-Bffrfbf@] D=] D=] >] f D@%Z$ !%>>I9 ɚA5iLw,q3ARb@YR%@R_L39R9>yRH /`@??u?if?p?`=y?ɨRb@R;R"CyfBj!IIv>Iv3٢~{ ~H=9~EQ >   G٣ y@" > 5Nusing accuracyPremultiplier from config)=59-?=5Y- i-t9=C@=@-yE-:-:-5A M@IUWill construct direction to contact in vehicle frame from tetrahedron phase data.}DNOT Ignoring new targets: 62.30 m. jyjyjjihhhhffrfbf@D @]]]]C@_L3  >I9 ɚ(5ibIC I`"IIBI =&I.I6I:IA F Will construct direction to contact in vehicle frame from tetrahedron phase data.G /B O= >Lw,:3A2Y@Y2x%@2PLP928:>y2H-?@@?rPs? j?H&?`x?ɨ2Y@2͈;2 Cy>B>!I)@ @UMb@Mb@Mb@QQQ Q)QYUsh|??~jt?y&1yU=U=U`U A U@)U@IU@QyU@IeNIe@ 4٢u(< uD=9}4Q > G٣yW > Nusing accuracyPremultiplier from config59 ?5Y i=;;@yE%;:;5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf @]=]=]{=?]wV@-PLP )->I-9 )ɚ-`>5i5n Lw,\!3AN7\@YN3{%@N Gb9N\9>yNH ?.@ ? K? @me?Hl?`?@by?ɨN7\@NI;Ly^B^!IIjLIj4٢v vS=9v:Q v>xx zG٣xyzn9 ~> Nusing accuracyPremultiplier from config| 59~c? 5Y~ i~  ;@|~;~;~ 5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfSd@]]]]yV@M Gb IMI>IU9 QɚUQT5iUoJK%> QIQ*Fm?2Fi:FiBFm 5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Gq By O >Mw,4AR?@YR^%@RW9R]Q:>yRH`&@8?@a?@ n?@1j?K)?@x?ɨR?@R;RCy~B~ "IIAIA٢ujY= }C=9i9Q > G٣yۅ > ]Nusing accuracyPremultiplier from configQZHRHHIC III =&I.I6I <:I9 FWill construct direction to contact in vehicle frame from tetrahedron phase data. 59U(쇜? 5YU` iU ;@U yEUEI79 ɚm5i:Mw,4A6B@Y6a%@6%Z969>y6H'@<??@U`RZ?@Sk?@b?y?ɨ6B@6/;6 Cy<@iF G٣y9 > Nusing accuracyPremultiplier from config59臜?5Y i=;-@!yE;>; 5 ,@DNOT Ignoring new targets: 62.30 m. jjjjihhhh Bffrfbf૟@] =] =] y?] Kd@%%Z !%4>I%9 )ɚ-5i-P E ?$?IA zK K K K K J @AJ @AM< Mw,74A2N.@Y2JM%@2U929>y2H "w-??`;\?@j?? y?ɨ2N.@2;2Cy:̃B:"IIFLIF4٢J= NZ=9NE9Q N>PP RG٣PyVKY V> ZNusing accuracyPremultiplier from configX^59Z凜?^5YZN iZ\^-b@Z"yEZ` ;Z ;Z5d f6@dzDNOT Ignoring new targets: 62.30 m. jxjxjxjxixh|eWill construct direction to contact in vehicle frame from tetrahedron phase data.hyhyhyffrfbfu/@]]]]6d@U >II9 ɚ5iI If"II BI =&I.I6IO<:IZ FO> Will construct direction to contact in vehicle frame from tetrahedron phase data.)! % SC H~G = ?Y9 y= B$Mw,_aQ4A2H@Y2D;%@2}A92ޒ9>y2HU@B"?k?Y?` 8h??y?ɨ2H@2c^;2"CyBԃBB&"I Mb@Mb@Mb@    ) Y ?EԸ?Mby L= =  A @) @I @ y @I%KI%4٢5= 5A=95>:Q =>AA EG٣AyE) E> UNusing accuracyPremultiplier from configIU5 I9M;⇜?5YM iM=;&%@IMAI{9 ɚ5iυB O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.OMw,6?k4AV)@YV%.%@VD9V9>yVH׸w/??^X?uh?\?y?ɨV)@V;VCy^׃B^)"I)` `Ij7Ij3٢r S< vO=9vQ v>xx zG٣xyz: ~> Nusing accuracyPremultiplier from config 59߇? 5Y i  &@#yE::T5 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjIiIhIhIhahifyfrfbf`dk@]]]]9k@D g>IS9 ɚ5i2w46!Mw,4Ay%B-9"IIu@Iu3٢o= ?=9Q > G٣y > %Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.HuX>Iq Ius"IIuBIq&Iq.Iu:D6Iu<:Iu5 FBI=¤CJI=¤CRI9ZI= =bI= =jI=z~559ۇ?5Y% i@$yEV=U=?5 @DNOT Ignoring new targets: 62.30 m. jjjj)i)h)h)h1h1f1f1rf1bf=`c@]Y]Y]Y]Yq qu4>Iu9 qɚu]5iuXBQOu>q(Mw,8j4A6@Y6$@6c96|A:>y6H ?`@6?`/?d\l? a?\'?x?ɨ6@6~;4ybBbE"I- only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.96, 76.13, 74.77   @   @   @   @ I0I(3٢% 6= %3=9-:Q ->11 5G٣1y5 => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=؇?M5Y= i=sU+:QU;U'U@=%yE=F;=>=5Y ]@aDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf`@c >I>9 ɚ5iG6.Mw,"4AJ0@YJ, %@J/#9J9>yJH 7L'??~@Z? ed? Y?`y?ɨJ0@JƆ;JCynBnR"IipIrp<Iz:Iz3٢>= G=9HQ >    G٣ y=; > bBottom track data is 0.9 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%59ԇ?-5Yd iS- :)-;-'-@9;[?59 =y@9DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfI@/# h>I9 ɚ 5i2I I"II(BI =&I.I6IJ<:IT FWill construct direction to contact in vehicle frame from tetrahedron phase data.GeCBqO>  I 55Mw,4A>@Y>%@>5o9>9>y>H`l*?`/?@6]?`c?b?y?ɨ>@>N;>CyFBFO"I ] ] ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]T㥛 ?sh|??~jthy]=]=]D]MA ]@)YI]@Yy]@I}=I}=3٢6 B=99Q > G٣y?J > Nusing accuracyPremultiplier from config59iч?5Y i)T:~=;h2@&yE_; ;5 @DNOT Ignoring new targets: 62.30 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hhh Bf f rf bf E@]-~=]-~=]-k?]-_@E5o AE)>IE9 AɚE65iMB O >By6H`z@@A??aP? L%e?? ?z?ɨ63@6;4yBBBa"IIJGIJ3٢R= RQ=9VƹQ V>TT VG٣TyZ`; Z> ^Nusing accuracyPremultiplier from config\b59^5·?b5Y^) i^ 9I9dUY2U@^'yE^<^9<^5q u@uEDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf x @]]]]_@=m*) 9=>I=9 9ɚ=Z5iEmIq  Iu "IIu ABIq &Iq .Iu ;D6Iu $<:Iu 9 F= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AG k B O5 >qCMw,vo5A6@Y6%@6 :969>y6H@3? ?ǤV?Xg?:?y?ɨ6@6;6CyBBBe"I)D DHJAeMb@Mb@Mb@aaa a)aYel?㥛 ?y&1|ye=e=e`a e@)e@Iep@aye@I}6I}m3٢x< 1=9OQ > G٣y9 > Nusing accuracyPremultiplier from config59Aʇ?5Yo i]=;);@|;;5 q@DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf  W!@]%]=]%]=]% RG?]%V@5 : 9=>I="9 9ɚ=6i=\;I9Iii)) AIAD9*Fq2Fq:FqBFuP0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.G} 4B O >!IMw,((5A6 @Y6*%@6;Q96 9>y6H #7?j?P? m'j??y?ɨ6 @6r;6 CyBBBm"IIbCIb3٢= X=9 tiQ  > G٣y54; > Nusing accuracyPremultiplier from config59Ƈ?5Y i;@(yE;;T5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhYhYhahafafarfibfm+"@]]]]W@;Q >I9 ɚ6iG;IIii))D E>$?IA*F]?2FY:FaBFaJFaJAAJAAJJJJJM:J9JJzKvkMKKKK{wqkfb_^]ZZVTROLKKHGFECC@><9;865511-+*+*(()BKpA:KpA Will construct direction to contact in vehicle frame from tetrahedron phase data.GE MBQ Om >zPMw,B5A2"@Y2A%@2~92I9>y2H}@X?? : N? p? 3?y?ɨ2"@2އ;0yF BFk"IIR4IRV3٢^ ^L=9bQ b>`d fG٣dyfr; f> jNusing accuracyPremultiplier from confighn59jÇ?r5Yj ijpr:r@j)yEjm ;j~ ;j5t v'@xDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)rf)bf-"@]I]I]I]MB W@e~ ae>>Ie9 aɚe6immY;IiIqiqi))D9HU\>IQ IU"IIUUBIQ*F2F:FBF_0JF&IQ.IQ6IU<:IU F5Will construct direction to contact in vehicle frame from tetrahedron phase data.GHBO > 1 I1 VMw,[5A29@Y2X%@2N92a9>y2H`%@l??@K? ir?@?fy?ɨ29@2;2$Cy<BWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣yT; > Nusing accuracyPremultiplier from config59j?5Y ii=;C@;';!5 $@DNOT Ignoring new targets: 62.30 m. jjj j i hhhhffrf!bf% #@]=i=]=i=]=I$?]=4 O@N >I9 ɚ6ic:IIii))D*F!2F!:F!BF!JF!5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AG- /B1 OU >  I \Mw,Qu5AZ\@YZ{%@Z9Z9>yZH@#. .?V?&KD?@u? $?@Yy?ɨZ\@ZX;ZCyjBna"IIMI{4JsK{3 K{A.KsKs"KsJeJeJe0JaJe:Jem9Jeـ3Ja٢ L=9(Q > G٣yz; > Nusing accuracyPremultiplier from config59?5Y" iB@*yE:X:#5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf`V$@]!]!]!]%g.O@5 15>I509 9ɚ=T6i=nI9IAiAiA)A)IzK-mNK-k9K)K-K-)$""#!   D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF-0JF)GE CBi O >H] Y>IY  I] "II] [BI]  =&IY .IY 6I] ~<:I] | F ~Gm Will construct direction to contact in vehicle frame from tetrahedron phase data.  Y y B]cMw,O5A6m@Y6Ռ%@696h:>y6H`2uٝ? ?pD? w??`y?ɨ6m@6;6!CyJBJX"I-zonly read 0 of 4 data items for beam range. Device response is::RA 0.00, 83.60, 67.63, 75.45, 74.77  z@~ ~@~ @  @ I%[I%K!4٢ I=9Q > G٣y/; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YA i+:;B@+yE7;0> %5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhff rf bf a%@ I \>I(9 ɚ&6i"II ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D5&9*F?2F:FBFi0JFG B O >.jMw,p5Ay=B=P"I)A AMAIIUQIU4٢e eE=9mQ m>iq uG٣qyu u> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}?5Y}_ i} :;@},yE}u*;}R?}=&5Will construct direction to contact in vehicle frame from tetrahedron phase data. ~@DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf5&@ )>I9 ɚ-6iIIii)) )I)Du89zKDgMK9KKK *F ?2F :F BF 0JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.G MB O >.jqMw,5AyBI"II%\I%#4٢5o 5A=99Q =>99 EG٣AyA E> UbBottom track data is 1.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]59M?]5YM iMe9aev;ae@IMkS;M?M9'5m~B m@uEDNOT Ignoring new targets: 62.30 m. jjjjihhhhffQrfYbf]A'@HW>IC I"IIUBI =&I.I:D6I<:I FBIqJIqRIqZIu =bIu =jIu5Will construct direction to contact in vehicle frame from tetrahedron phase data. 隍>I9 ɚ56imxMw,25A>@Y>&@>9>9>y>HQX?`v?@#??`?My?ɨ>@>Ph;> CyJBJ:"I  % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%:v?i|?5?Zd;Oy%=%=%j% A %=@)%C@I%C@!y%\@IEMIE{4٢UF ]&=9]»Q ]>aa eG٣ayeo< e> uNusing accuracyPremultiplier from configq}59u[?}5Yu  iu}T:}">};:5@u.yEu ;u ;u`)5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBfIfIrfQbfU(@]">]">]K/Y?]\@   ?I 9 ɚ?6inIIii))A]Will construct direction to contact in vehicle frame from tetrahedron phase data. IDX9*F] ?2FY :FY BF] ~0JFY zK LK u9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. = <G% MB1 OM >!BMw,]6Az/@YzN&@z//9z9>yzH`.e52?Lj?*?@J?`?x?ɨz/@z4;z!CyۃB."Iiqq uG٣qyu3.< }> Nusing accuracyPremultiplier from configy59}ɣ?5Y} i}4@}/yE}~ ;} ;}J+5 ,@DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf(@]]]]1]@-// )-R ?I-t9 1ɚ5!H6i5IJI1I1i9i9)9)9D1*F?2F:FBF4JFH R>I C I "II FBI  =&I .I 9D6I <:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> =$?I J J J 1J J ݒ:J 9J 3J J ;J ;J ;J ;gMw,6AbP@Ybn&@bRA9b}2:>ybH[m &c?{?`D? *?%?`bx?ɨbP@bM;bCyj΃Bn"ImMb@Mb@Mb@iii i)iYmMbX?V-?{Gzym=mh>mףmA i)m-@Im@iym@I?IT3٢焽 H=9*Q > G٣y; > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.U59Q?]5Yx i]p2>];]-]@0yE<`<-5i m@iDNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf)@]-p2>]-p2>]-;Cv?]-sJd@}RA y})?I9 ɚR6iIIii))Dg9*FY2FY:FYBF]3JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Mw,Ѱ46A $I&hZX}@YZS&@ZhQ9Z9>yZH`x`p?g? ?,?`?x?ɨZX}@Z;ZCybǃBf"IIn`In(*4٢v. vV=9z(Q z>x| ~G٣|yC; >  Nusing accuracyPremultiplier from config 59 7?5Y 2 i -@ 1yE ~: : .5! %l@!MDNOT Ignoring new targets: 62.30 m. jIjIjIjQiQhQhQhQhYfafirfibfmm*@]]]]kxd@hQ 隥?I9 ɚh[6iIIii))BDC?:DK?D}y9*F 2F :F BF \0JF zKBoIK-9KKK OWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO->H S>I C I "II 2BI  =&I .I :D6I <:I F|Mw,,N6A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y B "I) AAMb@Mb@Mb@ )Ykt?^I +?I +y =X9>94A )@I-@yf@I^I&4٢.I .=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iL M> ; l# @3yE;0;05 )@ )I1UDNOT Ignoring new targets: 62.30 m. jQjQjYjYiYhYhYhaheBfafirfibfm}p+@]M>]M>]?I?]pn@ 隝?IJ9 ɚe6iIIii))JJJ0JJM:J*9Jـ3JJ;J ;J(;J(;D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe ?2Fa :Fa BFe O0JFa G 4B O >^cMw,2k6A6ƭ@Y6&@6{o96_9>y6H l߿`XX ^G٣\y^; ^> bNusing accuracyPremultiplier from config`f59b]?f5Yb ibhj8#j@b4yEb;by;bt25n}B n@rE DNOT Ignoring new targets: 62.30 m. j j j j i hhhhffrfbf`1,@]A]A]A]En@Will construct direction to contact in vehicle frame from tetrahedron phase data.{o M?I9 ɚo6iIIii))  ID9*J-p="J-p=*F%?2F!:F)BF-P0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.zK "bLK 9K K K zK)RK ?JK ?G) B9 OU > KMw,l6A:@Y:&@:RK~9:b9>y:H z߿ Uܺ?E?@3%`?ɏ?? x?ɨ:@:5;: CyFBF "IIVVIVn4٢f= jH=9jQ j>ll nG٣lyr4; r> vNusing accuracyPremultiplier from configpz59r?z5Yr irxz#~@r5yEr;r;r=45  @E-DNOT Ignoring new targets: 62.30 m. j)j)j)j1i1h1h1h9h9f9f9rf9bfE l-@]q]q]q]uo@RK~ 隕3?I9 ɚx6iIIii))H-R>I) I-y"II-BI- =&I).I-9D6I-<:I-u FWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9 I*F?2F:F BF Z0JF JE JE JE 1JA JE :JE 9JE 3JA JE Q;JE S;JE {;JE |;G /B O >=pMw,26A"Will construct direction to contact in vehicle frame from tetrahedron phase data.>z@Y>v&@>9>2:>y>H[߿R?jA?'?@㖐?`$?w?ɨ>z@>i;>"CyvBv"IMb@Mb@Mb@ )YQ?zG?MbP?y\= W>: A &@)@I@y@IYI4٢P >=9"ϺQ > G٣y: > Nusing accuracyPremultiplier from config59?5Y~ i)b>o;c@7yE;$;";65 :@DNOT Ignoring new targets: 62.30 m. jjjjihhh!h%^Bf!f!rf!bf-`-@]b>]b>]?]ٻv@ .?I9 ɚB6iII!i!i!))))DEEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF ]0JF G rA G rA I G MB O>|Mw,Lļ6A2@Y2'@2Մ92ֵ9>y2H `߿?,/?3@?a? S?`rx?ɨ2@2¨;0y>ƃB>"IIJRIJW4٢R>k= R?=9V<$Q V>XX ZG٣XyZ ; ^> bNusing accuracyPremultiplier from config\b59^{?b5Y^ i^dM6M@^8yE^<^<^75Q Up@QDNOT Ignoring new targets: 62.30 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս<Չhhhhffrfbf C.@zK MKk9KKK]]]]hv@Մ a4?I9 ɚ 6iIIii))D9*F?2F:FBF0JF) ]CHQ>IC Is"IIBI =&I.I6I<:Ix FH~G )GeCB YyBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. ;$?I ^Mw,6A>F@Y>B&'@>O9>#:>y>H`~O߿@F@>;>CyJуBJ""I%Mb@Mb@Mb@!!! !)!Y%X9v?)\(?I +?y%}=%Ga>%94<%A %@)!I!!y%@I=SI=4٢EBL= MA=9MQ M>QQ UG٣Qy]c: ]> eNusing accuracyPremultiplier from configYe59]v?m5Y] i]mSj>mg;m5m@]:yE];];]95y }@yDNOT Ignoring new targets: 62.30 m. jjjjihhhYh]fBfafarfabfe]/@]Sj>]Sj>]?]y@O 5?I%: ɚ6iIIii))BDK?:D?D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFg2JFG MB O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.ËMw,]m6A6e,@Y6aK'@6;969>y6H @߿SA?? ???`:?sx?ɨ6e,@6;6CyBBB7"IIjVIjn4٢v= vP=9v,Q > G٣y; > %Nusing accuracyPremultiplier from config!-59%p?-5Y%p i%A)5 5@%;yE%+;%+;%;59 E@AuDNOT Ignoring new targets: 62.30 m. jqjqjqjqiqhqhyhyhyfyfrfbft/0@]]]]%z@; 隽)>?I: ɚѓ6iIIii)) YIYD9Ee>E>*F}?2Fy:FyBF5JF"G>G>J}J}JyJyJ}:J}9JyJya@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.zKEjIKE9KAKEKE GBO>nMw,4 7AFl1@YFhP'@F29F09>yFH |߿-d??A?yq?t? w?ɨFl1@Fg;FCyNBNH"IITIT٢^= bN=9bQ b>dd fG٣dyfL: f> nNusing accuracyPremultiplier from confighn59jUk?r5Yj  ijprr@jI5C I5"II5BI5# =&I1.I58D6I5<:I5 FBICJICRIZI =bI =jI{6DNOT Ignoring new targets: 62.30 m. jjjjihhhh f f rf bf  0@]I]I]I]Mz@2 隍E?I: ɚ>6iIIii))%Will construct direction to contact in vehicle frame from tetrahedron phase data. IIID9*F?2F:FBFV5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Mw,%t%7A2T@Y2s'@2[=92^^9>y2H `\߿r?@2 ?K`?Rg?G ?x?ɨ2T@2J;2 Cy>B>a"IMb@Mb@Mb@ )Y:v?Fx?~jt?yT=K><hA &@)@I@y=@I1I3٢ /= .=9 Q > %G٣!y-; -> =Nusing accuracyPremultiplier from config1E595e?M5Y5 i5MS>M;UU@5>yE5L^;5\;5Y?5Y e@ADNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbfs1@]S>]S>]X?]l{@][= Y]:?I]N9 Yɚe6iaIaIaiiii)i)i2Dq*DurAuWill construct direction to contact in vehicle frame from tetrahedron phase data. ID9*Fu ?2Fq :Fq BFu 92JFy J J J J J J 9J J - Will construct direction to contact in vehicle frame from tetrahedron phase data.zK>BKK9KKKGs%BOE?=OMw,~E7Ay &B"Ii%=I%p= 5=5=I=GI=3٢M> M,=9MQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configa59e(`?5Ye ie@e?yEeKHI I"IIB) E Will construct direction to contact in vehicle frame from tetrahedron phase data.OU >Mw,sa7Ay@B "IMb@Mb@Mb@ )YQ?jt?I +?yu= >9<A @)@I@y@I,I3٢7= 3=9Q > G٣y > Nusing accuracyPremultiplier from config 59G[? 5Y i.->; @AyE;;jC5! %@!MDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhQhQhQhUBffrfbf1@]->]->]JV?]t@9 9=E?I=9 9ɚ9iAIAIAiIiI)I)ID}-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF5 P5JF1 u :$?Iq G HJ J J J J J 9J J B! Oe >bMw,8}7ARn@YRj'@R=O9R^U9>yRH p߿˻??]?`lɖ??`2x?ɨRn@R؆;R"Cy^kB^"IIj7Ij3٢rSS> rJ=9rQ r>tt vG٣tyz)< z> ~Nusing accuracyPremultiplier from config|59~V?5Y~ i~@~ByE~:~:~.E5 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjAiIhIhIhQhQfQfQrfQbf]ob2@]q]q]q]uat@=O 隍Z?I: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BD%:?:D%9?D)9zKk3IK9KKK*F]?2FY:FYBF]P0JFYjHibHmp<HuI>Iq Iu"IIutBIu =&Iq.Iq6IuA<:Iu= FGMBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Iq Mw,JB7Ay~B~#IMb@Mb@Mb@ )YT㥛 ?B`"۹?{Gz?y==ף<QA )I@yI$I<3٢> ?=9Q > G٣y > Nusing accuracyPremultiplier from config59PS?5Ym i4=;*@;;G5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf72@]4=]4=]٬?]hg@i quE?Iu7: qɚqiqIqIyiyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.D;9EErA*F 2F :F BF 4JF "G >G > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ G CB O >[Mw,7A2 @Y2'@2k92NJ9>y2H``޿@R?"?i ?@?L?w?ɨ2 @2a;2 C XX ^G٣\y^t; ^> bNusing accuracyPremultiplier from config`f59bO?f5Yb ibr15*5@bCyEbhI  I A#II BI  =&I .I 6I ΰ<:I FGe {*Bq O >Mw,7ANWill construct direction to contact in vehicle frame from tetrahedron phase data.j0@Yj,(@jȼ9j99>yjHQ%޿ ?3?@v ??@3?w?ɨj0@j3;hyBE#II]"I]q3٢= ,=9Q > AII G٣y0; > Nusing accuracyPremultiplier from config59[K?5Y iJ*@DyEd;};!K5 @]DNOT Ignoring new targets: 62.30 m. jajajajaiahahahihififirfqbfu3@]]]]%g@ ȼ ^?I5.: 1ɚ1i1I9I9i9iA)A)ADmJ9*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G HB O >/Mw,7ABl @YBh+(@B̼9B9>yBH`x R޿ +?t?zM?Ǖ??6w?ɨBl @B;BCybBbs#I]Mb@Mb@Mb@YYY Y)YY]ˡE?ˡE?I +?y]=]'=]94<]A Y)]x@IYYyYIu)IuW3٢X;> M=9⣺Q > G٣y<; > Nusing accuracyPremultiplier from config59H?5Y i=<ND@@EyE#;M;L5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhYBffrfbf4@]%=]%=]%5c>]%ND@̼ 隵E?I: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D III*FM?2FI:FQBFU_0JFQG]rA G]rAG- CB9 OU >e Will construct direction to contact in vehicle frame from tetrahedron phase data.VNw,8A2;@Y2Z(@2zҼ92589>y2H@"޿-?YK??PW? ?w?ɨ2;@2;2!CyBBB#IIJ IJb3zKNs$LKN-9KLKNKN٢Z= ZX=9^Q ^>\` bG٣`yb; b> fNusing accuracyPremultiplier from configdj59fE?j5Yf ifRlnD@n@df` ;f ;f`N5p rL@tDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf`54@]]]]D@UzҼ Y]O?I]: YɚYiYIYIaiiii)i)yNG aYy BZHaRHaHmD>ImC Im#IImBIm( =&Ii.Im7D6Imǰ<:Im FDj9Will construct direction to contact in vehicle frame from tetrahedron phase data.i QIQ*Fe?2Fi:FqBFqJFyJ- J- J) J) J- :J- b9J) J) J- 7;a5 J- 8;a5 J- /.;a= J- 0.;a= G MB O= >dNw,P 8A2ZV@Y2Vu(@2I׼92A9>y2HT o޿D?f3?Մ?`j?t ?,w?ɨ2ZV@2և;2 Cy>BB#I5Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}bX9ȶ? G٣yk; > Nusing accuracyPremultiplier from config59C?5Y i]=<'@@FyEA;;gP5 @DNOT Ignoring new targets: 62.30 m. j j j j i hhhhyBffrfbf4@]==]==]=@]=w'@MI׼ QUE?IUy: QɚUGP4iQIQIYiYiY)a)aBDm7?:DmR?D 9*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. Y Ia G B O > Nw,:8A2@Y2(@2yܼ92v9>y2H@K޿O??ח?`]?U ?w?ɨ2@2;2Cy>B>#I)@ @IJ7IJ3٢R= RU=9RcغQ V>TT VG٣XyZ; Z> ^Nusing accuracyPremultiplier from config\b59^@?b5Y^H i^fdfP@f@\^L:^L:^R5h j6@l DNOT Ignoring new targets: 62.30 m. j jjjihhhhffrfbfZ5@]]]];P@yܼ O?I: ɚi I Iii))Df9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JF"GG>zK.JKk9KKKG9BO>H C>I C I #II ?BI " =&I .I 8D6I h<:I S FBIȡCJIȠCRIZI" =bI" =jIȣ6 Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,dU8A LILկ@Y(@a9N~9>yH޿)d??@ u?3k? ?v?ɨկ@2; Cy"B#IMb@Mb@Mb@ )Y1Zd?J +y&1y"=H`e )I@yG@I+In3٢= -=9Q > G٣y; > Nusing accuracyPremultiplier from config59=?5Y" i=;@@GyE@;Y;'T5 @ DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrf!bf%p5@]=]=]Q@]@a B?I9 ɚT4iIIii)) Jk3Kk3 Kk/.KcKc"KcJJJJJm:J9JJJ;J;J:;J:;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F! BF% o0JF! G CB O>Nw,r8A6Will construct direction to contact in vehicle frame from tetrahedron phase data.F@YF(@F/9FN9>yFH` ^ݿ@-e?$?`Ӯ$?`??@v?ɨF@Fdd fG٣dyj; j> nNusing accuracyPremultiplier from configlv59nv;?z5Yn, inxzJ@z@nHyEnm;nm;nU5| ~@-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=56@]Y]Y]Y]]J@u/ qu\A?Iu: qɚu-4iyIyIyii))2D*D ID9*F]?2Fa:FaBFe2JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKm k3IKm 9Ki Km Km G 4B O >c"Nw,ZK8AJ@YJ<)@JP9JYr9>yJH ݿs?C? ?@tߝ?e ?`v?ɨJ@Jyy;J CyVBV#IjHn<bHn<HpIrC Ir$IIrmBIr( =&Ip.Ir7D6Irz<:Ir] FI5#I5%x3٢Eb( EC=9EQ M>II MG٣IyUR< U> ]Nusing accuracyPremultiplier from configYe59]8?m5Y]) i]5qu@u@]IyE]o;] ;]W5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfජ6@]9]9]9]=@P B@?I?: ɚ5iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9EE*F?2F:FBFR5JFG GqAJJJJJ:J:JJJP;JQ;J@;J@;= Will construct direction to contact in vehicle frame from tetrahedron phase data.= <9 G CB O >J)Nw,]8A:BH@Y:>g)@:G9:9>y:H`&hݿ|?^?@Z?G?`?u?ɨ:BH@:0;8yJBN#IMb@Mb@Mb@ )YʡE?i|?5S㥛y=q/ݼQA @)IyQ@II3٢w ==9:qQ > G٣y ; > Nusing accuracyPremultiplier from config596?5Y i>;S@@JyEKb;]->]-@]-S@=G 9==J?Ie: aɚmL5iiIiIiiqiq)q)q5Will construct direction to contact in vehicle frame from tetrahedron phase data. }9$?IyD*F ?2F :F BF O5JF J J @AG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >~1Nw,88A6p@Y6l)@6C96S9>y6H7WݿG{?`!????`v?ɨ6p@6A|;4y>B>#IIJ&IJ3٢^Ӽ bA=9jMQ j>ll nG٣lyn #< r> vNusing accuracyPremultiplier from configpz59r/3?z5Yr ir"xz@~@rKyEr:r*:rx[5 @}DNOT Ignoring new targets: 62.30 m. jyjyjyjyiyhyhyhhffrfbf7@]]]]@ C  pG?I: ɚ5iIIiii)q)qzK}K}9KyK}K}BK:KD}9HD>IC I/$II|BI% =&I.I8D6I<:I F*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G{* IBA O >V!7Nw,8AVQ@YVM%*@VV9V9>yVHS ܿ |??R2? *?+?u?ɨVQ@VJ[;VCJfJfJdJdJf:Jf:JdJdJf7;Jf8;JfyE;JfzE;ynBn#ImMb@Mb@Mb@iii i)iYm`"?l=98Q > G٣yb< > Nusing accuracyPremultiplier from config59/?5Y i>;@@;B;V]5{B @!EDNOT Ignoring new targets: 62.30 m. jjjjihhhhgBffrfbf@7@Will construct direction to contact in vehicle frame from tetrahedron phase data.]=>]=>]=Ր@]=@mV iu=J?IuH: qɚu5iqIqIyiyiy)y)D9Ei>E*F- ?2F) :F) BF- n3JF) "G= >G= > Will construct direction to contact in vehicle frame from tetrahedron phase data.  I Gu 9B O >b=Nw,r8AyBz#II5:I53٢Er E<=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe59]R,?m5Y] i]0iqu@]LyE]^;];]=_5y }+@yDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfxY8@]]]] @?IR: ɚ5iIIii)) *JR="JWill construct direction to contact in vehicle frame from tetrahedron phase data.D9zKiKK9KKK!-59>DGGJMJHFCED<4-'"   RK?JK?*FE?2FA:FABFEO0JFAH G>I C I "$II rBI ) =&I .I 7D6I <:I FGe >Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >ZDNw,9ARn@YR׍*@RK9R:>yRHkqܿgg?Y? ? p??u?ɨRn@RXЋ;R"CyZ̄BZW#IIn;In&3٢~  K= I9ާQ > G٣yu< > Nusing accuracyPremultiplier from configE59(?M5Y iQ]6@]@MyEX}<G<#a5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf@8@]Y]Y]Y]]6@mK 隝p2?I(9 ɚiIIii))JJJJJ:J 9JJJ;J;JO>;JO>;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF P0JF G/BO>pYLNw,39AB@YB*@Bo9B9>JWill construct direction to contact in vehicle frame from tetrahedron phase data.yBH y@hSܿV??ള?>?? 0u?ɨB@B;BCyBA#I IMb@Mb@Mb@ )Yi|?5?~jtx?Q롿y=;\ )I@y@I(I̍3٢+ =9gQ > G٣y; > Nusing accuracyPremultiplier from config59$?5Yk i2^=;[1@@NyEh;%g;[c5 @DNOT Ignoring new targets: 62.30 m. jjjjih!h!h)h-Bf)f)rf1bf5K9@]U^=]U^=]UP=]U[1@mo im\O?Imm: iɚu[]4iqIqIqiyiy)y)D9E EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF G qA G rA)Y Y zKu MKu -9Kq Ku Ku !1 G 5 aY1 y= B  @ BH I  I #II IBI * =&I .I 6I <:I FGe >Bi O >3SNw,EP9Az@Yz *@zZ9zM:>yzH G0ܿK? ?`#??`%?t?ɨz@z ;z CyEBM#IIeBIe3٢$ @=9]F8eWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQQ  >! %G٣!y=; => Nusing accuracyPremultiplier from config59G?5Y iy1@@OyE<<e5 8@]DNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhahahahififirfibfm`9@]]]]+1@ Z  =?Is9 ɚiII!i!i!)!)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D} 9*F ?2F :F BF D5JF G4BO ?4g\Nw,t9AfWill construct direction to contact in vehicle frame from tetrahedron phase data.y}B"I IMb@Mb@Mb@ )Y1Zd?MbX9?S㥛y"=ʡ=/ݼv@ @)@I@y@ILI4٢ ½ =9 Q  > G٣y > %Nusing accuracyPremultiplier from config%59?-5Y' i- >-;51=5@PyE;;g5A E@A-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h1h1h5Bf1f9rf9bfeM:@] >] >]"?]T@ 隵c?Iu: ɚxv4iIIii))JuJuJu1JqJu:Ju:Ju3Jqa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F] ?2FY :FY BFe O5JFa zK PCLK 9K K K =M|ogeb\XUQNPPJD3  jH <bH H F>I C I #II BI $ =&I .I 8D6I <:I v FBI̟CJIRIZI( =bI' =jI6G=9BIOe>EXdNw,299A6#{@Y6+@6c96>:>y6HRʞۿR?;j?GH?`? ?t?ɨ6#{@6T;4y>\BB"IIJMIJ{4٢z# ~;=9~Q ~> G٣yȻ<  > Nusing accuracyPremultiplier from config 59 ?5Y u i <@ QyE X; : i5! -@)UDNOT Ignoring new targets: 62.30 m. jQjQjYjYiYhahahqhqfyfyrfbf@:@]]]]UU@c S?I: ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.Iii)) yID*F?2F:FBFV0JF"G>G>G/BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.}jNw,9A2N@Y2J+@2i92Z:>y2H؃ۿ? AB>"I Mb@Mb@Mb@    ) Y Mb?7A`?y&1y = > `e QA @) @I @ y p@Im@Im3٢7 B=99Q > G٣yZ; > Nusing accuracyPremultiplier from config59?5Yv i?3>;&@RyEr;;ek5 @$EDNOT Ignoring new targets: 62.30 m. jjjjihhhh~Bffrfbf@!;@]?3>]?3>]A=?]l@-i 15Ha?I5r: 9ɚ9i9I9IAiAiA)A)I2Da*DaD5,9*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. m8$?IiGM 4BY Ou >J J J J J :J :J J 4fqNw,j9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2=2%=>P@Y>L+@>9> 9>y>HVۿe? ?@Zg?@mՠ?~?-u?ɨ>P@>6;xx zG٣xyzu< z> Nusing accuracyPremultiplier from config|59~ ? 5Y~b i~  % @~SyE~:~&:~m5 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjIiIhIhIhIhQfQfYrfYbf] ;@]]]]5l@- )-V?I-: QɚQiQIQIaiaia)a)azK9NK9KKKHD>I Ia#IIԄBI" =&I.I6I<:Ii FD]>9*F?2F:FBFY0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQG5 RBA O] >-wNw,9A>@Y>,@>9>9>y>H5@ۿ? ? #_???@t?ɨ>@>տ;>CyJBJ"I%Mb@Mb@Mb@!!! !)!Y%Dl?Cl?~jtx?y%O=%;_>%;%v@ %\@)%@I!!y%@IE[IEK!4٢U  UC=9]3:Q ]>YY eG٣ayet; e> uNusing accuracyPremultiplier from configiu59m?u5Ym, im}:j>}h;}-}@mUyEm;m;mn5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhh@Bffrfbf ,;@]e:j>]e:j>]e=ӡ?]e|@ 隕n?I: ɚu4iIIii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.D M9*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i 9 I9 G [B O >~Nw,9AN@YN#,@NK,9N9>yNH<'ۿ|??we_?̈́? ?@Fu?ɨN@Nm;N CyVBVu"II^NI^@ 4٢f fJ=9jT:Q j>hl nG٣lyn-; n> rNusing accuracyPremultiplier from configpz59rP?z5Yr irFxzz@rVyEr;r;rp5 ]@5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE V<@]a]a]a]e}@}K, y}-j?I}: yɚ}4iyIIii))BD+?:DK?DJJJ0JJ̝:J 9Jـ3J*F=?2F9:F9BF=3JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G]MBiO>zKu BoHKu u9Kq Ku Ku H B>I C I #II BI ( =&I .I 7D6I <:I o F߄Nw,iq:A2k#@Y2gB,@2%692E9>y2Hz ۿ` m?Y?k ???@"u?ɨ2k#@2މ;2"CybBbq"IllIrXIr4٢z zI=9~Q ~>| G٣y"; >  Nusing accuracyPremultiplier from config 59  ?5Y  i @ XyE ? ;  ; qr5! %@) qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf<@]]]]d-}@%6 zh?I: ɚ25iIIii))D_9*FU?2FY:FYBF]0JFY"GaGe>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G= CBI Om >5 Nw,M.:A65@Y6T,@696%(:>y6H /ڿ@Q??3oW?R??!?`t?ɨ65@6;6 CyRBRn"ImMb@Mb@Mb@iii i)iYmS㥫?S㥛?~jt?ym/]=m$>m G٣y-; > Nusing accuracyPremultiplier from config59s?5Y i>E;%@ZyE(;;Kt5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBff rf bf @e+=@]->]->]-i ?]-@= 9ERx?IEs: AɚE`r5iAIAIIiIiI)I)Q IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F2F:FBF1JFJe Je Je 1Ja Je <:Je :Je 3Ja = Will construct direction to contact in vehicle frame from tetrahedron phase data.G {*B O >ENw,I:A65a@Y61,@6969>y6HCڿ.?ś? x? X??@u?ɨ65a@6UL;4y>B>y"IIF>IF3٢~'-= ~I=9Q >  G٣ y b; > Nusing accuracyPremultiplier from config%59?%5Y' i)- -@[yEvA;B;v51 =-@9eDNOT Ignoring new targets: 62.30 m. jajajajaiahahihihqfqfqrfqbfut=@]]]]@ 隵|?It: ɚ>5iIIii))2DrA*DzKK9KKKD9H-C>I) I-"II-yBI-) =&I).I)6I-<:I-k F*Fy2Fy:FyBF}P0JFy 7$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GHBO >miNw,Hc:A67v@Y63,@60h9659>y6Hxڿl?@? } ?U,?@?`u?ɨ67v@6 ;6CyB'BB"IEMb@Mb@Mb@AAA A)AYE ףp= ?/$?~jt?yEQ8=E1>E=E@ A)E@IAAyE@IU/IU3٢m3= mD=9mV:Q u>qq uG٣qy}I; }> Nusing accuracyPremultiplier from config59ꆜ?5Yy i}>B; @]yEG;E;w5zB 5@'EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf=@]}>]}>]c?]`K@-0h )-?I-* : 1ɚ5º5i1I1I9i9i9)9)AeWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9EEqA*F2F :F BF JF G GG) B9 O] > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.rNw,'}:A2{@Y2w,@2G92L9>y2HU ڿt?+h?`?@(?`E?;v?ɨ2{@2O;2CyB,BB"IIJ<IJ3٢n#< rT=9r(8Q r>tt zG٣xyz; z> Nusing accuracyPremultiplier from config|59~憜? 5Y~ i~  d  @~_yE~:~:~y5 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU`>@]]]]]@eG aeσ?Ie : aɚm5iiIiIii))*J5C="J5a=Dm9*F?2F:FBFY0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}G YyzBGMBH B>I  I "II tBI & =&I .I 6I Q<:I A FzK5 BHK5 k9K1 K5 K5 RKE >JKE ?O >|Nw,C:A IbWill construct direction to contact in vehicle frame from tetrahedron phase data.yE9BM"IIeDIe3٢}u= A=9Q > G٣y > Nusing accuracyPremultiplier from config59l?5Y2 i:@`yEP;;{5 @ DNOT Ignoring new targets: 62.30 m. j j j j ihhhhffrf!bf%[>@]y]y]y]y 隝?I: ɚ6iII ii))QBDGM > iIiGm{*ByO?INw,:A2@Y2,@292=9>y2H4*|ڿ'ɺ? >? `&???Uv?ɨ2@2I6;2!Cy>QB>"IFWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}ˡE?ʡE?/$?y}'=}o>},=}@ }r@)yI}K@yy}@I!Ii3٢4= =9B9Q > G٣yF; > Nusing accuracyPremultiplier from config59)ۆ?5Y i w>\; @byE;;}5 @ DNOT Ignoring new targets: 62.30 m. j j j j i hhhhQBffrf!bf%Q?@]= w>]= w>]=%ܲ?]="B@U QU?IU: ɚ6iIIii))D9=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FQ :FQ BFU P0JFQ H =>I  I #II BI % =&I .I 6I <:I FBIJI˟CRIZI& =bI& =jIc)6zK} RIK} -9Ky K} K} BK :K G 4B O >ENw,|:A2)@Y2%,@2(92˔9>y2H `mڿY̺?l0?+2?b$? 5?`u?ɨ2)@2K;2Cy:vB:"IIR&IR3٢f0> fB=9nzQ n>ll nG٣pyr3; r> vNusing accuracyPremultiplier from configtz59vֆ?z5Yv iv|~ ~@vdyEvm ;v(;v5 8@MDNOT Ignoring new targets: 62.30 m. jIjIjIjQiQ YIYhhhhffrfbf?@=Will construct direction to contact in vehicle frame from tetrahedron phase data.]q]q]q]uI@( 隅M?I: ɚiIIii)))D 9*F?2F:FBF\0JFJJJ1JJݒ:J :J3JJ;J;J9P;J9P; Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B9 O] > Nw,M:A>@Y> -@>OF9>c'9>y>H2Hڿ1? ?๚*?H? ?`v?ɨ>@>ć;> CyFBF#I%Mb@Mb@Mb@!!! !)!Y%Zd;O?|?5^?Mb?y%j<=%M>%@=%@ %E@)%@I%5@!y%@I=I=2٢M= MC=9M~*Q M>QQ UG٣Qy]; ]> }Nusing accuracyPremultiplier from configi59mW҆?5YmM imX>{;@meyEmg;m];m]5 @uDNOT Ignoring new targets: 62.30 m. jqjyjyjyiyhyhyhhBffrfbf@@]X>]X>]C?]y@OF ?I: ɚ΅4iII ii))2DqA*DqA IIQEWill construct direction to contact in vehicle frame from tetrahedron phase data.D59*F?2F:FBFP0JFG GG {*B - Will construct direction to contact in vehicle frame from tetrahedron phase data.O5 >bNw, ;AJ?@YJ]-@J39JgM9>yJHڿ? ?~3?H?D?@v?ɨJ?@Jˇ;JCyVBV.#IiXIZ= ^=^=IbIb(*3٢j;> jD=9nQ n>ll nG٣lyr,< v> zNusing accuracyPremultiplier from configx~59z+Ά?~5Yz iz@zfyEzP:ze:z05 yB @ ,E=DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMI@@]]]]9@%3 !%?I% : )ɚ-i)I)IQiQiQ)Q)YH5;>I5C I5;#II5BI5' =&I1.I56D6I5<:I5 FzK%k3IK%9K!K%K%E|rhbZRHB>9851- aIehD9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG 9JK KKK"KJ J J J J m:J :J J J ;J ;J R;J R;B! O= >Nw,\%;A6e@Y6-@696x9>y6Hٿ@Һ? ï?6? ?@u ?u?ɨ6e@6Շ;6 Cy>ńB>N#IMb@Mb@Mb@ )YL7A`?V-?~jt?y+=h>= r@)@IK@y@I+In3٢= 0=9кQ > G٣y; >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59Ɇ?5Y& i %> ;  @gyEr;t;:5! %E@!mDNOT Ignoring new targets: 62.30 m. jijqjqjqiqhqhqhhʂBffrfbf`@@]}%>]}%>]}_?]}\u@ 隕q}?I: ɚiIIii))D9 e6$?Ia*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G CB O >Nw,B;A2V@Y2R-@2 929>y2Hٿ?@?@B>x#IIJIJM3٢R9#> RC=9R1Q R>TT VG٣TyZ6; Z> bNusing accuracyPremultiplier from config\b59^ņ?f5Y^. i^dfj@^hyE^;^;^ 5l n"@lDNOT Ignoring new targets: 62.30 m. jjj j i h h hhffrfbf@@]A]A]A]Eu@U Y]E?I]X : YɚYiYIYIaii))BD:?:D ?eWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm9EEH9>I I#IIBI( =&I.I6I<:Ii FzKNKk9KKK)&"       *F ?2F :F BF ^0JF "GG> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% k B9 O] >%Nw,\;AR@YR-@Rü 9R;9>yRH#@ٿ?@[?G`/??? u?ɨR@Rp;R Cy^B^#I)h htvAI#I%x3٢%= -A=95#Q 5>AA MG٣Iy]) < e> Nusing accuracyPremultiplier from configq59u?5YuA iu]@uiyEu Nw,y;AWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:.@:9:9>y:H#+oٿ?8? %4?.?` ?t?ɨ:@:;8yB!BF#I}Mb@Mb@Mb@yyy y)yY}{Gz?+?y&1?y}ף=}=}`<}@ y)}@I}b@yyyII#3٢ > .=9YQ > G٣yǢ; > Nusing accuracyPremultiplier from config59?5Y i#=;4@jyE;1;5 @DNOT Ignoring new targets: 62.30 m. jj j j i hhhh&Bffrfbf`9-A@]==]==]=SE?]=e]@ q}?I : ɚiIIiiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D39*F ?2F :F BF `0JF jH bH 4<H% 7>I!  I% #II% ?BI! &I% HD.I! 6I% ܰ<:I% FzK 3MK K K K  ,'!  I G >BO5>Nw,d;A2% @Y2D.@2R@92-9>y2H7'5ٿ'?? t'?@Ƣ??@t?ɨ2% @2;2Cy:5B>#IIR%IR)3٢-ӯ= -5=95(Q 5>11 =G٣9y=! < => MNusing accuracyPremultiplier from configAM59E幆?U5YE iEQUt4U@EkyEEe:E:E茋5Y ]B@amWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbffA@]]]]]@R@ ?I: ɚ4iIIii))2D*DuPExceeded connect timeout, disconnecting.D-B9EMl>EM>*F?2F:FBF0JFGrA GqA% Will construct direction to contact in vehicle frame from tetrahedron phase data.% <% <G HB O5 >Nw,`;Ay~@B~#Ii G٣y > Nusing accuracyPremultiplier from config59f?5Y i;=<7@@lyEH;U;5  @=DNOT Ignoring new targets: 62.30 m. j9j9jAjAiAhAhAhIhMUBfIfIrfIbfUA@]m=]m=]mZ4>]m7@ 隍u?I: ɚ5iIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F2F:FBF/1JFJ J AAJ J J 0J J :J :J ـ3J a @a @a @a @= Will construct direction to contact in vehicle frame from tetrahedron phase data.) G 4B Oe >?Nw,;Ac~G(4 fYdyfNBM @YI.@Z 9o9>yH{Lؿ9?? D&? ? ?s?ɨM @ڧ;Cy-SB-#IIEIEm?3٢U*= UA=9UQ ]>YY ]G٣Yye}< e> mNusing accuracyPremultiplier from configiu59m沆?u5Ymw imy}j8@}@im;m":m5 _@DNOT Ignoring new targets: 62.30 m. jjjjihhhhffH8>I I/$II|BI) =&I.I6I <:I FrfbfmA@]]]]j8@Z ]?I4: ɚI5iIIii)) IzKLK9KKKBK:KuWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm09*F ?2F :F BF }1JF e nManaging dock network, ignoring radio surface power offG J B O >Nw,- ;AV_ @YV[.@VY$9VE9>yVH`Tؿ}?=v?0?? 0?r?ɨV_ @Vy;V Cyf_Bj $IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YʡE?MbMbP?y=: )@Ix@y=@IE#IE%x3٢mMO= u0=9Q > G٣y?; > Nusing accuracyPremultiplier from config59?5Y i=;2&@@myE[;;5 @/EDNOT Ignoring new targets: 62.30 m. jjjjihhhhjBffrfbfB@]=]=]}@]2&@-Y$ )-z?I-: )ɚ--5i1I1I1i9i=څ)9)9BDE)?:DE? IDP9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2F9 :F9 BF= X5JF9 "GE >GE >Ge k Bq O >\bOw,Jy6H ddVؿ@>׻?+? ? k?  ?r?ɨ6 !@6'n;4yBjBJFJFJF1JDJF:JF:JF3JDB$I)P PI-I-2٢=J= =G=9EzQ E>AI MG٣IyME< M> UNusing accuracyPremultiplier from configQe59Uq?e5YU iUim&@m@UnyEU6;U6;Un5q u@qDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf;CB@]]]]&@$e+  ?I: ɚ5iIIiiE))Will construct direction to contact in vehicle frame from tetrahedron phase data.ս=ս<D1*F?2F:FBFP0JFH:>IC Im$IIBI% =&IGD.I7D6I<:Im FBI}ŞCJI}ŞCRIyZI}( =bI}' =jI}5 YIYzKM jIKM u9KI KM KM RK] ?JK] ?G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,syzHz׿T G٣y< > Nusing accuracyPremultiplier from config59视?5Yi i&@@oyE;;;5 =@eDNOT Ignoring new targets: 62.30 m. jijijjihhhhffrf bftB@]I]I]I]ME&@]6 ae}?Ie: ɚ5iIIii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG= :BI e 5$?Ia Ou > Ow,nN99j9>yjHS`׿x?v?k.?`忧?`?`p?ɨj(!@j/;jCyqB"$IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y`"?l G٣y{0< > %Nusing accuracyPremultiplier from config!-59%j?-5Y% i%5>5;5@5@%pyE%3&;%$;%5A Ez@IuDNOT Ignoring new targets: 62.30 m. jjjjihhhhBff!rf!bf%`LB@]e>]e>]eՐ@]e@> 隕3s?I: ɚV5iIIii-}))2D*DDq9ErAErA*F=?2F9:F9BF=[0JFAGI GMrAJJJJJ:J 9JJG]BiO{>Will construct direction to contact in vehicle frame from tetrahedron phase data.H ;>I C I $II ͅBI ( =&I HD.I 6I װ<:I FOw,?SyRH d׿ ?F?R8x? o?@?o?ɨR"@R ;PyZiBZ$Ii\I^%=If/If3٢n% n_=9roQ r>pp rG٣tyv' < v> ~Nusing accuracyPremultiplier from config|59~X?5Y~ i~O@@|~X:~:~5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhff IrfbfNB@]!]!]!]%O@5nC 15fo?I5: 9ɚ= 6i9I9IAiAiE{)A)IzKem$JKaKaKeKeEWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fi2Fi:FqBFuV0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >v.Ow,ny2H@z׿@??G@{?`Q?? o?ɨ2kP"@2o;2!Cy>\BB$IEMb@Mb@Mb@AAA A)AYE/$?~jt:vyE1>EETEv@ E\@)AIE@AyE@I]I]M3٢mm u5=9u4{Q u>yy }G٣yy},< }> Nusing accuracyPremultiplier from config59#?5Y iED>; @@qyEF;;5xB @-EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbfAC@]D>]D>](@]g @J n?I.: ɚ6i!I!I)i)i-$w)))1 I huWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fe?2Fa:FaBFe\0JFiG= c{BQ Om >J J J 0J J :J :J ـ3J "Ow,xy2H ֿ??'Q1?u? r?n?ɨ2c"@2p;2CyNSBN#IIV/IV3٢^2= ^W=9b(cQ b>`d fG٣dyf< f> nNusing accuracyPremultiplier from confighr59j?r5Yj ijmpr@ @v@jryEjh-;jF-;jK5x zW@xDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf@]IC@Will construct direction to contact in vehicle frame from tetrahedron phase data.])])])]-@ @] P Y]i?Ie?: aɚeu 6iaIaIiiiimݯt))BD:?:D\?Dm9Eui>Eu>jH<bH<H<>IC I$II҅BI# =&IGD.I6I<:I| F*F?2F:FBF?1JF"G>G= IzKjIK9KKKG_xzB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.@>(Ow,"@Y>0@>V9>Q9>y>H#@ֿI?? ` 4 ?ت??Zn?ɨ>"@>t܍;   G٣yr8< > Nusing accuracyPremultiplier from config%59?%5Y i)- @-@syE::59 =G@9DNOT Ignoring new targets: 62.30 m. jjjjihhhYhYfafrfbf@C@]]]]Ќ @V b?IO: ɚ/6iIIii?p))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F 2F :F BF _0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G QpuB O >7/Ow,$Կy6Hzgֿ@}?U?i ?Ȅ??@rm?ɨ6#@6Q;6 Cy>9B>#IEMb@Mb@Mb@AAA A)AYEp= ף?:vI +yE>ETE94E3@ A)E@IAAyE@Ie Ieb3٢u3 u-=9u6Q u>yy }G٣yy; > Nusing accuracyPremultiplier from config59?5Y_ iA>;+@@tyE;w;(5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhIBffrfbf@AC@] A>] A>] ^@] 1+@kA\ !%Rx?I%^: ɚ>?6iIIii9;n))J@AJeWill construct direction to contact in vehicle frame from tetrahedron phase data.DE9*F2F:FBF{0JFH;>I I$IIȅBI$ =&I.I6I<:I F 1 I9 G rB O >n6Ow,SH#@Y>Og1@>a9>9>y>H _&ֿ۠??v^ ?@1?C?`%m?ɨ>SH#@>";>CzKFBoHKF9KDKFKFyR"BR#IIZ.IZ3٢b bK=9fLWQ f>dh jG٣hyj%< j> nNusing accuracyPremultiplier from configlr59n?r5Yn intv,@v@nuyEn ;n\ ;nꢋ5x zV@~0E Will construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h1h1h9h9f9f9rfAbfEC@]a]a]a]e,@ua qul?I}Y: yɚ}iyIyIiij))2DrA*DrAD9EJJJJJ:J:JJJ;aJ;aJnN;aJoN;a%*F?2F:FBF4JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.G @oB O >y:H`j տ̽?^?@ B ?ܬ? ?wl?ɨ:A#@:s ;8yZBZ#Ii\I^< b=` AIAMb@Mb@Mb@ )YT㥛 ??y&1|y><`I@ )@Ix@y@II?13٢oB ;=9nDQ > G٣y < > Nusing accuracyPremultiplier from config59X?5Y i>;>@@vyEa;{;Ԥ5 @=DNOT Ignoring new targets: 62.30 m. j9jAjAjAiAhAhAhIhMBfIfIrfQbfU#D@]>]>]ڑH>]>@g q}?I: ɚ4iII!i!i%g)!))-Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF ]5JF *J "J %= NG vA Will construct direction to contact in vehicle frame from tetrahedron phase data. ] Y] vAy]  BG +mB O >&COw,=A6]#@Y6Y1@6jj96@:>y6Hտ?`?@M? >I??`k?ɨ6]#@6;4yBBB#IIr3Irʴ3٢z* zN=9zQ z>|| ~G٣|y/; >  Nusing accuracyPremultiplier from config 59 ?5Y O i >@%@ wyE @Y; G; 51 5@1HQIQ IUg$IIUBIU& =&IQ.IQ6IU<:IU} FDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfWD@]]]]>@jj %l?I: ɚiIIiiŰe)) 4$?ID9*F5?2F1:F9BF=O0JF9G 0jBO]U>zKKu9KKK.eCmG% nM.pd]URMHA;6RK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.J5 J5 J1 IOw,)=AJiJm̝:JmU:JiJiJm;Jm;Jme;Jme;];#@Y]72@]o9]:>y]H8ZտE?`y?'? ?x?@k?ɨ];#@];] CyuBus#IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.Y|?5^?i|?5?Mb`y=q= )@I@y=@I-I-T3٢=骽 =8=9=HQ =>AA EG٣AyMZ < M> UNusing accuracyPremultiplier from configQ]59U?]5YU iUm]"=];e>e@QU ;U3;U5i mL@iDNOT Ignoring new targets: 62.30 m. jjjjihhhhBf)f)rf)bf-@\D@]m"=]m"=]m?+?]m>S@}o y隅z?I: ɚͅ4iIIiikub))BD;?:D? yIyD9*F- ?2F1 :F1 BF5 C4JF1 "G= =G= > Will construct direction to contact in vehicle frame from tetrahedron phase data.G- jB9 OU >\QOw,E=A6 $@Y6,2@6zjr96sg:>y6HOcտ@,?\?` ? H? !?@j?ɨ6 $@6s;4yBɄBBS#I)D DIj#Ij%x3٢ni rP=9rĺQ r>tx zG٣xyz@; z> Nusing accuracyPremultiplier from config|59~{?5Y~ i~=  > @~xyE~* ;~m ;~85 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhIhIhIhQfQfQrfQbfUD@]y]y]y]}]S@zjr 隕m?I: ɚiIIii a))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9HU6>IUC IU/$IIU|BIQ&IQ.IU6D6IU<:IU FBI%ƟCJI%ƟCRI!ZI%& =bI%% =jI%5*FM?2FI:FIBFMP0JFIG%&XfB1OM> iIi Will construct direction to contact in vehicle frame from tetrahedron phase data. i AzK 4OK K K K 1/)&$$#  BK qA:K qAWOw,6s_=A6mD$@Y6ic2@6,u96B9>y6Hi/տ6?)?D??1? j?ɨ6mD$@6W;4yNBRH#IIZ$IZ<3٢b0 bM=9bQ f>dd fG٣dyjy < j> nNusing accuracyPremultiplier from configlr59nx?r5Yn in pv>v@nyyEn;n;n5x z|@xDNOT Ignoring new targets: 62.30 m. jjjjihhhhff rf bf  D@]I]I]I]MS@},u 隅ai?I: ɚt4iIIii4^))DJ J J J J :J :J J J ;J ;J C;J C;*Fm?2Fi:FqBFu_0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.G NfB O > a Ia ]Ow,jNy=A6Y$@Y6x2@6w96&`:>y6Hտ@7M?^?`??K ?i?ɨ6Y$@6Ӊ;6Cy>BB%#IMb@Mb@Mb@ )YˡE?`"?{Gz?y==#<@ E@)@IyG@I-I-T3٢E8 EB=9E5Q M>II MG٣IyUcK; U> Nusing accuracyPremultiplier from config59s?5Y i>;n!@zyE ;;ܭ5 <@EDNOT Ignoring new targets: 62.30 m. jQjQjYjYiYhYhYhaheBfafarfabfm;-E@]>]>]y?]p@Will construct direction to contact in vehicle frame from tetrahedron phase data.w 隽G?I: ɚiIIii`]))2DqA*DD9*F?2F:FBFo0JFG GG cB O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.H] 8>IY  I] #II] NBI] * =&I] HD.IY 6I] <:I] FAdOw,=A6 $@Y62@6vy6HԿ`d??`??"?^?tj?ɨ6 $@6բ;6 CybBb#Iifxx ~G٣|y~O; ~>  Nusing accuracyPremultiplier from config 59p? 5Y iB!@{yE:&:5! %@!MDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhQhQhQhYfafarfabfe]E@ I]]]]p@vJ J J J J J :J J J J J 9P;J 9P;jOw,=A^Will construct direction to contact in vehicle frame from tetrahedron phase data.yB#IMb@Mb@Mb@ )YMb?~jt?{Gz?y=>ף<@ /@)@Ix@y@ICI3٢፽ <=9Q > G٣y > Nusing accuracyPremultiplier from config59l?5Y  ia*>;N@|yE;;q5wB @ 5E5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h9h9hAhEBfAfIrfIbfM`_E@]*>]*>] ?]}@ ?I1: ɚ5iII)i)i- s[)))1 IDM9EimWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF o0JF "G ?>G >G- FaB9 OU >ErOw,D=AB$@YB2@BBy9B3:>yBH@`Կ,?@?=&?T#?`?j?ɨB$@BԂ;BCyN~BR"IIZ6IZm3٢b| bL=9f]Q f>dd jG٣hyj; j> rNusing accuracyPremultiplier from configlr59nuh?r5YnE intv$v@n}yEn@:na:n25| ~@|-DNOT Ignoring new targets: 62.30 m. j)j1j1j1i1h1h1h9h9f9f9rfAbfE@E@]a]a]a]e}@uBy quR~?IuX : yɚ}B5iyIyIiiX))BDIC I#IIBI =&IGD.I8D6I<:I FDE9 Ih*F2F:FBF1JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 9K K K    G B O >mixOw,H=A2$@Y22@2y92*:>y2H s @bԿb#??h8+?9?x? i?ɨ2$@2a;2Cy>oB>"I)@ @HJAAIR.IR3٢- -E=95չQ =>9A EG٣AyE9; E> MNusing accuracyPremultiplier from configIU59Md?U5YM iM Y]]@M~yEMK ;M ;M5a m@iDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfE@]]]] ~@y v?I_: ɚ5iII i i &W) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.D=S9*F?2F:FBFP5JF I G \B O >g~Ow,&=ABW$@YBS2@B=x9B :>yBH Կ?@ ? )2?f ?z?`8j?ɨBW$@BT';@yJhBJ"I%Mb@Mb@Mb@!!! !)!Y%? ףp= ?V-?y%L=%Q8>%<%@ !)%S@I%@!y%@=Will construct direction to contact in vehicle frame from tetrahedron phase data.IEIET3٢U UG=9]la:Q e>aa eG٣aym -; u> }Nusing accuracyPremultiplier from configy59}3a?5Y}! i}5A>;j @}yE}&;}G;}϶5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhNBffrfbfE6F@]A>]A>]wa?]Z@=x f?I* : ɚ5iIIii-V))!Jـ3K3 K.KK"KJJJJJ:J:JJa@a@a@a@De9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFi JFi Gq  Gu qAZH RH AAH 9>I C I #II BI & =&I .I 6D6I Ұ<:I F } 3$?Iy G B O >>Ow,]2>A>$@Y>3@>du9>3:>y>H ԿϽ?b?J@?@??mj?ɨ>$@>;>!CyFiBF"IIN$IN<3٢V)m; Z==9Z:Q Z>\\ ^G٣\y^M; b> fNusing accuracyPremultiplier from config`-59b]?55Yb ibS15W 5@byEbj} Will construct direction to contact in vehicle frame from tetrahedron phase data.dOw,3>Ab3 %@Yb/*3@b8t9b9>ybHu@xԿ? ,o?'=@ E@)@Iy@IIM3٢ 8=9l:Q > G٣yB; >  Nusing accuracyPremultiplier from config 59 Y?5Y  i 5yS>; @ yE ; ; 5! %'@)UDNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhYhYhaheZBfafarfibfm@F@]yS>]yS>]N?]<@8t 隥?I7 : ɚ85iIIii~T))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dt9*F2F:FBFP0JFJ= AAJ= BAJE JE JE 1JA JE :JE :JE 3JA ) 5 G |uA G \B O >Ow,4O>A >Y>|uAy>BB%@YB'3@JWill construct direction to contact in vehicle frame from tetrahedron phase data.Bv'r9B:>yBHD{Կ!?q? K?`k@?? k?ɨB%@BR#;BCyRiBR"II^!I^i3٢f@< fS=9fͪ:Q j>hh jG٣hynй n> rNusing accuracyPremultiplier from configp59rV?5Yra ir=@ryErII IMm#IIM߄BIM' =&II.II6IM<:IM Fmv'r im?Im : qɚu|6iqIqIyiiT)) IDaEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F! BF! JF! zKu iKKu -9Kq Ku Ku BK :K GE \Ba O >"Ow,wl>AU %@YU?3@Up9U9>yUHt gԿ\?E[?34H?u ?`H ?k?ɨU %@U4;U CyޕqBޕ"IWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-~jt?Zd;O??y-D=-j<>-L=-@ -/@)-@I-x@)y-@IM-IM3٢]< ] =9eH:Q e>aa mG٣iym<; m> }Nusing accuracyPremultiplier from configq}59uoR?5Yu\ iuںWI>; @uyEu;u;u5 g@DNOT Ignoring new targets: 62.30 m. jjjjihhhhWBffrfbf@G@]WI>]WI>] f?]@p f?Id: ɚt6iIIiiS))BD:?:D8? )I1D9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ G \B O >5Ow,[D>Ay|B"I) !%AI-5I-3٢=\= EF=9EQ M>I*JU4="JUp=JiJmJm0JiJiJm:Jmـ3JiI G٣y  > Nusing accuracyPremultiplier from config59N?5Y0 i@yE::5mvB m@m8EWill construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 62.30 m. j1j9j9j9i9h9hAhAhAfAfIrfIbfU(UG@]q]q]q]q 隍@?I: ɚQ+6iIIiiS))HM2>II IMg#IIMڄBIM& =&II.II6IM<:IM FBIŞCJIŞCRIŔCZIbI& =jIJ6 ID U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF ?4JF zK K u9K K K RK >JK >GXBO?p.Ow,1>AfD3%@Yf@R3@fym9f :>yfHWԿ1+?J?P`J`?`ު?@? k?ɨfD3%@f?;dyzBz"II'I@3٢M]= M=9]G:Q e>iq uG٣qyW; > Nusing accuracyPremultiplier from config59J?5Y  iG }@yE<<‹5 @-Will construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 62.30 m. jijjjihhhhffrfbf6G@]]]]@ym f?I: ɚ?6iIIiiR) ))2D1*D5qA I DU6:*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G wXBO5> Ow,>AyB%#IMb@Mb@Mb@ )Y rh?l??yC=>@ )@I@y@II<2٢3= )=9Q > G٣y >J)J-AAJ5J5J1J1J5:J5:J1J1 Nusing accuracyPremultiplier from config598F?5Yr iw.>; @yEK;I;ċ5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbfG@]w.>]w.>]?]{@) )-׃?I- : 1ɚ5bP6i1I1I9i9i=*R)9)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.HI Is#IIBI&I.I6I<:Iz F IDc:*FA 2FA :FA BFE +1JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >Ow,|>A ((zK6BoHK69K4K6K6BK8:K8jt%@Yjp3@jSl9j9>yjH+Կ@?`a?kl? H?`8?'l?ɨjt%@jÇ;jCyvBv#I z=z=I~*I~3٢ >=  G=9 2:Q > G٣y;< > -Nusing accuracyPremultiplier from config!-59%B?55Y% i%155@%yE%:%z:%Ƌ59 =~@ADNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbfH@]]]]J|@Sl  J?I = : ɚFa6iII1i1i5g-N)9)aMWill construct direction to contact in vehicle frame from tetrahedron phase data.DZ:*F?2F:F!BF%P0JF! IGE XBI Ou >mOw,>A>O%@Y>K3@>k9>-:>y>H@o-TԿ??`{?x?@ ?k?ɨ>O%@>k;>CyJBJ0#I%Mb@Mb@Mb@!!! !)!Y%Mb?zG?~jt?y%=% =%D=! %\@)%@I!!y%G@I9I9٢M= UD=9U99Q U>YY ]G٣Yy]p: ]> mNusing accuracyPremultiplier from configau59e>?u5Ye7 ieus>u;u*u@eyEe;e;e^ȋ5Will construct direction to contact in vehicle frame from tetrahedron phase data. @UDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhQhYhYh}Bffrfbf`G8H@]s>]s>]2W?]g@k G?I: ɚBr6iII i i ;N) )BD]6?:D]+?DUc:JJJ1JJ\:J:J3J*F2F:FBFJF= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 = <ZH RH H I  I #II BI &I .I 6I <:I F I G TB O% >x=Ow,E,?A6 %@Y63@6)m969>y6H 74ӿټ??@t???@l?ɨ6 %@6C;6 Cy>B>8#IIJ&IJ3٢R8= RH=9RQ R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^:?b5Y^ i^!`bn*f@^yE^7:^":^(ʋ5h n;@lDNOT Ignoring new targets: 62.30 m. jj j j i h hihqhqfqfqrfybf}kH@]]]]$g@)m ?I : ɚS6iIIiiK))D%:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFzKBHK9KKKRK?JK?G% uTB9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.saOw,3?A6%@Y63@6Im967%:>y6H6ӿҼ? ?\??@? k?ɨ6%@6?;6Cy>BBI#IDD Mb@Mb@Mb@    ) Y T㥛 ?#~j?Mb?y > = @= @ @) I @ y @I%I%?13٢5= 5B=9=d9Q =>AA MG٣IyM ; M> UNusing accuracyPremultiplier from configQ]59U5?]5YU+ iU6e >e;e<e@UyEUR;U;Ű5i m[@q 1$?I]DNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhahahaheՂBfifirfibfmH@] >] >]+C?]zU@Im u?IE: ɚj6iIIiiQK))DA*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G bNB O5 >uIOw,TM?A>%@Y>4@>n9>9>y>He>ϢӿW¼?[?$}?խ?O ?k?ɨ>%@>O;>CyF΄BFY#IIR6IRm3٢ZS= ZS=9^}Q ^>\` bG٣`yb; b> fNusing accuracyPremultiplier from configdj59f?1?j5Yft if^lnK<n@fyEfA;f;f͋5p v@tDNOT Ignoring new targets: 62.30 m. jjjjihhh!h!f!f)rf)bf-H@]Q]Q]Q]UU@en aev|?Iek : iɚm6iiIiIqiqiu>|H)q)y2DrA*DrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.DE:HI I#IIBI&I.I6IѰ<:I F*F?2F:FBF05JF IGOBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 k3IK5 k9K1 K5 K5   BKA :KA tOw,Xg?A2 &@Y2*4@2yo92Q:>y2HBӿ:Ƽ?@z}?>ƍ??p?Pk?ɨ2 &@2;2Cy>ڄB>h#IIFIFT3٢Npg= NL=9R(ѹQ R>PP RG٣PyV`f; V> ZNusing accuracyPremultiplier from configX^59Z,?b5YZ iZ~`f5<f@ZyEZP;ZP;Zpϋ5h n@n;EDNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf`xI@]9]9]9]=U@Myo IM!?IM : qɚu\6iqIqIyiyi}͢G)y)JEJEJAJAJE:JE:JAJAJE6;a]JE7;a]JEI;a]JEI;a]UWill construct direction to contact in vehicle frame from tetrahedron phase data.D}: yI*F ?2F :FBFG2JFG5 MBa O} >BpOw,ց?A6^=&@Y6Z\4@6Rq969>>Will construct direction to contact in vehicle frame from tetrahedron phase data.y6HI@\ӿļ?N?CB?0??\k?ɨ6^=&@6;6CyJلBNf#I%Mb@Mb@Mb@!!! !)!Y%(\??ˡE?y%z>%L=%'=%I@ !)!I!!y%@IEIE2٢U: U==9]Q ]>Ya eG٣aye; e> Nusing accuracyPremultiplier from configi59m-'?5Ym im">;F@@myEm;m{;mUы5 @5DNOT Ignoring new targets: 62.30 m. j1j9j9j9i9h9hAhAhMBfQfQrfQbfU =I@]">]">]>]LF@Rq p?IP: ɚ(6iIIii2D))G  Yy BD :-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F! BF% `5JF! jHI bHI HQ IQ  IU #IIU 5BIQ &IQ .IQ 6IU <:IU g F A IA GM gNBY O >;Ow,W?ABi&@YBĈ4@Bt9B9>yBHjPG1ӿμ?F$?*@Ò?W~?9?@k?ɨBi&@B ;BCyNބBNm#IIz&Iz3٢~< <=9.Q >    G٣ yu; > Nusing accuracyPremultiplier from config%59!?%5Y i!%F@-@yE;;:Ӌ51 5v@1eDNOT Ignoring new targets: 62.30 m. jajajajiiihihihihqfqfqrfqbfuZsI@]]]]F@t 隭s?ID: ɚ6iIIiisB))BD@?:D2?eWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiD:*F?2F:FBFP0JFzK2KKu9KKKRK>JK?GHBOB>JJJ0JJ :J:Jـ3JJ;J;JJ;JJ;- Will construct direction to contact in vehicle frame from tetrahedron phase data. I \Ow,?A6&@Y64@6$xu969>y6H@V ӿʼ?{?@d;?Q??`j?ɨ6&@6ު;6CyBBBs#IMb@Mb@Mb@ )Y#~j?S㥛?Q?y%>/<\= )@Iy@ImIm?13٢}w< }D=9RQ > G٣y; > Nusing accuracyPremultiplier from config598?5YK i<+>;<@@yE";; Ջ5 0@DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbfI@]+>]+>])>]<@%$xu !%ff?I%p: )ɚ-N6i)I)I1i1i5Լ@)1)9DI*F?2F:FBFT0JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.G"HBO>8DOw,?A6&@Y64@6s*y9629>y6H Y^ҿ߼??@@?c ? y?j?ɨ6&@6m;6"CybڄBbh#IIjIj2nWill construct direction to contact in vehicle frame from tetrahedron phase data.٢vp. vT=9vQ z>xx zG٣xyF< >  Nusing accuracyPremultiplier from config 59?5Y i<@@yEz:;֋5! %@!UDNOT Ignoring new targets: 62.30 m. jQjQjQjQiYhYhYhYhafafarfabfe@1I@HI I#IIIBI&I.I6I<:I FBIJIRICZIbIjIN4]!]!]!]% <@Us*y QU3b?I]^: Yɚ]z6iYIYIaiaiee=)a)i 0$?ID:*FI2FQ:FQBFUP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.zK] JK] 9KY K] K] Gu CB O >Ow,P?AVL&@YVH5@V(z9V:>yVHTc`ҿP?ǫ? `Ƞ?bR? z?!j?ɨVL&@V;V CyfӄBf_#IIv#Iv%x3٢~ ~C=9~9oQ > G٣y 5;  > Nusing accuracyPremultiplier from config59?5Y i!%=@%@yE;:؋5) -3@)J]J]JYJYJ]̝:J]U:JYJYJ];J];J]e;J]e;DNOT Ignoring new targets: 62.30 m. jjjjihhhhffrfbf 'J@]]]]C=@Will construct direction to contact in vehicle frame from tetrahedron phase data.(z  M^?I: ɚ6iIIIiIiMH<)I)Q !I!D+:*F} ?2Fy :Fy BFy JF = Will construct direction to contact in vehicle frame from tetrahedron phase data.GCBO>Pw,w @A25'@Y21<5@2}92 9>y2H#k@PҿA?`Ty??Ӟ??ij?ɨ25'@2_;2Cy>ԄB>`#IMMb@Mb@Mb@III I)IYM333333?:v?y&1?yM>Myy }G٣yy; > Nusing accuracyPremultiplier from config59J ?5YR iM>;>@@yE;;ڋ5uB @>EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbfJPJ@]%>]%>]%J/>]%N>@5} 9=ff?I=: 9ɚ=6i9I9Iyii9))Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH3>I I#IISBI&I.I6I<:Iv F yIy*F?2F:FBF_0JF"Gp>G0>G =B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.{Pw,%@A>3,'@Y>/K5@>rN~9>?:>y>HFm?sҿ?j? ɮ? į??Xi?ɨ>3,'@>s;>CyJ΄BJY#IiN=INp;IV#IV%x3٢^ ^X=9^GQ ^>`` bG٣`yfH; f> jNusing accuracyPremultiplier from confighn59j?n5Yj ijͬlr>@r@jyEj;jl;jl܋5t vn@t%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5€J@]Q]Q]Q]UM>@erN~ imc?Im( : iɚm6iiIiIqiqi$9))zKmJKm9KiKmKm*F-?2F1:F1BF50JF9JJJ1JJ\:J:J3JJj;Jk;JnN;JoN;-Will construct direction to contact in vehicle frame from tetrahedron phase data.-<-< yIyGҊ=BO> Pw,?s?@A:e^'@Y:a}5@:9:9>y:Ht BҿM?;?xШ? ??@xi?ɨ:e^'@:w;8yBƄBFO#IMb@Mb@Mb@ )Yn?Q?Zd;O?yV>\=j<@ )@Iyp@I-)I-W3٢= =B=9EQ E>AA EG٣AyM; M> UNusing accuracyPremultiplier from configQ]59U?e5YU iUKe>e;ejC@e@UyEU/;U-;UBދ5i u@qDNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf`vJ@]>]>]:|>]jC@ Ha?I : ɚ6iII}Will construct direction to contact in vehicle frame from tetrahedron phase data.iixv6))*F?2F:FBFr1JFJJGv=BO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I #II NBI % =&I .I 6I <:I F a Ia Q Pw,QY@A6n'@Y65@696a;:>y6Hv;3ҿ?$,?N!@ܵ? ?@? h?ɨ6n'@6hw;6 CyNBNE#IIV(IV̍3٢z* ~O=9~%gQ ~> G٣y;  > Nusing accuracyPremultiplier from config 59 ?5Y  i ѫyC@@ yE K ;  ; ߋ5) -x@)]DNOT Ignoring new targets: 62.30 m. jYjYjYjYiahahahahafifirfibfm`(J@]]]]KyC@ 隥]?I]: ɚ6iIIii5))*F12F1:F1BF55JF1G9 G=qAWill construct direction to contact in vehicle frame from tetrahedron phase data.G<B)OEs>zKBoHKKKK6Pw,9s@ArWill construct direction to contact in vehicle frame from tetrahedron phase data. I'@Y5@Q99>yH.ѿ?? * ?`G?? h?ɨ'@;騥CyB4#I) A]Mb@Mb@Mb@YYY Y)YY]`"?y&1??y]=]`e=]<]`@ ]@)YIYYy]@Im ImV2٢}_ }'=9պQ > G٣y< > Nusing accuracyPremultiplier from config59?5Y i( >;B@yEiD;B;5 Q@DNOT Ignoring new targets: 62.30 m. jjjjihhhhBffrfbf@'K@] >] >]>]kO@-Q )-c?I-{: 1ɚ56i1I1I9i9i=2)9)2D*DBD:D*F?2F:FBFT5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G <B O >`#Pw, @Ay~B~)#II $I <3٢%] %{=9%Q % ?)) -G٣)y5 5 ? =Nusing accuracyPremultiplier from config1E5955?E5Y5 i5AAE@15A;5;55Q U@Q*JR="J=JJJ0JJ<:JJـ3Ja@a@a@a@UDNOT Ignoring new targets: 62.30 m.]Resuming propulsion at range: 62.30 m and bearing: 45.146650 deg. Not drifting fast enough.bj]I? j]}{@jajajaieL?hahahihififirfibfeUK@]]]]y= M=W_?I: ɚN6iIa=IySF@iiIq Iu#IIu:BIu& =&Iq.Iq6Iu<:Iu F*F?2F:FBFP0JF /$?IG}?5BOG> Will construct direction to contact in vehicle frame from tetrahedron phase data.ZE)Pw,@AN'@YN5@NM҂9N69>yNHEѿ`?`?0E?qW?O?{i?ɨN'@N5;N CynBn#IIzIz3٢0 L=9 Q >    G٣ yM; > %Nusing accuracyPremultiplier from config-59?-5Y: i,15cB5@yE5L;qF;J5EtB Ec@MAEDNOT Ignoring new targets: 62.30 m. jjjjihhhh:uAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1; vJK>]]]]jO@ɛB9 =;I9 Fv6ɚiI=I%H@i!i%e)!))*F ?2F :FBFJF"G1G5>-Will construct direction to contact in vehicle frame from tetrahedron phase data. IGa Bq O >-0Pw,+@A2'@Y25@2Ђ929>y2HK`ѿ@?? 0?`BW? ?%i?ɨ2'@2n;2!Cy>B>#IiB G٣yCC: > Nusing accuracyPremultiplier from config590셜?5Y is=;1@yEd.;F;"5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhBfff rf bf K@]=s=]=s=]=Dž3?]= a@ɛMBuWill construct direction to contact in vehicle frame from tetrahedron phase data.|y: MGevAy hYvAy.BJ 3K 3 K /.KK"KJJJ1JJ̝:J9:J3J% Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu 1>Iq  Iu #IIu &BIq &Iq .Iq 6Iu ְ<:Iu F I V6Pw,}@A6'@Y66@6Ђ969>y6H@Ƈѿ ?@w?83?*W? ?`i?ɨ6'@6_;6CyRBR#IIZ8IZ3٢fŎ fV=9f}6Q f>hh jG٣hyn2; n> rNusing accuracyPremultiplier from configpv59r腜?v5Yr irtv1z@ryEr :r:r5| ~@|UDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhQhhhfffrfbfK@]A]A]A]Ea@ɛeBe@K: ae1ۀ G٣y >  Nusing accuracyPremultiplier from config59䅜?5Y i=;#@yE-J;8;5! -@)EB*** querying acoustic contact ***jAjAUDNOT Ignoring new targets: 62.30 m. jQjQjQjYiYhYhYhaheՂBfafafirfibfm+L@]=]=]7eg?] n@ɛzB: 隥@hCPw,IMAAyrBr"I)x xI~#I~%x3٢   =9Q ?L?L? G٣y ? %Nusing accuracyPremultiplier from config!-59%⅜?-5Y%i i%u115@!%:%e:%Z59 E@AuDNOT Ignoring new targets: 62.30 m. jqjqjqjqiyhyhyhhfffrfbfSL@ɛqB[x3; 隽 =I ݗ8ɚiIC=I5ii))JJJ0JJ<:J :Jـ3JErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3028> BDAT read: Tx time:23:06:43.5734 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ A JDAT read: TxSync time:23:06:43.5726  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250907CIPw,V)(AAq'@Ym6@29~8>yHѿCϼ? ?E41?O??j?ɨq'@hW;騝Cy޵yB޽"IIIT3٢y4 <=9o9Q > G٣QGyb9  > Nusing accuracyPremultiplier from config =59  ߅?=5Y  i 9=#E@ yE ; ; ?5I u@qDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfZL@ɛmeB); 隍=I =8ɚiIå=Ir/ii))zKBHKu9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507233 IEdŇ=E)*F 2F :F BF k0JF Ge G9 BI Oe >{PPw,BAA>6'@Y>25@>>Ƅ9>"G>y>H@ .ѿ??! 2P?Ε? ? S?ɨ>6'@>\r;>CyFwBF"IMMb@Mb@Mb@III I)IYM)\(?~jt?/$?yMGa=M=M,=I M@)IIM@IyM@IeIeb2٢u$ uR=9}Y6Q }>y G٣yMW > Nusing accuracyPremultiplier from config59܅?5Y i]=;@yE%;L$;5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhɂBfffrfbfμL@ɛ\Bѹ; W=I %Z9ɚ!i!I%{[=I-*i)i1)1)1E=E=*E9"E9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753814*Fm?2Fi:FiBFmP5JFiJJJJJ̝:J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005733H I  I #II BI &I .I 6I ް<:I F y Iy GU G1 BA O] >VPw, \AA2'@Y2 6@2~92r?>y2H ѿ\?`?"-j?@Ό??_?ɨ2'@2Y;2 CyBlBB"IiF4=IF<ININ ٢Vlh VX=9VZ9Q V>XX ZG٣XyZ.; ^> bNusing accuracyPremultiplier from config\f59^Uڅ?f5Y^{ i^dff@\^X ;^ ;^5l n@l DNOT Ignoring new targets: 62.30 m. j j j j ihhhhfffrfbf%QL@ɛRBӄy; hN=I @9ɚiI=IY%ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.UC?U,@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983*F?2F:FBFO0JFzK 9LK 9K K K G G B O >\Pw,uAAfWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512429 9IAyq}"IIIV٢Z: /=9Q > G٣QGy >  Nusing accuracyPremultiplier from config59bׅ?5YS i-!!%@yEe<L<5I M@QDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf,M@ɛEB; =I E<9ɚAiAIE]=IMiIiI)I)Q*F?2F:FBFP0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761916G= /G B! OE >߶cPw,>AAymB"IMb@Mb@Mb@ )Yp= ף?kt?Zd;O?y= =j<=@ @)@I@y @I Ib3٢R; Z=9Q > G٣y > Nusing accuracyPremultiplier from config59ԅ?5Y tIig =;"@yE;;I5 p@-DNOT Ignoring new targets: 62.30 m. j)j)j1j1i1hhhhĂBfffrfbf :[M@ɛ I I#IIBI% =&I.I6Il<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019465)  III*F2F:FBF]0JFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270104iPw,(ԩAAz!(@Yz@6@z Wx9zD>yzHA žѿH"??X.??s??ɨz!(@zx;zCynB"I)! !!%AI5,I53٢=; EP=9EA)II MG٣QyU< U> ]Nusing accuracyPremultiplier from configYe59].҅?e5Y]r i] "@Y]l<](l<]5 c@EDNOT Ignoring new targets: 62.30 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf] M@ɛ2B_< =I N9ɚiI z=IIii))zKJK9KKK =rqjP: v`J7+JJJJJl:J:JJJ;aJ;aJaJa*F?2F:FBFh0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521758 -.$?I)Ge GQ BY O} >pPw,AA20(@Y2O6@2Hr92)F>y2H1ѿ4Z?`s?` ?{D? ? yy }G٣QGy!; > Nusing accuracyPremultiplier from config59*΅?5Y iȡ/ >;5@yEZ;;5 {@DEDNOT Ignoring new targets: 62.30 m. jjjjihhhhȂBfffrfbfM@ɛ%(B%g$< !%>I! - :ɚ)i)I-\ =}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783037I56ii)!)!*F?2F:FBF}0JF"G?G?H I  I s#II BI &I .I 6I <:I x FG  ) I) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:23:06:46.0651 E TRx dataTimestamp_ set to:1736377607.391170M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038008G B O >TwPw,YnAA>G(@Y>f6@>q9>.>y>H @OѿW?I]? Xb`C>?}6?*?3?ɨ>G(@>Պ;>CyZbBZ"IIr+Irn3٢~L ~Q=9d9Q > G٣yn; %> Nusing accuracyPremultiplier from config1595Mʅ?5Y55  i55@5yE5<5;55 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf M@ɛ5B5C!< 9=>I9 =u%&:ɚ9i9I=ꕢ=IE[iAiA)I)I*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285725GμGBO >zK OK 9K K K {vvurplifc\XVUSNJIGDCC@@B@=9998521...)J J J J J <:J :J J J 5;J 6;J @;J @;D}Pw,ΧAA^Will construct direction to contact in vehicle frame from tetrahedron phase data.rDAT read: Range 10 to 50 : 65.6 m (Round-trip 87.5 ms) speed 0.0 m/s -~X#Rx 1: Read range message, but no direction.`yb3B` IcK(@Y_j6@NEu9r>yH ॗѿ? Y? ]?@??`b?ɨcK(@;騝CyEeBE"Ii}!>I}= =a=]Mb@Mb@Mb@YYY Y)YY]K?y&1?ˡE?y]^:>]`e=]'=]@ ]=@)]@IYYy]@Im!Imi3٢KC< =9кQ > G٣y9 > Nusing accuracyPremultiplier from config59%…?5Y%  iuG>;G@@yE'<T'<5 @M addTargetRange:: Added new target pos. range: 65.599998 m, deltaT: 60.273388 s, deltaX: 3.299999 m, approachRate: 0.054751 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhahahaheƂBfififirf`ffP@bfg?ɛ%B%;0< !% )>I! -T:ɚiI=Iii))BD=:D=eWill construct direction to contact in vehicle frame from tetrahedron phase data. GD K: |uA M 2YM |uAyU *B*Fm ?2Fi :Fi BFu ^0JFq ZHQRHU?AH]4>IY IYIYI]$ =&IY.IY6I]<:I]n F%Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQGG!?G;?GBO?Pw,8BA:3\(@Y:/{6@:z9:ݙ#>y:H|}ѿAw?ZI?\`L?N? tt vG٣vQGyz ; z> ~Nusing accuracyPremultiplier from config|59~ܺ?5Y~  i~ G@ @~yE~:~:~5 =DNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfUc?ɛ%B%X< !%d?>I! -Ժ:ɚ)iIIMg=IUiQiQ)Q)YDA*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=GG B O >zK `NK K K K )%$#!!"!   J J J 1J J \:J :J 3J J <J <J S;J S;Pw,7BArU(@YrQ6@r9r#>yrH@`Aѿ@r? ?`$dP? 0? ^??ɨrU(@rPM;r Cy WB "IMWill construct direction to contact in vehicle frame from tetrahedron phase data.I-.I-3 aIa٢U e<9mQ m>iq uG٣qyu< u> Nusing accuracyPremultiplier from configy59}P?5Y}  i}AG@@}yE}n:}:}5 @DNOT Ignoring new targets: 62.30 m. jjjjihh!h)hfffrfbf@Y?ɛmBmjQ< qu9>Iq u-:ɚqiqIuР=I}iyiy))DX:*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G] μG1 BA O] >" Pw,xPBAy YB "IAMb@Mb@Mb@ )Y~jt?~jt?l?y>==v@ @)@IC@yQ@II 3JJ٢&6< B=9Q > G٣y > Nusing accuracyPremultiplier from config59S?5Y iw\>H;>@@yE;D;}5sB @ GE5DNOT Ignoring new targets: 62.30 m. j1j9j9j9i9h9h9hAhEĂBfAfAfIrfIbfM@"?ɛuBu< y}N>Iy }m:ɚyiyI}X]=IiAiA)A)IH6>I Im#II߄BI&I.I6I<:I FBI9JI9RI9ZI=% =bI=% =jI=@5 M-$?IIUWill construct direction to contact in vehicle frame from tetrahedron phase data.Dq:*FU?2FQ:FQBFUV5JFQG} G qAG qAGQ Ba O} >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.:1Pw,jBAy]NB]"IIu&Iu3٢X P=9Q > G٣QGy > Nusing accuracyPremultiplier from config59墅?5Y& i@yE:;55 I@ DNOT Ignoring new targets: 62.30 m. j j jjihh!h!h!f)f)f)rf1bf5B?ɛB{< 隕L>I Y:ɚiIן=Iii))Dc:JJJ0JJ:J:Jـ3JJ4<J4<JJ;JJ;zKHMK`9KKKBK5pA:K1*F}?2Fy:FyBF}y4JF IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.G μGy B O >*Pw,撄BA6[)@Y6V7@696!>y6H`Ͽ$?п 7G??@ ?^? ??ɨ6[)@6m;4yBIBB"IMb@Mb@Mb@ )Y rh?A`"?Mb?y>Y== @)@I@yG@I- I-(2٢=ʼ =O=9ELQ E>AA MG٣IyM = M> UNusing accuracyPremultiplier from configQ]59Uӗ?e5YU iUen>e;e@@e@UyEU;U);U5i m@qDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf5@@ɛ߃B j< 3_=隍U>I :ɚiIC=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F ?2F :F BF P0JF G- jHi bHi Hu 8>Iu C Iu g#IIu ڄBIq &Iq .Iq 6Iu ~<:Iu ] FG! B1 I II OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.APw,oBAy~HB~"II 0I (3٢?߻ %L=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1=595?E5Y5< i5AAE@5yE5 ;5;55MrB U@]JEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf@ɛփB?< d>I @:ɚiI=Iii))BD=:Dp;DE9EUR>EU>*F?2F:FBFW0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >zK] .JK] #9KY K] K] VlPw, MBAF*@YF8@F29F&>yFH Bο@X?@-?`©? !?;?r{?ɨF*@F1;DyN:BR"IIZIZF3 xIx٢=g =I=9M Q M>eWill construct direction to contact in vehicle frame from tetrahedron phase data.iimA G٣QGy4!= > Nusing accuracyPremultiplier from config59?5Y i2A@@yE<r< 5I }@yDNOT Ignoring new targets: 62.30 m. jjjjih hhhfAfIfQrfYbf]  @ɛʃB@< ^>I +;ɚiI=Iii)) D=9*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G μG B O >Pw,wBAyz/Bz"IJ)J-@AJ5J5J1J1J5:J5:J1J1a=@a=@a=@a=@Mb@Mb@Mb@ )Yn?Q?Q?yV>u=<A &@)Iy=@I$I<3٢d8 5=9 Q  > G٣y > %Nusing accuracyPremultiplier from config-59q?-5YB i5-,>-;5nA@5@yE';H%;m 59 =1@9eDNOT Ignoring new targets: 62.30 m.Hu<>Iq IuZ#IIuτBIu# =&Iq.Iu7D6Iu<:Iui F jjjjihhhhBfff M,$?IIrfbfM@' @ɛB< Will construct direction to contact in vehicle frame from tetrahedron phase data.\>I ;ɚiI0Q=Iii))D9E=*FU ?2FQ :FY BFY JFY "Gm ?Gm ?u Will construct direction to contact in vehicle frame from tetrahedron phase data.GGqBO?rvPw,EBA:,@Y::@:89:1>y:H Fʿ?[N?. ? n? ? Ae?ɨ:,@::;8yZ(BZ"IIb"Ibq3٢r  r,=9rhQ r>tt vG٣tyvg= z> ~Nusing accuracyPremultiplier from config|59~a?5Y~ i~ZC@ @~yE~:~7:~ 5 @MEEDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIzKBHK9KKKhIhhhfffrfbf@ɛB@ < b>I  -%;ɚ)i)I-=I5i1i1)1)92DEqA*DEqA +$?IDmB9Will construct direction to contact in vehicle frame from tetrahedron phase data.EeQf=*F%?2F!:F!BF%\0JF!G G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.lYPw,J CAN5t-@YN0;@NJ9N&6>yNH )ERȿ?u?@, @? uy?@?\?ɨN5t-@N#;NCyVBV~"IEMb@Mb@Mb@AAA A)AYEy&1?/$?Mb?yE`>E=E=E@ E@)E@IE@AyE@I]I]T3٢e2l mC=9mU޻Q m>qq uG٣uQGy}<= }> Nusing accuracyPremultiplier from config59"R?5Y i>:F@@yE@;;U5 U\@Q}DNOT Ignoring new targets: 62.30 m. jyjjjihhhhBfffrfbf`@ɛ%B%ݙ< )-]>I) M (;ɚIiQIU@=IUiYiY)Y)YJJJJJ:J :JJDM9ZH)RH-AAH5?>I1 I5N#II5ńBI1&I1.I16I5G<:I59 F IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMm_=*F ?2F :F BF P0JF G qA G G MWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >QPw,E-CA6Z.@Y6x<@6 96%;>y6H>@nƿ@j8??@@?,?@@?tR?ɨ6Z.@6;6$CyBBB}"IIJ6IJm3٢RZ R.=9RWQ V>TT VG٣Ty^< ^> bNusing accuracyPremultiplier from config`f59bp@?f5Yb| ibdf|G@f@byEbn:b;ba5nqB n^@nPEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf @ɛ5B5U< 9=p>IA E6;ɚAiAIE=IMiIiQ)Q)QDF9EE*E"EzKjIKж9KKK *$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGe GABIOe>$Pw,KCAWill construct direction to contact in vehicle frame from tetrahedron phase data.)p pUGi |'Yy By-B-t"IiU=IUC=%Mb@Mb@Mb@!!! !)!Y%V-?|?5^?+?y%>%=%=%~A %@)%@I%@!y%@9=@AI=+I=n3٢M{ټ M=9UQ U>QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configiu59m)?u5Ymr imu?u:uH@}@myEmj;m;m5pB @SEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf`@ɛBh5< y>I G;ɚiI-=Iii))J9J9JMJMJIJIJM:JM :JIJID09He@>IeC Ie;#IIeBIe" =&Ia.Ia6Ie<:Ieq F I*Fi2Fi:FiBFm[0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.G Gi By O >Pw,I0fCA6\O0@Y6Wn>@6n ʽ96>G>y6Hg_\¿ }J?@?\?`6?`͠?W>?ɨ6\O0@6;6 CyBBBu"IIJIJ<2٢R< R|=9VMQ V ?pp vG٣vQGyv= v? ]Nusing accuracyPremultiplier from configQ]59U?e5YU iUaeGe@UyEU :Uq:US5uPExceeded connect timeout, disconnecting.y @DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf|@ɛ=BEĹ< E3=Eօ>IA MS;ɚIiIIM3=I]iYiY)Y)a Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFo0JF"G%?G%?zK% XKK! K! K% K%   G= GA GA ($?I G B! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.Pw, CA&61@Y!U?@59̽9K>yH`Ky@,-?@I?a`{?`S|?@A(?6?ɨ&61@*;騡yޱޱMb@Mb@Mb@ )Y!rh?T㥛 ?ˡE?yl?>'= A @)Iy=@IIM3٢\ -=9QQ > G٣y< > Nusing accuracyPremultiplier from config59?5Y iՐ ?:D@yE;f;L5oB @VEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfP@ɛeBmY< im>Ii m_e;ɚqiqIuA=Iuiyiy)y)D|9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FyBF}e0JFyJـ3Km3 KS}-KK"KJ J J J J J :J J Gu H% C>I!  I% (#II% BI% ! =&I! .I% 8D6I% <:I% m FBI˟CJI˟CRIZI# =bI# =jI5GI BY I O >+QPw,~CArF2@Yre@@rsϽ9rTWM>yrH@h?/?@(Ҍ??z]?@2?ɨrF2@rk;rCyz"Bz"I)| |I I (*3٢я= b=9%Q %>5Will construct direction to contact in vehicle frame from tetrahedron phase data.11 =G٣9y=\;= => MNusing accuracyPremultiplier from configIU59MD?U5YMe iMtQUCU@MyEM :M:M5a e@%DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h1h1h1f9f9f9rfabfe-d@ɛ}B\< >I Ut;ɚ i I ~=Iii))D;9*F?2F:FBF3JF -nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >6qPw,/CA:B3@Y:aA@:ҽ9:bP>y:HUj@w?|?1j%?6?? ,?ɨ:B3@:ޛ;:Cy^B^"IIj)IjW3٢r rP=9rtMQ r>tt vG٣vQGyv = z> ~Nusing accuracyPremultiplier from configx59z䄜?5Yz izB @zyEz;z;z5 @YEEDNOT Ignoring new targets: 62.30 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]@@ɛuB7< 隍 >I ;ɚiIK=Iii))Du 9 '$?IzK`LK9KKK   RK% ?JK% ?MWill construct direction to contact in vehicle frame from tetrahedron phase data.E=(a=*F?2F:FBF1JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.G G "?G ??G B) OE >Pw,"CAJ-O4@YJ(nB@J8Խ9J{T>yJH7}8B?+V?8?r?t+? %?ɨJ-O4@J;J CyV.BV"I=Mb@Mb@Mb@999 9)9Y=? rh?&1?y= ?=C >=P==~A 9)=@I99y=G@IU0IU(3٢= /=9r)Q > G٣yi= > Nusing accuracyPremultiplier from config 59,τ? 5Y i ? : `A @yE;;5nB @\EeDNOT Ignoring new targets: 62.30 m. jajajajaiahahihihmBfifqfqrfqbfu@ɛlB? < 隭O>I č;ɚiI=Iii))D9HE>I III =&I.I6I<:I FE d6= &$?IJJJJJJ :JJJ;a J;a JS;a JS;a *FM?2FI:FIBFM15JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAG Gi By O >Pw,CAfW5@YfvC@f.ֽ9f!X>yfHѳE̾?$;dyv5Bv"Iiz%=Iz4= ~=~p=I I V83٢%= -Y=9=,CQ E>II MG٣IyUV-= U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]Jim_@m@]yE] :]P:]O5q u@yDNOT Ignoring new targets: 62.30 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hIhYhYfififqrfqbfuZ@ɛcB= >I ;ɚiIHȔ=Iii))D9EE*E"E IzKmKKmU9KiKmKmBK:K*F% ?2F! :F! BF% P5JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 G!B)OM>Qw,DAF7@YFE@FNTٽ9FHI_>yFHS`J䝿@c?`'? <?@~?@̈??ɨF7@FNdž;F"CyNGBN"I-Mb@Mb@Mb@))) )))Y-"~?Zd;?S㥫?y-?-=-/]=- A -@))I-@)y-@IAIA٢Ul= U,=9U&Q ]>YY ]G٣]QGyeu= e> mNusing accuracyPremultiplier from configiu59mꦄ?}5Ymu  im/}?}:z@@myEm=;m7;m] 5mB m@_EUDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhYhYhYh]Bfafafarfbf@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛYB== !%>I! %&;ɚ)i)I-=I-i1i1)1)1D9ZHRH@AHF>IC I5#IIBI&I.I6I<:I F %$?I*F ?2F :F BF S5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G G G GyBO>7 Qw,&DA2å8@Y2F@2Ucؽ92b>y2H ^PV?=?;9ݦ?@??@ ?ɨ2å8@2;2CyFXBF"IININ3٢V#= V1=9V:Q V>XX ZG٣Xy^p= ^> bNusing accuracyPremultiplier from config`f59b?f5Yb  ibhjc?j@byEb;b;bb"5l rY@p DNOT Ignoring new targets: 62.30 m. j j j jihhhhff!f!rf!bf%~!@ɛmQBm$= im?Iq ;ɚiI=I%i!i!))))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF GUJJJJJJ :JJJJJdW;JdW;G! B1 OM > m $$?Ii zK} K} 9Ky K} K} = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= A Qw,U@DAM9@YMH@MHؽ9M f>yMH@?/)~??? 3Ր?>4 J?;? Z??ɨM9@M/;MCyޭsB޵"I) AIIF3٢= )=9%8Q %>!) -G٣-QGy5"= => ]Nusing accuracyPremultiplier from configQe59Uay?m5YU  iUiu.>u@UyEU};U;U$5 @bEDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f)f)f)rf)bf- "@ɛFBz.= v =隝m?I E;ɚiIj=Iii))*Fu?2Fq:FqBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.G] G1 BA O] >J @AJ H= H>I9  I= Z#II= τBI=  =&I9 .I9 6I= <:I= F Q IY MQw,oZDA6U ;@Y6P*I@6ս96ii>y6H`x?޹?PZ+ ??q??ɨ6U ;@6|~;4y>BB #IuMb@Mb@Mb@qqq q)qYuS?A`"?A`"?yu?u=uY=uA ur@)qIu@qyu@II<2٢> f=9p;Q > G٣yzQ= > Nusing accuracyPremultiplier from config59g?5Y  i]?:.?@yE;,;&5lB @eEWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 62.30 m. j jjjihhhhBfff!rf!bf%l-#@ɛ@B>c= i'?I O;ɚiIi=I%i!i!)!))*F?2F:FBF_0JFGG#?G? Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >rQw,3tDA:]<@Y:|J@:Grӽ9:ݼj>y:HZ@?`*d?Dr#j]? Eb?W?7?ɨ:]<@:F;8yBBB$#IIJIJF3٢V= Z\=9Z9;Q Z>\\ ^G٣\ybEc= b> fNusing accuracyPremultiplier from configdj59fAU?j5Yf  ifhn=n@fyEf;f;f'5p r@t DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf6#@J]J]JYJYJ]:J]:JYJYJ];J];J].Y;J]/Y;ɛ58BmǢn= qu5?Iq u;ɚqiqI}=I}ii)) #$?I*F ?2F :F BF n0JF zKeBHKe 9KaKeKe3`` g(Will construct direction to contact in vehicle frame from tetrahedron phase data.GUG) B1 OM >_#Qw,|'DA*Will construct direction to contact in vehicle frame from tetrahedron phase data.RG\h $Y y ByB@#Ii=I= p=eMb@Mb@Mb@aaa a)aYerh|?Mb?kt?ye?e=e 0=eA eE@)e@Ie@ayeQ@II(*3٢ҽ= /=9Q > G٣y > Nusing accuracyPremultiplier from config59=?5Yu i}&?: B@yE ;;)5kB @hEDNOT Ignoring new targets: 62.30 m. jjjjihhhh%Bfffrfbf@$@ɛ/Bm= E?I B<ɚ9i9I=G=IEiAiA)A)I2DM*DMBDU:DU*J]C="J]%= "$?IHJ>I I#IIBI =&I.I9D6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.E·3=*FU ?2FQ :FQ BFU P0JFY GGqBO?-+Qw,߮DAWill construct direction to contact in vehicle frame from tetrahedron phase data.Bs?@YBn!M@B0ɽ9BOzn>yBH?`?M/`|B?T/?e?`.?ɨBs?@B);B!CyV҄BV^#IInIn2٢~= 2=9(  G٣QGy%h= %> =Nusing accuracyPremultiplier from config9M59=g&?U5Y= i=tzY]m?e@=yE=;=];=+5ujB u@}kE]DNOT Ignoring new targets: 62.30 m. jYjYjYjYiYhYhahahafafifrfbf%@ɛ&BG~= U?I ; <ɚiI=I i i))E =J)J-J-1J)J)J- :J-3J)J)J)J-R;J-R; I*F2F:FBF_0JFzK= NK9KKK<W.  _m<-HGDRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.G Gy B O >f2Qw,DDARq@@YRȐN@RzĽ9RzBq>yRH [@0??⵿ `h?{x?`?4?ɨRq@@RL;RCyfBf#IUMb@Mb@Mb@QQQ Q)QYUV-??X9v?yU?U }C=9E;Q > G٣y[= > Nusing accuracyPremultiplier from config59H?5YQ iwB?:A@yEe ; ;-5kB @mEDNOT Ignoring new targets: 62.30 m. jjjjihhhhUBfffrfbf^&@ɛB1= h?I 9<ɚiI=Iii))EE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.mI I#II0BI =&I.I6I<:I FBI]ȡCJI]ȡCRIYZI] =bI] =jI]85 Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >8Qw,$DAyB#IAI-I-3٢== =B=9EQ E>AA MG٣MQGyM M> UNusing accuracyPremultiplier from configQ]59U?e5YU iUguaae@UyEU];U7;Ue/5ujB u@upEDNOT Ignoring new targets: 62.30 m. jjjjihhhhQfYfYfYrfYbfe)'@ɛ B = <pu?I 2&'<ɚiI=I-i)i1)1)9*F?2F:FBFO1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O > $?I J J J 0J J ܫ:J :J ـ3J J ;J ;J U;J U;>Qw, DA6fC@Y6ɅQ@6962v>y6H͘@? n?bj? 暶?e??ɨ6fC@6[;6 CzKROKR@9KPKRKRBKT:KTyjBj#IIvIv2٢~r= ~O=Will construct direction to contact in vehicle frame from tetrahedron phase data.9    G٣ yW= > Nusing accuracyPremultiplier from config%59烜?%5Y i s)->-@yE;&; 155iB 5 @5sE]DNOT Ignoring new targets: 62.30 m. jajajajaiahahahihifififqrfqbfu@=(@ɛB= 隥?I $3<ɚiI=Iii))*Fu?2Fy:FyBF4JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >EQw,CEA2D@Y2R@2<92̑y>y2H`PD?-?ÿ`j??r??ɨ2D@2w;2Cy>-B>#IMb@Mb@Mb@ )YMb?y&1:v?y ?`弹T< A )@Ip@y@I5 AIAZHyRH}AAHJ>I I$IIcBI&I.I6I<:I FI5b1٢= 59=9=9A EG٣AyEQ= E> UNusing accuracyPremultiplier from configIU59MЃ?]5YM iMwq] ?]:]@B]@MzEMh;M;M35a m@iDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfD%)@ɛUB]d= Y]U?IY ] 0C<ɚYiaIe0o=Ieiiii Will construct direction to contact in vehicle frame from tetrahedron phase data.))*F=?2F9:F9BFEA5JFAG GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.KQw,ߧ1EA6F@Y6T@696 {>y6H`ad?y?ƿUm +?aj?`??ɨ6F@6Ԉ;6Cy6B#I %=%=I-I-2٢=e?= =Y=9E;AI MG٣IyM/= U> Nusing accuracyPremultiplier from configy59}?5Y} i}p@@}zE}%;}%;}45hB .@vEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf)@ɛ B b=  ??I  mP<ɚiIe=Iii)) -$?I)E%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKUBoHKU9KQKUKURKu ?JKu ?*F?2F:FBFP5JFG G B O >|SQw,؟NEA:^I@Y:YW@:͐9:Tt>y:H`1?؂? HͿ`Q? ???ɨ:^I@:(;:CyF@BF#I~Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YRQ?)\(y&1|y"?Ga`7A @)I-@y@IIb2٢+= /=9h G٣QGy&= > Nusing accuracyPremultiplier from config59v?5Y ieo-#?:n?@ zE;o;65 @yEDNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h!h!h)h-Bf1f1f1rf1bf5@8*@ɛmBuH= quԑ?Iq ua<ɚqiqI}/=I}ii))E<*F]?2FY:FYBF]P0JFY $?IhHI IH$IIBI =&I.I6Im<:I] FJ=J=J9J9J=l:J=:J9J9J=;J=;J=L;J=L;Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխAGE /G B! OE >}YQw,4ihEA6fK@Y6}Y@696[l>y6H.5?e0>п`?%?b6?@5?ɨ6fK@6a;6"CyJKBJ#IIZIZF3٢fw= fZ=9j~App rG٣tyv= z> Nusing accuracyPremultiplier from config| 59~? 5Y~ i~n=@~zE~p;~Kb;~`85) -@1DNOT Ignoring new targets: 62.30 m. jjjjihhhhf)f)f1rf1bfU+@ɛB= 隥?I q<ɚiI=Iii))EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.G zKQ KU @9KQ KU KU   BKa :Ke qAG B O >Z`Qw,U߃EA2M@Y2%[@2c{92 >y2HJ 7? ѿ ?dg?e??ɨ2M@2DO;2CyBJBB#IIVIVV83٢^@ ^?=9^I<`` bG٣bQGyjt= j> vNusing accuracyPremultiplier from configt59vz?5Yve ivcn$<@vzEv=vd=v=:55gB =@E|EmDNOT Ignoring new targets: 62.30 m. jijijijiiqhqhqhqhqfyfyfyrfybfƏ,@ɛBjJ= G?I <ɚiI=Iii))!*F?2F:FBFX0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G G% ?G% ? I G B O5 >jH9 bH= <HE L>IE C IE m$IIE BIE  =&IA .IA 6IE °<:IE FJ J J 1J J ܫ:J :J 3J J ;J ;J U;J U;CgQw,ʨEAV%N@YV \@Vi9VK>yVHum J?hzӿL ?X?? U?ɨV%N@V;V CyWB$IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YNbX9?{Gzy%?LףA @)@I@y@I-I-1٢=1b= =4=9E!AI MG٣IyMv= M> ]Nusing accuracyPremultiplier from configYe59]6b?e5Y]@ i]Ane4&?e:m~9m@]zE]<;]f;]4<5ufB }@}EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfQ-@ɛB4= ?I Ok<ɚiI=Iii))*Fu?2Fq:FqBFu`0JFqGm Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >I=mQw,EA:gP@Y:Ԇ^@:uT9:E>y:H2- &? m٣N տ? ? Ѱ?#?ɨ:gP@:h0;:!CyBTBF#IIjIjF2٢r  rc=9vGitt vG٣xyzÑ= z> Nusing accuracyPremultiplier from config|59~>O?5Y~ i~:n  7 @~zE~;~N3;~=5! - @-EUDNOT Ignoring new targets: 62.30 m. jQjQjQjQ e$?IaiQhqhyhyhyfffrfbf .@ɛ܂B= ڝ?I ΐ<ɚiI=Iii))*FM?2FQ:FQBFU91JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.zKXLKKKK.'~$okt~  FRK?JK?G=GB9O}>) CQ i !Y y B*tQw,zEAWill construct direction to contact in vehicle frame from tetrahedron phase data.b"R@YbA`@b- A9bI҈>ybH R a? +@pֿ Ϸb?!??@t?ɨb"R@b0e;b Cyhn#IMb@Mb@Mb@ )YFx?:vZd;Oy+?Լj7A @)@I@yp@I I2٢ d: :=9, G٣QGy3|= > Nusing accuracyPremultiplier from config 597? 5Yn i'n,?:3@ zE;t;?5 @!MDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhIhQhQhUBfQfYfYrfYbf].@ɛ ՂB Є= ʟ?I <ɚiIN߀=Iii)A)A III*F?2F:FBF1JFHG>IC Iz$IIBI&I.I6I<:Io FJ]J]JYJYJ]:J]:JYJYJ];J];J]oN;J]oN;Will construct direction to contact in vehicle frame from tetrahedron phase data.GG G G B O >OzQw,?EAy#II-I-3٢=; =W=9EQ E>AA MG٣IyM M> Nusing accuracyPremultiplier from config59"?5Y in@$zE;;eA5eB @EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf /@ɛ%΂B-f= )-L?I) -<ɚ)i1I5!=I=i9i9)9)A5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5%=*F?2F:FBF5JF U$?IQGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK ePK }9K K K l&zBK :K pA.6Qw,FARU@YRc@Ra9R˸>yRHA{?@R >ٿ 7?`??@f?ɨRU@Rʼn;RCy^KB^#IIr Irb3٢% N=9    G٣ y> > Nusing accuracyPremultiplier from config%59?%5YH" i,n)-F0-@)zET:A;C55dB 5@5EDNOT Ignoring new targets: 62.30 m. jjjjihhhhf!fIfYrfabfmK0@ɛ ǂB = $?I 06<ɚiI}=Iii!)!)!*F?2F:FBF5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G! Y IY ZH RH @AH D>I C I I I =&I .I 8D6I <:I FBIJIRIZI =bI =jI5G B O5 >J J J 0J J :J :J ـ3J J i;J j;J dW;J dW;Z`Qw,RFA6"W@Y6Ae@6V 96)>y6H@@?Ե`Fۿ`3~?i?Vqq G٣yEu= >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59?5Y% in6?:-@-zE~;/;D5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhh~Bfffrfbf`0@ɛ-B5s= 15s?I9 =m<ɚ9i9I={=IEiE$)Qw,S8FA2[X@Y2Vf@2W92vU>y2H@5S)?@) Zܿ ~fM?ඩ?P?`?ɨ2[X@2‰;2Cy>NBB#IIJ$IJ<3٢fzi< fU=9f-hh jG٣jQG r$?Ipyn>= v> zNusing accuracyPremultiplier from configt59vₜ?5Yv( ivnX,@v2zEvD;vD;vF5 cB Z@EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf31@ɛ-B-Cd= 15Ĥ?I1 5a<ɚ9i9I=z=I=iELzK :NK 9K K K RK?JK?] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y ] < xQw,sRFA6sZ@Y6|h@6ؼ96*>y6H`|06?=޿ `?@?K?/?ɨ6sZ@6;4y>JB>#IMb@Mb@Mb@ )YK?~jth rhy^:?DC7A z@)@I5@y@I Ib3٢- -D=95 19 =G٣9y=]= => MNusing accuracyPremultiplier from configAU59Eô?U5YEm, iEnUk:?]:]f)]@E7zEEl0;E.;EiH5a e@eEMDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhIhQhYh]ZBfYfYfarfabfe z1@ɛ B (= ?I ?%<ɚiI:x=IiYI Ig$IIBI&I.I6Iհ<:I F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G] ]vG9 BA O] >Qw,lFA>n \@Y>h*j@>69>͌>y>H@?@E{`߿ v?Nf?`_??ɨ>n \@>~։;> CyFABJ#I Np=Np=PRBAIR$IR<3٢ZJ ZS=9^`` bG٣`yf= f> jNusing accuracyPremultiplier from confighn59jȷ?n5Yj0 ijnpr'r@j;zEjI;j;jJ5t v$@vEDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf-1@ɛ]B]D= Ye?Ia e%s<ɚaiaIeXzv=ImimQ $?IJK 3 K .KK"KJuJuJqJqJu:Ju:JqJqa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data.Qw,_FAzK.BHK.9K,K.K.>W]@Y>Rk@>9>>y>Hb`?LEC?@?c?@?ɨ>W]@>;>Cyz?Bz#II I<2٢ D=9-|;Q ->9A EG٣EQGyM}= M> UNusing accuracyPremultiplier from configQ]59U?]5YUO4 iUnYe#&e@U@zEU;U;UK5mbB m+@mEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfpC2@ɛB=  ?I Kj<ɚiIzt=Ii I jH bH <H =>I C I T$II BI ! =&I .I 7D6I <:I FɮQw,K9FA:/E_@Y:*dm@:rڍ9:׌>y:H`4O?`3`Rv? ?a??ɨ:/E_@:E;:CyJFBJ#IMb@Mb@Mb@ )Y?V-?y&1y@?<`e M@)@I@y@I5I52٢E< EG=9M";Q M>II MG٣QyUu= U>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59ɋ?5Y9 in-@?:"@EzE"&;$;M5 aB @ E}DNOT Ignoring new targets: 62.30 m. jyjyjyjyiyhyhhh;Bfffrfbf2@ɛBaw=  ?I  5T<ɚ1i1I5r=I=i=C_L٭Qw,FA &$?I&hF`@YF| o@F[o9F!>yFH%OX?ظQ{|?/?`-?@?ɨF`@F;F!Cy^HBb#IIfIfT3٢rT< rQ=9vn;Q v>tt vG٣tyzh= z> ~Nusing accuracyPremultiplier from config|59~x?5Y~~= i~n  _  @~JzE~:~:~lO5 @EDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU3@ɛBTA> 隍?I B<ɚiI q=Ii"zKK9KKK] Will construct direction to contact in vehicle frame from tetrahedron phase data.ϴQw,+FAJyb@YJ̘p@JdR9J`>yJH@a?¿ S c?@QL???ɨJyb@J*ω;JCyvUBz$I}Mb@Mb@Mb@yyy y)yY}Mb?Q?~jty}C?}u<}} A }d@)}@IyyyyII(*2٢Lt= ==9;Q > G٣QGyc= > Nusing accuracyPremultiplier from config59db?5YB in+C?:@OzE);P';SQ5 @EDNOT Ignoring new targets: 62.30 m. jjjjih!h!h!h-KBf)f1f1rf1bfj3@ɛBݟ=  ?I <ɚiIo=Ii={I IH$IIBI# =&I.I6Iڰ<:I F*F?2F:FBFO0JFGr-GGGYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝AQw,FA6T d@Y6N)r@6:Q296>y6Hട&?`yZÿ<*@ ?` J?@ ?W?ɨ6T d@6;4yRaBR$IIZIZ3٢buu= b\=9f ;Q f>dd jG٣hyj̇= j> rNusing accuracyPremultiplier from configlr59nO?r5YnRG inntvRv@nSzEn:n;:nR5z`B z@zEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`3@ɛ]Be> aeE?Ia m<ɚqiIDQm=Iixw Will construct direction to contact in vehicle frame from tetrahedron phase data.Qw,GA6qe@Y6s@6h96)>y6H2?%ÿ1D -?m? ?`?ɨ6qe@6:;4yBiBB$I J=J=HJAAININ3٢V#= VL=9Z;Q Z>XX ^G٣\y^_= ^> fNusing accuracyPremultiplier from config`f59b;?j5YbsL ib ohjj@bXzEb:be:bT5l ro@pDNOT Ignoring new targets: 62.30 m. jjjjihhhh!f!f!f!rf!bf-@lC4@ɛUBUr >zK]BHK]59KYK]K] 隅?I =ɚiIk=Ii}t  I hZH) RH- ?AH5 7>I5 C I5 N$II5 BI5 % =&I1 .I5 6D6I5 <:I5 s FQw,^!GA2cf@Y2]t@2~=92G>y2H?7Ŀ@ G٣QGyQ= > -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-59%'?55Y%Q i%Ko5+:15a:55@%]zE%*;%I>%)V5E_B E@EE}Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 62.30 m. jIjIjQjQiqhqhqhyhyfyfyfrfbf'4@ɛBY> ?I )=ɚiIi=Iiwq- Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I 'Qw,\;GAN$h@YNCv@NUէ9Nς>yNHdX?łĿl@I?t?~,?@?ɨN$h@NU;N CyVBV<$IIb Ib<2٢jf= jN=9n;Q n>lp rG٣pyrV= r> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59v?~5Yv:W ivo :6:=@vbzEv'8;vP?vLW5  @ 5DNOT Ignoring new targets: 62.30 m. j1j9j9j9i9hAhAhIhIfIfIfQrfQbfU5@ɛ}Bz> 隅?I  =ɚiI@g=Iio= Will construct direction to contact in vehicle frame from tetrahedron phase data.Qw,6UGA2Y>i@Y2T]w@2OF92Q>y2H?Ŀ /@ :?h? ŕ??ɨ2Y>i@2r`;2"Cy B F$I) A        Mb@Mb@Mb@ )YJ +?Q롿 rhyH?\ChA )@I@yf@IIV٢= ;=9x;Q > G٣y!= > Nusing accuracyPremultiplier from config59Z?5Y\ i3pT:H?:/@hzE;;4Y5 @E $?IDNOT Ignoring new targets: 62.30 m. jjjjihhhh[Bfffrfbf<5@ɛUyBU? > QUi?IQ ]!t=ɚYiYI]Se=Ieie,mI Ig$IIBI$ =&I.I6Iְ<:I FBIßCJIßCRIÔCZI# =bI# =jI6*F%?2F!:F!BF%0JF!G) G)Gz®GBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.;Qw,oGAyzB~a$IIIb2٢%%= %V=9-Q ->)) -G٣-QGy5 e> mNusing accuracyPremultiplier from configiu59muꁜ?}5Ymb impyy}@mlzEmR;m ;mZ5^B @EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`5@ɛtB> ??I 8=ɚiIc=IiFl I Will construct direction to contact in vehicle frame from tetrahedron phase data. Qw,NGA:k@Y:1y@:8:9:Fq>y:H`[^ )@?@tĿp(@l?V?@ ?ɨ:k@:s;:CyFBFy$IININ<٢V= VS=9Z9XX ^G٣\y^˖= b> fNusing accuracyPremultiplier from config`f59b]ׁ?j5Yb1g ibeqhjaj@bqzEbC:b.:b\5l rX@pDNOT Ignoring new targets: 62.30 m. jjjjihhhhf!f!f!rf!bf%`iH6@ɛMnBUR:> QUy?IQ U7]=ɚQiYI]a=Ieie-k u$?IqjH <bH 4<H 3>I  I $II ȅBI % =&I .I 6I <:I FJE JE JA JA JE :JE :JA JA JA aU JA aU JE nN;aU JE oN;aU JQw,uǢGA2k@Y2y@2j;92h>y2H~ @?`MĿ@ v?`OmqU? -?ɨ2k@2u;2#CyNʅBR$IiV%=IV=]Will construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuS㥛?Zd;OQyu$F?ujuu`@ uz@)u@Iub@qyu@II٢= <=9;Q > G٣y!< > Nusing accuracyPremultiplier from config59?5Yl irG?:@wzE~ ;/;x^5]B ,@EDNOT Ignoring new targets: 62.30 m. jjjjihhh h Bf f f rfbf6@ɛ=iB=r> 9=f?I9 E_ =ɚAiAIE_=IMiMxjG>Ge}G!B)OER> Will construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ia tQw,GA6Wl@Y6vz@6;96^>y6H?ÿ@Q)mM#?@{@d???ɨ6Wl@6G;6 CyRۅBR$II^I^1٢f= fY=9f;Q j>hh jG٣jQGyn*< n> rNusing accuracyPremultiplier from configpv59rP?v5Yrfq ir0txzz@r{zEr;rA;r`5| @EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfz7@ɛ-dBU_%> Ujy6H? SÿxW`?@{<@D?BQ?ɨ6l@6Dɉ;6CyZBZ$IMb@Mb@Mb@ )Y?!rhL7A`堿y@?l罹+I@ )@I=@y@II ٢Y?= <=9x;Q > G٣y_z< > Nusing accuracyPremultiplier from config59?5Yv iuYB?: @zEg;;b5 s@  $?Ih-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i1h1h1h9h=Bf9f9f9rfAbfE7@ɛm^Bm'> im?Iq  ,=ɚiI[=IiiI I$IIBI& =&IHD.I6I<:I F*Fm?2Fi:FiBFm_0JFiJJJJJl:J :JJJ;J;JcW;JdW;}Will construct direction to contact in vehicle frame from tetrahedron phase data.Gf AG B O >Qw,YGA:)m@Y:H{@:|R<9:JI>y:H  ?v¿ 0vC@Ō?`mOa?a?ɨ:)m@:;:CyFBF$ILNAIRIR(٢Z&< Z]=9ZM\\ ^G٣`ybI< b> fNusing accuracyPremultiplier from configdj59fC?j5Yf{ ifuwlnn@fzEfV;f;fc5r\B r@vEDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf-T7@ɛUZB] i1> Y]*?IY el1=ɚaiaIeY=Imimi I Will construct direction to contact in vehicle frame from tetrahedron phase data.nRw,4 HA6hm@Y6{@6<96H>>y6H=?<¿`?<}?` ?@q?ɨ6hm@61;6!CybBb$IInInԲ٢v= vG=9zxx zG٣~QGy~< >  Nusing accuracyPremultiplier from config 59^o?5Y i.y@zE::ne5%[B %@%EMDNOT Ignoring new targets: 62.30 m. jIjIjIjQiQhQhQhahafafafarfibfm`O8@ɛUB/> 隕?I 7=ɚiIǗW=IiiI} C I} $II} BIy &Iy .Iy 6I} <:I} x FJ% J% J! J! J% ,:J% :J! J! J% ;J% ;J% I;J% I;GU ;G] rAG] rAG1 B9 OU >C Rw,-&HAWill construct direction to contact in vehicle frame from tetrahedron phase data.yB$IMMb@Mb@Mb@III I)IYM333333?T㥛 lyM9?MMM@ M@)IIM@IyM@IuIuF٢ü &=9Q > G٣y > %Nusing accuracyPremultiplier from config-59V?-5Y i~{- 隵?I 8?=ɚiIi1U=Iiǽi $?I ARw,?HA6m@Y6{@6}3<96(>y6H@BB$IIJIJ?13٢V$= Vp=9Vb QU9?IQ ]'5D=ɚYiYI]`S=IeieliG=)  qzKu5MKus9KqKuKu RK?JK>vA %YvAy|A@BG Re< Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >'Rw,YHA yvH9X ?X`!.? U? ?ɨvm@vx;v CyB$I-monly read 0 of 1 data item for BIT error. Device response is::TS,250100,35.0, +10.9, .1, 0  m@m u@u u@  @ II(*2٢/ؼ 8=9 G٣QGy; >  bBottom track data is 0.4 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59/?HE0>IA IE%IIE3BIA&IA.IA6IEǰ<:IE F5Y i)+:i:r @zE<l>j5 @E-DNOT Ignoring new targets: 62.30 m. j)j)jIjiiihqhqhqhqfyfyfyrfybf}9@ɛEB},>  ?I K=ɚiIY!Q=Ii/jQRw,sHA6n@Y6-|@6B<962>y6H|P`p?`sݿ/M? W^?@?ɨ6n@6;4yRBR$IIZIZm?3٢blQ b_=9b<dd fG٣dyj#\; j> ]bBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configlm59n?m5Yn inym :im=:mh u@nzEn  ?I  P=ɚ i I JO=Ii:njm Will construct direction to contact in vehicle frame from tetrahedron phase data.U9#Rw,HAzK"LKKKKBKqA:KqA[2n@YVQ|@E=9 >yH@[B?@ }.@ƣ??0?ɨ[2n@k;騝!CyB$IA        Mb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )Y333333?)\( ףp= yGόQ8@ @)@I@yG@II ٢H  =9b G٣y; %> -Nusing accuracyPremultiplier from config)559-?55Y-& i-5T:5 Y?I zX=ɚiIM=IivjI)Rw,HAJV0n@YJQO|@JP(=9J- >yJH4Bޢ? )3? `CT? ?ɨJV0n@J0;J CyZ߅BZ$IIjIjF٢vt z=9zd ?I ]=ɚiI_mK=Ii%kk0Rw,HAJFJFJF/JDJF:JF:JF(N3JDaJ@aJ@aJ@aJ@r5n@YrT|@rqg6=9r >yrH@q??A @4T?@˦`Q&??ɨr5n@rU;rCyzՅBz$II I <2٢@ I=9 !! %G٣!y--T: -> 5Nusing accuracyPremultiplier from config)=59-လ?u5Y-8 i-quu@-zE-<- <-q5XB 2@µEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf0;@ɛ4Be?> d?I :c=ɚiII=Iivk Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I o6Rw,9HA2w!n@Y2r@|@2D=926R>y2HE@K? nM?߭?`@b?`%?ɨ2w!n@21ȉ;2 CybąBb$I n=n=HI I%II3BI' =&I.I6I<:Io FMb@Mb@Mb@ )Yx&1?㥛 Zd;OyA?j<@ @)@I@y@II2٢f ==9j G٣y; >  Nusing accuracyPremultiplier from config59̀?5Yզ i=B?:~@zEl;;r5! %9@%ŵEUDNOT Ignoring new targets: 62.30 m. jQjQjQjQiYhYhYhYhe:Bfafafarfabfm;@ɛ /B|6> 7?I ti=ɚiIG=Ii%|k')) -G٣-QGy5 5>]Will construct direction to contact in vehicle frame from tetrahedron phase data.Y]= Nusing accuracyPremultiplier from config59ǹ?5Y ig@zEs;;t5 p@DNOT Ignoring new targets: 62.30 m. jjj!j!i!h!h!h)h)f)f)f1rf1bf5<@ɛ]+B]]:> Yeg?Ia e1o=ɚaiaIeF=Imiul2CRw,ZIA:m@Y:|@:^=9:!>y:HQY?Ѭ ER ?`ϫ??ɨ:m@:;:CyFBF[$IININ#3٢V VR=9VXX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5Ybɰ ibhjj@bzEb;b ;bMv5nWB nv@nʵE DNOT Ignoring new targets: 62.30 m. j jjjihhhhf!f!f!rf!bf%b<@ɛ]'Be>>> iu?Iy ]xt=ɚiIOD=Ii|Wl Will construct direction to contact in vehicle frame from tetrahedron phase data.IRw,yNH`W?@ `\`? H` O?`?ɨN m@N;N CyB I$IMb@Mb@Mb@ )Yv/?X9vyxI?L@ @)IyII2٢7x )=9;Q %>!! %G٣!y-, M> ]Nusing accuracyPremultiplier from configYe59]?e5Y]ķ i]eJ?m:mm@]zE];]l;]ox5 f@}DNOT Ignoring new targets: 62.30 m. jyjyjyjyihhhhBfffrfAbfE@ <@ɛ "B \'>  ?I VM|=ɚiIB=I=iE l+QRw,uDIA^m@Y^{@^kt=9^>y^H`@{?~ }hҧ?`o{U,?౯?ɨ^m@^r;\yn}Bn0$IIvIv[3٢~ٽ ~a=9;Q >  G٣ QGy q  > Nusing accuracyPremultiplier from config59?%5Y i:!%3%@zE::z5-VB 5@5͵EeDNOT Ignoring new targets: 62.30 m. jajajajaiahahihihifqfqfqrfqbf};=@ɛBb'N> 隥~?I $=ɚiI>A=IiflzK FKK s9K K K RK ?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data. < < $?I TWRw,^IAH4I4 I6$II6BI4&I4.I46I6<:I6g FyޕfBޕ$IMb@Mb@Mb@ )Y:v?MbpMbyT?@@ /@)@I@y@I= I=b3٢ʽ 7=9Q > G٣y > Nusing accuracyPremultiplier from config59ii?5Y iUU?~: @zEU9;6;{5UB @еEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfff rf bf =@ɛ=B=M0> 9E?IA E7=ɚAiAIM?=IMiU{l{]Rw,axIA6|m@Y6{@64=96>y6H={\?w3@j?c ?@ĭ?ɨ6|m@6L;6CyJZBN$I R=R=TV@AIVIV3٢^ bh=9b[V@ɛB:> 隵?I @Å=ɚiI>=Ii]m c~G! A u Yq yu -A}cdRw,@hIAFLm@YFk{@Fχ=9F>yFH|I?bjF S?`,+?:?ɨFLm@FÈ;F CybLBb#IIhIh٢  F=9 V;Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%ND?-5Y% i%)--@%zE%e:%:%L59 =@=ӵEzK]jIK]+9KYK]K]DNOT Ignoring new targets: 62.30 m. jj1j9j9i9hAhIhyhyfffrfbf{>@ɛB1>Will construct direction to contact in vehicle frame from tetrahedron phase data. 0?I =ɚiIp<=IilIy I}m$II}BIy&Iy.Iy6I}<:I}c F*JR="JG l o<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.jRw,y@IA6%$m@Y6 C{@6<=96>y6HU;? xX@@+? .dn ?G?ɨ6%$m@6ψ;6"CyHHMb@Mb@Mb@ )YA`"?~jt?~jtyY?<@ S@)Z@I@y@II?13٢: @=9;Q > G٣QGyd > Nusing accuracyPremultiplier from config59/?5Y iXdY?z:@zE&;f;'5TB @صEDNOT Ignoring new targets: 62.30 m. jjjjih!h!h!h%Bf)f)f)rf)bf-a>@ɛB8@> ?I =ɚiI};=IilDtqRw,eIAJ"J"J J J"ܫ:J":J J >Dl@Y>? {@>Bݎ=9>m>y>H`Ŭ`%?+x@+@3?@ױ??ɨ>Dl@>rF;>CyRIBR#IIZIZF3٢f fZ=9fɚ;Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rX?v5Yr irxxzz@rzEr;r;rʂ5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfC?@ɛ% B%@;> )-)?I) -=ɚ)i)I59=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ieiel Y I] hHa Ia  Ie ;$IIe BIa &Ie GD.Ia 6Ie <:Ie Z FBI)JI-̝CRI)ZI)bI)jI-44wRw,VFIAyޕ>Bޕ#IMb@Mb@Mb@ )YX9v?Q?y&1y]?\=`@ j@)Iy@I5I5V83٢E< E3=9MJUAAJUAAQ U>QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configam59e?u5YeW ieu?^?ut:u@u@ezEeB;e;e˄5SB W@۵EDNOT Ignoring new targets: 62.30 m. jjjjihhhh݂Bfffrfbf`k?@ɛmBu6> quc?Iq u=ɚqiyI}8=Iiłl}Rw,IABl@YBz@BM=9B>yBH @?¿S d?@'>??ɨBl@B;@RWill construct direction to contact in vehicle frame from tetrahedron phase data.yVBBV#I b$?I`I^-I^3٢j< ne=9rpp vG٣vQGyvy v> zNusing accuracyPremultiplier from configx59z?5YzB iz@zzEz;z;zY5  @=DNOT Ignoring new targets: 62.30 m. j9jAjAjAiAhAhAhIhIfIfIfIrfQbfU8@@ɛBYD> 隍/?I =ɚiI6=Ii7l4Rw,RJA>SVl@Y>Nuz@>J=9>9>y>HP#?<¿kA?$X?ɥ?ɨ>SVl@>;>CyNHBN#IIVIV2٢^< bL=9b;Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr59j?r5Yj ijϓprv@jzEj;j#;j5x z@zEMDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]);@@ɛBs?> 隍u?I =ɚiI";5=zKK+9KKKIibkIC I$IIhBI&I.I6I<:Im FJ}J}JyJyJ}l:J}:JyJyJ};aJ};aJ}nN;aJ}oN;aG!j;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Rw,-JAy-OB5#IMb@Mb@Mb@ )Yx&1?S㥛?y&1yA`?/< S@)@I@yIIF3٢ <  7=9 Q > G٣y > -Nusing accuracyPremultiplier from config!=59%R?=5Y%O i%=z`?=r:EoE@%zE%I;%?;% 5MRB M2@MEuDNOT Ignoring new targets: 62.30 m. jqjqjqjyiyhyhyhhBfffrfbfs@@ɛ=B=+;> AE?IA E뿘=ɚAiAIEښ3=ImimMkՑRw,ձGJA:l@Y:!z@:ٛ=9:>y:H 3?]¿ 6"fM?P e?o?ɨ:l@:;:CyFaBF $IIRIRM3٢ZN= Zc=9Z/ \\ ^G٣^QGybRg b> fNusing accuracyPremultiplier from configdj59f?j5Yf@ if(lnn@fzEf;f;f5p r@pDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf- ܡ@@ɛ]B]P> Y].?IY e!=ɚaiaIe/02=Imim\j:3.)'#  GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H 5>I  I $II cBI % =&I .I 6I p<:I N FRw,aJA6k@Y6z@67;=966>y6H?@f¿ ?a@{??ɨ6k@6;6Cy=iB=$IAEAMb@Mb@Mb@ )YS?Mbp?~jty/]?;C@ @)@I@yf@IIm?3٢"= 7=9;Q > G٣y   > Nusing accuracyPremultiplier from config59Ϡ?5YK if%=]?%u:%%@{E;;5-QB -@5EJ9J=J9J9J9J= :J9J9J9J9J=U;J=U;DNOT Ignoring new targets: 62.30 m. jjjjihhhh 6Bf f f)rf1bf5@@ɛ}B}@> 隅?I w=ɚiI0=Iij&Rw,[{JA 2$?I4B9k@YB4y@B=9B\>yBH s?e¿+.@ٞ?˴}?ȟ?ɨB9k@BLj;B CyN|BN0$IRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ2٢f= f`=9js;Q j>hl nG٣lyr# r> vNusing accuracyPremultiplier from configtz59v?z5Yv  ivo|~~@v{Ev ;v%;v+5 D@ EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf A@ɛ5B5+V> 9=?I9 = =ɚ9i9I=]/=IEiE_iRw,H6JA>ɩk@Y>y@><=9>0>y>H?@ÿZ5@?=A@m??ɨ>ɩk@>*0;>CyRBRA$IIZIZ2٢b= fK=9f;Q f>hh jG٣jQGyj~ n> rNusing accuracyPremultiplier from configpv59rx?v5Yrg irtvv@r {Er:r7:r퐌5| ~i@E-DNOT Ignoring new targets: 62.30 m. j)j1j1j1i1h1h1h9h9f9fAfArfAbfE`F=A@zK 5NKh9KKKBKA:KAɛBJO> ?I %9)=ɚ! $?Ihi)I8[-=Will construct direction to contact in vehicle frame from tetrahedron phase data.IifhIC I"$IIrBI&I.I7D6I\<:ID F*F!2F):F1BF5t0JF1JQJUJQJQJQJU:JQJQJQJQJUL;JUL;G )G G >e Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >;Rw,JA @Zjk@YZey@ZOy=9Z>yZH`?U.ÿ0=@w]? {?+?ɨZjk@ZՉ;Z"CybBfN$I]Mb@Mb@Mb@YYY Y)YY]ʡE?V- rhy]-R?]]C]Z@ ]@)]@IYYy]@IuIu2٢eE= >=9>q;Q > G٣y74 > Nusing accuracyPremultiplier from config59b?5Y i՚ZR?:@{E;;Β5PB @EDNOT Ignoring new targets: 62.30 m. jjjjihihihqhuvBfqfqfyrfybf}`,vA@ɛBT> 9?I `7=ɚiI+=IihhA!Rw,JA:ʐk@Y:ůy@:m=9:2>y:H ? eÿ[@@? &c?`T?ɨ:ʐk@:fщ;: CyFBFc$IIRIR(*3٢VO= ZZ=9Z;Q Z>\\  G٣ yIi > Nusing accuracyPremultiplier from config%59N?%5Y i)--@{E::}55OB 5@5EeDNOT Ignoring new targets: 62.30 m. jajajijiiihqhqhqhyfyfyfyrfybfA@ɛBU`> 隭#?I ==ɚiI*=IiXg I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H D>I C I H$II BI ! =&I .I 8D6I k<:I V FJRw,~JA^gk@Y^by@^=9^,>y^H?`sÿ 6A ?ci?`K?ɨ^gk@^8;^CyzBzt$IJJJJJJ:JJJJJA;JA;=Mb@Mb@Mb@999 9)9Y=K7?+η rhy=IL?=v9=@ =@)=Q@I=5@9y=@I]I]2٢mav= m1=9uZ;Q u>yy }G٣}QGy}e9 > Nusing accuracyPremultiplier from config596?5Y" idM?:@{E9;;u5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhhɃBfffrfbf`;A@ɛBV> j?I %~=ɚ!i!I%#S(=I-i5fftRw,{JA $?IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fk@YFy@Fڸ=9F}>yFH`ٙ?ÿ>`~?Ru?`?ɨFk@FM҉;F"CyzBz}$I) AI I (٢= b=9%;Q %>!) -G٣)y5 : 5> ENusing accuracyPremultiplier from config9E59=T#?M5Y=[' i=IMM@=!{E=~:=:= 5Q U2@]EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf B@ɛBh> 1;?I V=ɚiI&=Iie\Rw,}KAJ{k@YJvy@Jy=9J>yJH ?@ÿ`4?JJ^?`ř?ɨJ{k@J!^;J Cy^ąBb$IIjIj(*٢r-= rN=9r6;Q r>tt vG٣tyz; z> UNusing accuracyPremultiplier from config|]59~1?]5Y~`, i~؟aee@~'{E~_<~i%;~Ù5mNB m@mEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfXBB@ɛB nb>  ?I  =ɚiI[$=Ii%#/eI-C I-t$II-BI- =&I).I-9D6I-S<:I-K FBIğCJIğCRIĔCZI% =bI# =jIoB6*J1"J5R=GM%G) BA Om >M Will construct direction to contact in vehicle frame from tetrahedron phase data.wRw,W[0KARPExceeded connect timeout, disconnecting.nk@Yny@n=9n{Q>ynH`?bĿ -,d? K??ɨnk@ny ;n#Cy~ɅB~$IMb@Mb@Mb@ )Y?L7A`~jty@?+@ @)@IK@y@II2٢< :=9_;Q > G٣QGy>;  > Nusing accuracyPremultiplier from config 59 ~?5Y C1 i WC?:#%@ ,{E ; l; 5) -O@-EUDNOT Ignoring new targets: 62.30 m. jQjQjQjYiYhYhYhYhe Bfafafarfabfm`XxB@ɛBec> 隝m?I =ɚiI1#=IiedJE JE JA JA JE :JE 9JA JA aM @aM @aM @aM @oRw,H5JKAR l@YR*z@R =9R|r>yRH?7GĿd.l?w?@Y?ɨR l@R?;RCynхBn$IIvIv1٢~S#= \=9S;Q >    G٣ y ; > %Nusing accuracyPremultiplier from config%59p~?%5Yj5 i)-"-@0{EZ4;0;P55MB 5@=EeDNOT Ignoring new targets: 62.30 m. jajijijiiihihihqhqfqfqfyrfybf}/B@ɛBo> 隭?I =ɚiI!=IidI= C I= $II= ҅BI=  =&I9 .I= :D6I= <:I= FG] TG BA O] >Rw,dKA:d,l@Y:_Kz@:0=9:)>y:H@?)UĿ'`'? 1|? ?ɨ:d,l@:o:;:CyNBR|$IeMb@Mb@Mb@aaa a)aYe^I +?MbX9ĿL7A`堿yeX9?e!e+e@ e5@)e@Ie@aye@IIF2٢Ͻ >=9;Q > G٣JJy; > Nusing accuracyPremultiplier from config 59~? 5Y9 iU=?:B%@5{E9; ;65LB $@EMDNOT Ignoring new targets: 62.30 m. jIjQjQjQiQhQhQhYh]0BfYfYfarfabfe@B@ɛu߁Bu_> q}?Iy }혽=ɚiI;=Iitc  $?I Rw,p}KAFWill construct direction to contact in vehicle frame from tetrahedron phase data.V ]l@YV|z@V|=9V>yVHD?]Ŀ`j8?`K @!]? ,?ɨV ]l@VP;V!CybBbr$IIjIjT3٢r8+ r[=9vyR;Q v>tt zG٣zQGyz}< z> Nusing accuracyPremultiplier from config 59h~? 5Y= i̥ %@:{Ed;e;Ԡ5! %@!DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf C@ɛ5݁B=Cp> 9=Z?I9 =t=ɚAiAIE =IEiMucG B O >Rw,YKA6}l@Y6z@6R/=96>y6H@-?ÆĿC6Z?{`F[?`ғ?ɨ6}l@6ƈ;6"CyBBBd$IDDIJIJm?3٢RuS RD=9V1;Q V>TX ZG٣XyZu; Z> bNusing accuracyPremultiplier from config`f59b~?f5YbA ibudf$f@b?{Eb:b;:b5p rH@rEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffzKsLK9KK  5$?I9K ?P\(i?f|tlc^[YUNLKGDB:4/%rfbf}JC@Will construct direction to contact in vehicle frame from tetrahedron phase data.H=`>I=C I=$II=݅BI= =&I9.I= Y]4?IY ]1=ɚaiaI2=Iibv)Rw,KAy BG$IMb@Mb@Mb@ )Yx?(\ſ/$yK7?.,`@ K@)Iy@II2٢+ٽ 7=9Q > G٣y > Nusing accuracyPremultiplier from config 59y~? 5YbF ia  ?I =ɚiI=Ii}QbJ} J} Jy Jy J} ̈́:J} 9Jy Jy Rw,KA> l@Y>z@>w=9>7">y>Hݢ?Ŀ@@` ?ob? x?ɨ> l@>M;>CyFkBJ$IIVIV 2٢ZF Za=9^(`` bG٣bQGybs< f> jNusing accuracyPremultiplier from configdj59fy~?n5YfJ iflr%r@fH{Efj;f;f.5t v@tDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h)f)f)f)rf1bf5` C@]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛeׁBm"m> im?Ii m=ɚiiiIu=Iui}bzKIOK 9KK K!       Will construct direction to contact in vehicle frame from tetrahedron phase data.HE h>IE C IE $IIE ȅBIE  =&IA .IE =D6IE !<:IE ? F5Rw,@KAFl@YF{@F=9F>yFH`9 ?1%ſ`j`J?2`u?`?ɨFl@F;F Cy~SB~#Ii=Ia= = p= Mb@Mb@Mb@    ) Y l?7A`¿)\(y 7?  Ga QA @) `@I @ y (@I-I- 3٢EԽ M3=9M;Q U>YY ]G٣Yye; e> mNusing accuracyPremultiplier from configi59mb~?5YmN im%;?:v#@mM{Em 隽|?I =ɚiIyl=Iia  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,}LA6+m@Y6 J{@6{C=96>y6H*?.Uſ {@Š?zUs?T?ɨ6+m@6<;6!Cy>+B>#IIJ$IJ<3٢Rd Ri=9R;Q R>TT VG٣TyZ4< Z? ^Nusing accuracyPremultiplier from config\b59^ Q~?b5Y^}R i^ѮdfC#f@^Q{E^I;^A;^5h j@j EDNOT Ignoring new targets: 62.30 m. jjjjih h h h fffrfbf@D@ɛӁB@i> ?I e=ɚiI=IiaFSw,SLAy}B}#III(*2 I٢ $ :=9Q > G٣QGy > Nusing accuracyPremultiplier from config59:~?5Y'W i}@V{E:<ў<5zKMK9KK KBK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.JB 5@% EHn>IC IN$IIBI =&IFD.I>D6I<:I& FDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfVD@ɛMсBM N> IMY?IQ U=ɚQiQIU|=I]i].a Sw,&4LAy-܄B5j#I)9 9Mb@Mb@Mb@ )Y~jt?S㥻T㥛 yD?/ݽ~A @)@I@y@II(*3٢M D=9Q > G٣y > Nusing accuracyPremultiplier from config 59%~? 5Y3\ i 2G?:+@[{E;X;p5IB @EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf`D@ɛ-ЁB-!`> )5?I1 5=ɚ1i1I5';=I=i=-aiSw,PNLAfim@Yfd{@f=9f>yfHO~??@\ƿ ӆ?@ܞ??ɨfim@fX;f"CyvBv8#II"Iq3٢ y[ Z=9Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣yҥ< > Nusing accuracyPremultiplier from config59~?5Ya i@`{E:~:$5 i@DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf@~D@ɛ%ρB%kW> )-?I) -=ɚ)i)I-=I=i=aI C I #II DBI =&I .I 6I <:I $ FBIɦCJIɦCRIɕCZI =bI =jI+6RK% ?JK% ?Oe >Sw,^+hLAVm@YV{@Vf=9V>yVHKA?yƿ`ʂ?d`?`g?ɨVm@VQ\;V CyjBj#IJ ~J }J 0J J {m:J S9J ـ3J J <;aJ =;a%J :a%J :a%Mb@Mb@Mb@ )Ykt?T㥛 L7A`尿y P?+ A @)AI@y=@I&I3٢2F 2=9-;Q > G٣QGy: > Nusing accuracyPremultiplier from config-59^}?-5YMg i5oQ?5:55@f{E);x;59 =7@=EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfD@-Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ́B5m+G> 5Ȇ<5?I1 =~=ɚ9i9I==IEiEvaEu>*F?2F:FBFP5JFG% =< m $?Ii G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.~ Sw,'LA6Lm@Y6G{@6M=962>y6H@+Ka??(ƿ X?ן 4?~?ɨ6Lm@6`;6CyB^BB"IiF=IF=IR,IR3٢ a  j=9 ɻ;Q ? G٣y%۹ %? 5Nusing accuracyPremultiplier from config)559-}?=5Y-$l i-j9==@-j{E-~:-&:-5MHB M@MEuDNOT Ignoring new targets: 62.30 m. jqjqjqjqiqhyhyhyhyfyffrfbfSE@ɛ́BkR> e?I s=ɚiI=Iib&Sw,LA2m@Y2{@2N=92k>y2H`:Q8?`~ƿ `v? ?@t~?ɨ2m@2s;2CyN5BN"IIZ1IZ3٢^M bP=9b;Q b>dd fG٣dyfS j> nNusing accuracyPremultiplier from confighr59j.}?r5Yjq ijprr@jo{Ej:j:jS5x z*@zE $?I hDNOT Ignoring new targets: 62.30 m. jjjjihhh hfffrfbf -NE@ɛEˁBMrJC> IM?II UN=ɚQiQIU =I]i])bIuC Ium#IIu߄BIu =&Iq.Iq6Iu4<:Iu] F*F?2F:FBFJFJ%zJ%wJ%1J!J%`:J%9J%3J!J%o;J%q;J%:J%:G T<G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.>,Sw,#LA:Dum@Y:?{@:=9:>y:H@],?;ƿ $n?2N?@g~?ɨ:Dum@:;: CyBBFn"IMb@Mb@Mb@ )YʡE?AA EG٣EQGyM M> UNusing accuracyPremultiplier from configQ]59U}?]5YUFx iUec^?et:ee@Uu{EU;U;U(5uGB u@uEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf E@ɛ}ʁB}B> y}8?I V=ɚiI1=Ii3bm$4Sw,_LAWill construct direction to contact in vehicle frame from tetrahedron phase data.6Km@Y6j{@6|=96>y6Hzk ?Lƿ`{ Bh!a?Rڿ?~?ɨ6Km@6;4yBBFK"I)H HHJAINFIN%3٢VJ  VF=9ZQ;Q Z>XX ZG٣\y^ǻ ^> fNusing accuracyPremultiplier from config`f59b}?f5Yb~ ib=hjj@b{{Eb":b:b5nFB rF@rEDNOT Ignoring new targets: 62.30 m. jjjjihhhhf!f!f!rf!bf%@E@ɛUɁBU~<> QUU?IQ ,=ɚiIc =Ii!+bI I"IIyBI =&I.I?D6I{<:I FGl o<KUKU    G B! O >PO:Sw,>LAJ"@AJ"@AJ&|J&yJ&0J$J&;g:J&9J&ـ3J$J&֊;J&׊;J&:J&:y]ڃB]-"IMb@Mb@Mb@ )Y!rh?~jt?i|?5ylg?=qA @)AI@y(@I-3I-ʴ3٢=kԽ E3=9EQ E>AI MG٣IyM M> eNusing accuracyPremultiplier from configYe59]}?m5Y]Ά i]mh?mj:mvm@]{E]n;]l;]5y }@yDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf lE@ɛȁB\7> ?I 3=ɚiIf =Ii"bG B O >ASw,!=MA2l@Y2{@2c>92_=y2H` }?`AƿT`r JwIu?~?ɨ2l@2;2CyjBn!IIr?IrT3٢ztG ~G=9~G;Q ~> G٣QGy  > Nusing accuracyPremultiplier from config 59 R}?%5Y  i !%%@ {E : e: 5) 5M@5!EeDNOT Ignoring new targets: 62.30 m. jajajajaiahahihihifqfqfqrfqbf}+$F@ɛǁB5> 隥u?I =ɚiI? =IiaHSw,"MAWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHTRHV@AHf|>IfC Ifs"IIfBId&Id.Id6IfP<:Ifx FzK$LKh9KKK6l@Y1z@>9=yH@F?ƿ :PF@dk?`~?ɨ6l@3;騽 CyލBލ!Ii=Ip=Mb@Mb@Mb@J~J|J1JJ{m:J@9J3JJ<;J=;J{:J|: )Yi|?5?V-?yq?h=LA C@)AIy@I-.I-3٢=T ==9E:Q M>II MG٣IyUW U> ]Nusing accuracyPremultiplier from configYe59][d}?e5Y]  i]mr?m_:m#m@]{E];]N;] 5uEB uZ@u&EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf~iF@ɛƁB],> l?I =ɚiI1 =IiaHNSw,;MA6al@Y6z@6!v>96j=y6Hù?@ƿ@%`%[`?`k~?ɨ6al@6z;4yBBF!IIN,IN3٢V V=9Vp;Q V/?XX ZG٣Xy^b ^/? bNusing accuracyPremultiplier from config`f59b6W}?f5Yb ibdj]j@b{Eb:b :b<5l nG@l DNOT Ignoring new targets: 62.30 m. j j j j ihhhhf!f!f!rf!bf% -F@ =$?I9ɛuŁBuD> que?Iy }=ɚyiyI} =Ii>a)q q ! U YQ yU A Will construct direction to contact in vehicle frame from tetrahedron phase data..USw,UMA6B%l@Y6=Dz@6>96=y6HD`?@ƿ@-r^@`?~?ɨ6B%l@6C;4yrBr!II~-I~3٢ 4  D=9 :Q > G٣QGyL > -Nusing accuracyPremultiplier from config!-59%A}?55Y%t i%*155@%{E%:%:%5EDB E@E)E}DNOT Ignoring new targets: 62.30 m. jyjyjyjyiyhyhhhfffrfbfF@ɛ:2> 隽;a?I 6=ɚiI" =Iif`EWill construct direction to contact in vehicle frame from tetrahedron phase data.H~>I I"IIǃBI =&I.I6IU<:I~ FzKRIKKKK sMxhUJ?3.%  VZ[Sw,oMAVk@YVz@V˔>9V=yVH -?ƿj`CT`|6?}?ɨVk@VC;Ty^B^!I)d dMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.YʡE?333333?Q롿yo?=\A @)AIZ@y@I'I@3٢Z< ?=9:Q > G٣y? > Nusing accuracyPremultiplier from config59+}?5YN i.p?a:@{E ;7 ;Œ5 o@,E%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i)h)h)h1h5 Bf1f1f9rf9bf=F@ɛmāBm]43> qu3d?Iq u=ɚqiqIujq =I}i}4`BbSw,WxMA6Qk@Y6Ly@6>96 .=y6H ?@ƿd Up@',?{|?ɨ6Qk@6h;4y^B^!IIfIfm?3٢nF* rY=9r:Q r>pt vG٣tyv} v> ~Nusing accuracyPremultiplier from configx59z%}?5Yz+ iz@z{Ez;z;zČ5 @.EEDNOT Ignoring new targets: 62.30 m. jAjAjAjAiIhIhIhIhIfQfQfYrfYbf]`6&G@JzJtJJJ`:J9JJa@a@a@a@ɛ9=7> 9=fc?I9 =$=ɚAiAIE =IMiMUh_ - $?I- hU Will construct direction to contact in vehicle frame from tetrahedron phase data.qhSw,jMAjH<bHH">I  I"!II"BI &I .I 6I"J<:I"x FBICJICRICZI =bI =jI5zK5NK1K1K5K5  k@Yy@>9 =yHiy?@ƿe ]2?@&i?z?ɨk@;Cy B !I5Mb@Mb@Mb@111 1)1Y5q= ףp? ףp= ?V-y5k?5Q8=55vA 5@)5 AI5@1y5@IE7IE3٢U< ]=9]:Q ]>aa eG٣eQGyeR m> uNusing accuracyPremultiplier from configi}59m|?}5Ym4 imU}k?}f:}@m{Em;m;mƌ5CB ?@1EDNOT Ignoring new targets: 62.30 m. jjjjihhhhRBfffrfbfiG@ɛÁBn/> e?I! %=ɚ!i!I%*=I-i-t^nSw,p#MA b$?Idy~B~!IiC=I=  a=II3٢M M=9UQ U?QQ ]G٣Yy} }? Nusing accuracyPremultiplier from config59|?5Y i@{E:z:*Ȍ5BB @@4EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`G@ɛ<}A> e?I D+=ɚiIB=I%i%T]JyJJ0JJ]:JJـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data.;|uSw,MA>^k@Y>|y@>$>9>>y>H'`g?@Uǿ6s[?@W ? v?ɨ>^k@>q;> CyJBJ!IIRIR3٢Z< ZT=9^m;Q ^>\` bG٣`yb b> jNusing accuracyPremultiplier from confighr59jb|?r5Yj) ijpr<r@j{Ej;j;jɌ5t z@xDNOT Ignoring new targets: 62.30 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf5G@ɛael:> amIh?Ii mؖ=ɚiiiImS=Iuiu]Ii Im!IImBIm =&Ii.Ii6Im.<:Imd FzKV$KK]9KKKG% ׹G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >u|Sw,AMA:'_k@Y:"~y@:>9:`>y:H\d?@ǿ=sԢf?@.H?t?ɨ:'_k@:,;8yFBF!ImMb@Mb@Mb@iii i)iYm'1Z?{Gz/$ymb?m#mi m$@)mE AIm@iymAIIF3٢$= (=9;:Q > G٣QGy9 > Nusing accuracyPremultiplier from config59|?5Y ib?o:(@{EQ;{;ˌ5 =@7EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBf f f rfbfG@ɛAE 3> AMUm?II M=ɚIiIIMB=IUiU. \ZSw,NAJ|JrJJJ;g:J9JJFYXk@YFTwy@FR >9Fe>yFH^?ǿ@ul?@4 vz?q?ɨFYXk@F;FCyNBN!ITVAIZ%IZ)3٢ng= rW=9r:Q r>tt vG٣tyv z> mNusing accuracyPremultiplier from configxu59z|?u5Yz izbq}.}@z{EzX r?I =ɚiI$=I i I[ Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H >I C I I I  =&I .I @D6I i<:I FSw,4'NAzKBoHK9KKKMek@YM~y@MW >9M>yMH ``?ǿ>` rdm?`= ?;o?ɨMek@M;;M!CyeBe!IMb@Mb@Mb@ )Y-?Dl:vy?U?OT\ A Q@)AI@yAIE/IE3٢U.= U(=9]R;Q ]>YY eG٣aye: e> uNusing accuracyPremultiplier from configi}59mR|?5YmU imwV?~:@m{Em' !%x?I! -=ɚ)i)I-=I5i=SZ $?I kSw,LANABR`k@YBMy@B >9Boh>yBH` [? *ȿHtr?U`?l?ɨBR`k@Bߏ;B CybBf"IInInM3٢vs= v|=9v%;Q z ?xx zG٣xy~O ~ ? Nusing accuracyPremultiplier from config 59}|? 5Y i@{Ez::%ь5! %x@!UDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.hahahihifififirfqbfuH@ɛzJ> 隥z?I !=ɚiI:=IiY Will construct direction to contact in vehicle frame from tetrahedron phase data. Sw,ß[NA6hk@Y6y@6u >96Q >y6H `fZ?iȿ@<q:w?e $?xi?ɨ6hk@6;6!CyBBB "IiF\\ ~G٣QGy: > %Nusing accuracyPremultiplier from config!-59%g|?55Y%I i%155@%{E%D;%06;%Ҍ5E?B E@EBEmDNOT Ignoring new targets: 62.30 m. jijijijqiqhqhqhyhyfffrfbf+H@ $?IɛāB4wB> G}?I =ɚiIɂ=IilXIQ IU!IIUBIQ&IQ.IQ6IU[<:IU FmWill construct direction to contact in vehicle frame from tetrahedron phase data.zKjIKKKK  BK:KGEc?GQBqO>JM AAJM AA Will construct direction to contact in vehicle frame from tetrahedron phase data.SœSw,uNA2k@Y2y@2| >92 >y2H \kd?ȿ gu?@y59?g?ɨ2k@2}ҏ;2Cy8: "I Mb@Mb@Mb@    ) Y sh|??V-Qy I?  u A @) EAI p@ y AI(I̍3٢ <=9;Q > G٣y[; > Nusing accuracyPremultiplier from config59P|?5YV i~1L?:!@{E;;Ԍ5 @DNOT Ignoring new targets: 62.30 m. jjjjihhhh HBf ffrfbfLI@ɛ9=ZB> AE|?IA E}=ɚAiAIEu=IMiUX騣Sw,YNAJbvJbmJ`J`Jb{T:Jb&9J`J`rGx  =Y9y=Ak@Yy@ >9P >yH*g?Fȿfbdv?j?d?ɨk@;騕!CyޥƒBޭ"II  I 2٢< %B=9%#;Q %>)) -G٣)y-u0; 5> =Nusing accuracyPremultiplier from config9E59=:|?E5Y=a i=_IM!M@={E=:=:=֌5Q ]@eGEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf7I@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ" ~?I |:=ɚiI=I iHWjHE <bHA HM >II  IM !IIM BIM  =&II .II 6IM +<:IM g F Will construct direction to contact in vehicle frame from tetrahedron phase data.ե <ե <թSw,J@NAzKNM|LKN9KLKNKN   yޥBޥ"I) AMMb@Mb@Mb@III I)IYM-?(\¿~jtyM5>?MzMļMEA M@)MrAIM@IyM3AIeIe3٢ &=9Q > G٣QGy > Nusing accuracyPremultiplier from config59 |?5Y iA?:$@{E;f;،5>B J@JE-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h1h1h1h5BfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffQrfQbf]zI@ɛŁB0;> 9z?I Z=ɚiI+D=IiQRV }Sw,->NANl@YN8z@Na>9N>yNH@_?Cɿ.`9lp?`? ^?ɨNl@Nڐ;N Cy^B^"IIf-If3٢n n|=9r P> x?I w=ɚiIV=I i U I hߞSw,NAF3Hl@YF/gz@F>9F`>yFH˸?^ɿ'@*dk?9¿ ?o]?ɨF3Hl@Fr֐;DyVBV!II^!I^i3٢f fL=9j$:Q j>hh jG٣hynh; n> rNusing accuracyPremultiplier from configpv59r.{?v5YrV irxz#z@r{ErP:r\:rی5| Z@5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h1h9h9hAfAfAfArfAbfMI@ɛ ƁB C> p?I 5H>ɚ9i9I==I=iE~|UI}C I}"II}BI} =&Iy.I}AD6I}԰<:I} FBIE«CJIE«CRIAZIE =bIE =jIE˜5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF50JF1G-w*'TFailed to parse incomplete device message.G!BiOh>JK3 K.KK"KJtJlJJJ;N:J9JJJ{j;aJ~j;aJ(:aJ):a Will construct direction to contact in vehicle frame from tetrahedron phase data.ɽSw,NA @22l@Y2.z@2>92>y2H@?xɿ")a? /¿@?&\?ɨ22l@2;2#CyNBR!I V=V=MMb@Mb@Mb@III I)IYMx?/$ƿX9vyMK7?M&1MMrA M3@)MAIM@IyM AIe8Ie3٢u̽ u@=9};Q }> G٣QGy< > Nusing accuracyPremultiplier from config59{?5Y i< 隵ve?I P>ɚiI"ܰSw,ŬOA6l@Y6z@65>96O>y6H?7ɿ9@$[? B¿?@Z?ɨ6l@6;6CyB}BB!IIJ=IJ=3٢R(ڽ VX=9V:Q V>XX ZG٣XyZS< ^> bNusing accuracyPremultiplier from config`f59bh{?f5Yb5 ib df>&f@b{Eb:b&:boߌ5l n@eWill construct direction to contact in vehicle frame from tetrahedron phase data.lDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf Z?I %>ɚ!i!I%ZHqRHqH}>Iy I}!II}BI} =&Iy.Iy6I}b<:I} F Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK K K K Sw, -OA*JC="J%=JsJjJJJK:J9JJJe;Je;J:J:y޵iB޵!IUMb@Mb@Mb@QQQ Q)QYUbX9?/$ſ/$yUE6?U,U,UA U`@)UAIU@QyUf AIm-Im3٢} }0=9}Q > G٣y > Nusing accuracyPremultiplier from config59{?5Y  i;?:%@{E&;;x5  P?I  >ɚiI~ Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,cGOA>^)m@Y>YH{@>8>9>f>y>Hh?eɿ`V¿b?Y?ɨ>^)m@>X;> CyvHBvz!IIBI3٢ u9  f=9:Q > %G٣-QGy-< -> =Nusing accuracyPremultiplier from config1E595R{?E5Y5Z  i5AEY%E@5{E5;5;55U;B U0@UVE}DNOT Ignoring new targets: 62.30 m. jyjyjyjihhhhfffrfbfޢJ@ɛʁBA\>> /??I G>ɚiIЖ A IA wSw,cDaOA2vUm@Y2qt{@2H>92kU>y2HY@C? ڭɿ`o P@,e¿ ?rY?ɨ2vUm@2 ;2!Cy>.B>Z!IIJ.IJ3٢j jN=9nW:Q n>pp rG٣pyr#; v> zNusing accuracyPremultiplier from configtz59v3{?5YvM iv -% @v|Evb;v\b;v5 fAXEEDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]J@ɛˁB5> 隍1?I >ɚiI׸I I!IIBI =&I.I6I<:I; FWill construct direction to contact in vehicle frame from tetrahedron phase data.<*FY2FY:FYBFe_0JFaGMn<G!B)OE0>zKBoIK+9KKK0;@<3120,'$%CQPE:330-,*'&!  JvJiJJJ{T:Jڈ9JJJHu;JKu;Jh:Jj: Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,{OA2Wm@Y2R{@2>92?>y2H`FO? /ɿЁ8xdtk¿?nZ?ɨ2Wm@2g;0yB BB.!IEMb@Mb@Mb@AAA A)AYE/$?7A`¿)\(yEyy }G٣yy; > Nusing accuracyPremultiplier from config59|{?5Y i@?:"@|E;N;5 A[EDNOT Ignoring new targets: 62.30 m. jjjji $?IhhhhBfffrfbf K@ɛ%́B%[/> !%:?I! -b>ɚ)i)I-Sw,MOA6,m@Y6'{@6D>96>y6H=?ɿ`ljFbkp@ x¿@?}[?ɨ6,m@6;6 CyBBB IIJ<IJ3٢RlH RY=9R:Q R>TT VG٣VQGyZ|; Z> ^Nusing accuracyPremultiplier from config\f59^i{?f5Y^  i^>hj"j@^ |E^_;^`;^A5n:B nAr^EDNOT Ignoring new targets: 62.30 m. j j j j i h h hhfffrf!bf%5  ?I \>ɚiI\I I!IIRBI =&I.I6It<:I FG1B9O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.,Sw,r߮OAzK"MK" 9K K"K"M  J}pJ}fJ}1JyJ}A:J}9J}3JyJ}T;J}T;J}:J}:^m@YY{@J>9 >yH`6 %?NYɿKu)r¿`f?]?ɨ^m@Ə;騡yB IMb@Mb@Mb@ )YZd;O?Qy&1yj  G٣y_/; > %Nusing accuracyPremultiplier from config%59Q{?-5Y i-q??-:- -@|E;;^59 =AADNOT Ignoring new targets: 62.30 m. jjjjihhhhJBfffrfbf{K@EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛρB#> e<>I L>ɚiIS5Sw,$COA6m@Y6{@6>96 >y6H4'?#Vɿ4Ȯ!y@ʀ¿sS?@]?ɨ6m@6Տ;6CyNBN IIVJIV)4٢by fr=9f:Q f?ll nG٣lyr.: r? vNusing accuracyPremultiplier from configtz59vA{?z5Yvr# iv|~ ~@v|Ev;v;v59B AaEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfTK@ɛ%ЁB%#> !%>I! ->ɚ)i)I- a Ia RZSw,OA6m@Y6{@6x>96G >y6H2@Y,?3ɿ`"~م¿?i_?ɨ6m@6a);6"CyBoBBo I)D DDFAIJHIJ<3٢V @ ZL=9Z9Q ^>\\ bG٣bQGyb: b> fNusing accuracyPremultiplier from configdj59fw-{?j5Yf( if.ln r@f|Ef3;f3;f5v8B vGAvdEDNOT Ignoring new targets: 62.30 m. jjjjihhh!h!f!f!f)rf)bf5@K@ɛeҁBeц> im>Ii m>ɚiiiImZIC I"!IIBI&I.I6I<:Ia Fiu<)9)A}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFzKMWNKMh9KIKMKM~vnkgdbaccd_TKFD@=<<999500*%$" JaJaGp<GBO5 >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.|Sw,OA:m@Y:{@:c>9:- >y:H 6@t*?ɿ[ef@¿U?``?ɨ:m@:pۏ;:!CyFJBJA I $?I5Mb@Mb@Mb@111 1)1Y5uV?ˡEy&1y5rH?5什15A 5zA)5AI5A1y5 AIMGIM3٢U/ ]@=9]B:Q ]>aa eG٣aymߺ m> uNusing accuracyPremultiplier from configq}59u\{?5Yu- iu J?:r@u |Eu2;ux1;ut5 sAB*** querying acoustic contact ***jjDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfU@L@ɛӁB> 隅$m>I >ɚiIT:Jm 9Jm ـ3Ji au @au @au @au @G G ?G ?= Will construct direction to contact in vehicle frame from tetrahedron phase data.= ,DAT read: user:3029> M BDAT read: Tx time:23:07:43.6240 M $Ping request sent.M Tw,gPAFm@YF{@F >9FV>yFH: U(?ȿp6Q@k¿?b?ɨFm@FǏ;F Cy~&B IIMI{4٢: 3=9ȱ7Q > G٣yź > Nusing accuracyPremultiplier from config 59{?5Yv3 i~@%|E*<*<r5 A%iEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfIKL@ $?IhɛՁB >  D!>I  (>ɚiIuIy I} II}BI} =&Iy.I}BD6I}8<:I}} FBIŬCJIŬCRIZI =bI =jIű5]Will construct direction to contact in vehicle frame from tetrahedron phase data.ae<mJDAT read: TxSync time:23:07:43.6232 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253069G <Gy B OE >zKu IvNKu 9Kq Ku Ku     2 Tw,E*3PABݒm@YBر{@B'>9BNf>yBHB"?@ȿo`N¿`M? d?ɨBݒm@B;BCyJBJIiR G٣QGylm > ENusing accuracyPremultiplier from config1U595!z?u5Y5X9 i5KuO?}:}}@5+|E5 <5<5E57B  AlEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504966DNOT Ignoring new targets: 62.30 m. jjjjihh h1h5уBf9f9f9rf9bf=@yL@ɛׁBYP > 隭@q=I 5>ɚiITw,u?QPAF_m@YFZ{@FC:>9F3q>yFH`D0? dɿʄ?k`W¿?@)]?ɨF_m@F;F!CyNԁBRIIZQIZ4٢bt b9=9b%XQ f>dd fG٣hyjr j> nNusing accuracyPremultiplier from configlr59n)z?r5YnZ? in}pvJznJzgJxJxJz|;:Jz9JxJxv@n0|En;nI;n 5  A=DNOT Ignoring new targets: 62.30 m. j9j9j9jAiAhAhAhAhIfIfIfQrfQbfUL@ɛ}فB}#> y隅I 3>ɚiIH} >I} C I} : II} EBI} =&Iy .Iy 6I} 0<:I} z Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257777y@Tw,jPABm@YB{@B?>9B~' >yBH !9,?ȿ Vڐz`'¿?d?ɨBm@BuV;B CyNBrII 4I V3٢=: =C=9EcQ E>AI MG٣IyMɭ; M> ]Nusing accuracyPremultiplier from configQ]59Uz?e5YUDE iUaeye@U5|EUz:Uz:U5m6B uG A}oEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfL@ɛہB= 춽I / >ɚiIܑ $?I &!Tw,ӄPAyB^I!! Mb@Mb@Mb@    ) Y ^I +?~jtxy XY? Ļ L A A) AI A y pAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762616I5?I5T3٢m m9=9uQ }> G٣QGy > Nusing accuracyPremultiplier from config59z?5Yɚ)i)I-W0Q'Tw,%PA I:m@Y:{@:`>9:7>y:H0 8?ȿ@`N3@y¿?f?ɨ:m@:؊;8yFpBF4IIjUIj4٢rA rg=9vQ v>tx zG٣xyzM; z> Nusing accuracyPremultiplier from config|59~hz? 5Y~Q i~  & @~@|E~X:~":~o56B /AtEMDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfePM@ɛ߁Bg= 隍^I >ɚiII1 I5II5BI1&I1.I16I5<:I5P FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266751GQG)B9O]>zK !lMK h9K K K  z-Tw,쉸PA2Fm@Y2A{@2d>92r>y2HR> -?_{ȿ"`:~f¿1?h?ɨ2Fm@2;0RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517797yZRBZIMb@Mb@Mb@ )Y1Zd?y&1|?ˡEy"[?`;'=A )AIOAyAIGI3٢ 9=9NQ >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-z?=5Y-X i-=e[?=w:=h=@-F|E-%;-;-^5E5B MAMwEDNOT Ignoring new targets: 62.30 m. jj $?Ihjjih!h!h)h-qBfYfYfYrfabfe͌M@ɛBHi= I >ɚ i I c4Tw,QfPA2:m@Y25{@2>92n >y2HH %?@Pȿ [`n?j?ɨ2:m@2,;0y>:B>IIFKIF4٢R Re=9RQ R>TT VG٣VQGyZt Z> ^Nusing accuracyPremultiplier from configXb59Z-uz?b5YZ^ iZ`bf@ZK|EZ ;ZC ;Z5h jAhJqJbJ0JJD:Jt9Jـ3JDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f!f)rf)bf-@?M@ɛUBU= OI iW>ɚiI~I1  I5 YII5 BI5 =&I5 ED.I1 6I5 <:I5 s Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m >m 4=u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028G} ᜆ<GQ Ba O >z:Tw,N%PAFSm@YFr{@Fױ>9F>yFH ]`?.ȿ 6ssJ\y`w`i?Ml?ɨFSm@F;FCyR)BRIIZaIZ+4٢bߠ bA=9fuNQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configlr59nM`z?v5YnGe in xzz@nQ|En.;n>/;n54B VAzE-DNOT Ignoring new targets: 62.30 m. j)j1j1j1i1h1h1h9h9f9f9f9rfAbfEM@ɛ B%= )-鼾I) ->ɚ)i)I-zAATw,AQAyBIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777483Mb@Mb@Mb@ )YMb?I +?L7A`堿y`?94<+ A  A)M"AIAyzAIeI34٢ 8=9Q >    G٣ y > Nusing accuracyPremultiplier from config%59Iz?%5Yl i %`?%q:%-@W|EQ;;553B 5'A5}EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfT&N@ɛB= RھI >ɚiII:C I:II:GBI8&I8.I86I:*<:I:~ FN3l@YN.z@Nk >9N{>yNH67?@ǿ~B%;pxK_ ?s?ɨN3l@N7p;NCyZBZIIfIIfd4٢n n0=9rQ r>pt vG٣vQGyv v> ~Nusing accuracyPremultiplier from configx~59z92z?5Yzt iz  " @z]|EzhH;z!I;z54B AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283146%DNOT Ignoring new targets: 62.30 m. j!j)j)j)i)h)h)h1h1f1f1f9rfYbf] eN@ɛBc= I ]'>ɚiIټPTw,CQA6l@Y6z@6>96]>y6Hi?ZǿK3 8c?v?ɨ6l@6$;6#Cy>BBIUMb@Mb@Mb@QQQ Q)QYUMbX9?{Gz?QyUa?U# G٣y!л > Nusing accuracyPremultiplier from config59z?5Y{ i1 a?p:n@c|Er;;53B 'AEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf`N@ɛ%B%H= !%nI! >ɚiIgg=Ii&Uu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037545NVTw,\QA6Yl@Y6xz@6P>96>y6H@- ?`,ǿ@! Ͻ!?x?ɨ6Yl@6;6Cy>րB>wIIHIH٢R( RY=9VûQ V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f59bz?f5Yb ibdff@bi|Eb:b:bb5n2B nAnE %$?I!eDNOT Ignoring new targets: 62.30 m. jajajajaiahihihihififqfqrfqbf}N@ɛ-B-z= Y] IY eD>ɚaiaIe)=IiAUIi ImIImBIi&Ii.ImCD6Im'<:IiBI5ŮCJI5ŮCRI1ZI5 =bI5 =jI5<5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290162GCQ;G B O >J mJ J 0J J \8:J J ـ3J J D;J D;J J ]Tw,XvQAzKVOKh9KK"K(&#   e9e;>yeH`?|ƿ` +%^?s x ?z?ɨe G٣QGyt > Nusing accuracyPremultiplier from config59y?5YM i`?r:@o|E;I;q 51B #AE5DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9h9h9hAhEBfAfAfrfbf@ O@ $?I ɛB%= AMII U^>ɚQiQI]=IiTkcTw,QA6l@Y66z@6m>96>y6H?`TƿT "0r? "`$?|?ɨ6l@6;4yNBRTIIZeIZ34٢Z۽ i=9 Q >!! %G٣!y%ֻ -> 5Nusing accuracyPremultiplier from config)559-y?=5Y- i-9=E@-t|E-0;-;- 5I MAI}DNOT Ignoring new targets: 62.30 m. jyjyjyjyiyhyhhhfffrfbf>5O@ɛB= 隽I L>ɚiI =Iiz T IjHe <bHe 4<Hm >Ii  Im IIm BIm =&Ii .Ii 6Im Y<:Im F!jTw,QANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.297699Vtl@YVpz@V+=9Vz>yVH@U_? ƿ``6|W}?zC?7~?ɨVtl@Vgь;VCybBbSIIj^Ij&4٢r rM=9vǻQ v>tt vG٣xyzc z> Nusing accuracyPremultiplier from config|59~y? 5Y~V i~    @~z|E~e:~P:~ 5 AEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfjO@ɛuBu= y} Iy }>ɚyiyI}#=IiS $?I ^qTw,PQA:k@Y:z@:zz=9:/$>y:H@v?}ƿ`86?`Y?*?ɨ:k@:kH;: CyFBF>I)H HNAL%Mb@Mb@Mb@!!! !)!Y%S?I +IQ UG٣UQGyUw U> eNusing accuracyPremultiplier from configam59euy?m5Ye ie|m]?mu:m%m@e|Eew;e;e5y }GADNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfO@ɛmBm= im*Iq 2>ɚiI(=IiRͣ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802298*F?2F:FBF,2JFGg{G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054398$2wTw,.QA21k@Y2,z@2%=92Z>y2H}`?sƿ@`+< ?wRw?C?ɨ21k@2.;0 @IBhyFBF9IIhIV84٢% %L=9-CջQ ->)) 5G٣1y5% 5> ENusing accuracyPremultiplier from configAM59Ey?M5YEm iEJIM4M@E|EE:E:EG5]0B ]bA]EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`O@ɛBͩ= W.I ߩ>ɚiI=Ii[RIC IfIIȀBI =&I.I6IS<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308533Gu HG9BYOu>J J @AJ mJ gJ 0J J \8:J 9J ـ3J J D;J D;J ?:J @:m^}Tw,QAzK.yJK.9K,K.$K.k@Yy@z=9>yH.?_Lƿ:?@ Y??ɨk@{;騍CyޥBޥ0IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557435=Mb@Mb@Mb@999 9)9Y=S?S㥫/$y=Z?=/]==b&A =A)9I= A9y=fAQUAAI]OI] 4٢} 6= m$?Iq9Q u>yy }G٣yy}Eֹ }> Nusing accuracyPremultiplier from config59y?5YZ iB [?x:@|En;;_5/B AEDNOT Ignoring new targets: 62.30 m. jjjjihAhAhAhMσBfIfIfIrfIbfU P@ɛBU= 隝$4I =ɚiI@=I i iQqCTw,RA6k@Y6y@6=96 >y6H@<K?n-ƿ <;?R̼K?z?ɨ6k@6;6Cy>B>&IIRTIR4٢Z5 ^m=9bQ b?`` bG٣fQGyf"( f ? jNusing accuracyPremultiplier from confighn59jpy?n5Yj ijprr@j|Ej ;j ;j5t vAtDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf-P@ɛB= D9I =ɚiI9=I i WQZH RH H >I  I FII BI &I .I 6I <:I | FmTw,8+RABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.313378VVk@YVQz@V.=9VUA >yVH m?ſ ^5za?O@ ?m?ɨVVk@V;V Cy^B^IIfaIf+4٢n; rG=9r޻Q r>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configx59zMZy?5YzͲ iz @z|Ez;zt;z5  AEEDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]Q5P@ɛ Bi= 隅?I =ɚiIG7=IiP ] $?Ia WTw,ERA>k@Y>z@>X=9> >y>H }? dſ@h ~1mC?] AJ??ɨ>k@>O;>CyJBJIMMb@Mb@Mb@III I)IYMOn?kt{GzyMX?M MףM(A I)IIMAIyM3AIeSIe4٢mr uA=9uܻQ }>y G٣y>#: > Nusing accuracyPremultiplier from config59By?5Y iY?y:b@|E;;b5.B 3AEDNOT Ignoring new targets: 62.30 m. jjjjihhhhԃBfffrfbfbPP@ɛB0= 8CI %p=ɚ!i!I%,=I-i-O] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073593 A IA ԀTw,x_RAy uB II_Ib(4٢-) -O=95Q 5>99 =G٣=QGy= E> MNusing accuracyPremultiplier from configAM59E,y?U5YE iEEQQU@E|EE+;E-;E5m-B mAmEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`iP@ɛB= +NI m"=ɚiI>=IiBOI I!IIBI =&I.IDD6I9<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329695GIBYOu>yH 2?ſ j!p?@{??ɨl@B;騡y޽rB޽IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577661UMb@Mb@Mb@QQQ Q)QYU@5^I ?Cl绿Zd;OyUbP?U;߽UjU)A U^A)U)AIU/AQyUGAIe\Ie#4٢u5: }7=9}]5Q }> G٣y; > Nusing accuracyPremultiplier from config59y?5Y i"SR?:> @|E;;5 A $?IDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf}P@ɛBd`= QI u=ɚiIo=IiN Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829430Tw,)RA:l@Y:7z@:i=9:* >y:H@г?`\ſ @w?``B?-?ɨ:l@:u;: CyFkBFIIR`IR(*4٢Z<" Zm=9^A޻Q ^?`` bG٣`yb8; b? jNusing accuracyPremultiplier from configdj59fy?n5Yf# ifln- n@f|Ef;f;f5v,B vAvEDNOT Ignoring new targets: 62.30 m. jjjjihhh!h!f)f)f)rf1bf5 oP@ɛ}B\Y= 隅VI o=ɚiI7=Ii+1N-Will construct direction to contact in vehicle frame from tetrahedron phase data.-I C I II |BI &I .I 6I <:I FBImʰCJImʰCRIiZIm =bIm =jImށ5Tw,oRA2a6l@Y2\Uz@2=92 >y2H?0ſ * 6@6p?x?@?ɨ2a6l@2d;2"CBWill construct direction to contact in vehicle frame from tetrahedron phase data.y~[B~Ii5=I5;I=cI=y/4٢M MA=9UyQ U>YY ]G٣]QGye; e> mNusing accuracyPremultiplier from configiu59mx?u5Ym imq} }@m|EmS;m];ml5 AEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`P@ɛ B Zx= `I =ɚiI/=Ii%°MzKOK9KK'K &;Qf|}xwusnlie`Z-Will construct direction to contact in vehicle frame from tetrahedron phase data. $?Ih~Tw,zRAy]QB]IeMb@Mb@Mb@aaa a)aYeK7?V-Zd;OyeI?eae,A e/A)eG+AIeAaye AI}yI}xV4٢, 8=9Q > G٣y > Nusing accuracyPremultiplier from config59Sx?5Y ilK? :   @|E;;h 5 AE=DNOT Ignoring new targets: 62.30 m. j9jAjAjAiAhAhAhIhMBfIfIfQrfQbfU`P@ɛ!Bkv= 隍gIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-E Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I ͷTw,#RA>yXl@Y>twz@> ȿ=9> >y>HH?+Ŀ&9@ ?@ ??ɨ>yXl@>O;I IIIgBI&I.I6I7<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu GQBYOu>J J AA- PExceeded connect timeout, disconnecting.ITw,ΨRAzKuFOKqKqKu(KuVTQLJGHIMONMIC><88620/-,*'$#&$    Will construct direction to contact in vehicle frame from tetrahedron phase data.ml@Yz@2=93 >yH* i?ĿA@@? ^@x?Ӑ?ɨml@F; 1I1y=9B=I)A AMb@Mb@Mb@ )YE?I +yF?9-A A)ICAyQ AImI3A4٢+ +=9RQ > G٣QGy0; >  Nusing accuracyPremultiplier from config 59x? 5Y iKI?:!@|E8;;#5*B A%EDNOT Ignoring new targets: 62.30 m. jjjjihhhh)Bff f rf bf  Q@ɛu)Bul= y}SxIy =ɚiIEZ =IiPLTw,GuSA2l@Y2z@2RϷ=92} >y2H@ E?@sĿIC`?#?C?ɨ2l@2V;2 Cy>/B>IIJaIJ+4٢Rx Ry=9RUQ R?TT VG٣TyZ [; Z? ^Nusing accuracyPremultiplier from configXb59Z]x?b5YZ iZm`bx!f@Z|EZ;Z;Za%5h jAhDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`Q@ɛ--B-%= -N;=5I1 5=ɚ1i1I= =I=i=LZHI RHM ?AH} >Iy  I} II} IBI} =&Iy .Iy 6I} 2<:I} F Tw,M.SA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:l@Y:z@:[=9:hO>y:H`e?@TĿQ@╣?(d`??ɨ:l@:V;:CyRBRIIZuIZaO4٢bמ bH=9bQ b>dd fG٣dyjS; j> nNusing accuracyPremultiplier from configlv59n~x?v5Yn in tva!v@n|En&@;n3;n)'5~)B ~XA~E%DNOT Ignoring new targets: 62.30 m. j!j!j)j)i)h)h)h1h1f1f1f1rfbf 29Q@ɛE1BEf6= AEIA M=ɚIiIIMMt =IuiuK1Tw,-HSA2l@Y2z@2Z5=92>y2H_9?NĿ W݆?@??ɨ2l@2[;2CyNBRIi^%=I^= b=b=mMb@Mb@Mb@iii i)iYm%C?V-{GzymZD?mmףm-0A mrA)iImAiymp!AIzI=X4٢^  >=9 bQ  > G٣QGy: > %Nusing accuracyPremultiplier from config!-59%3gx?-5Y% i%-F?-:- -@%|E%;% ;%)59 =A=EmDNOT Ignoring new targets: 62.30 m. jijijijiiihihqhqhu'Bfyfyfyrfybf},TQ@ɛ6B\.= 隭̈I - =ɚiI =IiaK  $?I - Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,bSAJl@YJz@J =9J>yJH ?@UĿaZ?z??ɨJl@Jܤ;J CyVBVjIIb~IbT_4٢j. jX=9j%Q j>ll nG٣lyr2; r> vNusing accuracyPremultiplier from configtz59v'Tx?z5YvR ivox~ ~@v|Ev;v;v*5 mA 5DNOT Ignoring new targets: 62.30 m. j1j9j9jAiAhAhAhIhIfIfIfIrfQbfUkQ@ɛ}:B} = 隅I N^=ɚiIک =Iih$KI III+BI =&I.I6I7<:I FEd=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FY:FYBF]0JFYJ J J mJ bJ J J \8:J t9J J J a J a J U:a J V:a G ']?;Gy B O >/Tw,6}SA I!EWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-+LK-9K)K-*K-l@Yz@0=9>yH ?@ÿd Zc?`?@?ɨl@~n;Cy5B5XIMb@Mb@Mb@ )YCl?&1 rhy;??нC0A CA),AIAy"AI|I[4٢qZ =9/Q > G٣ys: > Nusing accuracyPremultiplier from config599x?5Y i4A?:@|E ;h;,5(B AEDNOT Ignoring new targets: 62.30 m. jjjjihhh!h%*Bf!f!f!rf)bf- Q@ɛ]?B]tx-= Y]Ia ej=ɚaiaIeY =ImimJlTw,쿖SA2l@Y2z@2.B=92+>y2H* ?`Bÿ n r?@n´?s?ɨ2l@2B;2Cy>B>7IIFuIFaO4٢j\8 j=9nڙQ n?pp rG٣rQGyr[; v? ~Nusing accuracyPremultiplier from configx59z*x?5Yz" iz@z|Ez;z;zN.5 'B AE=DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM@@Q@ɛ}CB`Gu< 隅[I h`=ɚiI8 =Ii.JIA  IE xIIE BIE =&IA .IA 6IE <:IE FG G rAGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.RTw,؝SA6ml@Y6hz@6[=9672>y6H߫ ?uÿ@`p@?`e?? Y?ɨ6ml@6Nˎ;6 Cy>BB3IIJIJkf4٢R` RJ=9RiQ R>TT VG٣TyZ9 Z> ^Nusing accuracyPremultiplier from config\b59^x?b5Y^ i^9dff@^|E^#;^$;^ 05l nAleDNOT Ignoring new targets: 62.30 m. jajajajaiihihihihifqfqfqrfbfྺQ@ɛHB < jI A=ɚiI =Ii2sJ 5$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՉzKk3IK9KK+KU~Tw,\uSA2l@Y2{@2{=92 >y2H B?oÿt`@?`ֳ??ɨ2l@2;0yRzBRIMb@Mb@Mb@ )Y{Gz?~jt    G٣ y D: > Nusing accuracyPremultiplier from config%59w?%5Yg i%nE?%:--@|E<;;251 5MA=EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf@Q@ɛMB@< I =ɚiIz=Ii1?J - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.xTw,PSA6l@Y6{@6m=96v >y6H ج ?-ÿs$? ) XX ^G٣^QGy Z  > Nusing accuracyPremultiplier from config%59w?%5Y if )--@|E::355&B 5A5EeDNOT Ignoring new targets: 62.30 m. jajajajaiahahihihififqfqrfqbfu!Q@ɛQBcK< 隭oI =ɚiI:=Ii*JI IFIIBI&I.I6IZ<:I FBIñCJIñCRIZI =bI =jIq5GIBQOm>Will construct direction to contact in vehicle frame from tetrahedron phase data.J mJ eJ J J \8:J 9J J J D;J D;J :J :'Tw,BSA hIleWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHKKK,Ky-BIUMb@Mb@Mb@QQQ Q)QYUy&1?V-Zd;OyU`E?UhUjU2A Q)U,AIU(AQyU#AImwImR4٢E $=9Q > G٣y > Nusing accuracyPremultiplier from config595w?5Yb i!LF?:@|E=;2;55B A-DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h1h1h9h=BfAfAfArfAbfE@ R@ɛWB< AI =ɚiI=I%i-IHUw,'TAy ~B IIId4٢-JB -z=91Q 5?11 =G٣9y9 = ? MNusing accuracyPremultiplier from configA]59E(w?m5YE iE!yy}@E|EE;Eq;E/75B AŶE=DNOT Ignoring new targets: 62.30 m. j9j9jAjAiAhAhIhQhQfQfQfYrfYbf]`#R@ɛ[BZ b=隍6I u)=ɚiIb=IiIZH RH Hy Iy  I} II} lBIy &Iy .Iy 6I} <:I} F Will construct direction to contact in vehicle frame from tetrahedron phase data.9 Uw,1TAl@Y{@i=9 >yHȨY!? >¿@O~>?)`VK?@G?ɨl@K;yM~BMIIe|Ie[4٢mL uG=9u Q u>yy }G٣yy J; > Nusing accuracyPremultiplier from config59w?5Y i "@|E5;;85 AȶEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf Uw, KTAy%~B-IMb@Mb@Mb@ )YS㥛?)\( G٣QGy >  Nusing accuracyPremultiplier from config59w?5Y~ i"F?:Y@}EK;I;:5! -A)UDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhYhYhYh]ՃBfafafarfabfeWR@Will construct direction to contact in vehicle frame from tetrahedron phase data.<<ɛUfBUcS; Y]\ĿIY ]B=ɚYiYI]=IeiePIUw,eTA2/l@Y2*{@2E{=92Z >y2H p@$?@{z?c\?@?ɨ2/l@2;0yV~BVIIbIb҅4٢jiȽ j_=9nVQ n>ll rG٣pyr-} r> vNusing accuracyPremultiplier from configtz59vw?5Yvd" iv#  @v}Evt;vu;vl<5B GA˶EDNOT Ignoring new targets: 62.30 m. jjjjihhhhff!f!rf!bf-pR@ɛkB <ʿI w=ɚ i I =Ii&I Will construct direction to contact in vehicle frame from tetrahedron phase data.G BzKiKiKiKm.KmO>z !Uw,]TAy=f~B=tIiE=IE;Mb@Mb@Mb@ )Ysh|??Zd;OMbyI?j<A4A A),AIlAyp%AI|I[4٢=i E=9EQ E>II MG٣MQGyU U> ]Nusing accuracyPremultiplier from configYe59]nw?e5Y]) i]#e^J?e:mm@] }E];];]>5q uAuζEDNOT Ignoring new targets: 62.30 m. jjjjihhhhǃBfffrfbf@ԐR@ɛrB 隍ϿI  .=ɚiIJ=IiHd3'Uw,3TA2l@Y2z@2=,Y=92X >y2H $?`y@|? F"`,?@Q?ɨ2l@2܎;2!Cy^D~B^_IIfIfr4٢n nd=9rQQ r>pt vG٣tyv z> Nusing accuracyPremultiplier from config|59~\w? 5Y~. i~ $   @~}E~*:~ :~K@5 %$?I! %GA!MDNOT Ignoring new targets: 62.30 m. jIjQjQjQiQhQhYhYhYfYfafarfabfeR@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5vB5hʼ 9="տI9 ==ɚ9i9I={=IEiE~HIi ImIIm~BIm =&Ii.Ii6Imq<:Im F*F?2F:FBF!5JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.a\-Uw, TA:6l@Y:1z@:JL=9: >y:H੿?`s r`9? 6~ -? ?ɨ:6l@:;:CyF ~BF;IININ_v4٢V VN=9ZJQ Z>XX ^G٣\y^Z b> fNusing accuracyPremultiplier from config`j59b&Iw?j5Yb4 ibl$lnn@b}EbB;bB;bB5rB v#AvӶEDNOT Ignoring new targets: 62.30 m. jjjjihhhh!f!f!f!rf!bf-;R@ɛU|BU, Y]ݿIY ed=ɚaiaIej=ImimHWill construct direction to contact in vehicle frame from tetrahedron phase data.zK%BoHK%9K!K%/K% ) C4Uw,TA2Will construct direction to contact in vehicle frame from tetrahedron phase data.>;l@Y>6z@>@G==9>r >y>H?2@vq o*?@@`??ɨ>;l@>k܍;>"CJNGTyE}BM+I UYQyUA)a aMb@Mb@Mb@ )YDl?{GzQyOM?#u A),AI Ay=&AIwIR4٢ sr  6=9vQ > G٣QGyx > -Nusing accuracyPremultiplier from config!-59%2w?55Y%b: i%$5M?5:5A5@%}E%|;%R;%C5A MAIuDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf`R@ɛuB}B y}Iy }=ɚyiIa=Ii@ I%hWill construct direction to contact in vehicle frame from tetrahedron phase data.ws:Uw,TAH(I( I*xII*n~BI* =&I(.I(6I*7<:I* F>l@Y>z@>,=9>? >y>H{?`ga?@ `?I?ɨ>l@> ;> CyN}BNIIVIV%x4٢^X ba=9b3Q b>`d fG٣dyfɢ j> nNusing accuracyPremultiplier from confighr59jY w?r5Yj|? rtIij&%pr^r@j}Ej;jQ;jE5zB ~A~ֶE%DNOT Ignoring new targets: 62.30 m. j!j)j)j)i)h)hhhfffrfbf9R@ɛB&  _I  =ɚiIM=IizG  $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK ]9K K 0K AUw,]UA2l@Y2z@2@=92WH >y2H`,?꾿me`@W?֦?@?ɨ2l@2͎;2CyB}BBIMb@Mb@Mb@ )Yi|?5?+MbyQ? ),AI Ayf&A@AII4٢"Ž 2=9A Q >!! %G٣!y- 5> UNusing accuracyPremultiplier from configI]59Mw?e5YM"F iM%mQ?m:mAu@M%}EMF;M;MG5  AٶEeDNOT Ignoring new targets: 62.30 m. jijijijihhhhBfffrfbf S@ɛB¼  I  T=ɚiI0H=I%i%GJE kJE `JA JA JE 2:JE bl9JA JA ^GUw, D UA I y]}B]IIm}Will construct direction to contact in vehicle frame from tetrahedron phase data.ImHo4٢+N S=9Q > G٣y > Nusing accuracyPremultiplier from config59v?5YK i%%@*}E8s<^s<EI5) - A)UDNOT Ignoring new targets: 62.30 m. jQjQjQjYiYhYhYhYhafafafarfabfm,S@ɛB48 隥I ԅ=ɚiIF=IiNGI ILII'~BI&I.I6I<:IFBIqJIqRIqZIqbIqjIuŊ 4G;5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi O >MUw,:UA6xnl@Y6sz@61<96,>y6Hv?@ `gWIJ?@i6^?`?ɨ6xnl@6ȕ;6Cyr}}BrII|I|٢ w  T=9ꧼQ > G٣QGy% %> -Nusing accuracyPremultiplier from config)559-v?55Y-;Q i-%&1=m=@-/}E- ;-G;-J5EB EJ!AE޶E}DNOT Ignoring new targets: 62.30 m. jyjyjjihhhhfffrfbf"DS@ɛBF\B I =ɚiI:=IiFE =$?IEh*Fu?2Fy:FyBF}4JFy"Ga=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK=/KK=9K9K=1K=#_B5 #'M\Ed$jP:+ G;GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.?TUw,SUAVVl@YVuz@V<9V>yVH ?@VO@I4?K!?@?ɨVVl@Vz;TyfY}BfIMb@Mb@Mb@ )Y:v?Q롿:vyT?\T5A XA)G+AI|!Ay 'AIIr4٢䦽 ==9DQ > G٣y\ > Nusing accuracyPremultiplier from config59v?5YW ij&4U?~: 4 @5}E;3;L5B !AEEDNOT Ignoring new targets: 62.30 m. jIjIjIjIiQhQhQhQh]tBfYfYfYrfYbfe_S@ɛB t/  I  =ɚiI4=IiyFH >I  I 'II }BI =&I .I 6I L<:I FgZUw,mUA6-5l@Y6(Tz@6f<96?J>y6H?=D>߳?)??ɨ6-5l@6Oo;6CyBH}BBIFADIJIJ<4٢ZP8 Z`=9Z'Q Z>\\ ^G٣\ybڷ b> fNusing accuracyPremultiplier from configdj59fyv?j5Yf\ if&hnUn@f:}Ef7:f* ;foN5p r"Ap DNOT Ignoring new targets: 62.30 m. jjjjihhhhff!f)rf)bf-wS@ɛ]BOm I =ɚiI*=Ii  FGBO>  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.aUw,‡UAzK:D PK:9K8K:2K:}yrhc_\YVQNJGD?@?<9:64012/*''&%#!!#FM$l@YFHCz@F <9F>yFH$ ?@x>@?!??ɨFM$l@FAl;F"CyR(}BRI-Mb@Mb@Mb@))) )))Y-7A`? rhYY ]G٣]QGy]x e> mNusing accuracyPremultiplier from configau59ev?u5Ye%c ie&uV?u}:uX}@e@}Eep;e3;eKP5 "AEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf2S@ɛBTG 隵I _=ɚiI7&=Ii@EJ J hJ 1J J J Ȇ9J 3J I gUw,UA6 l@Y6)z@63"s<96d>y6Ha?5@*?@c ?@Z?ɨ6 l@6pȍ;6 CyN}BNIInInr4٢vռ vR=9z!Q z>xx ~G٣|yӂ >  Nusing accuracyPremultiplier from config 59 }v?5Y h i &q@ E}E 7:  ; R5%B %"A%EMDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhQhQhQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.hQfififirfqbfuLS@ɛB  隥HI 9=ɚiI=IizDIQ IUIIU}BIU =&IQ.IQ6IU<:IU FGGBO%> Will construct direction to contact in vehicle frame from tetrahedron phase data.&nUw,ZUA6l@Y6"z@6=<96!>y6H @{?yt3@`-5?=T?L?ɨ6l@6;6CyB}BBIIJvIJ&Q4٢VV VO=9V=Q V>XX ZG٣XyZ ^> jNusing accuracyPremultiplier from confighn59jwv?n5Yjn ij!'lrxr@jJ}Ej;j;jS5t v#AtDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfS@ɛBw ]I ڥ=ɚiI =I i kD% Will construct direction to contact in vehicle frame from tetrahedron phase data.puUw,D5UA6k@Y6z@6J<96z>y6H`[ ?`Ѹi1g@7ж?``?੸?ɨ6k@6r;4yB|BBIMb@Mb@Mb@ )YOn? ףp= ~jthyX?Q8DV8A A)v*AIyz(AI5I5y4٢E1 EA=9EWQ E>II MG٣MQGyMj U> ]Nusing accuracyPremultiplier from configQe59U`v?e5YUt iU='mX?mz:mZm@UP}EU;U;UU5uB uT#AE=DNOT Ignoring new targets: 62.30 m. j9jAjAjAiAhAhAhIhMpBfIfIfQrfQbfuS@ɛBG 隥MI =ɚiI!=IiHI II  IM IIM }BIM =&II .II 6IM =<:IM F={Uw,1%UAFtk@YFo z@Fe;9F>yFH`!?@)[`+@`?,t@,? ?ɨFtk@Fj;FCyR|BRII\I\٢bf fR=9fQ f>hh jG٣hyn5' n> rNusing accuracyPremultiplier from configpv59rKv?v5Yrz irQ'tvjv@rU}Er ;rd;rGW5| ~#AE5DNOT Ignoring new targets: 62.30 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfES@ɛu‚Bua q} Iy }մ=ɚyiyI}m"=IiGC m$?Ii} Will construct direction to contact in vehicle frame from tetrahedron phase data.v$Uw,iVAV k@YVz@V:zKbX8MKbػ9K`Kb4Kb  BKh:Kh9V^>yVH u`?`طR( T?0=WQ? $?ɨV k@VY;Tyv|Bv~IuMb@Mb@Mb@qqq q)qYuS?MbyuZ?u@uu6A q)qIu$AqyqIId4٢' >=9WQ > G٣y > Nusing accuracyPremultiplier from config5974v?5Y i_'Z?x:@[}E;;)Y5 #ADNOT Ignoring new targets: 62.30 m. jjjjihhh h aBf f frfbf@T@ɛ=ȂB=׌ 9E IA Eޠ=ɚAiAIEi #=IiԠB Y IY JUw,u"VA:k@Y: y@:ʺ9: >y:H@]?5x!`?~XY?,?`?ɨ:k@:y;:CyF|BFzIIR~IRT_4٢V Z[=9Z^Q Z>X\ ^G٣^QGyn@T n> rNusing accuracyPremultiplier from configpv59rv?v5Yrk irf'xzz@r`}Er:r\:rZ5~B ~#AE%DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h)h1h1f1f1=Will construct direction to contact in vehicle frame from tetrahedron phase data.f9rfAbfM9,T@ɛu͂B}; y} Iy 1w=ɚiI $=IiuBWill construct direction to contact in vehicle frame from tetrahedron phase data.tUw,y6H@`?:嶿` h?`xs?%/?@?ɨ6lk@6Ǝ;6CyR|BRsII^I^1h4٢fԼ fI=9fQ f>hh jG٣hyn͸ n> rNusing accuracyPremultiplier from configpv59r v?v5YrW irj'txz@rf}ErL;r;r\5  $AEJlJ_JJJ<5:J=h9JJJL?;JN?;J:J:DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfnGT@ $?Iɛ%ӂB% !-I) -=ɚ)i)I-%=I=i=VXA Will construct direction to contact in vehicle frame from tetrahedron phase data.\Uw,F~VVA>̺k@Y>y@>9>! >y>H`$ ?+e A@@\?`38?C?ߴ?ɨ>̺k@>:;>CyZ|B^uIif4=If%= fa=fa=UMb@Mb@Mb@QQQ Q)QYUl?&1yUW?UPQU7A UA)U)AIUb&AQyU(AIIr4٢; ;=9jQ > G٣y< > Nusing accuracyPremultiplier from config59u?5Y iW?{:@l}E;;z^5B #AE-DNOT Ignoring new targets: 62.30 m. j)j1j1j1i1h1h9h9h=_Bf9fAfArfAbfEbT@ɛmقBm68 quIq uѕ=ɚyiyI}]&=I}i[@H >I  I II f}BI =&I .I 6I w<:I FBIJIRIZI =bI =jI_Q5Uw,ipVARrk@YRmy@RU,/9R >yRH$?뵿 ?@o?{J?`p?ɨRrk@R";R Cy^|B^hIIfIfk4٢neo nZ=9rQ r>tt vG٣vQGyzf z> ~Nusing accuracyPremultiplier from config|59~u?5Y~ i~g'   @~q}E~\:~:~`5 M$AEEDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbf]yT@ɛނBֻ 隍I W=ɚiI'=IiN@m Will construct direction to contact in vehicle frame from tetrahedron phase data.OsUw,GVA~(k@Y~#y@~J\9~k >y~H`h$-?e@`sY?&?F?J?ɨ~(k@~l;~Cy |B tIzKuKKqKqKu6KuMb@Mb@Mb@ )YOn?V-Mbp?yX?m; A)I(Ayp)AII٢:= ;=9λQ > G٣y8 > Nusing accuracyPremultiplier from config59u?5Y; iZ'Y?z:@w}E;D;b5 B #A EDNOT Ignoring new targets: 62.30 m. jjjjihhhhxBfffrfbf@$T@ɛ5B5:E 15I1 =*=ɚ9i9I='=IEiE>? I 阨Uw,IVA6k@Y6|y@6Վ96| >y6H'?w@?`Q?9a??ɨ6k@6R;6 CyN|BRrIIZIZ4٢f%  f^=9jݻQ j>hh jG٣hyn^ n> rNusing accuracyPremultiplier from configpv59rPu?v5Yr} irK'xzz@r|}Er":r:rc5| ~$A%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 62.30 m. j1j1j9j9i9hAhAhAhAfIfIfIrfIbfMT@ɛBiѽ I C=ɚiI%(=I%i%>I IIIp}BI&I.I6IT<:I FGWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >HʮUw,VA>k@Y>y@>E9>={ >y>H%`?Ƌ q?UH?`??ɨ>k@>`;>CyN|BN~IIVIVb4٢^GB= ^J=9^Q b>`` bG٣bQGyf%: f> jNusing accuracyPremultiplier from confighn59j$u?n5Yj@ ij8'prr@j}Ej:j\:jde5t v#AzE%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h)h)h1h1f1f1f1rf9bf=@]T@ U$?IQɛuBu蹽 qu0Iq },=ɚyiyI}Z)=Ii= Will construct direction to contact in vehicle frame from tetrahedron phase data.!Uw,zVAy5|B1Mb@Mb@Mb@ )YS?A`"~jtx?yO?Y; A)(AI(AyG)AIIq4٢- 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 u?5Y O i 'O?:@ }E $;  ; Sg5%B -#A-EUDNOT Ignoring new targets: 62.30 m. jjjjihhhhzBfffrfbf @T@ɛmBm é 隍I !ׂ=ɚiI:*=Iim)=ԻUw,sVA @6׻k@Y6y@6ʿ96 >y6H"?`賿Bzp???`?ɨ6׻k@6;6!CyB|BBI F=F=IJIJ1h4٢V6< Vb=9VOQ V>XX ZG٣Xy^bb: ^> bNusing accuracyPremultiplier from config`f59bqu?f5YbD ib'dj{j@b}Eb;bN3;bh5p r#ArE DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfT@ɛBWڽ I +=ɚiI+=I=i=<)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF =$?I9G׹GI Ba O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw, WA-k@Y-y@--Լ9- >y-H%? ub`? ?@ ?`?ɨ-k@-ܾ;-"CyE|BEIzKKh9KK8K -9<=:61//@G7& Mb@Mb@Mb@ )Y/$?p= ף~jt?y&Q?D<&9A )IG+Ay=*AI-I-kf4٢=h; =3=9=Q E>AA EG٣EQGyM M> UNusing accuracyPremultiplier from configQ]59UXu?]5YUw iU&eQ?e:exe@U}EU;U;Uj5uB us#AuEDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfNU@ɛBR1 隅QI v=ɚiI,=IiN;E*FY2Fa:FaBFeP0JFa"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga % $?I- hG9 BA Oe >J kJ eJ 0J J 2:J 9J ـ3J a @a @a @a @Uw,V%WA:lk@Y:gy@:+9:A >y:H#?`:Uu?œ?@??ɨ:lk@:y;: Cyb|BbIIjIjk4٢r$= rd=9vǻQ v>tt zG٣xyzm: z>Will construct direction to contact in vehicle frame from tetrahedron phase data.  Nusing accuracyPremultiplier from config 595Eu?5Y^ i&s@}EBI;BM;xl5) -4#A- EUDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhYhYhYhYfafafarfabfm /U@ɛBD\ 隕I Mp=ɚiIM-=Ii6;Will construct direction to contact in vehicle frame from tetrahedron phase data.)Uw,L6?WA2 k@Y2y@29928 >y2Hc'`?Ȳ@?E??๭?ɨ2 k@2;2!Cy>}BBIIJIJi4٢R-= RN=9V+˻Q V>TT VG٣XyZ Z> `I` Nusing accuracyPremultiplier from config%59a/u?%5Y i&)--@}E;o;?n55ߒB 5"A5EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf IU@ɛ-BUŽ QUIQ ]qh=ɚYiYI].=Ieiew: Will construct direction to contact in vehicle frame from tetrahedron phase data. &Uw, YWAFثk@YFy@F89F >yFH`&? ! _?`)? ??ɨFثk@F{;FCyN}BRI5Mb@Mb@Mb@111 1)1Y5Dl?i|?5Mb?y5OM?5q5<57A 5lA)1I5v*A1y5*AIIk4٢%= %4=9-Q ->)1 5G٣5QGy58 => ENusing accuracyPremultiplier from config9E59=Hu?M5Y= i=T&MM?M:MM@=}E=;=U;=-p5Y ]"AYDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfSeU@ɛ Bɽ NI `=ɚiI /=Ii09H- >I)  I- II- }BI- =&I) .I) 6I- (<:I- F #Uw,:rWA:k@Y:y@:9:$>y:HI(?`2`ٿ???@w?ɨ:k@:7";:CyR}BRIIZwIZR4٢f< fc=9f ӻQ j>hh jG٣hyn~ n> rNusing accuracyPremultiplier from configpv59rsu?v5Yr ir+&xzz@r}Er&:r:rq5| "AE-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h1h1h1f1fAfArfAbfM]|U@ɛB[> 隥GI Y=ɚiI0=IiZ9GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.2Uw,'ٌWAy #}B Ii=I=zK=MK= 9K9K=:K=Mb@Mb@Mb@ )Yy&1? rh G٣y > Nusing accuracyPremultiplier from config 59Bt? 5Y i% 'F? :  @}E;5;s5ޒB d"AEEDNOT Ignoring new targets: 62.30 m. jAjAjIjIiIhIhIhQhUɃBfQfQfQrfYbf]U@ɛBý 隍I r7Q=ɚiIqm1=IiSE8J mJ aJ 0J J \8:J p9J ـ3J ]5Uw,WAvWill construct direction to contact in vehicle frame from tetrahedron phase data.y-?}B5IIMuIMaO4٢w= c=9Q > G٣QGy > Nusing accuracyPremultiplier from config59t?5YE i%@}Ec;Uw;gu5 !A]DNOT Ignoring new targets: 62.30 m. jYjajajaiahahahihifififirfqbfu`U@ɛ%B%D !%I! - J=ɚ)i)I-b2=IUiUk7I I'II}BI&I.I6I3<:I FBIJIRIZIbIjIi4*F?2F:FBF4JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Uw,{WA I:Ȱk@Y:y@:#9:Sx>y:H@q#~?{WJ n?v?`?>?ɨ:Ȱk@:׽;:CyVF}BVIIbIbt4٢j< jX=9nheQ n>pp vG٣tyvh: v> zNusing accuracyPremultiplier from configx~59zt?5Yz iz%@z}Ez;z[;z w5 ݒB !AE5DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfMU@ɛ!B% !%I! %6C=ɚ)i)I-eN3=I-i56 Will construct direction to contact in vehicle frame from tetrahedron phase data.rGUw,VWAn_k@YnZy@n%19nM>ynHu?௡n@?`"? G? ?ɨn_k@nH;nCyz_}BzI)| |MMb@Mb@Mb@III I)IYM~jt?p= ףMb?yMD?MMyy }G٣yyw: > Nusing accuracyPremultiplier from config59|t?5Y ig%RE?:@}E;; y5 o!ADNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf7U@ $?Iɛ%'B%Aս !%I) -?;=ɚ)i)I-,4=I5i5c76vUw,GWABk@YBy@B#s69B >yBH `?CC%é? v̦? ?@?ɨBk@B;B CyNs}BNIIVrIVJ4٢^M`= ^j=9brQ b>`d fG٣fQGyfO#; f> nNusing accuracyPremultiplier from confighn59jўt?r5YjP ij7%prr@j}Ej:j;:jz5t z!AzE%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=@U@ɛe,Ber aeMIa m4=ɚiiiIm5=Iuiu5 Will construct direction to contact in vehicle frame from tetrahedron phase data.[Vw,XAy5}B5IzKBHK9KK<KBK:KrAMb@Mb@Mb@ )YMb?ʡE~jth?y@?D;&9A lA))AI,Ay\+ABAImI3A4٢= *=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-t?55Y-. i-%=A?=:==@-}E-;-;-|5A E AMEmDNOT Ignoring new targets: 62.30 m. jqjqjqjqiqhqhqhyh}Bfyfyfrfbf8V@ɛ2Bz ͽ 隵I -,=ɚiI5=Ii4@ Vw,`'XAbWill construct direction to contact in vehicle frame from tetrahedron phase data.y}BIIIa4٢zz= d=9Q > G٣y > Nusing accuracyPremultiplier from config59tt?5Y i$@}E;;;~5ܒB { A!EDNOT Ignoring new targets: 62.30 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5J3V@ɛ]7B] ]O=]Z Ia et%=ɚaiaIeA6=Iui}N4 $?I pVw,4AXA6_k@Y6Zz@6ED96hZ>y6H ?୉ @?[? f??ɨ6_k@6k;6CyJ}BNIIVqIVJH4٢bM bZ=9bQ f>dd fG٣dyj]; j> nNusing accuracyPremultiplier from configlr59nat?r5Yn& in$tvv@n}En:n:n5x ~ A~$E%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h!h)h)h)f)f1f1rf1bf5%KV@ɛe=BmS imRJ}lJ}dJ}0JyJ}<5:J}|9J}ـ3JyJyaJyaJ}:aJ}:aIi =ɚ i I 7=Ii3zK] ]KK] 9KY K] =K] ",,'(&%!   } Will construct direction to contact in vehicle frame from tetrahedron phase data.:Vw,Z[XAy]}B]IMb@Mb@Mb@ )YMbX9?(\µ{Gzt?yA?ף; A)b&AI,Ay*A yIyIIm4٢< 0=9Q > G٣RGy > Nusing accuracyPremultiplier from config59FJt?5Y i{$C?:E@}E=;|;偍5ےB b A'EDNOT Ignoring new targets: 62.30 m. jjjjih h h hBfffrfbfhV@ɛECBM-Cݽ IMII U*`=ɚQiQIUi8=I]i]d3Vw,ԂuXA2* l@Y2%)z@2mM92* >y2H (?f`.S ??2??ɨ2* l@2;2 CyN}BNIIV}IV]4٢vo7< vj=9zCĻQ z?|| ~G٣|y; ? Nusing accuracyPremultiplier from config 59 8t?5Y  i N$%@ }E -; ; l5) -R A)UDNOT Ignoring new targets: 62.30 m. jQjYjYjYiYhYhYhahafafafarfibfm=V@ɛHB$ 隥I =ɚiI9=Iin2*))5Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IEBa=*F?2F:FBFZ5JFJJcJJJJx9JJJJJ:J: Will construct direction to contact in vehicle frame from tetrahedron phase data.G >uG B O% >$Vw,o.XAf~Gv|uA E5YE|uAyECAl@Y0z@Q9X >yH` ',?DMv1@P*?J ? ʖ?`?ɨl@b~;"Cy}BIzKM}MKM]9KIKM>KM<#Wy:  @ @ @  @ II%x4٢< (=9&Q > G٣RGyI: > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59t?5Y i$+:a:@}Emb;>$5 ( A*EDNOT Ignoring new targets: 62.30 m. jjjjih h h h fffrfbf@kV@ɛ=OB=x߽ AE)IA MR=ɚIiIIM<:=IUiU1 Will construct direction to contact in vehicle frame from tetrahedron phase data.m?*Vw,rXAF5l@YFTz@F_T9F/( >yFH`Eu9?S@=ř3?? ?b?ɨF5l@F;FCyn}Bn IIvIv_v4٢p= g=9 Q >!! %G٣!y%); -> 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59- t?=5Y-[  i-#E :AE6:EE@-}E-8;-W?-(5MڒB MAU-EDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf`V@ɛTB I f=ɚiI];=Ii{1& 1Vw,XA6c>l@Y6^]z@6X96> >y6H =?1 `@ `\?`?? ?ɨ6c>l@6ی;6CyB}BBIJHJJbJJ1JHJHJJt9JJ3JHJHJHJJU:JJV:IZIZ%x4٢b bQ=9b .Q b>dd fG٣dyj: j> nbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59ns?z5Yn( in#z9xz:zz@n}EnAp;n?n5|  A/E-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf= V@ɛYB I .*<ɚiI3|<=Ii%q1zKMK+9KK?K   Y% Will construct direction to contact in vehicle frame from tetrahedron phase data.+E7Vw,N~XA:7Yl@Y:2xz@:nj_9:>y:H G?@SI`/`? ?`>?(?ɨ:7Yl@:͌;: CyB}BFI - - -- -5  5 5 5Mb@Mb@Mb@111 1)1Y5jt?{Gzy5@?5ף55Z8A 5A)5f&AI5,A1y1IMIMd4٢]s ]B=9]0Q ]>aa eG٣ayeZ~; m> yI}h Nusing accuracyPremultiplier from configy59}s?5Y}b i}v#T:A?:^@}}E}Z;};}ꈍ5ْB F A2EDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf`V@ɛ_B%G )-I) -'<ɚ)i)I-O~==I5i50IQ IUIIU~BIU =&IQ.IQ6IU<:IU FBI)JI)RI)ZI- =bI- =jI-z4G B O >>l=Vw,LXA2uVl@Y2puz@2M)f92p>y2HpG? rH@`?I?9??ɨ2uVl@2g;2CyB}BBIIJIJHo4٢nS= nS=9rQ r>pp vG٣vRGyv v> zNusing accuracyPremultiplier from configx~59zys?5Yz# izE#a@z}Ez ;z ;z5   AEDNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfUW@]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛcB 隍I o<ɚiI>=Ii .0 m$?IqJJ?AJkJjJ0JJ2:J9Jـ3JJ9;J9;J:J: Will construct direction to contact in vehicle frame from tetrahedron phase data.XDVw,;YA}nl@Y}z@}Xn9} >y}HWrR?/;pP@O@2?ƭ?`??ɨ}nl@}1;}"Cyޝ}BޝI5Mb@Mb@Mb@111 1)1Y5S㥛?~jt~jtxy5$F?55Ļ57A 5A)5%AI5,A1y5G)AIMjIM;4٢U7< ]4=9]ZQ ]>Ya eG٣aye\U; m> uNusing accuracyPremultiplier from configi}59mQs?}5Ym  im#}G?}:}}@m}Em;m;m5zK"MK9KK@K   BK:KqA! %A-5EmDNOT Ignoring new targets: 62.30 m. jqjqjqjqiqhqhqhyh}Bfyffrfbf W@ɛjB I 5|<ɚiI?=I%i%:/ U$?IQ Will construct direction to contact in vehicle frame from tetrahedron phase data.}JVw,i,YA2Ovl@Y2Jz@2v92_ >y2H V? @~R@{?Ϯ?8?`բ?ɨ2Ovl@2P ;2CyB}BBIIJxIJT4٢R Rl=9VžQ V?TT VG٣XyZ: Z? ^Nusing accuracyPremultiplier from config\b59^s?b5Y^j% i^"dff@^}E^~:^:^5jؒB jh Aj8E DNOT Ignoring new targets: 62.30 m. j j j j i h h hhfffrfbf`5W@ɛEmBE?$ IMJII M<ɚIiIIU@=IUi]l/I  I I I &I .I 6I j<:I  F*F ?2F :F BF D4JF G ?G>GBO>uWill construct direction to contact in vehicle frame from tetrahedron phase data.y}< M $?II ,gQVw,zEYA~~l@Y~~z@~F~9~(>y~H@p Z? \ T2w)?`ï?@ĭ?@?ɨ~~l@~ 4;~Cy }BII%I%q4٢- 5A=J=jJ=`J=1J9J=.:J=bl9J=3J9J=4;J=4;J=*:J=,:95 Q M>IQ UG٣URGy]0: ]> eNusing accuracyPremultiplier from configam59es?m5Ye* ie"quu@e}Eet;e ;e5y  ADNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfPPW@ɛsB3t wI g3<ɚiIA=Ii2 /zKE $LKE ]9KA KE AKE RKU ?JKU > Will construct direction to contact in vehicle frame from tetrahedron phase data.WVw,_YAB5l@YB0z@B9Bk >yBH`?̩V Pty G٣y: > Nusing accuracyPremultiplier from config59}s?5Yr0 in"I?:V@~E;_;Ǒ5גB j A=EDNOT Ignoring new targets: 62.30 m. jjj!j!i!h)h)h9h=كBf9fAfArfIbfULkW@ɛxB1 隝I m<ɚiIrB=Ii.]Vw,yYA6l@Y6z@6|96 >y6H b? \Wq `?q?`x?;?ɨ6l@6D;4yB}BBIIJIJ1h4٢R R]=9VܣQ V>TX ZG٣XyZC#: Z> bNusing accuracyPremultiplier from config`f59bjs?f5Ybc5 ib4"dfSf@b ~Eb:b:be5l n An@EDNOT Ignoring new targets: 62.30 m. jjjjih h h h fffrfbf`W@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛU|B]va Y]IY ]އ<ɚaiaIeC=Ieim\.Will construct direction to contact in vehicle frame from tetrahedron phase data.odVw,|YAޔl@Yٳz@ 9 >yH:@h? aZ`m`?}?@Xd??ɨޔl@s;騍!Cyn}BIMb@Mb@Mb@ )Y/$?{GzMbpy&Q?#Z8A A)Q"AI,Ay(AIIt4٢b -=9*Q > G٣RGy: > Nusing accuracyPremultiplier from config59Rs?5Y(< i!gQ?:|@~Ew;:;v5 !AzK%KK%9K!K%BK%=DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9h9hAhAhEBfIfIfIrfIbfM0W@ɛ}B} y}cIy qj<ɚiI{D=Ii U- Will construct direction to contact in vehicle frame from tetrahedron phase data.gjVw,FYA6l@Y6z@6͏964 >y6Hee?ܦ:T`rR?@?8?+?ɨ6l@6v7;6 CyLP)T TTTIZIZ1h4٢b: bq=9fQ f?dd jG٣hyj3 j? rNusing accuracyPremultiplier from configpv59r2As?v5YrA ir!xzz@r~Er&:r&:r5}֒B } A}CEHI IxIIn~BI =&I.I6I)<:I FDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf8W@ɛEBED' IMII MM<ɚIiIIUuE=IUi] - $?I :qVw,y!YA6l@Y6z@6d96 >y6Huh? w Tnp˫?p?$??ɨ6l@6;6CyRe}BRIIZIZi4٢f fJ=9fQ f>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpv59rm,s?v5YrF irE!tzz@r~Er.:rq:r5| ~!AFE%DNOT Ignoring new targets: 62.30 m. j!j)j)j)i)h)h)h1h1f1f1f9rf9bf=}W@ɛ-B-n" )-I) 54.<ɚ1iYI]G=I]ieQ-zK jIK ػ9K K CK  e Will construct direction to contact in vehicle frame from tetrahedron phase data.SwVw,~YA 0I4yh}BI-Eonly read 0 of 1 data item for BIT error. Device response is::TS,250102,350, 0.0,1493.5, 0  E@E E@E M@M  M@M IMIMr4٢]F; eA=9eQ e>ii mG٣mRGyu }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59s?5YL i +:R:@~EK;>75 !ADNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfW@ɛ%B%_$ )-ZI) -( <ɚ)i)I5GH=IiJ,I IrIId~BI&I.I6I<:Io FG?:G B O > ~Vw,YA2l@Y2z@2|92q >y2H @th?Ƥ bPo?j?5?̝?ɨ2l@2l;2 Cy>`}B>IiFTX ZG٣XyZ Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`f59bs?f5YbFR ib j :hj*:jj@b$~Eb(;bN?bL5nՒB r)!ArKE DNOT Ignoring new targets: 62.30 m. j jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhhfffrfbf X@ɛB( jI :<;ɚiIoI=Ii,Vw,ZAmel@Ymz@mР9mP >ymH_;`?`>3=Eum?@?@a? ?ɨmel@md;mCy%b}B%I        Mb@Mb@Mb@ )YS?{Gz~jtx?y/]?#;E4A -A)AI,Ay&AIIy4٢; +=9yQ > G٣y/j > Nusing accuracyPremultiplier from config 59r? 5YY i T:4]?u:g@*~EL;J;c5ԒB !A%NEzK$7LK]9KKDK DNOT Ignoring new targets: 62.30 m. jjjjihhhhiBfffrfbf`#X@%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmBm quIq u;ɚqiqIuJ=Ii$, Will construct direction to contact in vehicle frame from tetrahedron phase data. i AVw,\.ZA6!Ol@Y6nz@6U}96 >y6HSY? m<a{@ ?`?`s?֘?ɨ6!Ol@6;4y>p}B>IIFIF4٢r;!= rr=9r6Q r?tt vG٣vRGyz# z? Nusing accuracyPremultiplier from configHE>IA IAIAIA&IA.IA6IE<:IEc FBIJIRIZI =bI =jI4|m59~:r?m5Y~_ i~qu}u@~/~E~<~;<~۞5y } AyDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf 99X@ɛ%B-> 5m=5}I1 U2;ɚQiQI]4K=I]ie +vVw,iHZA*J "J ::l@Y:Yz@:9: >y:H;T?d@4W?)?Z??ɨ::l@: ;8yRt}BRIZAZAI^~I^T_4٢f/< fL=9fǻQ j>hh jG٣hynCK n> rNusing accuracyPremultiplier from configpv59rr?v5YrBe ir-xzz@r4~Erz:r":r5|  AQEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfSX@ɛMBM, IMII U>:ɚQiYI]gL=I}i}E Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM ,LKM 9KI KM EKM RK] ?JK] ? 5 $?I1 +Vw,DbZA>yl@Y>t1z@>eN9>| >y>H`E`G? m$`(?.?Y?Ζ?ɨ>yl@>{;> CyJ}BJI%Mb@Mb@Mb@!!! !)!Y%S?:v?y%Z?%%T<%6A %A)!I%-A!y%3'AIUvIU&Q4٢eb= eA=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configE59Jr?E5Yl iMZ?Mx:MM@:~ET<m<5}ӒB }l A}TEJ]mJ]aJ]1JYJ]\8:J]p9J]3JYDNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbfpX@ɛuBu" quIy &N̺ɚiIN=Ii*IA IE~IIEx~BIA&IA.IA6IE$<:IE FG G ?G ?GY Bi O >UVw, |ZA2k@Y2z@292b >y2H@?@A?C@@b@? p?J.??ɨ2k@25;0yV}BVII^oI^D4٢f= fU=9j8Q j>hh nG٣nRGynm n> vNusing accuracyPremultiplier from configpz59rRr?z5Yrq Will construct direction to contact in vehicle frame from tetrahedron phase data.ir & @r?~Er͌;r;r$5 AVE=DNOT Ignoring new targets: 62.30 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfUX@ɛBXVF 隅I THɚiI O=IiK>*FVw,B"ZA-k@Y-y@-9-Bk >y-H s5?` i4??.? ?ɨ-k@-K;-Cy}}BޅIiI; p=a=IIt4٢+a= 6=9%Q ->99 EG٣IyU ]> Nusing accuracyPremultiplier from config59r?5Yy ihM@F~E;;/5 tAYEDNOT Ignoring new targets: 62.30 m. jjjjihhhhf!f!f!rf!bf-`X@ɛUB]t $ Y]IY eɚaiaIe9P=Imim΁)- Will construct direction to contact in vehicle frame from tetrahedron phase data.>gVw,0ԯZAjk@Yj}y@jq9j+ >jHr<bHrp<Hv>It IvIIv~BIv =&It.It6Iv<:Iv FyjH` @.?l{@Ҫ G٣y`i > -Nusing accuracyPremultiplier from config!-59%_mr?-5Y%~ i%=7[?=w:=2=@%K~E%#9;%8;%٧5EҒB EAE\EmDNOT Ignoring new targets: 62.30 m. jijqjqjqiqhqhyhyh}BfyffrfbfX@ɛB{5 隽I |ɚiIPQ=Ii?(вVw,ZA6k@Y6y@6961>y6H@`#?j`Ag? ? Z?~?ɨ6k@6;6 Cy>~BB7IININm4٢V== VQ=9VɩQ V>XX ^G٣^RGy^ ^> bNusing accuracyPremultiplier from config`f59bYr?f5Yb ib'hUWU@bP~Eb* Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK ]9K K GK      $?I Vw,ZA2|k@Y2y@2927 >y2H@ ?#?@ ?z??ɨ2|k@2;2Cy:.~B:QI)@ @%Mb@Mb@Mb@!!! !)!Y%Q?~jtxQ?y%U?%Ļ%<%7A %A)%pAI!!y!I={I=Z4٢= :=9Q > G٣y p  > uNusing accuracyPremultiplier from configI}59MAr?5YM iMaU?~:H@MV~EMbI III~BI&I.ICD6If<:I FG G ?G ?G B O >!Vw,wZA2Will construct direction to contact in vehicle frame from tetrahedron phase data.Bik@YBȈy@B%ƽ9B*( >yBH`$ t??`Ѻ?q? ?ɨBik@B̌;BCyJP~BJfIIVhIVV84٢Z= ^^=9^Q b>`` bG٣`yfR f> jNusing accuracyPremultiplier from confighn59j/r?r5Yj ijpr[r@j[~Ej*;j`+;j5vђB zFAzdE %$?I%h-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=Y@ ]nManaging dock network, ignoring radio surface power offɛuBu*DB y}NIy }OɚiI.fT=IiC&JMkJMcJM1JIJM2:JMx9JM3JIJM9;JM9;JM:JM:Will construct direction to contact in vehicle frame from tetrahedron phase data.u c~G Y y At Vw,b[Aymr~Bm{IMb@Mb@Mb@ )Y)1 5G٣5 RGy5 5> MNusing accuracyPremultiplier from configIU59Mr?U5YM iMUS?U:]]@Ma~EM+;MY;M85mWill construct direction to contact in vehicle frame from tetrahedron phase data.imG K Will construct direction to contact in vehicle frame from tetrahedron phase data.G H >I C I II WBI =&I .I 6I @<:I FB! OE > .Vw, 3[Ayv~BvIixIz=I~tI~M4٢5> 5r=99Q =?99 EG٣AyQ U? uNusing accuracyPremultiplier from configq}59u1r?}5Yu iuQ@uf~Eu5;u;u5ВB AgEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf=Y@ɛBhC = I )ɚiI ZV=I i $Ji Jm bJi Ji Ji Jm t9Ji Ji Ji Ji Jm U:Jm V: Vw,L[AJ8k@YJWy@Jؽ9J >yJH40 ?>Ð`!A??+?`?ɨJ8k@Jm;J!CyV~BVIIbmIb3A4٢f= jS=9jQQ j>hl nG٣lyrZ r> vNusing accuracyPremultiplier from configtz59vq?z5Yvy ivx~1~@vk~Ev:vq ;vb5 bA]DNOT Ignoring new targets: 62.30 m. jYjYjajaiahahahihifififirfibfuVY@Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAɛ}ŃB', _=隅 I 'ɚiI"6W=Iiw$ Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK K K IK */-2@LNJIFDA;;96/,*(%  - $?I) 7Vw,mf[AB>k@YB]y@BE޽9B[ >yBH, ?Ǎ<@q?л?NC? 7?ɨB>k@B ;B CyN~BNIMb@Mb@Mb@ )Y?~jtMb?yL?=1A )AIK+Ay$AIuIaO4٢k= ;=9mQ u>qq uG٣u RGy}P: }> Nusing accuracyPremultiplier from config59/q?5Y i1M?:%@q~E;;a5 AjEmDNOT Ignoring new targets: 62.30 m. jijqjqjqiqhqhqhyh}݃Bfyfyfyrfbf`uY@ɛȃB& 6 I (ɚiIX=Ii#I ILIIBI&I.I6Iq<:I FBIiJImŰCRIiZIm =bIm =jIm15E-=*F ?2F :F BF \0JF G  G rA Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 $?I1 G 1܌G ?G ?GBO>eVw,oم[A>Ck@Y>by@>W9>38 >y>H`L&?(b@``?mb?z?@|?ɨ>Ck@>;>CybBfIIzbIz-4٢= 0=9%cQ ->11 5G٣1y=(: E> UNusing accuracyPremultiplier from configQ59URq?5YU iU"@Uv~EUVw, [ArWill construct direction to contact in vehicle frame from tetrahedron phase data.y~NB~I IIIzK}עMK}9KyK}JK}   (+*(%%! !#%&&$$""Mb@Mb@Mb@ )YE??yF?L<1A )-AI,AyI I ٢= :=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=595q?E5Y5C i51E+G?E:E$E@5|~E5;5#;5;5MΒB U=AUrE}DNOT Ignoring new targets: 62.30 m. jyjyjyjyiyhhhh Bfffrfbf׫Y@ɛσBp. 隽I u|¼ɚiIhY=Ii.!I  I II BI =&I .I 6I s<:I G ňG B O >Vw,6[A64Vk@Y60uy@6n96>y6H@"?n կ;c?`ξ?Ρ?u?ɨ64Vk@6b;6 CyBBB IIJnIJB4٢R> RW=9RpQ R>TT VG٣V RGyfA; f> rNusing accuracyPremultiplier from configlr59n7q?v5Yn9 intvz@n~En;n;n깍5~ϒB ~{A|%DNOT Ignoring new targets: 62.30 m. j!j!j!j!i!h)h)h1h1f1f1f9rf9bf= Y@ɛ ҃B +  _I 2ϼɚiI Z=IimU  Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,[A:(gk@Y:$y@:w9:>y:H / o*?$~{`B`???r?ɨ:(gk@:i;:CyFBF+IIRpIRF4٢VU*= VJ=9ZQ Z>X\ ^G٣\yb); b> jNusing accuracyPremultiplier from confighn59jq?n5Yjd ijprr@j~Ej;j;j5t v9AvuEDNOT Ignoring new targets: 62.30 m. jjjjih!h!h!h!f!f)f)rf)bf-3Y@ɛeՃBes/ aeIa mܼɚiiiImZ=Iuiu;<870--/.,&&&$   GsGBO>J% lJ% _J! J! J% <5:J% =h9J! J! a- @a- @a- @a- @d+Vw,'[Ajsk@Yjy@jr69j>yjH/0?hz 1?@0??@o?ɨjsk@j|^;j"CyvBvDIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMbX9?x&I +?yA?794<10A A)\AI-Ay#AIZI4H>I IIISBI&I.I6I`<:I F٢w= 5=9yQ >!! %G٣!y5: 5> =Nusing accuracyPremultiplier from config9E59=oq?E5Y= i=EB?E:ERM@=~E=;=;=5Q UAUxE}DNOT Ignoring new targets: 62.30 m. jyjyjyjyihhhh3BfffrfbfY@ɛكBH$ BI gɚiI&[=Iih))*F2F:FBFP0JFGp U $?IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Ww,\A6vk@Y6ry@6696Q>y6H K;?hu` ?;?`]?` n?ɨ6vk@67;6CyFBFTIIR]IR$4٢Zr= Zd=9Z᲻Q ^>\\ ^G٣^ RGyb'; b> fNusing accuracyPremultiplier from configdj59f]q?j5YfU ifln7n@f~Ef%;f;f25p r,ApDNOT Ignoring new targets: 62.30 m. jjjjih!h!h!h!f)f)f)rf)bf-Z@ɛ]܃B]/t4 Y]Ia eɚaiaIe[=Imim A IA p;Ww,<"\AWill construct direction to contact in vehicle frame from tetrahedron phase data.:k@Y:y@:&9:<>y:H`@?.t! ю@A? l?@?@tk?ɨ:k@:ы;8yFBFeI)H HJAHzK= NK=9K9K=LK=   Mb@Mb@Mb@ )Y?x&I +?y@?1A A)AI,Ay3#AIXI4٢= ;=9NaQ > G٣y*: > Nusing accuracyPremultiplier from config59KHq?5Y i@?:9@~E;;5ΒB A{EDNOT Ignoring new targets: 62.30 m. jjjjihhh!h%DBf!f!f)rf)bf--Z@ɛBEu$ )I ɚiI23\=Ii3IC IIIBI =&I.I6I<:Ie FGM f AG! B) OM >y6H K?r @ i?@`?U?i?ɨ6ek@6};6 Cy> BBIIJcIJy/4٢Rb= R^=9R>Q R>TT VG٣TyVߖ; Z> ^Nusing accuracyPremultiplier from configXb59Z-6q?b5YZ* iZD`bb@Z~EZ4;Z7@;Z5h nAn}EDNOT Ignoring new targets: 62.30 m. jjjjih h h h fffrfbf lEZ@ɛB4 mI BɚiI\=Ii) SC Will construct direction to contact in vehicle frame from tetrahedron phase data.- ~GA Y Y y JA3MWw,y:H'N?$l@ڀ]???g?ɨ:yk@:P$;8yRBRIIZ\IZ#4٢f,= fH=9fj|Q f>hh jG٣j RGyj9 n> rNusing accuracyPremultiplier from configpv59r!q?v5Yr, irxzz@r~Er;:r:rč5~͒B AE-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i1h1h1h9h9f9fAfArfAbfE_Z@ɛmBu* qu$Iq uɚyiyI}3]=IiJe kJe `Je 0Ja Je 2:Je bl9Je ـ3Ja 3wWw,p\A>k@Y>y@>59> >y>H+T?j@]^z`X???f?ɨ>k@>~;I I@IIBI =&I.I6I3<:I FIK+AyG!AInIB4٢Z= :=9Q > G٣y; > Nusing accuracyPremultiplier from config59! q?5Y i D?:@~Ey;;jƍ5  WA E=DNOT Ignoring new targets: 62.30 m. j9j9j9j9i9h9hAhAhE1BfAfIfIrfIbfM{Z@ɛ}B}& y}Iy .tɚiIM]=Ii3c"Ww,\A6k@Y6y@6x 96 />y6H@V? `Fx@C?!??`d?ɨ6k@6;6Cy^/B^IIfgIf64٢nՍ= n\=9nwQ r>pp vG٣tyz1: z> ~Nusing accuracyPremultiplier from config|59~p?5Y~a i~i @~~E~C:~:~ ȍ5 %A!}DNOT Ignoring new targets: 62.30 m. jyjyjyjihhhhfff!rf!bf%@uZ@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB1 隝I wɚiI]=Ii#Ty6H`~_?YO2 q`?H??:d?ɨ6k@6;6 CyB G٣RGy5; >  Nusing accuracyPremultiplier from config 59 p?5Y  i D?:@ ~E ; ; ʍ5%̒B %A%EuDNOT Ignoring new targets: 62.30 m. jqjqjyjyiyhyhyhh7Bfffrfbf@5Z@ɛBE%, 隽I #ɚiIc^=Ii3I IfIIȀBI =&I.I6I^<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.BImïCJImïCRIiZIm =bIm =jIm@5*F?2F:FBF0JFG%G B O > $?I u Will construct direction to contact in vehicle frame from tetrahedron phase data.(e1Ww,\AyBB%II5dI5?14٢m< mS=9uQ u>qq }G٣yy > Nusing accuracyPremultiplier from config59p?5Ya i@~E;;6̍5 OAEMDNOT Ignoring new targets: 62.30 m. jIjIjIjIiIhQhQhYhYfYfYfYrfabfmZ@ɛB s.  I  q*ɚiI^=Iiْ7Ww,\A qIqk@Yy@ 9>yHl`?_R? p@?Ϥ?@v? a?ɨk@;騉y[BI5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y!rh?L7A`尿ylG?+,A )vAI,AyAI_Ib(4٢I= 4=9IλQ > G٣y > Nusing accuracyPremultiplier from config 59Ʋp? 5Y3 iD#H?:@~E;;1΍5˒B AEUDNOT Ignoring new targets: 62.30 m. jQjQjQjQiQhYhYhYh]I  I II BI =&I .I BD6I (<:I ~ F Will construct direction to contact in vehicle frame from tetrahedron phase data.GE GM qAGI G B! O= >޸=Ww,\Ay]aB]Ii}=I}p<IpIF4٢< _=9Q > G٣RGy > Nusing accuracyPremultiplier from config 59p? 5Y i @~Eb;;ύ59 =QA=EDNOT Ignoring new targets: 62.30 m. jjj!j!i!h!h!h)hIfQfQfQrfQbf]T[@ɛB4. 隥I i6ɚiI+_=IiJq Ju AAJcKc KcKcKc"KcJ} lJ} gJy Jy J} <5:J} 9Jy Jy J} K?;a J} M?;a J} >:a J} @:a zDWw,t]A2Tk@Y2Oy@2f92N>y2H_?lg? p[??o?]?ɨ2Tk@2k;2Cy>mBBIIJfRWill construct direction to contact in vehicle frame from tetrahedron phase data.IJ44٢Vو= Z^=9ZVQ Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fpp?j5Yf if hjn@f~Ef ;f;fgэ5rʒB rArE%DNOT Ignoring new targets: 62.30 m. j!j)j)j1ihhhhfffrfbf {[@ɛB4 隕I ;ɚiI3`=Ii[8zK] F'LK] ػ9KY K] PK] BKq :Kq 'JWw,g-]AJyk@YJty@Jt9J}>yJH@b?o?#mi??@?@\?ɨJyk@J;J!CyVBVI]Mb@Mb@Mb@YYY Y)YY]q= ףp?V-Mb?y]K?]m]<],A ]3A)]AI](AYy]fAI_Ib(4٢ c=  6=9 +Q  > G٣yZ: > -Nusing accuracyPremultiplier from config!=59%cvp?E5Y% i%K ML?M:MM@%~E%;%!;%]Ӎ5Y ]KAYDNOT Ignoring new targets: 62.30 m. jjjjihhhh4Bfffrfbf9[@ɛB+ I dAɚiIgm`=IiI]C I]II]BI] =&I]FD.IY6I]\<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG9"G?G>G B O > ] $?IY U Will construct direction to contact in vehicle frame from tetrahedron phase data.QWw,$G]Afk@Yfy@fz9fZ>yfH`M\?u? s? _?|?^Z?ɨfk@f8;fCyrBr I)t tIzQIz4٢̗= ]=9 aQ  >   G٣RGy` > %Nusing accuracyPremultiplier from config%59ocp?-5Yv i )--@~E:q:ԍ51 =A=EmDNOT Ignoring new targets: 62.30 m. jijijijiiihihqhqhqfyfyfyrfybf@ Q[@ɛB 3 隭ݿI tFɚiI`=IiWWw,Za]A IWill construct direction to contact in vehicle frame from tetrahedron phase data.<II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]?Jp?e5Y]  i] evN?m:m:m@]~E];]F;]׍5q uLAuEDNOT Ignoring new targets: 62.30 m. jjjjihhhh%Bfffrfbfo[@ɛm Bm|C# iucڿIq uTMɚqiqzK}VBJK} 9KyK}QK}RK?JK ?I} a=IiJ)II  IM IIM )BIM =&II .II 6IM <:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data.G I6G rAG G B O >x ^Ww,z]A:k@Y:y@:C9:>y:Ha]??@wu???? =Z?ɨ:k@:Q;:CyFBFDIIRVIRn4٢V= Z=9Z3Q Z ?\\ ^G٣\yb, b ? fNusing accuracyPremultiplier from configdj59fd9p?j5Yf if hj=n@f~Ef;fl;fw؍5rɒB rArEDNOT Ignoring new targets: 62.30 m. jjjjihhhhf!f!f!rf!bf-[@ɛ B؎8 ׿I BRɚiIla=IiNJE nJE gJE /JA JE |;:JE 9JE (N3JA JE J;JE J;JE >:JE ?: G ! e Ya ye AdWw,O]A6Will construct direction to contact in vehicle frame from tetrahedron phase data.6Ai6Ay%B%NIi)I-p= -=-=I5PI5 4٢M!= M@=9UQ U>QY ]G٣]RGy] e> mNusing accuracyPremultiplier from configiu59m"p?u5Ymj im8 qqu@m~Em;mo;mTڍ5 AE-DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h1h1h1h1fAfAfArfAbfMy[@ɛB1) ֿI @XɚiIܳa=IizK K 9K K RK  BK :K qAykWw,]AZJk@YZFy@Z@9ZS>yZHYd??, m? L? ?@MX?ɨZJk@Z;Z CybπBboImMb@Mb@Mb@iii i)iYmB`"?333333/$?ymN?mm G=9RQ > G٣y2; > Nusing accuracyPremultiplier from config593 p?5Y i`O?:V@~E;;܍5ȒB AEDNOT Ignoring new targets: 62.30 m. jjjjihhhh!Bfffrfbf[@jH<bH<H>IC IIIQBI =&I.IAD6Il<:I FɛMBM* QUпIQ U]ɚQiQI]>a=I]i]F I G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.rWw,k]Af5k@Yf1z@fe09f >yfH r?Г?}a ?}?v? Y?ɨf5k@fƉ;f!CyzB~IIMPIM 4٢]= ]N=9]Q ]>aa eG٣aymY; m> uNusing accuracyPremultiplier from configq}59u7o?}5Yu! iuy}/@u~Eum ;u ;uݍ5 &ADNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf@[@ɛBn0 J̿I bɚiIAb=I i @:J9J3JJ}O;JO;J:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.G.-GBO% >`/xWw,T]A ^$?I\l@Y1z@9 >Will construct direction to contact in vehicle frame from tetrahedron phase data.yHz?R?@ Y@0? ?w?@X?ɨl@Wv;Cy%B%I)) )15AMb@Mb@Mb@ )YB`"?x&Zd;O?y7j<7'A A)AIyAI=I=3٢5= 3=9髺Q > G٣RGyF<; > Nusing accuracyPremultiplier from config59Wo?5YC( iO?:@~E;^;ߍ5 AEDNOT Ignoring new targets: 62.30 m. jjjjihhhh.BffzKPCLKKKSK frfbf[@ɛ B J; I IGIIBI =&I.I6Io<:IBIȮCJIȮCRIZI =bI =jI-5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G JG B O >U~Ww,y ]A>`'l@Y>\Fz@>A>9> >y>H@'g?}}?oR@!??u? 0X?ɨ>`'l@>p;>CyJBJIIRTIR4٢Zd= Zx=9^骺Q ^?\` bG٣`yb`z; b? jNusing accuracyPremultiplier from configdj59fo?j5Yfi, iflnjn@f~Ef;f;fI5rǒB v AzEDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf-\\@ɛUBUH;> Y]ĿIY ]lɚaiaIeb=IeimJ! J! J sJ fJ 0J J K:J 9J ـ3J J e;J e;J :J :?Ww,T^A2Will construct direction to contact in vehicle frame from tetrahedron phase data.68l@Y6Wz@6!796^ >y6HL>?߄?$ L@m? ? k?fW?ɨ68l@6-ˆ;6 Cy B II:I3٢-U= -C=9-VQ 5>11 =G٣9y=&; => ENusing accuracyPremultiplier from configAU59E o?U5YE1 iEY]Y]@E~EEI;EpJ;E5a e AeEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf9 \@ɛB& \¿I aqɚiIeb=Ii?@zKu vKKq Kq Ku TKu gWw,/^A 2 @l@Y2_z@2/92 >y2H?t?n nHI?`?z?`qV?ɨ2 @l@2oj;0y>$B>IMb@Mb@Mb@ )YˡE?X9v rh?yG?}C<$A  A) AIyGAI4IV3٢= B=9:NQ > G٣yO: > Nusing accuracyPremultiplier from config59ϣo?5Ys7 i$H?:@~E;>;5  AEDNOT Ignoring new targets: 62.30 m. jjjjihhh!h%3Bf!f!f)rf)bf-&;\@ɛ}B}% y}Iy vɚiI c=IiI IIIBI =&I.I6I<:I F)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.Eui=E}a>E}%>*F ?2F :F BF \0JF G!  G% qA I % Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm p®GIBQOu>4`Ww,(N^A2Rl@Y2qz@2}\92 >y2Hr?Ó?@QA ?8?p? U?ɨ2Rl@2;2Cy>:B>IIJMIJ{4٢R= R;=9RQ V>TT ZG٣ZRGyZ(; Z> ^Nusing accuracyPremultiplier from config\b59^o?f5Y^!= i^Cdff@^E^;^;^5jƒB n] AnEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf@X\@*J"J4=ɛ!B !-I) -`u|ɚ)i)I-!c=I5i5{D ] |$?IY % Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ww,g^ARml@YRz@R9R >yRH?? %9?4>?&]? KV?ɨRml@R';RCyfDBfIMb@Mb@Mb@ )Y#~j?Q?yE?Lu<#A | A)| AIy(AI%VI%n4٢54%= 53=9=Q =>9A EG٣AyEJm; E> UNusing accuracyPremultiplier from configQ]59Uowo?]5YUC iU[]VF?]:]e@UEU[O;U(O;U5q u AqDNOT Ignoring new targets: 62.30 m. jjjjihhhh/Bfffrfbfgt\@ɛ$B# zK]JK]9KKUK   IA EŀɚAiIIM|Ac=IMiUIy I}II}ځBI} =&Iy.Iy6I}<:I} FWill construct direction to contact in vehicle frame from tetrahedron phase data.E0f=*F% ?2F! :F! BF% _0JF! M {$?IQ GU G!B1OM>kWw,^A66l@Y62z@696> >y6H@@u?m?I$.@1?@J?F?V?ɨ66l@6;6CyBWBBIDFAIJZIJ4٢R*= RD=9VfQ V>TX ZG٣ZRGyZ; ^> bNusing accuracyPremultiplier from config\b59^co?f5Y^H i^jWill construct direction to contact in vehicle frame from tetrahedron phase data.dnn@^ E^Z;^s;^5p rt AvE%DNOT Ignoring new targets: 62.30 m. j!j!j!j)i)h)h)h1h1f1f1f9rf9bf=L\@ɛ&BEm! AEųIa mOIɚiiiImZc=Iuiu\zWw,^A^l@Y^z@^9^ >y^H`?U?o( *2?`S=?Q?V?ɨ^l@^;^Cy eB 'I II-aI-+4٢=Yx= =5=9=d:Q E>AA EG٣AyMn: M> UNusing accuracyPremultiplier from configQe59ULo?e5YUsN iUaem@UEU 2;U2;U5uŒB u AuEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf;\@ɛ(B !  ҰI  ɚiItc=Ii%%I C I II BI &I .I 6I g<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.'Ww,[^Ay~}B~EI-eonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00 -37, +765, +9,A  e@e e@e e@e  e@e ImOIm 4٢= A=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59:8o?5YT i+:  ]:  @Eq+;!>'5 ? AE=DNOT Ignoring new targets: 62.30 m. jAjAjAjAiAhAhAhQhQfQfQfYrfYbf]@\@ɛ*B! 隍aI c ɚiIc=IiV)i i G  - Y1 y5 :AWw,36^AJl@YJz@J~9J >yJHBN?փ?`9g?r? J:?X?ɨJl@J;HynBrLIiv    G٣RGy; > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59%o?55YX i5 :153:55@Em};M?;5EĒB E AEEmDNOT Ignoring new targets: 62.30 m. jqjqjqjqiqhq}Will construct direction to contact in vehicle frame from tetrahedron phase data.hhhfffrfbf=\@ɛ,B' 8I ^ɚiIc=Ii9F:Ww,^A2}l@Y2yz@2ej92o> >y2H@}??`C`@?O?`(?`Z?ɨ2}l@2c;2CyBBBaIzKbKb]9K`KbWKbRKj?JKj? M U UU UU  U U UMb@Mb@Mb@QQQ Q)QYUE?Mb G٣y`; > Nusing accuracyPremultiplier from config59fo?5Y^ isT:F?:@E;;5  ADNOT Ignoring new targets: 62.30 m. jjjjihhhhBfffrfbf\@JqJgJJJD:J9JJɛ-.B-pR! {I WɚiIAc=I i I^IY I] II]!BI] =&IY.IY6I]<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F):F)BF)JF)G% 7: I G B O- >= Will construct direction to contact in vehicle frame from tetrahedron phase data.!Ww,J_A2l@Y2{@2?92 >y2H~/?L?pD&?`c?A?-[?ɨ2l@2҆;2 Cy>B>pIIFVIFn4٢N= RZ=9RF;Q R>TT VG٣TyVO`9 V> ^Nusing accuracyPremultiplier from configXj59Zo?j5YZd iZlnr@Z$EZ;Z;Z5t z AzE B*** querying acoustic contact ***j j DNOT Ignoring new targets: 62.30 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf53]@ɛ0BB$#  磿I  nɚ i I c=I5i=.EM>*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G5:G B OU >LWw,B"_A6l@Y6 {@696 >y6H{?`|?I[?*?2? v]?ɨ6l@6;4 Bx$?I@yNBN}I)P PTVAIZFIZ%3٢bXO= bH=9fh;Q f>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpv59rn?v5Yri irftzz@r)Er :r:r5~ÒB ~AE%DNOT Ignoring new targets: 62.30 m. j)j)j)j)i)h)h)h1h1f9f9f9rfAbfE 5,]@ɛu1Buh$ q}Iy }mɚyiyI}c+d=IiHU >IQ  IU : IIU EBIQ &IQ .IQ 6IU <:IU FBIɬCJIɬCRIZI =bI =jIɩK5 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:08:43.8739  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244908Ww,<_Ay-B-IMb@Mb@Mb@ )YK7?Mb`?{Gz?yI?;#<A 9A)IAAyAIJI)4٢= 9=9Q > G٣RGy > Nusing accuracyPremultiplier from config59^n?5Y>p iI?: @.E;;m5 9AEeDNOT Ignoring new targets: 62.30 m. jijijijiiihihihqhuBfqfqfyrfybf}H]@ɛ3Bz 隵ĝI  ɚiIEd= ]w$?IaIeim \Ww,}V_A:sl@Y:oz@: 9: >y:H ލ?Lx}?;&@?`??a?ɨ:sl@:-;:!CyBʁBFIIRIRM3٢Vߞ= Za=9Z;Q Z>\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdj59fmn?j5Yfyu if4ln4n@f3Ef ;fK ;f5p rAv÷EDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f)f)rf)bf-_]@ɛU4BU%]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745432 im}Ii m?rɚiiiIm{d=Iui}  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000416Ww,KXp_A2l@Y2z@292>y2H ?l8?E?[3? 5?Z?ɨ2l@2t;2CybہBbIifp=Ifa>zK~BoIK~9K|K~YK~eMb@Mb@Mb@aaa a)aYeHzG?I +?{Gz?ye=J?e9 G٣y}; > Nusing accuracyPremultiplier from config59ôn?5Y{ iyUJ?:{@8E;v;5 <ADNOT Ignoring new targets: 62.30 m. jjjjihhhhBf!f!f!rf!bf-{]@ɛ6BH>I I` IIdBI&I.I@D6If<:I F=S AEIA mnɚiiiIuۙd=Iuiu*S  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502091nWw,&4_A6l@Y6{@6k96 >y6Hlz?@V?`S> T? '?@ۂ?`?ɨ6l@6$;6CyBBBIIHIH٢R?/= RZ=9V;Q V>TT VG٣VRGyZ۾; Z> ^Nusing accuracyPremultiplier from config\b59^ģn?b5Y^p i^dfVf@^=E^e:^:^5n’B nAnƷEDNOT Ignoring new targets: 62.30 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5v]@ɛ]7B]J! YeIa esuɚaiaIed=ImimV. = u$?IA Ww,_A> m@Y> ){@> 9>¨ >y>H`w?@^?Z`?@??@g?ɨ> m@>(;>CyJBJIIRKIR4٢^>= ^I=9b;Q b>`` bG٣dyf: f> jNusing accuracyPremultiplier from confighn59jFn?n5Yj ijgprIr@jBEju ;j ;jO5t vDAtDNOT Ignoring new targets: 62.30 m. jjjjihh!h!h!f!f1f9rfIbfU`]@ɛ8BȆ 隅I 5ɚiIe=Ii I I IIBI&I.I6I<:I FO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257307Ww,`_A:l@Y:{@: 9:>y:H`<п?\? zT??Cd?`W?k?ɨ:l@:;:CyVBZI)d dMb@Mb@Mb@ )YK7A`?V-?/$?yK?<<A A)AIAyQAI#I%x3٢= :=9,;Q > G٣y@ >  Nusing accuracyPremultiplier from config%59;}n?%5Y$ i-6K?-:-5@HE;;>5EÒB MAMɷE t$?IDNOT Ignoring new targets: 62.30 m. jjjjihhh!h%Bf!f!f)rf)bfM U]@ɛ}9B} y}II HɚiIj-e=Ii *J "J %=JcKkـ3 Kk .KcKc"KcJ tJ sJ J J ;N:J 9J J J {j;J }j;J <:J =:{Ww,_AFyFH!`?Yd?@[P%.?)??cp?ɨF|| G٣RGyx' >  Nusing accuracyPremultiplier from config 59 \ln?5Y  i @ LE m ;  ; 5%’B %A-ηEEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761535DNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbfW]@ɛe:BeN amIi mٝɚiiiImIfe=Ii Ww,_ANހl@YNڟz@N9N]>yNHZ֓?P2^?2/4L7??͆? t?ɨNހl@NC#;NCyZ8BZ+ IMMb@Mb@Mb@III I)IYM(\?Mb`?Q?yMN?M;M G٣ymn > Nusing accuracyPremultiplier from config59-Xn?5Yޙ i&9N?:@RE;);5B AzKk3IKKK[KRK?JK?DNOT Ignoring new targets: 62.30 m. jjjjihHI I IIBI =&I.I6I<:I FhhhBfffrfbf@&]@ɛ;B   ҀI  5gɚ1i1I5 e=I=i=nK G B O- >- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523837XXw,m `A <<5uQl@Y5qpz@5m95hx>y5He?0_\?`A`-^gl??~?u?ɨ5uQl@5֝;5 CyMMBmD Iiu>IuR=I}UI}4٢ȼ= 9=9/;Q > G٣y<׻ > Nusing accuracyPremultiplier from config59Bn?5YG iA@WEE;E;5B tAѷEDNOT Ignoring new targets: 62.30 m. jjjjihhhhfffrfbf ^@ɛ5mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:08:46.5386 LVL= 18704, 13729, 13698, 21635, AGC= 64, IDX= 225,-0.48,-0.248, 1.937, 0.314,-0.239, PHS= 0.079, 2.223, 0.550, RAW= 317.9, -27.3, CAL= 317.8, -41.1, ROT= 192.2, 41.1 Ygot valid direction response: 23:08:46.5386 LVL= 18704, 13729, 13698, 21635, AGC= 64, IDX= 225,-0.48,-0.248, 1.937, 0.314,-0.239, PHS= 0.079, 2.223, 0.550, RAW= 317.9, -27.3, CAL= 317.8, -41.1, ROT= 192.2, 41.1 DAT read: Range 10 to 50 : 194.8 m (Round-trip 259.8 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.600106,0.555802,-0.575289]Fpublishing direction and range infoq9u7't4?9@ ?BhyuBCquIu5 u5)uTIu@iuʡ=uE@u ?u@u u5~@)u7IuV@iu7?qqu?G l{߈ѿ`ݿ)u5Iu+>iu/A??u?qq I GXw,-\%`A2#4l@Y2Sz@292~>y2H v?P?i`J?p?a?@7w?ɨ2#4l@2_;2Cy>nBBn IIJVIJn4٢bB> fm=9fR;Q f?hh jG٣jRGyj n? rNusing accuracyPremultiplier from configpv59rW2n?v5YrM irtzz@r\Er7:rX:r$5| ~gA|k3k?k@1 k k"`A:kBCBkACZkw@"VI I!IIBI&I.I6Iϰ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.G j-G rAG qAG B OU >5Xw,>?`A2l@Y2y2Hq\n?0B?I@q@7>?X?@?w?ɨ2l@2;2Cy:B: IMMb@Mb@Mb@III I)IYMkt?~jtQ?yM P?MIMEA MA)MAIIIyM AIJI)4٢= <=9:Q > G٣yjS > Nusing accuracyPremultiplier from config59n?5Y iSP?:@aED;<; 5 AԷEMAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N%Entering Terminal tracking update period 2.000000 s sec at 194.800003 m (mode 1.000000 count ).1N%qN% 5q$?I=h jAjAjAjAiAhAhIhIhMBfQfQfQrfQbfU~?ɛ>B. 隍\I ɚiI)f=IЌiiW?=))*F ?2F:FBF@5JFG7:GBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.J rJ rJ J J G:J 9J J J _;J _;J :J :>Xw,Y`A>Ml@Y>Iz@>9>|&>y>H?Xc?`;?}@?1?v?@y?ɨ>Ml@>w; Z]=9ZP;Q ^>\\ ^G٣`ybݛ b> fNusing accuracyPremultiplier from configdj59f n?j5Yfư ifllnn@ffEf<;fF;f 5vB vAzٷEZl@qN N B*** querying acoustic contact ***jj jjjj!i!h!h!h!h)f)f)f)rf)bf5`?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.ɛ P 隍cMI ]KɚiIOf=If!iiE_=))*FM?2FQ:FQBFUP0JFQG-<GB -p$?I)O5-> Will construct direction to contact in vehicle frame from tetrahedron phase data. 4= 4= ,DAT read: user:3031> = BDAT read: Tx time:23:08:48.8747 E $Ping request sent.E y6H @m[?M?@@8??`@?|?ɨ6k@6oӇ;4y^B^ I}Mb@Mb@Mb@yyy y)yY}oʡ?i|?5L7A`?y}M?}q}+=}A }A)}AI}Ayy} AIDI3٢@= <=9[A;Q > G٣RGy5 > Nusing accuracyPremultiplier from config59km?5Y iM?:$@lE;; 5 @blNNzKBoHK9KK]K*./*)*2Lq  ($RK% ?JK%? j)j)j)j)i)H=>I=C I=M!II=%BI9&I9.I96I=<:I= FBIJIRIZI =bI =jIF4h1hYhYh]DBfafafarfabfe@43?ɛ5?B5 9=?I9 =nɚ9i9Imbf=Iu\$iqiu00>)q)yMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243258*F!2F!:F!BF)JF) IG *f<G ?G 7?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4942333 #Xw,3Č`A>Wk@Y>Sy@>9>2>y>HC?If?@Y? ?Y?'~?ɨ>Wk@>ć;>CyFۂBF IIR#IR%x3٢Z0> Z[=9^/ Q ^>\` bG٣`yb4 b> jNusing accuracyPremultiplier from configdj59f.m?j5Yfw if.lnfn@fpEf;fu;f0 5p v@vܷEjl|NrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal jjjjihhh!h!f)f)f)rf)bf5@?ɛ@Bl n2I ɚiI{f=I)iini>))*F2F:FBF^0JFG GG<GBO=>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.748158 o$?I (7)Xw,`A:Вk@Y:̱y@:9:=y:H :?jr?h@;JE?>?.D?`?ɨ:Вk@:;: Cy^B^!Iibtt vG٣tyv[ z> Nusing accuracyPremultiplier from config| 59~m? 5Y~ i~ {@~vE~#;~ ;~5B @%߷E jQjQjQjQiYhYhYhahafififirfqbfu@ɛAB 'I ̨ɚQiQIUf=I]F.iaie >)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999657*F)2F1:F1BF5_0JF9G%=GBO%N>JuJ~JJJ[Q:Jf9JJa@a@a@a@zKMOKM9KIKM^KM}^OIKKIKJIKJINOM?)  H]>IY I]!II]gBI] =&IY.IY6I]<:I] FBKq:Kqu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254571M0Xw,z`ABsCk@YBoby@B 9BxX=yBHn @?? u~ B??+? ?ɨBsCk@B-;BCybBb4!I}Mb@Mb@Mb@yyy y)yY}|?5^?ʡE{Gz? n$?Iy}M?}-}ף<}A }A)yI}vAyy} AII0٢~ > <=9;Q > G٣RGy5 > Nusing accuracyPremultiplier from config59Am? 5Yh i O? :  @{E;Y;5 @ jjjjihhhhqBfffrfbf5g@ɛBB%I !%8I! %b穽ɚ)i)I-xf=IU4iQiQ)Q)Y*F?2F:FBFa0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503032G=GqAGpAGBOf>%G6Xw,T`A2Lj@Y2Hx@292~=y2H Lk?ydd jG٣hyjz j> rNusing accuracyPremultiplier from configlr59nPm?v5Yn intvN v@nEn:n:n~5x z.@~E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754368B*** querying acoustic contact ***jj jj!j!j!i!h!h!h)h)f)f)f)rf1bf5x@ɛCB 隥SI ȪɚiI'f=I 9ii))*Fm?2Fq:FqBFu0JFq"G=G> m$?IGe+">GaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007480qIC I!IIBI&I.I6I<:I F )Yv/?Mby&1?yxI?`e<`A lA)lAIAy= AIKI4٢= 6=9Q >!! %G٣!y5 => ENusing accuracyPremultiplier from configAM59ELm?M5YE0 iEmM&L?M:M#U@EEEH;E;Eu5]B ]@]E jjjjihhhhiBfzK NKͼ9KK_K        ffrfbf` @ɛDB I 槫ɚiI̍f=IJ0?ii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259996*F ?2F :F BF  2JF  l$?IhGaQ/>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510734\CXw,aA:yi@Y:u&w@:c9:=y:H+@(>?ܢ?`T@O[?弼?`UA?`;?ɨ:yi@:;:CyjRBj!IIvTIv4٢~P> ~^=9o   G٣RGym > %Nusing accuracyPremultiplier from config%59wqm?-5Y? iU)-j%-@E:;59 =[@9 jajajajaiahahahihifififqrfqbfu@ɛEB< 隭I A^ɚiIf=IUDii))*F?2F:FBF4JFGc4>GBOA>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762254 I IXw,}'aA6g@Y6u@6޽96L=y6H@zJ?Oܩ?) J?˻?@9u?`?ɨ6g@6}H;4yndBn!IIFI%3٢= I=9% )) 5G٣1y537 => eNusing accuracyPremultiplier from configQu59UYm?}5YU iU&@UEU/;U_;U5 >@E jjjjihhh h fffrf!bf%@Will construct direction to contact in vehicle frame from tetrahedron phase data.՝e>՝<BDAT read: Rx Time:23:08:51.5422 TRx dataTimestamp_ set to:1736377732.709059checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015690ɛFBI I %,ɚ!i!I-Af=IUKG@iQiQ)Q)YEa*F?2F:FBF1JFGqA GG=b>GBO-o>JJJ1JJ:J9J3JHy>IC I5"IIBI =&I.I>D6Iհ<:I FzK MK 9K K `K Kbw}|||yyvsooprnmlkjhE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266232nPXw,AaA2pf@Y2ݏt@2׽92.?@ N?A`Y??N?-?ɨ2pf@2;;2"Cy>qB>!IiB0>IB= F>Fp=-Mb@Mb@Mb@))) )))Y- r?p= ף{Gz? =k$?I9y-C?--#<-A -A))I-A)y-AIM2IM?3٢]= ]F=9eaa mG٣iym'] m> }Nusing accuracyPremultiplier from configq}59uBm?5Yu iuiF?:o(@uEu;u{;u5B ^@E jjjjihhhhqBfffrfbf@ɛ%HB% !EZ־II U-᭽ɚQiQI]Rf=I]vB@iaia)a)i*F?2F:F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521291G=% >GBO=r>)=  1 I s Y y @B*J "J R=VXw,Û[aAWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 23:08:51.5422 LVL= 25744, 18417, 16178, 27811, AGC= 57, IDX= 469, 0.37, 0.367, 2.592, 0.940, 0.495, PHS=-0.040, 2.144, 0.442, RAW= 317.9, -24.4, CAL= 319.0, -36.7, ROT= 191.0, 36.7 EYgot valid direction response: 23:08:51.5422 LVL= 25744, 18417, 16178, 27811, AGC= 57, IDX= 469, 0.37, 0.367, 2.592, 0.940, 0.495, PHS=-0.040, 2.144, 0.442, RAW= 317.9, -24.4, CAL= 319.0, -36.7, ROT= 191.0, 36.7 MPDAT read: Bearing 191.0, 36.7 (Local) M~Local bearing/azimuth received: Bearing 191.0, 36.7 (Local) UDAT read: Range 10 to 50 : 197.5 m (Round-trip 263.4 ms) speed -0.8 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.556483,0.576255,-0.598545]eFpublishing direction and range info9B+?ˮp?˜BH'yECdG 2?)lI9i #L7 @M>^ ھ )@)(#I[YU@i(#?ڕ뿅rv5ѿsw6gڿ)^5I>iM?dE$?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yޝyBޝ!IIDI3٢= D=9Q > G٣RGy > Nusing accuracyPremultiplier from config594+m?5Y i@E::v5 @EkYaf?kA0 k kl]aA:kECBk-DCZk*ْ@"?y[@/s\@~]B+?ˮp?˜BH'JkM?RkdE$?*$ 4 #~diU"YJ`麿[f aLh"kk'*kkUf?k;Ɲ1 2kkkkkCkh3? addTargetRange:: Added new target pos. range: 197.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 BjJj Added new target pos. range: 197.500000 m, bearing: 262.930865 deg, lat: 36.904949 deg, lon: -122.119634 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ZjFNOT Ignoring new targets: 197.50 m.BjJj 5i$?I1= ProNav pure pursuit: ac range: 197.500000 m, nav range: 148.514282 m, bearing: 40.067009 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 45.146650 deg, new cmd heading: 40.067009 deg. mHeadingCmd: 0.699301 target range: 197.500000 and range: 197.50 m. jmh3?jijijiiihihqhqhqfqfyfyrf}h@bf}@@?ɛ JB wоI 1ɚiIf=IJ<@ii!)5h3?)A*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3032> BDAT read: Tx time:23:08:52.9247 $Ping request sent.Gy B O >\Xw,vaAFRb@YFNq@Fdɽ9FyFH`?? ͡@1??% P?ɨFRb@Ḟ;FCynBr!IJJJ0JJ̈́:Jľ9Jـ3JH5r>I5C I5m"II5BI5 =&I1.I5=D6I5<:I5 F]Mb@Mb@Mb@YYY Y)YY]{Gz?Cl绿y&1|?y]C?];߽]`;] A ]A)YI]AYy]AISI4٢Ҥ= 9=zKNK 9KKaKgjopw~yuqkjjfeipsoi^WWSQKHFA?;942/-,)(&"9 G٣y > ENusing accuracyPremultiplier from configM59`m?M5Y  iME?U:U**U@El0< 0<n5Y ]@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 197.50 m.BjۚJjۚWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246598e ProNav pure pursuit: ac range: 197.500000 m, nav range: 148.852249 m, bearing: 40.038394 deg, approach rate: 0.801310 m/s, LOS rate: -0.067693 deg/s, cmd heading: 40.067010 deg, new cmd heading: 40.038394 deg. uHeadingCmd: 0.698802 target range: 197.500000 and range: 197.50 m. ju2?jjjihhhhmBfffrfbf`jK?ɛ]KB]! Y]俾IY eLɚaiaIeg=Im6@iiii)m2?)qE}qAEy h$?I*F-?2F):F)BF-V0JF)"G5>G5,>GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ =Յ p= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500516G) B1 OU >cXw, aA6$`@Y6 o@6IĽ96:y6He h?q?Ϗ1??z?ɨ6$`@6e[;6Cy>B>!I)@ @DFAIJ/IJ3٢]< ]b=9]J;Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59ul?}5Yu* iu,@uEue:ue:u5 [@EZjFNOT Ignoring new targets: 197.50 m.BjdJjd ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.115295 m, bearing: 40.012952 deg, approach rate: 0.771462 m/s, LOS rate: -0.074484 deg/s, cmd heading: 40.038395 deg, new cmd heading: 40.012952 deg. HeadingCmd: 0.698358 target range: 197.500000 and range: 197.50 m. j2?jjjihhhhfffrfbf@#?ɛLB5 I! %ɚ!i!I% Ig=I2@ii)2?)*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750546Gh> I G B O >:iXw,aAR%_@YRDm@Ri9R+v]yRH?Zs? p?`]ķ? ?ɨR%_@R&;RCybBb!IIrDIr3٢z|4= zR=9~;Q ~> G٣RGy,  > Nusing accuracyPremultiplier from config%59l?%5Yn i)---@E:: 55B =@=EZjFNOT Ignoring new targets: 197.50 m.BjݭJjݭ ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.405289 m, bearing: 39.981656 deg, approach rate: 0.705624 m/s, LOS rate: -0.076003 deg/s, cmd heading: 40.012952 deg, new cmd heading: 39.981656 deg. %HeadingCmd: 0.697812 target range: 197.500000 and range: 197.50 m. j%ǣ2?j!j!j!i)h)h)h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002787h9fAfAfArfAbfM Y2?ɛuNBu4 q}zIy }YɚyiyI}sg=I-@ii)ǣ2?)*F?2F:F!BF%`1JF)jH=<bH=p<HEm>IEC IE"IIE2BIE =&IEGD.IA6IEV<:IEk FBIƩCJIƩCRIƕCZI =bI =jI"6G^>zK NK 9K K bK      BK] pA:KY Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254458pXw,paA *g$?I(>yH]@Y>ugk@>G9>߁y>HdK+? ?J_ ? W(@\?ɨ>yH]@>;>CyfBj!I]Mb@Mb@Mb@YYY Y)YY]X9v?+~jtx?y]=?]];]A ] A)]AI]M AYy]AI}#I}%x3٢ < 9=9EW;Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configY59]Vl?5Y] i]??:i-@]E];];]"5 @EZjFNOT Ignoring new targets: 197.50 m.Bj ɬJj ɬ ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.724869 m, bearing: 39.948364 deg, approach rate: 0.726584 m/s, LOS rate: -0.075530 deg/s, cmd heading: 39.981656 deg, new cmd heading: 39.948364 deg. EHeadingCmd: 0.697230 target range: 197.500000 and range: 197.50 m. jE}2?jIjIjIiIhIhIhQhUVBfQfQfQrfybf} {R?ɛ%PB%߽ !%I! -ɚ)i)I-@g=I5&@i1iq)u}2?)yEV>E)>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507894*F 2F :FBF/1JFG GpAJ= J= J9 J9 J= -:J= [9J9 J9 J= ;aE J= ;aE J= ;aM J= ;aM G G B O >T'wXw,&aA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758438Ed[@YEi@Eì9E%yyEH`?`?@P޿FJ/ ?z?ɨEd[@EH;AyeBe!Iim=Im>I}6I}m3٢"= P=9co G٣yP > Nusing accuracyPremultiplier from config59l?5Y iL/@E::V$5B @EZjFNOT Ignoring new targets: 197.50 m.Bj#Jj# ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.001541 m, bearing: 39.916289 deg, approach rate: 0.691821 m/s, LOS rate: -0.080055 deg/s, cmd heading: 39.948363 deg, new cmd heading: 39.916289 deg. HeadingCmd: 0.696671 target range: 197.500000 and range: 197.50 m. jY2?jjjihhhhfffrf f$?I ibf%@ɛMRBM QU4IQ UɚQiQIU&$h=I]!@iYia)eY2?)*F?2F:F!BF%@5JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. Y? =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011118GA G BI O >9L}Xw,XaA2nY@Y2؍g@2_T92);y2H`cY?C&?BݿusN?` W?ɨ2nY@2;2 CyBBB!IHVh>IVC IV"IIVABIV =&IT.IV G٣RGyq > Nusing accuracyPremultiplier from config59ўl?5YS i6>?:-@E;#;&5 L@EZj%FNOT Ignoring new targets: 197.50 m.Bj-Jj-= ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.291229 m, bearing: 39.885385 deg, approach rate: 0.753419 m/s, LOS rate: -0.080219 deg/s, cmd heading: 39.916288 deg, new cmd heading: 39.885385 deg. =HeadingCmd: 0.696131 target range: 197.500000 and range: 197.50 m. jE52?jAjAjAiAhAhAhIhMYBfIfIzKuMK9KKcK#(-.155587651/0/11.,))*%%$%%$! RK?JK ?fQrfbf`g@ɛSB I  ɚi I h=I5Q}@i1i1)552?)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262641*F?2F:FBFO0JF e$?I Gc>G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5156973Xw,bA6kW@Y6e@6a96y6H Ql?@*?`3zۿhM}x?m?@yG?ɨ6kW@6@;4y>BB!IIJCIJ3٢NV; R]=9RTT VG٣TyV Z> ^Nusing accuracyPremultiplier from configX59Zl?%5YZ iZ,!%/%@ZEZhG>}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766622 d$?IG- h>G B O- >_Xw,{+bA:qQU@Y:mpc@:?9:&3y:H'B`? _?"ٿSb?@?@e -?ɨ:qQU@:%;8yFBF!I)H JALNAIRWIR44٢^ۤ ^H=9b`d fG٣dyf f> nNusing accuracyPremultiplier from confighr59jql?r5Yj ijpr 2r@jEj;j;j)5x zy@xZj9=FNOT Ignoring new targets: 197.50 m.BjEۺJjEۺU ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.837769 m, bearing: 39.816362 deg, approach rate: 0.725171 m/s, LOS rate: -0.096030 deg/s, cmd heading: 39.854284 deg, new cmd heading: 39.816362 deg. ]HeadingCmd: 0.694927 target range: 197.500000 and range: 197.50 m. j]1?jajajaiahahahihifififirfqbfu} @ɛUBf 隥\I xɚiIyi=IsC@ii)1?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:08:55.5958 TRx dataTimestamp_ set to:1736377736.743673checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022602*F]?2FY:FaBFe_0JFaHc>I I"IIFBI =&I.I;D6I<:I FGuc>G1B9O]>zKU zMKU 9KQ KU dKU        BK] qA:K] rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270469 I EXw,WEbAF OS@YFna@F"l9FiyFH൨`b??l׿@w?0?mV?ɨF OS@F;F#Cy^B^!I}Mb@Mb@Mb@yyy y)yY}n?{Gz G٣ RGy > Nusing accuracyPremultiplier from config59{Yl?5Y i 6?:1@E/;;e+5B 0@EZjFNOT Ignoring new targets: 197.50 m.BjcJjc ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.128815 m, bearing: 39.778781 deg, approach rate: 0.649178 m/s, LOS rate: -0.083663 deg/s, cmd heading: 39.816362 deg, new cmd heading: 39.778781 deg. HeadingCmd: 0.694271 target range: 197.500000 and range: 197.50 m. j1?jjjihhhh1Bf)fQfYrfYbfeR @ɛWBݽ I {ɚi)I-cj=I5 @i9i9)=1?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522730*F?2F:FBFJFJ J J 1J J M:J u9J 3J GE Y>G B) OM >ApXw,3_bA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: Range 10 to 50 : 200.1 m (Round-trip 266.9 ms) speed -0.1 m/s -*X#Rx 1: Read range message, but no direction. y"HC .T****** received valid address query ******.R****** received valid ping request ******.Querying Benthos address 50 with one ping in standard two-way mode.yB"IIUI4 c$?I٢Ѩ< <=9Q > G٣y > Nusing accuracyPremultiplier from config59(Al?5Y i@E;t;K-5 @E] addTargetRange:: Added new target pos. range: 200.100006 m, deltaT: 4.032147 s, deltaX: 2.600006 m, approachRate: 0.644819 m/s, rangeRepo size: 2 ZjYeFNOT Ignoring new targets: 197.50 m.BjeȺJjeȺ ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.421585 m, bearing: 39.741131 deg, approach rate: 0.684009 m/s, LOS rate: -0.087794 deg/s, cmd heading: 39.778783 deg, new cmd heading: 39.741131 deg. HeadingCmd: 0.693614 target range: 197.500000 and range: 200.10 m. j1?jjjihhhhfffrf@3i@bf?ɛXB $I :ɚiIk=IE@iIiI)M1?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3033> BDAT read: Tx time:23:08:56.9748 $Ping request sent.I C I "II ABI  =&I .I 6I <:I FzKIMK@9KKeK !$&%&(((+*),/0.,(((/0-('&#" Gc>Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսAJDAT read: TxSync time:23:08:56.9740 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255058GABQOm ?dXw,abA Ub$?IQ*M@YI[@+9S9yH`4?`۟?ѿ  O??`'4??ɨ*M@ˈ;騝!Cy޵B޵"Iia=I< a=a=}Mb@Mb@Mb@yyy y)yY}"~?V-?~jtxy}3?}<}Ļ}A }A)}AI}QAyy}3AI]I$4٢< =9==Q > G٣y5 > Nusing accuracyPremultiplier from config59"l?5Y iZ 4?:24@E;;/5 @ EZj!-FNOT Ignoring new targets: 197.50 m.Bj5޺Jj5޺U ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.777969 m, bearing: 39.689329 deg, approach rate: 0.669515 m/s, LOS rate: -0.097088 deg/s, cmd heading: 39.741131 deg, new cmd heading: 39.689329 deg. ]HeadingCmd: 0.692709 target range: 197.500000 and range: 200.10 m. j]hU1?jajajaiihihihqhuBfqffrfbf?PExceeded connect timeout, disconnecting.ɛYB"۽ =隽枾I 봽ɚiIjl=I?ii)hU1?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503759E =q tA A %Y tAy gB*F ?2F :F BF d4JF J3K;3 K;.-K3K3"K3J J J 0J J :J J ـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755346GGB)OE?؆Xw,ãbA $I$>?K@Y>^Y@>q7ż9>$H,`%?@B? пM*? R??6?ɨ>?K@>Չ;>CyJBJ"IIR0IR(3٢Z帼 Z/=9^\\ ^G٣b!RGybT f> jNusing accuracyPremultiplier from configdn59f.l?n5Yfu if/pr6r@fEf J;fJ;f15vB z@z E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 197.50 m.BjWJjW꺝 ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.081268 m, bearing: 39.641488 deg, approach rate: 0.650725 m/s, LOS rate: -0.102438 deg/s, cmd heading: 39.689328 deg, new cmd heading: 39.641488 deg. HeadingCmd: 0.691875 target range: 197.500000 and range: 200.10 m. j1?jjjihhhhfffrfbf?ɛZBI 隅[I ɚiIm=I^?ii)1?)E =*F?2F:FBFQ0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007758G ^>H \>I  I "II 7BI  =&I .I :D6I <:I FG B O >FXw,4ebA6I@Y6W@6964'll nG٣lyr; r> zbBottom track data is 0.4 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59vk?~5Yvt iv~+:|t:7@vEvA;vx>v#35  @ Zj15FNOT Ignoring new targets: 197.50 m.Bj=Jj=M ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.340714 m, bearing: 39.597634 deg, approach rate: 0.642749 m/s, LOS rate: -0.108459 deg/s, cmd heading: 39.641489 deg, new cmd heading: 39.597634 deg. UHeadingCmd: 0.691109 target range: 197.500000 and range: 200.10 m. jU0?jQjY}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259145zKMK9KKfK      jihhhhfffrfbf Ox?ɛM[BU qu`Iq } ɚyiyI}an=I?ii)0?)*E="E= e_$?Ii MnManaging dock network, ignoring radio surface power offE͢=Ee>E>*FU?2FQ:FQBF]P0JFY5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511806G c>Gq By O >=.Xw,cbA>bG@Y>^U@>3ͻ9>*6H@?_9?Ir?`8ɿ_?py?@??ɨ>bG@>Y;> CyFB*JZ4="JXF"I)l lllIrHIr<3٢[  4=9%)11 =G٣9yE6 E> ]bBottom track data is 0.9 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQm59Uk?u5YUx iU#u :q}E:}9}@UEU;UH^?Ut45B 9@EZjFNOT Ignoring new targets: 197.50 m.BjwJjw ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.631210 m, bearing: 39.544770 deg, approach rate: 0.618364 m/s, LOS rate: -0.112315 deg/s, cmd heading: 39.597632 deg, new cmd heading: 39.544770 deg. HeadingCmd: 0.690186 target range: 197.500000 and range: 200.10 m. j0?jjjihhh!h!f!f!frfbf?ɛ\B] nI ɚiIYp=I%,?i!i))-0?))E1E1*E5"E5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763082 ^$?I*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006G ^>G B OE>TXw,BbAHZ>IC I"II(BI =&I.I6I<:I FBICJICRICZI =bI =jI6MǦE@YMS@M$>;9M4;yMH@Q?mlo;Rſ`oȭu?`Bg6w? ?ɨMǦE@M;;IyeBe "IJJJJJ:J9JJJQ;aJR;aJ:;aJ:;a    %%  % % %Mb@Mb@Mb@!!! !)!Y%Q?V-?y&1y%\/?%h=%`e%A %A)%$AI%A!y% AI=NI=@ 4٢M< M =9MQQ UG٣U"RGyU{ ]> eNusing accuracyPremultiplier from configYu59]k?u5Y] i]c}T:}U0?}:}7}@]E]MV;]T;]65! %@%EZjiuFNOT Ignoring new targets: 197.50 m.BjHJjH麝 ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.947769 m, bearing: 39.491903 deg, approach rate: 0.611884 m/s, LOS rate: -0.101976 deg/s, cmd heading: 39.544770 deg, new cmd heading: 39.491903 deg. HeadingCmd: 0.689264 target range: 197.500000 and range: 200.10 m. js0?jjjihhhhBfffrfbf@ @]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267032ɛe]Bm3߽ mZ=m8Ii m+SɚqzK+LK59KKgK   #,:ITTOLHEB?=RKJK>iqIznr=I/?ii)s0?) I*F?2F:FBF]0JFG c>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189543Xw,נcA6C@Y6޾Q@6;<96%8i;y6H@.` O?(@P @:`?Wc&m?j?ɨ6C@6 Ȋ;6Cy~B~ "II I ٢%d< %a=9%)) -G٣)y5/ 5> =Nusing accuracyPremultiplier from config9E59=k?E5Y=z i=AE9M@=E=:=:=>85UB U@UEZjFNOT Ignoring new targets: 197.50 m.Bj7 Jj7  ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.173447 m, bearing: 39.451110 deg, approach rate: 0.664655 m/s, LOS rate: -0.119965 deg/s, cmd heading: 39.491901 deg, new cmd heading: 39.451110 deg. HeadingCmd: 0.688552 target range: 197.500000 and range: 200.10 m. jD0?jjjihhhhfffrfbf@ɛ I gɚiIs=I?ii)D0?)E*F-?2F):F)BF-0JF)G1 G5rA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772030Gi  ]$?I Gi B O >G`Xw,<+cAy%B%"IiU>IU< ]=]=Ie@Ie3٢m# uE=9uQ }>yy }G٣yy > Nusing accuracyPremultiplier from config59k?5YB i@E-;-;:5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 197.50 m.BjpJjp ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.430847 m, bearing: 39.404747 deg, approach rate: 0.618543 m/s, LOS rate: -0.111224 deg/s, cmd heading: 39.451111 deg, new cmd heading: 39.404747 deg. HeadingCmd: 0.687743 target range: 197.500000 and range: 200.10 m. j0?jjjihhh h f f f rfbf V @ɛE^BMّ IMII UHɚQiQIUru=I]-?iYiY)]0?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:08:59.6141 TRx dataTimestamp_ set to:1736377740.772580checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023978*F?2F:FBF%K3JF!H=X>I9 I="II=BI= =&I9.I96I=ܰ<:I= FJJJ1JJܫ:J9J3JJ;J;J8;J8;GiG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275133zKU nMKU 9KQ KU hKU 742-)%7v "3AMRPL@3%rf[OB93+("! BK pA:K pA \$?I FXw,6ZEcA2?@Y2M@2<92;M;y2H 6?f@꘲M^m?`agv?(?ɨ2?@2'v;2 CybBb"IMb@Mb@Mb@ )Y&1? rh?I +y0?C=94A );AIlAy3AISI4٢; E=9 =Q > G٣#RGy: > Nusing accuracyPremultiplier from config59vk?5Y iN1?:>@E9;-;;5 @ZjFNOT Ignoring new targets: 197.50 m.BjJj ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.681427 m, bearing: 39.351674 deg, approach rate: 0.589745 m/s, LOS rate: -0.124705 deg/s, cmd heading: 39.404748 deg, new cmd heading: 39.351674 deg. HeadingCmd: 0.686816 target range: 197.500000 and range: 200.10 m. j1/?jjjihhhhBfffrfbf @ɛae amȣIi ݸɚiI?ow=Iʬ?ii)1/?)Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 176.4 m (Round-trip 235.2 ms) speed -0.2 m/s - X#Rx 1: Read range message, but no direction.yf0CT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EErA*F ?2F :F BF `0JF "G >G > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3034>  BDAT read: Tx time:23:09:00.7248  $Ping request sent. Xw,{dcAR=@YRK@RY=9R;yRH@ j?I.t?}jy?`?ɨR=@R;R!Cy^B"I)! %AI)I)٢< (=9T G٣y~ > Nusing accuracyPremultiplier from config59Zk?5Y i@@E;;=5B |@EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 176.399994 m, deltaT: 3.782139 s, deltaX: -23.700012 m, approachRate: -6.266299 m/s, rangeRepo size: 2ZjFNOT Ignoring new targets: 197.50 m.BjKJjK ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.969223 m, bearing: 39.286552 deg, approach rate: 0.581785 m/s, LOS rate: -0.131399 deg/s, cmd heading: 39.351674 deg, new cmd heading: 39.286552 deg. %HeadingCmd: 0.685680 target range: 197.500000 and range: 200.10 m. j%/?j!j!j)i)hIhIhQhQfQfQfYrf] f@bfe?ɛ_B ?=隕#I  ɚiIDy=I?ii)/?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=<=<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251090E e=H V>I C I s"II BI &I .I 9D*F 2F :F BF _0JF 6I <:I FJ J J 0J J :J 9J ـ3J J ;J ;J O>;J P>; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832Gm> 5[$?I1GBzKNK9KKiKRK  ?JK ?O?Xw,FcANw9@YNrG@NEj'=9N _;yNH Ě@J⤿ r?s )q?뤿@k?@?ɨNw9@N};NCyZÃBZ"I=Mb@Mb@Mb@999 9)9Y=tV?MbX9?{Gzy=2?=ʡ==ף=A =A)=AI=@9y=AIM(IM̍3٢],< e=9e̊ii mG٣m$RGym u> }Nusing accuracyPremultiplier from configq59uG! B1 OM >Xw,cAcAJj7@YJfE@JhX5=9J;yJHD`󈫿RooY?@2B?'S|??ɨJj7@Jt;JCyVȃBV"II^)I^W3٢f< fV=9fhh jG٣hynѸ n> rNusing accuracyPremultiplier from configpv59r|%k?v5Yr ir;tz>Ez@rErL:rn:rA5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008455B @$E Y$?IZj1=FNOT Ignoring new targets: 197.50 m.BjEh+JjEh+u ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.489105 m, bearing: 39.152981 deg, approach rate: 0.561401 m/s, LOS rate: -0.149857 deg/s, cmd heading: 39.211091 deg, new cmd heading: 39.152981 deg. }HeadingCmd: 0.683348 target range: 197.500000 and range: 200.10 m. j}.?jyjyjyiyhyhhhfffrfbf q?ɛ- )5 I1 5ɚ1i1I5sN~=I=?i9i9)=.?)AEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261131*F2F:FBF`0JFGrA GG c>H W>I C I m"II BI  =&I .I :D6I <:I FG1 G5 rAJJJJJ̝:J9JJJ;J;J8;J8;GYBiO>Xw,cAV]w5@YVXC@V>=9Vl Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793 G٣y > Nusing accuracyPremultiplier from config59k?5YB i/5?:H@EQ;;(D5  @ 'E-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 197.50 m.BjM4FJjM4F] ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.772247 m, bearing: 39.070328 deg, approach rate: 0.594708 m/s, LOS rate: -0.173284 deg/s, cmd heading: 39.152980 deg, new cmd heading: 39.070328 deg. eHeadingCmd: 0.681906 target range: 197.500000 and range: 200.10 m. jeb.?jajajaiihihi Ihih-(Bf)f1f1rf1bf5q?ɛQ 隝lI 1ɚiIj=Is?ii)b.?)zK-&~JK-@9K)K-jK-|O7- {ng^YTJB>60)$*Fa2Fa:FaBFe81JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ ??՝ H? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766326G )Y Y G B  c~G5 |uAM A u *Yu |uAyu #BO} >Xw,;cAV0r3@YV+A@Vf1N=9Vh;yVH`%߽?Q?`cé5~?f?ɨV0r3@VJ;V!CybăBb"IIjSIj4٢v& vZ=9v%xx zG٣z%RGy~v ~> Nusing accuracyPremultiplier from config 59j? 5Y% i  H@@E:7:E5B %@!ZjIMFNOT Ignoring new targets: 197.50 m.BjU?JjU?e ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.974014 m, bearing: 39.007767 deg, approach rate: 0.541020 m/s, LOS rate: -0.167534 deg/s, cmd heading: 39.070328 deg, new cmd heading: 39.007767 deg. mHeadingCmd: 0.680814 target range: 197.500000 and range: 200.10 m. jmI.?jijijiiihihqhqhqfqffrfbf[@ɛAEof AM'II MɚIiIIMrc=Iu*|`?iqiq)}I.?)y*JR="J%=*F ?2F :F BF 5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015140 X$?IG1G B O= >yXw,kcA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266752:}1@Y:?@:W=9:WX\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fUj?j5Yf ifJhjF@n@fEf;f;fG5p r@r*EZjimFNOT Ignoring new targets: 197.50 m.BjM@JjM@ ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.183487 m, bearing: 38.938933 deg, approach rate: 0.512316 m/s, LOS rate: -0.168124 deg/s, cmd heading: 39.007767 deg, new cmd heading: 38.938933 deg. HeadingCmd: 0.679613 target range: 197.500000 and range: 200.10 m. j-?jjjihhhhfffrfbf@ɛ)5| 15/I1 =ɚ9i9I=3y=IEdJ?iAiA)E-?)A*F?2F:FBFP0JF"G>G>HUV>IQ IUf"IIU BIU =&IQ.IQ6IṴ<:IU FJ=J=J9J9J=\:J=9J9J9J=j;J=l;J=%7;J=%7;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520176G-^>G5 ?G5> V$?IG) B1 OM >zK OTOK s9K K kK "     Yw,~ dAU"/@YU=@U]=9UZ3  G٣yu > Nusing accuracyPremultiplier from config59hj?5Y i68?-:-.C@-@ E,;;I51 5=@=-EZjyFNOT Ignoring new targets: 197.50 m.BjTJjT ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.447922 m, bearing: 38.844216 deg, approach rate: 0.520642 m/s, LOS rate: -0.186169 deg/s, cmd heading: 38.938932 deg, new cmd heading: 38.844216 deg. HeadingCmd: 0.677959 target range: 197.500000 and range: 200.10 m. j-?jjjihhhh8Bfffrfbfn@ɛu^Bu y}Iy }ɚyiyI}ڃ=Iz8?ii)-?)*F}?2Fy:FyBF}5JFyJJ@A Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:09:03.3332  TRx dataTimestamp_ set to:1736377744.553277 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024411 U$?I G c>G B O >nj Yw,~'dAF-@YF;@F^=9F{;yFHB ʿ@8f`?LP,?@|Ы@n,?`?ɨF-@F;DyVσBZ"IIb\Ib#4٢j)< nq=9n_:Q r?pp vG٣v&RGyz½ z ? Nusing accuracyPremultiplier from config59j?5Y( i9A@@ E+u;u;-K5-B 5@50EZjq}FNOT Ignoring new targets: 197.50 m.BjZJjZ ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.610580 m, bearing: 38.782530 deg, approach rate: 0.504284 m/s, LOS rate: -0.191041 deg/s, cmd heading: 38.844215 deg, new cmd heading: 38.782530 deg. HeadingCmd: 0.676883 target range: 197.500000 and range: 200.10 m. j2H-?jjjihhhhfffrfbf0 @ɛ nY=隭I ɚiIi=I/?ii)2H-?)*F?2F:FBFU0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274855GZH RH AAH X>I  I I I &I .I 6I Ӱ<:I FBIeɣCJIeɣCRIeɓCZIe =bIe =G BQ jIe?4O >EOYw,{LAdAWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:09:03.3332 LVL= 15600, 13409, 9202, 17139, AGC= 62, IDX= 104,-0.03, 1.359,-2.939,-2.417, 2.914, PHS=-1.467, 0.476, 0.949, RAW= 259.4, 0.4, CAL= 262.1, 1.1, ROT= 247.9, -1.1 UYgot valid direction response: 23:09:03.3332 LVL= 15600, 13409, 9202, 17139, AGC= 62, IDX= 104,-0.03, 1.359,-2.939,-2.417, 2.914, PHS=-1.467, 0.476, 0.949, RAW= 259.4, 0.4, CAL= 262.1, 1.1, ROT= 247.9, -1.1 ]PDAT read: Bearing 247.9, -1.1 (Local) ]~Local bearing/azimuth received: Bearing 247.9, -1.1 (Local) mDAT read: Range 10 to 50 : 153.1 m (Round-trip 204.2 ms) speed -0.3 m/s mR#Rx 1: Read range and direction messages.u`direction in FSK: [0.059554,-0.286315,-0.956283]}Fpublishing direction and range info9}?OjZRҿޙyC<a4 #)BI>iƻF>r?T@; _b@)nF!) -G٣)y-$^ -> =Nusing accuracyPremultiplier from config1e595j?e5Y5 i5e78?e:e?@e@5E5;5V;5M5q u@u3Ek:'ym?kf6 k kCdA:kCBkCZk?"zӒE<"@?E?5KMb}?OjZRҿޙJkϮRk?*ˆ3L"@LсD@@z^b=&?LG싌?8€:"k'B*kBAkO~m?k5贾 2kkO~m?k5贾 k k+Bkt?eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 153.100006 m, deltaT: 7.560049 s, deltaX: -47.000000 m, approachRate: -6.216891 m/s, rangeRepo size: 2ZjaeFNOT Ignoring new targets: 197.50 m.BjmLSJjmLS ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.875427 m, bearing: 38.678292 deg, approach rate: 0.470162 m/s, LOS rate: -0.184732 deg/s, cmd heading: 38.782531 deg, new cmd heading: 38.678292 deg. HeadingCmd: 0.675064 target range: 197.500000 and range: 200.10 m. j,?jjjihhhhIBfffrf@3#c@bf?ɛ%]B%޽ !%I) UɚQiQIUn;=Ie1,?iaia)e,?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3035> BDAT read: Tx time:23:09:04.5748 $Ping request sent.GQ GU qAG BO->tfYw, _dAJJJ J J<:J9J J a@a@a@a@R)@YR7@R[=9Rk;yRH@ѿ`]6?N?@wu Nv??ɨR)@R%;R Cyv׃Bv*"Iiz=Iz=I|I|٢ < v=9Q ? G٣y% %? -Nusing accuracyPremultiplier from config)559-rj?55Y- i-9==@=@-E-;-;-N5A E@E1EeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 197.50 m.Bj}\vJj}\v ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.032898 m, bearing: 38.612698 deg, approach rate: 0.517594 m/s, LOS rate: -0.215385 deg/s, cmd heading: 38.678292 deg, new cmd heading: 38.612698 deg. HeadingCmd: 0.673919 target range: 197.500000 and range: 200.10 m. j,?jjjihhhhfffrfbf?ɛ ÅI aɚiI=I,?iiMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:23:09:04.5740 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249484 S$?I),?)*F]?2FY:FYBFe_0JFaGh>Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500754!Yw,1xdA6;'@Y665@6e(W=96_;y6H@ы ҿ? ? ᪿOt??ɨ6;'@6h;6!CybԃBb&"IIjIjT3٢rq rN=9v1:Q v>tt zG٣z'RGyz z>  Nusing accuracyPremultiplier from config 596[j?5Y iF<@@E&:i:P5) 5@54EH}[>Iy I}m"II}BI} =&Iy.Iy6I}<:I} FZjiuFNOT Ignoring new targets: 197.50 m.BjuFJjuF ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.215622 m, bearing: 38.532202 deg, approach rate: 0.394580 m/s, LOS rate: -0.173622 deg/s, cmd heading: 38.612699 deg, new cmd heading: 38.532202 deg. HeadingCmd: 0.672514 target range: 197.500000 and range: 200.10 m. j),?jjjihhhhfffrfbfފ?ɛ-\B- 15 I1 5ɚ1i1I=`L=I=),?i9iA)E),?)ieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752907 IEM=zKuFKKu@9KqKumKu RK ?JK?*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004685G-^>GBO->-%Yw,dAF#@YF2@F@=9FU:yFH`m|ֿD`!u? 9P?W??ɨF#@FM;FCyR܃BR/"I z@z z@~ ~@~  ~@~ I~I~(*2٢ 8< #=9p3Q > G٣y% %> 5bBottom track data is 0.5 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-=j?=5Y- i-/=+:9Eo:E+8@E@-E-C;-,?-R5MB M6@M7EZjquFNOT Ignoring new targets: 197.50 m.Bj}㊻Jj}㊻ ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.429138 m, bearing: 38.426045 deg, approach rate: 0.489124 m/s, LOS rate: -0.242853 deg/s, cmd heading: 38.532201 deg, new cmd heading: 38.426045 deg. HeadingCmd: 0.670661 target range: 197.500000 and range: 200.10 m. jq+?jjjihhhhfffrfbf?ɛq 隍VI ɚiI)n=Iq+?ii)q+?)JuJqJqJqJu:JqJqJqEa5=*F2F:FBF_0JF R$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263739G% c>G B O% >j,Yw,9cdA2"@Y240@28=92J:y2H`4q=ؿl @6? ?qZ??ɨ2"@2u$;2CyBكBB,"I)D DDFAIJ#IJ%x3٢Vv VQ=9ZQ Z>XX ZG٣Xy^ ^> fbBottom track data is 0.9 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bb'j?j5Yb ibj :hjA:jH6@n@bEbG);bd?bS5p r`@r:EZj FNOT Ignoring new targets: 197.50 m.Bj=vJj=v- ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.588730 m, bearing: 38.342001 deg, approach rate: 0.409212 m/s, LOS rate: -0.215280 deg/s, cmd heading: 38.426047 deg, new cmd heading: 38.342001 deg. -HeadingCmd: 0.669194 target range: 197.500000 and range: 200.10 m. j-OP+?j1j1j1i1h1h1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516955h9hIfIfIfIrfQbfUb?ɛ[B I `ɚiIe=I OP+?i i )OP+?)jHbH4<HIC Iy"IIBI =&I.I6I<:I FEy=*F12F1:F1BF5[0JF1 Q$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769159zK >BKK 59K K nK BK :K oAGq GQ BY Ou >|3Yw,dAN3 @YN.7.@N4=9Nb2;yNH2/ڿ@f ?8/?ఒ u?@?ɨN3 @N[;NCyZ߃BZ3"I        Mb@Mb@Mb@ )Y> ףp=?~jt?Mby1?=A A) AIlAypAIFI%3٢< ,=9 Q > G٣(RGy > Nusing accuracyPremultiplier from config59 j?5Y iT:3?:55@ @E;';U5 @=EZj9=FNOT Ignoring new targets: 197.50 m.BjEQpJjEQpU ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.774307 m, bearing: 38.241139 deg, approach rate: 0.387028 m/s, LOS rate: -0.210102 deg/s, cmd heading: 38.342001 deg, new cmd heading: 38.241139 deg. ]HeadingCmd: 0.667434 target range: 197.500000 and range: 200.10 m. j]*?jYjYjYiYhahahahesBfififirfibfu0@ɛZBa߽ vI ٿɚi-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022642I[=I*?ii)*?)EE*E"EJuJuJu1JqJu:Ju9Ju3Jq*F% ?2F! :F! BF% ^0JF! I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276156G h>G B O >:Yw,vdABU8@YBPW,@B,=9B*;yBHO`ۿ+ `?H}?vy??ɨBU8@B5͈;BCyNBN5"IIVAIVk3٢^b< ^?=9bQ b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59ji?n5Yj5 ij0prU3@r@jEj:j.:jW5x z@xB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 197.50 m.Bj%wJj%w= ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.933914 m, bearing: 38.149098 deg, approach rate: 0.376335 m/s, LOS rate: -0.216800 deg/s, cmd heading: 38.241140 deg, new cmd heading: 38.149098 deg. EHeadingCmd: 0.665827 target range: 197.500000 and range: 200.10 m. jEs*?jAjAjAiAhAhIhIhIfQfQfQrfQbf] i@ɛYB 隍jqI BɚiI{=Is*?ii)s*?)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ե>ե%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529270H_>I I"IIBI&I.I;D6I<:I FGGB OU > P$?I M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780695kAYw,eAy6"Ii>Ip< = Mb@Mb@Mb@    ) Y sh|??X9v? rhy )? }= C A A)  AI A y AI%XI%4٢5 f: 55=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M;i?]5YMs iM]*?e:eR2@e@M EMf9;M6;MY5uB u@u?EZjFNOT Ignoring new targets: 197.50 m.BjRlJjRl ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.091324 m, bearing: 38.055507 deg, approach rate: 0.347843 m/s, LOS rate: -0.206610 deg/s, cmd heading: 38.149100 deg, new cmd heading: 38.055507 deg. HeadingCmd: 0.664194 target range: 197.500000 and range: 200.10 m. j*?jjjihhhhBfffrfbf @zK%KK%@9K!K%oK%RK- ?JK->ɛ^߽ oI ɚiIӍ=I*?ii)*?)*F?2F:FBF0JFm~GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:09:07.1850 TRx dataTimestamp_ set to:1736377748.344673checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033803 A/Yy(BG c>Gq B O >~GYw, eA6Nq@Y6I(@6==96$t;y6H@!߿ nsJ??`?൹z?W?ɨ6Nq@6*;6 CJBJBJB0J@JB}:JB9JBـ3J@yrBr<"IIzHIz<3٢< a=9LzQ  >    G٣ )RGyF& > Nusing accuracyPremultiplier from config%59i?%5Y iO)-.@-@"E::"[51 5}@5BEZjamFNOT Ignoring new targets: 197.50 m.BjmtJjmt} ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.205841 m, bearing: 37.977776 deg, approach rate: 0.315309 m/s, LOS rate: -0.213867 deg/s, cmd heading: 38.055505 deg, new cmd heading: 37.977776 deg. HeadingCmd: 0.662837 target range: 197.500000 and range: 200.10 m. j)?jjjihhhhfffrfbf` @ɛXB. eI ɚiI&=I)?ii))?) ]O$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285965*F]?2FY:FYBF]4JFYGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 154.5 m (Round-trip 206.0 ms) speed -0.4 m/s - X#Rx 1: Read range message, but no direction. y C  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.MYw,ѐ9eA:@Y:&@:O@ =9: "IIvQIv4٢~k< ~K=9Q >  G٣ y   > Nusing accuracyPremultiplier from config%59%i?%5Y i)-,@-@$E/>;>;\51 5`@1ZHYRH]@AHed>IeC Ie"IIe(BIe =&Ia.Ia6Ie°<:Ie F addTargetRange:: Added new target pos. range: 154.500000 m, deltaT: 11.351916 s, deltaX: -45.600006 m, approachRate: -4.016943 m/s, rangeRepo size: 3 ZjFNOT Ignoring new targets: 197.50 m.BjsuJjsu ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.326035 m, bearing: 37.890353 deg, approach rate: 0.295253 m/s, LOS rate: -0.214590 deg/s, cmd heading: 37.977774 deg, new cmd heading: 37.890353 deg. HeadingCmd: 0.661311 target range: 197.500000 and range: 154.50 m. jK)?jjjihhhhfffrfPc@bf?ɛ `I eɚiI=IK)?ii)K)?)*F?2F:FBFP0JF UN$?IQ5Will construct direction to contact in vehicle frame from tetrahedron phase data.M,DAT read: user:3036> UBDAT read: Tx time:23:09:08.3249 U$Ping request sent.UG zK uJK 9K K pK 2HGD@;72-)'%!   BK :K qAB O >/TYw,kSeA2D@Y2?$@2/<92ZB>:"I)@ BAFAFA%Mb@Mb@Mb@!!! !)!Y%~jt?J +?:vy%$?%H=%T%;A %A)!I%lA!y!I=II=d4٢Umg UE=}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:09:08.3241 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2476149Q > G٣y >  Nusing accuracyPremultiplier from config U59 Ii?]5Y \ i @e%?e:e)@e@ 'E KF< I< ^5B @EEZjYeFNOT Ignoring new targets: 197.50 m.BjeCeJjeCe ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.440369 m, bearing: 37.797053 deg, approach rate: 0.245806 m/s, LOS rate: -0.200439 deg/s, cmd heading: 37.890351 deg, new cmd heading: 37.797053 deg. HeadingCmd: 0.659683 target range: 197.500000 and range: 154.50 m. j(?jjjihhhhBfffrfbfM ?ɛ޽ :fI ɚiI=IE(?iAiA)E(?)I*F?2F:FBF3JF 9I95 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498697G c>G G rAG B O >ZYw,IGmeA6@Y6"@6Wx<96̆pp vG٣v*RGyv, z> ~Nusing accuracyPremultiplier from configx59zi?5YzB iz '@ @z)Ez;z ;zh`5 @HE-B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 197.50 m.BjE[JjE[U ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.531357 m, bearing: 37.717243 deg, approach rate: 0.271977 m/s, LOS rate: -0.238425 deg/s, cmd heading: 37.797055 deg, new cmd heading: 37.717243 deg. ]HeadingCmd: 0.658290 target range: 197.500000 and range: 154.50 m. j](?jajajiiihihihqhqfqfqfqrfybf} ?ɛ}] 隭jI "½ɚiI6n=I(?ii)(?)*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749810GUh>Heb>Ia Ie"IIe2BIa&Ia.Ia6Ie<:Ie FBI5ǤCJI5ǤCRI1ZI5 =bI5 =jI5^(6GIBYO}>JK3 K.KK"KJ J J 1J J :J *9J 3J J ;a J ;a- J (;a5 J (;a5 % L$?I! = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001579³aYw,#eA:@Y:"!@:Pֵ<9:S G٣yȈ > Nusing accuracyPremultiplier from config59|i?5Y i?:U%@@+E;l;Jb5 @Zj FNOT Ignoring new targets: 197.50 m.BjpJjp ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.623596 m, bearing: 37.626781 deg, approach rate: 0.214121 m/s, LOS rate: -0.209872 deg/s, cmd heading: 37.717244 deg, new cmd heading: 37.626781 deg. HeadingCmd: 0.656711 target range: 197.500000 and range: 154.50 m. j:(?jjjihhhhBfffrfbf@ڸ?ɛ)MGT QU.jIQ ]½ɚYiYI]j=Ie:(?iaia)e:(?)izK|MK@9KKqK  RK?JK?*F%?2F!:F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253680Ge c>GA BI Om >QgYw,veA:Y@Y:|x@:<9:<IF4?ININ0٢Z< Z\=9^Q ^>\` bG٣`yb' b> fNusing accuracyPremultiplier from configdj59fli?j5Yf< if:ln#@]@f-Ef Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757575 nYw,)eA2@Y2@2KJ<92UuXX ZG٣Z+RGy^# ^> bNusing accuracyPremultiplier from config`f59b[i?f5Ybz ibdf!@j@b/Eb;bw;be5l n@pHa>I I"II7BI =&I.I6Ie<:Im FZj1=FNOT Ignoring new targets: 197.50 m.Bj=yJj=yM ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.772064 m, bearing: 37.462243 deg, approach rate: 0.188806 m/s, LOS rate: -0.218243 deg/s, cmd heading: 37.548320 deg, new cmd heading: 37.462243 deg. UHeadingCmd: 0.653839 target range: 197.500000 and range: 154.50 m. jUb'?jQjYjYiYhYhYhahafafafarfibfm @ɛh %oI! %Hýɚ!i!I% =IMb'?iQiQ)]b'?)aJJJ0JJ-:J9Jـ3JJ;J;J;J;*FU?2FY:FYBF]K1JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010010Gh>GY Bi O >zK LK 9K K rK !%%%"  BK :K pA2tYw,ϾeAyރB2"I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2617035Mb@Mb@Mb@111 1)1Y55^I ?l?I +y5?5=5945A 1)5 AI5A1y5AIIII٢] ]2=9eQ e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uHi?}5YuT iub?:!@@u1Eu7;u;ug5B @LEZjFNOT Ignoring new targets: 197.50 m.Bj=nJj=nu ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.853546 m, bearing: 37.367600 deg, approach rate: 0.179413 m/s, LOS rate: -0.208283 deg/s, cmd heading: 37.462242 deg, new cmd heading: 37.367600 deg. }HeadingCmd: 0.652188 target range: 197.500000 and range: 154.50 m. j}&?jyjyjyihhhhBfffrfbf@M@ɛIU[ QUsIQ UýɚQiQI]=I]&?ii)&?)*F2F:FBF0JF J$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515166G c>G B O >@{Yw,CeA6( @Y6G@6<96;y6H+]&g\\? @%? Â6? k?ɨ6( @6n;6CyBӃBB$"I)D FAIJ\IJ#4٢R4} Vk=9V*Q V?TX ZG٣XyZ Z? bNusing accuracyPremultiplier from config`f59bI;i?j5Yb ibhjE@j@b2EbR2;b,;b3i5p r@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 197.50 m.BjtoJjto ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.904861 m, bearing: 37.294866 deg, approach rate: 0.147747 m/s, LOS rate: -0.209348 deg/s, cmd heading: 37.367600 deg, new cmd heading: 37.294866 deg. HeadingCmd: 0.650918 target range: 197.500000 and range: 154.50 m. j&?jjjihhhhfffrfbf@ɛI-a 15,I1 5Ľɚ1i1I5=I=&?i9i9)E&?)A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768034*F ?2F :F BF /5JF Hb>I III =&I.I6IZ<:Ie FGM ^>Gi Gm qAJ J J J J :J 9J J J ;J ;J ;J ;GI B I O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:09:10.9355 % TRx dataTimestamp_ set to:1736377752.124652% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0187359Yw,lfA6ya @Y6s@6 ;96R   G٣,RGy=z => ENusing accuracyPremultiplier from configAM59E*i?M5YEz iE'M?M:U@u@E4EE=;E;E.k5y }@}OEZjFNOT Ignoring new targets: 197.50 m.BjeJje ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.960419 m, bearing: 37.202196 deg, approach rate: 0.120513 m/s, LOS rate: -0.200947 deg/s, cmd heading: 37.294865 deg, new cmd heading: 37.202196 deg. HeadingCmd: 0.649301 target range: 197.500000 and range: 154.50 m. j 8&?j j j i)h1h1h9h=Bf9f9fArfAbfED @ɛ zK%{LK%9K!K%sK%  =I9 =yĽɚ9i9IE=IM8&?iIiI)M8&?)I*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս<Ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272680GE c>G B) OM >+Yw,0F"fA:}@Y:x@:+;9:e   G٣yz > %Nusing accuracyPremultiplier from config%59Si?%5Y iD)-@-@6E::l51 5@9 eI$?IaZjqFNOT Ignoring new targets: 197.50 m.Bj@oJj@o ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.999557 m, bearing: 37.126856 deg, approach rate: 0.108689 m/s, LOS rate: -0.209168 deg/s, cmd heading: 37.202196 deg, new cmd heading: 37.126856 deg. HeadingCmd: 0.647986 target range: 197.500000 and range: 154.50 m. jg%?jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.yCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛYBd I ĽɚiI 5P=Ig%?iiI)Mg%?)Q*F2F:FBFP0JFG)  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3037>  BDAT read: Tx time:23:09:12.0749  $Ping request sent. VYw,#IP IR"IIR2BIR =&IP.IP6IR<:IR Fy``IjBIj3٢=Z =F=9M[Q M>II UG٣Qy}H }> Nusing accuracyPremultiplier from config59i?5YV i_@@8E <Y<n5 @ RE} addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 3.780116 s, deltaX: 0.300003 m, approachRate: 0.079363 m/s, rangeRepo size: 4 Zjy}FNOT Ignoring new targets: 197.50 m.BjdJjd ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.037567 m, bearing: 37.040500 deg, approach rate: 0.087983 m/s, LOS rate: -0.199846 deg/s, cmd heading: 37.126856 deg, new cmd heading: 37.040500 deg. HeadingCmd: 0.646479 target range: 197.500000 and range: 154.80 m. j%?jjjihhhhf f)f)rf5Yc@bf=?J}J}J}1JyJ} :J}9J}3JyJ}S;J}T;J}F;J}G; eH$?IiɛIUo Y]IY ۊŽɚiI4=I%?ii)%?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252101*F5?2F9:F9BF9JF9"GAGAzK] LK] @9KY K] tK] GY G} ?G} 9?) f= CGY e ~G sA A +Y sAy "BB ] @] `BOe >ȕYw,?XfAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763y}ÃBޅ"IuMb@Mb@Mb@qqq q)qYuI +?I +?Mbyu9?u9 G٣-RGy > %Nusing accuracyPremultiplier from config-59h?-5Y8 i-c?-:-1@-@:E&;l;p59 =@9ZjimFNOT Ignoring new targets: 197.50 m.BjusnJjusn ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.077789 m, bearing: 36.941332 deg, approach rate: 0.084576 m/s, LOS rate: -0.208470 deg/s, cmd heading: 37.040498 deg, new cmd heading: 36.941332 deg. HeadingCmd: 0.644748 target range: 197.500000 and range: 154.80 m. j2%?jjjihhhhvBfffrfbf`?ɛZBN I ƽɚiI~=I2%?ii)2%?)*JMC="JMR=*F?2F:FBF]0JF QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755484G G B O >Yw,qfA:@Y:'@:9:Y<:IR FG5^>GBOm> i Iu h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258760̢Yw,UfABB@YBa@Ba9B( G٣yS > Nusing accuracyPremultiplier from config59h?5Yr i?:2@@>E;;t5B I@SEZj!-FNOT Ignoring new targets: 197.50 m.Bj-lJj5l ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.117447 m, bearing: 36.779734 deg, approach rate: 0.049465 m/s, LOS rate: -0.206854 deg/s, cmd heading: 36.870611 deg, new cmd heading: 36.779734 deg. HeadingCmd: 0.641927 target range: 197.500000 and range: 154.80 m. j\U$?jjjihhhh[Bfffrfbf` e?ɛ15 15MI1 5ǽɚ9i9I=3W=I=\U$?iAiA)E\U$?)AzKM:IKMŷ9KIKMuKM*F2F:FBF JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510624G- c>G B O- >Jy J} AAJ J J 0J J :J J ـ3J a @a @a @a @ ] G$?IY Yw,fA2?Y2 @2@92 IJ3٢R⊽ R^=9RJQ V>TT ZG٣Z.RGyZ Z> bNusing accuracyPremultiplier from config\b59^gh?f5Y^0 i^dfY@f@^@E^L:^ ;^u5h n@lZj FNOT Ignoring new targets: 197.50 m.BjmJjm ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.129913 m, bearing: 36.703322 deg, approach rate: 0.033810 m/s, LOS rate: -0.207216 deg/s, cmd heading: 36.779735 deg, new cmd heading: 36.703322 deg. HeadingCmd: 0.640594 target range: 197.500000 and range: 154.80 m. j#?jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763489hhhhfffrfbfA.@ɛ\B2a 隕I wǽɚiI"=I#?ii)#?)*FE?2FA:FABFE\5JFAGeh>G9 BI ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014727O >jH <bH <H a>I  I "II #BI  =&I .I 6I y<:I | FBI]˥CJI]˥CRIYZI] =bI] =jI](Z5!Yw,vfA2?Y2҇ @2ǖ92))1 5G٣1y5 ]> mNusing accuracyPremultiplier from configam59eh?u5Ye+ iequW@u@eAEeM;eN;ew5 @VEZjFNOT Ignoring new targets: 197.50 m.Bj=$iJj=$iM ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.136978 m, bearing: 36.615315 deg, approach rate: 0.016363 m/s, LOS rate: -0.203827 deg/s, cmd heading: 36.703323 deg, new cmd heading: 36.615315 deg. MHeadingCmd: 0.639058 target range: 197.500000 and range: 154.80 m. jUK#?jqjqjqiqhqhyhyhyfyffrfbf >@ Iɛ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785ּI SȽɚiI_Л=IK#?ii)K#?)*F?2F:FBFv3JFzK K 9K K vK G c>G B O >Yw,pfA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518704:?Y:< @:[9:b$)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9e59=h?m5Y= i=m?m:m@m@=CE=c;=;=ry5q }@yZjiuFNOT Ignoring new targets: 197.50 m.Bj}`Jj}` ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.146011 m, bearing: 36.525877 deg, approach rate: 0.019825 m/s, LOS rate: -0.196275 deg/s, cmd heading: 36.615316 deg, new cmd heading: 36.525877 deg. HeadingCmd: 0.637497 target range: 197.500000 and range: 154.80 m. j2#?jjjihhhh=Bfffrfbf,@ɛq}V y}#Iy }ȽɚyiI{=I2#?ii)2#?)J=J=J9J9J=ݒ:J=9J9J9 }F$?Iy*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772310G G ?G ?G B O >2Yw,)fAZ ?YZɥ@Z͗ͼ9Zy)1 5G٣1y5' 5> ENusing accuracyPremultiplier from config9E59=zh?M5Y= i=IM @M@=EE=z:=C:={5Q U2@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 197.50 m.Bj\Jj\  ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.141296 m, bearing: 36.449659 deg, approach rate: -0.013884 m/s, LOS rate: -0.224446 deg/s, cmd heading: 36.525878 deg, new cmd heading: 36.449659 deg. HeadingCmd: 0.636167 target range: 197.500000 and range: 154.80 m. j"?jjjihhhhfffrfbf @ɛ]B-[ ľI $nɽɚiIc=I"?ii)"?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:09:14.6851 ETRx dataTimestamp_ set to:1736377755.905730Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025204*F?2F:FBFU0JFHIII IMy"IIMBII&II.II6IMQ<:IM_ FGh>GBO% > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274585Yw, gAR:?YRd@Ren9R\yy }G٣}/RGy > Nusing accuracyPremultiplier from config59h?5Yh i?:z @@GEV;;|5 @YEZjFNOT Ignoring new targets: 197.50 m.BjpJjp  ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.138596 m, bearing: 36.362387 deg, approach rate: -0.006519 m/s, LOS rate: -0.210671 deg/s, cmd heading: 36.449660 deg, new cmd heading: 36.362387 deg. HeadingCmd: 0.634643 target range: 197.500000 and range: 154.80 m. jw"?jjjihhhh+Bf f f rf bf :$ @ɛG_ !%˾I! %"ʽɚ!i!I%=I5w"?i1i1)5w"?)9zKk3IKŷ9KKwKRK% ?JK%?*F?2F:F BF _0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:09:14.6851 LVL= 21280, 24353, 11954, 25939, AGC= 61, IDX= 443,-0.18,-2.829,-2.360,-0.551,-1.940, PHS=-0.801,-0.372, 1.387, RAW= 220.7, -2.2, CAL= 219.4, -8.4, ROT= 290.6, 8.4 }Ygot valid direction response: 23:09:14.6851 LVL= 21280, 24353, 11954, 25939, AGC= 61, IDX= 443,-0.18,-2.829,-2.360,-0.551,-1.940, PHS=-0.801,-0.372, 1.387, RAW= 220.7, -2.2, CAL= 219.4, -8.4, ROT= 290.6, 8.4 PDAT read: Bearing 290.6, 8.4 (Local) ~Local bearing/azimuth received: Bearing 290.6, 8.4 (Local) DAT read: Range 10 to 50 : 154.5 m (Round-trip 206.1 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.029388,-0.804722,-0.592924]Fpublishing direction and range infoA9E?1GH\<;yECAE SE!_ E.)ESeIE=iEVMEvE7?E6v@EnF Exu@)EQ IE:M@iEQ >AAEjcǿtl?%F)EJ?IE?=iEcĿEz"?AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G c>G B O >Je Je Ja Ja Je <:Je =9Ja Ja JEYw,L&gA I:R?Y:v@:59:|dd fG٣dyj죽 j> =Nusing accuracyPremultiplier from configlE59n-h?M5Yn inIM @U@nIEn BDAT read: Tx time:23:09:15.8749 $Ping request sent.m"kurB*kuBkuwË?ku8n 2kukqkqkuku#BkuR? addTargetRange:: Added new target pos. range: 154.500000 m, deltaT: 3.780562 s, deltaX: -0.300003 m, approachRate: -0.079354 m/s, rangeRepo size: 4  Added new target pos. range: 154.500000 m, bearing: 29.593496 deg, lat: 36.903935 deg, lon: -122.120257 deg, deltaT: 22.944741 s, deltaX: -43.000000 m, approachRate: -1.874068 m/s, posRepo size: 2 ZjFNOT Ignoring new targets: 154.50 m.BjJj ProNav: ac range: 154.500000 m, nav range: 40.912552 m, bearing: 68.792914 deg, approach rate: 0.000000 m/s, LOS rate: -0.210671 deg/s, cmd heading: 36.362387 deg, new cmd heading: 36.093238 deg. 2jHeadingCmd: 0.629946 target range: 154.500000 and range: 154.50 m. j!D!?jjjihhhh!f)f)f)rf-Pc@bf5|?ɛY], Y]ϾIY eTʽɚaiaIep=I!D!?ii)!D!?)*F]?2FY:FYBF]^0JFaGa GeqAM Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:23:09:15.8741 U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250082G h>G G ZHA RHE ?AHM _>IM C IM m"IIM BII &II .II 6IM d<:IM k FGa Bi O >/Yw,6@gA2e?Y2X?25r92Stt vG٣tyz. z> ~Nusing accuracyPremultiplier from config|59~oh?5Y~H i~` @ @~KE~ :~n:~R5 @Zj9EFNOT Ignoring new targets: 154.50 m.BjMTJjMT] ProNav: ac range: 154.500000 m, nav range: 40.771870 m, bearing: 68.523828 deg, approach rate: -0.387511 m/s, LOS rate: -0.743756 deg/s, cmd heading: 36.093236 deg, new cmd heading: 35.283248 deg. 2j]7eHeadingCmd: 0.615809 target range: 154.500000 and range: 154.50 m. je?jajajaiihihihihifqfqfqrfybf}?ɛIuN quξIq }q˽ɚyiyI}=I?ii)?) 5E$?I=h*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505225Gec>GA BQ Om >zKe JQJKe }9Ka Ke xKe  U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753192H]Yw,ZgAB ?YBG?B9B! ףp=?&1?Mby?=QA ;A)AIAyAI/I3٢G <=9ӻQ > %G٣%0RGy- 5> MNusing accuracyPremultiplier from configIU59Mh?]5YM iM*]@?]:e~ @e@MMEMG B O% >уYw,}tgAB̝?YB?Bu9Bpp vG٣tyvL v> ~Nusing accuracyPremultiplier from configx59zVh?5Yz iz  @ @zNEz1;z1;z؃5 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 154.50 m.BjMHJjMH] ProNav: ac range: 154.500000 m, nav range: 40.498280 m, bearing: 67.989907 deg, approach rate: -0.366073 m/s, LOS rate: -0.699702 deg/s, cmd heading: 34.386809 deg, new cmd heading: 33.676141 deg. 2j]𼝊eHeadingCmd: 0.587760 target range: 154.500000 and range: 154.50 m. jeiw?jajajaiahihihihifqfqfqrfqbf}Y?ɛ'/ 隭ҾI ̽ɚiI/=Iiw?ii)iw?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258696*F}?2Fy:FyBF}05JFy"GGt>H\>I I`"IIBI =&I.I:D6I<:I FGG?G ?GB - C$?I1 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511491TiYw,OgA6d?Y6W?6 96C4y G٣y > Nusing accuracyPremultiplier from config59th?5YN i?:S@@PE;);5 6@ZjFNOT Ignoring new targets: 154.50 m.Bj?Jj? ProNav: ac range: 154.500000 m, nav range: 40.350277 m, bearing: 67.708450 deg, approach rate: -0.351229 m/s, LOS rate: -0.670380 deg/s, cmd heading: 33.676142 deg, new cmd heading: 32.828740 deg. 2j 漝HeadingCmd: 0.572970 target range: 154.500000 and range: 154.50 m. j#?jjjihhhh5Bff f rf bf ?ɛ=\B= 9=8վI9 EͽɚAiAIEР=IM#?iIiI)M#?)QiG*F?2F |uA:F BF63JF-AzKE/KKE@9KAKEyKE #Y|uAy8BWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761152G c>GY Ba O > ) I- hYw,.gAft?Yf ?fW9fƼ99 =G٣E1RGyE M> ]Nusing accuracyPremultiplier from configQe59Ujh?e5YU iUyim:@m@UREU4s;UhL;Um5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021479 @]EZj%FNOT Ignoring new targets: 154.50 m.Bj%r3Jj%r3] ProNav: ac range: 154.500000 m, nav range: 40.206314 m, bearing: 67.449194 deg, approach rate: -0.347221 m/s, LOS rate: -0.627534 deg/s, cmd heading: 32.828741 deg, new cmd heading: 32.048236 deg. 2j]U׼eHeadingCmd: 0.559347 target range: 154.500000 and range: 154.50 m. jeb1?jajajaiahahihihifffrfbf"w@ɛ ֙  @ҾI ;νɚiIs=Ib1?ii)b1?)!*F%?2F!:F!BF%P0JF!GA u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274583GA BI O >jH bH H Z>I C I I I  =&I .I 6I <:I Fi{Yw,gA:?Y: ?:9:5,;:CyFBF!IIRBIR3٢Zn= ZR=9^úQ ^>`` bG٣`yfJ f> jNusing accuracyPremultiplier from confighn59j&bh?n5Yj ij:lnC@r@jTEj ;j ;j5t vP@vZEZjFNOT Ignoring new targets: 154.50 m.BjDAJjDA5 ProNav: ac range: 154.500000 m, nav range: 40.061188 m, bearing: 67.200635 deg, approach rate: -0.393194 m/s, LOS rate: -0.675864 deg/s, cmd heading: 32.048238 deg, new cmd heading: 31.299904 deg. 2j5缝=HeadingCmd: 0.546286 target range: 154.500000 and range: 154.50 m. j=m ?j9j9j9i9hAhAhAhAfIfIfIrfIbfU`R@ɛy 隅FƾI νɚiI=Im ?ii)m ?)EEJeJeJaJaJe<:Je:JaJaJe;a}Je;a}Je@;aJe@;a I*F=?2F9:FABFE_0JFIGpA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531522G) G B O >' TFailed to parse incomplete device message.̤Yw,gAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778773z?Yzx?z9zǩ;A A)AIAyAI(I̍3٢ +=9Q >  G٣ y   > Nusing accuracyPremultiplier from config59Wh?%5Y' i%q?%:%l@%@VE;;551 5`@1Zja FNOT Ignoring new targets: 154.50 m.Bj x5Jj x5% ProNav: ac range: 154.500000 m, nav range: 39.881989 m, bearing: 66.897611 deg, approach rate: -0.373616 m/s, LOS rate: -0.634616 deg/s, cmd heading: 31.299905 deg, new cmd heading: 30.386831 deg. 2j%ټMHeadingCmd: 0.530350 target range: 154.500000 and range: 154.50 m. jM ?jIjQjQiQhQhQhYh]BfYfYfYrfabfe[ @ɛ[B&[ ƾI ϽɚiI=I ?i!i!)% ?)) B$?I*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:09:18.4847 TRx dataTimestamp_ set to:1736377759.692618checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030291G G B O >-Yw,ܹgAB~?YBq?Bt 9B3I If"II BI =&I.I6I<:I FBIUĤCJIUĤCRIQZIU =bIU =jIU 5Gh> IJJJ0JJ:J9Jـ3JJ;J;JZ5;J[5;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 23:09:18.4848 LVL= 21552, 22865, 11106, 25843, AGC= 59, IDX= 439,-0.28, 0.538, 0.259, 2.226, 1.105, PHS=-0.479,-0.799, 1.118, RAW= 201.1, 1.8, CAL= 200.9, -5.6, ROT= 309.1, 5.6 U Ygot valid direction response: 23:09:18.4848 LVL= 21552, 22865, 11106, 25843, AGC= 59, IDX= 439,-0.28, 0.538, 0.259, 2.226, 1.105, PHS=-0.479,-0.799, 1.118, RAW= 201.1, 1.8, CAL= 200.9, -5.6, ROT= 309.1, 5.6 ] PDAT read: Bearing 309.1, 5.6 (Local) e ~Local bearing/azimuth received: Bearing 309.1, 5.6 (Local) m DAT read: Range 10 to 50 : 154.2 m (Round-trip 205.7 ms) speed 0.0 m/s m R#Rx 1: Read range and direction messages.u bdirection in FSK: [-0.084273,-0.946704,-0.310886]} Fpublishing direction and range info 9 N뒵"{geK=Oӿy 3C 0T QY b+) dI ;i }? DL ? `@ = Nh`@) +ȽI O@i += W䓼?qߗ?^^]F?) ?I 8i mԿ 0ۡ>  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Zw,hAy~B!Ii =I p;  a= @ @ @  @ I!Ii3٢ z= 6=9Q >!! %G٣!y% -> UbBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config)]59-Gh?e5Y-bz i-Ve+:ae:ae@-ZE-;->-<5 @]Ek-=Vf?k-mI` k) k- hA:k-3CBk-'CZk-*>"- =d) xj?b @&G-N뒵"{geK=OӿJk-mԿRk-0ۡ>*-+.b@{Br4@^DfI-Ι?~ X?nCտ"k-A*k-!Ck-s#?k-Ȅp\ 2k-pAk)k-Ȅp\ k)k-Ak-:$j? addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.790196 s, deltaX: -0.300003 m, approachRate: -0.079152 m/s, rangeRepo size: 4  Added new target pos. range: 154.199997 m, bearing: 8.122554 deg, lat: 36.903935 deg, lon: -122.120434 deg, deltaT: 3.790196 s, deltaX: -0.300003 m, approachRate: -0.079152 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 154.20 m.BjJj ProNav: ac range: 154.199997 m, nav range: 25.962330 m, bearing: 52.403596 deg, approach rate: 0.000000 m/s, LOS rate: -0.622202 deg/s, cmd heading: 29.767928 deg, new cmd heading: 28.892075 deg. 2jHeadingCmd: 0.504262 target range: 154.199997 and range: 154.20 m. jN?jjj!i!h)h)h)h)f1f1f1rf5`fFc@bf=`?'mTFailed to parse incomplete device message.ɛD MI нɚiI=IN?ii)N?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.M,DAT read: user:3039> UBDAT read: Tx time:23:09:19.6750 U$Ping request sent.] I J J @AG B O > Zw,v)hA J?YJ ?JU"9J5II MG٣IyU& U> ebBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm59]@h?m5Y]u i]m :imp:m?m@]\E]';]S?]Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:09:19.6742 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250343 B@ZjFNOT Ignoring new targets: 154.20 m.Bj%\Jj%\U ProNav: ac range: 154.199997 m, nav range: 25.850775 m, bearing: 51.987959 deg, approach rate: -0.301608 m/s, LOS rate: -1.128582 deg/s, cmd heading: 28.892076 deg, new cmd heading: 27.639996 deg. 2jUA]HeadingCmd: 0.482409 target range: 154.199997 and range: 154.20 m. j]N>jYjYjaiahahahahifififrfbf ?ɛYBKz :I \ѽɚiIge=I-N>i)i1)5N>)9*F?2F:FBFo1JFG% h>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502919G B O- >ZH RH @AH Z>I  I s"II BI &I .I 6I W<:I ] FZw,{MChA64?Y6ur?6)96Ztt vG٣z3RGyz z> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~K:h? 5Y~go i~9B:?@~^E~;~)?~:5! %,@%[EZjIUFNOT Ignoring new targets: 154.20 m.Bj]ɢJj]ɢm ProNav: ac range: 154.199997 m, nav range: 25.730944 m, bearing: 51.559894 deg, approach rate: -0.317248 m/s, LOS rate: -1.138551 deg/s, cmd heading: 27.639996 deg, new cmd heading: 26.350050 deg. 2jmXCuHeadingCmd: 0.459895 target range: 154.199997 and range: 154.20 m. ju`w>jqjqjqiqhyhyhyhyfffrfbf?ɛXB 隽ాI ѽɚiI=I`w>ii)`w>) !I%hJK KKK"KJ9J=J9J9J9J=9J9J9J9J9J=%7;J=%7;*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756362Gc>GBO >zK K K K |K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0053055Zw,?]hArl?Yr_?rq+9r  $A $A) AI A y QAI=I=F2٢M!< M5=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYm59]2h?m5Y]"i i]fmT:m?m:u?u@]`E]R;];]25y }@yZjFNOT Ignoring new targets: 154.20 m.BjJj ProNav: ac range: 154.199997 m, nav range: 25.599363 m, bearing: 51.076839 deg, approach rate: -0.293297 m/s, LOS rate: -1.082268 deg/s, cmd heading: 26.350050 deg, new cmd heading: 24.893766 deg. 2j9HeadingCmd: 0.434478 target range: 154.199997 and range: 154.20 m. js>jjjihhhhBfffrfbf`ݱ?ɛ-WB-΍ )-:I) 5i~ҽɚ1i1I5=I=s>i9i9)=s>)I*F2F:FBFy4JF A$?I*J9"J=R=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257452GG B O >Zw,whA6˵?Y6| ?6-96jjjihhhhfffrfbf@?ɛ VB 6~ I ҽɚiI=IK|>i!i!)%K|>)!Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972*F?2F:FBFP0JFHAIA IE"IIE#BIE =&IA.IA6IE<:IE~ FGm> IJuJuJqJqJu:JuO9JqJqJuQ;JuS;Jue,;Juf,;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765345P$Zw,@ݐhA6?Y6?6B*96IEEA EA)EAIAAyAI]6I]m3٢mP= m>=9m ;Q u>qq }G٣}4RGy}- }> Nusing accuracyPremultiplier from config59(h?5YT^ i ?:?@cE:;:;5 @ZjFNOT Ignoring new targets: 154.20 m.BjJj ProNav: ac range: 154.199997 m, nav range: 25.360397 m, bearing: 50.277232 deg, approach rate: -0.326241 m/s, LOS rate: -1.054129 deg/s, cmd heading: 23.778366 deg, new cmd heading: 22.483953 deg. 2j4HeadingCmd: 0.392419 target range: 154.199997 and range: 154.20 m. j%>jjjihhhh.Bfff rf bf  @ɛ=UB=g AE˗IA ExӽɚAiAIE =IM%>iIiI)M%>)*FM?2FI:FIBFM\0JFIzKBHK9KK}K%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013885G h>G B O > I JY J] AAv/*Zw,|hARp?YR?R~)9Rɚpp rG٣pyv v> zNusing accuracyPremultiplier from configx~59zn$h?~5YzX ~tIiz|?@zeEzB;zc;zG5  o@ Zj1=FNOT Ignoring new targets: 154.20 m.BjEJjE򍼝U ProNav: ac range: 154.199997 m, nav range: 25.236616 m, bearing: 49.897739 deg, approach rate: -0.322244 m/s, LOS rate: -0.992789 deg/s, cmd heading: 22.483953 deg, new cmd heading: 21.340049 deg. 2jUU*]HeadingCmd: 0.372454 target range: 154.199997 and range: 154.20 m. j]N>jYjYjYiYhahahahafififirfibfm@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265496ɛTBQ 隭EI ӽɚiI[=IN>ii)N>)*Fm?2Fq:FqBFu_0JFqGc>GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520395jH! bH% <H) I)  I- "II- 2BI-  =&I) .I) 6I- <:I- F!1Zw,$hA2U?Y2?28z(92dd fG٣dyf j> nNusing accuracyPremultiplier from configlr59n h?r5YndS in?prj?r@nfEn;n:n5| ~@|Zj!%FNOT Ignoring new targets: 154.20 m.Bj-Jj-= ProNav: ac range: 154.199997 m, nav range: 25.103161 m, bearing: 49.507586 deg, approach rate: -0.332269 m/s, LOS rate: -0.976537 deg/s, cmd heading: 21.340048 deg, new cmd heading: 20.163542 deg. 2j='EHeadingCmd: 0.351920 target range: 154.199997 and range: 154.20 m. jE.>jAjAjAiAhIhIhIhIfQfQfQrfQbf]U@ IɛUSB]_ aeIa ee[ԽɚaiiIm=I.>ii).>)JJJJJ:J:JJJ;J;JL;JL;*FY2Fa:FaBFeo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780773)= }GG^>G B O >  Y y BzK KK 9K K ~K ZA7Zw,LnhAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:09:22.2836 TRx dataTimestamp_ set to:1736377763.480656checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030489y׃B%)"IeMb@Mb@Mb@aaa a)aYe?Cl?Mb`?yef?e;=e;eA eA)aIeQAayeAIIT3٢M= /=9Q > G٣5RGy > Nusing accuracyPremultiplier from config59h?5YL iD ?:?@hE/<>/<5 2@%\E yIhZjFNOT Ignoring new targets: 154.20 m.Bj(rJj(r*J%C="J%p=M ProNav: ac range: 154.199997 m, nav range: 24.945683 m, bearing: 49.064069 deg, approach rate: -0.298804 m/s, LOS rate: -0.846848 deg/s, cmd heading: 20.163541 deg, new cmd heading: 18.824848 deg. 2jMKUHeadingCmd: 0.328556 target range: 154.199997 and range: 154.20 m. jUp8>jYjYjYiYhhhhfffrfbf@D @ɛuQBu q隽4tI  ԽɚiIvW=Ip8>ii)p8>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282367*F2F:FBF^0JFG G B O >(+>Zw,emhApJ?Yc?4'9:Ρ G٣y > Nusing accuracyPremultiplier from config59Ph?5YE iq?@kE::P5 o@k夐?k@# k khA:kLCBkBCZk=@"=PRo8T6bI/ĹfĿQ+Atį{jJk΍ݿRk@Y<*W)/b@e͐B[a[M1Nww?="wϿmo"k*kqCkQ?kF&# 2klBkwË?kkkBkT-> addTargetRange:: Added new target pos. range: 153.300003 m, deltaT: 3.787373 s, deltaX: -0.899994 m, approachRate: -0.237630 m/s, rangeRepo size: 4 I Added new target pos. range: 153.300003 m, bearing: 345.755685 deg, lat: 36.904762 deg, lon: -122.120434 deg, deltaT: 3.787373 s, deltaX: -0.899994 m, approachRate: -0.237630 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 153.30 m.BjJj ProNav: ac range: 153.300003 m, nav range: 109.915131 m, bearing: 9.727354 deg, approach rate: 0.000000 m/s, LOS rate: -0.846848 deg/s, cmd heading: 18.824848 deg, new cmd heading: 17.604094 deg. 2j1=HeadingCmd: 0.307249 target range: 153.300003 and range: 153.30 m. j=O>j9j9j9i9hAhAhAhAfIfIfIrfM)c@bfM?ɛOB~ nXI NսɚiI=IO>ii)O>)*F?2F:FBF_0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3040>  BDAT read: Tx time:23:09:23.4750  $Ping request sent. G B O >EZw,iAyޭBޭK"IzKK}9KKKMb@Mb@Mb@ )YL7A`?kt?MbPy+? =A A)@IAyI/I3eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:09:23.4742 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245330٢*= E=9Q > G٣y > Nusing accuracyPremultiplier from config59h?5Y? i$?:7?@lE;;'5 u@ EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 153.30 m.Bj]lJj}l ProNav: ac range: 153.300003 m, nav range: 109.893272 m, bearing: 9.610493 deg, approach rate: -0.054418 m/s, LOS rate: -0.290996 deg/s, cmd heading: 17.604094 deg, new cmd heading: 17.253445 deg. 2jGHeadingCmd: 0.301129 target range: 153.300003 and range: 153.30 m. j->jjjihhhhJBff f rf bf ?ɛuNB} y}t6Iy }սɚyiyILm=In>ii)->) qIq*F?2F:FBFh0JFJqJqJ}J}JyJyJ}̝:J}:JyJya@a@a@a@- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500192G ^>G B O > =LZw,T3iABb?YB~?B$(9BVΥ?`?`?ɨBb?B4|;@yNBNP"IIZIZ2٢^R< bt=9bQ b?dd fG٣f6RGyj@ j? nNusing accuracyPremultiplier from configlr59nh?r5Yn+; inpvP?v@nnEn-;nB.;n5x z<@|Zj!FNOT Ignoring new targets: 153.30 m.BjJj ProNav: ac range: 153.300003 m, nav range: 109.865799 m, bearing: 9.520090 deg, approach rate: -0.085577 m/s, LOS rate: -0.281667 deg/s, cmd heading: 17.253445 deg, new cmd heading: 16.982169 deg. 2jNAHeadingCmd: 0.296395 target range: 153.300003 and range: 153.30 m. j>jjjihhhhfffrfbf?ɛMB 隅-I սɚiIK֩=IS>ii)>)*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748536ZHIRHM?AHU[>IUC IU"IIU`BIQ&IQ.IQ6IU_<:IUc FBIƣCJIƣCRIZI =bI =jIC5GYGe?Ge9?G1 BA O] > I SZw,MiANʕ?YN?N+9N9i G٣yHs > 5Nusing accuracyPremultiplier from config 559 4h?55Y 4 i 9=?=@ pE ; ; 5A E@IZjFNOT Ignoring new targets: 153.30 m.Bj Jj  ProNav: ac range: 153.300003 m, nav range: 109.819695 m, bearing: 9.390391 deg, approach rate: -0.095084 m/s, LOS rate: -0.267598 deg/s, cmd heading: 16.982169 deg, new cmd heading: 16.592917 deg. 2j7HeadingCmd: 0.289601 target range: 153.300003 and range: 153.30 m. jF>jjjihhhhfffrfbfܓ?ɛmKBuO qu|Iq uֽɚqiyI}c=I}F>ii)F>)*FE?2FA:FABFAJFIzKIKIKIKMKMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252329G h>GY Ba O >KYZw,{fiA 0I0yU BUj"I*JR="JJJJJJ<:J=9JJMb@Mb@Mb@ )YS㥛?L7A`?Mbpy$?+=A A)VAIQAyII٢A= G=9Q > G٣y > Nusing accuracyPremultiplier from config59*h?5Y. iR5?:?@rEU;S;e5 @ZEZjFNOT Ignoring new targets: 153.30 m.BjJj ProNav: ac range: 153.300003 m, nav range: 109.774406 m, bearing: 9.283412 deg, approach rate: -0.117386 m/s, LOS rate: -0.277401 deg/s, cmd heading: 16.592917 deg, new cmd heading: 16.271851 deg. 2j`>HeadingCmd: 0.283997 target range: 153.300003 and range: 153.30 m. jh>jjjihhhhcBfffrfbft?ɛ5JBEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504391}n y}Iy QֽɚiI۪=Ih>ii)h>)*F?2F:FBF4JFGQ G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756294HU Z>IU C IU "IIU tBIQ &IQ .IQ 6IU <:IU FHC`Zw,3iAZt؍?YZf?ZQZ,9ZJHgx| ~G٣~7RGy~s5 ~>  Nusing accuracyPremultiplier from config59h?5Y'* i%?@sEF;mG;쥎5! %i@)ZjFNOT Ignoring new targets: 153.30 m.Bj Jj  ProNav: ac range: 153.300003 m, nav range: 109.723763 m, bearing: 9.190676 deg, approach rate: -0.139397 m/s, LOS rate: -0.255371 deg/s, cmd heading: 16.271850 deg, new cmd heading: 15.993517 deg. 2jB/-HeadingCmd: 0.279140 target range: 153.300003 and range: 153.30 m. j-`>j)j)j)i)h1h1h1h1f9f9f9rf9bf=@9@ɛIB[ 隵ֽI xֽɚiIE=I`>ii)`>) 9I=h*F?2F:FBFP0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012273G}c>GpAGGY Ba O >9VfZw,iA:Ԍ?Y:ʥ?:$ '9::q=9VB;Q > G٣y > Nusing accuracyPremultiplier from config 59h? 5Y0$ i ?:M?@uE#;;Χ5 %@!ZjQ]FNOT Ignoring new targets: 153.30 m.Bj]Jj]m ProNav: ac range: 153.300003 m, nav range: 109.645874 m, bearing: 9.077476 deg, approach rate: -0.186304 m/s, LOS rate: -0.270960 deg/s, cmd heading: 15.993516 deg, new cmd heading: 15.653678 deg. 2jm9zKqKuK9KqKuKu  HeadingCmd: 0.273208 target range: 153.300003 and range: 153.30 m. j>jjjihhhhZBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260396ɛ]HBe amIi mֽɚyiyI}=I>ii)>)*Fe?2Fi:FiBFm]0JFi aIaJJJJJ:Jb9JJG h>m Will construct direction to contact in vehicle frame from tetrahedron phase data.i im A} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513799G B O >:lZw,N{iA>`?Y>?>U4$9>>HH` e?@~jct?@w?@]?@W`"?`d?`?ɨ>`?>1;>CyJ'BJ"IIV/IV3٢ZN_= ^`=9^:Q ^>`` bG٣`yb f> jNusing accuracyPremultiplier from configdn59f#h?n5Yf* ifln!?r@fvEfC ;f ;ff5t v/@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 153.30 m.Bj%Jj%5 ProNav: ac range: 153.300003 m, nav range: 109.574173 m, bearing: 8.982487 deg, approach rate: -0.196482 m/s, LOS rate: -0.260468 deg/s, cmd heading: 15.653679 deg, new cmd heading: 15.368527 deg. 2j52=HeadingCmd: 0.268231 target range: 153.300003 and range: 153.30 m. j=U>j9j9jAiAhAhAhYhafifqfyrfybf}@Q@ɛGB# 隭I 5ʴֽɚ1i1I5V&=I=U>i9i9)=U>)A*F%?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764320HX>I I #IIBI&I.I6IU<:IY FG GBO > I II PjsZw,"SiAJ)?YJg?Jh!9JI˰-Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:09:26.1146 UTRx dataTimestamp_ set to:1736377767.265436echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023955h G٣8RGy8 > =Nusing accuracyPremultiplier from config 59 (h?5Y  i N?@ xE 5< < W5 @ZjFNOT Ignoring new targets: 153.30 m.BjtJjt ProNav: ac range: 153.300003 m, nav range: 109.480186 m, bearing: 8.868405 deg, approach rate: -0.193520 m/s, LOS rate: -0.235098 deg/s, cmd heading: 15.368527 deg, new cmd heading: 15.025991 deg. 2jX!HeadingCmd: 0.262253 target range: 153.300003 and range: 153.30 m. jF>jjjihhh h f ffrfbf @ɛ]FB]5ܽ a隅&I ֽɚiI=IF>ii)F>)*F]?2FY:FYBFaJFa"Gm>Gm{>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230zK < LK ŷ9K K K G ^>G ?G >G B O > 9 I9 yZw,(iAEwq?YE.?Ea9E)\?g z?`*a?3?@ߦk?`a??ɨEwq?E;E!Cym9Bm"Ii}0>I}p;JJJJJ:J9JJMb@Mb@Mb@ )YHzG?L7A`?Mbpy= ?+=A A)~@IyAII2٢X< -=9;Q > G٣yz > Nusing accuracyPremultiplier from config59.h?5YI i ?:?@zE;I;<5 @Zj1=FNOT Ignoring new targets: 153.30 m.Bj= Jj= U ProNav: ac range: 153.300003 m, nav range: 109.368042 m, bearing: 8.760510 deg, approach rate: -0.286948 m/s, LOS rate: -0.276358 deg/s, cmd heading: 15.025991 deg, new cmd heading: 14.701977 deg. 2jU=]HeadingCmd: 0.256598 target range: 153.300003 and range: 153.30 m. j]`>jajajaiahahahihmqBfifqfqrfqbfu@ɛtڽ  P̼I  ֽɚiI!=I`>ii)`>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520438*F?2F:FBF0JF G= h>G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I (#II BI  =&I .I 6I <:I F5 DAT read: 23:09:26.1146 LVL= 26096, 31377, 18866, 32755, AGC= 64, IDX= 248, 0.21, 0.460,-0.397, 1.382, 0.494, PHS= 0.054,-0.844, 0.885, RAW= 178.7, -1.3, CAL= 179.5, -8.9, ROT= 330.5, 8.9 = Ygot valid direction response: 23:09:26.1146 LVL= 26096, 31377, 18866, 32755, AGC= 64, IDX= 248, 0.21, 0.460,-0.397, 1.382, 0.494, PHS= 0.054,-0.844, 0.885, RAW= 178.7, -1.3, CAL= 179.5, -8.9, ROT= 330.5, 8.9 E PDAT read: Bearing 330.5, 8.9 (Local) E ~Local bearing/azimuth received: Bearing 330.5, 8.9 (Local) U DAT read: Range 10 to 50 : 176.6 m (Round-trip 235.5 ms) speed 0.3 m/s zZw,jAR#Rx 1: Read range and direction messages.`direction in FSK: [-0.065063,-0.995587,0.067631]"Fpublishing direction and range info 9 W𧰿^Vb(޻HP?y 0C e z I) I @i /]= bX \b? G@ ޹ H@) I @i > 8ݷޖ?bTW?S C) -?I ??ɨM=i?M;MCyޅDBޅ"II,I3٢s= ^=9J:Q > G٣yF > Nusing accuracyPremultiplier from config%595h?%5YN i)-?-@|E:;எ5eB ei@eUEk %޽?k }' k  k jA:k 0CBk g/CZk 5@" O&oU~Be*'@ W𧰿^Vb(޻HP?Jk jjjihhhhfffrf@3f@bf $?ɛEB׽ I ֽɚiIO=I%>i!i!)E>)Q*F?2F:FBF3JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.m,DAT read: user:3041> BDAT read: Tx time:23:09:27.5250 $Ping request sent.  - Y) y5 ^BG B O >4Zw,VjAfCa?Yfߌ?f)9f9˽ G٣9RGy1 > Nusing accuracyPremultiplier from config59A=h?5Y zKeBHKes9KaKeKeiu ?u:uN?u@~ET<"<5y @ZjFNOT Ignoring new targets: 153.30 m.BjyJjy ProNav: ac range: 153.300003 m, nav range: 109.137527 m, bearing: 8.565543 deg, approach rate: -0.298619 m/s, LOS rate: -0.240382 deg/s, cmd heading: 14.425602 deg, new cmd heading: 14.116461 deg. 2j$HeadingCmd: 0.246379 target range: 153.300003 and range: 153.30 m. jJ|>j!j!j!i!h!h!h)h-pBf)f)f1rf1bf5@?ɛDBhӽ pii)J|>)E B$?Ih*F?2F:FBF@5JFGrA GE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494566G c>G B O >iӌZw,5jAJZ?YJ@@?Jp9Je/;r/;r=5 @%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 153.30 m.Bj=‘Jj=‘E ProNav: ac range: 153.300003 m, nav range: 109.032089 m, bearing: 8.485453 deg, approach rate: -0.335206 m/s, LOS rate: -0.254864 deg/s, cmd heading: 14.116461 deg, new cmd heading: 13.875962 deg. 2jM.UHeadingCmd: 0.242181 target range: 153.300003 and range: 153.30 m. jUZw>jQjQjQiQhQhYhYhYfYfafarfibfuV?ɛuҽ 隝ii)Zw>)*F?2F:FBFQ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745715HW>I IA#IIBI&I.I6I<:I FGGB IO>J J J J J <:J 9J J J ;a J ;a J 8;a J 8;a Zw,OjAFqR?YFv?F9FԲtt vG٣tyzE z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997938  Nusing accuracyPremultiplier from config 59 Lh?5Y   i F?@ E y; ; 5! %I@!=PExceeded connect timeout, disconnecting.ZjFNOT Ignoring new targets: 153.30 m.Bj=KJj=K ProNav: ac range: 153.300003 m, nav range: 108.900620 m, bearing: 8.391244 deg, approach rate: -0.315115 m/s, LOS rate: -0.226078 deg/s, cmd heading: 13.875961 deg, new cmd heading: 13.592996 deg. 2j'HeadingCmd: 0.237243 target range: 153.300003 and range: 153.30 m. j r>j j1j9i9hAhIhqhfffrfbf`|?ɛnѽ =I  ֽɚiIخ=Ir>ii)r>)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249726G h>zK K 9K K K   #'(),-/20//,*'&&%" Ga Bi O > I Zw,wijAnXJ?Yn?n{89n5 G٣:RGyъ > Nusing accuracyPremultiplier from config59Wh?5Y in?:L?@EL;;굎5  !@ REZjFNOT Ignoring new targets: 153.30 m.BjJj  ProNav: ac range: 153.300003 m, nav range: 108.751381 m, bearing: 8.291491 deg, approach rate: -0.336200 m/s, LOS rate: -0.225029 deg/s, cmd heading: 13.592996 deg, new cmd heading: 13.293329 deg. 2jo%HeadingCmd: 0.232012 target range: 153.300003 and range: 153.30 m. j%m>j!j!j)i)h)h1h9h=xBf9f9fArfAbfEn? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501983ɛCBн 隕h.=I ֽɚiIRC=Im>ii)m>)EEmA*F92F9:F9BF=]0JF9"GM>GMx>G% ^>G B O% >H V>I  I T#II ʄBI &I .I 6I <:I | F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753920BIaJIaRIaZIe =bIe =jIe˯5ɠZw,KjA>@XB?Y>#z?>9>mHe?=`[?a?Uʣڢ??`?ɨ>@XB?>2;>!CyVkBV"IiZ=IZx> Za=Z%=Ib"Ibq3٢f= j]=9j@;Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v$`h?z5Yv ivxz?z@vEva:vL:v5 @ZjFNOT Ignoring new targets: 153.30 m.BjJj ProNav: ac range: 153.300003 m, nav range: 108.619026 m, bearing: 8.208476 deg, approach rate: -0.361246 m/s, LOS rate: -0.226855 deg/s, cmd heading: 13.293328 deg, new cmd heading: 13.043982 deg. 2jHeadingCmd: 0.227660 target range: 153.300003 and range: 153.30 m. ji>jjjihhhh!f!f!f!rf!bf-@ ]C$?I]hɛʽ !%=I! %~ֽɚ!i!I%t=IMi>iQiQ)Ui>)QJJJJJJ9JJJJJ:;J:;*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data. EnManaging dock network, ignoring radio surface power offUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007887G m>G B O- >RZw,'jA>49?Y>_r?>P9>.]NH? ̅ ?Q? I?Blj??ɨ>49?>;> CyFiBJ"IMMb@Mb@Mb@III I)IYM?Q?MbpyM ?M G٣y瞽 > Nusing accuracyPremultiplier from config59jh?5Y i ?:,?@E;;d5 !@PEZjFNOT Ignoring new targets: 153.30 m.Bj+Jj+ ProNav: ac range: 153.300003 m, nav range: 108.465889 m, bearing: 8.114787 deg, approach rate: -0.374353 m/s, LOS rate: -0.229351 deg/s, cmd heading: 13.043981 deg, new cmd heading: 12.762520 deg. 2jfHeadingCmd: 0.222748 target range: 153.300003 and range: 153.30 m. j d>jjjihh h h tBf ffrfbfo@ɛAE|˽ AEt=IA M`ֽɚIiIIMR =}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258873I d>ii) d>)zK MK 9K K K #WprkRK%?JK%?*F?2F:FBF0JF QIQGc>G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5099126Zw,*jA>1?Y>|i?>/9>K^H?Y| S?2?@ba@֡?ڋ?D?ɨ>1?>;>!CyRhBR"IIZ&IZ3٢b bV=9f^;Q f>dh jG٣n;RGyr{ r> vNusing accuracyPremultiplier from configtz59vth?z5Yv> ivexzw?z@vEvX:v":v5B E@MEB*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 153.30 m.Bj5uJj5uE ProNav: ac range: 153.300003 m, nav range: 108.323532 m, bearing: 8.032889 deg, approach rate: -0.372662 m/s, LOS rate: -0.214676 deg/s, cmd heading: 12.762520 deg, new cmd heading: 12.516503 deg. 2jETMHeadingCmd: 0.218454 target range: 153.300003 and range: 153.30 m. jMt_>jIjIjIiQhQhYhahafafafirfibfm(@ɛ~˽ 隝=I ^CֽɚiIs=It_>ii)t_>)*FM?2FQ:FQBFUC5JFQG]qA G]qAH]U>IY I]g#II]ڄBIY&IY.IY6I]{<:I]q FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763639GqGyGy 9I9GIBYO}>J J J J J ̝:J 9J J J ;J ;J 8;J 8;Zw,DjAV')?YVa?V7 9V99 =G٣AyEV E> MNusing accuracyPremultiplier from configIU59MLh?U5YM` iM0Y]o?]@MEM ;MG;MἎ5a e@aZjFNOT Ignoring new targets: 153.30 m.Bj nJj n} ProNav: ac range: 153.300003 m, nav range: 108.163132 m, bearing: 7.946063 deg, approach rate: -0.384032 m/s, LOS rate: -0.208187 deg/s, cmd heading: 12.516503 deg, new cmd heading: 12.255641 deg. 2jHeadingCmd: 0.213901 target range: 153.300003 and range: 153.30 m. j[>jjjihh h9h9fAfqfyrfbfG @ɛ1= ʽ 9=h=I9 =ֽɚ9iAIE =Im[>iqiq)u[>)q*F?2F!:F!BF%R5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265749zK 9MK ŷ9K K K `TF>70'!    G h>G B O > ! I! /Zw,jAv!?YvY?v 9vlII MG٣IyUg U> ]Nusing accuracyPremultiplier from configYe59]h?e5Y]D i]e/?m:mk?m@]E];];]̾5q u{@qZjFNOT Ignoring new targets: 153.30 m.BjnJjn= ProNav: ac range: 153.300003 m, nav range: 107.990334 m, bearing: 7.854982 deg, approach rate: -0.394951 m/s, LOS rate: -0.208510 deg/s, cmd heading: 12.255642 deg, new cmd heading: 11.981964 deg. 2jE]HeadingCmd: 0.209125 target range: 153.300003 and range: 153.30 m. je$V>jajijihhhheBfffWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520444rf)bf5N@ɛIMȽ IMH=II UսɚQiQIUm=I]$V>iYiY)]$V>)a*F?2F:FBFN5JFG= m>HQ IQ  IU s#IIU BIU  =&IQ .IQ 6IU _<:IU ] F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:09:30.1286 LVL= 23264, 25649, 19234, 30291, AGC= 62, IDX= 70, 0.14,-3.094, 1.887,-2.862, 2.808, PHS= 0.470,-0.874, 0.610, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3  Ygot valid direction response: 23:09:30.1286 LVL= 23264, 25649, 19234, 30291, AGC= 62, IDX= 70, 0.14,-3.094, 1.887,-2.862, 2.808, PHS= 0.470,-0.874, 0.610, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3  PDAT read: Bearing 351.5, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 351.5, 11.3 (Local)  DAT read: Range 10 to 50 : 149.5 m (Round-trip 199.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.060681,-0.878323,0.474201] Fpublishing direction and range infoؙ 9؝ HAS8쿸*PY?y؝ Cؙ ؝ Z؝ 1d ٝ "K)ٝ SvIٝ >iٝ ף>ٝ w_ٝ (?ٝ c-@ٝ 4QO ڝ 1@)ڝ IIڝ P@iڝ I>ڙ ڙ ۝ Ok5?S>H?`u=)۝ @?I۝ 2R=i۝ ѿ۝ GA B O >iZw,NkA))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F3?YFNQ?Ff9FNzqq uG٣} Nusing accuracyPremultiplier from config59wh?5Y i!%ac?%@E==5 _@JEk-VPх?k-SQ) k) k-kA:k-CBk-|CZk-G?@"-kT$"di`r͟(Q@-HAS8쿸*PY?Jk-ѿRk-*-|cXV@FXP@-w Y!?RA忩?"k-*k-òBk-Ol?k-) 2k-NCk)k-F&# k-lBk-Ck-@} addTargetRange:: Added new target pos. range: 149.500000 m, deltaT: 8.061691 s, deltaX: -3.800003 m, approachRate: -0.471366 m/s, rangeRepo size: 4  Added new target pos. range: 149.500000 m, bearing: 311.988372 deg, lat: 36.905089 deg, lon: -122.121067 deg, deltaT: 8.061691 s, deltaX: -3.800003 m, approachRate: -0.471366 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 149.50 m.BjJjJKm3 KS}-KK"KJJJ1JJ\:JJ3JJk;Jl;JJ  ProNav: ac range: 149.500000 m, nav range: 149.110580 m, bearing: 343.773262 deg, approach rate: 0.000000 m/s, LOS rate: -0.208510 deg/s, cmd heading: 11.981964 deg, new cmd heading: 11.698760 deg. 2j HeadingCmd: 0.204182 target range: 149.500000 and range: 149.50 m. jQ>jjjihhYhahifififirfub@bfuPP?ɛƨǽ D=I սɚiI(ܱ=IQ>ii)Q>)EeWill construct direction to contact in vehicle frame from tetrahedron phase data.m,DAT read: user:3042> }BDAT read: Tx time:23:09:31.5750 }$Ping request sent.}G{>G} h>G ?G ?GQ Ba O} >Zw,kA6?Y6I?696 G٣y > Nusing accuracyPremultiplier from config59h?5Y i ?:d?@E;;rŽ5 y@ZjFNOT Ignoring new targets: 149.50 m.BjtJjtU ProNav: ac range: 149.500000 m, nav range: 149.020401 m, bearing: 343.689647 deg, approach rate: -0.230783 m/s, LOS rate: -0.214113 deg/s, cmd heading: 11.698760 deg, new cmd heading: 11.447765 deg. 2jU]HeadingCmd: 0.199801 target range: 149.500000 and range: 149.50 m. j]L>jYjYjYiYhahahaheVBfifizKmKMKm59KiKmKmfrfbf`i ?ɛDBQǽ =I %սɚiI%A=IL>ii)L>) -F$?I)*F?2F:FBFP0JFJJu Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500637G c>G B O >TZw,9kA >?Y>vA?>9> =y>H@F?M ?@?s?@w? ?ɨ>?>X ;> CyFwBJ"IIRIRV83٢Z]< Zl=9^Q ^?`` bG٣`yfL f? jNusing accuracyPremultiplier from confighn59jh?n5Yj/ ijpr:]?r@jEj ;jK ;jÎ5t vR@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 149.50 m.Bj%8]Jj%8]5 ProNav: ac range: 149.500000 m, nav range: 148.944183 m, bearing: 343.624246 deg, approach rate: -0.225276 m/s, LOS rate: -0.193404 deg/s, cmd heading: 11.447765 deg, new cmd heading: 11.251463 deg. 2j5=HeadingCmd: 0.196375 target range: 149.500000 and range: 149.50 m. j=I>jAjAjAiAhAhAhIhIfIfIfQrfQbfU@?ɛy}YŽ 隅L=I tսɚiIW=II>ii)I>)*FQ2FQ:FQBFU`0JFQHQIQ IUz#IIUBIQ&IQ.IQ6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752025 I!GqGQBaO>WZw,t|SkAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004015Bs?YB8?BJ 9B G٣ y   >)%f= ! -Nusing accuracyPremultiplier from configtAM59»h?]5Y ijYeT?e@E e'YetAye B ==Ŏ5B @EEZjFNOT Ignoring new targets: 149.50 m.Bj0Jj0- ProNav: ac range: 149.500000 m, nav range: 148.846512 m, bearing: 343.547139 deg, approach rate: -0.195674 m/s, LOS rate: -0.154576 deg/s, cmd heading: 11.251463 deg, new cmd heading: 11.019992 deg. 2j-+Ի5HeadingCmd: 0.192335 target range: 149.500000 and range: 149.50 m. j5D>j1j1j9i9h9h9hahafafafirfibfmj?ɛFɽ 隽h=I LBսɚiI"=ID>ii)D>)*F?2F:FBF_0JFG GmAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255714zK &~JK 9K K K  ! I- hG h>G qAG G B O >%Zw,?VmkA2k@>Y20?292c2y;2!Cy>sB>"I)@ @JNJNJN0JLJN̝:JN 9JNـ3JLaV@aV@aV@aV@ ]@e e@e e@e  e@e ImImV٢} }B=9}$Q }> G٣=RGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59h?5Y iC+::XL?@E^;>@ǎ5 @ZjFNOT Ignoring new targets: 149.50 m.BjJj ProNav: ac range: 149.500000 m, nav range: 148.741379 m, bearing: 343.470276 deg, approach rate: -0.309554 m/s, LOS rate: -0.226475 deg/s, cmd heading: 11.019992 deg, new cmd heading: 10.789243 deg. 2jmHeadingCmd: 0.188308 target range: 149.500000 and range: 149.50 m. j%@>j!j!j!i!h!h!h)h)f)f1f1rf1bf5`?ɛEBMǽ <=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508057I1 ="սɚ9i9I=}=IE@>iAiA)E@>)i*F?2F:FBF0JFG! G B O- >HE V>IA  IA IA IE  =&IA .IA 6IE <:IE F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759700ŲZw,kA6ջ>Y6'?6R96g6;6CyRlBR"IIZIZm?3 fG$?Id٢n nV=9r;Q r>pp rG٣pyv v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59zh?5Yz iz# ::C? @zEzR6;zM?zYȎ5 @BEZj9EFNOT Ignoring new targets: 149.50 m.BjM{PJjM{P] ProNav: ac range: 149.500000 m, nav range: 148.639496 m, bearing: 343.401343 deg, approach rate: -0.269208 m/s, LOS rate: -0.182269 deg/s, cmd heading: 10.789243 deg, new cmd heading: 10.582302 deg. 2je-eHeadingCmd: 0.184696 target range: 149.500000 and range: 149.50 m. jm =>jijijiiihihihqhqfqfqfyrfybf}@@ɛɽ 隭x=I :սɚiI=I =>ii) =>)*F]?2FY:FYBF]P5JFYEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011818Gm>GBO >YZw,kAy kB Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263832        Mb@Mb@Mb@ )Y\(\?+?{Gzy>=#@ I@)@IhAy@II3٢ 0 ;=9Q > G٣y > Nusing accuracyPremultiplier from config59h?5Y i T:>:]P?@E;;Aʎ5  %@Zj9EFNOT Ignoring new targets: 149.50 m.BjECJjMC] ProNav: ac range: 149.500000 m, nav range: 148.541992 m, bearing: 343.326683 deg, approach rate: -0.223138 m/s, LOS rate: -0.170971 deg/s, cmd heading: 10.582302 deg, new cmd heading: 10.358177 deg. 2j]껝eHeadingCmd: 0.180784 target range: 149.500000 and range: 149.50 m. je9>jajajaiahahihihm3Bfifqfqrfqbf}qb@ɛ%FB%˽ !%̔=I! %Խɚ)i)I-xe=IU9>iQiQ)U9>)Y IzKBoIKK9KKK*F?2F:FBFA5JF"G>GJJJJJ:J9JJGc>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517755Gi B O > Zw,kA2W1>Y2?2N92J2N;2"CyJlBN"IiR=IR4<IV IVb3٢^; ^^=9^;Q b>`` bG٣b>RGyf`+ f> nNusing accuracyPremultiplier from confighn59jVh?r5Yje ijpr@?r@jEj:jU:jˎ5t z@xB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 149.50 m.Bj-*=Jj-*== ProNav: ac range: 149.500000 m, nav range: 148.450119 m, bearing: 343.265768 deg, approach rate: -0.249278 m/s, LOS rate: -0.165382 deg/s, cmd heading: 10.358177 deg, new cmd heading: 10.175319 deg. 2j=㻝EHeadingCmd: 0.177593 target range: 149.500000 and range: 149.50 m. jE5>jAjAjAiAhIhIhIhIfQfQfYrfYbf]U@ɛDɽ H=I uԽɚiIC̴=I5>ii)5>)!*F?2F:FBFP0JFHI Is#IIBI =&I.I6I<:I FBIJIRIZI =bI =jI4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768028 H$?IGr>GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:09:34.1762 ] TRx dataTimestamp_ set to:1736377775.324712] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020873Zw,kAy%_B-"IIqIq٢h .=9Q > G٣y > Nusing accuracyPremultiplier from config-59h?55Y i@E<<͎5B @?EZj FNOT Ignoring new targets: 149.50 m.BjX5JjX5% ProNav: ac range: 149.500000 m, nav range: 148.330826 m, bearing: 343.186385 deg, approach rate: -0.238061 m/s, LOS rate: -0.158544 deg/s, cmd heading: 10.175320 deg, new cmd heading: 9.936980 deg. 2j-ٻ-HeadingCmd: 0.173433 target range: 149.500000 and range: 149.50 m. j-m1>j1j1j1i1h1h9h9h9f9fAfArfAbfE6W @ɛ}GB}ٻν y}x>=I ԽɚiId=Im1>ii)m1>)*F-?2F):F)BF-O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271784 I zKM BoHKM 9KI KM KM G] c>G) B1 OU > Zw, kAJBJBJ@J@JB̝:JB:J@J@R>YR?R@߼9RGJRچ;R CyZ\BZ"IMb@Mb@Mb@ )Yoʡ?ʡE?~jty>=VA Q@)$@IAyIIM3٢o [=9x;Q > G٣y ' > Nusing accuracyPremultiplier from config59i?5Y8 i>:3?@E;;ώ5 #@ZjAMFNOT Ignoring new targets: 149.50 m.BjU%8JjU%8e ProNav: ac range: 149.500000 m, nav range: 148.237625 m, bearing: 343.131088 deg, approach rate: -0.271175 m/s, LOS rate: -0.160993 deg/s, cmd heading: 9.936980 deg, new cmd heading: 9.770985 deg. 2jeܻmHeadingCmd: 0.170536 target range: 149.500000 and range: 149.50 m. ju.>jqjqjqiqhqhqhyh}#Bfyfyfrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527929ɛq}Xν 隭P&=I ZԽɚiI͵=I.>ii) .>)*F]?2FY:FYBF]R0JFYGa GerAH I  I g#II ڄBI  =&I .I 6I <:I } FG} h>G G rA Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:09:34.1762 LVL= 21168, 31217, 27474, 32755, AGC= 65, IDX= 414, 0.00,-0.574,-2.235,-1.107,-1.180, PHS= 0.694,-1.008, 0.070, RAW= 128.8, 3.3, CAL= 135.4, -3.6, ROT= 14.6, 3.6  Ygot valid direction response: 23:09:34.1762 LVL= 21168, 31217, 27474, 32755, AGC= 65, IDX= 414, 0.00,-0.574,-2.235,-1.107,-1.180, PHS= 0.694,-1.008, 0.070, RAW= 128.8, 3.3, CAL= 135.4, -3.6, ROT= 14.6, 3.6  PDAT read: Bearing 14.6, 3.6 (Local)  ~Local bearing/azimuth received: Bearing 14.6, 3.6 (Local) M DAT read: Range 10 to 50 : 147.7 m (Round-trip 197.0 ms) speed 0.6 m/s M R#Rx 1: Read range and direction messages.GY Ba O > `direction in FSK: [-0.188836,-0.548383,0.814627] Fpublishing direction and range info 9 ug+ȿ6aY῿P7m?y C R y Rk) I Ai 1? % )\= @ k= E>@) I w>i = ? ?I 0li ̂ s  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.[w,klA IN`>YN3,?Nۼ9NI,N翉;NCy=ZB="I)A AIM8IM3٢e$ eQ=9e:Q m>ii mG٣m?RGyu u> Nusing accuracyPremultiplier from config595i?5Y0 i+?@E ;;Dю5 H@]?/N'xwoG?"kb*kSAkcRpmm?k@' 2k7Ckk@' kBk&Ck?@ addTargetRange:: Added new target pos. range: 147.699997 m, deltaT: 4.032101 s, deltaX: -1.800003 m, approachRate: -0.446418 m/s, rangeRepo size: 4 - Added new target pos. range: 147.699997 m, bearing: 278.526741 deg, lat: 36.905089 deg, lon: -122.121573 deg, deltaT: 4.032101 s, deltaX: -1.800003 m, approachRate: -0.446418 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 147.70 m.Bj=Jj9m ProNav: ac range: 147.699997 m, nav range: 166.914780 m, bearing: 328.105459 deg, approach rate: 0.000000 m/s, LOS rate: -0.160993 deg/s, cmd heading: 9.770985 deg, new cmd heading: 9.565253 deg. 2jquHeadingCmd: 0.166945 target range: 147.699997 and range: 147.70 m. j}*>jyjyjyiyhyhyhhfffrf`fvb@bfD?ɛ6Ͻ =I UԽɚ!i)I-Y=I-*>i1i1)5*>)9*F2F:FBF\0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%,DAT read: user:3043> -BDAT read: Tx time:23:09:35.5750 -$Ping request sent.-/-[w,sK"lA6,>Y6#>6ּ966;6!Cy>LB>"I}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:09:35.5743 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251737Mb@Mb@Mb@ )Y"~j?V-?m=t $@)@I@y@IIF3٢ ?=9%:Q %>!! -G٣)y- -> Nusing accuracyPremultiplier from config59 i?5YA iq>:?@Et;;-ӎ5 +@ I$?IZjQ]FNOT Ignoring new targets: 147.70 m.Bjen)Jjen) ProNav: ac range: 147.699997 m, nav range: 166.837051 m, bearing: 328.043737 deg, approach rate: -0.186453 m/s, LOS rate: -0.148127 deg/s, cmd heading: 9.565253 deg, new cmd heading: 9.380001 deg. 2jP˻HeadingCmd: 0.163712 target range: 147.699997 and range: 147.70 m. j'>jjjih h hhBff!fArfIbfMu?zKiKm 9KiKmKmɛkaӽ @ i) '>) *F}?2F:FBF^0JFJJJJJJJ:J 9JJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502634G] w>G9 BI Oe >U[w, Y2`;>2aݼ9292;0y>GBB"IIJIJ٢Ro Rf=9RQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Z+i?b5YZ iZ`b?b@ZEZ ;Z ;ZԎ5h j{@hzB*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 147.70 m.Bj [&Jj [& ProNav: ac range: 147.699997 m, nav range: 166.772369 m, bearing: 327.996085 deg, approach rate: -0.197343 m/s, LOS rate: -0.145439 deg/s, cmd heading: 9.380001 deg, new cmd heading: 9.236992 deg. 2j%ǻ%HeadingCmd: 0.161216 target range: 147.699997 and range: 147.70 m. j%%>j)j)j)i)h)h)h1h1f1f1f1rf9bf=@b?ɛԽ I ԽɚiIG=I%>iO)%>)*Fu?2Fq:FyBF}3JFyHU>I IT#IIʄBI&I.I6I<:Iz FGM^>GM ?GM>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756269G BO-,> I = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006529x=[w,UlAZG>YZ(>Z6ؼ9Z=yZH@B?ٿ@i?ZO;Z CyfDBf"Iin4=Ina>IrIr3٢zW zE=9~[:Q > G٣@RGy   > Nusing accuracyPremultiplier from config598i?5Y i-!% ?%@E" ; ;|֎5-B -@-7EZjq}FNOT Ignoring new targets: 147.70 m.BjJj ProNav: ac range: 147.699997 m, nav range: 166.688934 m, bearing: 327.938868 deg, approach rate: -0.199885 m/s, LOS rate: -0.137144 deg/s, cmd heading: 9.236992 deg, new cmd heading: 9.065255 deg. 2j=HeadingCmd: 0.158219 target range: 147.699997 and range: 147.70 m. j ">jjjihhhhfffrfbf?ɛս 隥ڻI ƎԽɚiI˷=I ">i%!)- ">)Y*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258660 J$?IhG >G B O >zK K 9K K K $)..-)))%$!! Hq,LolA*J*C="J*=Z%)>YZ>ZmHּ9Z=yZH 4?+ ؿԄ@??oEȚ?/?~?ɨZ%)>ZǑ;ZCyjABj"I-Mb@Mb@Mb@))) )))Y-1Zd?-t=-j-h@ ))-@I))y-@I=I=٢M"U M5=9U;:Q U>QQ ]G٣Yy] ]> mNusing accuracyPremultiplier from configau59eGi?u5Ye0 ieS}9>:s>@eEeX;ee;es؎5 @ZjFNOT Ignoring new targets: 147.70 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749 ProNav: ac range: 147.699997 m, nav range: 166.589615 m, bearing: 327.881784 deg, approach rate: -0.220241 m/s, LOS rate: -0.126658 deg/s, cmd heading: 9.065255 deg, new cmd heading: 8.893903 deg. 2j٭HeadingCmd: 0.155228 target range: 147.699997 and range: 147.70 m. j>jjjihhhhBf f f rf bf @P?ɛ!5+ֽ 9=GI9 =Խɚ9i9I=i=IE>iE:z()M>)I*F?2F:FBFO5JFGN|>GBO>H I  I A#II BI  =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762636 I zO"[w,հlA61>Y6Ǵ>66ϼ969=y6H@,?F+ֿ\3`? ?+U(???ɨ61>6ђ;6!CyZ@BZ"IIb$Ib<3٢jٻ jg=9n;Q n>pp rG٣pyr{ v> zNusing accuracyPremultiplier from configtz59vSi?~5Yv| ivs|~>~@vEv ;v ;vَ5  @ 4EZj9EFNOT Ignoring new targets: 147.70 m.BjEJjMU ProNav: ac range: 147.699997 m, nav range: 166.507416 m, bearing: 327.837787 deg, approach rate: -0.234419 m/s, LOS rate: -0.125537 deg/s, cmd heading: 8.893904 deg, new cmd heading: 8.761846 deg. 2jUO]HeadingCmd: 0.152923 target range: 147.699997 and range: 147.70 m. jeܗ>jajajaiahahahihifififqrfqbfu@ɛYֽ 隭gI ԽɚiIyԸ=Iܗ>i,)ܗ>)*F5?2F1:F1BF5P0JF1G9 G=pAJuJqJqJqJu\:JqJqJqJqaJqaJuO>;aJuP>;aG a>GpAGGBO)>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015435y|uA 8(Y|uAyP!B4z([w,~lA2=Y2>2;Ǽ92.==ף9 =@)=@I=~@9y=@IM#IM%x3]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266602٢m  mA=9u0 ;Q > G٣ARGy% > Nusing accuracyPremultiplier from config59iai?5Y iH>:.>@E;S;ێ5 q@ZjFNOT Ignoring new targets: 147.70 m.Bj(Jj( ProNav: ac range: 147.699997 m, nav range: 166.393661 m, bearing: 327.790372 deg, approach rate: -0.268625 m/s, LOS rate: -0.112043 deg/s, cmd heading: 8.761845 deg, new cmd heading: 8.619506 deg. 2jəHeadingCmd: 0.150439 target range: 147.699997 and range: 147.70 m. j >jjjihhh h ȃBf f f K$?Irfbfg@ɛ]FBeCRؽ aeIi ԽɚiIUq=I >i1) >)zKEMK9KKK *FA2FA:FABFAJFAJyJ}BA Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974G a[>Ga Bq O >.[w,glA6_=Y6>6u)96] ?? ^@?@ȓ?S?ɨ6_=6;6CyN;BR"IIZ"IZq3٢bj< bV=9b;Q b>dd fG٣dyjr n> rNusing accuracyPremultiplier from configpv59r^ni?v5Yrҧ irtv>v@rEr':r:rݎ5| ~D@|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 147.70 m.BjJj𺝊 ProNav: ac range: 147.699997 m, nav range: 166.287735 m, bearing: 327.748946 deg, approach rate: -0.268936 m/s, LOS rate: -0.105245 deg/s, cmd heading: 8.619506 deg, new cmd heading: 8.495146 deg. 2juHeadingCmd: 0.148268 target range: 147.699997 and range: 147.70 m. j>jjjihhhhfffrfbf@@H]T>IY I]5#II]BIY&IY.IY6I]<:I] Fɛ#׽ I ԽɚiI(=I>i5))uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771601 yIy*F2F:FBFV0JFGP>GyBO>J J J J J ̝:J 9J J J ;J ;J Z5;J [5; Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:09:38.1741 % TRx dataTimestamp_ set to:1736377779.356721- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238115[w,tFlA:sz=Y:ǃ>:9:`tt vG٣tyzؕ z> ~Nusing accuracyPremultiplier from config|59~U|i?5Y~ i~ I> @~E~v:~:~Lߎ5B O@1EZjFNOT Ignoring new targets: 147.70 m.BjIJjIຝ ProNav: ac range: 147.699997 m, nav range: 166.170822 m, bearing: 327.705786 deg, approach rate: -0.265398 m/s, LOS rate: -0.098043 deg/s, cmd heading: 8.495146 deg, new cmd heading: 8.365577 deg. 2jHeadingCmd: 0.146007 target range: 147.699997 and range: 147.70 m. j҂>jjjihhhIhQfQfQfQrfYbf]`g @ɛEB'}׽ 隭ЧI oԽɚiIt=I҂>iȺ8)*F]?2FY:FYBFe_0JFa"Gm>Gm=G5%>G= ?G=(?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274771GBO> ]L$?IazK] ӂLK] }9KY K] K] ;X3{xnjd]XPE<;[w,lAyI=p<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529392Mb@Mb@Mb@ )YzG?Mb rhyCQ@ @)@Ih@y=@IIm?3٢@; =9Q > G٣BRGy >  Nusing accuracyPremultiplier from config 59 i?5Y  i >:;>@ E Q; ; 5! EB@AZjFNOT Ignoring new targets: 147.70 m.BjNJjN񺝊  ProNav: ac range: 147.699997 m, nav range: 166.004883 m, bearing: 327.652805 deg, approach rate: -0.330048 m/s, LOS rate: -0.105483 deg/s, cmd heading: 8.365576 deg, new cmd heading: 8.206474 deg. 2j ȐHeadingCmd: 0.143230 target range: 147.699997 and range: 147.70 m. j>jjjihYhYhaheƃBfafafarfibfm`p-@ɛ[׽ I .Խɚ!i!I%:=I%>i-Y<)1*F5 ?2F1 :F9 BF= X0JF9 HY IY  I] .#II] BIY &IY .IY 6I] <:I] FBIJIRIZIbIjI04 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:09:38.1741 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.24, 3.098, 1.227, 2.087, 2.390, PHS= 0.795,-1.116,-0.306, RAW= 115.0, 7.6, CAL= 124.5, 4.2, ROT= 25.5, -4.2  Ygot valid direction response: 23:09:38.1741 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.24, 3.098, 1.227, 2.087, 2.390, PHS= 0.795,-1.116,-0.306, RAW= 115.0, 7.6, CAL= 124.5, 4.2, ROT= 25.5, -4.2  PDAT read: Bearing 25.5, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 25.5, -4.2 (Local)  DAT read: Range 10 to 50 : 146.1 m (Round-trip 194.9 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.261476,-0.316515,0.911838] Fpublishing direction and range info؁ 9؅ ɽп*3AԿ͘-?y؅ C؁ ؅ ؅  م )ف Iم Biم K?م َم م t@م > څ ^ @)څ Q = Q IQ Iڅ >iڅ Q ځ ځ ۅ M6i՘?gG'9vo?)ۅ ~Iۅ iۅ kۅ 钿ہ ہ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G] !>G)B9O]>.C[w,u=mAZ@YZR>Z>9ZI$=yZHP?Dʿ6@!,?J? xd??a?ɨZ@Z;ZCybDBv"II-I-[3٢=2= =j=9=B:Q =>AJMJMJIJIJM :JM:JIJIJM;JM;JMA;JMA; G٣y > Nusing accuracyPremultiplier from config59̛i?5Y i%>%@Ei<i<85) -@-.Eky_?kL$ k ko)mA:kCBkCZk܇@"Ť$CZGg`@ɽп*3AԿ͘-?JkkRk钿*wuJ=ԎopMoL`@ssɿٿx?"kk*kRks_?kn>$ 2kDCkOl?kkNCkBk6w@ addTargetRange:: Added new target pos. range: 146.100006 m, deltaT: 4.031970 s, deltaX: -1.599991 m, approachRate: -0.396826 m/s, rangeRepo size: 4  Added new target pos. range: 146.100006 m, bearing: 243.259284 deg, lat: 36.904605 deg, lon: -122.121573 deg, deltaT: 4.031970 s, deltaX: -1.599991 m, approachRate: -0.396826 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 146.10 m.BjJj!- ProNav: ac range: 146.100006 m, nav range: 123.859413 m, bearing: 314.170074 deg, approach rate: 0.000000 m/s, LOS rate: -0.105483 deg/s, cmd heading: 8.206474 deg, new cmd heading: 8.087972 deg. 2j1]HeadingCmd: 0.141162 target range: 146.100006 and range: 146.10 m. j]>jYjYjYiYhYhahahafafifirfm@3Cb@bfm`v?Will construct direction to contact in vehicle frame from tetrahedron phase data.i,DAT read: user:3044> BDAT read: Tx time:23:09:39.6250 $Ping request sent.i5!=)9*F?2F:FBFe0JFG >GBO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:09:39.6243  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251551 1 I9 I[w,(mAJ@YJf;>Jͷ9J@=yJH,u?fǿ@I?l?Yĩ=?.??ɨJ@J;JCyMKBM"IEMb@Mb@Mb@AAA A)AYE!rh?L7A`尿MbyEl>E+EA E@)E@IE$@AyE@IYIY٢m= m9=9mEQ m>qy }G٣yy,[ > Nusing accuracyPremultiplier from config59Oi?5Yݤ i>:=@E#;";5 Y@Zj!%FNOT Ignoring new targets: 146.10 m.Bj-c:Jj5c:E ProNav: ac range: 146.100006 m, nav range: 123.728455 m, bearing: 314.102524 deg, approach rate: -0.315580 m/s, LOS rate: -0.162953 deg/s, cmd heading: 8.087972 deg, new cmd heading: 7.885108 deg. 2jE߻MHeadingCmd: 0.137621 target range: 146.100006 and range: 146.10 m. jM >zKM3NKM59KIKMKM<HEMtf:lG c$X, ubQ?/"jjjihhhhBfffrfbf?ɛ%CB-@ҽ )-mi=!?)9JiJmAA*F}?2Fy:FyBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503013G}l=GIBaO>P[w,.BmA6:@Y6E'>6ļ96:a=y6H? xĿ[퍿`c?? *׭߁?7?2?ɨ6:@6;6CyNUBR"IIZ0IZ(3٢bR`= bj=9brQ b>dd jG٣jCRGyve v>HES>IEC IAIAIE =&IA.IE9D6IEx<:IEm F Nusing accuracyPremultiplier from config59i?5YƤ ia<@E::5B @+EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 146.10 m.Bj5Jj5 ProNav: ac range: 146.100006 m, nav range: 123.612343 m, bearing: 314.044737 deg, approach rate: -0.319065 m/s, LOS rate: -0.158942 deg/s, cmd heading: 7.885108 deg, new cmd heading: 7.711585 deg. 2j)ڻ HeadingCmd: 0.134593 target range: 146.100006 and range: 146.10 m. j  >j j j ihhhhfffrf!bf%@?ɛIMQϽ IM=II]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755245 U}ԽɚaiiImʹ=Im >iu?)y N$?I*F?2F:FBF05JFJJJ/JJ:J:J(N3JJ7;J8;JDG;JEG;G}7E=GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006412V[w,]\mAygB"II%I%T٢O= /=9Q > G٣y > Nusing accuracyPremultiplier from config59i?5Y i!@E. ;:5 @ZjFNOT Ignoring new targets: 146.10 m.Bj L2Jj L2 ProNav: ac range: 146.100006 m, nav range: 123.474533 m, bearing: 313.975932 deg, approach rate: -0.311868 m/s, LOS rate: -0.155881 deg/s, cmd heading: 7.711586 deg, new cmd heading: 7.504942 deg. 2jջ%HeadingCmd: 0.130986 target range: 146.100006 and range: 146.10 m. j%.!>j!j)j)i)h1h1h9h9f9fAfArfAbfMK?ɛuBBu,ʽ qu=Iq uԽɚyiyI}m@=I.!>i@)*F2F:FBF4JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258451 O$?IG=GBOk>zK} OK} 9Ky K} K} wrnjfbejppnmh`[XTOJIF@?<9631//*((#"! *Jq "Ju %=\[w,~vmAJ@YJQ=Jy9J=yJH`?`q?? HUr?^ڰ? ?ɨJ@J)%;JCfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511886yjpBj"IeMb@Mb@Mb@aaa a)aYem?+{Gzye>ee#e@ e@)e@IeQ@ayaIIF٢A= \=9Q > G٣y1 > Nusing accuracyPremultiplier from config59qi?5Y i>:;U@Eo;;G5 @(EZj FNOT Ignoring new targets: 146.10 m.Bj +Jj + ProNav: ac range: 146.100006 m, nav range: 123.346786 m, bearing: 313.920493 deg, approach rate: -0.345572 m/s, LOS rate: -0.150125 deg/s, cmd heading: 7.504942 deg, new cmd heading: 7.338453 deg. 2jλHeadingCmd: 0.128080 target range: 146.100006 and range: 146.10 m. js'>jjjihh!h!h%Bf)f)f1rf1bf5@?ɛAB^ǽ =I fԽɚiI=Is'>ioG@)*F?2F:FBFP0JF"G>G=G]BO=Ge?Ge?GB!HER>IA IEH#IIEBIE =&IA.IA6IE~<:IEq FO]w>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762383 Ic[w,LnmAB%+@YB=Bx9B!=yBH? ׹@G??AKڡ?+}??ɨB%+@Bb;B!CyJBN"IiR=IR>IV'IV@3٢^}= ^Z=9bvQ b>`` bG٣fDRGyf2 f> jNusing accuracyPremultiplier from confighn59jUi?n5Yj7 ijprr@jEj ;j;j5 @Zj!MFNOT Ignoring new targets: 146.10 m.BjUgJjUge ProNav: ac range: 146.100006 m, nav range: 123.215988 m, bearing: 313.865015 deg, approach rate: -0.319977 m/s, LOS rate: -0.135863 deg/s, cmd heading: 7.338453 deg, new cmd heading: 7.171842 deg. 2je{HeadingCmd: 0.125172 target range: 146.100006 and range: 146.10 m. j(->jjjihhhhfffrfbf 9@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014381ɛ?B *>I /ԽɚiI==I (->i ?) *F?2F:FBFJFGz =GBOE>u Will construct direction to contact in vehicle frame from tetrahedron phase data.u  G٣yԽ > Nusing accuracyPremultiplier from config 59i?5Y i ?:@Eq';3&;5%B %@%%EZjAMFNOT Ignoring new targets: 146.10 m.Bj]mHJj]mHe ProNav: ac range: 146.100006 m, nav range: 123.044907 m, bearing: 313.793544 deg, approach rate: -0.418865 m/s, LOS rate: -0.175227 deg/s, cmd heading: 7.171842 deg, new cmd heading: 6.957133 deg. 2jm𻝊uHeadingCmd: 0.121425 target range: 146.100006 and range: 146.10 m. ju=jqjqjqiyhyhyhyh}Bfffrfbf@ @ɛ>Bﺽ 隵->I aӽɚiIf=I=i>p[w,mA6 @Y6@=6.x596]=y6H?@ĝR? ?E?4j??ɨ6 @6;6 Cy>B>&#IIDID٢Nt= Rc=9R;xQ V>TT VG٣Ty^ϼ ^> bNusing accuracyPremultiplier from config`f59bw j?f5Yb ibdfΪj@bEb:bU:bm5lHrP>Ip Irm#IIr߄BIr =&Ip.Ip6Ir<:Ir F ]@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 146.10 m.Bj/Jj/ ProNav: ac range: 146.100006 m, nav range: 122.903809 m, bearing: 313.735470 deg, approach rate: -0.372998 m/s, LOS rate: -0.153698 deg/s, cmd heading: 6.957133 deg, new cmd heading: 6.782710 deg. 2jһHeadingCmd: 0.118381 target range: 146.100006 and range: 146.10 m. jq=jjjihhhhfffrfbf@"@ EQ$?IAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772801ɛ=B 隍tN>I 5ӽɚiIʱ=Iq=i=)  G5 vAQ "Y vAy FB Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:09:42.2215 % TRx dataTimestamp_ set to:1736377783.394394% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029302"w[w,pmANY@YNT=N O9N2=yNH`? q ??ީ? zֲ?`L?ɨNY@Nۊ;N#CyVBZ@#I)\ \Ib"Ibq3٢n= rF=9vwQ z>  G٣ERGy-p 5> ]Nusing accuracyPremultiplier from configQu59Uj?}5YU iU\@UEU;U=;UF5 @"EZjFNOT Ignoring new targets: 146.10 m.Bj%|)Jj%|)U ProNav: ac range: 146.100006 m, nav range: 122.738449 m, bearing: 313.668014 deg, approach rate: -0.362744 m/s, LOS rate: -0.148175 deg/s, cmd heading: 6.782710 deg, new cmd heading: 6.580071 deg. 2jUa˻]HeadingCmd: 0.114844 target range: 146.100006 and range: 146.10 m. j]I3=jYjYjYiahahahahafffrfbf e @ɛI "ӽɚiI=I5I3=i5<zK% "bLK% 59K! K% K% J#K+|3 K#K#K#"K#Jy J} Jy Jy Jy J} :Jy Jy Q}[w,mAbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532911z/@YNj=4l9=yHN?b`m?? 2?`?n?ɨz/@ρ;!Cy-фB5]#IMb@Mb@Mb@ )Yq= ףp?y&1y ?`e -@)@I~@yQ@IM%IM)3٢U= ](=9]sQ ]> G٣y. > Nusing accuracyPremultiplier from config594j?5YԦ iHA ?:" @E;1h<]5 B @ EZjQUFNOT Ignoring new targets: 146.10 m.Bj]}\Jj]}\ ProNav: ac range: 146.100006 m, nav range: 122.551323 m, bearing: 313.582322 deg, approach rate: -0.420306 m/s, LOS rate: -0.192767 deg/s, cmd heading: 6.580071 deg, new cmd heading: 6.322605 deg. 2jKHeadingCmd: 0.110350 target range: 146.100006 and range: 146.10 m. jS=jjjihhhh=Bfffrfbf@%U@ɛ:B$ >I śҽɚiI$=IS=iZ;Gq By O >3[w,MnA6%@Y6@*=696 =y6H?`qӂ@?6? ?`??ɨ6%@63;6 Cy]B]s#IIuIu3٢-= -a=9-fQ ->1Q UG٣Qy]e e> mNusing accuracyPremultiplier from configi59mEj?5Ym imU@mEm2;md;m5 @kA(\?k#*4# k ku nA:kCBkCZkP}@"IAc >kBr a@yxٻwϿ10˿fC?JktRkĴ*P"ߗD"aCFI" V`@JҿTӿ|KF?"k2*k$k\?k#<# 2k(ECkcRpmm?kk7CkBk=@m addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 4.035908 s, deltaX: -2.000000 m, approachRate: -0.495551 m/s, rangeRepo size: 4  Added new target pos. range: 144.100006 m, bearing: 227.232856 deg, lat: 36.903934 deg, lon: -122.121573 deg, deltaT: 4.035908 s, deltaX: -2.000000 m, approachRate: -0.495551 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 144.10 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3045> BDAT read: Tx time:23:09:43.6251 $Ping request sent.Iy }ҽɚyiyI}!:=IR=iY: I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:09:43.6244  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253259_[w,+nA6@Y6Ԇ=696W=y6H ?`{{k }˰??5@ ?`?5?ɨ6@6;;6CyRBR#IiVp=IV4<Mb@Mb@Mb@ )Yi|?5?Q롿Mb?y?\<lA )Z@I@yIIF٢= N=92Q > G٣FRGy> > Nusing accuracyPremultiplier from config 59Xj? 5Y iT ?5:5:P;5@E7;;5A M@MEZj15FNOT Ignoring new targets: 144.10 m.Bj=v˻Jj=v˻u ProNav: ac range: 144.100006 m, nav range: 89.261131 m, bearing: 276.020871 deg, approach rate: -0.057368 m/s, LOS rate: -0.355759 deg/s, cmd heading: 6.107904 deg, new cmd heading: 5.682099 deg. 2ju't}HeadingCmd: 0.099171 target range: 144.100006 and range: 144.10 m. j}W=jyjyjyiyhyhhh`Bfffrfbfm?ɛ8BbT >zKRIK9KKKJ-J-J)J)J-,:J- :J)J)I =~ѽɚ9i9I=-==IeW=iaie/m)mW=)i*F=?2F9:F9BF=05JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503996Ge VG9 BA Oe >L[w,pEnA6$@Y6$=6968=y6H}?@>@ڳ? v?VÙ?`ݷ??ɨ6$@H<I< I>#II>DBI<&I<.I<6I><:I> FBI=CJI=CRI9ZI= =bI= =jI= 356/;6CyV BV#IIb Ib̍2٢j> j]=9jvݼQ j>ll nG٣lynH; r> vNusing accuracyPremultiplier from configpz59r'jj?z5Yr irxzW;z@rEr ;rG ;rG5 h@%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 144.10 m.Bj=IJj=IờM ProNav: ac range: 144.100006 m, nav range: 89.240288 m, bearing: 275.887084 deg, approach rate: -0.061357 m/s, LOS rate: -0.393921 deg/s, cmd heading: 5.682099 deg, new cmd heading: 5.280650 deg. 2jM,UHeadingCmd: 0.092165 target range: 144.100006 and range: 144.10 m. jU=jQjQjYiYhYhYhYhafafafarfabfms? S$?Iɛ 7B U>I нɚiI%(=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754778I%=i9i=)==)I*F?2F:FBFP0JFGݗGyBO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006554p[w,6_nA2Q@Y2Q=2!%½92=y2H`? p?? W;?,.?`?ɨ2Q@2;P;2CyBBB#IIJIJF٢xq= G=9ͼQ > G٣y-4Y< -> UNusing accuracyPremultiplier from configIm59M~j?u5YM iM<@M€EMI1 5нɚ1i1I5=I==i=9 G٣GRGy#<  > Nusing accuracyPremultiplier from config 59 j?5Y < i m?:b=@ ĀE ; ; j5) -C@-EZjQ]FNOT Ignoring new targets: 144.10 m.BjeJjeu ProNav: ac range: 144.100006 m, nav range: 89.213417 m, bearing: 275.533772 deg, approach rate: -0.010772 m/s, LOS rate: -0.415934 deg/s, cmd heading: 4.828631 deg, new cmd heading: 4.220602 deg. 2ju}HeadingCmd: 0.073663 target range: 144.100006 and range: 144.10 m. j}ܖ=jyjyjyiyhhhhBfffrfbf ?ɛ5B|C >I  ϽɚiI-=Iܖ=iiŀ<)ܖ=)HmL>ImC Im5$IImBIm =&Ii.Ii6Im<:Im FE= aIi*F-?2F):F1BF5P0JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768324G GBOk>[w,y:H@g?I    G٣ yr< > Nusing accuracyPremultiplier from config%59j?%5Y i!-=-@ƀEP ; ;51 5@1ZjFNOT Ignoring new targets: 144.10 m.BjϻJj%ϻ- ProNav: ac range: 144.100006 m, nav range: 89.211090 m, bearing: 275.393007 deg, approach rate: -0.005986 m/s, LOS rate: -0.362145 deg/s, cmd heading: 4.220601 deg, new cmd heading: 3.798305 deg. 2j5x]HeadingCmd: 0.066293 target range: 144.100006 and range: 144.10 m. j]ć=jYjYjYiYhahahahafififirfibfm`@ɛ 4B 𗃽  ?I) 5y=νɚ1i1I5g=I=ć=i9i=n<)=ć=)AE= eU$?Ia}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271868*F?2F:FBFJFG} .A;GY Ja Je BAB O ><[w,anAJ J JJJ ܫ:J :JJzKBHK9KKK(<PQOMLKKHCDup:HwJ/ RK?JK?B@YBe=B@9BhV>yBH&?⸿`ߴ?v?`:¿þ?@?}?ɨB@B1;B Cy~VB~$IMb@Mb@Mb@ )Y\(\?L7A`??y?+=<A @)@IAy@I I̍2٢*= -=9Q > G٣y{; > Nusing accuracyPremultiplier from config59}j?5YŤ i>?:>@ȀE;);5  @EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524053ZjFNOT Ignoring new targets: 144.10 m.BjٻJjٻ ProNav: ac range: 144.100006 m, nav range: 89.222069 m, bearing: 275.211940 deg, approach rate: 0.023084 m/s, LOS rate: -0.380661 deg/s, cmd heading: 3.798305 deg, new cmd heading: 3.255188 deg. 2j%HeadingCmd: 0.056814 target range: 144.100006 and range: 144.10 m. j%h=j!j!j)i)h)h)h)h5DŽBf1f1f1rf1bf=`Jk@ɛl  =F?I @#ͽɚiI=Ih=ii?=)h=)EAEA*EA"EAHJ>I I$IIBI&I.I6Ie<:IV F V$?I*F} ?2Fy :Fy BF} O0JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775391GU 喇<G1 B9 OU >Ƴ[w,nAy~dB$III2٢E= MR=9MQ M>IQ UG٣UHRGyU U> eNusing accuracyPremultiplier from configam59ej?m5Ye ieqqu@eʀEe:eL:e5B  @E B*** querying acoustic contact ***j j Zj-FNOT Ignoring new targets: 144.10 m.BjELJjELໝU ProNav: ac range: 144.100006 m, nav range: 89.231812 m, bearing: 275.062363 deg, approach rate: 0.025548 m/s, LOS rate: -0.392195 deg/s, cmd heading: 3.255189 deg, new cmd heading: 2.806515 deg. 2jU]HeadingCmd: 0.048983 target range: 144.100006 and range: 144.10 m. j]PH=jYjYjYiYhahahahafififirfibfmJn @ɛ3BIe 隥?I #@̽ɚiI=IPH=ii=)PH=)*Fu?2Fq:FqBFun0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:09:46.2191 TRx dataTimestamp_ set to:1736377787.428760checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027764G<G B O5 > I [w,nAbѮ@Yb=b 9bS >ybH?湿 S`:??O¿T?'?i?ɨbѮ@b;`nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279398yzrBz#$IMb@Mb@Mb@ )Y/$?㥛 ?S㥛?y?=/<A K@)@I7Ay@II2٢= C=9#Q > G٣yu; > Nusing accuracyPremultiplier from config59j?5Y i!?:@̀E';;5 (@ZjFNOT Ignoring new targets: 144.10 m.BjJj仝 ProNav: ac range: 144.100006 m, nav range: 89.259712 m, bearing: 274.900961 deg, approach rate: 0.069233 m/s, LOS rate: -0.400377 deg/s, cmd heading: 2.806514 deg, new cmd heading: 2.322473 deg. 2jc HeadingCmd: 0.040535 target range: 144.100006 and range: 144.10 m. j &=j jjihhhhلBf!f!f!rf!bfM` @ɛquZj q}?Iy }$˽ɚyiyI}=I&=iilA=)&=)EErA*F}?2Fy:FBFp0JF*J"JC=zKuFNKu9KqKuKu :XQ1Gk =GyBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:09:46.2191 LVL= 22752, 32753, 29538, 32755, AGC= 62, IDX= 420, 0.12, 1.184,-0.495, 0.020, 0.403, PHS= 0.869,-0.851,-0.386, RAW= 105.2, 4.8, CAL= 115.8, 2.5, ROT= 34.2, -2.5 Ygot valid direction response: 23:09:46.2191 LVL= 22752, 32753, 29538, 32755, AGC= 62, IDX= 420, 0.12, 1.184,-0.495, 0.020, 0.403, PHS= 0.869,-0.851,-0.386, RAW= 105.2, 4.8, CAL= 115.8, 2.5, ROT= 34.2, -2.5  PDAT read: Bearing 34.2, -2.5 (Local)  ~Local bearing/azimuth received: Bearing 34.2, -2.5 (Local) % DAT read: Range 10 to 50 : 142.3 m (Round-trip 189.8 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.E `direction in FSK: [-0.198720,-0.152219,0.968163]E Fpublishing direction and range infoؑ9ؕloɿHG@{ÿ|1?yؕLCؑؕXؑ ٕbs)ّIٕ>iٕv^?ٕ#Yٕˡžٕ?ٕ= ڕY@)ڕ¸2=Iڕ?iڕ¸2ڑڑە_p@?Xпdv?)ە{Iەiە?:ە.ۑۑ} T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.[w,oA2@Y2=292FM >y2H@Z?@ṿb}?@?5¿N$?H?d?ɨ2@2M;0yNyBN,$IIVIV٢b= b[=9fJQ f>dd jG٣hyj7 j> Nusing accuracyPremultiplier from config|59~j?5Y~{ i~  I> @~΀E~ :~n:~E51 5@= EkH"\?k }[# k knA:kLCBkT CZku{@"Vp !G<7+5 8a@loɿHG@{ÿ|1?Jk?:Rk.*HjCEuEW`@-B3ӿ.ӿE?&?"k.*k-k*2\?k /# HI>I I$IIBI =&I.I6I<:Ix F2kCCks_?kn>$ kCCkBk( @  addTargetRange:: Added new target pos. range: 142.300003 m, deltaT: 3.784480 s, deltaX: -1.800003 m, approachRate: -0.475628 m/s, rangeRepo size: 4 = Added new target pos. range: 142.300003 m, bearing: 225.116133 deg, lat: 36.903562 deg, lon: -122.121237 deg, deltaT: 3.784480 s, deltaX: -1.800003 m, approachRate: -0.475628 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 142.30 m.BjEJjI] ProNav: ac range: 142.300003 m, nav range: 68.040977 m, bearing: 240.150990 deg, approach rate: 0.000000 m/s, LOS rate: -0.400377 deg/s, cmd heading: 2.322473 deg, new cmd heading: 1.838862 deg. 2jYeHeadingCmd: 0.032094 target range: 142.300003 and range: 142.30 m. je5u=jajajaiahahi }X$?Iyhihfffrfa@bf??ɛ2BY 3=#?I "ʽɚiI v=I 5u=ii}Y=)5u=)Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3046> BDAT read: Tx time:23:09:47.4251 $Ping request sent. G |uA  Y |uAy 7B Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:09:47.4244  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250642-[w,ioA6@Y6 =6w96&>y6H F? ms )^`?p?`¿?j? }a?ɨ6@6j;4yRBR3$I)T TIZIZ(1٢b< bK=9f}Q f>dh jG٣jIRGyn n> rNusing accuracyPremultiplier from configpv59rk?v5Yr? irxzH>z@rЀEr:r:r5eB el@e EZjFNOT Ignoring new targets: 142.30 m.Bj߻Jj߻ ProNav: ac range: 142.300003 m, nav range: 68.199944 m, bearing: 239.997833 deg, approach rate: 0.405830 m/s, LOS rate: -0.390090 deg/s, cmd heading: 1.838862 deg, new cmd heading: 1.380470 deg. 2jۅHeadingCmd: 0.024094 target range: 142.300003 and range: 142.30 m. jA`<jjjihhhhfffrf!bf%(?ɛV 隭&?I ɽɚiIֻ=ImA` G٣y)C > Nusing accuracyPremultiplier from config59+k?5Yr i?:]>@ӀE%;;b 5  @Zj1=FNOT Ignoring new targets: 142.30 m.Bj=ջJjEջM ProNav: ac range: 142.300003 m, nav range: 68.414734 m, bearing: 239.801310 deg, approach rate: 0.409510 m/s, LOS rate: -0.373505 deg/s, cmd heading: 1.380470 deg, new cmd heading: 0.792775 deg. 2jU*UHeadingCmd: 0.013837 target range: 142.300003 and range: 142.30 m. jUb<jYjYjYiYhYhYhaheԄBfafifirfibfm?ɛ^s "?I! %ǽɚ!i!I%{=I-bIC I$IIBI! =&I.I8D6Ig<:IR FE= EZ$?II*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005032GRk=GABQOm>J J J J J L:J J J J P;J Q;J J [w,WoAjF@Yj=jd*9j=yjHoz?̃EĿ@t?L?`v3?n?`rb?ɨjF@j;jCyB;$IIIn٢-= -W=95sQ 5>11 =G٣9y=M => MNusing accuracyPremultiplier from configAM59E3>k?U5YE4 iEOQUZ>U@EԀEE:E:E 5a e @eE}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 142.30 m.Bj7λJj7λ ProNav: ac range: 142.300003 m, nav range: 68.565109 m, bearing: 239.664052 deg, approach rate: 0.395900 m/s, LOS rate: -0.360573 deg/s, cmd heading: 0.792775 deg, new cmd heading: 0.381910 deg. 2juwHeadingCmd: 0.006666 target range: 142.300003 and range: 142.30 m. jk;jjjihhhhfffrfbf?ɛ1B= *?I -ƽɚiIC=Ik;ii`=)k;) UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256888Ep,=*FU?2FY:FYBFe0JFa I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508950GQ G1 B9 O] >I[w,soA>+%@Y>@3=>,9>]=y>H y? B`{Ŀ?@?oy?'Ƹ?`d?ɨ>+%@>);>CyJ|BJ/$IiN=IN>%Mb@Mb@Mb@!!! !)!Y%gfffff?+η?QQ UG٣]JRGy]y ]> eNusing accuracyPremultiplier from configam59eRk?u5Ye ieu!?}:}i>}@eրEe(S;eQ;e 5B @EZjFNOT Ignoring new targets: 142.30 m.BjĻJjĻm ProNav: ac range: 142.300003 m, nav range: 68.738663 m, bearing: 239.511340 deg, approach rate: 0.391890 m/s, LOS rate: -0.343956 deg/s, cmd heading: 0.381910 deg, new cmd heading: 359.924944 deg. 2jm luHeadingCmd: 6.281875 target range: 142.300003 and range: 142.30 m. ju@jqjqjqiqhqhyzKMKKs9KKKhhBfffrfbf@x?ɛ  `  I%?I H{ŽɚiIb=Ii<I  I %II 8BI " =&I .I 6I <:I FBIeɡCJIeɡCRIaZIe =bIe =jIe5 } [$?Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015581Ge x}=GI BY O >[w,oA2@Y2{=2-92=y2H'{?@Ŀ@"??@vL ?B\?g?ɨ2@2;0y>sB>$$II^I^m?3٢f/ j?=9je$Q j>ll nG٣lynCT n> vNusing accuracyPremultiplier from configpz59rgk?z5YrF ir!xz&d>z@r؀Er;r;r5 A@ZjFNOT Ignoring new targets: 142.30 m.BjIJjI ProNav: ac range: 142.300003 m, nav range: 68.906471 m, bearing: 239.363235 deg, approach rate: 0.381882 m/s, LOS rate: -0.336222 deg/s, cmd heading: 359.924933 deg, new cmd heading: 359.481708 deg. 2jfHeadingCmd: 6.274139 target range: 142.300003 and range: 142.30 m. j@jjjihhhhfffrf bf  x@ɛY  ?I dĽɚiIL=I5ii}=)@)JiJmJiJiJiJm :JiJiJiJiJmU;JmU;*F?2F:FBFO0JFGp=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266232GiBqO[>[w,佩oA I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517034yޥkBޥ$I5Mb@Mb@Mb@111 1)1Y5Q?v/?:vy5\?5xi=5T5I@ 55@)5@I5A1y5@IM IM̍2٢]  ]4=9eQ e>aa eG٣iy > %Nusing accuracyPremultiplier from config-59|k?-5Y  i-#?-:5)>5@ڀE;N;59 =@=EZjaeFNOT Ignoring new targets: 142.30 m.BjmλJjmλ} ProNav: ac range: 142.300003 m, nav range: 69.077332 m, bearing: 239.195457 deg, approach rate: 0.369444 m/s, LOS rate: -0.361882 deg/s, cmd heading: 359.481708 deg, new cmd heading: 358.979632 deg. 2j}[xHeadingCmd: 6.265377 target range: 142.300003 and range: 142.30 m. j}@jjjihhhhQBfffrfbf @ɛ2B` ?I EýɚiI=I%㑼iim=)}@)*F]?2Fa:FaBFeP0JFazK BHK 9K K K GE x\=M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769583GU qAGU qAG B) OU >"[w,oA2T@Y2A=2.92l~=y2H@(?@^ſ? ?P@?{?@m?ɨ2T@2 ;2CyjgBn$IIIM3٢% -`=9-Q ->11 5G٣5KRGy=[ => ENusing accuracyPremultiplier from configAM59Eڌk?M5YE^ iEڿIM<>M@E܀EE:EL:Ej5Y ]@YZjFNOT Ignoring new targets: 142.30 m.BjʻJjʻjH<bHH=>IC III$ =&I.I7D6I<:Ik FE ProNav: ac range: 142.300003 m, nav range: 69.198593 m, bearing: 239.073774 deg, approach rate: 0.353477 m/s, LOS rate: -0.354083 deg/s, cmd heading: 358.979634 deg, new cmd heading: 358.615230 deg. 2jEsMHeadingCmd: 6.259017 target range: 142.300003 and range: 142.30 m. jMI@jIjIjIiIhqhqhqhyfyfyfrfbf @ɛ%4Q zGt=GYBiO}Y>J J J J J :J 9J J J 6;J 7;J O>;J O>;U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272875[w,0oA6A@@Y6=6;.96=y6H *?@Ǽ ;ſ? =?ŵ?ͳ?@hp?ɨ6A@@6aχ;4yM[Bu$IIIF2٢Y C=9F9Q > G٣y > Nusing accuracyPremultiplier from config59k?5Y{ i>@ހE ::C5B @EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 142.30 m.Bj&ǻJj&ǻ ProNav: ac range: 142.300003 m, nav range: 69.347519 m, bearing: 238.922785 deg, approach rate: 0.344202 m/s, LOS rate: -0.348221 deg/s, cmd heading: 358.615230 deg, new cmd heading: 358.163245 deg. 2jnHeadingCmd: 6.251128 target range: 142.300003 and range: 142.30 m. j= @jjjihhhhfffrfbfu @ɛimD_ im?Ii m1]ɚqiqIu>7=I}Niyi}=)}= @)*F?2F:FBFJF ]$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.ս%=սa=DAT read: 23:09:50.0172 LVL= 21040, 32753, 28802, 32755, AGC= 58, IDX= 416, 0.04, 1.141,-0.534,-0.160, 0.322, PHS= 0.907,-0.809,-0.485, RAW= 100.2, 4.9, CAL= 110.3, 3.2, ROT= 39.7, -3.2 Ygot valid direction response: 23:09:50.0172 LVL= 21040, 32753, 28802, 32755, AGC= 58, IDX= 416, 0.04, 1.141,-0.534,-0.160, 0.322, PHS= 0.907,-0.809,-0.485, RAW= 100.2, 4.9, CAL= 110.3, 3.2, ROT= 39.7, -3.2 PDAT read: Bearing 39.7, -3.2 (Local) ~Local bearing/azimuth received: Bearing 39.7, -3.2 (Local) DAT read: Range 10 to 50 : 140.8 m (Round-trip 187.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.e `direction in FSK: [-0.194521,-0.065941,0.978679]e Fpublishing direction and range info9. ȿetR᰿WQ?y C0R p)I:i'1h?OQT?%= i?)d=Ia1?idF?+5տd<?)㞰IFi$4G T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G] &=G] ?G] >G B! O= >-[w,=FoAr~@Yr <r-9r=yrH?@gCſQ??@<? ?-t?ɨr~@rZ_;py~JB~#I-}only read 2 of 4 data items for bottom velocity. Device response is::BS, +7, +529A  }@} }@} }@}  }@} II1٢ K=9:Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59k?5Y i+::U >@E;>5 @EzKKh9KKKkX9[?k4 k kfoA:k CBk CZkb@"USuc;p "2Ή9a@. ȿetR᰿WQ?Jk$4RkG*$1gH q24uD`@+}ֿD0 ÿ .n?"k*kEk]ti[?k ɾ 2kDCk\?k#<# kDCk9Bk~{@= addTargetRange:: Added new target pos. range: 140.800003 m, deltaT: 3.782515 s, deltaX: -1.500000 m, approachRate: -0.396562 m/s, rangeRepo size: 4 M Added new target pos. range: 140.800003 m, bearing: 202.953523 deg, lat: 36.903477 deg, lon: -122.121076 deg, deltaT: 3.782515 s, deltaX: -1.500000 m, approachRate: -0.396562 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 140.80 m.Bj]JjYm ProNav: ac range: 140.800003 m, nav range: 64.112885 m, bearing: 224.764558 deg, approach rate: 0.000000 m/s, LOS rate: -0.348221 deg/s, cmd heading: 358.163236 deg, new cmd heading: 357.748773 deg. 2jiHeadingCmd: 6.243894 target range: 140.800003 and range: 140.80 m. j@jjjihhhhfffrfa@bf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3047> BDAT read: Tx time:23:09:51.2752 $Ping request sent.H%;>I! I% %II%.BI!&I!.I!6I%ذ<:I% F  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:09:51.2745  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251649\w,pA @>@Y><>,9>_ =y>H׉?)Hſl(?`?`?|? x?ɨ>@>>;> CyjIBj#IIrIrF2٢-< -Q=9-p;Q ->11 5G٣5LRGy=yӼ => MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM59E+k?U5YE iEU :QUw:U=U@EEEx5;EJ?E5a e@aZjFNOT Ignoring new targets: 140.80 m.BjvJjv ProNav: ac range: 140.800003 m, nav range: 64.284973 m, bearing: 224.646266 deg, approach rate: 0.450079 m/s, LOS rate: -0.308551 deg/s, cmd heading: 357.748780 deg, new cmd heading: 357.394859 deg. 2jSHeadingCmd: 6.237717 target range: 140.800003 and range: 140.80 m. ja@jjjihhhhfffrfbf ׆?ɛ3Bj+Z  ?I ɚiIsǴ=I<:ioy?N \w,;n/pAB;@YB;BmF.9Bk=yBHn?񒔿ſP}?g?ü?$?`_r?ɨB;@B;BCyN3BN#I U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYU{Gz?Dl ףp= yU?UOUQ8Up@ U@)U@IUv@QyU@IuIu٢ڮ (=90Q > G٣yWּ > Nusing accuracyPremultiplier from config59Ok?5YȖ iT:?:?@E(;;5 Q@EZjFNOT Ignoring new targets: 140.80 m.BjλJjλ ProNav: ac range: 140.800003 m, nav range: 64.442719 m, bearing: 224.470594 deg, approach rate: 0.325139 m/s, LOS rate: -0.361203 deg/s, cmd heading: 357.394867 deg, new cmd heading: 356.869154 deg. 2jw HeadingCmd: 6.228542 target range: 140.800003 and range: 140.80 m. j 7P@j j j i hhhhBfffrfbf% ؆?ɛIM&{ IU?IQ U5ɚQiQIU=I]_iYi]oy=)]7P@)aEEw=JAJE?AJMJMJIJIJM|:JM:JIJIae@ae@ae@ae@*F?2F:FBF0JFGt=zKRIK9KKKGBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006793ZH RH @AH 5>I C I $II BI % =&I .I 6D6I ʰ<:I F0\w,f/IpA2@Y2@2n-92Ď=y2H?xuſ z?Y? ?@,w?ɨ2@2P|;2 CyB+BB#I PIPIJIJ@٢Ze. ZY=9^W;Q ^>`` bG٣`yb f> nNusing accuracyPremultiplier from confighr59jk?r5Yjw ijypvHv@jEj$;j%;j5x z@xZjFNOT Ignoring new targets: 140.80 m.Bj'ǻJj'ǻ ProNav: ac range: 140.800003 m, nav range: 64.563187 m, bearing: 224.333491 deg, approach rate: 0.306547 m/s, LOS rate: -0.348225 deg/s, cmd heading: 356.869161 deg, new cmd heading: 356.458628 deg. 2jnHeadingCmd: 6.221377 target range: 140.800003 and range: 140.80 m. j@jjjihhhhfffrfbf?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990ɛ4B9'q 隍>I /޽ɚiIIM=0=IU*}i] AG)BIOe>Yn\w,gpAN`@YNSp@N?,9N_>=yNH;??@ſ3?` ^|?@ԯ?{?ɨN`@Nv;LyZ,BZ#IIbIbʴ٢v]; z*=9:Q  > %G٣%MRGy==ڼ => _$?I eNusing accuracyPremultiplier from configYu59]k?5Y]t i]D@]E]==]c<]5B @E=B*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 140.80 m.BjUJjU]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028 ProNav: ac range: 140.800003 m, nav range: 64.718399 m, bearing: 224.153216 deg, approach rate: 0.292738 m/s, LOS rate: -0.339191 deg/s, cmd heading: 356.458639 deg, new cmd heading: 355.919128 deg. 2jhHeadingCmd: 6.211961 target range: 140.800003 and range: 140.80 m. jb@jjjihhhhfffrfbf%5@ɛ    >I  HμɚQiQIUC=I]%ޑiYi]-X=)]b@)a*Em>"Em=JAJEJAJAJAJE 9JAJAE}Hu=*F ?2F :F BF _0JF zK BHK 9K K K   Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998G5@Y>@>&9>`g=y>H]?vi?`Ŀ`ץ@x?^+???HZ2>IX IZ$IIZBIZ' =&IZHD.IX6IZ<:IZ Fɨ>@>{;>"Cy--B5#IMb@Mb@Mb@ )YMbX9?SÿJ +y?H@ @)@II@y@II2٢$q; = a$?I9D: G٣y F9  > Nusing accuracyPremultiplier from config59l?5Yɚ it%?-:-֦-@E0Q;P;51 5@5EZjY]FNOT Ignoring new targets: 140.80 m.BjeJje5 ProNav: ac range: 140.800003 m, nav range: 64.845329 m, bearing: 223.935572 deg, approach rate: 0.271343 m/s, LOS rate: -0.464353 deg/s, cmd heading: 355.919136 deg, new cmd heading: 355.267513 deg. 2j5W=HeadingCmd: 6.200588 target range: 140.800003 and range: 140.80 m. j=7k@j9j9jAiAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801hAhh h aBf f frfbfG@ɛ4} >I ûɚ i I if=I(iii,=)7k@)E!E!*E%"E%EEqA*F] ?2FY :FY BFY JFY = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196GEg\=GB)OE>Oi)\w,_ypAVG@YVV@V#9Vd=yVH?@:?@hĿ88`G?@;([?`6??ɨVG@V;VCy^6Bb#IIjIj3٢t=  -=9%;Q ->9A EG٣MNRGy]U e> Nusing accuracyPremultiplier from config Iu59*l?}5Y iO@E=S=!5) 52@1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771935ZjFNOT Ignoring new targets: 140.80 m.Bj7ѻJj7ѻ ProNav: ac range: 140.800003 m, nav range: 64.961479 m, bearing: 223.733321 deg, approach rate: 0.210462 m/s, LOS rate: -0.365822 deg/s, cmd heading: 355.267509 deg, new cmd heading: 354.661862 deg. 2j{HeadingCmd: 6.190017 target range: 140.800003 and range: 140.80 m. j@jjjihhhhfffrfbf @ɛx 1?I ɚiI]=I}ξiyi}q0=)}@)*FU?2FQ:FYBFYJFaJsK{ـ3 K{KsKs"KsJJJJJ:J:JJGE i3=G B O% >zK5 KK5 9K1 K5 K5 U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:09:53.8662 ] TRx dataTimestamp_ set to:1736377794.988684e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023926%L0\w,`?pAf@Yf @f2 9f**j=yfH?]? gĿ`?`P?@? ?ɨf@fDLj;f"CyvABv#Iiz=Izp< %p=%a=Mb@Mb@Mb@ )Yv/?$C˿{Gzyx ?Z#@ @)E@I@y@II1٢ *B= ;=9:;Q >!! %G٣)y5 => UNusing accuracyPremultiplier from configIU59M\=l?]5YMğ iM]>?]:]7߾]@MEM-;M;M"5eB m@mEZjFNOT Ignoring new targets: 140.80 m.Bj!Jj! ProNav: ac range: 140.800003 m, nav range: 65.051384 m, bearing: 223.530996 deg, approach rate: 0.251474 m/s, LOS rate: -0.565141 deg/s, cmd heading: 354.661862 deg, new cmd heading: 354.055752 deg. 2jHeadingCmd: 6.179439 target range: 140.800003 and range: 140.80 m. j@jjjihhhh1Bfffrfbf@) @ɛK 隕?I ɚiIj=IyԽii396=)@)H0>IC I$IIBI&I.I6I<:Ic FBI}ÞCJI}ÞCRIyZI}% =bI}% =jI}I5 b$?I*F?2F:FBFg1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274993G {/=G B O >*v6\w,pA2㮿@Y2`@292=s=y2HZ?*?$ĿEO@?{L??Q?ɨ2㮿@2};2CyBUBB#IIJIJ3٢R@= Re=9VU;Q V>TT ZG٣XyZ̼ Z> bNusing accuracyPremultiplier from config\b59^Ll?f5Y^ i^Kdf㾑f@^E^*:^:^$5h jI@lZj FNOT Ignoring new targets: 140.80 m.Bj OJj O% ProNav: ac range: 140.800003 m, nav range: 65.124786 m, bearing: 223.363390 deg, approach rate: 0.207464 m/s, LOS rate: -0.473186 deg/s, cmd heading: 354.055751 deg, new cmd heading: 353.553513 deg. 2j%_-HeadingCmd: 6.170673 target range: 140.800003 and range: 140.80 m. j-'v@j)j)j)i)h)h)h1h1f1f1f9rf9bfE- @ɛm3BmA qu?Iq ud-ɚqiI^=Imiiˎ3=)'v@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530290*F?2F:FBF4JF"G=G> c$?IG]4=GQ B  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:09:53.8662 LVL= 16768, 28881, 24306, 32307, AGC= 62, IDX= 437, 0.09,-1.307,-2.983,-2.773,-2.204, PHS= 0.985,-0.732,-0.573, RAW= 94.8, 3.9, CAL= 103.6, 2.2, ROT= 46.4, -2.2  Ygot valid direction response: 23:09:53.8662 LVL= 16768, 28881, 24306, 32307, AGC= 62, IDX= 437, 0.09,-1.307,-2.983,-2.773,-2.204, PHS= 0.985,-0.732,-0.573, RAW= 94.8, 3.9, CAL= 103.6, 2.2, ROT= 46.4, -2.2  PDAT read: Bearing 46.4, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 46.4, -2.2 (Local) % DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed 0.0 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [-0.167377,0.027935,0.985497]5 Fpublishing direction and range info 9 5lſQ-A?qqWX1?y  C A p ^) 3~I >i (|? Zd; ! ? 'g= q?) nF=I 4QO?i nF >?a[-ۿP9c?) !I nji [z>@ Z< M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.O ><\w,jpAy}dB}$IJ]J]JYJYJ]̝:J]9JYJYMb@Mb@Mb@ )Y rh?Pnп:vyC ?Լ@ &@)/@Ip@y(@IIF2٢r= *=9Q >   5G٣5ORGy5 5> =Nusing accuracyPremultiplier from config9E59=Wbl?E5Y=٥ i=MF?]:]+]@=E=;=߆;=&5q ug@uEk']?kS k k&pA:k CBk# CZk4J@"3 rs7Ħ9=O@!Z.Ba@5lſQ-A?qqWX1?Jk[z>@RkZ<*BKF]h٤9|`@V(Ac^Կd/[DU?"k*k]2k]?k 2kGCkk /# kDCkBkmx@ addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 4.030014 s, deltaX: -0.699997 m, approachRate: -0.173696 m/s, rangeRepo size: 4 5 Added new target pos. range: 140.100006 m, bearing: 181.365073 deg, lat: 36.903477 deg, lon: -122.121064 deg, deltaT: 4.030014 s, deltaX: -0.699997 m, approachRate: -0.173696 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 140.10 m.Bj=JjAu ProNav: ac range: 140.100006 m, nav range: 64.465973 m, bearing: 222.405274 deg, approach rate: 0.000000 m/s, LOS rate: -0.473186 deg/s, cmd heading: 353.553514 deg, new cmd heading: 352.842169 deg. 2jq}HeadingCmd: 6.158257 target range: 140.100006 and range: 140.10 m. j}r@jyjyjyiyhhhh Bfffrf@3a@bf?%Will construct direction to contact in vehicle frame from tetrahedron phase data.-,DAT read: user:3048> -BDAT read: Tx time:23:09:55.2252 5$Ping request sent.5I  I $II BI &I .I 5D6I o<:I G F  I G] 13=Ge ?Ge >G! B) OE >~C\w,qAJWill construct direction to contact in vehicle frame from tetrahedron phase data.NJDAT read: TxSync time:23:09:55.2245 Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251795n"@YnP2@n9nOƆ=ynH?V??ÿ `?n?M? ?ɨn"@n3ڇ;nCy B@$I) AI%I%(1٢UQ\> Ul=9]OEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502958TI\w,l(qA:@Y:6@:&9:9=y:H]?#?}ÿ:e@:?^`?;??ɨ:@:a&;: CyNBN`$II^I^٢E> EL=9M;Q M>Ya mG٣iy > Nusing accuracyPremultiplier from config d$?I59-l?5Y iȷ  @EVq<r<)59 En@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273ZjFNOT Ignoring new targets: 140.10 m.BjJj ProNav: ac range: 140.100006 m, nav range: 64.600800 m, bearing: 222.022284 deg, approach rate: 0.160675 m/s, LOS rate: -0.456507 deg/s, cmd heading: 352.294628 deg, new cmd heading: 351.694425 deg. 2jHeadingCmd: 6.138226 target range: 140.100006 and range: 140.10 m. jXl@jjjihhhAhIfIfIfIrfQbfU r?ɛ2BL' 隝8?I ɚiI2=I_pii/P=)Xl@)*F2F:FBFJFGrA GrAG b=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007467G zK K 9K K K B O >mP\w,LBqAF뺾@YFh@F9F!=yFH|?q|? ÿ@^׹?(`?ط?@!?ɨF뺾@Fk;F!CyNӅBN$IMb@Mb@Mb@ )YQ?~jtпy&1y?`e @)@IZ@y=@II٢^> B=9;Q > G٣y` > Nusing accuracyPremultiplier from config59l?5YO i%#?:@E;;+5 @EZj)-FNOT Ignoring new targets: 140.10 m.Bj5.0Jj5.0E ProNav: ac range: 140.100006 m, nav range: 64.684593 m, bearing: 221.800664 deg, approach rate: 0.233253 m/s, LOS rate: -0.616114 deg/s, cmd heading: 351.694418 deg, new cmd heading: 351.030449 deg. 2jEjӼMHeadingCmd: 6.126637 target range: 140.100006 and range: 140.10 m. jMi @jIjIjIiIhQhQhQhU]BfYfYfYrfYbf]@?ɛfԼ 隍wP?I hɚiIj=I3N iif=)i @)H.>I I$II$BI( =&I.I6I<:IU F*Fm?2Fi:FiBFu_0JFq e$?IGE,S=GB)OER>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262598J J J J J :J 9J J J ;a J ;a J a J a gV\w,\qA2ݒ@Y2Z@2B92]-=y2H E{? 8·?[ÿw? -'?`?R?ɨ2ݒ@28ܐ;0yNBR$IIZIZm٢b.> b]=9b;Q f>dd fG٣fPRGyjY j> nNusing accuracyPremultiplier from configlr59nl?r5Yne inpvNv@nEnP';ng1;nS-5| ~q@~EZj!-FNOT Ignoring new targets: 140.10 m.Bj-wJj-wE ProNav: ac range: 140.100006 m, nav range: 64.759171 m, bearing: 221.602923 deg, approach rate: 0.201321 m/s, LOS rate: -0.533186 deg/s, cmd heading: 351.030442 deg, new cmd heading: 350.437924 deg. 2jEMHeadingCmd: 6.116296 target range: 140.100006 and range: 140.10 m. jM@jIjIjIiQhQhQhQhQfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511065ɛ]1B]̆ Y]+i?Ia e ɚaiaIeN=Im*iiim3v=)m@)*Fm?2Fi:FiBFu0JFq IhGQ\\w,uqA68X@Y6g@696-]=y6Hv?/?`bwÿ 伿ֳ?r`@O?@S??ɨ68X@6;6CyN*BN%IeMb@Mb@Mb@aaa a)aYeZd;?"~j̿ye?eScea e@)e@Ie@aye@I}I}b1٢0> >=9E;Q > G٣yD > Nusing accuracyPremultiplier from config59Xl?5Y i$?:ム@E ;;4/5 @EZjFNOT Ignoring new targets: 140.10 m.BjJj  ProNav: ac range: 140.100006 m, nav range: 64.860451 m, bearing: 221.377568 deg, approach rate: 0.235532 m/s, LOS rate: -0.523254 deg/s, cmd heading: 350.437936 deg, new cmd heading: 349.762959 deg. 2j HeadingCmd: 6.104515 target range: 140.100006 and range: 140.10 m. j0X@jjjihhhhBf!f!f!rf!bf-Y@ɛY]h Ye|?Ia eYgɚaiaIe'˪=Im[6iiimr=)m0X@)EEpA*F2F:FBF81JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015816zKBHK]9KKKG,l=GyBO^>Hu ->Iq  Iu a%IIu uBIq &Iq .Iq 6Iu $<:Iu  F f$?I uc\w,ՏqA2!@Y2!@292=y2Hp??.Fÿ C ?Ɓ?۶?`?ɨ2!@2;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769y^cBbK%IIjIj(1٢ >  S=9 ;Q  > G٣y? => ENusing accuracyPremultiplier from configAM59El?M5YE iEQUBU@EEE:E:E05y }@yZjFNOT Ignoring new targets: 140.10 m.BjJj ProNav: ac range: 140.100006 m, nav range: 64.951401 m, bearing: 221.172605 deg, approach rate: 0.228127 m/s, LOS rate: -0.513379 deg/s, cmd heading: 349.762950 deg, new cmd heading: 349.148948 deg. 2j) HeadingCmd: 6.093799 target range: 140.100006 and range: 140.10 m. j f@j j j ihh9h9h9f9fAfArfAbfE̜@ɛ0Bx UZM=UÌ?IQ UԌɚQiQIU=I]AiYi]n=)ef@)avA MYMvAyMdB*Fe?2Fa:FaBFeu4JFaJJJJJ̝:J9JJJ;J;J:;J:;5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975G ghs=G B O >$i\w,JqAZP@YZ@ZZ9Zx=yZHh?V?6ÿ @?@[?`/??ɨZP@Ze;Z CyjBj%IIvIv1٢~> K=9l;Q >    G٣ QRGyǼ %> AIA MNusing accuracyPremultiplier from configIU59M>l?U5YMۻ iM Y]X]@MEM#;M#;M25eB eR@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 140.10 m.BjJj ProNav: ac range: 140.100006 m, nav range: 65.044075 m, bearing: 220.960123 deg, approach rate: 0.233167 m/s, LOS rate: -0.533838 deg/s, cmd heading: 349.148943 deg, new cmd heading: 348.512433 deg. 2j/uHeadingCmd: 6.082689 target range: 140.100006 and range: 140.10 m. j}d@jyjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774405jihhhhfffrfbfB@ɛE/BM0潻 IM?II MMɚQiQIU=IUNMiYi]S=)]d@)Y*F}?2Fy:FyBF}P5JFyG 2Q=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:09:57.8146 U TRx dataTimestamp_ set to:1736377799.021509U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025289Gy B O >zK5 K5 ػ9K1 K5 K5 p\w,~qAy ˆB %I%Mb@Mb@Mb@!!! !)!Y%~jt?ʡEÿI +?y%?%%94<%@ %E@)%@I%x@!y%z@I=I=q٢Mm> M7=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59el?m5Ye iem ?u:uaľu@eEe;e5;e45y } @}EZjFNOT Ignoring new targets: 140.10 m.Bj; Jj;  ProNav: ac range: 140.100006 m, nav range: 65.168907 m, bearing: 220.746096 deg, approach rate: 0.284537 m/s, LOS rate: -0.486908 deg/s, cmd heading: 348.512424 deg, new cmd heading: 347.871602 deg. 2jHeadingCmd: 6.071505 target range: 140.100006 and range: 140.10 m. jI@jjjihhhhBfffrfbf; @ɛ.BHE+>IA IE%IIEBIA&IA.IA6IEI<:IE& F HA< a?I UɚiI=IXiip=)I@) 5g$?I1*F}?2F:FBF%3JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.ե=եC=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275380G p=G B O >J J J J J \:J 9J J J i;J k;J Z5;J Z5;w\w,.qqA@Y@! 9О=yH`P?P?¿`ÿL?B[@p??  uG=9}Nyy }G٣yk >ia$@-T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Nusing accuracyPremultiplier from configM59S m?M5Y6 iϱQUuоU@E޷<ѷ<e65a e@akk!b?k" k kqA:k CBk CZk5@"*c{B.@(,,a@SΊCTx?{*?Jka$@Rk-*V>d`#@IaiY.`@>}̿:u""۱?M?"kA*kXkӹb?k  2kJCkk ɾ k(ECkTBk `@ addTargetRange:: Added new target pos. range: 138.899994 m, deltaT: 3.779160 s, deltaX: -1.200012 m, approachRate: -0.317534 m/s, rangeRepo size: 4 U Added new target pos. range: 138.899994 m, bearing: 162.601547 deg, lat: 36.903477 deg, lon: -122.120804 deg, deltaT: 3.779160 s, deltaX: -1.200012 m, approachRate: -0.317534 m/s, posRepo size: 4 ZjQ]FNOT Ignoring new targets: 138.90 m.BjmJji} ProNav: ac range: 138.899994 m, nav range: 53.244129 m, bearing: 201.301208 deg, approach rate: 0.000000 m/s, LOS rate: -0.486908 deg/s, cmd heading: 347.871588 deg, new cmd heading: 347.211153 deg. 2jyHeadingCmd: 6.059978 target range: 138.899994 and range: 138.90 m. jW@jjjihhhhfffrf\a@bf9?ɛ}-B(l< 隅~?I ߈ɚiIHئ=Ikdii|=)W@) h$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3049>  BDAT read: Tx time:23:09:59.0252  $Ping request sent.  E=9M;Q M>IQ UG٣URRGyu }> Nusing accuracyPremultiplier from configy59}})m?5Y}  i}ޯ ?:ו@}E};};}95H*>IC I&IIiBI&I.I6IN<:I) FBIeĝCJIeĝCRIaZIe( =bIe( =jIe[4 @ݷEZjamFNOT Ignoring new targets: 138.90 m. i$?IBjJj컝 ProNav: ac range: 138.899994 m, nav range: 53.538914 m, bearing: 201.054534 deg, approach rate: 0.497583 m/s, LOS rate: -0.414081 deg/s, cmd heading: 347.211164 deg, new cmd heading: 346.475259 deg. 2jHeadingCmd: 6.047134 target range: 138.899994 and range: 138.90 m. j@jjjihhh h LBfffrfbf+?ɛ]+Be< aeH?Ia e٤ɚaiiIuz=Iqiiu=)@)EqAEqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496795E D%K=5 PExceeded connect timeout, disconnecting.*Fu ?2Fq :Fq BFu `0JFy GM 0=JU JU JU /JQ JU :JU 9JU (N3JQ JU ;JU ;JU $7;JU %7;G9BAOe>T\w,rABX@YB)@B%9Bmc=yBH%.??@ǿs?` ?`)?/?ɨBX@B=;B!CyNBN&IIVIV?٢b> bf=9bRC;Q f>dd fG٣dyjMм j> rNusing accuracyPremultiplier from configpv59r:m?v5Yr irtvCv@rEr:r:r:5~B ~IJ@~ڷEZj!%FNOT Ignoring new targets: 138.90 m.Bj-Jj-= ProNav: ac range: 138.899994 m, nav range: 53.707542 m, bearing: 200.912510 deg, approach rate: 0.509655 m/s, LOS rate: -0.427897 deg/s, cmd heading: 346.475252 deg, new cmd heading: 346.050527 deg. 2jEԒEHeadingCmd: 6.039721 target range: 138.899994 and range: 138.90 m. jMeE@jIjIjIiIhIhIhQhQfQfYfYrfYbf]?ɛ1b= =隍?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748728ɚiI0=INyiiDq=)eE@)EE*E"E I*F?2F:FBFJ5JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004680G5 q؃=G B O5 >po\w, Z8rA6@Y6M@6?96f=y6H(?@*?`@ǿk?@ f ?ϐ?Ԭ?ɨ6@6R;6 Cy>BB&IUMb@Mb@Mb@QQQ Q)QYU\(\?Q?:v?yU?Uu uA=9}Ï;Q }>y G٣SRGyM > Nusing accuracyPremultiplier from config59Om?5Y iS?:*@ Eq ;;u<5 ԰@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 138.90 m.Bj=Jj= ProNav: ac range: 138.899994 m, nav range: 53.924702 m, bearing: 200.776798 deg, approach rate: 0.511950 m/s, LOS rate: -0.318651 deg/s, cmd heading: 346.050523 deg, new cmd heading: 345.645033 deg. 2jZHeadingCmd: 6.032644 target range: 138.899994 and range: 138.90 m. jk @jjjihh hhBfffrfbfL?ɛM*BUN*= QUv?IQ UɚQiYI] P=I]FieBZHRHH)>I I0'IIBI&I.I6I<:I_ F k$?I VS\w,$RrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504707:lû@Y:@: *9:k=y:H"?? p eȿ@1c?X> Y?G5?o?ɨ:lû@:"~;8y~B~!'II I n٢= x> =O=9E#;Q E>AI MG٣IyM<[ M> ]Nusing accuracyPremultiplier from configQe59UMcm?e5YU iUim|0m@U EU 2;U12;U0>5q u˭@u׷EZjFNOT Ignoring new targets: 138.90 m.BjJj ProNav: ac range: 138.899994 m, nav range: 54.128059 m, bearing: 200.649317 deg, approach rate: 0.515327 m/s, LOS rate: -0.321834 deg/s, cmd heading: 345.645029 deg, new cmd heading: 345.264029 deg. 2j\HeadingCmd: 6.025994 target range: 138.899994 and range: 138.90 m. j@jjjihhhhfffrfbfL?ɛ)Bv_= ?I 󜜽ɚ i I I"=IiUXD}\w,krA IBl@YB@B9BKs=yBH?_?]&ɿ[?@C`˿?`3?1?ɨBl@B:q;BCyNBNJ'IIVIV@٢^?.> bS=9bdd fG٣dyf9 j> nNusing accuracyPremultiplier from confighr59jvm?r5Yj ijpr5v@jEjK;j;j?5zB z@zԷEZj%FNOT Ignoring new targets: 138.90 m.Bj%Jj-5 ProNav: ac range: 138.899994 m, nav range: 54.327160 m, bearing: 200.524315 deg, approach rate: 0.513053 m/s, LOS rate: -0.320934 deg/s, cmd heading: 345.264041 deg, new cmd heading: 344.890412 deg. 2j=A\EHeadingCmd: 6.019473 target range: 138.899994 and range: 138.90 m. jE@jAjAjAiAhAhIhIhIfIfQfQrfQbfUa@ɛ(B}= 隍{?I ٍɚiI=IHitE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260592"f\w,ޅrAzK.BHK.9K,K.K.BK4:K6rA:vz@Y:@:"9:0w=y:H?@?ZɿS? ?`j? =?ɨ:vz@:5ш;: Cy^%B^u'IMb@Mb@Mb@ )Yx?+η?Zd;O?yK?v=j<j@ @)d@I@yf@IIʴ٢!> <=9 G٣TRGy* > Nusing accuracyPremultiplier from config59m?5YM i[E?:E@E;;A5 @ZjIMFNOT Ignoring new targets: 138.90 m.BjUJjUe ProNav: ac range: 138.899994 m, nav range: 54.562893 m, bearing: 200.417786 deg, approach rate: 0.532717 m/s, LOS rate: -0.239697 deg/s, cmd heading: 344.890402 deg, new cmd heading: 344.572199 deg. 2jm$H&>I I'IIgBI) =&I.I6I<:IJ F m$?I5HeadingCmd: 6.013919 target range: 138.899994 and range: 138.90 m. j5r@j1j1j1i1h9h9h9h=BfAfAfArfAbfE]e@ɛ9_= I?I 棕ɚiI8=IM2݉iUmHGBO?R\w,rAvL@Yv\@v49v!~=yvH??^D`Gnʿ`I?@o ?焯??ɨvL@vqB;v!Cy~@B~'II%I% ٢== ="=9E;Q M>QQ UG٣Qy]=5 ]> mNusing accuracyPremultiplier from configiu59mXm?}5Ym imŧ]@mEmτ;m";mC5 ߧ@ѷEZjiuFNOT Ignoring new targets: 138.90 m. IBjᇻJjᇻ ProNav: ac range: 138.899994 m, nav range: 54.838039 m, bearing: 200.292743 deg, approach rate: 0.525440 m/s, LOS rate: -0.237592 deg/s, cmd heading: 344.572197 deg, new cmd heading: 344.198957 deg. 2j#HeadingCmd: 6.007405 target range: 138.899994 and range: 138.90 m. j<@jjjihhhhfffrfbf s @ɛ-'B5 k= Ye@Ia eZtɚaiiIm$=Im 3i:J,\w,ArAy eB 'I=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269390Mb@Mb@Mb@ )Y(\?~jt?~jt?yz?>D<@ @)7@I@y@IIF٢.> B=9Q > G٣y > Nusing accuracyPremultiplier from config590m?5Yj i?:^D=@E;;E5 B @ ηE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 138.90 m.Bj=`Jj=`U ProNav: ac range: 138.899994 m, nav range: 55.074200 m, bearing: 200.215078 deg, approach rate: 0.600045 m/s, LOS rate: -0.196488 deg/s, cmd heading: 344.198968 deg, new cmd heading: 343.966974 deg. 2jU]HeadingCmd: 6.003356 target range: 138.899994 and range: 138.90 m. j]~@jYjYjaiahahahihm Bfififirfqbfu# @zKMjIKIKIKMKMRK] ?JK]>ɛi = 隕@I '荽ɚiIל=IEiLI=C I=6(II=ˆBI=* =&I9.I96I=l<:I=5 F n$?IE= Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ 2FQ :FY BF] S0JFY  DAT read: 23:10:01.6127 LVL= 12352, 24465, 18338, 25539, AGC= 55, IDX= 417,-0.40, 2.141, 0.467, 0.288, 1.044, PHS= 1.185,-0.530,-0.759, RAW= 83.8, 1.1, CAL= 89.9, -2.6, ROT= 60.1, 2.6  Ygot valid direction response: 23:10:01.6127 LVL= 12352, 24465, 18338, 25539, AGC= 55, IDX= 417,-0.40, 2.141, 0.467, 0.288, 1.044, PHS= 1.185,-0.530,-0.759, RAW= 83.8, 1.1, CAL= 89.9, -2.6, ROT= 60.1, 2.6  PDAT read: Bearing 60.1, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 60.1, 2.6 (Local)  DAT read: Range 10 to 50 : 137.4 m (Round-trip 183.3 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.096374,0.213994,0.972069] Fpublishing direction and range info 9 f򫸿:c5%d? +1?y f C  @0 _  G) cI 7i ?  MB 6? nF<  ?) 9I C?i 9=   cj?f ⿬t?) !I Ωi 9?   - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.) |uA | Y |uAy BGu XH=GIBQOm>c\w,CrAV@YV@Vw9V~:=yVH?` 5?s־˿4?t@?+?@c?ɨV@Vja;VCy^hB^'IIfIfƲ٢*t< 7=9    G٣ URGy[߼ U> ]Nusing accuracyPremultiplier from configYe59]m?e5Y]* i]YamG=m@]E]3:]:]G5B @˷Ek5Kff?k5H  k1 k5rA:k5f CBk5tCZk5G@"5v {*tg=@ v`@5f򫸿:c5%d? +1?Jk59?Rk5*5u-6z8|:@zל`@5x , ſVm?'ž?"k5A*k5ok5նYf?k5Q 2k5ICk5]?k5 k5GCk5CBk5زH@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5,DAT read: user:3050> =BDAT read: Tx time:23:10:02.8253 =$Ping request sent.Eߋ\w, rAJNJNJN0JLJN:JN9JNـ3JLjm@Yjn}@jν9jo=yjH0?? ? qͿn?,V`%̹? #??ɨjm@j#;jCyrnBr'IxzAuMb@Mb@Mb@qqq q)qYuʡE?~jt?{Gztyu?quףu@ uz@)qIu@qyu@II٢< &=9B G٣yo > mNusing accuracyPremultiplier from configiu59mgm?u5Ym im[u?}:}<}@mEmI;m;mJ5 @ZjFNOT Ignoring new targets: 137.40 m.Bj9Jj9 ProNav: ac range: 137.399994 m, nav range: 49.233154 m, bearing: 179.686648 deg, approach rate: 0.597496 m/s, LOS rate: 0.024318 deg/s, cmd heading: 343.689081 deg, new cmd heading: 343.724611 deg. 2j:HeadingCmd: 5.999126 target range: 137.399994 and range: 137.40 m. j@jjjihhhhBfffrfbfl?ɛ!%= !%@I) -!…ɚ)i)I-l!=I5:pi5|OH >I I{(IIBI, =&I.I4D6Iw<:I; F YIY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756814l\w,sAF/#@YF2@FĽ9FdX=yFH/?B?;ο@~?ե]? S?`O?ɨF/#@Fa;DymB'II%I%Բ٢5Մ 5T=9=PL99 EG٣AyE E> MNusing accuracyPremultiplier from configIU59M8m?U5YM iMY]<]@MEM ;MP ;MK5a e@mȷEZjFNOT Ignoring new targets: 137.40 m.Bj79Jj79 ProNav: ac range: 137.399994 m, nav range: 49.444538 m, bearing: 179.692943 deg, approach rate: 0.579358 m/s, LOS rate: 0.017181 deg/s, cmd heading: 343.724598 deg, new cmd heading: 343.743404 deg. 2j<:HeadingCmd: 5.999454 target range: 137.399994 and range: 137.40 m. j@jjjihhhhfffrfbf̶?ɛ N= @I ɚi!I%=I%4Ei-egP M p$?II t\w,g0sA>߹@Y>@>纽9>!=y>H`?`gV?ݺп?@T?.? \?ɨ>߹@>U;> CyVnBV'IIbIbk٢j ; jQ=9nKpp rG٣rVRGyr˭ r> zNusing accuracyPremultiplier from configtz59vSn?z5Yv iv|A<@vEv*;v*;vPM5  @ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262793ZjAuFNOT Ignoring new targets: 137.40 m.Bj19Jj19 ProNav: ac range: 137.399994 m, nav range: 49.671261 m, bearing: 179.697427 deg, approach rate: 0.493670 m/s, LOS rate: 0.009719 deg/s, cmd heading: 343.743395 deg, new cmd heading: 343.756785 deg. 2jo9HeadingCmd: 5.999688 target range: 137.399994 and range: 137.40 m. jq@jjjihhh!h)f)f)f)rf1bf50e?ɛy}= 隅@I U|ɚiI=I&iWQzK KK h9K K K (iqF/#   ~\w,vJsA2@Y2>@2L92"=y2H?@<? P%@}fпf?GSpz?d1?@?ɨ2@2#;0yRcBR'IiVa=IVx>ZH`RHb?AHf>Id If(IIfBId&Id.Id6Ifl<:If1 F pIpBICJICRIZI* =bI* =jI5mMb@Mb@Mb@iii i)iYmm??Qym?m>mum@ mM@)m @Im@iym@IIb٢I 1=9 G٣yU > Nusing accuracyPremultiplier from config59o$n?5Y i]0?:@E;`;TO5B R@ŷEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 137.40 m.Bja޹Jja޹- ProNav: ac range: 137.399994 m, nav range: 49.933666 m, bearing: 179.687712 deg, approach rate: 0.659860 m/s, LOS rate: -0.024303 deg/s, cmd heading: 343.756782 deg, new cmd heading: 343.727789 deg. 2j-m5HeadingCmd: 5.999182 target range: 137.399994 and range: 137.40 m. j5L@j1j1j1i9h9h9h9hEBfAfAfArfAbfM`,a?ɛqu= qu~@Iy }u2vɚyiyI}=IhiQb\w,/PdsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014822:a@Y:ޘ@:9:vo=y:H?]?󁷿п?kާН? ?q?ɨ:a@:;:!CyFGBF'IIRIR(٢Z Zo=9^Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268305\w,,~sA2`@Y2p@24926=y2H??`* п?驿 ?R??ɨ2`@2"l;2Cy^4Bb'IJ3K; G٣WRGy/ > Nusing accuracyPremultiplier from config59Jn?5Yb iE?:U+@"E;y;R5 B@ZjFNOT Ignoring new targets: 137.40 m.Bj&Jj& ProNav: ac range: 137.399994 m, nav range: 50.388493 m, bearing: 179.631379 deg, approach rate: 0.580682 m/s, LOS rate: -0.107163 deg/s, cmd heading: 343.703370 deg, new cmd heading: 343.559633 deg. 2j HeadingCmd: 5.996247 target range: 137.399994 and range: 137.40 m. j A@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518784j jjihhhhXBfffrfbf=@ɛ |ƛ= @I KmhɚiIa=I钾i%&RIC I(IIBI- =&I.I6I}<:I< FG l=G G qAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770740ĺ\w,sA6j:@Y6I@6&96=y6H@?@#?鴿`Jѿ0?lT? M??ɨ6j:@6[;6 Cy>B>d'I)@ @DDIJIJ٢R8( Ro=9R=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:10:05.4117 MTRx dataTimestamp_ set to:1736377806.580586Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023749 I \w,sA6\@Y6*@6l96Q=y6Hj?@+8?1ϳ`ѿ?i^?@{?`?ɨ6\@6];6CyRBRN'IIZIZ٢f7 fH=9f-qpp vG٣ty~z >  Nusing accuracyPremultiplier from config 59 Snn?5Y W i z3@ %E :Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278924 <: 'V5 /@ZjFNOT Ignoring new targets: 137.40 m.Bj\ͺJj\ͺ ProNav: ac range: 137.399994 m, nav range: 50.811363 m, bearing: 179.550824 deg, approach rate: 0.470505 m/s, LOS rate: -0.089770 deg/s, cmd heading: 343.451554 deg, new cmd heading: 343.319001 deg. 2jnvHeadingCmd: 5.992047 target range: 137.399994 and range: 137.40 m. jپ@jjjihhhhf)f)f)rf)bf5@ @ɛ}(B}(= y}f?Iy 8<[ɚiIX=I ikSG B O >zK KK 59K K K x\w,sA &t$?I$jH2<bH2<H6>I4 I6C(II6͈BI4&I4.I46I6<:I6? Ff @Yf@fW9f0=yfH?@?Ҳѿ? ?+E?L?ɨf @fd;fCy%B%3'IMb@Mb@Mb@ )YI +?:v~jty9?Լ@ @)@I@y@II(*٢l .=965 G٣XRGy4$ > Nusing accuracyPremultiplier from config59n?5Y i?:Ĥ@(E;;/X5%B %@%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 137.40 m.BjڄJjڄ ProNav: ac range: 137.399994 m, nav range: 51.068569 m, bearing: 179.457146 deg, approach rate: 0.641029 m/s, LOS rate: -0.232296 deg/s, cmd heading: 343.318994 deg, new cmd heading: 343.039377 deg. 2jlHeadingCmd: 5.987166 target range: 137.399994 and range: 137.40 m. jޖ@jjjihhhhBfff!rf!bf% @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:10:05.4117 LVL= 11984, 23729, 16482, 23507, AGC= 57, IDX= 438,-0.09, 1.589, 0.192,-0.275, 0.701, PHS= 0.976,-0.462,-0.979, RAW= 75.2, 5.4, CAL= 78.7, 5.3, ROT= 71.3, -5.3 Ygot valid direction response: 23:10:05.4117 LVL= 11984, 23729, 16482, 23507, AGC= 57, IDX= 438,-0.09, 1.589, 0.192,-0.275, 0.701, PHS= 0.976,-0.462,-0.979, RAW= 75.2, 5.4, CAL= 78.7, 5.3, ROT= 71.3, -5.3 PDAT read: Bearing 71.3, -5.3 (Local) ~Local bearing/azimuth received: Bearing 71.3, -5.3 (Local) DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.ɛ9e^direction in FSK: [-0.159090,0.356199,0.920768]mFpublishing direction and range infoة9حH ]Ŀ+?%yElv?yحCةح.ح\ ٭b@)٭[I٭9i٭#y?٭D쾩٭z٭?٭= ڭFѯ?)ڭq=Iڭ&I?iڭqککۭ ?kјqh?)ۭ HIۭViۭ?ۭÕ۩}i= 隅?I UɚiI溑=Iʏi T m BDAT read: Tx time:23:10:06.8253 u $Ping request sent.u u\w,RCsAmS۸@Ym@mB9m=ymH? ?㱿 oҿ@I? >? 7U? ?ɨmS۸@mGq;m C u$?Iy-̇B-'Ii5=I5p; 5=5a=I=I=0٢ <=9E G٣y > Nusing accuracyPremultiplier from config59&n?5Y i̡;@*Ee ; ;Z5 %@kQi?krbV k ksA:kCBkCZk@?"1M5žy>TH@ݷq_@H ]Ŀ+?%yElv?Jk?RkÕ*.?Gc/%0p9E@+m `@ucA_N%?`?~?"kA/B*k)kGi?kRiN 2kEDCkӹb?k  kkQBk7@  addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 4.026612 s, deltaX: -0.799988 m, approachRate: -0.198675 m/s, rangeRepo size: 4 % Added new target pos. range: 136.600006 m, bearing: 110.228493 deg, lat: 36.903645 deg, lon: -122.120477 deg, deltaT: 4.026612 s, deltaX: -0.799988 m, approachRate: -0.198675 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 136.60 m.Bj-Jj)= ProNav: ac range: 136.600006 m, nav range: 37.079910 m, bearing: 163.909481 deg, approach rate: 0.000000 m/s, LOS rate: -0.232296 deg/s, cmd heading: 343.039366 deg, new cmd heading: 342.742358 deg. 2j9MHeadingCmd: 5.981983 target range: 136.600006 and range: 136.60 m. jMgl@jIjIjIiIhQhQhQhQfYfYfYrfe@3a@bfeN?ɛ)BV)= 隕?I NɚiI-=I47ioT{]w,GtAyB&IMb@Mb@Mb@ )Y7A`?!rh{Gzy?l罹#@ @)ݸ@I@y@IIW٢' V=9Q > G٣EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.514880yu u> }Nusing accuracyPremultiplier from configy59}n?5Y} i}?:ム@}+E};}Q;}[5 @ZjFNOT Ignoring new targets: 136.60 m.BjCJjC ProNav: ac range: 136.600006 m, nav range: 37.314663 m, bearing: 163.840971 deg, approach rate: 0.590654 m/s, LOS rate: -0.171292 deg/s, cmd heading: 342.742362 deg, new cmd heading: 342.538126 deg. 2j뻝%HeadingCmd: 5.978418 target range: 136.600006 and range: 136.60 m. j%4O@j!j!j!i!h!h)hQhUBfQfQfQrfYbf] F?ɛ= 隥n?I Hɚi I =In iT u Yu tAy} B]w,tA:@Y:.@:I#9:0=y:HY?-?>`fsҿ ?v?`v?`?ɨ:@:;:CyVBV&II^I^٢f  f^=9jhh nG٣nYRGyn n> vNusing accuracyPremultiplier from configpv59rn?z5Yr ir_xzz@r-Erj:r:r^]5| C@EZj)5FNOT Ignoring new targets: 136.60 m.Bj51JJj=1JM ProNav: ac range: 136.600006 m, nav range: 37.521667 m, bearing: 163.779014 deg, approach rate: 0.593883 m/s, LOS rate: -0.176770 deg/s, cmd heading: 342.538140 deg, new cmd heading: 342.353295 deg. 2jM򻝊UHeadingCmd: 5.975192 target range: 136.600006 and range: 136.60 m. jU4@jQjQjQiQhQhYhYhYfafafarfabfeQ?ɛ)-̷= 1J=J=J=/J9J=:J=:J=(N3J9J=;J=;J=Z;J=Z;M?IQ CɚiIc=IHi'QUf ]w,5tA>@Y>@RWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272947>t9>l=y>H?@T?ҿ$? Iۢ?@0a?.?ɨ>@>7;>CyB&I)9 9AMb@Mb@Mb@ )YV-?Eȿkty?F 0 l@)Ʒ@I@y@II㔳٢Y #=9';Q > G٣y; > Nusing accuracyPremultiplier from config59bn?5Y i$?:@0E;^;_5B #@EZjFNOT Ignoring new targets: 136.60 m.BjJj- ProNav: ac range: 136.600006 m, nav range: 37.828072 m, bearing: 163.630108 deg, approach rate: 0.612949 m/s, LOS rate: -0.295468 deg/s, cmd heading: 342.353287 deg, new cmd heading: 341.910197 deg. 2j-J5HeadingCmd: 5.967459 target range: 136.600006 and range: 136.60 m. j5l@j1j1j1i1h1h9hhFBfffrfbf?ɛUu= ]G;=]?IY ]<ɚYiYI]v=Ie򦡾ieU>75.,-,(*)"     w$?I RK ?JK >GI BQ Ou >]w,0OtAB@YB@B9BwI=yBH[?t?pշҿ`/}?紿|?@{\?`?ɨB@B;B Cy5B5&II]I]m?3٢mi mu=9uWcJ!J%AAJ-J-J-0J)J-:J- :J-ـ3J)J-3<J-4<J-cW;J-dW;5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025718 ]w,itArs`@Yro@r9r'=yrH@?w? G ҿ ?r?~U?? ?ɨrs`@r<;py~uB~&II I  2٢%!x %P=9%<)) -G٣-ZRGy-u 5> Nusing accuracyPremultiplier from config59_n?5Y i^@4EH<;<;b5 @EZjFNOT Ignoring new targets: 136.60 m.BjJj ProNav: ac range: 136.600006 m, nav range: 38.279030 m, bearing: 163.412774 deg, approach rate: 0.611748 m/s, LOS rate: -0.292997 deg/s, cmd heading: 341.616228 deg, new cmd heading: 341.262094 deg. 2jIHeadingCmd: 5.956147 target range: 136.600006 and range: 136.60 m. j˜@jjji x$?Ihhhhf f f rfbf:@ɛ9E~P= AE"?IA E%3ɚIiIIMS=IUqiU(W ]w,tAy~tB&Ii >I ;Mb@Mb@Mb@ )YRQ?\(\Ͽkty"?z@ ?@)ݸ@IM@y@II٢ A=9Q > G٣y > Nusing accuracyPremultiplier from config59o?5Yl i.?:0)@6E;;d5 Ĵ@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534420ZjFNOT Ignoring new targets: 136.60 m.Bj/ŻJj/Ż ProNav: ac range: 136.600006 m, nav range: 38.541779 m, bearing: 163.260723 deg, approach rate: 0.599886 m/s, LOS rate: -0.344782 deg/s, cmd heading: 341.262096 deg, new cmd heading: 340.809064 deg. 2j lHeadingCmd: 5.948240 target range: 136.600006 and range: 136.60 m. jW@jjjihhh!h%Bf!f!f)rf)bf-D@ɛį= 隽?I Z-ɚiI졌=I}ii[)=)W@)H>I IH'IIBI I&I.I6I<:I FBIĚCJIĚCRIZI- =bI- =jI3zK%#MK%+9K!K%K% ,;BKHC@;73/,(#   # EV =E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787975*Fm ?2Fi :Fq BFu 4JFy G pA G rA*JMC="JMa=JJJJJ:J:JJJ;J;Jwp;Jxp;G=GpAGrAGBO?N(]w,vޤtAN@YNh*@N 줼9NXd=yNHy?eB?KyӿY?@c &? ^??ɨN@Nr;NCyVsBZ&IIb Ib<2٢n n&=9r7{pt vG٣tyvX v> ~Nusing accuracyPremultiplier from configx~59z7o?5Yz izV+@z8EzX:z:zf5  Դ@EZj1=FNOT Ignoring new targets: 136.60 m.Bj=KܻJj=KܻM ProNav: ac range: 136.600006 m, nav range: 38.852779 m, bearing: 163.079177 deg, approach rate: 0.665183 m/s, LOS rate: -0.385191 deg/s, cmd heading: 340.809064 deg, new cmd heading: 340.268800 deg. 2jM-Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:10:09.4118 TRx dataTimestamp_ set to:1736377810.628528checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038695HeadingCmd: 5.938811 target range: 136.600006 and range: 136.60 m. j @jjjihhhhfffrf bf @`s @ɛ(B= 隝?I k&ɚiI=IQii$=)=) @)1EK-7= My$?II*F}?2Fy:FBFP0JFG] =GB!O=r>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289792.]w,>tA2m@Y2@2Ӌ92/=y2H Dl? ќ?,]ӿmJ?@9z?`Z?v?ɨ2m@2N;2CyR{BR&IEMb@Mb@Mb@AAA A)AYEuV?ѿ{GzyEr(?ĚE#E@ E@)EƷ@IE @AyE=@I]I]2٢m= mB=9u;Q u>qy }G٣}[RGyGW > Nusing accuracyPremultiplier from config59-o?5Y iB6?:3@;E;;h5 T@EZjFNOT Ignoring new targets: 136.60 m.BjOJjO껝 ProNav: ac range: 136.600006 m, nav range: 39.129246 m, bearing: 162.904407 deg, approach rate: 0.652714 m/s, LOS rate: -0.409701 deg/s, cmd heading: 340.268796 deg, new cmd heading: 339.748206 deg. 2jHeadingCmd: 5.929725 target range: 136.600006 and range: 136.60 m. jN@jjjihhhhBfff rf bf  Y @ɛJѓ= ?I   ɚiI\T=ImiiimU5=)mN@)qE}qAE}rAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:10:09.4118 LVL= 18064, 26737, 22690, 28003, AGC= 61, , 0.12,-0.990,-2.232,-2.954,-1.896, PHS= 0.994,-0.289,-1.061, RAW= 68.2, 4.0, CAL= 70.2, 3.0, ROT= 79.8, -3.0 !unknown deviceResponse_: 23:10:09.4118 LVL= 18064, 26737, 22690, 28003, AGC= 61, , 0.12,-0.990,-2.232,-2.954,-1.896, PHS= 0.994,-0.289,-1.061, RAW= 68.2, 4.0, CAL= 70.2, 3.0, ROT= 79.8, -3.0 PDAT read: Bearing 79.8, -3.0 (Local) ~Local bearing/azimuth received: Bearing 79.8, -3.0 (Local) DAT read: Range 10 to 50 : 136.7 m (Round-trip 182.3 ms) speed 0.1 m/s -%X#Rx 1: Read range message, but no direction.ةyحCة-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. 9I9jHU<bHU<Hm>Ii Im'IImއBIm. =&Ii.Ii6Imǰ<:Ims FzKMKKKK EC;=EErA*F% ?2F) :F) BF5 0JF1 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e ,DAT read: user:3052> e BDAT read: Tx time:23:10:10.6253 m $Ping request sent.m 99 =G٣9yEü E> MNusing accuracyPremultiplier from configI59MDo?5YM iM27@M>EM^?]w,tA6^@Y6#n@6(096l=y6H??n? ?Կ? G??`w?ɨ6^@6]b;6Cy>B>&IMb@Mb@Mb@ )YRQ?x&ѿ~jty"?7ļ@ (@)@Iy@JJJJJ<:J :JJa@a@a@a@I-I-F٢f= =9q:Q > G٣yq1 > Nusing accuracyPremultiplier from config59Zo?5YZ i0?:9@AE#;;m5 @EZjFNOT Ignoring new targets: 136.60 m.BjJj컝5 ProNav: ac range: 136.600006 m, nav range: 39.777855 m, bearing: 162.485476 deg, approach rate: 0.642309 m/s, LOS rate: -0.413547 deg/s, cmd heading: 339.129383 deg, new cmd heading: 338.501746 deg. 2j5荼=HeadingCmd: 5.907970 target range: 136.600006 and range: 136.70 m. j=@j9jAjAiAhAhIhIhM5BfIfQfQrfQbfU?ɛ}&B}= 隅?I ɚiI`=I8iiCD=)@)*F=?2F9:F9BFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755380 {$?IH5>I1 I1I1I5- =&I1.I16I5<:I5a FG!zKozLK]9KKKBK:KlAGB O% >QE]w,OuAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006427y=B=&II]I]ʴ٢ > O=9Q > G٣\RGy > Nusing accuracyPremultiplier from config59ko?5Y) i@CE ::n5 B@ZjFNOT Ignoring new targets: 136.60 m.Bj YJj Y仝% ProNav: ac range: 136.600006 m, nav range: 40.029144 m, bearing: 162.324933 deg, approach rate: 0.628917 m/s, LOS rate: -0.399278 deg/s, cmd heading: 338.501744 deg, new cmd heading: 338.023150 deg. 2j%-HeadingCmd: 5.899617 target range: 136.600006 and range: 136.70 m. j-ɼ@j)j)j)i)h1h1h9h9f9f9f9rfAbfEXB?ɛ= ?I 1 ɚiIP=I"cľiib=)ɼ@)!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772G@A=GqAGmAG B O > I L]w,2uA6]@Y6@696c=y6H@l?? տY?Zg?[??ɨ6]@6;;6!Cy>؇B>'IiB!>IBG?IJIJ٢R> RY=9RR TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^{o?b5Y^ i^df=f@^EE^:\^`p5h j@jEZjFNOT Ignoring new targets: 136.60 m.BjJj 軝 ProNav: ac range: 136.600006 m, nav range: 40.261581 m, bearing: 162.172525 deg, approach rate: 0.624328 m/s, LOS rate: -0.407005 deg/s, cmd heading: 338.023139 deg, new cmd heading: 337.568564 deg. 2j%HeadingCmd: 5.891683 target range: 136.600006 and range: 136.70 m. j%@j!j!j!i!h)h)h)h)f1f1f1rf9bf=0?ɛe%Bm= im?Ii moɚqiqIu=I}rȾiyi}F=)}@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512429*F]?2FY:FYBFe0JFaG}g\=GBO%M>JJJJJ:J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762313wR]w,4LuA6@Y6$@696.=y6Ha? ?n !-ֿ b?t??`?ɨ6@6Ɖ;4 PIPyVBV>'IHpIp IrB'IIrBIp&Ip.Ip6Irϰ<:Irz FMb@Mb@Mb@ )Yw/?mͿI +y&?n94@ )Iy=@II٢I> 8=9;Q > G٣y6 > Nusing accuracyPremultiplier from config59o?5Y  iE1?:1@GE;;Or5  @ Zj15FNOT Ignoring new targets: 136.60 m.Bj=ϻJj=ϻzKU:IKUh9KQKUKURKe?JKe?m ProNav: ac range: 136.600006 m, nav range: 40.545940 m, bearing: 162.010749 deg, approach rate: 0.642554 m/s, LOS rate: -0.362993 deg/s, cmd heading: 337.568576 deg, new cmd heading: 337.086665 deg. 2jmyuHeadingCmd: 5.883272 target range: 136.600006 and range: 136.70 m. juC@jqjqjqiyhyhyhyhBfffrfbf@y*@ɛM$BU= QU?IQ U/ɚYiYI]H=I]f̾iaiegL=)eC@)a*F%?2F!:F!BF%0JF!)}&= }C-vAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014374Q YvAyB"@BG .H_=G ?G ?G B O >o%Y]w,\fuA6ki@Y6x@6\96aֻ=y6H? ?=8 ֿ`D? ( k?Vr??ɨ6ki@6=;4y>B>d'IIFIF٢N,> Va=9Vԕ;Q V>XX ZG٣Z]RGy^ܺ ^> bNusing accuracyPremultiplier from config`f59bݟo?f5Yb- ibߩdj3j@bIEb3:b:bs5l n@nE~B*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 136.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267951BjǻJjǻ ProNav: ac range: 136.600006 m, nav range: 40.780010 m, bearing: 161.876142 deg, approach rate: 0.611581 m/s, LOS rate: -0.349684 deg/s, cmd heading: 337.086665 deg, new cmd heading: 336.685169 deg. 2joHeadingCmd: 5.876265 target range: 136.600006 and range: 136.70 m. j\ @jj!j!i!h!h)h)h1fffrfbfj@ɛ#B 9= ?I ^ɚiI-0=IWоiiX^G=)%\ @)!EQ |$?Ih*F?2F:FBF3JF GM=GBOc>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519100`]w,MuAyU9BU'I)Y YY]AJuJuJqJqJu:Ju :JqJq5Mb@Mb@Mb@111 1)1Y5X9v?ʡEƿMbPy5?5-255@ 1)1I11y5@IMIM٢U> ]1=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configq}59uo?}5Yu iu$?:"@uLEuO;uM;uu5’B @EZjFNOT Ignoring new targets: 136.60 m.BjxJjx ProNav: ac range: 136.600006 m, nav range: 41.060352 m, bearing: 161.746783 deg, approach rate: 0.631333 m/s, LOS rate: -0.289330 deg/s, cmd heading: 336.685159 deg, new cmd heading: 336.299736 deg. 2jFHeadingCmd: 5.869538 target range: 136.600006 and range: 136.70 m. jAӻ@jjjihhhh̓Bfffrfbf@ɛ%"B%= -R=-@I) -ɚ)i)I5g=I5Ӿi=X] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:10:13.2114 m TRx dataTimestamp_ set to:1736377814.411321u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026101Nf]w,tuA2@Y2I @2s92ѭ=y2H@ ?`c?y׿૩?*p.? ?`?ɨ2@2`;2Cy:ZB:'IININF٢Z9> Zf=9^j`d fG٣dyf j> nNusing accuracyPremultiplier from confighn59j1o?r5Yjm ijDpr<&r@jMEj:ja:jyw5x z@xZjFNOT Ignoring new targets: 136.60 m.Bj֤Jj%֤ ProNav: ac range: 136.600006 m, nav range: 41.276253 m, bearing: 161.643900 deg, approach rate: 0.608030 m/s, LOS rate: -0.288227 deg/s, cmd heading: 336.299745 deg, new cmd heading: 335.992716 deg. 2jEHeadingCmd: 5.864179 target range: 136.600006 and range: 136.70 m. j[@jjjihh!hIhIfIfIfIrfQbfU @ɛ}!B}}z= y}@I  ^ؼɚiIƝ=I־iץYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275172 A IA Cql]w,/uA6Gӵ@Y6@6:96Td=y6H@? {?R׿@p?~᳿#V`?F??ɨ6Gӵ@6Ј;6"CyRyBV'II^I^b٢f$> fJ=9fK;Q j>hh jG٣j^RGynH n> rNusing accuracyPremultiplier from configpv59r}o?v5Yr irzxz'z@rPErv:r:r 隝 @I 2ɼɚiIDŽ=I>پinZ Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3053>  BDAT read: Tx time:23:10:14.4754  $Ping request sent.  %*=9UQ U>YY ]G٣Yye e> Nusing accuracyPremultiplier from config59o?5Y  i2?: @RE;8;b{5 @k5"u?k57b k1 k58uA:k5LCBk5[CZk5,?"5GP8#i2S@)7 \@5:Zހ|hn%?YV?Jk5a?Rk5|w*5f/@FUP@,|]@5ҩ? ^O? Z?"k5B*k5uAk52k+u?k5p4V 2k5:Ck5նYf?k5Q k1k5&Bk5@U addTargetRange:: Added new target pos. range: 136.300003 m, deltaT: 3.781947 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, rangeRepo size: 4  Added new target pos. range: 136.300003 m, bearing: 76.398756 deg, lat: 36.903740 deg, lon: -122.120292 deg, deltaT: 7.578161 s, deltaX: -0.300003 m, approachRate: -0.039588 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 136.30 m.BjJj ProNav: ac range: 136.300003 m, nav range: 41.627712 m, bearing: 134.261522 deg, approach rate: 0.000000 m/s, LOS rate: -0.288096 deg/s, cmd heading: 335.643774 deg, new cmd heading: 335.204678 deg. 2j HeadingCmd: 5.850425 target range: 136.300003 and range: 136.30 m. j 6@j j j i hhhhBB,(IININ)٢V= V.=9V;Q Z>XX ZG٣Xy^Ǽ ^> bNusing accuracyPremultiplier from config`f59bo?f5Yb$ ibhjj@bTEb ;b :bd}5nÒB n@nE~B*** querying acoustic contact ***j|j|Zj)=FNOT Ignoring new targets: 136.30 m.BjEAa;JjEAa;U ProNav: ac range: 136.300003 m, nav range: 41.900238 m, bearing: 134.350003 deg, approach rate: 0.610532 m/s, LOS rate: 0.196933 deg/s, cmd heading: 335.204675 deg, new cmd heading: 335.468391 deg. 2jU'<]HeadingCmd: 5.855028 target range: 136.300003 and range: 136.30 m. j]d\@jYjYjYihhhhfffrfbf i?ɛ}B}N> 隅@I ɚiI=Ib7۾iT]%]w, vAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011238fJ2@YfA@fʉ;9fL$=yfHx? 2?@ؿx[?+ɴ`@9ql?M?ɨfJ2@f ;fCyrۈBvU(I aIaMb@Mb@Mb@ )YX9v?Q롿~jt?y?\D<@ l@) @I@y@II٢F> :=98Q >H >I  I O(II ׈BI &I .I 6I ְ<:I } F G٣_RGy > Nusing accuracyPremultiplier from config59p?5Y' iz?:쾑@VE;8;i5 }@EZj!-FNOT Ignoring new targets: 136.30 m.BjU+;JjU+;e ProNav: ac range: 136.300003 m, nav range: 42.152977 m, bearing: 134.469336 deg, approach rate: 0.540847 m/s, LOS rate: 0.253834 deg/s, cmd heading: 335.468402 deg, new cmd heading: 335.824249 deg. 2je4. iu@Iq uɚqiqIu=I}\ ؾi}C^qq }G٣yy} }> Nusing accuracyPremultiplier from config59Z&p?5Y+ ih{@XEũ;;t5 *@ZjFNOT Ignoring new targets: 136.30 m.Bj;Jj; ProNav: ac range: 136.300003 m, nav range: 42.409836 m, bearing: 134.583953 deg, approach rate: 0.554461 m/s, LOS rate: 0.245915 deg/s, cmd heading: 335.824255 deg, new cmd heading: 336.166018 deg. 2j(< HeadingCmd: 5.867204 target range: 136.300003 and range: 136.30 m. j "@j j j i hhhhfff!rf!bf%L?ɛMBM> 隭@I ɚiI =IԾiGV^Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7669116]w,"EvA6/@Y6@6L(<96uۢ=y6H??`?bٿ%?> U?@?ɨ6/@6zz;4yN BN(I-Mb@Mb@Mb@))) )))Y-|?5^?S㥛? ]J=9];Q e>aa eG٣e`RGym# m> uNusing accuracyPremultiplier from configq 59u7p?5Yu6- iuV?:@uZEuU <隽 @I 0ldɚiIp=IѾi\ ^zK |NK K K K      Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270839rd]w,~_vA6@Y6%@6V<96ł=y6H+8?D?wڿ`?d<nۊ ??ɨ6@6;4yN BN(IIVIVF٢M ]K=9];Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59u{Ip?}5Yu]/ iuI@u\Eu:u:u5 @ZjFNOT Ignoring new targets: 136.30 m.Bj;Jj; ProNav: ac range: 136.300003 m, nav range: 42.818485 m, bearing: 134.828735 deg, approach rate: 0.532571 m/s, LOS rate: 0.314848 deg/s, cmd heading: 336.532327 deg, new cmd heading: 336.896824 deg. 2jX<HeadingCmd: 5.879959 target range: 136.300003 and range: 136.30 m. j(@jjjihhhhfffrfbf @ɛ%B%'> !%@I! -lJEɚ)i)I-}=I5sξi5]Ɋ]w,xvA6z@Y6@6آw<96?=y6H.?` ;?p>ڿ?ڴ 4!? ?ɨ6z@6;6CyRBR(IiV?>IV= Vp=V=IZIZ<٢b= bT=9f;Q f>dd jG٣hyjg j> rNusing accuracyPremultiplier from configlr59n,Zp?v5Ynl1 in@tv3v@n^EnL:nn:n5x z@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 136.30 m.Bj-;Jj-;E ProNav: ac range: 136.300003 m, nav range: 43.013611 m, bearing: 134.942578 deg, approach rate: 0.508046 m/s, LOS rate: 0.295065 deg/s, cmd heading: 336.896813 deg, new cmd heading: 337.236787 deg. 2jEJ 隕0 @IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775005 %ɚiI{=Ii˾i]M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:10:17.0606 U TRx dataTimestamp_ set to:1736377818.192569] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027867 $?I H >I  I (II QBI &I .I 6I Y<:I Fs]w,~vA6Pn@Y6}@6x<96x=y6HI)?WR?@kTڿ@ ?`ǵ.`??ɨ6Pn@6Rz;6!Cy^B^(IMMb@Mb@Mb@III I)IYMoʡ?/$?~jth?yM ?M,=MD;M@ I)Md@IIIyM̼@IuIu٢ ?=9 ;Q > G٣y6e > Nusing accuracyPremultiplier from config59lp?5Y3 iIw ?:@`E;{;5 @ZjFNOT Ignoring new targets: 136.30 m.Bj;Jj; ProNav: ac range: 136.300003 m, nav range: 43.228069 m, bearing: 135.075511 deg, approach rate: 0.501572 m/s, LOS rate: 0.309358 deg/s, cmd heading: 337.236793 deg, new cmd heading: 337.633606 deg. 2jOT< HeadingCmd: 5.892818 target range: 136.300003 and range: 136.30 m. j @j j j i zKLKh9KKK BK%pA:K%qAhhhhDŽBGf|uA1fY Y|uAyBfrfbf @ɛeB\> 隍i@I HɚiIdy=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279046I>Ǿi;[hh jG٣naRGyn n> rNusing accuracyPremultiplier from configpv59r*p?v5Yr5 irWxz&z@rbEr;r;r5~ĒB ~@EZj)-FNOT Ignoring new targets: 136.30 m.Bj5;Jj5;E ProNav: ac range: 136.300003 m, nav range: 43.471725 m, bearing: 135.224329 deg, approach rate: 0.501224 m/s, LOS rate: 0.304418 deg/s, cmd heading: 337.633599 deg, new cmd heading: 338.077543 deg. 2jEP 隕<@I  ]w, vA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:,DAT read: user:3054> :BDAT read: Tx time:23:10:18.4754 >$Ping request sent. F$?ID>! %G٣!y% %> 5Nusing accuracyPremultiplier from config1=595tp?=5Y58 i5_= ?E:EE@5dE5;5;55I M@MEkxtz?kƪ k k%vA:kCBkCZkmЖ?"+gQlJdz`B#V@Y;KY@I!Y ?eq@9?Jkȳ?Rk=[*2&,>@8z7R@u1^B[@Dcu?> /?t[C> ?"kB*kaAkdz?k sD 2k2CkGi?kRiN kEDCkRBk?g@ addTargetRange:: Added new target pos. range: 135.699997 m, deltaT: 4.039119 s, deltaX: -0.600006 m, approachRate: -0.148549 m/s, rangeRepo size: 4  Added new target pos. range: 135.699997 m, bearing: 67.507933 deg, lat: 36.903820 deg, lon: -122.120100 deg, deltaT: 4.039119 s, deltaX: -0.600006 m, approachRate: -0.148549 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 135.70 m.BjJj ProNav: ac range: 135.699997 m, nav range: 52.653099 m, bearing: 114.952622 deg, approach rate: 0.000000 m/s, LOS rate: 0.304418 deg/s, cmd heading: 338.077534 deg, new cmd heading: 338.518708 deg. 2jHeadingCmd: 5.908266 target range: 135.699997 and range: 135.70 m. j@jjjihhhaheĄBfififirfm`f`@bfu@N?ɛB5> z@I d[HɚiI7u=IriHFZ|8ڿ?|^ G٣bRGy; > Nusing accuracyPremultiplier from config59Wp?5YA: ii|%@fE@::㎏5) 5@1Zjq}FNOT Ignoring new targets: 135.70 m.Bj};Jj; ProNav: ac range: 135.699997 m, nav range: 52.837372 m, bearing: 115.170507 deg, approach rate: 0.374931 m/s, LOS rate: 0.441774 deg/s, cmd heading: 338.518710 deg, new cmd heading: 339.170056 deg. 2j<HeadingCmd: 5.919634 target range: 135.699997 and range: 135.70 m. jm@jjjihhhhfffrfbf?ɛAߵ>  @I  U:ɚ i I zs=I\#ii )m@)E!E!*E!"E!uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757622*F ?2F :F BF ]0JF G ~ʼGq By O >]w,wAN@YNy@Ny<9N!=yNH`4??x@ ڿ?EԺծ?V?ɨN@NQ;NCyZBZg(IMb@Mb@Mb@ )Y/$?S㥫? G٣y; > Nusing accuracyPremultiplier from config59p?5Y< i ?:V@hES;;5ŒB @EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 135.70 m.BjB;Jj%B;- ProNav: ac range: 135.699997 m, nav range: 52.986641 m, bearing: 115.339972 deg, approach rate: 0.383437 m/s, LOS rate: 0.434089 deg/s, cmd heading: 339.170064 deg, new cmd heading: 339.677013 deg. 2j5<=HeadingCmd: 5.928482 target range: 135.699997 and range: 135.70 m. j= @j9j9j9i9hAhAhAhEBfIfIfIrfIbfM?ɛy}S3> y}=@I $:ɚiIhq=Iii(%) @ $?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009450HI I(II`BI&I.I6Iz<:I9 FBIYJIYRIYZIYbI], =jI]4*F2F:FBF1JFzKLK9KKKG @߼G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261372l;]w,+"wAF @YF@F]<9FPL=yFHwA?? jUٿ`?W`Oਸ਼?`?ɨF @F{;F CyNԈBNL(IIVIV٢j+ jY=9r';Q r>tt vG٣xy~)< > %Nusing accuracyPremultiplier from config-59gp?-5Y= iê)-M-@iED;;E51 M@IZjqFNOT Ignoring new targets: 135.70 m.Bj0;Jj0;- ProNav: ac range: 135.699997 m, nav range: 53.131001 m, bearing: 115.503757 deg, approach rate: 0.375815 m/s, LOS rate: 0.425225 deg/s, cmd heading: 339.677001 deg, new cmd heading: 340.167006 deg. 2j-<5HeadingCmd: 5.937034 target range: 135.699997 and range: 135.70 m. j5/@j9j9j9i9h9h9hAhAfAfAfIrfIbfMܒ?ɛy}M,> 隅}@I xE;ɚiIo=I:iiM2)/@)E*F?2F:FBFE5JF"G5=G5=GW IGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513587OG>e]w,$by6H ]X?@>r?`_.|ٿ?:`*^V??ɨ6i@6`;4ybˆBb7(IInIn2٢v vI=9v;Q z>xx zG٣zcRGy~< ~> Nusing accuracyPremultiplier from config 59p? 5Y? i@kE:@:5 +@%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765481ZjFNOT Ignoring new targets: 135.70 m.Bj;Jj; ProNav: ac range: 135.699997 m, nav range: 53.282528 m, bearing: 115.676616 deg, approach rate: 0.373025 m/s, LOS rate: 0.424328 deg/s, cmd heading: 340.166998 deg, new cmd heading: 340.684086 deg. 2j<HeadingCmd: 5.946059 target range: 135.699997 and range: 135.70 m. jF@jjjihhhhfffrfbfH_@ɛ/> O@I ;ɚiI|m=IʛiiZ8)F@) *F?2F:FBFO0JFJ J J J J ܫ:J  :J J a@a@a@a@Gw! yIyGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018089H >I  I (II  G٣y >zK K 9K K K RK?JK? Nusing accuracyPremultiplier from config %59 p?%5Y B i ?-6?-:-ž-@ mE ; ; 55ƒB =.@=EZjaeFNOT Ignoring new targets: 135.70 m.Bjm$;Jjm$;} ProNav: ac range: 135.699997 m, nav range: 53.466919 m, bearing: 115.855508 deg, approach rate: 0.425257 m/s, LOS rate: 0.411152 deg/s, cmd heading: 340.684098 deg, new cmd heading: 341.218909 deg. 2j}<HeadingCmd: 5.955393 target range: 135.699997 and range: 135.70 m. j@jjjihhhhVBfffrfbf6@ɛr#> O@I yO;ɚiIk=ITԧii Z)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271215*Fm?2Fi:FiBFmP0JFiGW5GY Bq O > e $?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521435y^H?Y?@ fؿ 7?U¿h?ޤ?ɨ^z@^X;^CyvBz'II%I%̍٢U ]U=9eҩ;Q e>ii uG٣qy}B= }> Nusing accuracyPremultiplier from config59q?5YD i(@oE;.;5 Σ@ZjFNOT Ignoring new targets: 135.70 m.Bj~;Jj~; ProNav: ac range: 135.699997 m, nav range: 53.626915 m, bearing: 116.015201 deg, approach rate: 0.412032 m/s, LOS rate: 0.410022 deg/s, cmd heading: 341.218902 deg, new cmd heading: 341.696538 deg. 2j<HeadingCmd: 5.963730 target range: 135.699997 and range: 135.70 m. j־@jjjihhhhff f rf bf R.@ɛwR > @I pG<ɚiIi=Iii.)־@))E1E1*F?2F:FBFJFG GGlSG?G>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773784GqBO~>J= J= J9 J9 J= :J= 9:J9 J9 k_]w,wA:@Y:5ɼ@:P<9:>y:H`X?`?.x׿`G?@[_ÿ,`"?s?ɨ:@:;8yJwBJ'IiR>IR=Mb@Mb@Mb@ )Yd;O?~jt/$y?D@ )z@Iy@II0٢F E=9A:Q > G٣dRGy3< > Nusing accuracyPremultiplier from config59Uq?5YF i?:̾@qE5;;n5 @E $?IB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 135.70 m.Bj-;Jj-;= ProNav: ac range: 135.699997 m, nav range: 53.807533 m, bearing: 116.183073 deg, approach rate: 0.440033 m/s, LOS rate: 0.407607 deg/s, cmd heading: 341.696551 deg, new cmd heading: 342.198464 deg. 2j=ދ 隍 @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:10:21.0603 TRx dataTimestamp_ set to:1736377822.244747checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026579I (<ɚiI!h=Ixi!i%b9)%@)!H9I9 I=(II= BI9&I9.I96I=:<:I= F*F?2F:FBF_0JFzKuBHKu9KqKuKuG tLVG B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279195%]w,)ͣwAFa@YF@F<9F#>yFH`]?x?蘢D׿ U?T Ŀ9X?k?ɨFa@F;FCynXBn'IIvIvF2٢~y! V=97Q >    G٣ y < > Nusing accuracyPremultiplier from config-59)q?-5YH iu1*JC="J4=aȾ@sE<<5ŒB ̦@Zj9=FNOT Ignoring new targets: 135.70 m.BjE;JjE;U ProNav: ac range: 135.699997 m, nav range: 53.973621 m, bearing: 116.338291 deg, approach rate: 0.408264 m/s, LOS rate: 0.380371 deg/s, cmd heading: 342.198461 deg, new cmd heading: 342.662672 deg. 2ju<HeadingCmd: 5.980592 target range: 135.699997 and range: 135.70 m. ja@jjjihhhhfffrfbf@ @ɛae> im@Ii 9F<ɚiI Gf=I횾iigs<)a@) $?I*FQ2FY:FYBFaJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge^D8DAT read: 23:10:21.0603 LVL= 10160, 23729, 17890, 24195, AGC= 58, IDX= 439, 0.05,-1.683,-2.459, 2.520,-2.671, PHS= 1.076, 0.259,-1.095, RAW= 51.9, -2.6, CAL= 54.4, -6.2, ROT= 95.6, 6.2 Ygot valid direction response: 23:10:21.0603 LVL= 10160, 23729, 17890, 24195, AGC= 58, IDX= 439, 0.05,-1.683,-2.459, 2.520,-2.671, PHS= 1.076, 0.259,-1.095, RAW= 51.9, -2.6, CAL= 54.4, -6.2, ROT= 95.6, 6.2 PDAT read: Bearing 95.6, 6.2 (Local) ~Local bearing/azimuth received: Bearing 95.6, 6.2 (Local) DAT read: Range 10 to 50 : 135.5 m (Round-trip 180.7 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.034971,0.677381,0.734801]Fpublishing direction and range infoG9BAO]v>9Cc U?}?~x}?yC'\ E)^I:i^?>(5g?9 s?)kݽI?ik=6?H LC,ڦ)2I6=iu?KST****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.W]w,ɬwA2%@Y2F5@2 <92)>y2H(? k?I@)׿0`?Ŀ #`??ɨ2%@2;2!CyRCBR'II^I^b2٢OнWill construct direction to contact in vehicle frame from tetrahedron phase data.%,DAT read: user:3055> -BDAT read: Tx time:23:10:22.2754 -$Ping request sent.-ii mG٣iyuv< u> }Nusing accuracyPremultiplier from configy59}wV@NS1X@Cc U?}?~x}?Jku?RkKS*4:S@@cA/P@եK\@b ? [?M~U?"kɄB*kBk 隍@I Ţd<ɚiImd=Iꖾi&W]w,wA)f= Cb~Gl| s!YyBzKK9KKKeU@YeWe@e%ü<9eL->yeH?W?@ ֿ l?@%7ſۗ ?d?ɨeU@e&;eCyu"Bur'I)y yMb@Mb@Mb@ )Y$C?DlQy?O@ @)@I @yII)٢% %+=9-{Q ->)) 5G٣5eRGy5M< 5> ENusing accuracyPremultiplier from config9E59=Qq?M5Y=N i=ŭMO?M:MM@=wE=/;=;=5U͒B ]@]EZjyFNOT Ignoring new targets: 135.50 m.Bj <Jj < ProNav: ac range: 135.500000 m, nav range: 67.541779 m, bearing: 80.026617 deg, approach rate: 0.176338 m/s, LOS rate: 0.495817 deg/s, cmd heading: 343.111602 deg, new cmd heading: 343.799596 deg. 2j#<HeadingCmd: 6.000435 target range: 135.500000 and range: 135.50 m. j@jjjihhhhBfffrfbf??Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504288ɛH>  @I Y<ɚiIMb=IĐiiY)@) *F?2F:FBF0JF $?I G- ;,B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755581G) B1 OM >]w,ȵwA>@Y>3@><9>)>y>H? L?0 bֿ`? ŮĿ@ ~w ??ɨ>@>9R; \<隵?I <ɚiIa=IiiR}Z)G@)*Fe?2Fa:FaBFe>5JFaG=_NGBO=P>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922J J J 1J J :J :J 3J ^w,{ xA6˶@Y6;۽@6ۧ<96"X.>y6H< ?? տ@֕?(Bſ ?ۇ?ɨ6˶@6p];6 CyBBBF'I aIehMb@Mb@Mb@ )Y~jt?Zd;Mby?@ )z@I @yBAII٢k :=9F\Q > G٣yc< > Nusing accuracyPremultiplier from config59tq?5YwT i=?: @{E<;^;;J5 ͒B @ E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 135.50 m.BjE<JjE<] ProNav: ac range: 135.500000 m, nav range: 67.694992 m, bearing: 80.399762 deg, approach rate: 0.231912 m/s, LOS rate: 0.509111 deg/s, cmd heading: 344.276915 deg, new cmd heading: 344.917675 deg. 2j] 隕?I ɘ<ɚiI2_=IƆiih)l@)*F?2F:FBF5JFG GnAzKKs9KKKG T- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511593G B O >^w,V%xA2 @Y2@2g<9211>y2HG ?o?Fˣտ ܣ?ѹſ o??ɨ2 @2$;0yJBJ6'IiN=IN4= R=RR=IZIZ2٢b b^=9bU:Q b>dd fG٣ffRGyfǘ< j> nNusing accuracyPremultiplier from configh=59jq?E5YjW ijAEE@j|Ej h AE?IA EO<ɚAiAIMs]=IMiQiUAp)U|@)Q ]$?IY*F?2F:FBF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763575Gm deGA BQ Om >S^w,2?xA2*@Y2w:@2<92'2>y2H B-?@'?eo2@տt?{ſ•;??ɨ2*@2j[;2Cy:B> 'IIJIJ1٢R賽 RL=9R:Q V>TT VG٣TyZ}B< Z> ^Nusing accuracyPremultiplier from config\b59^q?b5Y^Z i^ڰdfsf@^~E^ ;^z:^5h jݮ@j}ErWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014810ZjFNOT Ignoring new targets: 135.50 m.Bj<Jj<- ProNav: ac range: 135.500000 m, nav range: 67.863670 m, bearing: 80.774890 deg, approach rate: 0.238721 m/s, LOS rate: 0.531092 deg/s, cmd heading: 345.456652 deg, new cmd heading: 346.041605 deg. 2j-=<5HeadingCmd: 6.039566 target range: 135.500000 and range: 135.50 m. j5D@j1j1j1i9h9h9hAhAfAfAfIrfIbfM`g<@ɛ9=##> 9=,?IA Ek<ɚAiAIE[=IM|wyiIiM")MD@)QE] < E$?II*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267254ZHRHAAHI I'IINBI&I.I6I<:IS FBIyJIyRIyZIybI}- =jI}AY4G lG B O >>K^w, fZxA6X@Y6g@6`ɱ<96U4>y6H G٣yF< > Nusing accuracyPremultiplier from config59q?5Y_ i(?:@Ej; ;5 t@ZjFNOT Ignoring new targets: 135.50 m.zKBHK59KKKBj9<Jj9< ProNav: ac range: 135.500000 m, nav range: 67.985435 m, bearing: 81.003420 deg, approach rate: 0.269220 m/s, LOS rate: 0.504368 deg/s, cmd heading: 346.041617 deg, new cmd heading: 346.725944 deg. 2j<HeadingCmd: 6.051509 target range: 135.500000 and range: 135.50 m. j@jjjih!h!h!h%Bf)f)f)rf1bf5 @ɛY]B> Y]?IY e޽<ɚaiaIeY=ImpG|GyBO]>JJJ/JJ:J9:J(N3JJ;aEJ;aMJX`;aUJY`;aU I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771051q^w,1txA2Px@Y2·@2 <92u4>y2HF?>?@ڢԿ?B"ƿ㕿v?@~?ɨ2Px@2;;2Cy@@)D DDFAIJ IJ(2٢5 5P=9=XQ =>99 EG٣EgRGyET$< E> MNusing accuracyPremultiplier from configIU59Mq?U5YMb iM.Y]]@MEM* ;M ;MY5eΒB e~@mzEZjFNOT Ignoring new targets: 135.50 m.Bj<Jj< ProNav: ac range: 135.500000 m, nav range: 68.090752 m, bearing: 81.200916 deg, approach rate: 0.269005 m/s, LOS rate: 0.503675 deg/s, cmd heading: 346.725947 deg, new cmd heading: 347.317495 deg. 2jլ<HeadingCmd: 6.061834 target range: 135.500000 and range: 135.50 m. j@jjjihhhhfffrfbf@@ɛ   >  ?I  <ɚiIaBX=Ibii76)@)!E]<eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:23:10:24.8608 mTRx dataTimestamp_ set to:1736377826.025385uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024561*F?2F:FBFU0JFG5 w } $?Iy G B! O= >#^w,xAJ@YJx@J %<9J$86>yJHT?`,C?{YԿ`)?hVƿ`4䕿?|?ɨJ@JU;J CyZƇBZ'IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274764HpIp Irt'IIr%BIp&Ip.Ip6Ir<:IrH FMb@Mb@Mb@ )Y)\(?Clǿ{GzyG!?d;#&@ ׫@)IyI I<2٢w =96Q > G٣y p*<  > Nusing accuracyPremultiplier from config59q?5Yg iB(?:@EA<"<5 @wEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.50 m.Bj0 <Jj0 < ProNav: ac range: 135.500000 m, nav range: 68.236649 m, bearing: 81.460683 deg, approach rate: 0.270033 m/s, LOS rate: 0.479761 deg/s, cmd heading: 347.317496 deg, new cmd heading: 348.095082 deg. 2j<HeadingCmd: 6.075405 target range: 135.500000 and range: 135.50 m. ji@jjjihhhhBfffrfbf@ @ɛiuQ > qu?Iq u<ɚyiyI}c%V=I}XTiic1)i@)EE*E"EzKmKmh9KiKmKm Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ=Օ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538983*F- ?2F) :F) BF5 O0JF1 *J] 4="J] a=J J J 0J J L:J :J ـ3J J O;J P;J nN;J oN;G% Q GB)OE>*^w,UڭxA I :3η@Y:ݾ@:UE<9:p7>y:H@a? ?N < Կ`?@ƿ@9(`?Gz?ɨ:3η@:u;:CyḞBF'ILNAAIRIR٢Z\= Zc=9^B<:Q ^>\` bG٣`ybd< b> jNusing accuracyPremultiplier from configdM59fq?M5Yf5k ifQUQU@fEfi?Fs>An?s V}?) I(o?i >U?zർS5쭿)ޔɛB.> 隵?I j<ɚiIT=I 9Kii8)@)Iljo=ib? YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFo0JFG唽Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3056>  BDAT read: Tx time:23:10:26.2754  $Ping request sent. y=H@[t??] @ӿ?ǿW pc?@ t?ɨ=7 @=rp;= CyޅχBލ 'IMb@Mb@Mb@ )Yx&1?+ǿt )@Iy@IIb2٢ < *=9%:Q >    G٣ hRGyJz< > Nusing accuracyPremultiplier from config -$?I1%59q?e5Yo im(?m:mm@E*<)<O5uϒB u@utEk%ḏ{?k%E k! k%xA:k%CBk%CZk%^А?"%҂Y@_ZV@vxY@%LX E?޲3? ?Jk%b?Rk% Y*%}=@PO@N&]@%i?M-?%|oAt?"k%|B*k%Ak%9{?k%c  2k%8Ck%dz?k!k%8Ck%'Bk%G?5 addTargetRange:: Added new target pos. range: 135.899994 m, deltaT: 4.030067 s, deltaX: 0.399994 m, approachRate: 0.099252 m/s, rangeRepo size: 4 m Added new target pos. range: 135.899994 m, bearing: 64.822089 deg, lat: 36.904291 deg, lon: -122.119899 deg, deltaT: 4.030067 s, deltaX: 0.399994 m, approachRate: 0.099252 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 135.90 m.BjuJjq ProNav: ac range: 135.899994 m, nav range: 72.577164 m, bearing: 69.058342 deg, approach rate: 0.000000 m/s, LOS rate: 0.495032 deg/s, cmd heading: 348.629084 deg, new cmd heading: 349.349524 deg. 2jHeadingCmd: 6.097300 target range: 135.899994 and range: 135.90 m. j@jjjihhjH<bHH>I I['IIBI&I.I6I<Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:10:26.2747  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251635:IZ Fh9h=Bf9f9fArfE`@bfE@)h?ɛ> :?I <ɚiI|wR=IX>ii7s)@)*Fu?2Fq:FqBFu`0JFq"G}=G}>GMG B OM >zK KK ػ9K K K 7^w,VxA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5028266,=@Y6L@6)<96S@>y6HӃ?"?#`8ӿ.?ǿ`-? m?ɨ6,=@6;4yB؇BB'IIJIJ۳٢r`= ru=9vQ v?tt zG٣xyzј< z? Nusing accuracyPremultiplier from config59O r?5Ys iҷ@E\}<|<װ55ΒB 5b@=vEZjFNOT Ignoring new targets: 135.90 m.Bjk <Jjk < ProNav: ac range: 135.899994 m, nav range: 72.625862 m, bearing: 69.235318 deg, approach rate: 0.136177 m/s, LOS rate: 0.494550 deg/s, cmd heading: 349.349532 deg, new cmd heading: 349.880088 deg. 2j<HeadingCmd: 6.106560 target range: 135.899994 and range: 135.90 m. jh@jjjihhhhfffIrfIbfU@?ɛ  0>  ?I  O<ɚiI P=IT4i!J)J-BAJ=J=J9J9J=,:J=:J9J9J=;J=;J=CG;J=DG;i%J)h@) -$?I1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754894G G B O >c'>^w,]xAy'II-I-m٢=p =E=9EQ E>AA MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]r?e5Y]v i]iim@]E]:]:]5uϒB ul@}sEZjFNOT Ignoring new targets: 135.90 m.Bj8<Jj8< ProNav: ac range: 135.899994 m, nav range: 72.681992 m, bearing: 69.435957 deg, approach rate: 0.150995 m/s, LOS rate: 0.539324 deg/s, cmd heading: 349.880101 deg, new cmd heading: 350.481528 deg. 2j<HeadingCmd: 6.117057 target range: 135.899994 and range: 135.90 m. j@jjjihhhhfqfqfqrfybf}2?ɛB*>  ?I  -V=ɚ)i1I5N=I5*i9i=ۆ˽)=@)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007*Fe?2Fa:FaBFe?5JFaG=ٲGAGEpAGIBO%>  I hH I  I U'II BI , =&I .I 6I <:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781E^w,7yA6ָ@Y6@6<96cOH>y6H̰?}?X ҿ`l?ȿ`?@b?ɨ6ָ@6;ۊ;6Cy>B>)'I Mb@Mb@Mb@    ) Y +?ktƿ:vy v?  0 Լ @ ) I d@ y =@IuIuW٢= F=9Q > G٣iRGy9= > Nusing accuracyPremultiplier from config5 H~G91r?5Ysz )iع=$?AE:M U@E<d< u?Yqyu(Bg5y z@pEB*** querying acoustic contact ***jjZjUFNOT Ignoring new targets: 135.90 m.Bje<Jje< ProNav: ac range: 135.899994 m, nav range: 72.731735 m, bearing: 69.641713 deg, approach rate: 0.113462 m/s, LOS rate: 0.468996 deg/s, cmd heading: 350.481540 deg, new cmd heading: 351.098363 deg. 2j<HeadingCmd: 6.127822 target range: 135.899994 and range: 135.90 m. j@jjjihhhhBfffrfbf?ɛ}B#> ?I Y =ɚiIL=I|ii^)@)EEnAzKJK9KKK}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921*F?2F:FBF 5JFG GrAJK|3 KL.KK"KJ] J] JY JY J] :J] :JY JY J] ;J] ;J] R;J] R;G] ]  $?I G1 BA Oe >~@K^w,1/yA2o%@Y24@2]<92jO>y2H?xa?H`G{ѿ? pxɿ_딿@? V?ɨ2o%@27;0y:B>/'IIJIJ2٢N'< RY=9RO9Q R>TT VG٣Ty `<  > Nusing accuracyPremultiplier from config59Cr?5Y} i%%@E:L:5) -0@)ZjQUFNOT Ignoring new targets: 135.90 m.Bj]I<Jj]I đ<隽?I '=ɚiI.K=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763184Iii)h@)*F}?2F:FBF_0JFG.qGyBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014706$R^w,]HyAB@YBx@Bhj<9BU>yBH3? ?@2 п`+?@&TʿՌ`4?@L?ɨB@Bԋ;B"CyjBnE'III ٢== E3=9Ud;Q ]>ai uG٣qyA< I > Nusing accuracyPremultiplier from config59RYr?5Y iٻ@E);;5ВB @mEZjY]FNOT Ignoring new targets: 135.90 m.Bje$ <Jje$ < ProNav: ac range: 135.899994 m, nav range: 72.827255 m, bearing: 70.062100 deg, approach rate: 0.109102 m/s, LOS rate: 0.490088 deg/s, cmd heading: 351.668573 deg, new cmd heading: 352.358625 deg. 2j+<HeadingCmd: 6.149818 target range: 135.899994 and range: 135.90 m. jO@jjjihhhhfffrfbf.@ɛB%> e?Ia et1=ɚaiaIeH=ImdiiimU)uO@)yZHRHH>I Ib'IIBI- =&I.I3D6I<:ID FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713*Fq2Fq:FqBFuP0JFyG #G ?G >Gq B O >JX^w,byA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792zK&:IK&9K$K&K&Bɹ@YB[@BQ<9BQY>yBH?@-?`c=п`a7?`ʿTm?E?ɨBɹ@Bؒ;B CyJ BJV'IMb@Mb@Mb@ )YZd;O?@5^I ¿Zd;Oyj?bjK@ )@IM@yz@I5I5V8٢== =K=9E3:Q E>AA EG٣MjRGyMI< M> Nusing accuracyPremultiplier from config59kr?5Y i ?:\@Ep;y;Ϲ5 7@ZjFNOT Ignoring new targets: 135.90 m.Bj <Jj ?IJEJEJAJAJE̶:JE :JAJAJE;JE;JES;JES; $?I  =ɚiIF=Iii4)@)*F2F:FBFW0JF"G>G >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771105G 87G B O >^^w,}yABu@YB+@B/G<9Bɚ]>yBH@?!?B;ϿE?[˿[`?z?>?ɨBu@BC;B!CyNBNk'IIZIZ?1٢^c= b[=9b_:Q b>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr59n|r?r5Yn? inutv 쾑v@nEn;nb;nj5x z8@zjEZj%FNOT Ignoring new targets: 135.90 m.Bj-( <Jj-( <= ProNav: ac range: 135.899994 m, nav range: 72.884499 m, bearing: 70.430470 deg, approach rate: 0.073341 m/s, LOS rate: 0.486641 deg/s, cmd heading: 352.926557 deg, new cmd heading: 353.463253 deg. 2j=  @I  K%=ɚ i ILE=Iئii)?i@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:10:28.8606 TRx dataTimestamp_ set to:1736377830.058089checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025773E5%<*F?2F:FBF_0JF !I!H >I  I 'II 4BI &I .I 4D6I <:I i FBIJIRIZIbIjI(4u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154G% G B O% > f^w,AcyA^@Y^v@^*<9^ga>y^H,?o?` ̿`c?F˿$1?`7?ɨ^@^,;^Cyj*Bj{'IeMb@Mb@Mb@aaa a)aYeOn?Mby&1|?ye?ee`;e?=@ a)e@Ied@ayeף@I}I}b٢c= 3=98:Q > G٣y2= > Nusing accuracyPremultiplier from config59r?M5Y iM?M:UςU@E<Ҷ<i5]ђB ]o@]hE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 135.90 m.Bj;Jj; ProNav: ac range: 135.899994 m, nav range: 72.861610 m, bearing: 70.643659 deg, approach rate: -0.047995 m/s, LOS rate: 0.447182 deg/s, cmd heading: 353.463246 deg, new cmd heading: 354.102987 deg. 2jr<HeadingCmd: 6.180263 target range: 135.899994 and range: 135.90 m. j@jjjihhhhMBfffrfbf @ɛB(1> @I H-=ɚiIsB=Iҽii"⭽)@) E-<EI Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}k3IK} 9KyK}K}DAT read: 23:10:28.8606 LVL= 16208, 24721, 17490, 24179, AGC= 58, IDX= 440, 0.15,-1.027,-2.165,-3.095,-2.308, PHS= 1.369, 0.189,-0.790, RAW= 63.1, -8.3, CAL= 72.0, -15.4, ROT= 78.0, 15.4 Ygot valid direction response: 23:10:28.8606 LVL= 16208, 24721, 17490, 24179, AGC= 58, IDX= 440, 0.15,-1.027,-2.165,-3.095,-2.308, PHS= 1.369, 0.189,-0.790, RAW= 63.1, -8.3, CAL= 72.0, -15.4, ROT= 78.0, 15.4 PDAT read: Bearing 78.0, 15.4 (Local) ~Local bearing/azimuth received: Bearing 78.0, 15.4 (Local) DAT read: Range 10 to 50 : 135.6 m (Round-trip 180.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.118314,0.520529,0.845607]Fpublishing direction and range info9MI?'1,? h6?yCP?` RD)s^I:id;?7A>q=J}?V |٠?)I@?i>x7H?ҟZTZK ^¿)U~Iw>iGt?^T****** received valid address query ******R****** received valid ping request *******F?2F:FBFo0JFQuerying Benthos address 50 with one ping in standard two-way mode.G U $?IY G B O >3l^w,<-yA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:,DAT read: user:3057> BBDAT read: Tx time:23:10:30.0755 F$Ping request sent.FyeHYY ]G٣]kRGy]<< e> mNusing accuracyPremultiplier from configam59er?5Ye ieý&|@eEe;e;eG5 @kM?G{?kM kI kMyA:kMCBkMCZkMbq?"MrO 0@[Q@H\@MMI?'1,? h6?JkMGt?RkM^*M^ <@^ZAC@/-_@MR5w?^Z-?3?"kMB*kMNAkMG{?kM64 2kMCCkM9{?kIkIkMQBkM ? addTargetRange:: Added new target pos. range: 135.600006 m, deltaT: 3.782150 s, deltaX: -0.299988 m, approachRate: -0.079317 m/s, rangeRepo size: 4  Added new target pos. range: 135.600006 m, bearing: 53.945932 deg, lat: 36.904325 deg, lon: -122.119899 deg, deltaT: 3.782150 s, deltaX: -0.299988 m, approachRate: -0.079317 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 135.60 m.BjJj  ProNav: ac range: 135.600006 m, nav range: 74.158669 m, bearing: 68.096315 deg, approach rate: 0.000000 m/s, LOS rate: 0.447182 deg/s, cmd heading: 354.102989 deg, new cmd heading: 354.689633 deg. 2jHeadingCmd: 6.190502 target range: 135.600006 and range: 135.60 m. j@jjjihhh!h!f!fIfIrfM@3`@bfU8?ɛB/8> 隝@I  5=ɚiIa@=Iнii)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:10:30.0748 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248344*F ?2F :F BF ^0JF J J J J J l:J :J J a% @a% @a% @a% @ i Iq GM孽G!jH-<bH-4=H1I1 I5'II5SBI1&I1.I16I5̰<:I5v FBQOu?t^w,OyA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499459yFB'IMb@Mb@Mb@ )Y@5^I ?#~j~jtyb?㥽DA@ @)@I@yf@IIV٢,^= $=9Q > G٣yE E> MNusing accuracyPremultiplier from configIU59Mzr?U5YMK iMt]?]:]^]@MEM;M0;My5 @eEZjFNOT Ignoring new targets: 135.60 m.Bj<Jj<  ProNav: ac range: 135.600006 m, nav range: 74.150642 m, bearing: 68.316949 deg, approach rate: -0.016674 m/s, LOS rate: 0.458406 deg/s, cmd heading: 354.689620 deg, new cmd heading: 355.351562 deg. 2j L<HeadingCmd: 6.202055 target range: 135.600006 and range: 135.60 m. j r@I %R==ɚ!i!I%==I-'i)i-&ƽ)-Fz^w,FyAJD@YJù@J<9Jsb>yJH]?@{7? A,ɿ ͓?̿0?6?ɨJD@Jϓ;JCyRRBR'IIZIZ٢f= f^=9jRQ j>hh jG٣lyn/`= n> vNusing accuracyPremultiplier from configpv59rr?z5Yr  irxziz@rEr:rv:rÏ5 $?I  @ ZjAMFNOT Ignoring new targets: 135.60 m.Bj];Jj]; ProNav: ac range: 135.600006 m, nav range: 74.141701 m, bearing: 68.473074 deg, approach rate: -0.025509 m/s, LOS rate: 0.445448 deg/s, cmd heading: 355.351575 deg, new cmd heading: 355.819995 deg. 2jژ<HeadingCmd: 6.210230 target range: 135.600006 and range: 135.60 m. j5@jjjihhhhfffrfbf@H?ɛB dU>   @I  HC=ɚiI);=Ixiii|)5@)ErAEqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005389*FM?2FI:FIBFMP5JFIG%87GBO J>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255528^w,#zA6g@Y6 @6}<96|b>y6H@m??@;@ǿ ? ̿p ?6?ɨ6g@6:{;6 CyNbBR'I TVa=IZIZ³٢rM= rI=9r^:Q v>tt vG٣vlRGyz< z> Nusing accuracyPremultiplier from config|59~r? 5Y~ i~  j @~E~:~7:~ď5 @=dEZjFNOT Ignoring new targets: 135.60 m.Bj;Jj; ProNav: ac range: 135.600006 m, nav range: 74.129890 m, bearing: 68.651677 deg, approach rate: -0.028617 m/s, LOS rate: 0.432826 deg/s, cmd heading: 355.819989 deg, new cmd heading: 356.355867 deg. 2j<HeadingCmd: 6.219583 target range: 135.600006 and range: 135.60 m. j@jjjihhhhfff!rf!bf%?ɛmBm61J>JJJJJ:J&:JJ $ @I RJ=ɚiIv9=IAiii )@) $?I*F2F:FBF5JFHI I'IIqBI&I.I6I<:IX F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507564G 8uĽG B O >f݇^w, zA6W@Y6Ig@6<96.b>y6H@q}?@?@8ƿ@B?<̿`?s5?ɨ6W@6!;4 RnManaging dock network, ignoring radio surface power offyVcBZ'I}Mb@Mb@Mb@yyy y)yY}kt?ktMby} ?} 0}}K@ y)}/@I}7@yy}@II1٢n; ?=9;Q > G٣y< > Nusing accuracyPremultiplier from config59r?5Y iWill construct direction to contact in vehicle frame from tetrahedron phase data.>?i?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760057?:#~@EŎ;;Ə5 @aEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 135.60 m.Bj% ;Jj- ;E ProNav: ac range: 135.600006 m, nav range: 74.100212 m, bearing: 68.837579 deg, approach rate: -0.070048 m/s, LOS rate: 0.438950 deg/s, cmd heading: 356.355858 deg, new cmd heading: 356.913768 deg. 2jE I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011530 ^w,:zA2@Y28@2<92Lb>y2H@?`Ir?@tJ'ſ[?`:S̿?`4?ɨ2@2/;0yNhBN'IIVIV٢n< nX=9r=;Q r>pt vG٣tyv< v> ~Nusing accuracyPremultiplier from configx59zLs?5Yzۓ izY  's @zEz%;z%;zVȏ5 @Zj9EFNOT Ignoring new targets: 135.60 m.BjE;JjE;U ProNav: ac range: 135.600006 m, nav range: 74.072525 m, bearing: 69.000758 deg, approach rate: -0.073717 m/s, LOS rate: 0.434628 deg/s, cmd heading: 356.913775 deg, new cmd heading: 357.403484 deg. 2jU$<]HeadingCmd: 6.237867 target range: 135.600006 and range: 135.60 m. j]@jYjajaiahahahihifififirfqbfu<@ɛN= 隥4I  I 'II BI &I .I 6I <:I V FG iG pAG qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516310G B O >B^w,#VzAymB'I)Y a~G  5{Y1y=.BMb@Mb@Mb@ )YQ?{Gzy\?#@ @)@I@y@IIb٢< (=9Q > G٣mRGy > Nusing accuracyPremultiplier from config59s?5Y* ib?:;@E'!;;uʏ5ҒB G@^EZjFNOT Ignoring new targets: 135.60 m.Bj% ;Jj% ;5 ProNav: ac range: 135.600006 m, nav range: 74.023491 m, bearing: 69.207876 deg, approach rate: -0.100956 m/s, LOS rate: 0.426716 deg/s, cmd heading: 357.403473 deg, new cmd heading: 358.025213 deg. 2j5l<=HeadingCmd: 6.248719 target range: 135.600006 and range: 135.60 m. j=@j9j9j9i9hAhAhAhMτBfIfIfQrfQbfUF!@ɛbBm]P=  a Ii <{^w, (pzA6rq@Y6@6=960e>y6H??e`h)¿Y?`F̿,e?k/?ɨ6rq@6';6CyFlBF'IIVIV٢^j߻ bn=9b1J=ɚiI-O8=Iۼii)D4@)E$=*FE ?2FA :FA BFA JFA G ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275537G B O >^^w,zA:ƽ@Y:@:l =9:f>y:H?+b?xh?u?̿!}?`-?ɨ:ƽ@:+;: CyJwBJ'IIRIRb٢ZO= ZL=9Z ;Q Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj59f?s?j5Yfږ if hjn@fEf:f:f͏5p v@v[EZjFNOT Ignoring new targets: 135.60 m.J J J 0J J ,:J :J ـ3J Bj=;JjE; ProNav: ac range: 135.600006 m, nav range: 73.938423 m, bearing: 69.523430 deg, approach rate: -0.118341 m/s, LOS rate: 0.431840 deg/s, cmd heading: 358.464174 deg, new cmd heading: 358.972390 deg. 2j/<HeadingCmd: 6.265250 target range: 135.600006 and range: 135.60 m. j|@jjjihhh -$?I1hfAfAfqrfybf} @HI I (IIBI&I.I6I<:I] FɛaB+U=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538467 Q])=I K=ɚiID8=I쒼iTu _ u 2F)u eIu 9iu ҭ?u Pu Iu N?u |٠ u -?)u t;?Iu ?iu t;?>q q u ZD?w6KUeo泿zKuiKKq)u SQIu \=iu k?u 㖿q q T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.KqKuKu/58630,)*)*(%$&"#$"!  G#鼽G?G>GBO?ݪ^w,zAy}eB}'I@ Mb@Mb@Mb@ )YB`"?y&1|?{Gzty?`;ף @)I@iII٢yY  =9 Q > G٣nRGy > %Nusing accuracyPremultiplier from config!-59%]s?55Y% i%5?5:5i5@%E%9;%,7;%yЏ5=ӒB Eզ@EXEk}uw?k_q k k!zA:kCBkCZkws?"D @WK_I@I>0_@,o?:Ka?nF?Jkk?Rk㖿*;"g&@q0 5@bz`@67=?~ڨ?i4FC?"kYA*k93Ak w?k>m 2kICkkc  kkBk? addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 4.033672 s, deltaX: -0.600006 m, approachRate: -0.148749 m/s, rangeRepo size: 4 %Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)-,DAT read: user:3058> 5BDAT read: Tx time:23:10:34.1255 5$Ping request sent.5 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:10:34.1248  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251613ñ^w,MfzA6u@Y6z@6M=96~$f>y6Hg?@4q?>?:@`o? j̿ଂ?@-?ɨ6u@6;6"Cy]\B]'IImIm1٢U c=9* Q > G٣yht= > Nusing accuracyPremultiplier from config59ms?5Yt ipŽ@E;; ҏ5 n@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.00 m.BjX<JjX<5 ProNav: ac range: 135.000000 m, nav range: 69.503311 m, bearing: 68.640081 deg, approach rate: -0.155185 m/s, LOS rate: 0.448829 deg/s, cmd heading: 359.775570 deg, new cmd heading: 0.252978 deg. 2j5<=HeadingCmd: 0.004415 target range: 135.000000 and range: 135.00 m. j=5;j9j9j9iAhAhAhAhIfIfIfIrfIbfU 6?ɛ}`B}KH= 隅 I K=ɚiIW7=I4;ii斞)5;)*FU?2FY:FY $?IhBFed0JFjH<bH<H!I! I!I!I!&I!.I!6I%<:I%k FBIJIRIZIbIjI4=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849GG B O >n^w,LzA2Sƾ@Y2@2=92#e>y2H;?@??@X?`̿fY`c?/?ɨ2Sƾ@2ې;2CyNTBN'I Mb@Mb@Mb@ )YV-?:v?Mb`y ?T< @)=@Iy @II̍٢ D=9%RQ %>!! %G٣!y-g< -> 5Nusing accuracyPremultiplier from config1=595Ns?=5Y5 i5 E ?E:E蝽E@5E5/;5;5ӏ5I U@UUEZjq}FNOT Ignoring new targets: 135.00 m.Bj};Jj};Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936 ProNav: ac range: 135.000000 m, nav range: 69.436340 m, bearing: 68.822438 deg, approach rate: -0.160343 m/s, LOS rate: 0.437024 deg/s, cmd heading: 0.252978 deg, new cmd heading: 0.800559 deg. 2j<HeadingCmd: 0.013972 target range: 135.000000 and range: 135.00 m. jtd<jjjihhhh+Bfffrfbf=?ɛ_BTD= PI J=ɚiIS7=Itdh^w,zAN&:@YNI@N <9Ne>yNH`P? ?Wy{?(Y?̿*cy?/?ɨN&:@NVG;N CyVIBV'I)X XIbIb٢j jb=9jnkQ j>ll nG٣roRGyr5 = r> zNusing accuracyPremultiplier from configx~59z$s?~5YzA iz5@zEzd;z;ztՏ5 ԒB @ REZj15FNOT Ignoring new targets: 135.00 m.BjMx;JjMx;] ProNav: ac range: 135.000000 m, nav range: 69.376167 m, bearing: 68.980076 deg, approach rate: -0.166363 m/s, LOS rate: 0.436205 deg/s, cmd heading: 0.800559 deg, new cmd heading: 1.273872 deg. 2j] m $?Ii H >I  I 'II BI , =&I .I ^w,6{A6IE<:IEL F~Will construct direction to contact in vehicle frame from tetrahedron phase data.|i|checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511010y޵=B޵'IMb@Mb@Mb@ )Y&1? G٣y > Nusing accuracyPremultiplier from config59rs?5Y i?:O@E;S;׏5 j@Zj!-FNOT Ignoring new targets: 135.00 m.Bj-;Jj-;= ProNav: ac range: 135.000000 m, nav range: 69.294189 m, bearing: 69.188335 deg, approach rate: -0.175041 m/s, LOS rate: 0.445207 deg/s, cmd heading: 1.273872 deg, new cmd heading: 1.899363 deg. 2j=Ř+^w,.{AJ*J*J*0J(J* :J*^:J*ـ3J(J*;J*;J*g;J*g;j8˿@Yj@j <9jVb>yjH@A?`戲??G!? B̿  ?5?ɨj8˿@j2ډ;jCyv,Bv}'I II I b٢9ǽ j=9Q %>!! %G٣!y-FP= -? 5Nusing accuracyPremultiplier from config1595 s?5Y5Ǚ i5@5E5=5<5E5<5ُ5 @OEZjFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 69.230507 m, bearing: 69.342645 deg, approach rate: -0.178158 m/s, LOS rate: 0.432095 deg/s, cmd heading: 1.899364 deg, new cmd heading: 2.362709 deg. 2jE<HeadingCmd: 0.041237 target range: 135.000000 and range: 135.00 m. j.(=jjjihhhhfffrfbf@a@ɛ]B+=  ĽI 6NJ=ɚiIX6=I.(=ii).(=) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014554*Fe?2Fa:FaBFe5JFaG=GB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data.ս >ս %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757V^w,2H{A68@Y6#@6<96u`>y6HI?@5?V? ;+?<˿~C?@:?ɨ68@62;4yv Bvo'Iiz>Iz=IIb٢;b K=9яQ >!! %G٣%pRGy-< -> 5Nusing accuracyPremultiplier from config1M595Ks?M5Y5 i5IMļM@5E5{;5C{;5ڏ5Y ]=@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 69.155418 m, bearing: 69.521291 deg, approach rate: -0.189041 m/s, LOS rate: 0.450240 deg/s, cmd heading: 2.362709 deg, new cmd heading: 2.899210 deg. 2j<HeadingCmd: 0.050601 target range: 135.000000 and range: 135.00 m. jBO=jjjihhhhfffrfbf@ɛ\BQ(= I I=ɚiI?W6=IBO=iiQ)BO=)  $?I*F?2F:FBFP0JFHI I'IIBI- =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518551G GBO >Q;^w,b{A2[@Y2Qk@2<920^>y2H?ɫ?? cDu2?@Ϲ˿%ѓ?A=?ɨ2[@2;2CyFBF`'IMb@Mb@Mb@ )Y!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=595qs?=5Y5J i5nE?E:EaE@5E5#;5o;5܏5MՒB M@MLEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778783ZjFNOT Ignoring new targets: 135.00 m.BjI;JjI; ProNav: ac range: 135.000000 m, nav range: 69.080963 m, bearing: 69.720293 deg, approach rate: -0.166829 m/s, LOS rate: 0.446376 deg/s, cmd heading: 2.899210 deg, new cmd heading: 3.496839 deg. 2j,<HeadingCmd: 0.061031 target range: 135.000000 and range: 135.00 m. jy=jjjihhh!h%Bf!f!f!rf)bf-_@ɛ[B$=  I hI=ɚiI6=I y=ii՝)y=)zK-BIK-h9K)K-K-y(RK=?JK=>*F?2F:FBFJFJmJmJiJiJm|:Jm9JiJiJm;Jm;Jm<;Jm<;G&qGGrA $?IGyBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:23:10:36.7088 m TRx dataTimestamp_ set to:1736377837.880550u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031492e^w,b|{A2@Y2b@2B<92_>y2H`?$?L~?@ "6?W˿Ș?\=?ɨ2@2;2 CyRBRO'IIZIZ<٢v v`=9vYڻQ v>xx zG٣xyz< ~> Nusing accuracyPremultiplier from config 59$s? 5Y i  |; @E::Iޏ5 @IEZjquFNOT Ignoring new targets: 135.00 m.Bj}<Jj}< ProNav: ac range: 135.000000 m, nav range: 69.017471 m, bearing: 69.886625 deg, approach rate: -0.177030 m/s, LOS rate: 0.464195 deg/s, cmd heading: 3.496839 deg, new cmd heading: 3.996279 deg. 2jI<HeadingCmd: 0.069748 target range: 135.000000 and range: 135.00 m. j(؎=jjjihhhhfffrfbf5 @ɛZB`= r'I H=ɚiI5=I(؎=ii윽)(؎=)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282510G4GBO> I H >I C I 'II gBI + =&I .I 6I <:I X FO^w,AF{A%Will construct direction to contact in vehicle frame from tetrahedron phase data.H~Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.550904 =Y9yE\By5B5D'I)A AIMAMb@Mb@Mb@ )Y7A`? rhy?̼CZ@ (@)Iy@IIb٢5 !=9Q > G٣qRGy% %> -Nusing accuracyPremultiplier from config)559-A t?55Y-& i-:=?E:EE@-E-\b;-T`;-5Q Uw@QZjy}FNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 68.937309 m, bearing: 70.125824 deg, approach rate: -0.159031 m/s, LOS rate: 0.475092 deg/s, cmd heading: 3.996279 deg, new cmd heading: 4.714673 deg. 2j<HeadingCmd: 0.082287 target range: 135.000000 and range: 135.00 m. j܅=jjjihhhhnBfffrfbf@M?@ɛXB&= 4I 7H=ɚiIt5=I܅=ii')܅=)*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:10:36.7088 LVL= 18656, 29521, 22706, 31123, AGC= 59, IDX= 439, 0.35, 1.298,-0.336,-0.515, 0.097, PHS= 1.289,-0.386,-0.615, RAW= 83.7, -3.2, CAL= 91.7, -9.5, ROT= 58.3, 9.5  Ygot valid direction response: 23:10:36.7088 LVL= 18656, 29521, 22706, 31123, AGC= 59, IDX= 439, 0.35, 1.298,-0.336,-0.515, 0.097, PHS= 1.289,-0.386,-0.615, RAW= 83.7, -3.2, CAL= 91.7, -9.5, ROT= 58.3, 9.5  PDAT read: Bearing 58.3, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 58.3, 9.5 (Local)  X#Rx 1: Read direction message, but no range.% ^direction in FSK: [-0.013042,0.211816,0.977223]9q?Ut%hE?HQs X)yI;i?ˡžp?d ?))IS>?i)>HLg?@,⿛\`謿)L"ILfg=i? T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK] BNK] 9KY K] K] Op" Z@Mpjh`G R0&  G} HGY Bi O >w^w,{A*J4="J=JJJJJ<:J9JJ :$?I8J;J;J1;J1;A1@Y@@U<<9^>yH? [қ?Cw?.♿;?@p˿`( ?*>?ɨA1@i;騉yB,'III٢ u=9ڂQ ? %G٣!y%L= %? -Nusing accuracyPremultiplier from config)U59-t?U5Y-x i-Y]x]@-E-;-;-5a e@eFEZjFNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 68.881470 m, bearing: 70.284343 deg, approach rate: -0.162216 m/s, LOS rate: 0.460877 deg/s, cmd heading: 4.714673 deg, new cmd heading: 5.190604 deg. 2j%<HeadingCmd: 0.090593 target range: 135.000000 and range: 135.00 m. j 䈹=j jQjQiQhQhQhYhYfYfYfarfabfe@ɛWB]`= ~ZI G=ɚiEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseIU35=I䈹=iif)䈹=)*F]?2FY:FYBFen0JFaG52uGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseh_^w,{A20o@Y2~@2 5<92^>y2Hg?@?`F s?@ %=?˿Ɓ?>?ɨ20o@2 w;2CyBهBB'IIJ IJV2٢Rv Rb=9VQ V>TT VG٣XyZ< Z> ^Nusing accuracyPremultiplier from config\b59^.t?b5Y^Û i^dfYf@^E^:^:^5h j@hB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.00 m.Bj;Jj;% ProNav: ac range: 135.000000 m, nav range: 68.821503 m, bearing: 70.451788 deg, approach rate: -0.158222 m/s, LOS rate: 0.442183 deg/s, cmd heading: 5.190604 deg, new cmd heading: 5.693361 deg. 2j%<-HeadingCmd: 0.099368 target range: 135.000000 and range: 135.00 m. j-e=j)j)j)i)h)h1hQhQfYfYfYrfYbfe`C@ɛUB< 4xI 8F=ɚiIz4=Ie=ii)e=) U$?IY*F?2F:FBF5JFjH]<bH]4<Hu>Iq Iu'IIuCBIq&Iq.Iq6Iu<:Iuo F=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseG #G B O >O^w,{A6;@Y6@6G;96Q^>y6H?bf?lxq?`7>?2˿y@? w>?ɨ6;@6^;6 CyRЇBR 'IiV%=IV%=Mb@Mb@Mb@ )Y$C?X9vMby? @)@Iy@II(1٢: 9=97Q > G٣rRGy< > Nusing accuracyPremultiplier from config59Et?5Y# i7^?:kZ@āE;;{5 ֒B U@ CEZj1=FNOT Ignoring new targets: 135.00 m.Bj=<Jj=EzK  OK 9K K K *Fe?2Fa:FaBFeP5JFi E$?IAGM G!BIOew>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapse^w,"{A6@Y6 @6ʻt;96^>y6H?@sX?\l?}RGF??˿tn?:??ɨ6@6;6CyBBB&IIJIJ(*2٢f½ f\=9fQ j>hh jG٣hynj< n> rNusing accuracyPremultiplier from configpv59rWt?v5Yrf vtIirxzN9z@rƁErj;r;r5| ~|@@EZj!-FNOT Ignoring new targets: 135.00 m.Bj- <Jj- < ProNav: ac range: 135.000000 m, nav range: 68.682312 m, bearing: 70.843186 deg, approach rate: -0.172690 m/s, LOS rate: 0.481820 deg/s, cmd heading: 6.334282 deg, new cmd heading: 6.868709 deg. 2jU<HeadingCmd: 0.119882 target range: 135.000000 and range: 135.00 m. j{=jjj i h h h hf1f1f9rfAbfE@ɛRB[< 隵ÓI %E=ɚiI6K4=I{=ii0V){=)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGu 1 I1 JKـ3 K .KK"KJU JU JQ JQ JU ̝:JU :JQ JQ am @am @am @am @Gq By O >HE >IA  IE t'IIE %BIE * =&IA .IA 6IE <:IE q FBI%˛CJI!RI!ZI%+ =bI%+ =jI%?x5_w,5|AWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse?@Y;:9^>yH`?o~e?@j???@˿@Ps?-@?ɨ?@&;CyB&IMb@Mb@Mb@ )Ykt?Zd;S㥛y ?y/ݼx@ @)@I@yQ@I IV2٢ +=9Q > G٣y ߐ<  > Nusing accuracyPremultiplier from config-59}nt?-5Y i-"?-:---@ȁEu;sU;-59 =@9ZjYeFNOT Ignoring new targets: 135.00 m.Bjm<Jjm<} ProNav: ac range: 135.000000 m, nav range: 68.616936 m, bearing: 71.061464 deg, approach rate: -0.136719 m/s, LOS rate: 0.456910 deg/s, cmd heading: 6.868709 deg, new cmd heading: 7.524136 deg. 2j}ɜ<}HeadingCmd: 0.131321 target range: 135.000000 and range: 135.00 m. jx>jjjihhhh#Bfffrfbf`@ɛPB< ߘI EC=ɚiI?3=Ix>iiְ)x>)*F]?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG aG B O >zK gKK K K K  ,376654542/+)'%#!     $?I _w,]1|A2X@Y2<2Ș92]>y2H? b{c?@Mߐ? ??`z˿sS?`@{?@?ɨ2X@2#;2Cy>B>&I)@ @IFIF ٢N v{=9zֻQ z?x| G٣y <  ? -Nusing accuracyPremultiplier from config!559%~t?5Y%k i%H@%ʁE%;<%<%5גB F@=EZjFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 68.569435 m, bearing: 71.216568 deg, approach rate: -0.134297 m/s, LOS rate: 0.438827 deg/s, cmd heading: 7.524136 deg, new cmd heading: 7.989761 deg. 2j<HeadingCmd: 0.139448 target range: 135.000000 and range: 135.00 m. j\>jj j i h h hhfffrfbf@ɛOB$< kI  C=ɚiI3=I\>iia)\>)E-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse*F2F:FBFS0JFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO_w,d:K|AyޝBޝ&III٢D 9=9Q > G٣sRGy > Nusing accuracyPremultiplier from config59ߒt?5Y i@́E>J;J;5 @:EB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 135.00 m.Bj%<Jj-<= ProNav: ac range: 135.000000 m, nav range: 68.510323 m, bearing: 71.412239 deg, approach rate: -0.143465 m/s, LOS rate: 0.475298 deg/s, cmd heading: 7.989761 deg, new cmd heading: 8.577259 deg. 2j=jAjAjAiAhIhIhIhIfQfQfYrfYbf]@@ɛMB<  $?IJ=J=J9J9J=:J= :J9J9隕cIQ UA=ɚQiQIU=3=I]SK>iYi]J½)]SK>)aZHRHH>IC IU'II BI+ =&I.I6I<:I] F*Fq2Fq:FyBF}_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseG% ,G) G- ?G B O- >}_w,e|Ay~B~&IMb@Mb@Mb@ )YS㥛?ʡEkty$? 0K@ )I H@y @I I<2٢ F=9 Q  > G٣y! %> 5Nusing accuracyPremultiplier from config)E59-Ft?E5Y- i-M?M:M޽M@-́E-;-{;-W5Y ed@aWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 68.463646 m, bearing: 71.591809 deg, approach rate: -0.109899 m/s, LOS rate: 0.423080 deg/s, cmd heading: 8.577258 deg, new cmd heading: 9.116317 deg. 2j-<HeadingCmd: 0.159110 target range: 135.000000 and range: 135.00 m. j">jjjihh hhxBfffrfbfPg@ɛKB< ΩI !@=ɚiI2=I ">ii-oѽ)">)zKTMKh9KKK  *F2F:FBF`0JF IG}#G9BAOmx>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse_w,~|A2SY@Y2{,=2< 92]>y2H`s?ԍK??9:? n˿'?@Ki?A?ɨ2SY@2`%;2 CyBBB&IiF    G٣ y == > Nusing accuracyPremultiplier from config%59t?%5Y iz)-&-@ρE&;;51 5@57EZjimFNOT Ignoring new targets: 135.00 m.Bju;Jju; ProNav: ac range: 135.000000 m, nav range: 68.417984 m, bearing: 71.750215 deg, approach rate: -0.126776 m/s, LOS rate: 0.440094 deg/s, cmd heading: 9.116317 deg, new cmd heading: 9.591843 deg. 2j<HeadingCmd: 0.167409 target range: 135.000000 and range: 135.00 m. jTm+>jjjihhhhfffrfbf@ɛIBA< I ?=ɚiI2=ITm+>ii,9)Tm+>)ErAErA*F?2F:FBF 3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGu+mGQBaO}> $?IJe Je Ja Ja Je :Je :Ja Ja H >I  I <'II BI , =&I .I 6I ΰ<:I y F[%_w,@ܘ|A Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyB&IeMb@Mb@Mb@aaa a)aYeˡE?{Gz{Gzye?eףe#ex@ a)e@Ie@aye@II<٢R &=9Q > G٣tRGy > Nusing accuracyPremultiplier from config59t?5Y iJ ?:]@сE"&;#;5 @ZjFNOT Ignoring new targets: 135.00 m.Bj i;Jj i; ProNav: ac range: 135.000000 m, nav range: 68.358307 m, bearing: 71.965126 deg, approach rate: -0.121963 m/s, LOS rate: 0.439598 deg/s, cmd heading: 9.591843 deg, new cmd heading: 10.237108 deg. 2jؖ<%HeadingCmd: 0.178671 target range: 135.000000 and range: 135.00 m. j%6>j!j)j)i)h)h)h1h5Bf1f1f1rf9bf= @ɛeFBeH< imIi mq>=ɚiiiIm2=Iu6>iqiuǽ)u6>)y*F?2F:FBF1JFGGrAGqAGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse } $?Iy zK <LK 9K K K *JM a="JM a=,_w,Ե|A2@Y21t=2Q92]>y2H@?s3tG4?뀮?`1?˿M??`???ɨ2@2;2"Cy>B>&IIFIFԲ٢b<λ b=9fjQ f?dh jG٣hyj"g= n? rNusing accuracyPremultiplier from configlr59nt?v5Yn intv=v@nҁEn:n:ns5~ؒB ~+@~4EZj%FNOT Ignoring new targets: 135.00 m.Bj%;Jj%;E ProNav: ac range: 135.000000 m, nav range: 68.318245 m, bearing: 72.100526 deg, approach rate: -0.129250 m/s, LOS rate: 0.437092 deg/s, cmd heading: 10.237108 deg, new cmd heading: 10.643539 deg. 2jE>jQjjihhhhfffrfbf @ɛUEBU<< Y]MIY ]@==ɚYiYI]Y1=Ie!9>>iaimԌ)m!9>>)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse*FE?2FA:FABFE4JFIGЭGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse2_w,|A @ !I!yuBu&III٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config59t?5Y\ i@ԁE::5JJJJJ:J:JJ) 5@1uB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 135.00 m.Bjd;Jjd; ProNav: ac range: 135.000000 m, nav range: 68.258095 m, bearing: 72.306581 deg, approach rate: -0.125143 m/s, LOS rate: 0.429075 deg/s, cmd heading: 10.643539 deg, new cmd heading: 11.262224 deg. 2j<<HeadingCmd: 0.196563 target range: 135.000000 and range: 135.00 m. jGI>jjji!h!h!h!hifififirfqbfu9}!@jH<bHp<HI I0'IIBI+ =&I.I6I<:IS FɛBBH< BI <=ɚiI%| 1=IuGI>iyi[Ƚ)GI>))9 EC~G5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse]vA FYvAyA*Fu ?2Fq :Fq BFu 1JFq G 'G ?G ?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseO>r:_w,|A%4@Y%6=%9%_>y%H?`LrVK??-"? ˿?3?;?ɨ%4@%;%Cy]B]&I @ @ @  @ II(*٢&< /=9Q >  G٣uRGyj#= > -bBottom track data is 0.5 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)559-u?=5Y- i-;=+:9=:=.S=@-ցE-(;->-&5A MO@M1E u$?IqZjyFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 68.195343 m, bearing: 72.508342 deg, approach rate: -0.137430 m/s, LOS rate: 0.442274 deg/s, cmd heading: 11.262225 deg, new cmd heading: 11.868040 deg. 2j×<HeadingCmd: 0.207136 target range: 135.000000 and range: 135.00 m. jT>jjjihhhhfffrfbf~["@ɛ?B׾< ƫI :=ɚiIǃ0=IT>ii@)T>)zKBHK 9KKK  (3CUh{:\g`TK?:93' *F?2F:FBFi2JFGuGBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZA_w,)}A2@Y2=2ה92K`>y2H?`T X??]? ˿??:?ɨ2@21;2"CyJBJ&IIRIR ٢n?< n_=9rbQ r>pp vG٣tyv4< v> bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 59ju?5Y i ::>*@؁E<;;U?35%ْB %3@%.EZjAMFNOT Ignoring new targets: 135.00 m.BjU;JjU;e ProNav: ac range: 135.000000 m, nav range: 68.144363 m, bearing: 72.667909 deg, approach rate: -0.139897 m/s, LOS rate: 0.438209 deg/s, cmd heading: 11.868039 deg, new cmd heading: 12.347088 deg. 2je^jijijiiihqhqhyhyfffrfbf #@ɛU=BU⩳< QU?IQ ]<9=ɚYiYI]0=IeU\>iaie)eU\>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFP0JF ]$?IaGYĽHI I#'IIBI&I.I6I<:In FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,G_w,u}Aj@Yj=jc9ja>yjH?@GQغ^?`θ? ?̿@&L??@i9?ɨj@j.;hyzBz&I        Mb@Mb@Mb@ )Y+?J +y&1yv?Ƚ`eb@ @)@I@y\@I IV2٢ϋ< <=9+yQ > G٣y0< > Nusing accuracyPremultiplier from config59[+u? 5YH i T: z ? : Q @ځE;T;5 @ZjAEFNOT Ignoring new targets: 135.00 m.BjMG<JjMG<] ProNav: ac range: 135.000000 m, nav range: 68.077110 m, bearing: 72.890128 deg, approach rate: -0.154664 m/s, LOS rate: 0.511547 deg/s, cmd heading: 12.347087 deg, new cmd heading: 13.014373 deg. 2j]jijqjqiqhyhyhyh}Bfffrfbf#@ɛ:B< 隽ɠI 8=ɚiIj/=IYh>ii ^)Yh>)E*F?2F:FBF_0JFGe#GmqAGiWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG9BIOeU> QIQJ J J J J ܫ:J :J J J ;a J ;a J L;a J L;a zK NK 9K K K }~~~|]~qN({rid_ZYOIFDDDM_w,N9}A2Pi@Y2==2Ҥ92BMb>y2H?"ûd?@8?U?`/̿,?4 ?`6?ɨ2Pi@2%;2CybBb&IIrIr<٢y< X=9$Q > G٣vRGy%.< %> -Nusing accuracyPremultiplier from config)559-:?u?55Y- i-\1=*=@-܁E- ;-? ;-5A E@E,E]Will construct direction to contact in vehicle frame from tetrahedron phase data.ejjjihhhhfffrfbf$@ɛ 8B-Q< 隕HI 7=ɚiI.=Ir>ii)r>)*F?2F:FBFJFG.q Will construct direction to contact in vehicle frame from tetrahedron phase data.% >DAT read: Range 10 to 503059> % \unknown deviceResponse_: Range 10 to 503059> - BDAT read: Tx time:23:10:44.4256 - $Ping request sent.- E $?II T_w,)S}A6{@Y6=6$961c>y6H f?}J%m??K?`DN̿D?(?!5?ɨ6{@69O;6CyRBV&II^I^(٢fR< fO=9fTQ f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv59rTu?v5Yr irtzz@rށEr:r:rx5~ڒB }@})EZHRH?AH>I I)'IIBI, =&I.I6I<:IL FBIeCJIaRIaZIabIajIe4B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.00 m.Bj <Jj < ProNav: ac range: 135.000000 m, nav range: 67.953522 m, bearing: 73.283730 deg, approach rate: -0.153985 m/s, LOS rate: 0.484818 deg/s, cmd heading: 13.591692 deg, new cmd heading: 14.196206 deg. 2j\<-HeadingCmd: 0.247771 target range: 135.000000 and range: 135.00 m. j-}>j1j1j1iQhYhahqhfffrfbf%@ɛ5B%-<uWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:10:44.4249 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254301 h<隽I 6=ɚiI(.=I}>iiH)}>)!*F=?2F9:F9BF9JF9G} ~% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501823GY Bi Bm 'JO >Z_w,`rm}AyMBM&IaeA IMb@Mb@Mb@ )Y7A`?333333{Gzy?#@ @)z@Iyp@I%I%ʴ٢5< 53=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configIe59Mju?e5YMš iMe?m:mhm@MEMj;Mth;Mw5q u*@qZjFNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 67.876976 m, bearing: 73.503095 deg, approach rate: -0.176450 m/s, LOS rate: 0.506242 deg/s, cmd heading: 14.196207 deg, new cmd heading: 14.855014 deg. 2j<HeadingCmd: 0.259269 target range: 135.000000 and range: 135.00 m. j径>jjjihhhhBfffrfbfi&@ɛ%2B-/< )-׊I) -5=ɚ)i1I5U-=JEJEJE/JAJEl:JE :JE(N3JAJE;JE;JES;JES;I5径>iQiUҽ)]径>)azK OKKKKC@<:9<51147776:87778667675564.%!DYR?/' E9E9*F?2F:FBFx0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752845G5 G= ?G= >G B O- >0a_w,O!}A6M@Y6 >696f>y6H?ܶj?@Q'? ?`I̿S?/?`x-?ɨ6M@6'I;6 CyBBB&IIJIJ٢R= Rj=9RgQ V>TT VG٣VwRGyZR= Z> ^Nusing accuracyPremultiplier from config\b59^Z|u?f5Y^ i^djo<j@^E^XD;^5;^5l n%@n&EZjFNOT Ignoring new targets: 135.00 m.Bj <Jj < ProNav: ac range: 135.000000 m, nav range: 67.815536 m, bearing: 73.670173 deg, approach rate: -0.175916 m/s, LOS rate: 0.478816 deg/s, cmd heading: 14.855014 deg, new cmd heading: 15.356688 deg. 2jM<HeadingCmd: 0.268025 target range: 135.000000 and range: 135.00 m. j:>jjjihhhhfffrfbfi$'@ɛ/B#< nI ?5=ɚi I Y,=I :>ii):>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009087*F ?2F :F BF O5JF  $?IG2GBOF>HyIy I}6'II}BI}- =&Iy.I}3D6I}|<:I}; Fu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259826hg_w,}A6}@Y6>6960d>y6H?MO¿&Y??;?[̿A?aF? 1?ɨ6}@6҈;4y>BB&I Mb@Mb@Mb@    ) Y uV?+~jty r?  ļ @ @) I @ y  @IuIu=س٢٢< ==9:λQ > G٣yl]< > Nusing accuracyPremultiplier from config59u?5Y iE ?:. <@E:;49;5 ޱ@ZjFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 67.748444 m, bearing: 73.858897 deg, approach rate: -0.154994 m/s, LOS rate: 0.436410 deg/s, cmd heading: 15.356688 deg, new cmd heading: 15.923403 deg. 2j<HeadingCmd: 0.277916 target range: 135.000000 and range: 135.00 m. jJ>j j j i h h hhBfffrf!bf%T'@ɛM,BU< am_Iy 4=ɚiI ,=IJ>ii5ǽ)J>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509428E5Vw$= $?I*F?2F:FBF0JFJ} J} J} 0Jy J} :J} :J} ـ3Jy J} h;J} i;J} L;J} L;zK ~NK 9K K K  G Vν} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762467G B O >jn_w, ׽}A2l@Y2b>2:92c>y2H@E? ÿYpe?@?"?h̿y?:?"2?ɨ2l@2щ;2CyJ·BJ 'I N=N=I^I^F٢n = n>=9nfQ r>)) -G٣)y5ܰ< 5> =Nusing accuracyPremultiplier from config9e59=u?e5Y= i=im<u@=E=d;=M;=5ےB ϰ@#EZj)-FNOT Ignoring new targets: 135.00 m.Bj5E;Jj5E;e ProNav: ac range: 135.000000 m, nav range: 67.679062 m, bearing: 74.050003 deg, approach rate: -0.151102 m/s, LOS rate: 0.416623 deg/s, cmd heading: 15.923403 deg, new cmd heading: 16.497286 deg. 2jejijijiiqhqhqhqhqfyffrfbf(@ɛ )B r= 5I  3=ɚiI=+=IEk>iAiE ǽ)Ek>)IEV<*FE?2FA:FIBFMP5JFIG%cOȽeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012879GBO%>  $?I jH bH <H I  I O'II BI &I .I 6I ư<:I q FКu_w, }AV[k@YV_->V09Vd_d>yVH?ſ0z??#?̿ W?`K? 1?ɨV[k@V\;TybևBb'IIjIj(٢r6'= rK=9rBQ v>tt vG٣vxRGyzK= z> ~Nusing accuracyPremultiplier from config|59~u?5Y~Q i~ = @~E~ ;~\:~5 P@ EMB*** querying acoustic contact ***jIjIZjimFNOT Ignoring new targets: 135.00 m.Bjuf<Jjuf<] ProNav: ac range: 135.000000 m, nav range: 67.613647 m, bearing: 74.220342 deg, approach rate: -0.173610 m/s, LOS rate: 0.452518 deg/s, cmd heading: 16.497287 deg, new cmd heading: 17.008785 deg. 2jeG<HeadingCmd: 0.296859 target range: 135.000000 and range: 135.00 m. j>jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268233ji!h)hhhfffrfbf)@ɛU%B]$/ = Y],IY ]m@3=ɚYiaIe*=I>iiGu)>)EE*E"EE9*F ?2F :F BF 1JF "G =G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517375 ! I! G D;ȽJEJEJAJAJEl:JE:JAJAJE;JE;JEnN;JEoN;GBO>}_w,}AzK&LK&9K$K&K& :A@Y:7>:%79:|d>y:Hw?@5ǿ@??`۩?̿(? 5O?0?ɨ:A@:c;:!CyBBB)'IMb@Mb@Mb@ )Ysh|??v/ rhy ?xiC@ )Iy@II@٢= =96Q > G٣y< > Nusing accuracyPremultiplier from config590u?5Y i ?:=@Ed; ;5 @@ZjAEFNOT Ignoring new targets: 135.00 m.BjM;JjM;] ProNav: ac range: 135.000000 m, nav range: 67.515831 m, bearing: 74.442457 deg, approach rate: -0.188974 m/s, LOS rate: 0.429728 deg/s, cmd heading: 17.008785 deg, new cmd heading: 17.676062 deg. 2j]u<HeadingCmd: 0.308505 target range: 135.000000 and range: 135.00 m. jn>jjjih h h h *Bfffrfbfಹ*@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768967ɛ!B= 隵4I 2=ɚiI )=In>ii)n>) *F-?2F):F)BF- 5JF)GeGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:10:47.0057  TRx dataTimestamp_ set to:1736377848.216528 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021774_w,V~A "$?I F"@YF8C>F9F\e>yFHDg?`܏ȿG?=?8?̿^?H~? -?ɨF"@Fj;F#CybBbA'I)d dhhIrIrƲ٢z= ~X=9EQ E>II MG٣IyUY< U> Nusing accuracyPremultiplier from config59"u?5Y* i>=@E;;~ 5 @EZjFNOT Ignoring new targets: 135.00 m.Bj;Jj;  ProNav: ac range: 135.000000 m, nav range: 67.439476 m, bearing: 74.612107 deg, approach rate: -0.194830 m/s, LOS rate: 0.433375 deg/s, cmd heading: 17.676062 deg, new cmd heading: 18.185575 deg. 2j <HeadingCmd: 0.317398 target range: 135.000000 and range: 135.00 m. j>jjjihhh!h!f!f!f!rf)bf-w+@ɛB= \I a2=ɚiI0(=I>iiS´)>)HAIA IEt'IIE%BIA&IA.IA6IE<:IER FG|uA*F?2F:F %WY%|uAy%ABFO0JFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276403G- */G B O- >'_w,N*~Aus@YuUN>uX9u e>yuHU?@ɿ)? ? ^?y̿Sʠ?Jr?.?ɨus@u;qyލ BލU'IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:10:47.0057 LVL= 14992, 32753, 26226, 32755, AGC= 60, IDX= 405, 0.45,-2.505, 2.224, 2.469, 2.953, PHS= 0.913,-0.681,-0.486, RAW= 96.4, 3.4, CAL= 105.7, 1.5, ROT= 44.3, -1.5 Ygot valid direction response: 23:10:47.0057 LVL= 14992, 32753, 26226, 32755, AGC= 60, IDX= 405, 0.45,-2.505, 2.224, 2.469, 2.953, PHS= 0.913,-0.681,-0.486, RAW= 96.4, 3.4, CAL= 105.7, 1.5, ROT= 44.3, -1.5 PDAT read: Bearing 44.3, -1.5 (Local) ~Local bearing/azimuth received: Bearing 44.3, -1.5 (Local) DAT read: Range 10 to 50 : 131.8 m (Round-trip 175.8 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages. `direction in FSK: [-0.159948,-0.001109,0.987125]Fpublishing direction and range infoر9صIIZ,yĿ +R>ц?yصCرص:ص ٵrf)ٵIٵ<iٵ^i?ٵV.ٵٵ\?ٵs= ڵ"?)ڵPw G٣yRGyT< > Nusing accuracyPremultiplier from config59ru?5Y1 i.%%?%:%9>%@Ei(<(< 5-ܒB -@5Eko?kJ # k k.~A:kCBkCZkt_@"T(M5^ڵ¿f;LC`@IIZ,yĿ +R>ц?Jk@HRk*h=P2WTT5@Ys_@MfZ¿DuHпw9kښ?"k!*k2kR&мo?k]# 2kBCkk64 kBCkD,Bk?} addTargetRange:: Added new target pos. range: 131.800003 m, deltaT: 14.124721 s, deltaX: -3.199997 m, approachRate: -0.226553 m/s, rangeRepo size: 4  Added new target pos. range: 131.800003 m, bearing: 240.593692 deg, lat: 36.904325 deg, lon: -122.120239 deg, deltaT: 14.124721 s, deltaX: -3.199997 m, approachRate: -0.226553 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 131.80 m.BjJjM ProNav: ac range: 131.800003 m, nav range: 43.066772 m, bearing: 65.834716 deg, approach rate: 0.000000 m/s, LOS rate: 0.433375 deg/s, cmd heading: 18.185575 deg, new cmd heading: 18.862938 deg. 2jI]HeadingCmd: 0.329220 target range: 131.800003 and range: 131.80 m. j]>jajajaiahazKmLKm9KiKmKm,7@D@=5.# hhhSBfffrfy`@bf = ?ɛ-B-ʅ+= 15I1 5y2=ɚ1i1I5&=I=>i9iE )E>)AEUqAEUqA*F?2F:FBF 4JFG G] Will construct direction to contact in vehicle frame from tetrahedron phase data.e ,DAT read: user:3060> m BDAT read: Tx time:23:10:48.2257 u $Ping request sent.u Nڑ_w,aG~AF@YF@X>F89Fډe>yFHaD?S+˿ӎ?@$?`s?b̿`3?`o?.?ɨF@F ;FCyRBRk'IIzIz٢]= _=9 "Q  > G٣y< > %Nusing accuracyPremultiplier from config!-59%qv?M5Y%d i%!IM>U@%E%;%;%35Y ]@YZjFNOT Ignoring new targets: 131.80 m.BjYF<JjYF< ProNav: ac range: 131.800003 m, nav range: 42.956894 m, bearing: 66.063559 deg, approach rate: -0.332204 m/s, LOS rate: 0.693646 deg/s, cmd heading: 18.862939 deg, new cmd heading: 19.551188 deg. 2j<HeadingCmd: 0.341233 target range: 131.800003 and range: 131.80 m. j >jjjih h h h fffrfbf?ɛB6= R;<隥Jiiz) >)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:10:48.2250 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 $?I*F?2F:FBF_0JFGe#G)B9OUS>JJJJJ:J :JJa@a@a@a@ZHRH@AH>I I'IIHBI&I.I6Iа<:Ix F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505147W_w,a~A6:Y6b>6/ 96e>y6H3?@zX̿?@g?]c?̿?a?/?ɨ6:6DU;6Cyj1Bj'IMb@Mb@Mb@ )YʡE?~jtMb`y-?D-@ @)7@I@y(@IIW٢N= @=9}[Q > G٣y< > Nusing accuracyPremultiplier from config59zv?5Y i5?:TN>@E;;5 @E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 131.80 m.BjD5<JjD5<- ProNav: ac range: 131.800003 m, nav range: 42.816483 m, bearing: 66.328013 deg, approach rate: -0.335473 m/s, LOS rate: 0.633908 deg/s, cmd heading: 19.551188 deg, new cmd heading: 20.347099 deg. 2j-<5HeadingCmd: 0.355124 target range: 131.800003 and range: 131.80 m. j5ҵ>j1j9j9i9h9h9hAhEZBfAfIfIrfIbfM`%?ɛB'C= 隍Pl=I 2=ɚiIR$=Iҵ>ii1½)ҵ>)*F?2F:FBF`0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753986 m$?IqG U G B O% >zKm LKm ]9Ki Km Km &&_w,dX{~A252A92)d>y2H?Ϳv?``?@P?`=̿9g?MD?R0?ɨ25<2.;0y>BB>'IIFIF٢N= R_=9RbQ R>PT VG٣VzRGyV< V> ^Nusing accuracyPremultiplier from configXb59Z+v?b5YZ iZ`bY>b@ZEZ;Z);Z5p r@pWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007836ZjFNOT Ignoring new targets: 131.80 m.Bj #<Jj#jjjihhhhfffirfqbfu?ɛBN= 隽$=I 3=ɚiI\#=I>iiyý)>)*F?2F:FBFJFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257817G% i Ii G B O5 >]_w,&9~AFʼy>F9Fd>yFH@?{Ͽ@G?@?@8?N̿϶?@Q?\/?ɨFʼtt vG٣tyv"< z> ~Nusing accuracyPremultiplier from configx59z?v?5Yz izVe> @zEz ;z:zw5ݒB @EHAIA IE'IIEqBIA&IA.IA6IE<:IE] FBIJIRIZI- =bI- =jI4ZjimFNOT Ignoring new targets: 131.80 m.Bjur><Jjur>< ProNav: ac range: 131.800003 m, nav range: 42.555141 m, bearing: 66.811900 deg, approach rate: -0.360760 m/s, LOS rate: 0.666003 deg/s, cmd heading: 21.033385 deg, new cmd heading: 21.803145 deg. 2j<HeadingCmd: 0.380537 target range: 131.800003 and range: 131.80 m. j>jjjihhhhfffrfbfǡ?ɛU B]Z= Y]>IY ]i3=ɚYiaIe߶"=Ie>iiimƽ)m>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511932E8<*FU?2FQ:FQBFU_0JFQe Will construct direction to contact in vehicle frame from tetrahedron phase data.e i?e l?m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763751Gu VGý U $?IY GY Bi O >٫_w,~Ay5`B5'I9=AMb@Mb@Mb@ )Y ףp= ?{Gz?{Gz?yQ?ף<#<@ )M@I@yII̍٢= (=9%Q %>!! -G٣)y- 5> =Nusing accuracyPremultiplier from config1=595Vv?E5Y5 i5Em?E:E>E@5E5;5:55Q Uӧ@UEZjFNOT Ignoring new targets: 131.80 m.BjP5<JjP5< ProNav: ac range: 131.800003 m, nav range: 42.374733 m, bearing: 67.116110 deg, approach rate: -0.374434 m/s, LOS rate: 0.634064 deg/s, cmd heading: 21.803145 deg, new cmd heading: 22.719576 deg. 2j<HeadingCmd: 0.396531 target range: 131.800003 and range: 131.80 m. j*>jjjihhhhBfffrfbf*@ɛBKa= .1>I 4=ɚiID!=I *>i i ,m) *>)E<zKMBHKM 9KIKMKM    "%(*3ANSYXVTQRQNIGHHJJEA>854/)'%$!*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016361G ]ŽGy B O >ͼ_w,_{~AyrbBv'Ii1II٢M:< UY=9QQ U>YY ]G٣]{RGya e> mNusing accuracyPremultiplier from configiu59mhv?u5Ym imqqu@mEm ;m ;m;5 @ZjFNOT Ignoring new targets: 131.80 m.BjS6<JjS6< ProNav: ac range: 131.800003 m, nav range: 42.235783 m, bearing: 67.353593 deg, approach rate: -0.371841 m/s, LOS rate: 0.637611 deg/s, cmd heading: 22.719576 deg, new cmd heading: 23.434330 deg. 2j<HeadingCmd: 0.409006 target range: 131.800003 and range: 131.80 m. jDi>jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265920ihhhhfffrfbf -@ɛB$Ok= !%<>I! %s4=ɚ!i!I%R =I-Di>i)i-)5Di>)1E9E9*EA"EA $?IhJsK{cw3 K{.-KsKs"KsJJJ0JJ:J:Jـ3JjH%<bH%<H1I1 I5'II5BI5, =&I1.I16I5<:I5Z F*F?2F:FBF0JFGqA GqAGVٽGi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520163B O > _w,V~A6{qa=Y6 &>6[96e>y6H?Yxѿ?@h??@̿*? l|?E-?ɨ6{qa=6e;6!CyVkBV'IuMb@Mb@Mb@qqq q)qYuS?/$?Mb?yu/?u,=u G٣yΝ= > Nusing accuracyPremultiplier from config59|v?5Y i?:Э>@EY;; 5ޒB 0@EB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 131.80 m.Bj=/<Jj=/<] ProNav: ac range: 131.800003 m, nav range: 42.065201 m, bearing: 67.611396 deg, approach rate: -0.405346 m/s, LOS rate: 0.615088 deg/s, cmd heading: 23.434331 deg, new cmd heading: 24.210826 deg. 2j]jijijiiihihqhyhyfyffrfbfĐ@ɛUBUlo= QU8V>IY ]d5=ɚYiYI]=IeY>iaie^ѽ)eY>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770187*F?2F:F BF w4JF  $?IG- }[ܽG B O- >zK NK +9K K K  8g3 L_w,B?~A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*BDAT read: Rx Time:23:10:50.8041 *TRx dataTimestamp_ set to:1736377851.998519.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024850eL0=YeD>e%9e g>yeH`?`-ҿ@W?$?`?@\̿?x?j+?ɨeL0=e;e Cy}tB}'Ii]>I4< =IIV٢3= H=9P:Q > G٣y< > Nusing accuracyPremultiplier from config59ΐv?5Yl i>@E3::51 5@5 EZjFNOT Ignoring new targets: 131.80 m.Bjq.<Jjq.< ProNav: ac range: 131.800003 m, nav range: 41.896141 m, bearing: 67.864121 deg, approach rate: -0.406445 m/s, LOS rate: 0.610040 deg/s, cmd heading: 24.210826 deg, new cmd heading: 24.972015 deg. 2jU<HeadingCmd: 0.435844 target range: 131.800003 and range: 131.80 m. j&>jjjihhhhfffrfbf @ɛBrx= 隝*q>I S46=ɚiIT{=I&>iiؽ)&>)*F]?2FY:FYBFeP0JFaG5ԽGB!O=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274214 IJ J J J J |:J :J J H I  I *(II BI - =&I .I 6I <:I f F_w,| A6=Y6!>6%96 g>y6H?ҿ` ???a̿??q+?ɨ6=6EӇ;6CyRyBR'IIZIZV8٢bw< b]=9bU9Q f>dd fG٣f|RGyjy< j> rNusing accuracyPremultiplier from configlv59nv?v5YnL in tvȹ>v@nEn=;nR;nr5| N@ZjFNOT Ignoring new targets: 131.80 m.Bj+,<Jj+,<5 ProNav: ac range: 131.800003 m, nav range: 41.741596 m, bearing: 68.092691 deg, approach rate: -0.405592 m/s, LOS rate: 0.602083 deg/s, cmd heading: 24.972015 deg, new cmd heading: 25.660227 deg. 2j=jYjYjYiahihihhff9eWill construct direction to contact in vehicle frame from tetrahedron phase data.fIrfbfo@DAT read: 23:10:50.8041 LVL= 14720, 32753, 26722, 32755, AGC= 59, IDX= 420,-0.20, 2.300, 0.665, 1.046, 1.493, PHS= 0.895,-0.781,-0.450, RAW= 100.7, 4.4, CAL= 111.0, 2.5, ROT= 39.0, -2.5 =Ygot valid direction response: 23:10:50.8041 LVL= 14720, 32753, 26722, 32755, AGC= 59, IDX= 420,-0.20, 2.300, 0.665, 1.046, 1.493, PHS= 0.895,-0.781,-0.450, RAW= 100.7, 4.4, CAL= 111.0, 2.5, ROT= 39.0, -2.5 PDAT read: Bearing 39.0, -2.5 (Local) ~Local bearing/azimuth received: Bearing 39.0, -2.5 (Local)  DAT read: Range 10 to 50 : 130.6 m (Round-trip 174.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.ɛ5B5(y= 152>I1 =<@7=`direction in FSK: [-0.185186,-0.075538,0.979796]Fpublishing direction and range infoi9mV),ǿ0qVӫ)}Z?ymCim9i mbh)iIm;ime?mGmffmI?mnF= m?)m¸2=Im@.?im¸2iim|h=?%֭ տ߹?)mUIm흽imUF0mIiiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɚ9iIv=IOM>iivؽ)OM>)E!E%rA*F?2F:FBF4JF"G=G]> Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3061>  BDAT read: Tx time:23:10:52.0757  $Ping request sent. _w,X5Ay wB'IMb@Mb@Mb@ )Y+?J +?Mb?yv?H=@ @) @Iy@II<٢ )=9Q > G٣y > eNusing accuracyPremultiplier from configm59:v?m5Yk ilu?u:u%>u@E<<5}ߒB @Ek-hBq?k-$$ k) k-+ A:k-CBk-CZk-@"-gn/8=ٌ#-_@-V),ǿ0qVӫ)}Z?Jk-UF0Rk-I*-m k)k-VAk-*?zK=CMK= 9K9K=K=  ] addTargetRange:: Added new target pos. range: 130.600006 m, deltaT: 3.782150 s, deltaX: -1.199997 m, approachRate: -0.317279 m/s, rangeRepo size: 4 m Added new target pos. range: 130.600006 m, bearing: 250.477654 deg, lat: 36.904196 deg, lon: -122.120441 deg, deltaT: 3.782150 s, deltaX: -1.199997 m, approachRate: -0.317279 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 130.60 m.BjuJjq ProNav: ac range: 130.600006 m, nav range: 20.667358 m, bearing: 87.276337 deg, approach rate: 0.000000 m/s, LOS rate: 0.602083 deg/s, cmd heading: 25.660227 deg, new cmd heading: 26.554136 deg. 2jHeadingCmd: 0.463457 target range: 130.600006 and range: 130.60 m. j@J>jjjihhhh|Bfffrf@3S`@bf?ɛ-B-+= )->I1 58=ɚQiQIU=I]@J>iYi] %)e@J>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:23:10:52.0750 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255496*F ?2F :F BFP0JFGM oS׽G) B1 OM >ڶ_w,)OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501818:=Y:>: 9:_k>y:H@nR?IԿ@?!U?v?̿ز??V$?ɨ:=:jψ;:CyFzBF'I)H HHJAIRIR٢Va< Z_=9Z:Q Z>\\ ^G `Id٣\y=Ă= => MNusing accuracyPremultiplier from configAM59Ev?U5YE iEy}>}@EEE>;E;E: 5 K@ZjFNOT Ignoring new targets: 130.60 m.Bj<Jj< ProNav: ac range: 130.600006 m, nav range: 20.566420 m, bearing: 87.872239 deg, approach rate: -0.283604 m/s, LOS rate: 1.682475 deg/s, cmd heading: 26.554136 deg, new cmd heading: 28.349997 deg. 2jU==HeadingCmd: 0.494801 target range: 130.600006 and range: 130.60 m. j=V>j9j9j9i9hAhAhAhAfAfIfIrfIbfM?ɛBm= 隽D>I 8=ɚiIچ=I>ii)V>)He>Ia IeC(IIe͈BIa&Ia.Ie4D6Ie<:IeU FJJJJJ:J:JJJ3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753837_w,iAyUqBU'I Mb@Mb@Mb@    ) Y  r?Q?y #? \=  @ )  @I @ y G@I%I%%x٢} }0=9}Q }> G٣}RGy > Nusing accuracyPremultiplier from config59 v?5Y: i#?:>@E;;/"5B @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 130.60 m.Bj<Jj<% ProNav: ac range: 130.600006 m, nav range: 20.453039 m, bearing: 88.605843 deg, approach rate: -0.254413 m/s, LOS rate: 1.655206 deg/s, cmd heading: 28.349998 deg, new cmd heading: 30.561851 deg. 2j%=-HeadingCmd: 0.533405 target range: 130.600006 and range: 130.60 m. j-:?j1j1j1i9h9h9h9hElBfAfAfIrfIbfMR ?mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005900ɛBa= 隍߇>I 9=ɚiI0"=I:?iiyW#):?) $?I*F]?2FY:FYBF]l0JFaGi GizK ^KK 9K K K       G ׏GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257851_w,IJAb(=Yb@>bb9b`r>ybH@?տF?`?.?Ϳk?@? @?ɨb(=b;`yrxBr'IIzIz ٢-= f=9bQ  >    G٣ yLz= > Nusing accuracyPremultiplier from config%59v?%5Y i&)->-@E~::#51 5@5EZjFNOT Ignoring new targets: 130.60 m.Bjj<Jjj<= ProNav: ac range: 130.600006 m, nav range: 20.360970 m, bearing: 89.188281 deg, approach rate: -0.258011 m/s, LOS rate: 1.639543 deg/s, cmd heading: 30.561852 deg, new cmd heading: 32.316486 deg. 2j==EHeadingCmd: 0.564029 target range: 130.600006 and range: 130.60 m. jE6d?jAjAjAiAhIhIhIhIfQfqfyrfybfT?ɛBU= #><;>I :=ɚiI9=In ?ii)6d?)*F2F:FBF0JFG]8Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511252 IG9BIOew>HI II  IM O(IIM ׈BII &II .II 6IM ΰ<:IM u FH_w,&A2n >Y2^>292;{r>y2HO?@i9ֿ^?#W? E?Ϳ?Z?@|?ɨ2n >2N;0ybiBb'Iif>If> j=j=InIn%x٢rӓ vL=9vQ v>x|  G٣ y%< %> =Nusing accuracyPremultiplier from config1M595w?M5Y5, i5IM>U@5 E5v;5M;5%5i ml@qZjFNOT Ignoring new targets: 130.60 m.Bjj<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763072Jjj<  ProNav: ac range: 130.600006 m, nav range: 20.255217 m, bearing: 89.859335 deg, approach rate: -0.259235 m/s, LOS rate: 1.653521 deg/s, cmd heading: 32.316487 deg, new cmd heading: 34.339273 deg. 2j ٍ=HeadingCmd: 0.599333 target range: 130.600006 and range: 130.60 m. jm?jjjih!h!h!h!f)f)frfbfS@ɛ}B}= 隵O>I i;=ɚi I Dj=I~P?ii6)m?)*F?2F:FBF0JFGWGBO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016185_w,A6s>Y6>696t>y6H3?ֿ??D?@Ϳ@?`<2??ɨ6s>6;6!CyNdBN'IJ%J%J!J!J%|:J%z:J!J!a-@a-@a-@a-@Mb@Mb@Mb@ )Yףp= ?~jt?Mby?<@ )@IyQ@IIm?٢ż ;=9@~;Q > G٣~RGy< > Nusing accuracyPremultiplier from config 59ow? 5Y_ i~ ? :>@ E;>;d'5 ɧ@EZjIMFNOT Ignoring new targets: 130.60 m.BjU(<JjU(I u<=ɚiIC=I*"?iiPR)*"?zKGi>G G B O >M_w,A IWill construct direction to contact in vehicle frame from tetrahedron phase data."L?"<"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518201^Y^)>^m9^~>y^H+s?ؿ@(?`?v?@<οR}? Si??ɨ^^G;^CyfZBj'IIrIr٢zM z[=9~ T;Q ~>|| ~G٣yʭ= >  Nusing accuracyPremultiplier from config 59 /w?5Y } i G>@  E z ; " ; )5! %c@!ZjIUFNOT Ignoring new targets: 130.60 m.Bj]i<Jj]iIQ UE==ɚQiQIU =I]&Z+?iYieN)e *?)aH>I IC(II͈BI&I.I3D6Il<:I- FBIJIRIZIbIjIG4E<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771386*FM?2FI:FIBFMP5JFIGM ;/GA Bq O >/_w,AZetJ>YZ'2>Z9Z}>yZH9?dٿD?? 0?`Ͽ@?~ ?5?ɨZetJ>Z9,;Z CyfPBf'IhhUMb@Mb@Mb@QQQ Q)QYUQ?~jth?y&1yU(?UD;U`eU@ U^@)QIU@QyU@IuIu0٢A B=9Q > G٣y+= > Nusing accuracyPremultiplier from config59Bw?5Yz i/3?:>@E'!;;*5B  @EZjFNOT Ignoring new targets: 130.60 m.Bj<Jj< ProNav: ac range: 130.600006 m, nav range: 19.953268 m, bearing: 91.832732 deg, approach rate: -0.238760 m/s, LOS rate: 1.612956 deg/s, cmd heading: 38.245596 deg, new cmd heading: 40.286716 deg. 2j^=HeadingCmd: 0.703136 target range: 130.600006 and range: 130.60 m. j4?jjji h h h h6Bfffrfbf  @ $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:10:54.6516 ]TRx dataTimestamp_ set to:1736377855.776726echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022971ɛ҇BI= 隕d|>I R+>=ɚiI=I4?ii])4?)EhW<*F%?2F!:F!BF%P0JF!G'HGGJEJEJAJAJE:JEh:JAJAGBO>zK QK h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273775`w,AN:p^>YN0>N9N|H>yNH??)ڿ@?`L?@N;LyZEBZ'IIfIfb2٢j j nV=9nJoQ n>pp rG٣rRGyvP= v> zNusing accuracyPremultiplier from configx~59zTw?~5YzHx iz|~>@zEz] ;z ;z,5 ]ũ@]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 130.60 m.Bj<Jj< ProNav: ac range: 130.600006 m, nav range: 19.859911 m, bearing: 92.448935 deg, approach rate: -0.235828 m/s, LOS rate: 1.563866 deg/s, cmd heading: 40.286717 deg, new cmd heading: 42.143329 deg. 2j(=HeadingCmd: 0.735540 target range: 130.600006 and range: 130.60 m. jWLI N>=ɚiIk{=IWLZ`w, #AR#Rx 1: Read range and direction messages.`direction in FSK: [-0.221050,-0.208714,0.952668]Fpublishing direction and range info9]K̿G#ʿd>@|?yCY q)I>iC?Xy馾.d?4Q= %@)k=I ?ik )F1?+qɿ%B΂ݹ?)MIFϽi BT****** received valid address query ******BR****** received valid ping request ******BQuerying Benthos address 50 with one ping in standard two-way mode.%D"t>Y% >%9%\>y%H?bۿC+?@W?`4? 2пw??@?ɨ%D"t>%;%!Cye;Be'Ii=I4<Mb@Mb@Mb@ )YV-?~jt~jtyh?ļ@ 1@)Iy@II٢1 <99Q > G٣y%(= %> Nusing accuracyPremultiplier from config592qw?5Yt iO I?:Q>@E<<l/5B o@E=Will construct direction to contact in vehicle frame from tetrahedron phase data.===<E,DAT read: user:3062> EBDAT read: Tx time:23:10:56.0257 M$Ping request sent.M@|?Jk Rk*4Y@pF®P1[@(-q,‡s^~Z?"kv*k-k >v?kM"R& 2k!2Ck >v?k]# kk BkJT@% addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 4.029885 s, deltaX: -1.900009 m, approachRate: -0.471480 m/s, rangeRepo size: 4  Added new target pos. range: 128.699997 m, bearing: 267.668426 deg, lat: 36.904183 deg, lon: -122.121058 deg, deltaT: 4.029885 s, deltaX: -1.900009 m, approachRate: -0.471480 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 128.70 m.BjJj ProNav: ac range: 128.699997 m, nav range: 35.274124 m, bearing: 265.582501 deg, approach rate: 0.000000 m/s, LOS rate: 1.563866 deg/s, cmd heading: 42.143329 deg, new cmd heading: 45.368409 deg. 2jHeadingCmd: 0.791828 target range: 128.699997 and range: 128.70 m. j?J?jjjihhhhBfffrf `f`@bf @?ɛ] ćB] I/r= a e nl>I $5@=ɚ i I a=I ?J?i i 0݂) ?J?) E E *E "E J% J% J! J! J% :J% z:J! J! zKMBoIKM9KIKMKMWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:10:56.0250 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252783*F!2F):F)BF-w0JF)G^GBO?`w,!FAy-B'II%I%@٢5 =K=9=Q =>AA EG٣ERGyM M> mNusing accuracyPremultiplier from configau59ew?}5Yeq ienyy}@eEeB;e5;e15 H@ZjFNOT Ignoring new targets: 128.70 m.Bj}Jj} ProNav: ac range: 128.699997 m, nav range: 35.382881 m, bearing: 265.272957 deg, approach rate: 0.312864 m/s, LOS rate: -0.887729 deg/s, cmd heading: 45.368408 deg, new cmd heading: 44.442717 deg. 2jOHeadingCmd: 0.775672 target range: 128.699997 and range: 128.70 m. jlF?jjjihhhhfffrfbfQ?ɛBm= hY>I y@=ɚ!i!I%` =I%M?i)i- )lF?)*F!2F):F)BF-P0JF) $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502459G- aG ZH RH H I  I (II BI &I .I 6I <:I ] FB1 OM >`w, }`A6>Y6?6 96{>y6H?@9޿ܺ?(??ˇпB}? @?`5?ɨ6>6W);6Cyb%Bbu'IIjIjʴ٢v" vP=9zLQ z>xx zG٣x~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754527y >=  > Nusing accuracyPremultiplier from config59w?5Yn i!%>%@E;|;25-B -٫@-EZjQ]FNOT Ignoring new targets: 128.70 m.Bj]^Jj]^u ProNav: ac range: 128.699997 m, nav range: 35.503098 m, bearing: 264.968840 deg, approach rate: 0.308055 m/s, LOS rate: -0.776658 deg/s, cmd heading: 44.442716 deg, new cmd heading: 43.533536 deg. 2ju@}HeadingCmd: 0.759804 target range: 128.699997 and range: 128.70 m. j|B?jjjihhhhfffrfbf~?ɛB|= S>I :oA=ɚiI" =IvL?iTjLG?G6bfGBOE> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006457`w,CVzAJ&J&J$J$J&L:J&:J$J$>>Y>?> 9>">y>H\?`߿j?l-?M?`?п?y1?@?ɨ>>>;>"Cy$Bt'I)  Mb@Mb@Mb@ )Ykt?S㥛y ?̼/ݼC@ @)ݸ@Id@y\@II٢t2 ==9Q > G٣y{= > Nusing accuracyPremultiplier from config59w?5Yk io?:a?@E;K;45 @Zj)-FNOT Ignoring new targets: 128.70 m.Bj5VJj5VE ProNav: ac range: 128.699997 m, nav range: 35.638790 m, bearing: 264.643909 deg, approach rate: 0.314711 m/s, LOS rate: -0.750737 deg/s, cmd heading: 43.533536 deg, new cmd heading: 42.562552 deg. 2jEMHeadingCmd: 0.742857 target range: 128.699997 and range: 128.70 m. jU+>?jjjihhhhBfffrfbf`?ɛ5B5TV}= 9=8^>I9 =8B=ɚ9i9I=f =IEND?iAiE".)E+>?)izKBoHK]9KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260898*F%?2F!:F!BF%_0JF!G3GBOl> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510388 $`w,/A6uŬ>Y6?696~>y6H ?| ???п`?@d?.?ɨ6uŬ>6@=;4y>Bvk'II~I~W٢   W=9 0Q  > G٣y= > %Nusing accuracyPremultiplier from config!559% w?55Y%h i%15?5@%E%/;%mC;%]65A E]@EEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 128.70 m.BjuPJjuP ProNav: ac range: 128.699997 m, nav range: 35.763939 m, bearing: 264.365857 deg, approach rate: 0.329465 m/s, LOS rate: -0.729433 deg/s, cmd heading: 42.562553 deg, new cmd heading: 41.731377 deg. 2jMHeadingCmd: 0.728350 target range: 128.699997 and range: 128.70 m. j$u:?jjjihhhhfffrfbftb?ɛuBu-c= q}Y>Iy }B=ɚyiyI}я =I$u:?ii)$u:?)HI I'IIBI&I.I6Ḭ<:Is F9]|uAq s$Y|uAyB*F2F:FBFe0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762555G:G B9 O% >*`w,AyBh'I yIyMb@Mb@Mb@ )YuV?Zd;OX9vyr?j<Z@ ) @Iz@yQ@II ٢] ==9Q > G٣RGy > Nusing accuracyPremultiplier from config 59Sw? 5Yf i:/ ?:G>@E2d;a;A85! %@!ZjIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014376FNOT Ignoring new targets: 128.70 m.BjJJjJ ProNav: ac range: 128.699997 m, nav range: 35.893539 m, bearing: 264.058807 deg, approach rate: 0.299248 m/s, LOS rate: -0.706415 deg/s, cmd heading: 41.731377 deg, new cmd heading: 40.813635 deg. 2jg򼝊HeadingCmd: 0.712332 target range: 128.699997 and range: 128.70 m. ji[6?jjjihhhh BfIfIfIrfQbf] `@ɛMBM)}= IM`>II UsC=ɚQiQIU =I]5?iYi]Vڽ)]i[6?)Y*F2F:FBFd0JFG GoAG9aGB OE >zK LK +9K K K   !(:gHseUXiysaP@/% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666751`w,oǀA6>Y6rO?6ԟ96Y>y6Hb4?`)&?|V?`?ѿ ES?Dx?`Zw?ɨ6>62;6#CyNBNn'IiR=IR;IVIV ٢r*< r\=9rtt vG٣tyz> ~> Nusing accuracyPremultiplier from config 59 w?5Y Yc i  ?@ E < >< 95B A@EZjFNOT Ignoring new targets: 128.70 m.Bjs9Jjs9 ProNav: ac range: 128.699997 m, nav range: 36.014610 m, bearing: 263.806177 deg, approach rate: 0.311851 m/s, LOS rate: -0.648529 deg/s, cmd heading: 40.813635 deg, new cmd heading: 40.058338 deg. 2j޼HeadingCmd: 0.699150 target range: 128.699997 and range: 128.70 m. j}2?jjjihh h h fffrfbfG@ɛEBE'= IMt>II MVcD=ɚIiIIU=IU}2?iQi]K)]}2?)Y*F?2F:FBFO5JF u$?IyG^GaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519013O;>HI I'IIvBI&I.I6I<:IH FJm Jm Ji Ji Jm ,:Jm q:Ji Ji Jm Y6J#?6)969>y6H`?@_;u? ?`pG? yп@y??tn?ɨ6e>6@;6 Cyb#Bbs'InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770431IvIv0٢~0< ~I=98;Q >  G٣ y )=  > Nusing accuracyPremultiplier from config59 w?5Y>` i!%?%@ E::;5) -@1ZjaeFNOT Ignoring new targets: 128.70 m.BjmBJjmB} ProNav: ac range: 128.699997 m, nav range: 36.151726 m, bearing: 263.539292 deg, approach rate: 0.351679 m/s, LOS rate: -0.681918 deg/s, cmd heading: 40.058339 deg, new cmd heading: 39.260776 deg. 2j}鼝HeadingCmd: 0.685230 target range: 128.699997 and range: 128.70 m. j8k/?jjjihhhhfffrfbf`@ɛBl= >I 64E=ɚiIY=I8k/?ii7)8k/?)*F?2F:FBFa4JFGEn+GB!OER> ]$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:10:58.5999 TRx dataTimestamp_ set to:1736377859.808805checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0236516>`w,Ay%&B%w'IMb@Mb@Mb@ )Yx&1?I +y?94̼@ @)Ʒ@I@y@II(*٢o]< <=9Q > G٣RGy > Nusing accuracyPremultiplier from config 59w? 5Y] i3 .? :?@"E;-;=5 ث@EZjIMFNOT Ignoring new targets: 128.70 m.BjU1JjU1e ProNav: ac range: 128.699997 m, nav range: 36.291351 m, bearing: 263.269319 deg, approach rate: 0.322290 m/s, LOS rate: -0.620764 deg/s, cmd heading: 39.260774 deg, new cmd heading: 38.454028 deg. 2jeռmHeadingCmd: 0.671149 target range: 128.699997 and range: 128.70 m. jms+?jijqjqiqhqhqhhBfffrfbf @ɛB = 隝>>I =F=ɚiI>=Is+?izK8NK9KKKi`[WTSOJGFFC?:S_I92.**('&%#iN)s+?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274532EEqA*F?2F:FBF4JF"G>G>GewG1BAOew> a Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:10:58.5999 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.21, 2.927, 1.441, 2.283, 2.378, PHS= 0.637,-0.890,-0.098, RAW= 121.2, 5.4, CAL= 130.4, 0.9, ROT= 19.6, -0.9  Ygot valid direction response: 23:10:58.5999 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.21, 2.927, 1.441, 2.283, 2.378, PHS= 0.637,-0.890,-0.098, RAW= 121.2, 5.4, CAL= 130.4, 0.9, ROT= 19.6, -0.9  PDAT read: Bearing 19.6, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 19.6, -0.9 (Local)  DAT read: Range 10 to 50 : 127.4 m (Round-trip 169.9 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.224335,-0.425241,0.876837] Fpublishing direction and range infoؙ 9؝ -A ̿X &7ۿe*3 ?y؝ Bؙ ؝ ؙ ٝ )ٙ Iٙ iٝ o#?ٝ cٝ 9Ƚٝ a@ٝ = ڝ @)ڝ iڝ ڙ ڙ ۝ 8'J?LC?`ɰ?)۝ Y:N0?:cм9:ߝ>y:HH?`U? |\? \?jϿ ?`j?`{?ɨ:H>:&;8fT****** received valid address query ******fR****** received valid ping request ******fQuerying Benthos address 50 with one ping in standard two-way mode.y0B'I) IeIe٢mA= mR=9u_ G٣y> > Nusing accuracyPremultiplier from config59wx?5YZ iN?@$E;;H?5 B@HiIi Im'IImqBIi&Ii.Ii6Im@<:Im FBIJIRIZIbIjI4k?kE( k k4A:kBBk BZkˡ@"{Y؏@iLfU>kOV@壜?ft忪 %yj?"k5*kAk{?kL)( 2kVCkkY 0-$ k=Ck]Iq uPG=ɚyiyI}=I}T@(?ii2?=)T@(?)*F=?2F9:F9BFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3063>  BDAT read: Tx time:23:10:59.8258  $Ping request sent. %IK`w,U/A6}>Y68t6?6;96M>y6H`4?x-gA? q? ? hͿ??Ɵ?ɨ6}>6AÉ;6!C Iy =B 'IMMb@Mb@Mb@I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:10:59.8250 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251450II I)IYMMb?I +~jtyM?M9MI M@)Mݸ@IMM@IyM@II<٢s= 7=9 G٣yT= > 5Nusing accuracyPremultiplier from config1=595Jx?=5Y5AV i5E?E:E.?E@5%E5;5I;5@A5i uh@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.40 m.BjJj ProNav: ac range: 127.400002 m, nav range: 47.250046 m, bearing: 264.421763 deg, approach rate: 0.371647 m/s, LOS rate: -0.457157 deg/s, cmd heading: 37.656595 deg, new cmd heading: 37.070132 deg. 2jߜ-HeadingCmd: 0.646996 target range: 127.400002 and range: 127.40 m. j-%?j)j)j)i)h1h1h1h5Bf9f9f9rf9bf=?ɛBI= >I ۃH=ɚiI=I%?ii=)%%?)!*F?2F:FBFJFGٽGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502282zKe ;rNKe 9Ka Ke Ke 2R`w,8IANF?YN@:?NĈ9N3>yNH? ?Y??@'˿N?@N? ?ɨNF?N:܊;NCyZEBZ'IIbIbm?٢j1= jo=9n WIi m~I=ɚiiiIp=I#?iiw=)#?) $?I*F 2F :FBF_0JFG5rA G5qAGмeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755122GBOI>HQIQ IU'IIUvBIQ&IQ.IQ6IUO<:IU FJm Jm Ji Ji Jm |:Jm z:Ji Ji Jm <Jm <Jm l;Jm l;ZX`w, cA:N?Y:??:[`9:U>y:H@n?`1?`?J}?Wʿ`A ?}3?@?ɨ:N?:H;: CyRXBR'IiVa=IVl> \^=bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006434IjIjn٢r= rJ=9r;Q r>tt vG٣tyzQ== z> ~Nusing accuracyPremultiplier from config|59~&x?5Y~O i~7? @~(E~q ;~ :~vD5B Ө@EZjAEFNOT Ignoring new targets: 127.40 m.BjMJjM뻝u ProNav: ac range: 127.400002 m, nav range: 47.517185 m, bearing: 264.113552 deg, approach rate: 0.365708 m/s, LOS rate: -0.412103 deg/s, cmd heading: 36.650484 deg, new cmd heading: 36.148150 deg. 2j}iHeadingCmd: 0.630904 target range: 127.400002 and range: 127.40 m. j!?jjjihhhhfffrfbf@H?ɛBX= >I vJ=ɚiINy2HR"?o@?y?S? @ȿ`g*?`>? X?ɨ2 ?2칌;2Cy^kB^'IMb@Mb@Mb@ )YK7A? rhMby ?C@ @)@I @y@II٢A= <=95 G٣y< > Nusing accuracyPremultiplier from config594x?5YL i4#?:;?@*E;';\F5 @޶EZj15FNOT Ignoring new targets: 127.40 m.Bj=Jj=軝M ProNav: ac range: 127.400002 m, nav range: 47.681709 m, bearing: 263.935556 deg, approach rate: 0.377601 m/s, LOS rate: -0.407109 deg/s, cmd heading: 36.148151 deg, new cmd heading: 35.616023 deg. 2jUUHeadingCmd: 0.621617 target range: 127.400002 and range: 127.40 m. jUI"?jYjYjYiYhYhYhahe Bfafafirfibfm3?ɛ5{B5= 1=5>I9 =ËL=ɚ9i9I=6)I"?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510682zKE2KKEh9KAKEKERK]?JK] ?*F%?2F!:F!BF%0JF!G?<GBOi> I } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762230le`w,jA2w ?Y2qE?2>GV92Mw>y2H@?ĥ?@1Y ]G٣]RGye< e> Nusing accuracyPremultiplier from config59MAx?5YlH iU=?@,EL;^;H5HI I'IIBI. =&I.I6Ib<:I& F #@ZjaeFNOT Ignoring new targets: 127.40 m.Bjm߻Jjm߻ ProNav: ac range: 127.400002 m, nav range: 47.833225 m, bearing: 263.775367 deg, approach rate: 0.370169 m/s, LOS rate: -0.390120 deg/s, cmd heading: 35.616025 deg, new cmd heading: 35.136989 deg. 2jޅHeadingCmd: 0.613256 target range: 127.400002 and range: 127.40 m. j[?jjjihhhhfffrfbf@JKـ3 KKK"KJJJJJL:J:JJJ@ <J@ <Ju;Ju;ɛmuBm= /?I QN=ɚiI)[?)*F=?2F9:F9BF=_1JF9"GE%>GEe>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0151975 PExceeded connect timeout, disconnecting.G% >=G B1 O >k`w,A ,I0yUBU'I)Y Yaa Mb@Mb@Mb@    ) Y ˡE?Mbp?MbPy ? ;  @ @) Ʒ@I @ y @I%I% 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864٢EN= E9=9MQ M>IQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59eNx?m5Ye;D ieOu?u:uG?u@e-Ee;e;eI5y }m@ZjFNOT Ignoring new targets: 127.40 m.BjJj뻝 ProNav: ac range: 127.400002 m, nav range: 48.009060 m, bearing: 263.604321 deg, approach rate: 0.425285 m/s, LOS rate: -0.412186 deg/s, cmd heading: 35.136990 deg, new cmd heading: 34.625748 deg. 2jpHeadingCmd: 0.604333 target range: 127.400002 and range: 127.40 m. j?jjjihhhhBfffrfbfW@ɛoBh== ?I >#P=ɚ!i!I%D^)-?))*F?2F:FBFF5JFGva=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420zK k3IK 9K K K M~r`w,:uʁAZ ?YZdD?Z<9ZO7>yZH@? {?4??@&@r?z?ɨZ ?Zֶ;ZCynBr(IIzIz(٢5= =^=9=G=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configIU59MZx?]5YM@ iMsY]`F?e@M/EMT ;M ;MK5mB m$@m۶EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.40 m.BjJj㻝 ProNav: ac range: 127.400002 m, nav range: 48.160465 m, bearing: 263.457542 deg, approach rate: 0.411752 m/s, LOS rate: -0.397916 deg/s, cmd heading: 34.625746 deg, new cmd heading: 34.186801 deg. 2jHeadingCmd: 0.596672 target range: 127.400002 and range: 127.40 m. j?jjjihhhhfffrfbfG@ɛiB1= l?I &R=ɚi!I%Ӓ)-?)) ]$?Ia*F?2F:FBFP0JFGyT=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771363GBOE>) jHbH<HI I(IIBI- =&I.I6IL<:I F!9i Q!YyBx`w,A2Cq ?Y2y2H'????P?`ힿo?E?ɨ2Cq ?2$;2CFWill construct direction to contact in vehicle frame from tetrahedron phase data.JBDAT read: Rx Time:23:11:02.3973 JTRx dataTimestamp_ set to:1736377863.588980Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023665yRBR*(IIZIZm?٢b= fP=9fhh jG٣jRGyjo n> rNusing accuracyPremultiplier from configlv59nHgx?v5Yn< intvD?v@n1En ;n7 ;nHM5| ~ע@|Zj)5FNOT Ignoring new targets: 127.40 m.Bj5Jj5⻝E ProNav: ac range: 127.400002 m, nav range: 48.321724 m, bearing: 263.300729 deg, approach rate: 0.409172 m/s, LOS rate: -0.396563 deg/s, cmd heading: 34.186801 deg, new cmd heading: 33.717943 deg. 2jMMHeadingCmd: 0.588489 target range: 127.400002 and range: 127.40 m. jM9?jQjQjQiQhQhQhYhYfYfYfarfabfeCn @ɛbBk= 隭;+?I JQT=ɚiIV< nManaging dock network, ignoring radio surface power offI9?ii>)9?)*F ?2F :FBFJFGy>GG> )I)GBOg>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274295{~`w,4+AJ&J&J&1J$J&:J&:J&3J$a*@a*@a*@a*@V `?YV@?V<=9V>yVHR?`Ia??"C? ٴ\@?`?ɨV `?Vr;TybĈBb9(Iif=Ifa=eMb@Mb@Mb@aaa a)aYe/$?:v? G٣y] > Nusing accuracyPremultiplier from config59ux?5YC8 iR?:K?@3E;:%O5 %@ضEZjFNOT Ignoring new targets: 127.40 m.BjJj껝 ProNav: ac range: 127.400002 m, nav range: 48.513332 m, bearing: 263.126379 deg, approach rate: 0.451577 m/s, LOS rate: -0.409278 deg/s, cmd heading: 33.717943 deg, new cmd heading: 33.196974 deg. 2jq HeadingCmd: 0.579396 target range: 127.400002 and range: 127.40 m. j TS?j j j ihhhh%Bfffrf bf=@Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:11:02.3973 LVL= 31136, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.14, 2.664, 1.269, 2.117, 2.178, PHS= 0.574,-0.862,-0.064, RAW= 123.7, 5.7, CAL= 132.1, 0.9, ROT= 17.9, -0.9 ɛE[BmYgot valid direction response: 23:11:02.3973 LVL= 31136, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.14, 2.664, 1.269, 2.117, 2.178, PHS= 0.574,-0.862,-0.064, RAW= 123.7, 5.7, CAL= 132.1, 0.9, ROT= 17.9, -0.9 uPDAT read: Bearing 17.9, -0.9 (Local) u~Local bearing/azimuth received: Bearing 17.9, -0.9 (Local) DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.3 ms) speed 0.6 m/s E8= 隍4?I V=ɚiIzKKs9KKK  &5R#Rx 1: Read range and direction messages.`direction in FSK: [-0.232279,-0.463818,0.854938]Fpublishing direction and range infoع9ؽgTͿ̾/ݿ7[?yؽBعؽyع ٹ)ٹIٽCiٽ?ٽ\ٽoٽ, @ٽ%= ڽ@)ڹIڽ>iڹڹڹ)TS?)۽ ?SZ?6ep?)۽^=I۽N˽i۽>۽[A۹۹T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F}?2Fy:FyBF}V0JF 5 $?I9 Ge  >GA BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.e %=e C=m ,DAT read: user:3064> m BDAT read: Tx time:23:11:03.6258 u $Ping request sent.u к`w,BA6?Y6=?6H==96K=y6H`?`@Z?=?M?9`|1$?@?ɨ6?6֤;6CyBԈBBM(IIJIJ̍٢v= vU=9vxx zG٣xy~  > %Nusing accuracyPremultiplier from config!-59%x?-5Y%+4 i%)-H?5@%4E%;%D;%P5a m@iHI IO(II׈BI. =&I.I6Ij<:I+ Fkƚ?k9| & k kA:kBBkBZke@"xh =jM/dZ@gTͿ̾/ݿ7[?Jk>Rk[A*W$<@ʗyP<+PY@HHP8q?` ;eYPa>?"k*k AkHƁ?k^& 2k*Ckk^& k!2Ck{Bk@= addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.781887 s, deltaX: -2.000000 m, approachRate: -0.528837 m/s, rangeRepo size: 4 M Added new target pos. range: 125.400002 m, bearing: 292.790352 deg, lat: 36.904183 deg, lon: -122.121389 deg, deltaT: 3.781887 s, deltaX: -2.000000 m, approachRate: -0.528837 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 125.40 m.BjJj ProNav: ac range: 125.400002 m, nav range: 67.241020 m, bearing: 264.913491 deg, approach rate: 0.000000 m/s, LOS rate: -0.409278 deg/s, cmd heading: 33.196973 deg, new cmd heading: 32.693933 deg. 2jHeadingCmd: 0.570617 target range: 125.400002 and range: 125.40 m. j?jjjihhhhfffrfY_@bf ?ɛ]TB]I= Y]@?IY e#:Y=ɚaiaIel)u?)y*FE?2FA:FABFE_0JFAG7>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:03.6250 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253183GBO k> ! I! `w,1A6F?Y6@/:?6X=96O=y6H?9 N?>?? @$ +^??ɨ6F?6;4yNBRd(I5Mb@Mb@Mb@111 1)1Y5 +?J +?{Gz?y5?5H=5#<5@ 5t@)5Ʒ@I5V@1y5̴@ImImỳ٢ɱ= ?=9d{ G٣RGy > Nusing accuracyPremultiplier from config59Ux?5YZ/ i6S?: O?@6E#;;R5BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502800 %@%ӶEZjimFNOT Ignoring new targets: 125.40 m.BjJj ProNav: ac range: 125.400002 m, nav range: 67.438774 m, bearing: 264.779621 deg, approach rate: 0.475949 m/s, LOS rate: -0.321249 deg/s, cmd heading: 32.693933 deg, new cmd heading: 32.293509 deg. 2jx\HeadingCmd: 0.563628 target range: 125.400002 and range: 125.40 m. jI?jjjihhhhBfffrfbf`O?ɛ-NBMM>= QUL?IQ U[=ɚQiQIUq)eI?)a*F?2F:FBF~0JFJeJaJe0JaJe,:JaJeـ3JaG$>GGG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754607O >zK MK K K K =DFKOPOOOLLMJHFDBA;7610,)'%$!!!!! m̒`w,KA2>Y26?2&gs=92_=y2H "?`y??!5?:c`Oh@?`W?ɨ2>2Ҋ;2 CyRBRm(I)` `InIn(٢ = U=9E    G٣ y > Nusing accuracyPremultiplier from config59x?5Y"+ i{K?@8E<~ ;\T5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.40 m.BjJj ProNav: ac range: 125.400002 m, nav range: 67.612587 m, bearing: 264.659812 deg, approach rate: 0.452041 m/s, LOS rate: -0.310790 deg/s, cmd heading: 32.293510 deg, new cmd heading: 31.935012 deg. 2jJUHeadingCmd: 0.557371 target range: 125.400002 and range: 125.40 m. j߯?jjjihhhhfffrf bf ~?ɛ5GB== 9EpS?IA Mb^=ɚIiIIMQ)m߯?)i $?Ih*F5?2F1:F9BF=P5JF9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006759G5>GB O%M>HI I(IIBI&I.I6Iy<:I5 FBIaJIaRIaZIe. =bIajIeH4a`w,eABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259306y Bu(II%I%٢5Z= 5G=9=Q =>9A EG٣AyE E> MNusing accuracyPremultiplier from configIU59Mجx?]5YM& iMYY]@M:EM;Mt;M(V5a m"@iZjFNOT Ignoring new targets: 125.40 m.Bj{Jj{ ProNav: ac range: 125.400002 m, nav range: 67.801445 m, bearing: 264.530557 deg, approach rate: 0.475195 m/s, LOS rate: -0.324319 deg/s, cmd heading: 31.935011 deg, new cmd heading: 31.548332 deg. 2j^HeadingCmd: 0.550622 target range: 125.400002 and range: 125.40 m. j ?jjjihhhhfffrfbf0?ɛ@B6= gZ?I 6a=ɚiIb")- ?)1*F?2F:FBFJF IEWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.518804Gm>G?G0?G B O >!`w,wAJJJJJ|:J^:JJB>YBx.?B5=9B=yBH?$?'?@6?#?h?>?ɨB>B;B!Cy^B^w(IMb@Mb@Mb@ )YS?333333?~jth?y/?=D;M@ @)@I(@yp@II0٢O< A=9C=Q > G٣RGyu > Nusing accuracyPremultiplier from config59x?5Y! iOZ?:N?@G! B) Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014486`w,NAV>YVK*?VSv=9V5V;VCy~B~}(Ii%>I>II٢%< %V=9%)) -G٣)y5vD 5>HIII IM(IIMBII&II.IM4D6IM<:IMN F eNusing accuracyPremultiplier from config9m59=x?m5Y=4 i=imtI?u@=>E=;=;=Y5y }Ǟ@yZjFNOT Ignoring new targets: 125.40 m.Bj>Jj> ProNav: ac range: 125.400002 m, nav range: 68.188774 m, bearing: 264.268484 deg, approach rate: 0.472552 m/s, LOS rate: -0.323905 deg/s, cmd heading: 31.139444 deg, new cmd heading: 30.764370 deg. 2jK^HeadingCmd: 0.536940 target range: 125.400002 and range: 125.40 m. jt ?jjjihhhQhYfYfYfYrfYbfe`W@ɛ2B?= 隭d?I 'g=ɚiIaGYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470 I 3`w,-A6>Y6;%?6j=966;6"CyVBV(I=Mb@Mb@Mb@999 9)9Y=Mb?&1?y= ?==== @ =V@)=M@I=@9y=@IU IU<2٢ei< eF=9mzii uG٣qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518636yu0 > Nusing accuracyPremultiplier from config-59x?-5Y i-"?-:5+O?U@@E5;;[5Y ]@]ͶEZjFNOT Ignoring new targets: 125.40 m.Bj Jj  ProNav: ac range: 125.400002 m, nav range: 68.405464 m, bearing: 264.127320 deg, approach rate: 0.495543 m/s, LOS rate: -0.321802 deg/s, cmd heading: 30.764371 deg, new cmd heading: 30.342227 deg. 2j\5HeadingCmd: 0.529572 target range: 125.400002 and range: 125.40 m. j5?j1j9j9i9h9h9hAhEQBfifqfqrfqbf}ɍ@ɛ*B-:D= -m<-j?I) -j=ɚ1i1I5zK} NK} +9Ky K} K}  `w,\͂A2+<>Y2!?2ϼ=92'z2Ꮙ;2!CyNBRz(IIZIZF2٢b bV=9bdd fG٣fRGyfpB j> nNusing accuracyPremultiplier from confighr59jx?r5Yj ij9prJ?r@jBEj ;j ;j&]5x z@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.40 m.BjJj ProNav: ac range: 125.400002 m, nav range: 68.584221 m, bearing: 264.007377 deg, approach rate: 0.471698 m/s, LOS rate: -0.315676 deg/s, cmd heading: 30.342227 deg, new cmd heading: 29.983342 deg. 2jX%HeadingCmd: 0.523308 target range: 125.400002 and range: 125.40 m. j%?j!j!j!i!h)h)h)h)f1 }$?Iyffrfbf @ɛ#B= j?I Jm=ɚiI7VE`w,~A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276088F`9>YF?F)=9FPF5;F Cy^B^l(I)` `IjIj(1٢r[ vH=9voTxx zG٣xyz z> Nusing accuracyPremultiplier from config 59:x? 5Y i  F?@DE@::^5B @ȶEZjimFNOT Ignoring new targets: 125.40 m.Bj}ɻJj}ɻ ProNav: ac range: 125.400002 m, nav range: 68.784134 m, bearing: 263.869910 deg, approach rate: 0.514252 m/s, LOS rate: -0.352588 deg/s, cmd heading: 29.983342 deg, new cmd heading: 29.572148 deg. 2jqHeadingCmd: 0.516131 target range: 125.400002 and range: 125.40 m. j/!?jjjihhhhfffrfbfʔ @ɛBx= 隥h?I :p=ɚiI ,`w,AJAAJR!?>YR?RN=9RBأR3;PybBf[(IMb@Mb@Mb@ )YʡE?A`"?~jty?=D@ @)z@I@y @I I ٢| 9=97D!! %G٣!y%% -> 5Nusing accuracyPremultiplier from config)=59-y?=5Y-  i-= ?=:=E?=@-FE-O;-;-`5I M@QZjyFNOT Ignoring new targets: 125.40 m.BjpJjp ProNav: ac range: 125.400002 m, nav range: 68.995483 m, bearing: 263.724083 deg, approach rate: 0.481545 m/s, LOS rate: -0.331238 deg/s, cmd heading: 29.572148 deg, new cmd heading: 29.136016 deg. 2jScHeadingCmd: 0.508519 target range: 125.400002 and range: 125.40 m. jT.?jjjih h h h 7Bf1f1f1rf9bf=`^@uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:11:06.1942 LVL= 20512, 32753, 32754, 32755, AGC= 61, IDX= 412,-0.24,-1.931, 2.631,-2.902,-2.599, PHS= 0.756,-1.007,-0.306, RAW= 113.3, 7.3, CAL= 123.1, 4.1, ROT= 26.9, -4.1 Ygot valid direction response: 23:11:06.1942 LVL= 20512, 32753, 32754, 32755, AGC= 61, IDX= 412,-0.24,-1.931, 2.631,-2.902,-2.599, PHS= 0.756,-1.007,-0.306, RAW= 113.3, 7.3, CAL= 123.1, 4.1, ROT= 26.9, -4.1 PDAT read: Bearing 26.9, -4.1 (Local) ~Local bearing/azimuth received: Bearing 26.9, -4.1 (Local) DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.254240,-0.288118,0.923228]Fpublishing direction and range infoq9uyEпwpҿ7H?yu3Bqu Pq q)qIu=iu7A?u`倿uuY?uw> u @)uC=ɛB^= e?I s=Iuva>iuCqqu>k?xMϽ8C?)uqIutiuu4qɚ qi)IM 84.*'#RK?JK> }$?IEjb<*F- ?2F) :F) BF- Y0JF) G ^=G ?- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ,DAT read: user:3065> E BDAT read: Tx time:23:11:07.6258 M $Ping request sent.M G B! OE >L`w,kAHT`H|I| I~(II~(BI|&I|.I|6I~Ű<:I~m F UYQyUBK>Y?)^=9~o;CyшBI(III٢%̒ MK=9M@QQ UG٣URGy]V ]> eNusing accuracyPremultiplier from configa59eZy?5YeI ieA?@eHEe;eW;eb5B @ŶEkˢjz?k(1]# k kA:k3BBkBZkǚ@"1ڕuL?`)CһAFi\@yEпwpҿ7H?JkRk4*4ɲE@'zX?EUk}c@\@t>? 8ֿsB?"k)*k/@kz?kXd# 2k7Ckz?kkkBJUJUJU/JQJU :JU^:JU(N3JQJU;`w,D4AJ>YJ{?J=9J,j=yJH`һ?`9`U`?`d9?@? ?@p@Or? ?ɨJ>Jf~;J CyVBV)(IiZiq uG٣yy}v }> Nusing accuracyPremultiplier from config59%y?5Y( i:?:;?@JED;;Rd5 )@Will construct direction to contact in vehicle frame from tetrahedron phase data.p=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500021ZjFNOT Ignoring new targets: 123.10 m.BjJj ProNav: ac range: 123.099998 m, nav range: 69.104156 m, bearing: 274.269617 deg, approach rate: 0.401058 m/s, LOS rate: -0.429738 deg/s, cmd heading: 28.705496 deg, new cmd heading: 28.245442 deg. 2jvHeadingCmd: 0.492976 target range: 123.099998 and range: 123.10 m. jXg>jjjihhhh-Bfffrfbf+?ɛ B =  X?I  uy=ɚiIIsi9i==)=Xg>)AEIEI*EI"EI*Fu?2Fq:FyBF}0JFyGU R=} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753246G1 BQ O >zK MK 9K K K   h`w,4LNA.>Y.?."n=9.3.L;.CyBBB(IIJIJ2٢f fW=9fUhh jG٣hynҼ n> Nusing accuracyPremultiplier from config595y?5Y i Y9?@LE,<*<f5 !@¶E %$?I!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.10 m.BjջJjջu ProNav: ac range: 123.099998 m, nav range: 69.253113 m, bearing: 274.107646 deg, approach rate: 0.344853 m/s, LOS rate: -0.374176 deg/s, cmd heading: 28.245441 deg, new cmd heading: 27.760586 deg. 2j}e}HeadingCmd: 0.484514 target range: 123.099998 and range: 123.10 m. j,>jjjihhhhfffrfbfc?ɛ%BMf= IMU?II Mq|=ɚQiQIU{aiYi]X=)],>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005321*F=?2F9:FABFE5JFAZHRHHI I(II BI&I.I6I<:I= FJU JU JU 0JQ JU :JU !:JU ـ3JQ JU <JU <JU ly;JU my;Ge =GY Bi O >4`w,{1hA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256481Jɪ>YJ ?JY=9J'=yJHL? ?@;?B?0?@&UY? ?ɨJɪ>J;J CyZB^'IIjIj٢zн zH=9~;Q ~> G٣RGy p  > %Nusing accuracyPremultiplier from config-59Dy?55Y i59=F7?=@NE;e;g5I Uw@QZjFNOT Ignoring new targets: 123.10 m.BjPJjP ProNav: ac range: 123.099998 m, nav range: 69.396927 m, bearing: 273.949860 deg, approach rate: 0.394967 m/s, LOS rate: -0.432439 deg/s, cmd heading: 27.760587 deg, new cmd heading: 27.288222 deg. 2jUc]HeadingCmd: 0.476269 target range: 123.099998 and range: 123.10 m. j]>jYjYjYiahahahahafififrfbf g?ɛB= TN?I s~=ɚiIKMi1i5W=)5>)9 %$?I)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507886G =G B O >3z`w,A:{>Y:6= ?:-=9:m&=y:H@???{`?n?`o? ?ɨ:{>:;8yV{BV'I)\ \EMb@Mb@Mb@AAA A)AYE7A`?v/?qq uG٣qy}{ }> Nusing accuracyPremultiplier from config59Uy?5Y i]M?:%?@PE{;;i5B @EZjFNOT Ignoring new targets: 123.10 m.BjJj黝 ProNav: ac range: 123.099998 m, nav range: 69.530006 m, bearing: 273.782008 deg, approach rate: 0.323648 m/s, LOS rate: -0.407432 deg/s, cmd heading: 27.288221 deg, new cmd heading: 26.785643 deg. 2jϋHeadingCmd: 0.467498 target range: 123.099998 and range: 123.10 m. j[>jjjihhhhBfffrfbf?ɛB[S= 9F?I =ɚiIliia=) [>) UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759925*Fq2Fq:FqBF}\0JFyzKyLKKKK )I-hG=Gq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011651ߤ`w,ݛA:Tm>Y: ?:ͧ=9:%B=y:H04?5RI?@}_? {?@?߿?@ ?ɨ:Tm>: Ə;:CHF>ID IFO(IIF׈BID&ID.ID6IF<:IF? FBIIJIIRIIZIM- =bIIjIM̓4ybbBb'IIjIj3٢r% rS=9v tx zG٣xyz~ z> Nusing accuracyPremultiplier from config|59~Zdy? 5Y~O i~u   $? @~RE~x1;~12;~Jk5 %@!ZjAMFNOT Ignoring new targets: 123.10 m.BjMqJjMq滝e ProNav: ac range: 123.099998 m, nav range: 69.653297 m, bearing: 273.625787 deg, approach rate: 0.318564 m/s, LOS rate: -0.402935 deg/s, cmd heading: 26.785642 deg, new cmd heading: 26.317819 deg. 2jeCeHeadingCmd: 0.459333 target range: 123.099998 and range: 123.10 m. jm->jijijiiihihihqhqfqfyfyrfybf}@ɛB== <隵8=?I =ɚiIii=)->)J=J=J9J9J=:J=:J9J9J='<J='<J=n;J=n;*FY2FY:FYBF]o0JFYeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264729G=GBO> 9 IA &`w,ʵAbz>YbJ?b!>9b( ]=ybHQ??#(??Ò?`dN d?l?ɨbz>bݎ;b Cyj6Bj'ImMb@Mb@Mb@iii i)iYmkt? G٣RGyœ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515928 Nusing accuracyPremultiplier from config59ty?5Y i?:?@TE#;;(m5B Y@EZjFNOT Ignoring new targets: 123.10 m.Bj ߻Jj ߻ ProNav: ac range: 123.099998 m, nav range: 69.775459 m, bearing: 273.457859 deg, approach rate: 0.284855 m/s, LOS rate: -0.390886 deg/s, cmd heading: 26.317820 deg, new cmd heading: 25.814932 deg. 2j!%HeadingCmd: 0.450556 target range: 123.099998 and range: 123.10 m. j%8>j!j!j!i)h)h)h1h5ڃBf1f1f1rf9bf= O@ɛކB.= +?I Ԃ=ɚiI*ii=)8>)*F2F!:F!BF!JF!GE nP=m Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769422G B) OE >`w,hσAzK2JQJK29K0K2K2:w>Y:6?:^.>9:33q=y:Hr?߿ p? ?`?c?ʙ??ɨ:w>:I2;:CyBBBl'IiF8>IFa= J=J=IN IN(2٢V V[=9V;Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bpy?f5Yb ibhj?j@bVEb:b3:bn5l n߬@lZj FNOT Ignoring new targets: 123.10 m.Bj KJj K⻝ ProNav: ac range: 123.099998 m, nav range: 69.881142 m, bearing: 273.310930 deg, approach rate: 0.285037 m/s, LOS rate: -0.395683 deg/s, cmd heading: 25.814932 deg, new cmd heading: 25.374822 deg. 2j%Ƈ%HeadingCmd: 0.442874 target range: 123.099998 and range: 123.10 m. j%h>j)j)j)i)h)h)h1h1f1f1f1rfbfHg @ $?IɛU׆B]G= amk#?Ii }҃=ɚyiIsii=)h>)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:11:10.1914 TRx dataTimestamp_ set to:1736377871.402042checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022142H>I I'IIBI&I.I3D6I<:I@ FG=GBO>JU JU JQ JQ JU |:JU h:JQ JQ JU <JU <JU Mi;JU Ni;&`w,|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273269E>YEK?EӶ>9E<=yEH@Ø?`a߿ ? F? ?v4?&? f?ɨE>E;E!CyeBeK'IIuIuF3٢ ==9`;Q > G٣y综 > Nusing accuracyPremultiplier from config59ey?5Y7 i?@WE+;,;p5 @E=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 123.10 m.BjUNڻJjUNڻe ProNav: ac range: 123.099998 m, nav range: 70.002167 m, bearing: 273.140222 deg, approach rate: 0.271089 m/s, LOS rate: -0.381716 deg/s, cmd heading: 25.374822 deg, new cmd heading: 24.863595 deg. 2jmHeadingCmd: 0.433952 target range: 123.099998 and range: 123.10 m. j.>jjjihhhhfffrfbf @ɛ ΆBo/= G?I =ɚiI,ki!i%=)%.>)i $?I E~M<Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:11:10.1914 LVL= 19488, 32753, 31074, 32755, AGC= 65, IDX= 417,-0.33, 1.536,-0.412, 0.426, 0.693, PHS= 0.931,-1.058,-0.270, RAW= 113.2, 4.6, CAL= 123.7, 1.3, ROT= 26.3, -1.3 Ygot valid direction response: 23:11:10.1914 LVL= 19488, 32753, 31074, 32755, AGC= 65, IDX= 417,-0.33, 1.536,-0.412, 0.426, 0.693, PHS= 0.931,-1.058,-0.270, RAW= 113.2, 4.6, CAL= 123.7, 1.3, ROT= 26.3, -1.3 PDAT read: Bearing 26.3, -1.3 (Local) %~Local bearing/azimuth received: Bearing 26.3, -1.3 (Local) -DAT read: Range 10 to 50 : 120.9 m (Round-trip 161.3 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.E`direction in FSK: [-0.203882,-0.291622,0.934553]Fpublishing direction and range info9[:,ʿd"ҿQ)t?yB L by)IAiVn?lq='?l= , @)޹i޹_WD?.OV_$E ?)BZIUi~ ~T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F% ?2F) :F) BF- f0JF) GM J=GQ GQ G!B1OM>aw,itAy~B~$'I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=,DAT read: user:3066> EBDAT read: Tx time:23:11:11.4259 E$Ping request sent.E G٣RGy > Nusing accuracyPremultiplier from config59ަy?5Y i~P?:5?@YEf;A;r5 @ kSک}?ksL## k kA:kBBk BZk@"x68溊AQpN2?\@[:,ʿd"ҿQ)t?Jk~ Rk~*E(@؉;D \ 7\@4C?s8ĝֿkjjjihhhh BfzKEBoHKAKAKEKEffQrfU9^@bfU@?ɛÆB=  ?I =ɚiIՉiin=)?^>) IEɯ< Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:11:11.4251  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256743*F] ?2FY :Fa BFe _0JFa H I  I 'II HBI &I .I 6I }<:I ; FJEJEJAJAJE:JE9:JAJAJE;JE;JEX`;JEY`;GQG9BAOm?| aw,'A2w>Y2l>2t >923=y2H#?@ݿ6?`%?9?}?@`|? ?ɨ2w>2;2 Cy>ćB>&I)@ BA@@IJIJF٢N R0=9R   G٣y+ >5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503750 mNusing accuracyPremultiplier from config!u59%y?}5Y% i%4>@%[E%&<%<%t5B @EZj)-FNOT Ignoring new targets: 120.90 m.Bj5:ܻJj5:ܻ ProNav: ac range: 120.900002 m, nav range: 71.164864 m, bearing: 279.748924 deg, approach rate: 0.156919 m/s, LOS rate: -0.385078 deg/s, cmd heading: 24.324761 deg, new cmd heading: 23.748335 deg. 2j#HeadingCmd: 0.414487 target range: 120.900002 and range: 120.90 m. j7>jjjihhhhfffrfbfo?ɛ-B-L= )5?I1 5=ɚ1i1I5WiYi]FƟ=)e7>)aEiEi*Ei"Ei $?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756088G b=G B O > [aw,}AA2>Y2>2Z >92eH=y2H ?xݿ7?@?\?=Q?P @Ϩ??ɨ2>2֊;2CyRBV&IEMb@Mb@Mb@AAA A)AYE r?)\(MbyE?EGaEE/@ E@)E@IAAyE@IU IUV2٢e m?=9mQ u>qq G٣y? > Nusing accuracyPremultiplier from config 59y? 5Y i& f? : 8>@]EL ;;v5 ;@!ZjAMFNOT Ignoring new targets: 120.90 m.BjM6JjM6󻝊] ProNav: ac range: 120.900002 m, nav range: 71.210640 m, bearing: 279.576658 deg, approach rate: 0.113078 m/s, LOS rate: -0.425264 deg/s, cmd heading: 23.748336 deg, new cmd heading: 23.231884 deg. 2je푼eHeadingCmd: 0.405473 target range: 120.900002 and range: 120.90 m. je$>jijijiiihihihyh}Bfyfyfyrfbf{1?ɛB~U= 隭>I Ӈ=ɚiIii̠=)$>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008032*F?2F:FBFC5JFzKBoIK9KKK IG- ِ=G5 ?G5 >G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260714)) ) aw,W`[A.G:tAD Z6H!I! I%<'II%BI!&I!.I!6I%z<:I%9 FYZtAyEB% @By޵B޵&IIIF٢2ʽ 5=9Q > G٣RGy > Nusing accuracyPremultiplier from config59y?5Y i`@_E::x5 @ EZj)5FNOT Ignoring new targets: 120.90 m.Bj5EJj=E廝E ProNav: ac range: 120.900002 m, nav range: 71.257668 m, bearing: 279.402371 deg, approach rate: 0.108243 m/s, LOS rate: -0.400890 deg/s, cmd heading: 23.231884 deg, new cmd heading: 22.709384 deg. 2jMeHeadingCmd: 0.396354 target range: 120.900002 and range: 120.90 m. je>jajajiiihihihqhqfqfqfyrfybf},?ɛB == 隭~>I u=ɚiIOiiɱ=)>)*F-?2F):F)BF-4JF)G=GBOh>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513968 $?I faw,!VuAy>Y>T >9rk=yHU?-ܿ?h?e?DŽ?? (??ɨy>u;騝 Cy޵xB޽&Ii=I> a=a=Mb@Mb@Mb@ )Yx&1?kt{GzyA? #S@ )@IV@y=@IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763783IT3٢ K=9;Q > G٣yV > Nusing accuracyPremultiplier from config59Zy?5Y  it(?:g>@aE;;fz5 O@B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 120.90 m.Bj54Jj54仝] ProNav: ac range: 120.900002 m, nav range: 71.284073 m, bearing: 279.241330 deg, approach rate: 0.065451 m/s, LOS rate: -0.399024 deg/s, cmd heading: 22.709383 deg, new cmd heading: 22.226452 deg. 2je숼eHeadingCmd: 0.387925 target range: 120.900002 and range: 120.90 m. je>jijijiiihihihqhuBfqfqfyrfybf} V@ɛBD= E#=隅>I /e=ɚiIii#o=)>)*F-?2F1:F1BF53JF1J)J)JsK{|3 K{L.KsKs"KsJ5J5J5/J1J5:J5$-:J5(N3J1aM@aM@aM@aM@U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848G] =G1 B9 Oe >#aw,AJn>YJ=A>J>9JGs=yJH$|?@kۿJ?J? ? }?@-? :?ɨJn>J;JCy-qB-&II Ib3٢ \=98h;Q > G٣y > Nusing accuracyPremultiplier from configzKK9KKK &257432.,*(&&&&!! RK>JK? 59ny? 5Y iv  Đ> @bEB;u;|5 ʷ@EZjAEFNOT Ignoring new targets: 120.90 m.BjMLJjML ]$?IYm ProNav: ac range: 120.900002 m, nav range: 71.306885 m, bearing: 279.092729 deg, approach rate: 0.061031 m/s, LOS rate: -0.397436 deg/s, cmd heading: 22.226452 deg, new cmd heading: 21.780803 deg. 2jm`uHeadingCmd: 0.380147 target range: 120.900002 and range: 120.90 m. ju>jyjyjyiyhyhyhhfffrfbfTM@ɛeBeD= aeR>Ia e=ɚiiiImii=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268200*F=?2F9:F9BFEP0JFAH)I) I-&II-BI)&I).I)6I-h<:I-- FGe :=GA BI Oa )aw,|AVb>YV^>V>9V8d{=yVH?gڿ@Gr??I?Op?  ?֠?ɨVb>VZ;V!CyjcBj&IIz&Iz3٢   X=9I:Q >%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.52001711 5G٣5RGyE E> MNusing accuracyPremultiplier from configIU59M z?U5YMR iMY]>]@MdEM;MK;M}5a e@iZjFNOT Ignoring new targets: 120.90 m.BjJj廝 ProNav: ac range: 120.900002 m, nav range: 71.328735 m, bearing: 278.939306 deg, approach rate: 0.057239 m/s, LOS rate: -0.401780 deg/s, cmd heading: 21.780802 deg, new cmd heading: 21.320684 deg. 2jމHeadingCmd: 0.372116 target range: 120.900002 and range: 120.90 m. j>jQjQjQiQhYhYhYhYfafafarfabfe`@ɛB= >I =ɚiIii=)>)*F?2F:FBF_0JF YIYGĈ=Will construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771427Gi Bq O >B0aw,„A6V>Y6z>6%f>96 =y6He?ڿΗ?@f?&?@6?`?u?ɨ6V>6V;6CyBQBBp&I)D DDFAJJJ0JJ:J:Jـ3J-Mb@Mb@Mb@))) )))Y-%C?I +~jtxy-Z?-9-Ļ) -M@)-5@I-@)y-p@IEIEm?3٢ >=9#:Q > G٣y2 > Nusing accuracyPremultiplier from config59z?5Y i%C?%:%>%@eE;;5-B -ѹ@-EZjyFNOT Ignoring new targets: 120.90 m.BjJj绝 ProNav: ac range: 120.900002 m, nav range: 71.351936 m, bearing: 278.763351 deg, approach rate: 0.053461 m/s, LOS rate: -0.405315 deg/s, cmd heading: 21.320685 deg, new cmd heading: 20.793007 deg. 2jHeadingCmd: 0.362906 target range: 120.900002 and range: 120.90 m. jι>jjjihhhhBfffrfbf @ɛ=B=;= AE>IA E\=ɚAiAIMiaieɉ=)eι>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:23:11:13.9895 =TRx dataTimestamp_ set to:1736377875.181316Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025088EI_< 5$?I9zKM`sMKM+9KIKMKM    +FU]_ZWROHD<531034<Y]BKY:K]pA*F ?2F :F BF Q0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826jH! bH! H= >I9  I= &II= }BI= , =&I9 .I9 6I= T<:I=  FBIJIRIZIbIjI4G q=GBO>8aw,A6I>Y6h>6>96-=y6H` ?dٿ ? ?`DM? yf ! e?`C?ɨ6I>6ԃ;6!Cy>HBBe&IIJ IJb3٢R& R9=9RVgQ R>TT VG٣TyZdڼ Z> ^Nusing accuracyPremultiplier from config\b59^/z?b5Y^X i^`f2~>f@^gE^ ;^ ;^}5h jd@lZjFNOT Ignoring new targets: 120.90 m.Bj%Jj%ﻝ5 ProNav: ac range: 120.900002 m, nav range: 71.374084 m, bearing: 278.580397 deg, approach rate: 0.050728 m/s, LOS rate: -0.418904 deg/s, cmd heading: 20.793007 deg, new cmd heading: 20.244333 deg. 2j5=HeadingCmd: 0.353330 target range: 120.900002 and range: 120.90 m. j=>j9j9j9i9hAhAhAhAfffrfbfqw @ɛ|BL2= >I %D=ɚaiaIegiiiucX=)u>)qE]ȿ=Will construct direction to contact in vehicle frame from tetrahedron phase data.i*F?2F:F!BF%_0JF)DAT read: 23:11:13.9895 LVL= 14864, 31425, 22930, 32755, AGC= 64, IDX= 429, 0.16,-2.819, 1.481, 2.280, 2.643, PHS= 0.909,-1.115,-0.366, RAW= 111.5, 6.5, CAL= 121.7, 3.5, ROT= 28.3, -3.5 Ygot valid direction response: 23:11:13.9895 LVL= 14864, 31425, 22930, 32755, AGC= 64, IDX= 429, 0.16,-2.819, 1.481, 2.280, 2.643, PHS= 0.909,-1.115,-0.366, RAW= 111.5, 6.5, CAL= 121.7, 3.5, ROT= 28.3, -3.5 PDAT read: Bearing 28.3, -3.5 (Local) %~Local bearing/azimuth received: Bearing 28.3, -3.5 (Local) MDAT read: Range 10 to 50 : 119.5 m (Round-trip 159.4 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]`direction in FSK: [-0.237666,-0.259101,0.936153]]Fpublishing direction and range info9tfkο4пzA?yB:z Y)I@i9h?RZd?V= @)5z=I'>i5zP*q?Xl¿H?)IKic 0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IG} B=GY B O >*>aw,lAWill construct direction to contact in vehicle frame from tetrahedron phase data.&,DAT read: user:3067> *BDAT read: Tx time:23:11:15.2259 .$Ping request sent.. G٣RGy > Nusing accuracyPremultiplier from config59 Ez?5Y i%?:x>@iE.F;mC;5 i@Ek5,J|{?k5 !" k1 k5qA:k5BBk5XBZk5™@"50fN![@5tfkο4пzA?Jk5c Rk50*5N @GV D#&:!\@5qFޟ?t0vտ`0s!?"k5J *k5n@k5"u~{?k5 p" 2k5)4Ck1k5Xd# k5)4Ck5P6Bk5(@ addTargetRange:: Added new target pos. range: 119.500000 m, deltaT: 3.782403 s, deltaX: -1.400002 m, approachRate: -0.370135 m/s, rangeRepo size: 4 JJJ1JJJJ3J Added new target pos. range: 119.500000 m, bearing: 275.302505 deg, lat: 36.904378 deg, lon: -122.121093 deg, deltaT: 3.782403 s, deltaX: -1.400002 m, approachRate: -0.370135 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 119.50 m.BjJj% ProNav: ac range: 119.500000 m, nav range: 45.578533 m, bearing: 283.183406 deg, approach rate: 0.000000 m/s, LOS rate: -0.418904 deg/s, cmd heading: 20.244334 deg, new cmd heading: 19.591314 deg. 2j!-HeadingCmd: 0.341933 target range: 119.500000 and range: 119.50 m. j->j)j)j)i)h1h1h1h5Bf9f9fArfE]@bfEek?ɛpBb= 隵>I =ɚiIii+֛=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:15.2251 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249959E ͢!=*Fq 2Fy :Fy BF} P0JFy $?I zKU KNKU 59KQ KU KU @1&"%" '0=MW`ksuw}vf\Z^\ZWVQNKKJHGD@RK] >JK] >G==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503883G9BAO} ?$Gaw,AH I  I"z&II"ZBI &I .I 6I"<:I" FFLo2>YF/>Fz >9Fڄ=yFHvA? ؿn?` c??w|`o?ޠ?ɨFLo2>F;FCyR8BRR&I V=V=IZIZ@٢b b7=9bYQ f>dd fG٣dyjS j> ]Nusing accuracyPremultiplier from configte59vYXz?m5YvW ivq'a>@vkEvjqjqjqiyhyhyhyhyfffrfbf`ܛ?ɛfB6= F>I "=ɚiI.,i)i-v=)-U)>)1E9E9*E9"E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753072*FU?2FQ:FQBFQJFQG= =G! B) OM > I hLMaw,7AeD*>Ye^>e >9e =yeH`]?׿? ??_C@3? Ť?ɨeD*>e;eCyޭYY ]G٣Yye e> Nusing accuracyPremultiplier from configi59mmz?5Ym im1 ?:l>@mmEmjYjYjaiahahihihuփBfqfqfqrfqbf}`G?ɛ[B`= 隵>I =ɚiIHii=)O>)*F5?2F1:FABFE_0JFAJJJ0JJ̝:J9Jـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260067G =Gy B O >^6Taw,QA6>Y6t>6s>96f=y6H? Qֿ?S??J%??ɨ6>6;6 CyB?BBZ&IIJIJ㔳٢RՍ< R=9RQ R ?TT VG٣VRGyZn Z ? ^Nusing accuracyPremultiplier from config\b59^{z?b5Y^j i^df">f@^oE^:^:^#5jB n @nEZjFNOT Ignoring new targets: 119.50 m.Bj NJj N ProNav: ac range: 119.500000 m, nav range: 45.593384 m, bearing: 282.342130 deg, approach rate: 0.020068 m/s, LOS rate: -0.722290 deg/s, cmd heading: 17.715870 deg, new cmd heading: 17.067973 deg. 2j%%HeadingCmd: 0.297892 target range: 119.500000 and range: 119.50 m. j%X>j)j)j)i)h)h)h1h1 =$?IAfAfAfArfIbfM5?zKYNKs9KKK?=;9<=::<:977440+*(&%" BK:KɛTB޺= !%:>I! %-,=ɚ!i!I%miIiU6=)UX>)Q*F ?2F :FBF3JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508518ZHARHAHYIY I]a&II]EBIY&IY.IY6I]<:I] FGIGU ?GU>G! B9 O] >_Zaw,kA6>Y6Nz>6">96Ŗ=y6H?vzֿɋ?z?@?王k?@Ψ?ɨ6>6;6!Cy@B[&IIJNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760543IJ 3٢ZRv: ZI=9^VQ ^>`` bG٣`yb f> jNusing accuracyPremultiplier from configdj59fэz?n5Yf iflny>n@fpEf ;f ;f銐5t v@tZjFNOT Ignoring new targets: 119.50 m.Bj0:Jj0: ProNav: ac range: 119.500000 m, nav range: 45.600182 m, bearing: 282.065127 deg, approach rate: 0.015981 m/s, LOS rate: -0.651117 deg/s, cmd heading: 17.067973 deg, new cmd heading: 16.237150 deg. 2jm߼ HeadingCmd: 0.283392 target range: 119.500000 and range: 119.50 m. j >j j)j)i)h)hhhfffrfbf#@ɛIB= 隵>I F=ɚiIii=)>) -$?I)*F]?2Fa:FaBFe[5JFaMWill construct direction to contact in vehicle frame from tetrahedron phase data.UEaaw,VA6tu >Y6>6=>96Ȁ=y6H?տ`?*??c )? D?ɨ6tu >6Չ;4J@J@yFABF\&IUMb@Mb@Mb@QQQ Q)QYUDl?~jt:v?yUO ?UļUT G٣y׼ > Nusing accuracyPremultiplier from config59z?5Y i| ?:>@rEP;O;Ȍ5 @EZjFNOT Ignoring new targets: 119.50 m.Bj$MJj$M ProNav: ac range: 119.500000 m, nav range: 45.624538 m, bearing: 281.771154 deg, approach rate: 0.059471 m/s, LOS rate: -0.717400 deg/s, cmd heading: 16.237149 deg, new cmd heading: 15.355774 deg. 2j,HeadingCmd: 0.268009 target range: 119.500000 and range: 119.50 m. jt8>jjjihhh h Bf f f rfbf@L@ɛ5@B5= 15?I1 =Vِ=ɚAiAIEKiQiU=)]t8>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265800*F?2F:FBF  5JF Gױ=GBOb> I!zKcMK+9KKK RK ?JK? ~G |uA! M YM |uAyM Be Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516457HA IA  IA IA IA &IA .IA 6IE P<:IE  Fpgaw,82AV>YV^>V>9V*=yVH?b2տ%?)? g ?UldD ?$?ɨV>VnW;V"Cy~?B~Z&III2٢%M -P=9-rQ ->11 5G٣5RGy5ؼ 5> Nusing accuracyPremultiplier from config59z?5Ya i^F>@tE; ;5B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 119.50 m.BjDJjD ProNav: ac range: 119.500000 m, nav range: 45.646255 m, bearing: 281.494626 deg, approach rate: 0.054043 m/s, LOS rate: -0.687807 deg/s, cmd heading: 15.355775 deg, new cmd heading: 14.526648 deg. 2j켝%HeadingCmd: 0.253538 target range: 119.500000 and range: 119.50 m. j-ρ>j)j)j1i1h9h9h9hAfAfAfArfAbfM@ɛ7BW= 隥?I =ɚiIiims=)ρ>)JJJJJ:J9JJJ;aJ;aJ1;aJ1;a*FM?2FI:FIBFMP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768419GmR=GupAGurAGI BQ Om > $?I maw,A:J=Y: >:b>9:|=y:H5? їԿB?>?!Ie=II(%Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:11:17.7872 MTRx dataTimestamp_ set to:1736377878.965481]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028102٢)= 5=9 Q > G٣y༼ > Nusing accuracyPremultiplier from config59z?5Y i1>@vE{;j;y5 @Zj15FNOT Ignoring new targets: 119.50 m.Bj=@Jj=@u ProNav: ac range: 119.500000 m, nav range: 45.668823 m, bearing: 281.190928 deg, approach rate: 0.050067 m/s, LOS rate: -0.673428 deg/s, cmd heading: 14.526648 deg, new cmd heading: 13.616085 deg. 2ju缝}HeadingCmd: 0.237646 target range: 119.500000 and range: 119.50 m. j}XYs>jyjyjyiyhhhhfffrfbfF @ɛe,Be= amC ?Ii m=ɚqiqIuciyi}o=)}XYs>)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273675G Ҵ=G B O >taw,҅A XIXz$=Yz@>z =9z%qu=yzH? kԿ j?xX?@U?B`~ Dm? ?ɨz$=zi;xy%AB%\&IMb@Mb@Mb@ )Yi|?5?Q?~jt?y?\=<x@ @)@Iz@y@IeIe2٢u uM=9}ȻQ }>yy G٣yZ˼ > Nusing accuracyPremultiplier from config59z?5YK i?:p>@xE@;;75 @EZjFNOT Ignoring new targets: 119.50 m.BjnKJjnKzKKKh9KKK BK:K ProNav: ac range: 119.500000 m, nav range: 45.712269 m, bearing: 280.911774 deg, approach rate: 0.110825 m/s, LOS rate: -0.711412 deg/s, cmd heading: 13.616085 deg, new cmd heading: 12.779480 deg. 2j HeadingCmd: 0.223044 target range: 119.500000 and range: 119.50 m. jed>jjjihhhh2Bfff!rf!bf%? @ɛU#BU:= QU?IQ ]{=ɚYiYI]iaie~~=)eed>)a*F?2F:FBF^0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527963H>I Ih&IIJBI+ =&I.I6I<:IP FG-^=GBOn>J J J J J <:J 9J J J ;J ;J $7;J %7;@zaw,GA2=Y22x>2=92Ep=y2H-?ӿ' ??k?@h ˭?෵?ɨ2=2";2 C>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 23:11:17.7872 LVL= 14752, 25889, 21138, 29427, AGC= 58, IDX= 420, 0.39, 0.238,-1.746,-1.147,-0.743, PHS= 1.070,-0.955,-0.407, RAW= 105.2, 3.3, CAL= 116.2, 0.8, ROT= 33.8, -0.8 bYgot valid direction response: 23:11:17.7872 LVL= 14752, 25889, 21138, 29427, AGC= 58, IDX= 420, 0.39, 0.238,-1.746,-1.147,-0.743, PHS= 1.070,-0.955,-0.407, RAW= 105.2, 3.3, CAL= 116.2, 0.8, ROT= 33.8, -0.8 fPDAT read: Bearing 33.8, -0.8 (Local) f~Local bearing/azimuth received: Bearing 33.8, -0.8 (Local) jDAT read: Range 10 to 50 : 117.8 m (Round-trip 157.1 ms) speed 0.4 m/s nR#Rx 1: Read range and direction messages.r`direction in FSK: [-0.169012,-0.154668,0.973403]rFpublishing direction and range info<9>JO[,ſX*ÿvn&?y>B<>9>!e >R)>rI>:i>?>zt>Nbо>?>k= >@)>d?i>d<<>F1#? $,\пBr?)>I>hi>t>hy<<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y=1B=I&IIMIM3٢]1 ]^=9]޻Q ]>aa eG٣eRGymIü m> uNusing accuracyPremultiplier from configq59u@uzEu]0O{?k>s`! k< k>A:k>BBk>BZk>Y@"> 3HL82o\@>JO[,ſX*ÿvn&?Jk>tRk>hy*>l]Z@/|9 y\@>0O*ő?jV[˿ƻO;?"k>c*k>@k>sO{?k>]e! 2k>6Ck>sO{?k>h+# k>4Ck>S+Bk> S@u addTargetRange:: Added new target pos. range: 117.800003 m, deltaT: 4.027990 s, deltaX: -1.699997 m, approachRate: -0.422046 m/s, rangeRepo size: 4  Added new target pos. range: 117.800003 m, bearing: 274.574728 deg, lat: 36.904320 deg, lon: -122.121069 deg, deltaT: 4.027990 s, deltaX: -1.699997 m, approachRate: -0.422046 m/s, posRepo size: 4 Zj $?IFNOT Ignoring new targets: 117.80 m.BjJj ProNav: ac range: 117.800003 m, nav range: 42.831837 m, bearing: 272.735779 deg, approach rate: 0.000000 m/s, LOS rate: -0.711412 deg/s, cmd heading: 12.779480 deg, new cmd heading: 11.920286 deg. 2jHeadingCmd: 0.208048 target range: 117.800003 and range: 117.80 m. j U>jjjihhh1h1f1f1f9rf=@3s]@bf=~P?ɛB\$= R ?I =ɚiIaii=) U>)*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.U,DAT read: user:3068> eBDAT read: Tx time:23:11:19.2259 e$Ping request sent.eG B O >aw,A60=Y6$D>6Mu=96rd=y6HyI? ҿ࿙?6?@Ԅ?S\H? ?ɨ60=6z;4yB.BBE&I)D FAMb@Mb@Mb@ )Y G٣yp > Nusing accuracyPremultiplier from config59z?5Yx i ?:>@|E#;;Ǖ5B <@EZjAEFNOT Ignoring new targets: 117.80 m.BjmYJjmY} ProNav: ac range: 117.800003 m, nav range: 42.927250 m, bearing: 272.415387 deg, approach rate: 0.227464 m/s, LOS rate: -0.762108 deg/s, cmd heading: 11.920286 deg, new cmd heading: 10.961341 deg. 2j}HeadingCmd: 0.191311 target range: 117.800003 and range: 117.80 m. j)C>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:19.2251 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247218jjjihhhhBBfffrfbfCR?ɛ%B%= )-&?I) -s=ɚ)i)I-X/i1i5 =)5)C>)9*F?2F:FBFo0JF $?IG[]=GBO>zK }KK 9K K K RK >JK ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499674H I  I I I * =&I .I 4D6I I<:I  FBIJIRIZI, =bI, =jIˡO5aw,1{ A2=Y24>2%=922GZ=y2HF`?`nҿ -?`??5 w@r? ?ɨ2=2-;0yB&BB<&IIVIV<٢]u$ ]]=9eQ e>aa mG٣iyuN }> Nusing accuracyPremultiplier from configy59}: {?5Y}= i}>@}}E}:}:}\5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 117.80 m.BjQJjQ ProNav: ac range: 117.800003 m, nav range: 43.004143 m, bearing: 272.155215 deg, approach rate: 0.216991 m/s, LOS rate: -0.732887 deg/s, cmd heading: 10.961341 deg, new cmd heading: 10.182273 deg. 2j|HeadingCmd: 0.177714 target range: 117.800003 and range: 117.80 m. j5>jjjihhhhfffrfbf@+i?ɛ%B-= ->~<-R?I) -<=ɚ)i)I52iAiM]#=)M5>)YJJJJJ:J9JJJP;JQ;JZ5;JZ5;*Fu?2Fq:FqBF} 4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749468G(== i Iq Gq B O >"aw,yX:AFl=YF2>F6%=9F !=yFHBz? ѿ]?%#??iw )?? ?ɨFl=Ft;FCyNBR(&IIUIU@٢c E=9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004685Q >q G٣RGy > Nusing accuracyPremultiplier from config59p {?5Y ik>@E*:*:V5  -@-EZjquFNOT Ignoring new targets: 117.80 m.Bj}IJj}I ProNav: ac range: 117.800003 m, nav range: 43.098885 m, bearing: 271.831423 deg, approach rate: 0.206148 m/s, LOS rate: -0.702985 deg/s, cmd heading: 10.182274 deg, new cmd heading: 9.213130 deg. 2j9񼝊HeadingCmd: 0.160799 target range: 117.800003 and range: 117.80 m. j$>jjjihhhhfffrfbf@R/?ɛ5B5P= 9= ?I9 =K=ɚ9i9I=Jiiim=)m$>)qEEmA*F]?2Fa:FaBFe3JFiG=%w=G=qAG9G BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253471 ] $?IY d֔aw,0JTAV\X=YV>Vj=9VO"=yVHǢ?ѿ`)? /?`?@t@@5?@ ?ɨV\X=Vq։;V"CybBb&Iif=If G٣y. > Nusing accuracyPremultiplier from config591{?5Y i?:>@E9;88;隐5B ľ@EZjy}FNOT Ignoring new targets: 117.80 m.Bj,KJj,K ProNav: ac range: 117.800003 m, nav range: 43.186188 m, bearing: 271.565446 deg, approach rate: 0.233687 m/s, LOS rate: -0.710509 deg/s, cmd heading: 9.213130 deg, new cmd heading: 8.416864 deg. 2j󼝊HeadingCmd: 0.146902 target range: 117.800003 and range: 117.80 m. jzm>jjjihhhh?Bfffrfbf)?zKEKAKAKEKE8^h2&)x!ɛmBmY= im?Ii uJ=ɚqiqIu#iyi}=)}zm>)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506658H>IC Ia&IIEBI&I.I6I<:I F*F2F:FBF4JFJ J J J J J 9J J J J J 8;J 8;G =G B O >aw,nA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757499R6=YR7և>Ry=9R:=yRHB?п5??9??Ⱥ?`)?ɨR6=R;R CyZB^&IIf!Ifi3٢n nV=9n"Q r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~59zB{?~5Yz izy> @zEzE;zR6;z5 ο@Zj9=FNOT Ignoring new targets: 117.80 m.BjEl]JjEl]U ProNav: ac range: 117.800003 m, nav range: 43.277794 m, bearing: 271.284343 deg, approach rate: 0.252875 m/s, LOS rate: -0.774326 deg/s, cmd heading: 8.416864 deg, new cmd heading: 7.575405 deg. 2jU]HeadingCmd: 0.132216 target range: 117.800003 and range: 117.80 m. j]c>jYjYjYiYhahahahafififirfibfu@7i@ɛ=B=CU= AE?IA EJ=ɚAiAIM!iQiUm=)Uc>)Q $?IEuZ%=*F?2F:FBF05JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018376Gm =J J AAGI BQ Om > saw,ZFA6r=Y6>6o=96=y6H ?xϿ6???@@ vB?@?ɨ6r=6;4y>߆BB%IEMb@Mb@Mb@AAA A)AYEbX9?y&1?yEE?E`=EA E@)E@IE=@AyE @IeIe 3٢uɽ u2=9}IQ }>yy G٣RGyZ > Nusing accuracyPremultiplier from config59W{?5Yi i?:>@E;;5 H@EZjFNOT Ignoring new targets: 117.80 m.BjcLJjcL ProNav: ac range: 117.800003 m, nav range: 43.390785 m, bearing: 270.954869 deg, approach rate: 0.245764 m/s, LOS rate: -0.714760 deg/s, cmd heading: 7.575405 deg, new cmd heading: 6.589659 deg. 2jDHeadingCmd: 0.115011 target range: 117.800003 and range: 117.80 m. j=jjjihhhh6Bff f rf bf k@ɛ=B=l+= AE[>IA Eʙ=ɚAiAIE<MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261959I]=iYie>)e=)aEV<Ep>E> I*F=?2F9:F9BF=P0JF9G=GBOm>zKݸOK59KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513377He >Ia  Ie H&IIe 1BIa &Ia .Ia 6Ie a<:Ie - Faw,A @::D%=9:^=y:H?`ο@»?Z???@X 2?L?ɨ:<:;:CyN†BR%IIZIZV83٢f fV=9jKQ j>hh jG٣hyn n> vNusing accuracyPremultiplier from configpv59rh{?v5Yr ir>xz,>z@rEr:r:rB5|  @%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 117.80 m.Bj5LJj5LE ProNav: ac range: 117.800003 m, nav range: 43.483303 m, bearing: 270.681346 deg, approach rate: 0.242481 m/s, LOS rate: -0.715351 deg/s, cmd heading: 6.589659 deg, new cmd heading: 5.770895 deg. 2jExMHeadingCmd: 0.100721 target range: 117.800003 and range: 117.80 m. jMF=jIjQjQiQhQhQhYhYfYfYfarfabfeH$@ɛڅB;= 隭>I =ɚiIH)}F=)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765521 $?I*Fu?2Fq:FqBFqJFqG = Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:23:11:21.7845 E TRx dataTimestamp_ set to:1736377882.996511e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024180G B O>Foaw,Ae1e0=9eB =yeHd?`Q̿`7?#7?d'?@+? 5?ɨe1qq uG٣qyuм }> Nusing accuracyPremultiplier from configy59}{?5Y} i}U3?:Z>@}E}+;}!*;}5B @EZjFNOT Ignoring new targets: 117.80 m.BjKJjK ProNav: ac range: 117.800003 m, nav range: 43.593727 m, bearing: 270.311985 deg, approach rate: 0.213604 m/s, LOS rate: -0.712674 deg/s, cmd heading: 5.770895 deg, new cmd heading: 4.665764 deg. 2jHeadingCmd: 0.081433 target range: 117.800003 and range: 117.80 m. jQƦ=jjjihhhh Bfffrf bf CK @ɛ5΅B54= 15>I1 =Yh=ɚ9i9I=5)QƦ=)*Fy2Fy:FyBFZ0JFGU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269698G)B9OUv> $?Ihaw,ۆA)y >SCzKBHK9KKK HMiJ{dP@2&  BK:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.H5>I1 I5&II5BI5) =&I1.I16I53<:I5 FUDAT read: 23:11:21.7845 LVL= 13088, 26657, 23938, 32755, AGC= 57, IDX= 412, 0.19,-1.499, 2.721, 3.072,-2.638, PHS= 1.228,-0.876,-0.576, RAW= 97.6, 2.3, CAL= 107.3, 0.1, ROT= 42.7, -0.1 ]Ygot valid direction response: 23:11:21.7845 LVL= 13088, 26657, 23938, 32755, AGC= 57, IDX= 412, 0.19,-1.499, 2.721, 3.072,-2.638, PHS= 1.228,-0.876,-0.576, RAW= 97.6, 2.3, CAL= 107.3, 0.1, ROT= 42.7, -0.1 ePDAT read: Bearing 42.7, -0.1 (Local) e~Local bearing/azimuth received: Bearing 42.7, -0.1 (Local) G 6Yy5 B-DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.2 m/s 5R#Rx 1: Read range and direction messages.E@Y@_>=9K;?iAuVX?>:˨\eؿ4Ǎ?)-gȾIy$i ?0ɶT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I-$I-<3٢%0 %0=9- Q ->)1 5G٣5RGy5ټ 5> eNusing accuracyPremultiplier from configam59eV{?m5Ye' ieaim>m@eEe:eC:e5B H@Ek` z?kcb k k7߆A:kBBk3BZk@""LJ0qg\@"`#/n?Jk ?Rk0ɶ*'8 ghW8\@$M Ů9/?"k*kQkҿ z?kc 2k6Ck"u~{?k p" k6CkL&Bk@% addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.782360 s, deltaX: -1.900002 m, approachRate: -0.502332 m/s, rangeRepo size: 4 ] Added new target pos. range: 115.900002 m, bearing: 244.798775 deg, lat: 36.904318 deg, lon: -122.121045 deg, deltaT: 3.782360 s, deltaX: -1.900002 m, approachRate: -0.502332 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 115.90 m.BjJj ProNav: ac range: 115.900002 m, nav range: 41.574780 m, bearing: 269.593247 deg, approach rate: 0.000000 m/s, LOS rate: -0.712674 deg/s, cmd heading: 4.665764 deg, new cmd heading: 3.498991 deg. 2jHeadingCmd: 0.061069 target range: 115.900002 and range: 115.90 m. je#z=jjj!iIhIhIhQhQfQfQfQrf]\@bf]@h?ɛ…Bnu= e K>Ii m >K=ɚi ii Im )u e#z=)y  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3069>  BDAT read: Tx time:23:11:23.0257  $Ping request sent. GBeWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:23.0250 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259306O?3@aw,E A@Y7P>=9: G٣y > Nusing accuracyPremultiplier from config59F{?5Y iq5?:>@E;A;榐5  H@ Zj9=FNOT Ignoring new targets: 115.90 m.BjEiJjEiU ProNav: ac range: 115.900002 m, nav range: 41.659092 m, bearing: 269.219717 deg, approach rate: 0.184298 m/s, LOS rate: -0.814839 deg/s, cmd heading: 3.498991 deg, new cmd heading: 2.380819 deg. 2jU ]HeadingCmd: 0.041553 target range: 115.900002 and range: 115.90 m. j]3*=jYjYjYiYhahahihmBfififirfqbfu.?ɛBȢ= 隥n>I ۜ=ɚiI)3*=)J J J /J J <:J 9J (N3J *F]?2FY:FYBF]P0JFYG=& >GB5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116OMt> m $?Ii eaw,A6 @Y62A>6q=96M-@~E~?;~B2;~`5 @%EZjAMFNOT Ignoring new targets: 115.90 m.BjMSJjMS] ProNav: ac range: 115.900002 m, nav range: 41.713963 m, bearing: 268.968844 deg, approach rate: 0.162049 m/s, LOS rate: -0.739926 deg/s, cmd heading: 2.380820 deg, new cmd heading: 1.629237 deg. 2j]eHeadingCmd: 0.028436 target range: 115.900002 and range: 115.90 m. je<jajijiiihihihqhqfqfqfqrfybf}?ɛB= 隵>I Q8=ɚiI)<)zKb!NK+9KKKRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755713H!>I I%IIˆBI( =&I.I6ID<:I F*FU?2FQ:FQBFU_0JFQG= >GBO=>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006767 Y Ia aw,4A>Y@Y>1>>=9>%xHS^?ſ\?p?…?xwq??ɨ>Y@>.;>CyFBJ$IIRIRƲ٢^ ^K=9^FdQ ^>`` bG٣bRGyb f> vNusing accuracyPremultiplier from configpv59r8{?z5Yr irxz>z@rEr;r;r#5~B n@}EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 115.90 m.Bj5TJj5TE ProNav: ac range: 115.900002 m, nav range: 41.777134 m, bearing: 268.669361 deg, approach rate: 0.157042 m/s, LOS rate: -0.743377 deg/s, cmd heading: 1.629237 deg, new cmd heading: 0.732224 deg. 2jEMHeadingCmd: 0.012780 target range: 115.900002 and range: 115.90 m. jM bQ<jIjIjIiIhQhQhQhQfYfYfYrfabfe?ɛB[= 隕tl>I =ɚiI@) bQ<)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261886G>G?G%?GBO>JKـ3 K .KK"KJ J J 0J J ̝:J 9J ـ3J ]xaw,NA6@Y6!>6=96w G٣yL > Nusing accuracyPremultiplier from config59t{?5Y% i?:~>@E;; 5 $@ ZjFNOT Ignoring new targets: 115.90 m.Bj@OJj@O ProNav: ac range: 115.900002 m, nav range: 41.819176 m, bearing: 268.341577 deg, approach rate: 0.093054 m/s, LOS rate: -0.724772 deg/s, cmd heading: 0.732224 deg, new cmd heading: 359.749960 deg. 2jHeadingCmd: 6.278821 target range: 115.900002 and range: 115.90 m. j@j $?IjjihhhhBf f f rf1bf5 U?ɛ}B})7= y}"J>Iy =ɚiI!9)@)*F?2F:FBFJFzKmk3IKms9KiKmKmBKy:K}oAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675H#>IC It%IIBI&I.I6I"<:I FBIuțCJIuțCRIqZIu) =bIu) =jIuz5G !>G B O >uaw,yhAFt@YF >FO9=9Fä??ɨFt@F҈;F!CyVBV$IIf0If(3٢ L=9:Q > G٣y@$ > Nusing accuracyPremultiplier from config59{?5Y` i>@E ; ;ʭ5 @zEZj FNOT Ignoring new targets: 115.90 m.Bj `Jj ` ProNav: ac range: 115.900002 m, nav range: 41.855404 m, bearing: 268.040660 deg, approach rate: 0.094417 m/s, LOS rate: -0.783564 deg/s, cmd heading: 359.749970 deg, new cmd heading: 358.848080 deg. 2jp%HeadingCmd: 6.263081 target range: 115.900002 and range: 115.90 m. j%(k@j!j)j)i)h1h1h1h1f9f9f9rf9bfE @ɛmBm;= im&>Ii u5=ɚqiqIuo)}(k@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015011*F%?2F!:F!BF%[4JF! $?IGM@">G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270025ߋaw,JAyͅB$I}Mb@Mb@Mb@yyy y)yY}@5^I ?:vy&1y}b?}T}`ey }x@)}@Iyyy}@I.I3٢ѽ .=9Q > G٣RGy > Nusing accuracyPremultiplier from config=599 |?=5Y iE ?E:EL=E@Ew<.<կ5I U@QZjy}FNOT Ignoring new targets: 115.90 m.Bj$TJj$T ProNav: ac range: 115.900002 m, nav range: 41.878361 m, bearing: 267.681619 deg, approach rate: 0.047461 m/s, LOS rate: -0.741870 deg/s, cmd heading: 358.848085 deg, new cmd heading: 357.771687 deg. 2jHeadingCmd: 6.244294 target range: 115.900002 and range: 115.90 m.JJJJJJ 9JJ jA@jjjihhhhkBfffrfbfɎ@ɛB= >I w=ɚiI ) A@) Ei>E)>*F?2F:FBF{1JF"G=G >Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519677 $?IG >G B O >˴aw, AyލBލm$IiY>I=I5I3٢. m=9Q ? G٣y ? Nusing accuracyPremultiplier from config 59|? 5YƤ i @E:>;Y5B +@wEzK5BoHK559K1K5K5H]$>IY I]%II]8BI]' =&IY.IY6I]f<:I]9 FuWill construct direction to contact in vehicle frame from tetrahedron phase data.yiy}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771044ZjFNOT Ignoring new targets: 115.90 m.Bj(_Jj(_ ProNav: ac range: 115.900002 m, nav range: 41.896412 m, bearing: 267.416125 deg, approach rate: 0.053083 m/s, LOS rate: -0.780401 deg/s, cmd heading: 357.771674 deg, new cmd heading: 356.975588 deg. 2jHeadingCmd: 6.230399 target range: 115.900002 and range: 115.90 m. jn_@jjjihhhhfffrfbf?@ɛB= 0=I =ɚiI)n_@)*F?2F:FBF4JFG~>GBOc>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:23:11:25.5835 5 TRx dataTimestamp_ set to:1736377886.7730335 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024208 I aw,AJxI@YJ@G=J=9J6ii mG٣iymN; m> }Nusing accuracyPremultiplier from configq}59u/|?5Yu iu@uEu:u/:u 5 ~@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.90 m.Bj`Jj` ProNav: ac range: 115.900002 m, nav range: 41.902214 m, bearing: 267.119583 deg, approach rate: 0.015334 m/s, LOS rate: -0.783616 deg/s, cmd heading: 356.975575 deg, new cmd heading: 356.086148 deg. 2jrHeadingCmd: 6.214876 target range: 115.900002 and range: 115.90 m. jC@jjjihhhhfffrfbf "G @ɛ%{B%^= !%q=I) -=ɚ)i)I-GG) B1 OU >aw,χArWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:11:25.5835 LVL= 16240, 29137, 25330, 29539, AGC= 59, IDX= 431, 0.09, 2.747, 0.827, 0.788, 1.615, PHS= 1.220,-0.741,-0.830, RAW= 87.8, 3.5, CAL= 94.4, 1.5, ROT= 55.6, -1.5 Ygot valid direction response: 23:11:25.5835 LVL= 16240, 29137, 25330, 29539, AGC= 59, IDX= 431, 0.09, 2.747, 0.827, 0.788, 1.615, PHS= 1.220,-0.741,-0.830, RAW= 87.8, 3.5, CAL= 94.4, 1.5, ROT= 55.6, -1.5 PDAT read: Bearing 55.6, -1.5 (Local) ~Local bearing/azimuth received: Bearing 55.6, -1.5 (Local) DAT read: Range 10 to 50 : 115.0 m (Round-trip 153.4 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.148381,0.148529,0.977713]Fpublishing direction and range infop9r8`#¿P?}3lI?yrBprp?rq rb)rcsIr;ir(?r-=rzTr%?r5z= rB?)rPw G٣RGy > Nusing accuracyPremultiplier from config59I|?5Y i?:Ľ@Em<m<i5%B %@-tEkrƦz?kr kp krчA:krBBkriBZkr},?"rvS1Z(H1@#B6\@r8`#¿P?}3lI?Jkr@Rkr*ri5E=}.@Cp\@ry,?F|?"kr+vA*krkrcz?kr)  @) EjHM<bHIHU%>IQ IU$IIUBIQ&IQ.IU5D6IUN<:IU) FWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3070> BDAT read: Tx time:23:11:26.8260 $Ping request sent.Gm ?Gm ?G1 B9 Ou >uaw,AJJJ/JJ\:J9J(N3JJj;aJk;aJZ5;aJZ5;ayzB-$II0I(3٢=`" ==9AQ E?AA EG٣IyI M? uNusing accuracyPremultiplier from configq}59u X|?}5Yu iuc@uEu:u:u5 @qEZjFNOT Ignoring new targets: 115.00 m.Bj"Jj"5 ProNav: ac range: 115.000000 m, nav range: 26.818239 m, bearing: 264.475037 deg, approach rate: -0.001739 m/s, LOS rate: -1.308833 deg/s, cmd heading: 354.742048 deg, new cmd heading: 353.657200 deg. 2j5`=HeadingCmd: 6.172482 target range: 115.000000 and range: 115.00 m. j=@j9jAjAiAhAhAhIhfffrfbf`e?ɛgBI=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:26.8252 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251396 =I  =ɚ i I L'>)@) M$?II*F?2F:FBF^0JFG=GqBO~> Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506569bw,"Ay-uB5'$IMb@Mb@Mb@ )YGz?i|?5Mb`y@ @)I@y @II(*2٢   ==9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%l|?-5Y% i%65?5:5 5@%E%D;%;%59 =@AZjamFNOT Ignoring new targets: 115.00 m.BjmJju ProNav: ac range: 115.000000 m, nav range: 26.809757 m, bearing: 263.950720 deg, approach rate: -0.020207 m/s, LOS rate: -1.249482 deg/s, cmd heading: 353.657196 deg, new cmd heading: 352.084162 deg. 2j`VHeadingCmd: 6.145028 target range: 115.000000 and range: 115.00 m. j@jjjihhhhLBfffrfbf q?ɛ]B= @>=I Y=ɚiI2)@)*Fu?2Fq:FyBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754625 )I)G= =G B! OE > G tA) bw,fA "Y"tAy"'By=sB=$$I AEa=IMIM٢uI uj=9qQ }>yy }G٣RGy > Nusing accuracyPremultiplier from config59Q}|?5Y i@E ; ;5B @nEZjFNOT Ignoring new targets: 115.00 m.BjJj ProNav: ac range: 115.000000 m, nav range: 26.804491 m, bearing: 263.521576 deg, approach rate: -0.015067 m/s, LOS rate: -1.228041 deg/s, cmd heading: 352.084176 deg, new cmd heading: 350.796722 deg. 2jRHeadingCmd: 6.122558 target range: 115.000000 and range: 115.00 m.H'>I Iz$IIBI&I.I6IT<:I/ F j@jjjihhh!h!f!f!f)rf)bf-  ?]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007226ɛmUBm=zKp~MK 9KKK |H  8n=I  =ɚiIޠ)@)*F2F:FBF0JFG=GABQOuX>JJJ0JJ:J9Jـ3JJ;J;J8;J8; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258475 % $?I) - bw,C7A2@Y2n@2=92-xx zG٣xy~V ~> Nusing accuracyPremultiplier from config 59|? 5Y iQ]@E;I;˻5 @!=B*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 115.00 m.BjUPJjUP ProNav: ac range: 115.000000 m, nav range: 26.782434 m, bearing: 263.049156 deg, approach rate: -0.056875 m/s, LOS rate: -1.219179 deg/s, cmd heading: 350.796713 deg, new cmd heading: 349.378591 deg. 2j-QHeadingCmd: 6.097807 target range: 115.000000 and range: 115.00 m. j)GIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512538BO;>*J C="J <bw,}!QA:=@Y:}M@:xh=9:m G٣y > I Nusing accuracyPremultiplier from config59 |?5Y i?:@ED;;5 @kEZjFNOT Ignoring new targets: 115.00 m.BjJj ProNav: ac range: 115.000000 m, nav range: 26.750883 m, bearing: 262.516959 deg, approach rate: -0.069860 m/s, LOS rate: -1.179751 deg/s, cmd heading: 349.378601 deg, new cmd heading: 347.780566 deg. 2jiJHeadingCmd: 6.069916 target range: 115.000000 and range: 115.00 m. j<@jjjih h h)h-[Bf1f1f1rf1bf=1@ɛBB剨= 隅=I MB=ɚiIX)<@)*Fe?2Fa:FaBFmQ5JFiZHRHH(>IC IN$IIBI& =&I.I6IZ<:I5 FuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014370zK;OK+9KKK  BK :K qAG w|<>G ?G ?G B O% >Abw,%kAB@YB @BE=9B`h) -G٣-RGy-+ -> =Nusing accuracyPremultiplier from config1E595|?E5Y51 i5AEyE@5E5@:5a:5[5MB U>@JuJuJqJqJu|:Ju:JqJqJu;Ju;JuC;JuC;hEZjFNOT Ignoring new targets: 115.00 m.Bj޻Jj޻ ProNav: ac range: 115.000000 m, nav range: 26.720448 m, bearing: 262.031941 deg, approach rate: -0.082361 m/s, LOS rate: -1.313972 deg/s, cmd heading: 347.780556 deg, new cmd heading: 346.324174 deg. 2jqaHeadingCmd: 6.044497 target range: 115.000000 and range: 115.00 m. jl@jjjih hhh!f!f)f1rf1bf5`x@ɛ]9B]= YeL=Ia e_=ɚaiaIeP) l@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267702 $?I*F?2F:FBFO0JFG GpAGZ 8>GYBaO}Y>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518366,!bw,ꄈA@YJ'@"=9  G٣yQ0 > Nusing accuracyPremultiplier from config59 |?5Yޭ im?:z@En?; >;Y5 @ZjFNOT Ignoring new targets: 115.00 m.Bj%Jj%5 ProNav: ac range: 115.000000 m, nav range: 26.693977 m, bearing: 261.471826 deg, approach rate: -0.058671 m/s, LOS rate: -1.242711 deg/s, cmd heading: 346.324168 deg, new cmd heading: 344.642667 deg. 2j57U=HeadingCmd: 6.015149 target range: 115.000000 and range: 115.00 m. j=|@j9j9j9i9hAhAhAhMBfIfIfIrfIbfUA@ɛ=/B=11= AE\=IA E0=ɚAiAIE)U|@)QJaJe@A*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849 $?IG h6,>G G G B O= >Q'bw,WA6w@Y6<@6$|=96Mw;y6H@?c?P?!?@`偻~u?v?ɨ6w@6:;6CyBeBB$IIHIH٢R R Rt=9R[~;Q V?TT VG٣TyZjn Z? bNusing accuracyPremultiplier from config`f59b|?f5Yb4 ibdfgf@bEb :bL:b5l n@nfEZjFNOT Ignoring new targets: 115.00 m.Bj ߰Jj ߰ ProNav: ac range: 115.000000 m, nav range: 26.672335 m, bearing: 261.058660 deg, approach rate: -0.064749 m/s, LOS rate: -1.237070 deg/s, cmd heading: 344.642658 deg, new cmd heading: 343.402357 deg. 2j?T%HeadingCmd: 5.993502 target range: 115.000000 and range: 115.00 m. j%ʿ@j!j!j)i)h)h)h)h1f1f1f1rf9bf=@~ @H)>I I5$IIBI&I.I6I8<:I FBIeCJIeCRIaZIe' =bIe' =jIe)g55Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:11:29.3827 ETRx dataTimestamp_ set to:1736377890.553141Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024327ɛ'B+= =I =ɚiI8=ImQiil!;>)ʿ@)zKyLK9KKK*F2F:FBF[0JFGmw>1>G9BAOeV>J}J}JyJyJ}:J}9JyJyJ};J};J}8;J}8; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275862 I %{-bw,&A2׾@Y2@2p=92:y2H`ݧ?_F?ע?`?@`:ϻ@{X??ɨ2׾@2;2!CyRiBR$IiVN>IV<IZ,IZ3٢r< rF=9r<;Q v>tt vG٣vRGyzIB z> ~Nusing accuracyPremultiplier from config|59~|?5Y~ i~  a @~E~;~D;~Đ5 @hE=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 115.00 m.BjM0JjM0m ProNav: ac range: 115.000000 m, nav range: 26.643162 m, bearing: 260.553472 deg, approach rate: -0.070680 m/s, LOS rate: -1.225292 deg/s, cmd heading: 343.402350 deg, new cmd heading: 341.885501 deg. 2jm:RuHeadingCmd: 5.967028 target range: 115.000000 and range: 115.00 m. ju@jqjqjqiyhyhyhyhfffrfbf1> @ɛBw= 隽>I =ɚiIw=Igߡii1A>)@)E*F5?2F9:F9BF=e0JF9"GE=GE=eWill construct direction to contact in vehicle frame from tetrahedron phase data.aia}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531966G~a9>GB!OU>*J "J a=6e4bw,zo҈A2-@Y2=@2=92V y2H?z?`?nT`? B?T?ɨ2-@2;2"Cy>gBB$I^Will construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: 23:11:29.3827 LVL= 13072, 26049, 18722, 26611, AGC= 60, IDX= 438,-0.25,-0.127,-1.566,-2.138,-0.983, PHS= 0.944,-0.536,-1.157, RAW= 73.3, 8.1, CAL= 75.9, 11.3, ROT= 74.1, -11.3 Ygot valid direction response: 23:11:29.3827 LVL= 13072, 26049, 18722, 26611, AGC= 60, IDX= 438,-0.25,-0.127,-1.566,-2.138,-0.983, PHS= 0.944,-0.536,-1.157, RAW= 73.3, 8.1, CAL= 75.9, 11.3, ROT= 74.1, -11.3  PDAT read: Bearing 74.1, -11.3 (Local)  ~Local bearing/azimuth received: Bearing 74.1, -11.3 (Local) %$?I%h%DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.5 ms) speed 0.0 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [-0.205113,0.386338,0.899262]5Fpublishing direction and range info\9^N$AʿBvù?\e?y^B\^3^e ^"I)^gI^<i^q?^L7 ^^?^> ^?)^I>I^~?i^I\\^*l͸?@f! ?)^^PI^bi^@^3\\MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )YV-?ˡE~jt?y什D<@ p@)@IK@y@Iu*Iu3٢a &=9;Q > G٣y+ > Nusing accuracyPremultiplier from config59}?%5Y inE?E:EֆM@E<<Ɛ5Q U@UeEk^Dz?k^ k\ k^ӈA:k^BBk^BZk^~?"^Z|q7HF@ڶrGY@^N$AʿBvù?\e?Jk^@Rk^3*^ S)=ijF@+Z@^_ꭿ?e^l?:N?"k^5B*k^k^f3z?k^ѯ 2k^b+Ck^f3z?k^c k^4Ck^wAk^Qy{@ addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 4.034090 s, deltaX: -0.699997 m, approachRate: -0.173520 m/s, rangeRepo size: 4 E Added new target pos. range: 114.300003 m, bearing: 98.367827 deg, lat: 36.904300 deg, lon: -122.120656 deg, deltaT: 4.034090 s, deltaX: -0.699997 m, approachRate: -0.173520 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 114.30 m.BjMJjI ProNav: ac range: 114.300003 m, nav range: 9.466790 m, bearing: 225.131140 deg, approach rate: 0.000000 m/s, LOS rate: -1.225292 deg/s, cmd heading: 341.885501 deg, new cmd heading: 339.948744 deg. 2jHeadingCmd: 5.933225 target range: 114.300003 and range: 114.30 m. jܽ@jjjihhhhBfffrf@3\@bfT?ɛ B*q= 9='>I9 =W=ɚ9i9IEp=IE.iIiM \L>)Mܽ@)IjH<bH=H*>I I/$II|BI% =&IGD.I6Iz<:IN F*F?2F:FBF^0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.},DAT read: user:3071> BDAT read: Tx time:23:11:30.8260 $Ping request sent.G B O- >%:bw,/AJnJnJn1JlJn,:Jn:Jn3JlJn;Jn;Jn@;Jn@;G@YǛ@=9XMyH~?@? f6??@ Qg`-+ce?ɨG@t";騍#CymB$II+In3٢%H= %S=9-g;Q ->IQ UG٣QyUP U> eNusing accuracyPremultiplier from configYe59]}?e5Y] i]i鐾@]E]?;];]xȐ5B s@bEZjFNOT Ignoring new targets: 114.30 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:11:30.8252 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249936Bj bJj b% ProNav: ac range: 114.300003 m, nav range: 9.574749 m, bearing: 223.970238 deg, approach rate: 0.298044 m/s, LOS rate: -3.168574 deg/s, cmd heading: 339.948733 deg, new cmd heading: 336.509668 deg. 2j% 5$?I1MHeadingCmd: 5.873202 target range: 114.300003 and range: 114.30 m. jME@jIjIjIiQhQhQhQhQfYfYfYrfYbfe`ʕ?ɛ B= 隵C>I =ɚiI=IRƾii`\>)E@)*F}?2Fy:FBFo0JFGU^E>GB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504942Abw,Ay5kB5$IMb@Mb@Mb@ )YCl?T㥛 ~jtx?y?;@ )@I@y@IIb2٢# >=9Q > G٣RGy > uNusing accuracyPremultiplier from config}59q+}?}5Y i!}?:@E:;;Tʐ5 @ZjFNOT Ignoring new targets: 114.30 m.Bj8EJj8E ProNav: ac range: 114.300003 m, nav range: 9.702536 m, bearing: 222.765532 deg, approach rate: 0.296560 m/s, LOS rate: -2.758791 deg/s, cmd heading: 336.509678 deg, new cmd heading: 332.948017 deg. 2j콝HeadingCmd: 5.811039 target range: 114.300003 and range: 114.30 m. j@jjjihhhh܃BfffrfbfJ?ɛB|= !-jQ>I) -=ɚ)i)I-S=I5i1i5 >)5@)9EAEEqA*F?2F:FBF0JFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753664 %$?I!G fJ>G B O > Hbw,"!AH4I4 I4I4I4&I6HD.I46I6F<:I6) FN&@YN{6@N =9Ni1yNH-E? n:?:?`ǿw? 8gf ?ɨN&@N;NCyZhBZ$III<2٢%> %l=9-;Q -?)) -G٣1y5 5? =Nusing accuracyPremultiplier from config9E59=;}?E5Y= i=qIMU@=E=3;=3;=ː5]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005257q u@u_EZjFNOT Ignoring new targets: 114.30 m.Bj"OJj"O ProNav: ac range: 114.300003 m, nav range: 9.801948 m, bearing: 221.786748 deg, approach rate: 0.297316 m/s, LOS rate: -2.897464 deg/s, cmd heading: 332.948008 deg, new cmd heading: 330.044065 deg. 2jHeadingCmd: 5.760355 target range: 114.300003 and range: 114.30 m. jT@jjjihhhhfffrfbfh?ɛB(= .Y>I  C=ɚ i I =I 2ii)T@)zKK59KKKRK >JK ?*F?2F:FBF4JFGmPO>GaBiO9>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.25859967Nbw,;A2}n@Y2}@2a=92y2HD!??p?`ɿT? xx zG٣xyzh z> Nusing accuracyPremultiplier from config| 59~L}? 5Y~h i~   @~E~:~a:~͐5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.30 m.Bj?Jj?% ProNav: ac range: 114.300003 m, nav range: 9.915385 m, bearing: 220.671273 deg, approach rate: 0.276122 m/s, LOS rate: -2.683974 deg/s, cmd heading: 330.044057 deg, new cmd heading: 326.739795 deg. 2j%?潝-HeadingCmd: 5.702685 target range: 114.300003 and range: 114.30 m. j-f|@j)j1jQiQhQhQhYhYfYfYfarfabfe (?ɛ-B-0= 15n>I1 5:=ɚ1i9I==IEÛiAiA)Ef|@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509552*FM?2FI:FIBFU3JFQGMEy>G9BO>J J J 0J J J :J ـ3J a @a @a @a @  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760962WUbw,wUAycB$IMb@Mb@Mb@ )Yq= ףp? G٣RGy > Nusing accuracyPremultiplier from config59`}?5Y i1 ?: @E};;vϐ5 B '@ \EZj9=FNOT Ignoring new targets: 114.30 m.BjE<JjE< ProNav: ac range: 114.300003 m, nav range: 10.048523 m, bearing: 219.552254 deg, approach rate: 0.318639 m/s, LOS rate: -2.642502 deg/s, cmd heading: 326.739803 deg, new cmd heading: 323.431119 deg. 2j⽝HeadingCmd: 5.644938 target range: 114.300003 and range: 114.30 m. jU@jjjihhhhBfffrf)! !bf @G|uA Y|uAyBɛUB]F= Y]~t>IY ]=ɚaiaIe=I)ii)U@)El>E>*F]?2FY:FYBFeP0JFa"Gm>Gm8>ZHRHAAH+>I I5$IIBI&I.I6Iv<:IL F}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012977zKBHK9KKKBKpA:KqAGE >GU ?GU >G B) OU >L[bw,aoAy[B%$I5PExceeded connect timeout, disconnecting.I=7I=3٢}* }O=9Q > G٣y > Nusing accuracyPremultiplier from config59tq}?5Y i@E*::.ѐ5 @YEZjFNOT Ignoring new targets: 114.30 m.Bj%y.Jj-y.= ProNav: ac range: 114.300003 m, nav range: 10.172352 m, bearing: 218.564202 deg, approach rate: 0.309657 m/s, LOS rate: -2.440607 deg/s, cmd heading: 323.431123 deg, new cmd heading: 320.505737 deg. 2j=^ѽEHeadingCmd: 5.593880 target range: 114.300003 and range: 114.30 m. jE@jAjAjAiAhAhIhIhIfQfQfQrfQbfU j @ $?IɛB= 隝q>I Qs=ɚiIU3=IՕ.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264885i)i))-@))*F?2F:FBFY0JFG 8U>G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.y i} A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517168}6bbw,HAL@YC\@S=9yH@F? ?@>?ѿh?@؈?ɨL@u;騅CyޥRBޥ#I=Mb@Mb@Mb@999 9)9Y=sh|??S㥛~jthy= ?=/ݼ=D=@ =@)=I@I=@9y=(@I]"I]q3٢H! 7=9)D G٣y| > Nusing accuracyPremultiplier from config59}?5Y i( ?:@E;;#Ӑ5 F@Zj)-FNOT Ignoring new targets: 114.30 m.Bj5H3Jj5H3JMJMJM/JIJM:JM 9JM(N3JIm ProNav: ac range: 114.300003 m, nav range: 10.304831 m, bearing: 217.445046 deg, approach rate: 0.300750 m/s, LOS rate: -2.507861 deg/s, cmd heading: 320.505725 deg, new cmd heading: 317.195321 deg. 2jm#׽uHeadingCmd: 5.536103 target range: 114.300003 and range: 114.30 m. ju'@jqjqjqiqhqhyhyh}Bfffrfbf@ɛلBI= 隱I =ɚiI=I:ii)'@) }$?Iy*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769347GY G1 BA O] >HU ,>IQ  IU /$IIU |BIQ &IU GD.IQ 6IU V<:IU 5 FIkhbw,OA:@~@Y:@::=9:5Iy:H`?[? ?ҿ`"?U䓿 ?ɨ:@~@:;: Cyb@Bb#IdfAIj3Ijʴ3٢rɽ rm=9vٴ;Q v?tt vG٣tyz z? ~Nusing accuracyPremultiplier from config|59~7}?5Y~> i~b   @~E~*:~n:~Ԑ5Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:11:33.3818 %TRx dataTimestamp_ set to:1736377894.588687-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0220485B 5d@5VEZjY]FNOT Ignoring new targets: 114.30 m.Bje.Jje.u ProNav: ac range: 114.300003 m, nav range: 10.405278 m, bearing: 216.591242 deg, approach rate: 0.289265 m/s, LOS rate: -2.434925 deg/s, cmd heading: 317.195324 deg, new cmd heading: 314.660389 deg. 2juн}HeadingCmd: 5.491860 target range: 114.300003 and range: 114.30 m. j}Q@jyjyjyihhhhfffrfbf S @ɛ҄B= \>I .=ɚiI=I(Gii)Q@)zKm$JKs9KKKRK ?JK>*FU?2FQ:FQBFU0JFQ %nManaging dock network, ignoring radio surface power offGu0P>G}pAGy aIaGiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273082fnbw,㼉A2@Y2@2 =92qy2H s?`+>?u?4ԿZ?@$ / ?ɨ2@2 ;0yJ=BN#IIV+IVn3٢^ ^O=9b;Q b>`d fG٣fRGyf f> jNusing accuracyPremultiplier from confighn59jɣ}?r5YjG ijprr@jEjG ;j ;j]֐5t v@xZj!%FNOT Ignoring new targets: 114.30 m.Bj-0Jj-0= ProNav: ac range: 114.300003 m, nav range: 10.518665 m, bearing: 215.614963 deg, approach rate: 0.289155 m/s, LOS rate: -2.462708 deg/s, cmd heading: 314.660395 deg, new cmd heading: 311.765733 deg. 2jDӽHeadingCmd: 5.441339 target range: 114.300003 and range: 114.30 m. jr@jjjihhhhfffrfbf @ɛ=ʄB=U= AE,f>IA E=ɚAiAIE%=IMH.RiIiQ)Ur@)Q*F?2F:FBF1JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 113.7 m (Round-trip 151.6 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.QyUfBQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G F>GBO>*Jm R="Ji Ju Ju Ju 0Jq Ju :Ju :Ju ـ3Jq e $?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3072>  BDAT read: Tx time:23:11:34.5761  $Ping request sent. -y2H ?@?`?@տ ?1u E} ?ɨ2iѶ@2;2Cy 1B #IMb@Mb@Mb@ )Yy&1?V- G٣y^ >  Nusing accuracyPremultiplier from config59Զ}?5Y i^?:Ͼ@E?B;/;qؐ5! %`@%SEEB*** querying acoustic contact ***jAjA] addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.780781 s, deltaX: -0.600006 m, approachRate: -0.158699 m/s, rangeRepo size: 4 ZjY]FNOT Ignoring new targets: 114.30 m.Bje'Jje'u ProNav: ac range: 114.300003 m, nav range: 10.647912 m, bearing: 214.482072 deg, approach rate: 0.271282 m/s, LOS rate: -2.348857 deg/s, cmd heading: 311.765733 deg, new cmd heading: 308.412369 deg. 2juɽHeadingCmd: 5.382811 target range: 114.300003 and range: 113.70 m. j?@jjjihhhhBfffrfl\@bf6r?ɛBV= W"=(a>I =ɚiI=I|diaia)e?@)ijHbHp<HI I$IImBI&I.I6I<:I~ FBIŝCJIŝCRIZI% =bI% =jI+3*F-?2F1:F1BF5q1JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:11:34.5753 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252050zKU BoIKU 9KQ KU KU  ;%GY:cyaA|36Xy2_SkBK :K G >G B O5 >j{bw, AV@YV;@V>9V<(yVHQ?h?b?.`׿?qWj|?ɨV@V0;V Cy^B^#IIfIf 2٢r`E rr=9v';Q v?tt zG٣xyzݦ z? Nusing accuracyPremultiplier from config|59~&}?5Y~ i~  ݾ @~‚E~a:~:~ِ5 v@ZjimFNOT Ignoring new targets: 114.30 m.Bju&Jju& ProNav: ac range: 114.300003 m, nav range: 10.737862 m, bearing: 213.682798 deg, approach rate: 0.263732 m/s, LOS rate: -2.323759 deg/s, cmd heading: 308.412356 deg, new cmd heading: 306.036061 deg. 2jXǽHeadingCmd: 5.341337 target range: 114.300003 and range: 113.70 m. j;@jjjihhhhfffrfbf ? $?IɛmBȽ= 隝B,>I 8=ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504691Inii);@)*F?2F:FBF5JF"G;>G;>G>G?G/?G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754816%bw, AyB#I Mb@Mb@Mb@    ) Y sh|??MbQy  ?  u ;@ ) hAI @ y @J)J-BAJK|3 KL.KK"KJ5J1J1J1J5L:J1J1J1I%=I%=3٢]op ](=9]Q ]>aa eG٣eRGym m> uNusing accuracyPremultiplier from configq}59u}?}5Yu iuh}G ?}:߾@uĂEun$;u";u ܐ5B h@PEZjFNOT Ignoring new targets: 114.30 m.Bj+Jj+ ProNav: ac range: 114.300003 m, nav range: 10.874717 m, bearing: 212.514877 deg, approach rate: 0.284857 m/s, LOS rate: -2.400212 deg/s, cmd heading: 306.036051 deg, new cmd heading: 302.580815 deg. 2jͽHeadingCmd: 5.281032 target range: 114.300003 and range: 113.70 m. j]6@jYjajaiahahahihmBfififirfqbfu@y? IɛB$= !>I! %s=ɚ!i!I%=I-Fi)i))-6@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007680*F?2F:FBF!5JFG1 H ->I  I #II NBI &I .I 6I <:I | FG B! O= >;bw,a6$A6K@Y6)@6>96y6H ??`?ڿ`?@`>qP@H?ɨ6K@6*;6CyBBB#IIR IR2٢^ ^=9^n@IQ U=ɚQiQIU=I]0fiYi)@)zKEPKKKKG%{rlg`YXTPOLIJGDECBB?A@;;984421010.--*)'$""$""!RK ?JK?E< $?I*F]?2FY:FYBF]4JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513974G >G B O >}@bw,|AA6C@Y6R@6*>96$Ey6H{i? q? c}?`82ܿ ? ԭlH@?ɨ6C@6;6"Cy>B>u#I)@ @IJ:IJ3٢rɈ r3=9v;Q v>tt vG٣xyzk ~> Nusing accuracyPremultiplier from config|59~5}? 5Y~ i~v  J @~ȂE~:~:~hߐ5 7@%MEZjIUFNOT Ignoring new targets: 114.30 m.BjU+Jj]+e ProNav: ac range: 114.300003 m, nav range: 11.075518 m, bearing: 210.639804 deg, approach rate: 0.257435 m/s, LOS rate: -2.392036 deg/s, cmd heading: 300.296015 deg, new cmd heading: 297.013477 deg. 2jm4ͽmHeadingCmd: 5.183863 target range: 114.300003 and range: 113.70 m. ju5@jqjqjqiqhqhqhyhyfyfyfrfbf?ɛB۶= 隽x>I =ɚiI=Iii)5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762902E;=*Fu?2Fq:FqBFuW0JFyGqA GpAGaGA BQ i Ii Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015915jbw,`ZA2Qo@Y2~@2y >921y2H??=?ܢݿeJ?@I!*{U _?ɨ2Qo@2ȍ;2CyR˄BRU#I5Mb@Mb@Mb@111 1)1Y5Zd;O?&1aa eG٣mRGym| m> }Nusing accuracyPremultiplier from configy59} ~?5Y}3 i} / ?:@}ʂE}N;}tM;}>5 @OEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.30 m.Bj /Jj / ProNav: ac range: 114.300003 m, nav range: 11.175985 m, bearing: 209.604019 deg, approach rate: 0.239661 m/s, LOS rate: -2.448468 deg/s, cmd heading: 297.013481 deg, new cmd heading: 293.937188 deg. 2j ҽHeadingCmd: 5.130172 target range: 114.300003 and range: 113.70 m. j^*@jjjihhhhBfffrfbf#@ɛBv.= 隵=I |=ɚiIHH=I"ii)^*@)HM.>II IM#IIM&BII&II.II6IM<:IMz FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806E"=zKNK}9KKK    BK:K*F?2F:FBFP0JFJ J J J J :J :J J J ;a J ;a J J;a J J;a ] $?IY G A> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521413G B O >fbw,6xA6\@Y6ܮ@6Z>961y6HQ?T? Ϳ?߿-?@T¿?]?ɨ6\@6;6"CyBBB?#IIJ1IJ3٢R[ R<=9RTT VG٣TyZlo Z> ^Nusing accuracyPremultiplier from config\e59^~?e5Y^ i^ amwm@^˂E^<^<^"5q u@uLEZjFNOT Ignoring new targets: 114.30 m.Bj %Jj % ProNav: ac range: 114.300003 m, nav range: 11.278218 m, bearing: 208.540591 deg, approach rate: 0.223989 m/s, LOS rate: -2.308679 deg/s, cmd heading: 293.937191 deg, new cmd heading: 290.779210 deg. 2j ƽHeadingCmd: 5.075055 target range: 114.300003 and range: 113.70 m. jf@jjjih!h!h!h!f)f)f)rf)bf5`@ɛ}B}= 隽l=I D=ɚiI=Iii)f@)E9E9*EA"EAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771038*F}?2Fy:FyBFyJFyG > I hG B O>'bw,|A6|@Y6@6>96{y6H?@ ?5T?`,@?@:n¿ !o=?ɨ6|@6g܌;4yBBF+#IiJ!>IJp; Np=LvWill construct direction to contact in vehicle frame from tetrahedron phase data.zBDAT read: Rx Time:23:11:37.1323 zTRx dataTimestamp_ set to:1736377898.368689checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024138Mb@Mb@Mb@ )YZd;O?x&Zd;Oy7j )3AI-@y@IMAIMk3٢]-~ ]=9e]ii mG٣mRGymdɽ m> }Nusing accuracyPremultiplier from configq59u(~?5YuR iu  ?:)0@u΂EuK;uJ;ud5 @Zj)]FNOT Ignoring new targets: 114.30 m.GBj?4Jj?4 Z$YyB ProNav: ac range: 114.300003 m, nav range: 11.384879 m, bearing: 207.249960 deg, approach rate: 0.210359 m/s, LOS rate: -2.521348 deg/s, cmd heading: 290.779212 deg, new cmd heading: 286.949629 deg. 2jLؽHeadingCmd: 5.008216 target range: 114.300003 and range: 113.70 m. j5NC@j1j1j9i9h9h9h9hEBfAfAfArfAbfM] @ɛEBEZ= ML=m`=Iq uh=ɚqiqIu`B=I}iyiy)}NC@)EH/>IC I#IIBI$ =&I.I6Ij<:IH F*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275909G >zK 23MK 59K K K RK ?JK ?G B O- >WHbw,RA2,@Y2p<@2>92@y2H`P?` ?(X?஍Ġ?洿 eÿ`zg\?ɨ2,@2;2Cy>B> #IIFDIF3٢N Nm=9RBG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3073>  BDAT read: Tx time:23:11:38.3261  $Ping request sent. 96] :y6H@?Pn?2?E5(?`۶ пÿL6A?@?ɨ6\@68@;6!Cy|B"IImSIm4٢Ӛ %=9;Q > G٣y-H -> 5Nusing accuracyPremultiplier from config1=595#E~?=5Y5m i5 AE<=E@5тE5;5;5)5i u@q addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 3.780350 s, deltaX: 0.300003 m, approachRate: 0.079359 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 114.30 m.BjR6JjR6 ProNav: ac range: 114.300003 m, nav range: 11.558297 m, bearing: 205.111266 deg, approach rate: 0.207720 m/s, LOS rate: -2.550353 deg/s, cmd heading: 284.399761 deg, new cmd heading: 280.591419 deg. 2jڽ%HeadingCmd: 4.897244 target range: 114.300003 and range: 114.00 m. j%9@j!j!j)i)h)h)h)h1f1f1f1rf5\@bf=;? IɛyBT= 隽@;I =t=ɚ9i9I=2 =IEiAiA)E9@)IEQEQ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250101*F2F:FBF_0JFGrA GqAG >G H 0>I  I A#II BI % =&I .I 6D6I m<:I K FB! O= >Hϸbw,VA6n@Y6@6(] >96X;y6HaW?$?T?ZM?5Ƹÿ@#q??ɨ6n@6;6Cy>bBB"I)D FAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501553Mb@Mb@Mb@ )Y?333333Zd;Oy ?@ @)AI@y @IM2IM?3٢ J=9#;Q > G٣RGy > %Nusing accuracyPremultiplier from config-59Q~?-5Y[ i 59?5:5MG5@ӂE;<<;<5a ev@eFEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.30 m.BjK.JjK. ProNav: ac range: 114.300003 m, nav range: 11.633572 m, bearing: 204.130759 deg, approach rate: 0.188400 m/s, LOS rate: -2.438060 deg/s, cmd heading: 280.591411 deg, new cmd heading: 277.671597 deg. 2j'ѽHeadingCmd: 4.846283 target range: 114.300003 and range: 114.00 m. j@jjjihhhhBff!f!rf!bf%?ɛurBzKcKK@9KKK-ؠ= 隭I f=ɚiI8 =Ioii)@)JJJJJl:J :JJJ;J;JS;JS; $?IM Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755893Ee $=*F) 2F) :F1 BF5 \0JF1 GQG)B9OU?bw,3A2@Y21@2!>92sw;y2H@?.?ܱ?#?@6]*Ŀ`.y??ɨ2@21@;2Cy>MB>"IIFNWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004432IF#3٢b b+=9fk[;Q f>dh jG٣hyjG^ n> rNusing accuracyPremultiplier from configlr59n`~?v5Yn6 in tvMv@nՂEn:n':n5 @ZjFNOT Ignoring new targets: 114.30 m.Bj,Jj,5 ProNav: ac range: 114.300003 m, nav range: 11.722761 m, bearing: 202.953319 deg, approach rate: 0.184519 m/s, LOS rate: -2.417234 deg/s, cmd heading: 277.671587 deg, new cmd heading: 274.170753 deg. 2j5]Ͻ5HeadingCmd: 4.785182 target range: 114.300003 and range: 114.00 m. j=7 @j9j9j9i9h9h9hQhQfafafqrfqbfu?ɛuiB`= aI %H=ɚ!i!I% =I-2i)i))-7 @)1 IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256560E QO=E E >*FU ?2FQ :FQ BFU O0JFY H 2>I  I #II BI $ =&I .I 6I Ȱ<:I  FBI͞CJI͞CRIZIbIjI4G>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509339GqBO ?.bw,A*AU@Y'@&>9y;yHz?`?[?@/ ? ZĿ_?w?`m?ɨU@q;y%5B-"IMb@Mb@Mb@ )YFx?Zd;Oy ?̽3@ @) AI-@y@I IV2٢  =9x G٣yխ > Nusing accuracyPremultiplier from config59}q~? 5Y i  : f @؂El;;x5 @@Zj9MFNOT Ignoring new targets: 114.30 m.zKBoIKŷ9KKKBj>Jj>M ProNav: ac range: 114.300003 m, nav range: 11.811508 m, bearing: 201.466243 deg, approach rate: 0.160456 m/s, LOS rate: -2.668148 deg/s, cmd heading: 274.170760 deg, new cmd heading: 269.752329 deg. 2jU佝UHeadingCmd: 4.708066 target range: 114.300003 and range: 114.00 m. j]{@jYjYjYiYhYhYhaheăBfffrfbfr?ɛ`B6ƚ= PI *=ɚiIk&=IĿi i ) {@) EE*E"EJ}J}JyJyJ}ܫ:J}:JyJyJ};J};J}J;J}J; %$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761195*FA 2FA :FA BFE P0JFA G- >GBO5>bw, HA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0125106R@Y6ob@6 )>961);y6HO?t?`V?9H ?hſ y? ?ɨ6R@6ݶ;6 CyFBF"IINEIN3٢V  Z@=9Z;Q Z>\\ ^G٣^RGy^g ^> fNusing accuracyPremultiplier from config`z59b;}~?z5Yb ib\xzl~@bقEbV;b;bS5 @ZjFNOT Ignoring new targets: 114.30 m.Bjc+Jjc+ ProNav: ac range: 114.300003 m, nav range: 11.875681 m, bearing: 200.390652 deg, approach rate: 0.143823 m/s, LOS rate: -2.397434 deg/s, cmd heading: 269.752338 deg, new cmd heading: 266.546539 deg. 2jͽHeadingCmd: 4.652115 target range: 114.300003 and range: 114.00 m. j ޔ@jjjihhhhfffrfbf͊@ɛMYBMD= QUIQ U=ɚQiQIUh=I]ghοii) ޔ@)*FE?2FI:FIBFU_0JFY 1I1-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265003GG B O >S bw,aA6@Y6'@6*>96;y6H?.?@`R?k?`ľ:ſ~?O?ɨ6@6[@;4yRBRp"I-Mb@Mb@Mb@))) )))Y-(\?!rh~jty-?-l罹-ļ-`@ -3@)-E AI-Z@)y-p@IEDIE3ZHyRHyH4>I I"IIPBI&I.I6I<:Id F٢LW  7=9 i;Q  > G٣yb > %Nusing accuracyPremultiplier from config!-59%~?-5Y% i%1- ?-:-*x-@%ۂE%;%;%F59 =@AZjimFNOT Ignoring new targets: 114.30 m.Bju(@Jju(@ ProNav: ac range: 114.300003 m, nav range: 11.938261 m, bearing: 199.238197 deg, approach rate: 0.146740 m/s, LOS rate: -2.687966 deg/s, cmd heading: 266.546548 deg, new cmd heading: 263.111659 deg. 2j潝HeadingCmd: 4.592165 target range: 114.300003 and range: 114.00 m. j@jjjihhhh΃Bfffrfbf@ɛRB= r=I =ɚiIӵ=IqZտii)@)IEYWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518410*F?2F:FBF k0JF GpA GrAzKk3IK}9KKK*9<=??<9521+)%  A IM hGU >G! B1 Oe >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769021A8bw,U{AN;@YNMί@N+>9N| !! %G٣!y% -> =Nusing accuracyPremultiplier from config1=595~?E5Y5 i5AEy~E@5݂E5P:5:55I U@UCEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 114.30 m.Bj~7Jj~7 ProNav: ac range: 114.300003 m, nav range: 11.989541 m, bearing: 198.274010 deg, approach rate: 0.137106 m/s, LOS rate: -2.566784 deg/s, cmd heading: 263.111646 deg, new cmd heading: 260.234012 deg. 2j1ܽHeadingCmd: 4.541940 target range: 114.300003 and range: 114.00 m. jW@jjjihhhhfffrfbf [@ɛLB= 2I iq=ɚiI=Iݿii)W@)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:11:40.8836 TRx dataTimestamp_ set to:1736377902.148541checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021300G>G B O- >J J @AJ J J 1J J L:J :J 3J a @a @a @a @ = $?I9 bw,yAyEBEH"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272356Mb@Mb@Mb@ )YʡE?Zd;y?̼QA I@)\ AI@y@I=KI=4٢M= U=9UQ U>QY ]G٣]RGy] e> mNusing accuracyPremultiplier from configiu59mD~?u5Ymc imu?u:u}@m߂Em;m;mG5 @ZjFNOT Ignoring new targets: 114.30 m.Bj7Jj7 ProNav: ac range: 114.300003 m, nav range: 12.066703 m, bearing: 196.872392 deg, approach rate: 0.142499 m/s, LOS rate: -2.571633 deg/s, cmd heading: 260.234005 deg, new cmd heading: 256.063835 deg. 2jܽHeadingCmd: 4.469157 target range: 114.300003 and range: 114.00 m. jV@jjjihhhh҃Bfffrfbfp? @ɛMCBMw=H7>IC I"II#BI# =&I.I6I:Ig F $I =ɚiI=I9ii)V@) Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:11:40.8836 LVL= 16752, 18145, 17906, 22339, AGC= 59, IDX= 447, 0.03, 1.669, 1.788,-0.422, 1.013, PHS= 0.744, 0.823,-1.438, RAW= 28.2, -1.2, CAL= 27.8, -3.1, ROT= 122.2, 3.1  Ygot valid direction response: 23:11:40.8836 LVL= 16752, 18145, 17906, 22339, AGC= 59, IDX= 447, 0.03, 1.669, 1.788,-0.422, 1.013, PHS= 0.744, 0.823,-1.438, RAW= 28.2, -1.2, CAL= 27.8, -3.1, ROT= 122.2, 3.1  PDAT read: Bearing 122.2, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 122.2, 3.1 (Local) = DAT read: Range 10 to 50 : 115.0 m (Round-trip 153.4 ms) speed -0.4 m/s *FE ?2FA :FA BFM _0JFI } R#Rx 1: Read range and direction messages. \direction in FSK: [0.057944,0.904932,0.421593] Fpublishing direction and range infoع 9ؽ ʪ?4?j]=`?yؽ Bع ؽ pAؽ F ٽ E)ٽ CWIٽ ;iٽ v>?ٽ !R?ٽ bٽ d>ٽ ڽ Ul>)ڽ k]Iڽ @iڽ k]=ڹ ڹ ۽ ,Fǃd6+@)۽ ͿI۽  1I9GIBiO?bw,GAZY)@YZ8@Z,>9Zc G٣y% %> -Nusing accuracyPremultiplier from config)559-~?55Y-2  i-1=O=@-E-;-;-5Q ]@Yk,?k$v$ k kEשA:kBBkkBZk?"Gr@%=LZ@_"w=H@ʪ?4?j]=`?Jk?Rk޾*yHU@ѽM@|]GG@*m5?UX/??"khB*kBk @WL?k 2k.Bkk BDAT read: Tx time:23:11:42.1761 $Ping request sent.p4bw,ՋAy5σB5"Ii==I== ====Mb@Mb@Mb@ )YʡE?T㥛 S㥛y-?/ݼA v@)rAI@yAI/I3 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503061٢& %=9%Q %>)) -G٣-RGy5 5> =Nusing accuracyPremultiplier from config1E595a~?E5Y5# i5M?M:MM@5E5!*;5';565U B U@UBEZjFNOT Ignoring new targets: 115.00 m.Bj"ZJj"Z ProNav: ac range: 115.000000 m, nav range: 22.826010 m, bearing: 121.121784 deg, approach rate: 0.580633 m/s, LOS rate: -0.047677 deg/s, cmd heading: 253.123232 deg, new cmd heading: 253.048892 deg. 2jHeadingCmd: 4.416536 target range: 115.000000 and range: 115.00 m. jDT@jjjihhhhσBfffrfbf!?ɛ5BӉ= KI! %[=)1 5Cɚ)i1I5= %5tA=A e)Ym5tAymIq IuT"IIuBIu! =&Iq.Iu7D6IuQ<:IuA FE| u= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755665*FY 2Fa :Fa BFe P0JFa zK N KK 59K K K BK :K pAGGB %$?I!O->bw,vAyeŃBe"IIuNIu@ 4٢!$ +=9Q > G٣y > Nusing accuracyPremultiplier from config59~?5Yk i@E;;L5 G@ZjFNOT Ignoring new targets: 115.00 m.BjPRJjPR ProNav: ac range: 115.000000 m, nav range: 23.099014 m, bearing: 121.099632 deg, approach rate: 0.573291 m/s, LOS rate: -0.045968 deg/s, cmd heading: 253.048892 deg, new cmd heading: 252.983221 deg. 2j`HeadingCmd: 4.415390 target range: 115.000000 and range: 115.00 m. jJ@jjjihh h hfffrf!bf% ?EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124ɛm-Bm,= quPIq u{=ɚqiqIuD=I}iyi)J@)EE*E"E*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860G G B O >9`/ G٣yRQ > Nusing accuracyPremultiplier from config59N~?5YU  i? : ? @Evw;Yv;t5 ]@5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 115.00 m.BjMOOJjMOO] ProNav: ac range: 115.000000 m, nav range: 23.383104 m, bearing: 121.008510 deg, approach rate: 0.572010 m/s, LOS rate: -0.181244 deg/s, cmd heading: 252.983213 deg, new cmd heading: 252.713170 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109132j]HeadingCmd: 4.410677 target range: 115.000000 and range: 115.00 m. jD$@jjjihhhhBfff!rf!bf%T?ɛm&Bmr= qucIq u~=ɚiIp=I`ii)D$@)*FU?2FQ:FQBFYJFYH- @>I- C I- ""II- уBI) &I) .I) 6I- J<:I- ? FG >Gq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763822B O > cw,C,A6:@Y6I@6J*>96 G! B) OM >Oucw,FA6xx@Y6@6_*>96k;y6HTT VG٣TyZo Z> bNusing accuracyPremultiplier from config\f59^~?f5Y^* i^hjj@^E^H;^6H;^5l n@pZj FNOT Ignoring new targets: 115.00 m.Bj Jj  ProNav: ac range: 115.000000 m, nav range: 23.803322 m, bearing: 120.842017 deg, approach rate: 0.577196 m/s, LOS rate: -0.240646 deg/s, cmd heading: 252.495100 deg, new cmd heading: 252.218146 deg. 2j%'%%HeadingCmd: 4.402037 target range: 115.000000 and range: 115.00 m. j%}݌@j)j)j)i)h)h)h1h1f1f1f9rf9bf=`@ɛBBz= I á=ɚiIx=Ixii!)%}݌@)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266978*F?2F:FBF55JFJJJJJ:Jb9JJ IG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519135ßcw,H_A>@Y>@¨@>+)>9>g;y>HH??I?@ ?&,¿ ſ@t?Z?ɨ>@> %;YY ]G٣Yyeg e> mNusing accuracyPremultiplier from configiu59m~?u5Ym0 im}\?}:}}@mEm]$;m#;m5 B @AEZjFNOT Ignoring new targets: 115.00 m.BjJj ProNav: ac range: 115.000000 m, nav range: 24.041473 m, bearing: 120.735227 deg, approach rate: 0.557833 m/s, LOS rate: -0.247660 deg/s, cmd heading: 252.218150 deg, new cmd heading: 251.900957 deg. 2j)uHeadingCmd: 4.396501 target range: 115.000000 and range: 115.00 m. j}#@jyjyjyiyhyhyhhfffrfbfOn@ZH?ARH?AHG>IC I!IIBI =&I.I8D6I.<:I1 FBIŸCJIŸCRI”CZI! =bI" =jIŽ6ɛB)y=  zI  -H=ɚ1i1I5A=I=~i9i9)=#@)A*F?2F:FBF4JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772135G1 G! B) zKE }NKE 9KA KE KE <<9777.-.-+&$"$"     O] > $?I hcw,yA>J@Y>@>s'>9>N;y>H(??7?` Z? N¿Ŀu?@?ɨ>J@>K;!) -G٣-RGy=v E> MNusing accuracyPremultiplier from configIU59M~?U5YMk6 iMy}}@MEM_;M;MF5 @Zj!%FNOT Ignoring new targets: 115.00 m.Bj-Jj-] ProNav: ac range: 115.000000 m, nav range: 24.263983 m, bearing: 120.624316 deg, approach rate: 0.532817 m/s, LOS rate: -0.263151 deg/s, cmd heading: 251.900956 deg, new cmd heading: 251.571277 deg. 2j]4eHeadingCmd: 4.390747 target range: 115.000000 and range: 115.00 m. je@jajijiiihihihqhqfffrfbf 5 @ɛ%B%m= )MII U(͠=ɚQiQIU^=I]j;iYiY)]@)a*F%?2F!:F!BF-P0JF)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274798GI GU qAGU qAG! B1 Oe >$cw,9%;yH (??s/? RS?T¿ Ŀs?H?ɨ @; CyxB!IEMb@Mb@Mb@AAA A)AYEi|?5?i|?5I +yE?AE9EA A)EAIE;@AyEAI]7I]3٢m u%=9umQ u>yy }G٣yy} V >Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 116.4 m (Round-trip 155.2 ms) speed -0.5 m/s -X#Rx 1: Read range message, but no direction.yBT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. mNusing accuracyPremultiplier from configau59e~?u5Ye= ie}?}:&@eEeY<IC I!IIBI =&I.I9D6I<:I Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.} ,DAT read: user:3075>  BDAT read: Tx time:23:11:45.9261  $Ping request sent. G B O >*+cw,/4AV[@YV k@Vf$>9V+C;yVH? E?$? ?Y¿`LvĿr??ɨV[@VW;V!Cy~hB~!II FI %3٢} }N=9Q > G٣yx > Nusing accuracyPremultiplier from config59~?5YC i49@E::! 5zK-zMK-@9K)K- K- M B M@M>E IJJJ0JJm:Ju9Jـ3JJ;aJ;aJ/;aJ/;aZj FNOT Ignoring new targets: 115.00 m.BjJje ProNav: ac range: 115.000000 m, nav range: 24.753250 m, bearing: 120.346463 deg, approach rate: 0.527536 m/s, LOS rate: -0.311442 deg/s, cmd heading: 251.114391 deg, new cmd heading: 250.746163 deg. 2jmUmHeadingCmd: 4.376346 target range: 115.000000 and range: 116.40 m. jm @jqjqjqiqhqhqhyhyfyfyfrfbf@0?ɛBi= 隅ؙI =ɚiI6i"=IPii) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:11:45.9253 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251823*Fu?2Fy:FyBF}P0JFyG >G B O >2cw,'ʌA2 @Y2@2T:!>92Zy;y2H,?S?`? }J ~? /¿@Ŀ`sn?@?ɨ2 @2zO;2"CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503032yFSBF!IIRIRM3٢Vi ZY=9ZQ Z>\\ ^G٣^RGybV b> fNusing accuracyPremultiplier from configdj59f~?j5YfyH ifhjj@fEfL:f:f 5p rs@pZj FNOT Ignoring new targets: 115.00 m.Bj:ݻJj:ݻ ProNav: ac range: 115.000000 m, nav range: 24.955540 m, bearing: 120.215090 deg, approach rate: 0.600499 m/s, LOS rate: -0.386821 deg/s, cmd heading: 250.746162 deg, new cmd heading: 250.355244 deg. 2jHeadingCmd: 4.369524 target range: 115.000000 and range: 116.40 m. j#Ӌ@jjjihhhhfffrfbf?ɛB9W= 隝I FC=ɚiI*#=Iii)#Ӌ@)*F?2F:FBF_0JF I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755499G>G?G@?G B O >8cw,A6κ@Y6Nʤ@6}>966ky;y6H@?@?@T?b ?¿ ÿn?@?ɨ6κ@6G;6CyBDBBu!IjHb<bHb<HfS>IfC If!IIfvBIf =&Id.If:D6If<:If& FMb@Mb@Mb@ )YV-?"~j G٣yg > Nusing accuracyPremultiplier from config59J~?5YN iw?:۪@E\G; F; 5 V@Zj%FNOT Ignoring new targets: 115.00 m.Bj-̻Jj-̻E ProNav: ac range: 115.000000 m, nav range: 25.188107 m, bearing: 120.056498 deg, approach rate: 0.530277 m/s, LOS rate: -0.358267 deg/s, cmd heading: 250.355256 deg, new cmd heading: 249.883885 deg. 2jMuUHeadingCmd: 4.361297 target range: 115.000000 and range: 116.40 m. j]@jYjYjYiYhahahihmBfifqfyrfybf}?ɛ]B]q]= Y]ಾIY e+=ɚaiaIeg%=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007355Irii)@)*Fe?2Fa:FaBFaJFi IzK< LK9KK K*00/JK3 K.KK"KJJJJJ:J9JJJ;J;JF;JG;BK- qA:K- qAG >G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258947>cw,A:@Y:o@:>9:H;y:H@M?V? 3i??] Aÿ%t?@?ɨ:@:+;:CyJ=BNk!IIZIZ[3٢jq& jZ=9j5$Q j>lp rG٣pyr' r> zNusing accuracyPremultiplier from configtz59v~?~5YvT iv2|~$@vEv;v;vJ5  B @ @EZj)5FNOT Ignoring new targets: 115.00 m.Bj5ܻJjܻ  ProNav: ac range: 115.000000 m, nav range: 25.386299 m, bearing: 119.911152 deg, approach rate: 0.530054 m/s, LOS rate: -0.385685 deg/s, cmd heading: 249.883891 deg, new cmd heading: 249.451265 deg. 2j X=HeadingCmd: 4.353746 target range: 115.000000 and range: 116.40 m. j=Q@j9j9j9i9h9hAhIhIfQfqfyrfybf}?ɛBT= I =ɚiIG&=I%i!i!)-Q@))*F%?2F!:F!BF%m0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816GM >G) B1 OU > $?I h?Ecw,AR#@YR2@R>9R&;yRH ?? ?!L@k"?@ ÿsaw??ɨR#@R;R!CyZ)B^T!Iib8>Ib>}Mb@Mb@Mb@yyy y)yY}|?5^?)\({Gzy} ?}Gό}ף}A }A)}AI}@yy} AICI3٢3 ==9ۀQ > G٣RGyQb > Nusing accuracyPremultiplier from config59?5YHZ i?:ﰿ@E;.5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924G|uAA %b$Y-|uAy-BMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 115.00 m.Bj]ѻJj]ѻ ProNav: ac range: 115.000000 m, nav range: 25.613682 m, bearing: 119.734999 deg, approach rate: 0.478127 m/s, LOS rate: -0.367114 deg/s, cmd heading: 249.451267 deg, new cmd heading: 248.927517 deg. 2j{HeadingCmd: 4.344605 target range: 115.000000 and range: 116.40 m. j@jjjihhhhBfffrfbf@E@ɛB*T= 隍 þI ^=ɚiI'=Ih#ii)@)E*Fu?2Fq:FqBFuo0JFqHX>IC I!II\BI =&I.I6IJ<:IV F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014832G >G B O >Lcw,e2A:d@Y:s@:W>9:u;y:H ???0)?@`¿`Lw??ɨ:d@:Ǎ;: CyRBRD!IIZeIZ34٢bꄽ b[=9bԅQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlr59n?r5Yn_ intv鳿v@nEne:n:n5x z@xZj!-FNOT Ignoring new targets: 115.00 m.Bj-Jj-= ProNav: ac range: 115.000000 m, nav range: 25.808144 m, bearing: 119.575658 deg, approach rate: 0.587232 m/s, LOS rate: -0.477549 deg/s, cmd heading: 248.927528 deg, new cmd heading: 248.453118 deg. 2jEޣEHeadingCmd: 4.336325 target range: 115.000000 and range: 116.40 m. jE-Ê@jIjIjIiIhIhIhQhQfQfQfYrfYbf] s3@ɛB9= 隕h˾I +ܜ=ɚiI(=I2ii)-Ê@) AIAJJAAJJJJJ:J9JJJm;Jo;J;J;zKxLKKK K)%"! RK>JK?*FU?2FQ:FQBFUB5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266929Gu>GQBYO}>5Rcw,gFLA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519550R@YR@R~i>9R;yRH@b?,?g? L?@)@=¿Bx?Ϩ?ɨR@R};RCyZ B^.!IIf`If(*4٢n nI=9rxQ r>tt vG٣tyvr z> ~Nusing accuracyPremultiplier from config|59~Q?5Y~e i~-  @~E~n:~:~5 @Zj9=FNOT Ignoring new targets: 115.00 m.BjELJjELU ProNav: ac range: 115.000000 m, nav range: 26.019619 m, bearing: 119.392473 deg, approach rate: 0.519562 m/s, LOS rate: -0.446399 deg/s, cmd heading: 248.453131 deg, new cmd heading: 247.908059 deg. 2jU.]HeadingCmd: 4.326812 target range: 115.000000 and range: 116.40 m. j]>u@jYjajaiahihihihifqfqfqrfqbf}Dv@ɛ]B]C= Ye׾Ia ey=ɚiiiIm+*=Irjii)>u@)*FE?2FI:FIBFM5JFI AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771204GIG) Ba O} >Ycw,fAZH2@ARH2AAH6d>I6C I6f!II69BI6 =&I6FD.I6 G٣RGy > Nusing accuracyPremultiplier from config59 ?5YRl i?:@E;t;5 AZjFNOT Ignoring new targets: 115.00 m.BjeJje񻝊  ProNav: ac range: 115.000000 m, nav range: 26.262386 m, bearing: 119.196721 deg, approach rate: 0.528348 m/s, LOS rate: -0.422087 deg/s, cmd heading: 247.908054 deg, new cmd heading: 247.326248 deg. 2j ֐uWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:23:11:48.4880 }TRx dataTimestamp_ set to:1736377909.708723}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023983HeadingCmd: 4.316658 target range: 115.000000 and range: 116.40 m. j"@jjjihhhhBfffrfbf OK @ɛ]݃B]=>= ae!Ia e?=ɚaiI+=I-ii)"@)EErA*F=?2F9:F9BF=O5JF9"GEV>GEY> 9I9JJJJJy:Jľ9JJJ;J ;J;J;zKM LKM }9KI KM KM  %*-39?@CHOV\babjnortG% >= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279654GU ?GU 1?G B! O= >4_cw,Ar@Yr=@rê>9r2;yrH ??yt? \`A?i[¿ %b?\?ɨr@r;r"CyzB~ IIVIn4٢= =b=9=SQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59] ?e5Y]q i]im3m@]E]:]:]*5q uGAuBEZjFNOT Ignoring new targets: 115.00 m.BjhJjhE ProNav: ac range: 115.000000 m, nav range: 26.449493 m, bearing: 119.024844 deg, approach rate: 0.522995 m/s, LOS rate: -0.477025 deg/s, cmd heading: 247.326259 deg, new cmd heading: 246.814290 deg. 2jE}HeadingCmd: 4.307722 target range: 115.000000 and range: 116.40 m. j؉@jjjihhhhfffrfbfnI @ɛ=كB=;3#= 9=IA eɅ=ɚaiaImn,=Imiqiq)u؉@)q*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 118.2 m (Round-trip 157.7 ms) speed -0.6 m/s -X#Rx 1: Read range message, but no direction.ؙy؝fBؙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G >Gy B O > Q IY fcw,*A~0@Y~b@@~N>9~s:y~H?? ?`x?(@,ԺT??ɨ~0@~;~Cy ؂B IMb@Mb@Mb@ )YtV?KS㥛y?^/ݼ A  A)=AI@y AIbI-4٢# A=9HQ > G٣y)v >Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3076> BDAT read: Tx time:23:11:49.6762 $Ping request sent.IC IA!IIBI =&I.I6I;<:I\ FBI=ƤCJI=ƤCRI=ƕCZI= =bI= =jI=}6 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:11:49.6754  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252595G >G B O >Dlcw,GtA2Y@Y2i@2J >92/y2H ?%??<,?m@el%`?ɨ2Y@2&;2 Cy:B> IiFC=IF< J=J=IN1IN3٢V V_=9ZiٻQ Z>X\ ^G٣\y^ b> fNusing accuracyPremultiplier from config`f59b?j5Ybs} ib hjj@bEb:b;b5p r<Ar?EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.00 m.BjJj ProNav: ac range: 115.000000 m, nav range: 26.862137 m, bearing: 118.638099 deg, approach rate: 0.522435 m/s, LOS rate: -0.500492 deg/s, cmd heading: 246.211053 deg, new cmd heading: 245.663078 deg. 2jHeadingCmd: 4.287630 target range: 115.000000 and range: 118.20 m. jC4@jjj Ihih1h1h1h9f9f9f9rf9bfEEm>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503609*F?2F:FBF_0JFG% >G B O% >d*scw,G͍A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755632Fm@YFJ}@F >9Fdd fG٣fRGyj@ j> nNusing accuracyPremultiplier from configlr59n?v5Yn in!xz¿z@nEnY;nlK;na5 AZj)-FNOT Ignoring new targets: 115.00 m.Bj5Jj5E ProNav: ac range: 115.000000 m, nav range: 27.071184 m, bearing: 118.424502 deg, approach rate: 0.540429 m/s, LOS rate: -0.547927 deg/s, cmd heading: 245.663080 deg, new cmd heading: 245.027265 deg. 2jEMHeadingCmd: 4.276533 target range: 115.000000 and range: 118.20 m. jM[و@jIjIjIiIhQhQhQhQfYfYfYrfYbfeˢ?ɛ˃B= 隝 I =ɚiI]0=Imii)[و@)*F?2F:FBF0JF I GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007266GBO >Uycw,'AjH<bH<Hl>I I!IIBI =&I.I=D6I<:IH FN@YN@N#>9Ny;yNH`? {?``?S5Q?@z~??ɨN@N6;N CyVBV IIb2Ib?3٢jJؽ jI=9n뾻Q n>pp rG٣pyri v> zNusing accuracyPremultiplier from configt~59v?~5Yv iv4"Fƿ@v Ev3;vK;v(5 AAZjaeFNOT Ignoring new targets: 115.00 m.BjmJjm ProNav: ac range: 115.000000 m, nav range: 27.278515 m, bearing: 118.201139 deg, approach rate: 0.503790 m/s, LOS rate: -0.538621 deg/s, cmd heading: 245.027272 deg, new cmd heading: 244.362306 deg. 2jӸHeadingCmd: 4.264927 target range: 115.000000 and range: 118.20 m. jHz@j!j!j!i!h!h!h)h)f)f)fQrfQbfU ?ɛƃBg= 隥{I  =ɚiI2=I%+ii)Hz@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260552*FM?2FI:FIBFM1JFI IG>Ga By O >zK NK }9K K K    Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510571?cw,= Av@Yv@v>9v͑;yvHz}?`??\ %?8Sr? ?ɨv@v>1;vCyB I)    AInIB4٢- -E=9-˻Q ->11 5G٣1y=… => ENusing accuracyPremultiplier from configAM59Ec?M5YE iE"IMɿM@E EE ;E ;E 5Y ]AYZjFNOT Ignoring new targets: 115.00 m.Bj"Jj" ProNav: ac range: 115.000000 m, nav range: 27.487394 m, bearing: 117.964896 deg, approach rate: 0.506640 m/s, LOS rate: -0.568655 deg/s, cmd heading: 244.362312 deg, new cmd heading: 243.659005 deg. 2j!üHeadingCmd: 4.252652 target range: 115.000000 and range: 118.20 m. j@jjjihhhhfffrfbf?ɛ ƒB < 隍7I =ɚiI<3=IBii)@)EI*F?2F:FBFP5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762706G >G ?G ?G B O% > I J ~J J 0J J {m:J y9J ـ3J a @a @a @a @jcw,A]ޓ@Y]@]>9]IP;y]HLY??@8}?zZq?`&"c?@?ɨ]ޓ@] ٕ;]"CyuBu IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019311 @ @ @  @ I{IZ4٢-5 .=9%BQ %>!) -G٣-RGy-Z -> =bBottom track data is 0.5 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595?E5Y5 i5#E+:IM:M̿M@5 E59;5$>5"5UB UAUBEZjIMFNOT Ignoring new targets: 115.00 m.BjU?JjU? ProNav: ac range: 115.000000 m, nav range: 27.720396 m, bearing: 117.690452 deg, approach rate: 0.473821 m/s, LOS rate: -0.553403 deg/s, cmd heading: 243.658994 deg, new cmd heading: 242.842641 deg. 2j彼HeadingCmd: 4.238404 target range: 115.000000 and range: 118.20 m. j@jjjihhhhfffrfbf@ɛBP =  I  ؔ=ɚ i I B4=I}iyiy)}@)H=p>I=C I= II=ɂBI9&I9.I96I=d<:I= F*F2F:FBFY5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270962G5 >G B O= >cw,-4A2@Y2@2GQ=92\'y2H ?@? l?`G?`տ*Dl?ɨ2@2;2 Cy>qB>q IIFkIF=4٢N N=9R`Q R ?PT VG٣TyV Z ? ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb59Z?b5YZϛ iZ$b :dfo:fXпf@ZEZ49;ZdJ?Z#5h jAnEEB*** querying acoustic contact *** IhjjZjFNOT Ignoring new targets: 115.00 m.Bj+Jj+  ProNav: ac range: 115.000000 m, nav range: 27.877472 m, bearing: 117.497040 deg, approach rate: 0.491157 m/s, LOS rate: -0.601365 deg/s, cmd heading: 242.842649 deg, new cmd heading: 242.265705 deg. 2j [μHeadingCmd: 4.228334 target range: 115.000000 and range: 118.20 m. jN@jjjihhhhf!f)f)rf)bf-@8q@ɛBĵ< ;Ɏ=#I  =ɚiIi5=Iii)N@)zKMK9KKK<HMlUB2%  *Fu?2Fq:FyBF}P0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523520G>G B O >Dhcw,JNA>I.@Y>=@BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774804>=9>y>H}d??R?@d ֘?Hhs]?ɨ>I.@>g;`d fG٣dyf f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59j2?r5Yj ij$v9tzB:zӿz@jEjd;j8?j|$5| AZj!-FNOT Ignoring new targets: 115.00 m.Bj-<Jj-<= ProNav: ac range: 115.000000 m, nav range: 28.074036 m, bearing: 117.244100 deg, approach rate: 0.517167 m/s, LOS rate: -0.660834 deg/s, cmd heading: 242.265717 deg, new cmd heading: 241.512255 deg. 2jE⼝EHeadingCmd: 4.215184 target range: 115.000000 and range: 118.20 m. jM@jIjIjIiIhIhIhQhQfQfQfYrfYbf]@q@ɛB`< 隕'I =ɚiI7=I!Zii)@)*Fu?2Fq:FqBFu_0JFq IJJ~JJJp:Jf9JJ)! !GG  >5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:11:52.2409 =TRx dataTimestamp_ set to:1736377913.492699Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027742 u|"YGpAGrAyBG B O >ZH9 RH9 HE r>IA  IE IIE BIE =&IA .IA 6IE [<:IE | FDcw,Z)hAy~[BV I-only read 3 of 4 data items for bottom velocity. Device response is::BS, -69, +627, -2E +627, -26,A IwIR4٢5) =4=9=Q =>AA EG٣ERGyE E> ]bBottom track data is 1.6 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configIe59Ma ?e5YM iMr%m9im:im@MEM;M"?MV%5q }cAyZjFNOT Ignoring new targets: 115.00 m.Bjl.Jjl. ProNav: ac range: 115.000000 m, nav range: 28.294060 m, bearing: 116.965947 deg, approach rate: 0.486284 m/s, LOS rate: -0.609974 deg/s, cmd heading: 241.512265 deg, new cmd heading: 240.684357 deg. 2jOѼHeadingCmd: 4.200735 target range: 115.000000 and range: 118.20 m. jkl@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278882ɛB,'< 隽*I 蹑=ɚiI}8=IFii)kl@)*Fa2Fa:FiBFiJFi I*J"JG zKe MKe 9Ka Ke Ke BKu pA:Ku pAG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E 8DAT read: $Error in header M *Received a bad header checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545810}cw,Afoj@Yfy@ff=9f9yfH?(?`?I沕? _``a=??ɨfoj@f˒;f!Cy~MB~E II cI y/4٢1 ^=9%j4Q %>!! -G٣)y-L -> =bBottom track data is 2.0 s old, using for 20.0 s. ENusing accuracyPremultiplier from config1U595 ?]5Y58 i5&]9Ye9eڿe@5E5;5Y@5%5q uAyZjFNOT Ignoring new targets: 115.00 m.Bj9Jj9 ProNav: ac range: 115.000000 m, nav range: 28.467587 m, bearing: 116.722796 deg, approach rate: 0.466963 m/s, LOS rate: -0.650333 deg/s, cmd heading: 240.684364 deg, new cmd heading: 239.959398 deg. 2j(߼HeadingCmd: 4.188082 target range: 115.000000 and range: 118.20 m. j@jjjihhhhfffrfbf @ɛMBMṚ< QUd/IQ Uw=ɚQiQIU9=I]-iYiY)e@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782565Eur=*F?2F:FBFP0JF I hJ |J zJ J J ;g:J 9J J G- >GE ?GE ,?G BO->ٓcw,PȟAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034682y)         Mb@Mb@Mb@ )Y"~j?x&:vyS#?7Լ\ A  A)SAIQAy AI-aI-+4٢=K =#=9EQ E>AQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e?m5Ye ie&mT:m\$?u:uӿu@eEe(;e;e(5}B }A}GEZjFNOT Ignoring new targets: 115.00 m.Bj/=Jj/= ProNav: ac range: 115.000000 m, nav range: 28.739609 m, bearing: 116.390132 deg, approach rate: 0.546159 m/s, LOS rate: -0.661589 deg/s, cmd heading: 239.959408 deg, new cmd heading: 238.970965 deg. 2j㼝MHeadingCmd: 4.170830 target range: 115.000000 and range: 118.20 m. jMqw@jIjIjQiQhQhQhYh]҃BfYfYfYrfabfe`@ɛB< 隵,I 5O=ɚiI&+;=I0ii)qw@)Hu>IC I IIBI =&I.I>D6I(<:IX FEĎ=*FY2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286613G} >GQ BY O} > I }cw,AB]@YBǔ@B;=9BpH;yBH e?@"˺@?@sXr??ɨB]@B黑;B"CyJ7BJ* IJR@AJR@AIZiIZ:4٢bS bf=9fiQ f>dh jG٣jRGyjt j> rNusing accuracyPremultiplier from configlr59n|?v5Yni ina'tv޿v@nEnz:n":n)5x ~}A|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 115.00 m.Bj5QJj5QE ProNav: ac range: 115.000000 m, nav range: 28.921272 m, bearing: 116.128600 deg, approach rate: 0.512906 m/s, LOS rate: -0.733764 deg/s, cmd heading: 238.970970 deg, new cmd heading: 238.191354 deg. 2jEMHeadingCmd: 4.157223 target range: 115.000000 and range: 118.20 m. jM@jIjIjIiQhQhQhQhYfYfYfYrfabfe @ɛBPt< 隕#6I V=ɚiI?<=Iii)@)EE*E"EzKJK@9KKKRK ?JK>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538845*F?2F:FBF`0JFG > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790669G B O >cw,uӎA2Ό@Y2ݓ@2{=927;y2H`D 3?@' F@ov9EIr?Q?ɨ2Ό@2g;2Cy:5B:' IIJ~IJT_4٢R? RL=9RÁQ R>TT VG٣TyZ Z> ~Nusing accuracyPremultiplier from config|59~7? 5Y~ i~(  M⿑@~E~SI;~2I;~k+5Y ]AYZjFNOT Ignoring new targets: 115.00 m.BjQJjQ ProNav: ac range: 115.000000 m, nav range: 29.127214 m, bearing: 115.819208 deg, approach rate: 0.491140 m/s, LOS rate: -0.732630 deg/s, cmd heading: 238.191345 deg, new cmd heading: 237.269816 deg. 2jfHeadingCmd: 4.141140 target range: 115.000000 and range: 118.20 m. j7@jjjihhhhfffrfbf@#@ɛBJ< W5I  =ɚiI==IH ii)7@) IIQ*F?2F:F BF P5JF J9J=vJ9J9J9J=ϣ9J9J9EWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045547GGqAGqAGBO>jH bH H w>I  I f II iBI &I .I 6I <:I D FBIɨCJIɨCRIɓCZI =bI =jIя5˺cw,sGA6 @Y6@63=96U;y6H@PPA?ʐ ߓyn`xGIj?`?ɨ6 @6(;6 CyB2BB# I=Mb@Mb@Mb@999 9)9Y=MbX9?:vyy }G٣yyq > Nusing accuracyPremultiplier from config59~?5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294698Y i(g"?:⿑@E;G~;C-5 AZjFNOT Ignoring new targets: 115.00 m.BjXJjX ProNav: ac range: 115.000000 m, nav range: 29.338348 m, bearing: 115.504570 deg, approach rate: 0.512688 m/s, LOS rate: -0.758521 deg/s, cmd heading: 237.269816 deg, new cmd heading: 236.332782 deg. 2j$HeadingCmd: 4.124785 target range: 115.000000 and range: 118.20 m. j=@j j j i h h hhBfffrfbf`wA@ɛEBMZ:< IM4II M=ɚIiQIUν>=I];# iYiY)e=@)a*F?2F:FBF5JF M$?IIGGBzK BoHK }9K K K   *GPLKKQXYXVOKHECEC?=93//+'&%#"# O- >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M %=M %=U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546893cw,+Ay~$B~ II hI V84٢Џ O=9Q %>!! %G٣%RGy- -> 5Nusing accuracyPremultiplier from config1=595~?=5Y5Q i5*)AAE@5E5X;5;5.5MB MAMIEZjqFNOT Ignoring new targets: 115.00 m.BjQJjQ5 ProNav: ac range: 115.000000 m, nav range: 29.535782 m, bearing: 115.215572 deg, approach rate: 0.504938 m/s, LOS rate: -0.734170 deg/s, cmd heading: 236.332769 deg, new cmd heading: 235.471641 deg. 2j5=HeadingCmd: 4.109756 target range: 115.000000 and range: 118.20 m. j=@j9j9jAiAhAhAhihifqfqfqrfqbf}@ɛB< :I P=ɚiIB@=Ix ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799583*F?2F:FBF 4JF 1I5hG! G B Om >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050549cw,7!Ayޭ#Bީ=Mb@Mb@Mb@999 9)9Y=Mb?T㥛 rhy= ?==C=A =rA)=jAI99y=AIUmIU3A4٢e m7=9iQ m>qq uG٣qyq u> Nusing accuracyPremultiplier from configy59}e~?5Y} i})a!?:E忑@}!E}<}<<}05  A Zj9EFNOT Ignoring new targets: 115.00 m.BjMIJjMI] ProNav: ac range: 115.000000 m, nav range: 29.756971 m, bearing: 114.885434 deg, approach rate: 0.476629 m/s, LOS rate: -0.706104 deg/s, cmd heading: 235.471646 deg, new cmd heading: 234.488695 deg. 2j]K򼝊eHeadingCmd: 4.092600 target range: 115.000000 and range: 118.20 m. je@jajajiiihihihihu܃Bfqfqfqrfqbf}@Hy>I IM IITBI =&I.I6I<:IL FɛBb< ^8I e=ɚiISA=I2 ii)@)*F]?2FY:FYBF]P0JFY"GeY>GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302696G >G ?G ?Gq B O >  I cw,:AJB{JBsJ@J@JBd:JB9J@J@JB#;aNJB$;aNJB<:aNJB=:aRV.@YV=@V=9V-:yVHɿ@gT?@\1(ʿSH뺿`W??ɨV.@V;V"Cy^Bb IIjqIjJH4٢r% rh=9rwQ r>tt vG٣tyzw z> ~Nusing accuracyPremultiplier from config|59~~?5Y~  i~@* 5@~#E~<;~;~{25! %oA%LE=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 115.00 m.BjU$oJjU$oe ProNav: ac range: 115.000000 m, nav range: 29.920326 m, bearing: 114.600359 deg, approach rate: 0.481850 m/s, LOS rate: -0.836297 deg/s, cmd heading: 234.488700 deg, new cmd heading: 233.638208 deg. 2je|mHeadingCmd: 4.077756 target range: 115.000000 and range: 118.20 m. jm|@jijijiiqhqhyhyhyfffrfbf G@ɛB$/< G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806639cw,NTA2B@Y2oR@2 =92U;y2HwͿ ? `Ϳ틹6uV~j??ɨ2B@2Qƍ;2!Cy>B>IIJlIJm?4٢fsϼ jL=9jQ j>ll nG٣nRGyr[ r> zNusing accuracyPremultiplier from configtz59v~?~5YvJ iv*|~@v%Ev!;v1;v;45  A Zj)5FNOT Ignoring new targets: 115.00 m.Bj5jJj=jM ProNav: ac range: 115.000000 m, nav range: 30.101986 m, bearing: 114.270113 deg, approach rate: 0.454181 m/s, LOS rate: -0.820683 deg/s, cmd heading: 233.638205 deg, new cmd heading: 232.653551 deg. 2jM UHeadingCmd: 4.060570 target range: 115.000000 and range: 118.20 m. jU1@jQjQjQiQhQhYhYhYfafafarfabfem@ɛB`g< 隥|=I (=ɚiIC=IS?ii)1@ I)*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.061794G>GyBO>ZH RH @AH {>I C I 4 II @BI &I .I 6I ~<:I Fhcw,nA6I[@Y6j@6/8=96xX;y6H q{п`?-п@฿`j??ɨ6I[@6ǿ;6"Cy^ B^I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310983Mb@Mb@Mb@ )YGz?~jt~jtyp?DA A)AIAyAInIB4٢% <=9Q > G٣y > Nusing accuracyPremultiplier from config59X~?5Y iL+?:k@'E_;R;$65 AZj!-FNOT Ignoring new targets: 115.00 m.Bj-oJj5oE ProNav: ac range: 115.000000 m, nav range: 30.287952 m, bearing: 113.902384 deg, approach rate: 0.426702 m/s, LOS rate: -0.838573 deg/s, cmd heading: 232.653537 deg, new cmd heading: 231.557263 deg. 2jEMHeadingCmd: 4.041437 target range: 115.000000 and range: 118.20 m. j]sS@jYjajaiahahahihmBfififqrfqbfua@ɛBLuw< 隥,@I NЅ=ɚiID=IMxiIiQ)UsS@)Y I*F!2F!:F!BF-g0JF)G5qA G5qAJxJvJJJZ:Jϣ9JJJ ;J ;J:J:- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562655Gi G G rAzK} eNK} 9Ky K} K} VnZD5)  " !$0>JRUVhtxzxG B O >Icw,hAB7p@YB@BO=9Byz;yBH`6>ҿ? et[ҿ3 !`2o??ɨB7p@B;B!CyJBJIiR=IRp=IVIVb4٢^僽 ^]=9bڕQ b>`` bG٣dyfP f> jNusing accuracyPremultiplier from confighn59j~?n5YjQ ij+prr@j)Ej? ;j ;j75t vBAtZjFNOT Ignoring new targets: 115.00 m.BjgJjg ProNav: ac range: 115.000000 m, nav range: 30.441257 m, bearing: 113.586900 deg, approach rate: 0.395693 m/s, LOS rate: -0.810185 deg/s, cmd heading: 231.557264 deg, new cmd heading: 230.615670 deg. 2j HeadingCmd: 4.025003 target range: 115.000000 and range: 118.20 m. j̀@jjjihhhhfffrfbf  @ɛBSA< DI =ɚiI>E=Iii)̀@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.815775*F?2F:FBF 0JF  $?IGG B u G O > YI yM tAM Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069824M7cw,uAz@Yz~@z\=9z;yzH"ӿ@b?``= Կ fk@s??ɨz@zAH;xyBI-M-only read 0 of 1 data item for BIT error. Device response is::TS,25010815130380,35.0, +10.9, 0.0,1493.1, , 0.00, 90.05, 95.49, 84.27  M@M M@M M@U  U@U IU^IU&4٢e' m>=9mQ m>qq uG٣uRGyu }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59~?5Y tIi;,+::@+E<8>F95-B -A-QEZjiuFNOT Ignoring new targets: 115.00 m.BjuuJj}u ProNav: ac range: 115.000000 m, nav range: 30.616014 m, bearing: 113.212892 deg, approach rate: 0.403946 m/s, LOS rate: -0.859568 deg/s, cmd heading: 230.615682 deg, new cmd heading: 229.500211 deg. 2jzHeadingCmd: 4.005534 target range: 115.000000 and range: 118.20 m. jV-@jjjihhhhfffrfbf @ɛeBe.< imwGIi m.=ɚiiqIu%.G=I}ii)V-@)Hu>Iq Iu IIu'BIu =&Iq.Iu?D6Iu <:IuN F*Fm?2Fi:FqBFu#2JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320668G > q I} iG B O >Ucw,! AJCKK3 KK.-KCKC"KCJ2vJ2qJ21J0J2{T:J2q9J23J0J2Gu;J2Ju;J2:J2:y=B=IIMIMa4٢]/L ]L=9eQ e>ai mG٣iym m> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59~?5Y i,  :  `:  @-E];Y?u:5 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 115.00 m.BjMJjMe ProNav: ac range: 115.000000 m, nav range: 30.785070 m, bearing: 112.857697 deg, approach rate: 0.427658 m/s, LOS rate: -0.893591 deg/s, cmd heading: 229.500203 deg, new cmd heading: 228.440598 deg. 2jePmHeadingCmd: 3.987041 target range: 115.000000 and range: 118.20 m. jm+@jijijiiihihqhyhyfffrfbf!@ɛB; 隽KI K=ɚiI/TH=I ii)+@)Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572940zKUNKU9KQKUKU~vplc]YVRQQOQNHFCB>9668420.+,14:GQSSQMKHIIJNV]]YXURQL*F5?2F1:F1BF5 5JF1"G=V>G=R>GG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823197=cw,ՏAyb܁BbI)d dlnAIrIri4٢z zQ=9xQ ~> G٣y  > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config  !I!-59 ~?-5Y 1 i &--9)56:15@ /E ; ? U;5 D AZjFNOT Ignoring new targets: 115.00 m.Bj eJj e= ProNav: ac range: 115.000000 m, nav range: 30.939631 m, bearing: 112.538464 deg, approach rate: 0.390569 m/s, LOS rate: -0.802659 deg/s, cmd heading: 228.440595 deg, new cmd heading: 227.487771 deg. 2j= EHeadingCmd: 3.970411 target range: 115.000000 and range: 118.20 m. jE5~@jAjAjAiIhIhIhIhIfqfqfyrfybf}l"@ɛ~B; PI P=ɚ i I I=I}iyiy)}5~@)*FM?2FI:FQBFU83JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077904G He >Ie C Ie IIe BIe  =&Ia .Ie @D6Ie <:Ie P FG B O >whcw,QA:Â@Y:;Ӊ@:og=9:ʩ;y:HR!ٿ f?nG Dٿ3K@"u??ɨ:Â@:θ;:"CyBӁBBI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.326654 m m mm mm  m m mMb@Mb@Mb@iii i)iYmrh|?~jtI +ym?mĽm9m+A mA)mjAIm`AiymAItIM4٢0 @=9HVQ > G٣RGyP > Nusing accuracyPremultiplier from config59~?5Y i-T:?:@1Ei;g;/=5B  ATEZjFNOT Ignoring new targets: 115.00 m.BjމJjމ ProNav: ac range: 115.000000 m, nav range: 31.090149 m, bearing: 112.147424 deg, approach rate: 0.372977 m/s, LOS rate: -0.964277 deg/s, cmd heading: 227.487769 deg, new cmd heading: 226.320500 deg. 2jq%HeadingCmd: 3.950038 target range: 115.000000 and range: 118.20 m. j%l|@j!j!j!i!h!h!h)h-ӃBf)f)f1rf9bf=d7#@ɛu{BuK; q}SIy }|~=ɚyiyI}J=IIRii)l|@) $?I*FM?2FI:FIBFMP0JFIJxJoJ0JJZ:JK9Jـ3JJ ;J ;J:J:G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579177G B O >zK NK @9K K K JGD@=:62-++,&!&1gT{sl_Q;1.- |Odw,ް A6hځ@Y6@6l=96d;y6HڿR?G R,ڿȊ\Eru??ɨ6hځ@6V;6 CyNŁBRIIjsIjK4٢v vV=9vyQ v>xx zG٣xy~䘽 ~> Nusing accuracyPremultiplier from config 59~? 5Y i(.  ] @3E::>5  AZjAMFNOT Ignoring new targets: 115.00 m.BjMJjMe ProNav: ac range: 115.000000 m, nav range: 31.221338 m, bearing: 111.791884 deg, approach rate: 0.345002 m/s, LOS rate: -0.931065 deg/s, cmd heading: 226.320504 deg, new cmd heading: 225.258494 deg. 2je}HeadingCmd: 3.931502 target range: 115.000000 and range: 118.20 m. j{@jjjihhhhfffrfbf`#@ɛxB(;: fYI UA{=ɚYiYI]K=Ieiaia)e{@)iErAEmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.830765*Fy2Fy:FyBF}_0JFyGrA GrA IGG B O - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 <5 <E  G٣yI > Nusing accuracyPremultiplier from config59~?5Y  i.?: @5E8;H;@5 u AVEZj%FNOT Ignoring new targets: 115.00 m.Bj-*Jj-* ProNav: ac range: 115.000000 m, nav range: 31.371092 m, bearing: 111.359856 deg, approach rate: 0.321956 m/s, LOS rate: -0.924377 deg/s, cmd heading: 225.258491 deg, new cmd heading: 223.968823 deg. 2jHeadingCmd: 3.908993 target range: 115.000000 and range: 118.20 m. j,z@jjjihhhhɃBH%>I%C I%II%BI% =&I!.I!6I%ܯ<:I%3 FBIêCJIêCRIÔCZI =bI =jId(6ffYfarfabfe$@ɛuB; 隵_I ?x=ɚiI1M=Iii),z@)*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: GQ Ba O} >dw,j=AJ"AAJ"AA:@Y:z@:@=9:K:{;y:H ޿@D7?#⦿@x0޿R`goUHo?k?ɨ:@:=;: Cy^BbvIIj{IjZ4٢v vi=9zMQ z>xx ~G٣~RGy~; >  Nusing accuracyPremultiplier from config 59 ~?5Y i>/@6E:L:cB5%B % A-YEZjIUFNOT Ignoring new targets: 115.00 m.BjU_Jj]_u ProNav: ac range: 115.000000 m, nav range: 31.481922 m, bearing: 111.025784 deg, approach rate: 0.322205 m/s, LOS rate: -0.967783 deg/s, cmd heading: 223.968829 deg, new cmd heading: 222.970250 deg. 2ju &}HeadingCmd: 3.891565 target range: 115.000000 and range: 118.20 m. j}gy@jyjyjihhhhfffrfbfक़%@ɛsBG 隽fI u=ɚiIQ2N=INii)gy@)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:3078>  BDAT read: Tx time:23:12:00.6263  $Ping request sent. =9{Q > G٣yq > Nusing accuracyPremultiplier from config%59|~?%5Y i/)-^-@9En:ND5Y ]c AYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.00 m.BjVJjV ProNav: ac range: 115.000000 m, nav range: 31.615839 m, bearing: 110.603497 deg, approach rate: 0.297000 m/s, LOS rate: -0.932573 deg/s, cmd heading: 222.970255 deg, new cmd heading: 221.708973 deg. 2j HeadingCmd: 3.869552 target range: 115.000000 and range: 118.20 m. jw@jjjihh)h1h1f1f1f9rf9bf=@p&@J]sJ]iJYJYJ]K:J]ڈ9JYJYae@ae@ae@ae@ɛpBc 隵lI yr=ɚiIO=Ixii)w@) *Fu?2Fy:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:12:00.6255 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256593G >G ?G 5?H% >I!  I% II% ЁBI! &I! .I! 6I% !<:I% g FG B O >dw, qAyB%VI)) )=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501099Mb@Mb@Mb@ )YMbX9?K rhy!?^C  )$AI AyIDI3٢j G=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 o~?5Y E! i e0#?:@ ;E F; L; F5) - A-\EZj15FNOT Ignoring new targets: 115.00 m.Bj=Jj=m ProNav: ac range: 115.000000 m, nav range: 31.749094 m, bearing: 110.211887 deg, approach rate: 0.317776 m/s, LOS rate: -0.929953 deg/s, cmd heading: 221.708979 deg, new cmd heading: 220.539253 deg. 2jmuHeadingCmd: 3.849136 target range: 115.000000 and range: 118.20 m. ju?Xv@jqjqjqiyhyhyhyh}Bfffrf IbfSW'@ɛmBXBȻ 4qI ?o=ɚiIP=I-vi)i))-?Xv@)1*F?2F:FBFE2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.R=4>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753418G% >zKE yNKE 9KA KE KE H?7/((*+.15421.+)'$%&&%     G B) OE >D"dw,AjTz@Yj9@jئ=9j0;yjH|`?`S~)մ+ t?`?ɨjTz@j`<;jCyvtBv:II~{I~Z4٢] Y=9%HQ ->19 =G٣=RGy=Y% E> MNusing accuracyPremultiplier from configAU59Eb~?U5YE& iE0QU]@E=EEZ;E;EG5a et AaZjFNOT Ignoring new targets: 115.00 m.Bj%BJj%BU ProNav: ac range: 115.000000 m, nav range: 31.863832 m, bearing: 109.831003 deg, approach rate: 0.311391 m/s, LOS rate: -1.029959 deg/s, cmd heading: 220.539254 deg, new cmd heading: 219.400874 deg. 2j]0]HeadingCmd: 3.829268 target range: 115.000000 and range: 118.20 m. jeu@jajajaiahahahihifffrfbf7(@ɛkB{@ 隝T{I l=ɚiIQ=I iis>)u@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005173*F]?2FY:FaBFe05JFa }$?IyJu rJu qJq Jq Ju G:Ju q9Jq Jq G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260633(dw,'ASXx@Y;@˺=9w6!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595AQ~?=5Y5!, i51E)?E:EE@5?E5F;5;5I5I M AQH]>IY I]II]BI] =&IY.IY6I]<:I]L FZjFNOT Ignoring new targets: 115.00 m.Bj%?Jj%?5 ProNav: ac range: 115.000000 m, nav range: 32.015274 m, bearing: 109.353316 deg, approach rate: 0.321373 m/s, LOS rate: -1.008890 deg/s, cmd heading: 219.400880 deg, new cmd heading: 217.974908 deg. 2jU-}HeadingCmd: 3.804380 target range: 115.000000 and range: 118.20 m. j}zs@jyjyjihhhhBfffrfbfY)@ɛhB\  pI 5qh=ɚiIfGS=IUiQiU>)]zs@)YEiMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508941*FQ2FQ:FQBFU@5JFQG]qA G]qAGM>GQGUpAG B! O= > a Ia .dw,A6Txv@Y6K@67=96 I~I~4٢ ؽ  s=9 Q ? G٣y ? %Nusing accuracyPremultiplier from config!-59%D~?-5Y%b0 i%2155@%AE%:%:%:K5EB ER AEaEZjimFNOT Ignoring new targets: 115.00 m.Bju,Jju, ProNav: ac range: 115.000000 m, nav range: 32.119278 m, bearing: 109.009363 deg, approach rate: 0.331364 m/s, LOS rate: -1.092303 deg/s, cmd heading: 217.974914 deg, new cmd heading: 216.946515 deg. 2jh;HeadingCmd: 3.786431 target range: 115.000000 and range: 118.20 m. jTr@jjjihhhhfffrfbf)@ɛfBHڼ ؃I e=ɚiIjQT=Iiiv>)Tr@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761822*F?2F:FBF^0JFzK-®MK)K)K-K-G9>GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014102 ] $?IY 5dw,3ؐA6bt@Y6g@6ӟ=96r߬`d fG٣fRGyf j> nNusing accuracyPremultiplier from confighn59j5~?r5YjI5 ij2prr@jCEj:jz:jL5x z AxZj%FNOT Ignoring new targets: 115.00 m.Bj%Jj%= ProNav: ac range: 115.000000 m, nav range: 32.237465 m, bearing: 108.599530 deg, approach rate: 0.298742 m/s, LOS rate: -1.032130 deg/s, cmd heading: 216.946520 deg, new cmd heading: 215.721726 deg. 2j=1EHeadingCmd: 3.765054 target range: 115.000000 and range: 118.20 m. jEp@jAjAjIiIhIhIhQhQfQfQfQrfYbf]n*@ɛdB 隅)I  b=ɚiIIU=I)!ii*r>)p@))Y Y J5vJ5kJ1J1J5{T:J59J1J1A*FU?2Fa:FaBFe_0JFi uPYqyuC BGEuy>G!B)OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269533jH<bH<H] >IY  I] MII] BIY &IY .I] AD6I] H<:I] FBBI Mb@Mb@Mb@    ) Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517213Y ?~jtly ,? D  A +A) I  y =AIvI&Q4٢  ;=95Q > G٣y؇ > Nusing accuracyPremultiplier from config59w$~?5Y: iW3~-?:@EE;;N5  A dE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 115.00 m.Bj=镼Jj=镼M ProNav: ac range: 115.000000 m, nav range: 32.373825 m, bearing: 108.137867 deg, approach rate: 0.311006 m/s, LOS rate: -1.048500 deg/s, cmd heading: 215.721730 deg, new cmd heading: 214.342856 deg. 2jM3]HeadingCmd: 3.740988 target range: 115.000000 and range: 118.20 m. j][lo@jYjYjaiahahahihmlBfififirfqbfu@O+@ɛbBr 隭I 7^= $?IiɚiIIMUV=IU["iQiU3n>)U[lo@)Y*F?2F:FBFJF"G?>G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769311G- 2Fx>G- ?G- >G B zKe JKa Ka Ke Ke  # O} >VBdw,UO Afq@Yf!@f"n=9fqmAA EG٣AyEr M> UNusing accuracyPremultiplier from configI]59M~?]5YM? iM3Y]z]@MGEM;M:MP5i mNAqZjFNOT Ignoring new targets: 115.00 m.Bj'Jj' ProNav: ac range: 115.000000 m, nav range: 32.489059 m, bearing: 107.728738 deg, approach rate: 0.296850 m/s, LOS rate: -1.050193 deg/s, cmd heading: 214.342852 deg, new cmd heading: 213.120014 deg. 2j/4HeadingCmd: 3.719646 target range: 115.000000 and range: 118.20 m. jn@jjjihhhhfffrfbf,@ɛ`B* BI a7[=ɚ!i!I%6X=I%$i)i5Dh>)5n@)9*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021423G q>GyBO@> IJM qJM jJI JI JM D:JM 9JI JI  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:12:03.2383  TRx dataTimestamp_ set to:1736377924.585185 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2807607Idw,-&Ao@Y;}@nٝ=9IC I'IIfBI =&I.I6I <:I] FMb@Mb@Mb@ )Ykt?QMby 0?unA ZA)AIt AyAIyIxV4٢ '=9Q >!! %G٣%RGy-Gs -> 5Nusing accuracyPremultiplier from config1=595~?=5Y5F i54]\0?e:e6e@5JE5;5(;5R5mB mAmgEZjFNOT Ignoring new targets: 115.00 m.Bj瓼Jj瓼% ProNav: ac range: 115.000000 m, nav range: 32.649387 m, bearing: 107.199598 deg, approach rate: 0.314993 m/s, LOS rate: -1.034471 deg/s, cmd heading: 213.120016 deg, new cmd heading: 211.540813 deg. 2j%|1-HeadingCmd: 3.692084 target range: 115.000000 and range: 118.20 m. j-Kl@j)j)j)i)h)h1h1h5dBfYfafarfabfe-@ɛ^Bz ֍I DqV=ɚ!i!I%Y=I%%i)i-{f>)-Kl@))=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526313*F2F:FBFb0JFG GrA $?Iu PExceeded connect timeout, disconnecting.G 7n>G G qAG B O >!VPdw,@iAA2@m@Y2`{@2B8=92 BDAT read: Tx time:23:12:04.3264 $Ping request sent.) i-k@)zK:KK9KKK Kxsl`WL?6/**F?2F:FBFP5JFGej>GBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:12:04.3256  I vVdw,v2Uk@Y2!ty@2 >=92|| ~G٣|y >  Nusing accuracyPremultiplier from config 59 7}?5Y N i 5@ NE ` ;  ; U5! %QA%jEU addTargetRange:: Added new target pos. range: 155.800003 m, deltaT: 14.871691 s, deltaX: 37.600006 m, approachRate: 2.528294 m/s, rangeRepo size: 4 ZjQ]FNOT Ignoring new targets: 115.00 m.Bj]KJj]K} ProNav: ac range: 115.000000 m, nav range: 32.866821 m, bearing: 106.422305 deg, approach rate: 0.305337 m/s, LOS rate: -1.114123 deg/s, cmd heading: 210.541742 deg, new cmd heading: 209.217137 deg. 2j}'?HeadingCmd: 3.651528 target range: 115.000000 and range: 155.80 m. ji@jjjihhhhfffrfbf` ?ɛZB 7I bP=ɚiI|O\=Im(ii4W>)i@)*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Gs2h>HI IIILBI&I.I6I8<:I~ FBI-ȬCJI-ȬCRI-ȓCZI- =bI- =jI-k5GBO>(\dw,tA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:ni@Y:w@:8=9:m' G٣RGy$ > Nusing accuracyPremultiplier from config59}?5YT i6/?::@PE;;W5 B >A oE-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 115.00 m.BjEʗJjEʗ] ProNav: ac range: 115.000000 m, nav range: 32.995289 m, bearing: 105.958631 deg, approach rate: 0.295295 m/s, LOS rate: -1.061640 deg/s, cmd heading: 209.217136 deg, new cmd heading: 207.831814 deg. 2je&6eHeadingCmd: 3.627349 target range: 115.000000 and range: 155.80 m. je~&h@jijijiiihihi unManaging dock network, ignoring radio surface power offhyhyfffrfbf k?ɛUYBUԼ Y]wIa e#K=ɚiiiIm]=Iu8)iqiu3R>)u~&h@)y*FE?2FA:FABFEP0JFAJJhJ1JJJȆ9J3JJJZ;aJLZ;aJӬ:aJլ:aG%Z>G)G->GBO%n>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK kNK K K K   1n b ^cdw,eߎABBg@YBDu@B;=9B:1tt vG٣tyzm z> ~Nusing accuracyPremultiplier from config|59~K}?5Y~qX i~6  @~RE~P:~:~jY5 aAZjAFNOT Ignoring new targets: 115.00 m.BjiJji ProNav: ac range: 115.000000 m, nav range: 33.100903 m, bearing: 105.556927 deg, approach rate: 0.283007 m/s, LOS rate: -1.072980 deg/s, cmd heading: 207.831810 deg, new cmd heading: 206.630729 deg. 2j8HeadingCmd: 3.606387 target range: 115.000000 and range: 155.80 m. j f@jjjih!h!h!h!f)f)fIrfQbfU`?ɛWBc 隝,I sBH=ɚiI_=I5P+i1i=K>)= f@)QuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256361 $?IE*F ?2F :F BF P5JF! 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= 7?= X?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512021H%>I! I%II%=BI% =&I!.I!6I%<:I%l FGmX>GIBQO}?*Kkdw,l^A:d@Y:=r@:8u=9: G٣y>ν > Nusing accuracyPremultiplier from config59D}?5Y^ i#7S0?:g@UE;3;[5B ArEZj%FNOT Ignoring new targets: 115.00 m.Bj%AJj%A= ProNav: ac range: 115.000000 m, nav range: 33.249256 m, bearing: 104.976520 deg, approach rate: 0.277008 m/s, LOS rate: -1.078890 deg/s, cmd heading: 206.630735 deg, new cmd heading: 204.897843 deg. 2j=9EHeadingCmd: 3.576142 target range: 115.000000 and range: 155.80 m. jEd@jAjAjAiAhAhIhIhMsBfQfQfQrfQbf]f?ɛUB/ 隍I RC=ɚiIg`=I2@-ii7>)d@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759235EmТ= u$?Iq*F?2F:FBFP0JF GS>GBOa>JiJm@AJqJqJu0JqJqJqJuـ3JqJqJqJuԬ:Jq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0104490rdw,#-ɑA6jb@Y6p@6V=963("  IZuIZaO4٢=< ES=9E[;Q E>II MG٣MRGyM茽 M> ]Nusing accuracyPremultiplier from configQe59U}?e5YUb iU7aee@UWEU ;U: ;Ur]5i u]AqZjFNOT Ignoring new targets: 115.00 m.Bj@Jj@ ProNav: ac range: 115.000000 m, nav range: 33.351898 m, bearing: 104.556386 deg, approach rate: 0.266106 m/s, LOS rate: -1.085863 deg/s, cmd heading: 204.897848 deg, new cmd heading: 203.641535 deg. 2jM:HeadingCmd: 3.554215 target range: 115.000000 and range: 155.80 m. jCxc@jjjihhhhfffrfbfL@ɛTBf _I $?=ɚiIbb=Is.i i 95>) Cxc@) EEا=uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266026 e$?Ia*F?2F:FBFO0JFG ?L>G B O >xdw,!AB`@YBn@B=9B7 =yBH?@5@(I@@Y?t?ɨB`@Bw;@yNBNIIVwIVR4zWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514922٢bc B=9Q >!) 5G٣1y=w => ENusing accuracyPremultiplier from configAM59E}?M5YEWg iE8QU U@EZEE-;E;EO_5Y ]qA]uEZjFNOT Ignoring new targets: 115.00 m.BjܚJjܚ ProNav: ac range: 115.000000 m, nav range: 33.460407 m, bearing: 104.090346 deg, approach rate: 0.253009 m/s, LOS rate: -1.083120 deg/s, cmd heading: 203.641530 deg, new cmd heading: 202.248235 deg. 2j9HeadingCmd: 3.529898 target range: 115.000000 and range: 155.80 m. ja@j jjihh!h1h9fAHm>ImC ImIIm8BIi&Ii.Ii6Im<:ImK Fffrfbf A@ɛERBE3ʼ IMII ML;=ɚIiIIMc=IU50iQiU"3>)]a@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767049 I *F ?2F :F BF 4JF G >>Gi By O >C~dw,emA6_@Y6.m@6g=964=y6H` ?#<|貿???ɨ6_@6?5;6 CyRBRIiV,>IV<5Mb@Mb@Mb@111 1)1Y5V-?I +?:JJ3JJ~O;JO;JJ٢-h< -:=9-ܺQ ->11 5G٣1y=Sz => ENusing accuracyPremultiplier from configAM59E.m}?M5YEk iE8M-?U:U"U@E\EE;E;E6a5]B ]HA]xEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.00 m.BjeJje ProNav: ac range: 115.000000 m, nav range: 33.562885 m, bearing: 103.619404 deg, approach rate: 0.235704 m/s, LOS rate: -1.079869 deg/s, cmd heading: 202.248240 deg, new cmd heading: 200.840026 deg. 2jF9HeadingCmd: 3.505320 target range: 115.000000 and range: 155.80 m. j)W`@jjjihhhhBfffrfbf@>@ɛQB 隝JI H8=ɚiI7e=I1ii 3>))W`@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:12:06.9031 -TRx dataTimestamp_ set to:1736377928.1117365checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022666*F?2F:FBF_0JFzK NKŷ9KK K   G F6>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270491ʅdw,KA $?IJly]@YJnk@J=9JT"=yJHagY?e zYj鍲 ;? ?ɨJly]@J;J"CybBbIIjsIjK4٢r< va=9vhzQ v>xx zG٣zRGyz ~> Nusing accuracyPremultiplier from config 59[}? 5Y3o i8  `$ @^E:;:b5Y ]/AYZjFNOT Ignoring new targets: 115.00 m.Bj3Jj3 ProNav: ac range: 115.000000 m, nav range: 33.644405 m, bearing: 103.225136 deg, approach rate: 0.217739 m/s, LOS rate: -1.050525 deg/s, cmd heading: 200.840032 deg, new cmd heading: 199.660272 deg. 2j=4HeadingCmd: 3.484729 target range: 115.000000 and range: 155.80 m. j_@jjjihhhhf1f1f1rf9bf=` @1 ]YYy]Bɛ}PB 隅1I P*4=ɚiIEf=I3ii.>)_@)*Fm?2Fi:FiBFul0JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.5 ms) speed -0.3 m/s 5,DAT read: user:3080> -=X#Rx 1: Read range message, but no direction.!y%LC!=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Hq Iq  Iu IIu =BIu =&Iq .Iq 6Iu <:Iu _ FG =3>G G #?G B O >Ndw,#2Ay~B~IMb@Mb@Mb@ )Yx&? rh?:vy7)?C<T )hAI AyAIIkf4٢E ;=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 TG}?5Y Fs i T9M)?:$@ `E l; ; d5%B -EA-}E]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 129.300003 m, deltaT: 3.529230 s, deltaX: -26.500000 m, approachRate: -7.508720 m/s, rangeRepo size: 4ZjYeFNOT Ignoring new targets: 115.00 m.BjeJjeuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Tx time:23:12:08.0264 $Ping request sent.)}z]@)y*F-?2F):F)BF-0JF)JJfJJJJ9JJJJJ:J:GM r[/>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251504G1 B9 O] >tݒdw,SLA2OZ@Y2nh@2K=92j*=y2H* ?`dY}޿@^s?@e,???ɨ2OZ@2;2 CyF BFI)H HHHIN>IN3٢Vb= Va=9Z@LQ Z>XX ^GzKnLKn9KlKn!Kn٣y > %Nusing accuracyPremultiplier from config!-59%75}?-5Y%~v i%915'5@%bE%:%i:%Yf59 =AAZjFNOT Ignoring new targets: 115.00 m.Bj=Jj= ProNav: ac range: 115.000000 m, nav range: 33.812817 m, bearing: 102.362075 deg, approach rate: 0.191623 m/s, LOS rate: -1.057805 deg/s, cmd heading: 198.278138 deg, new cmd heading: 197.078070 deg. 2j}5HeadingCmd: 3.439661 target range: 115.000000 and range: 155.80 m. ji#\@jjjihhhhfffrfbf@CT?ɛUNBUN QUeIQ ]-=ɚYiYI];9i=IeL5iaie'>)ei#\@)a*F%?2F!:F!BF%R5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503277 IGF6>GB)OEs>wdw,eA6X@Y6 g@6>)=96jJ=y6H@}A? `ܿ+@Xx?@'L?@?ɨ6X@6an;4 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760790yII-cI-y/4٢= =B=9=Q E>AA EG٣ERGyMX M> UNusing accuracyPremultiplier from configQ]59U5!}?]5YUy iU :im])u@UeEU;U;U#h5B AEZjFNOT Ignoring new targets: 115.00 m.Bj떼Jj떼ZH RH H->I) I-II-GBI- =&I).I-BD6I-<:I-X F ProNav: ac range: 115.000000 m, nav range: 33.888260 m, bearing: 101.923491 deg, approach rate: 0.181976 m/s, LOS rate: -1.055538 deg/s, cmd heading: 197.078073 deg, new cmd heading: 195.765491 deg. 2jM5MHeadingCmd: 3.416752 target range: 115.000000 and range: 155.80 m. jUZ@jQjQjQiQhQhQhYhYfYfYfarfabfe?ɛMB >I (=ɚiI8j=Is7iiP,>)Z@)*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016773 $?IG ^E>G G GY Bi O >0dw,A6W@Y6e@6z=960:@=y6H?rKۿq!%?L@??ɨ6W@64;6"Cy@@EMb@Mb@Mb@AAA A)AYEp= ף?Mbp{GzyE%?EE#EA A)AIEAAyEAIm3Imʴ39}UQ }> G٣y C > Nusing accuracyPremultiplier from config59 }?5Y| i\:$%?:,@gE;;i5 AEZjFNOT Ignoring new targets: 115.00 m.BjMJjM ProNav: ac range: 115.000000 m, nav range: 33.951000 m, bearing: 101.488743 deg, approach rate: 0.155025 m/s, LOS rate: -1.072219 deg/s, cmd heading: 195.765489 deg, new cmd heading: 194.463892 deg. 2j7 HeadingCmd: 3.394035 target range: 115.000000 and range: 155.80 m. j 7Y@jjjih!h!h1h5Bf9f9fArfIbfM O?ɛ%LB%C% )-I) 5~%=ɚ1i9I=k=I]8iYi]UX0>)]7Y@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264351*F?2F:FBFP0JFGA@>GyBO^>zKJKKK"K Lytqk]SWXUD:2!|wtrpnmll Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515575 I [)dw,יAHV@Ygd@ήp=93=yH $X? QVyڿ -!?`kh??ɨHV@h;!CyE&BEIiM=IM4= Ma=Ma=IuqIuJH4٢y< <9jQ > G٣yVW > Nusing accuracyPremultiplier from config59|?5Y i:.@iE(;(;k5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.00 m.BjaJja ProNav: ac range: 115.000000 m, nav range: 34.010109 m, bearing: 101.053312 deg, approach rate: 0.143978 m/s, LOS rate: -1.058780 deg/s, cmd heading: 194.463887 deg, new cmd heading: 193.160101 deg. 2j5%HeadingCmd: 3.371280 target range: 115.000000 and range: 155.80 m. j% W@j!j!j!i!h!h)h)h)f)f1f1rf1bf5y?ɛYec aeKIa ech"=ɚaiiImm=Iu\:iqiu0>)u W@)q*F!2F!:F!BF%Z0JF!JK(3 K(.KK"KJUnJQJQJQJU|;:JQJQJQam@am@am@am@G].>GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767428HI IIILBI&I.I6I<:IT FBIȮCJIȮCRIZI =bI =jI4EGdw,Ayz'BzIMb@Mb@Mb@ )YS㥛?Q G٣RGy > Nusing accuracyPremultiplier from config599|?5YI i:%?:0@kE;a; u$?Iq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020870m5B AEZj1=FNOT Ignoring new targets: 115.00 m.Bj=gJj=g ProNav: ac range: 115.000000 m, nav range: 34.060020 m, bearing: 100.621291 deg, approach rate: 0.112808 m/s, LOS rate: -0.974999 deg/s, cmd heading: 193.160099 deg, new cmd heading: 191.866169 deg. 2jH'HeadingCmd: 3.348696 target range: 115.000000 and range: 155.80 m. j QV@jjjihhhhBfffrfbf@j~@ɛKB ꈿI 'r=ɚiI_n=I;ii uE>) QV@) *F?2F:FBF]0JFG j,>G ?G >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273148G B O >%-dw,R͒ANbS@YNa@NT^=9NM"=yNH ~P?g@׿H?@ǫ@??ɨNbS@Nٮ;N CyV$BZIzK~BOK~}9K|K~#K~}qgb\[XPNPNOQLEBBB===??<8976531-*)'%&$! $I zI =X4٢ %U=9%s?Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=|?E5Y=m i=D;AE3E@=mE=e:=:=/o5Q UAQZjy}FNOT Ignoring new targets: 115.00 m.BjJj ProNav: ac range: 115.000000 m, nav range: 34.097843 m, bearing: 100.211838 deg, approach rate: 0.109131 m/s, LOS rate: -1.180081 deg/s, cmd heading: 191.866175 deg, new cmd heading: 190.639377 deg. 2jxJHeadingCmd: 3.327285 target range: 115.000000 and range: 155.80 m. j)GA m$?IiBqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524290O<>J oJ eJ J J >:J 9J J TTdw,`!A>NQ@Y>P_@>.vQ=9>==y>H>@M?@;FVgֿW?+`R?s?ɨ>NQ@>.#;>"Cy^'BbI)d dhjArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775421IvfIv44٢%~< %K=9-Q ->11 5G٣1yE@p M> eNusing accuracyPremultiplier from configQm59U|?u5YU iU;qu5}@UoEUn;U;Up5 AEZjH>I III[BI&I.I6I9<:I FUFNOT Ignoring new targets: 115.00 m.BjeJj ProNav: ac range: 115.000000 m, nav range: 34.133778 m, bearing: 99.776034 deg, approach rate: 0.085823 m/s, LOS rate: -1.039740 deg/s, cmd heading: 190.639377 deg, new cmd heading: 189.333579 deg. 2jd2HeadingCmd: 3.304494 target range: 115.000000 and range: 155.80 m. j|S@jjjihhhhfffrfbf`? @ɛAE AEII M=ɚIiIIMnp=IUޢ>iQiU->)U|S@)Y*F=?2F9:F9BF=_0JF9 U$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:12:10.6053 TRx dataTimestamp_ set to:1736377931.892682checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028438G] D>Ge pAGa G1 BA O] >@dw,A6$fP@Y6&^@69C=96@=y6H/@%?+g տ'7@ڙ?`d,a??ɨ6$fP@6u;6!CyB%BBI]Mb@Mb@Mb@YYY Y)YY]uV?&1I +y]r(?]P]94]XA ]A)]lAI]/AYy]AIujIu;4٢( D=9Q > G٣yja > Nusing accuracyPremultiplier from config59i|?5Ya i;(?:8@qE;ҋ;r5 AEZjFNOT Ignoring new targets: 115.00 m.Bj格Jj格 ProNav: ac range: 115.000000 m, nav range: 34.158756 m, bearing: 99.320768 deg, approach rate: 0.061789 m/s, LOS rate: -1.125347 deg/s, cmd heading: 189.333581 deg, new cmd heading: 187.969055 deg. 2jA HeadingCmd: 3.280679 target range: 115.000000 and range: 155.80 m. jQ@jjjihhhhBfff!rf!bf% @ɛ4>  I 9"=ɚiIq=I)@iie50>)Q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280597*F?2F:FBF3JFG}?>G9BIOeU>zKNK9KK$K(/1211-..))*--.,+'$$%"BKqA:KqA 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:12:10.6053 LVL= 23312, 21425, 14514, 29139, AGC= 59, IDX= 442,-0.21, 3.129,-0.686,-1.067,-1.588, PHS=-1.479, 0.949, 0.517, RAW= 279.6, 0.1, CAL= 281.6, -0.9, ROT= 228.4, 0.9  Ygot valid direction response: 23:12:10.6053 LVL= 23312, 21425, 14514, 29139, AGC= 59, IDX= 442,-0.21, 3.129,-0.686,-1.067,-1.588, PHS=-1.479, 0.949, 0.517, RAW= 279.6, 0.1, CAL= 281.6, -0.9, ROT= 228.4, 0.9  PDAT read: Bearing 228.4, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 228.4, 0.9 (Local)  DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.0 m/s  ,DAT read: user:3081>  BDAT read: Tx time:23:12:11.7264  $Ping request sent.  G٣RGyj > 5Nusing accuracyPremultiplier from config=59 |?=5Y i<9E :E@sE/;T:t5MB MAMEk+֧{?kt}! k kWA:kCBk;CZkܭ@"JzA|)@\9_@0HG`F;?r۠?肕 Jk?Rk_?*B)5,!aTI`g "ߒ;MFl޻I|"kYd*k0kL{?kҷ " 2kukkkb+CkBk? addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 7.311976 s, deltaX: -24.699997 m, approachRate: -3.378019 m/s, rangeRepo size: 4 E Added new target pos. range: 131.100006 m, bearing: 259.047007 deg, lat: 36.904300 deg, lon: -122.120402 deg, deltaT: 29.742209 s, deltaX: 16.100006 m, approachRate: 0.541318 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 131.10 m.BjuJjq ProNav: ac range: 131.100006 m, nav range: 34.179478 m, bearing: 98.864576 deg, approach rate: 0.000000 m/s, LOS rate: -1.125347 deg/s, cmd heading: 187.969060 deg, new cmd heading: 186.501195 deg. 2jHeadingCmd: 3.255060 target range: 131.100006 and range: 131.10 m. jRP@jjjihhhhf)f)f)rf-@3c`@bf5?JUnJUfJU0JQJU|;:JU9JUـ3JQɛIB I 4 =ɚiIs=IAii0>)RP@)*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:12:11.7256 Gu].>GQByH>I III =&I.I6Ic<:I FO- >ldw, 4A2vfM@Y2x[@2%=92>s=y2H (`q?@@0ҿ ?k`i??ɨ2vfM@2;0y^B^I $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmuV?+Mbyimmm(A mCA)iImAiymAI+In3٢d 9=9 Q >   -G٣)y52T 5> =Nusing accuracyPremultiplier from config9E59=v|?E5Y=` i=q@=vE=*<=G*<=v5 AB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 131.10 m.Bj=*Jj=*U ProNav: ac range: 131.100006 m, nav range: 34.185596 m, bearing: 98.370148 deg, approach rate: 0.013693 m/s, LOS rate: -1.106223 deg/s, cmd heading: 186.501198 deg, new cmd heading: 185.018529 deg. 2jU=]HeadingCmd: 3.229182 target range: 131.100006 and range: 131.10 m. j]N@jYjYjYiYhYhahhBfffrfbfD?ɛAEo& AEIA M? =ɚIiIIMz$t=IUtCiQiUM3>)UN@)YEa*F2F:FBFP5JF"G=G> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G] n.>Ge ?Ge ?G1 BA O] >~dw,NABK@YB Z@B=9B~)rM@)zKiMK9KK%K     ! RK?JK?*F?2F:FBFP0JF $?IGc/>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992701GBOB>)a eSCtA EYMtAyMB@BJ] pJY JY JY J] A:JY JY JY dw,shA66J@Y6UX@6<96D G٣RGy%W %> =Nusing accuracyPremultiplier from config1E595M|?E5Y5 i5I9 I=II=VBI= =&I9.I96I=D<:I= FZjquFNOT Ignoring new targets: 131.10 m.Bj}FJj}F ProNav: ac range: 131.100006 m, nav range: 34.182652 m, bearing: 97.547178 deg, approach rate: -0.008949 m/s, LOS rate: -1.030072 deg/s, cmd heading: 183.927473 deg, new cmd heading: 182.549906 deg. 2j0HeadingCmd: 3.186097 target range: 131.100006 and range: 131.10 m. jK@jjjIiQhQhYhhfffIrfIbfU s ?ɛ I =ɚ i I "1v=I6Fii֩,>)K@)*F?2F:FBFJF $?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495960G x1>G qAG pAG B O >Adw,CA6-H@Y6/V@6Y<96A G٣y@j > Nusing accuracyPremultiplier from config59 6|?5Yƍ i5=+?:C@|E/;j;{5 AZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.173054 m, bearing: 97.079686 deg, approach rate: -0.024934 m/s, LOS rate: -1.214801 deg/s, cmd heading: 182.549906 deg, new cmd heading: 181.147331 deg. 2jmPHeadingCmd: 3.161617 target range: 131.100006 and range: 131.10 m. jWJ@jjjih h h h Bfffqrfqbf}.?ɛf I ϯ=ɚiIpw=IGii.>)WJ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749458*F?2F:FBF_0JFGp.>GABIOeV>zK-^MK-s9K)K-&K-   !+10221343200..-,'&% I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000604Tdw,"A23G@Y2RU@2<92 =y2H~g??&`)]ȿf?9@??ɨ23G@2#;2#CybBbIIztIzM4٢ED MN=9UQ U>yy G٣yk > Nusing accuracyPremultiplier from config59x|?5YE i{=D@~E;h;Y}5 ]AEZj1=FNOT Ignoring new targets: 131.10 m.Bj=Jj=M ProNav: ac range: 131.100006 m, nav range: 34.159718 m, bearing: 96.628230 deg, approach rate: -0.032130 m/s, LOS rate: -1.088077 deg/s, cmd heading: 181.147327 deg, new cmd heading: 179.792695 deg. 2jM:UHeadingCmd: 3.137975 target range: 131.100006 and range: 131.10 m. jUH@jYjYjYiYhYhYhahafafafarfibfm }@ɛfT 隥GI <ɚiI x=IH@ii.>)H@)*F5?2F1:F9BF=p0JF9J%qJ%dJ%/J!J%D:J%|9J%(N3J!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252620H>I IIIGBI =&IED.I6IH<:I FGZ,>G?G?Ga B O >]dw,A>{E@Y>}S@>w:<9>=y>HB?>@ſ`?`f!9? ?ɨ>{E@>;>Cy^B^I-vonly read 0 of 1 data item for BIT error. Device response is::TS +0.00, +0.00, +0.00, 20.00,1009.88  v@v v@v v@v  z@z IzzIz=X4٢<  N=9 Q  >  G٣RGyY > %bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-59%v |?-5Y% i%=5+:15:5E5@%E E$?IA%K(;%>%~5MB MAMEZjyFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.143429 m, bearing: 96.190383 deg, approach rate: -0.042810 m/s, LOS rate: -1.151278 deg/s, cmd heading: 179.792695 deg, new cmd heading: 178.478773 deg. 2jEHeadingCmd: 3.115042 target range: 131.100006 and range: 131.10 m. j\G@jjjihhhhfffrfbf@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503822ɛy}=x\ 隅I ~<ɚiI!y=I\G@iiB0>)\G@)*F-?2F):F)BF-,1JF)G-aQ/>G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7558929dw,ϓA6}D@Y6R@6<96s=y6HZ!?@n ÿ`^? _Pp̢??ɨ6}D@6;6!Cy^рBbqIifC>If%=Ij|Ij[4٢ν I=9Q %>!! %G٣!y-Y -> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59={?M5Y=Ў i==M :IMO:MFGU@=E=*;=L?=5Y ].AY}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.122696 m, bearing: 95.734088 deg, approach rate: -0.051133 m/s, LOS rate: -1.126029 deg/s, cmd heading: 178.478772 deg, new cmd heading: 177.109329 deg. 2j2AHeadingCmd: 3.091141 target range: 131.100006 and range: 131.10 m. jAE@jjjihhhhfffrfbf;G@zKMK9KK'K#$%*/033310245/*('$$! !!!  ɛ q   I  <ɚiI"z=IAE@ii2>)AE@)!*F?2F:FBFO5JF 1I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007970Gu0>GqByO>dw,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:23:12:14.3071 VTRx dataTimestamp_ set to:1736377935.673614Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262308J*C@YJIQ@J_<9J-=yJH@P?`mg``?k`â?@O?ɨJ*C@J;JCyǹBnlIIxIx٢%b %I=9-RQ ->)) -G٣1y5(Q >jHbH<H>I III.BI =&IFD.IAD6I <:Ic FBIJIRIZIbIjI <5 bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config595{?5Yގ iC>9(:H@EJ;;?5 OAEZjMFNOT Ignoring new targets: 131.10 m.Bj]Jje ProNav: ac range: 131.100006 m, nav range: 34.096188 m, bearing: 95.231943 deg, approach rate: -0.054245 m/s, LOS rate: -1.028342 deg/s, cmd heading: 177.109332 deg, new cmd heading: 175.602093 deg. 2j o0 HeadingCmd: 3.064835 target range: 131.100006 and range: 131.10 m. j @&D@jjjihhhhffAfArfAbfEm @ɛJBIH 隕PI zX<ɚiIB{=I@&D@ii#6>)@&D@) %$?I!*FU?2FQ:FQBFU#2JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512243G l3>G G qAGq By O >8ew,GAJdJdJf1JdJdJdJf3JdJfJZ;ajJfLZ;anJf:anJf:any-B-NI        Mb@Mb@Mb@ )Y&1?/$S㥛y0?,/ݼ$A )AInAyAIiI:4٢-Jٽ 56=95Q 5>99 =G٣=RGyE E> MNusing accuracyPremultiplier from configIU59M{?U5YMb iM>UT:][1?]:]D]@MEM#=;Ms:;M5mB mAmEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.091137 m, bearing: 94.759247 deg, approach rate: -0.013864 m/s, LOS rate: -1.297677 deg/s, cmd heading: 175.602087 deg, new cmd heading: 174.184095 deg. 2j^HeadingCmd: 3.040086 target range: 131.100006 and range: 131.10 m. jŐB@jjjihhhhBfffrfbf}@ɛV< I /V<ɚ i I ;|=I ŐB@iUWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: Range 10 to 50 : 132.3 m (Round-trip 176.4 ms) speed -0.4 m/s m,DAT read: user:3082> mBDAT read: Tx time:23:12:15.4265 $Ping request sent.)ŐB@)*F?2F:FBF4JFGew4>G!B)OEs>zK5MK5}9K1K5(K5    $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  JDAT read: TxSync time:23:12:15.4257 $ew,A6h@@Y6N@6|O3<96 =y6H@@j? J׵W? i? ?ɨ6h@@6;4y^B^8I)` `IfdIf?14٢x `=9%Q ->9A EG٣AyM M> ]Nusing accuracyPremultiplier from configQ]59U{?e5YU iU>aedGe@UEU:Ue:UT5i mAuE addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.779760 s, deltaX: 1.199997 m, approachRate: 0.317480 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 131.10 m.BjUJjU ProNav: ac range: 131.100006 m, nav range: 34.077507 m, bearing: 94.329300 deg, approach rate: -0.036866 m/s, LOS rate: -1.163354 deg/s, cmd heading: 174.184099 deg, new cmd heading: 172.893971 deg. 2jGHeadingCmd: 3.017569 target range: 131.100006 and range: 132.30 m. jA@jjjihhhhfffrf`@bf࡚?ɛKB  I  L<ɚiI9}=IA@i!i%K7>)%A@)!*F-?2F):F)BF-Q0JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I IIIBI&I.IBD6I$<:Iu FGw6>G B O >M ew,7A 0I0:&>@Y:(M@:{;9:N=y:H`z?:a"nȡ?o{??ɨ:&>@:r ;:CyFBF&IMMb@Mb@Mb@III I)IYMd;O?{Gz?X9vyM4?M# G٣y|^ > Nusing accuracyPremultiplier from config59{?5Y) i>4?:D@E;3; 5B AEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.079678 m, bearing: 93.841033 deg, approach rate: 0.005258 m/s, LOS rate: -1.182689 deg/s, cmd heading: 172.893972 deg, new cmd heading: 171.429602 deg. 2jJ HeadingCmd: 2.992011 target range: 131.100006 and range: 132.30 m. j }?@j j j i h hhhuBfffrf!bf%~?ɛIMZi IUȭIQ UD <ɚQiQIU?~=I]}?@iYi]2&=>)]}?@)a*F2F:FBF_0JFJpJhJJJA:JȆ9JJJT;JT;JӬ:Jլ:G y~7>G?G?GBO- > Will construct direction to contact in vehicle frame from tetrahedron phase data.4ew,QAyBII-<I-3٢= =N=9EQ E>AI MG٣MRGyM M> ]Nusing accuracyPremultiplier from configQe59U|{?m5YU iU1?iim@UEUV;UpJ;Uۇ5B nAE B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 131.10 m.Bj%*Jj%*zK5DRLK59K1K5)K541 E ProNav: ac range: 131.100006 m, nav range: 34.084099 m, bearing: 93.371351 deg, approach rate: 0.010744 m/s, LOS rate: -1.141208 deg/s, cmd heading: 171.429607 deg, new cmd heading: 170.021042 deg. 2jMCMHeadingCmd: 2.967427 target range: 131.100006 and range: 132.30 m. jUS=@jQjQjQiQhQhYhYhYfYfafarfabfe?ɛLB8 隕[I ÿ<ɚiI[P=IS=@iiS>)S=@) ]$?IY*F-?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G F^<>GBOI>_ew,kA&Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501845j<@YjJ@jgA:9jK: =yjH {V?@Y@a?l"Hh?2?ɨj<@j;j"Cy~yB~Ii4=Ip< I PI  4٢䃽 %L=9%tQ %>)) -G٣)y-ý ->HM>II IMIIMBII&II.IMAD6IM<:IMk F eNusing accuracyPremultiplier from configam59ec{?m5Ye iee?imyFm@eEe;e;e5y }A}EZjFNOT Ignoring new targets: 131.10 m.Bj0Jj0 ProNav: ac range: 131.100006 m, nav range: 34.080036 m, bearing: 92.889861 deg, approach rate: -0.010456 m/s, LOS rate: -1.239285 deg/s, cmd heading: 170.021044 deg, new cmd heading: 168.576725 deg. 2jTHeadingCmd: 2.942219 target range: 131.100006 and range: 132.30 m. jPM<@jjjihhhhfffrfbf ?ɛ MB  隭شI Tʶ<ɚiIq(=IPM<@iitD>)PM<@)*F?2F:FBFo0JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752792G <>G G pAG B O >F!ew,YA6N ;@Y6O(I@6P96 =y6H`SX?`eH?tXs?`J?L??ɨ6N ;@6;6 CyRlBRIJboJbfJb0J`Jb>:Jb9Jbـ3J`Jb}O;JbO;Jb:Jb:]Mb@Mb@Mb@YYY Y)YY] G٣yTe > Nusing accuracyPremultiplier from config59K{?5Y i?$4?:C@Eo7;5;l5B >AEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.090492 m, bearing: 92.404202 deg, approach rate: 0.025397 m/s, LOS rate: -1.179231 deg/s, cmd heading: 168.576719 deg, new cmd heading: 167.120521 deg. 2jRJHeadingCmd: 2.916803 target range: 131.100006 and range: 132.30 m. j:@jjj i h h hhHBfffrfbf ?ɛNBB zI! %vp<ɚ!i!I%w=I5:@i1i5)H>)5:@)9eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008665*F?2F:FBF 1JFGCB>GYBiOY>zKLKKK*K,4Yc7$  5 $?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256867I >p'ew,2AB9@YB G@Bؼ29B'e =yBH@Wdl? ?`i"? Wf?+?\?ɨB9@B%;B"CN|uAT .Y |uAy By~fB IIuIaO4٢-/ -P=95젻Q 5>11 5G٣5RGy=xu => ENusing accuracyPremultiplier from configAU59Eu4{?e5YE iE?imLEm@EEEb;E;E$5 nAZjFNOT Ignoring new targets: 131.10 m.BjCJjC ProNav: ac range: 131.100006 m, nav range: 34.096260 m, bearing: 91.939704 deg, approach rate: 0.014355 m/s, LOS rate: -1.155877 deg/s, cmd heading: 167.120522 deg, new cmd heading: 165.727554 deg. 2jQFHeadingCmd: 2.892492 target range: 131.100006 and range: 132.30 m. j9@jjjihhhhff f rf bf @@ɛ I x<ɚiIN3=I9@iijH>)9@)*F?2F:FBFP5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.e?e<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509138HE>IEC IEfIIEȀBIA&IA.IA6IE<:IAG9B>Gi B O >  $?I% i;-ew, Ay~VB~I) A  AMb@Mb@Mb@ )Y&1?~jt?/$y0?= nA)SAI?Ay AIgI64Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761064٢ A=9Q > G٣y > Nusing accuracyPremultiplier from config59{?%5Y i?%2?%:%A%@E;;5) -A5EZj15FNOT Ignoring new targets: 131.10 m.Bj=坼Jj=坼m ProNav: ac range: 131.100006 m, nav range: 34.122158 m, bearing: 91.443024 deg, approach rate: 0.057627 m/s, LOS rate: -1.104345 deg/s, cmd heading: 165.727560 deg, new cmd heading: 164.239004 deg. 2juy=uHeadingCmd: 2.866511 target range: 131.100006 and range: 132.30 m. j}t7@jyjyjyiyhyhyhhBfffrfbf@ɛOBm DI cD<ɚiIfŁ=It7@iiJ`>)t7@)*Fy2F:FBFJFJQJUgJQJQJQJU9JQJQJQJQJU>:JU@:m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:12:18.0088 u TRx dataTimestamp_ set to:1736377939.200596} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013871Gu 7G>Gy B O >4ew,SҔA2%Y6@Y2'xD@2[PŻ92hh jG٣hyn@ n> rNusing accuracyPremultiplier from configpv59r{?v5Yrw ir?tzDz@rEr:r:r5~B ~XAEZjFNOT Ignoring new targets: 131.10 m.BjNJjN ProNav: ac range: 131.100006 m, nav range: 34.133949 m, bearing: 91.010069 deg, approach rate: 0.032832 m/s, LOS rate: -1.205124 deg/s, cmd heading: 164.239002 deg, new cmd heading: 162.940818 deg. 2jNHeadingCmd: 2.843854 target range: 131.100006 and range: 132.30 m. j6@jj j i h h hhfffrfbf @ɛIUSĽ Y]IY ]؝<ɚYiYI] I=Ie6@iaie;aD>)e6@)izKubNKqKqKu+KuRK ?JK> $?I*F ?2F :FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265700GIL>GBOE>:ew,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 133.6 m (Round-trip 178.2 ms) speed -0.5 m/s ,DAT read: user:3083> -"X#Rx 1: Read range message, but no direction.yC"T****** received valid address query ******&R****** received valid ping request ******&Querying Benthos address 50 with one ping in standard two-way mode. F@F@HpIp IrLIIrBIp&Ip.Ip6Ir*<:Irx F54@Y5B@5x95z %G٣%RGy5h => ENusing accuracyPremultiplier from config9E59=z?M5Y=ϓ i=?IMgFM@=E=:=e:=5 VAEB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 133.600006 m, deltaT: 3.528872 s, deltaX: 1.300003 m, approachRate: 0.368391 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 131.10 m.Bj%稼Jj%稼 ProNav: ac range: 131.100006 m, nav range: 34.142864 m, bearing: 90.484791 deg, approach rate: 0.020055 m/s, LOS rate: -1.181334 deg/s, cmd heading: 162.940815 deg, new cmd heading: 161.365812 deg. 2jJMHeadingCmd: 2.816365 target range: 131.100006 and range: 133.60 m. jMR?4@jQjQjQiYhYhahhfffrf@3`@bfm? $?Iɛ៽ 隵¿I <ɚiI ߂=IR?4@ii I>)R?4@)*F?2F:FBF~0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:12:19.1265 $Ping request sent.G G qAG B O >jAew,A^S^1@Y^U}?@^A49^XeTeXA eCA)eAIeAaye\AI}uI}aO4٢z I=9Q > G٣y > Nusing accuracyPremultiplier from config59z?5Y$ i?1?:0F@E;;U5 \AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251301ZjFNOT Ignoring new targets: 131.10 m.BjiJji5 ProNav: ac range: 131.100006 m, nav range: 34.154198 m, bearing: 90.015457 deg, approach rate: 0.027609 m/s, LOS rate: -1.142928 deg/s, cmd heading: 161.365815 deg, new cmd heading: 159.958579 deg. 2j5DHeadingCmd: 2.791804 target range: 131.100006 and range: 133.60 m. j2@jjjihhhhBfffrfbfk?ɛUPBU Q隵S¿I r<ɚiId=I2@iiI0/>)2@)*Fi2Fi:FiBFmP0JFiGMZ> I G!B1OM>zK}BoHK}59KyK},K}    BK:KpA] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504787Gew,,!AJK/@YJM=@JY9JӾhh nG٣lynr n> vNusing accuracyPremultiplier from configpv59rz?z5YrC ir?xzGz@rEr":r:r5B *AEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.159828 m, bearing: 89.575809 deg, approach rate: 0.015229 m/s, LOS rate: -1.188943 deg/s, cmd heading: 159.958577 deg, new cmd heading: 158.640096 deg. 2jKHeadingCmd: 2.768792 target range: 131.100006 and range: 133.60 m. j31@jjjihhh h f f frfbf5v\?ɛν 隝I /b<ɚiIY=I31@iiO_/>)31@)!J1J1J1J1J1J1J1J1aE@aE@aE@aE@EMqAEI*F?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755756G\J>Hm>Ii Im@IImBIm =&Ii.Ii6Im<:Imo FBI%ƭCJI%ƭCRI!ZI% =bI% =jI%4GBOf>  $?I .New,{;AB7-@YB8;@B+n9B G٣RGyM  > Nusing accuracyPremultiplier from config 59 z?5Y  i ?s,?:?@@ E r; ; 뗑5) -A-EZjY]FNOT Ignoring new targets: 131.10 m.BjeJjeu ProNav: ac range: 131.100006 m, nav range: 34.119186 m, bearing: 89.079201 deg, approach rate: -0.095301 m/s, LOS rate: -1.165875 deg/s, cmd heading: 158.640091 deg, new cmd heading: 157.148848 deg. 2juH}HeadingCmd: 2.742765 target range: 131.100006 and range: 133.60 m. j}u/@jyjjihhhhMBfffrfbf?ɛ]շ aepIa e~M<ɚaiaIed=Imu/@iiiu,>)uu/@)q*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259476G9 GE ?GE !?G B! O= >Uew,6UAbq+@Ybr :@bwr9b9QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam59e͏z?m5Ye ie?qu=@u@eEe:e :e5y }A}E $?IiZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 34.079021 m, bearing: 88.655070 deg, approach rate: -0.105590 m/s, LOS rate: -1.116302 deg/s, cmd heading: 157.148842 deg, new cmd heading: 155.875172 deg. 2j?HeadingCmd: 2.720535 target range: 131.100006 and range: 133.60 m. j?.@jjjihhhhfffrfbfe?zKULKQKQKU-KU-Qitxxk_PD9," ɛ% 伿I K:<ɚiI=I?.@ii,&>)?.@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512209*F?2F:FBFv1JFGL@>GyBO`>JK3 KS}.KK"KJ] nJ] jJY JY J] |;:J] 9JY JY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765731He >Ia  Ie LIIe BIa &Ia .Ia 6Ie <:Ie X FK[ew,]oAjT*@YjU28@j1`9j= G٣y% %> -Nusing accuracyPremultiplier from config)559-yz?55Y-t i-D?1=;@=@-E-;-;-U5A E5AAZjiuFNOT Ignoring new targets: 131.10 m.Bj}6Jj}6 ProNav: ac range: 131.100006 m, nav range: 34.030972 m, bearing: 88.208306 deg, approach rate: -0.120347 m/s, LOS rate: -1.120546 deg/s, cmd heading: 155.875176 deg, new cmd heading: 154.533250 deg. 2jA@HeadingCmd: 2.697114 target range: 131.100006 and range: 133.60 m. j,@jjjihhhhfffrfbf@lJTimed out from 2025-01-08T23:02:21.6Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛJ 隕I "0'<ɚiIXh=I,@ii"">),@)*FM?2FQ:FQBF]P5 $?IJFYGn.>GYBaO}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0153880bew,/A6r[(@Y6sz6@6<~R968:=<=A =A)=+AI=+A9y=\AI]qI]JH4٢ms~= mE=9m ;Q u>qq uG٣uRGy} }> Nusing accuracyPremultiplier from config59nbz?5Yҏ i#?)?:xC@@E3;;%5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 131.10 m.BjYJjY ProNav: ac range: 131.100006 m, nav range: 34.016644 m, bearing: 87.745292 deg, approach rate: -0.034474 m/s, LOS rate: -1.114510 deg/s, cmd heading: 154.533249 deg, new cmd heading: 153.143909 deg. 2j8?HeadingCmd: 2.672865 target range: 131.100006 and range: 133.60 m. j:+@jjjihhhhIBfffrfbf4 @5 k nAggregate::initialize lineCaptureHoming:MicromodemComms16  l ~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267266ɛ&7 /I <ɚiIZ=I:+@ii[ >):+@)*F?2F:FBF4JF yIyGZ,>zK^NK}9KK.KGpAGG B - Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520954JepJegJaJaJeA:Je9JaJaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771365H9I9 I=lII=̀BI= =&I9.I96I9:I9O?Ekew,ǰA6ռ&@Y64@6F96IF= J=J=IJ{IJZ4٢Rz= z =9z:Q z>|| ~G٣|y~+ >  Nusing accuracyPremultiplier from config 59 @z?5Y  i >A@@ E : ;: ǟ5%B %5A-ĶEZjQUFNOT Ignoring new targets: 131.10 m.Bj]Jj]m ProNav: ac range: 131.100006 m, nav range: 33.989647 m, bearing: 87.072803 deg, approach rate: -0.044749 m/s, LOS rate: -1.115564 deg/s, cmd heading: 153.143906 deg, new cmd heading: 151.125718 deg. 2jmf?uHeadingCmd: 2.637641 target range: 131.100006 and range: 133.60 m. ju(@jqjqjqiqhyhyhyhyfffrfbf@ɛOBN oI ;ɚiI=I(@iij)>) (@) *F?2F:FBF?1JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:12:21.7097 TRx dataTimestamp_ set to:1736377942.980550checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024157G]H >G1 BA O] >J J AA}rew,sʕAy~B0IMb@Mb@Mb@ )Y(\?zG?y&1?y'? =`e<A A)AIAy AIQI4٢= :=9Q > G٣y > Nusing accuracyPremultiplier from config595)z?5Yu i>)?:>@@E;;5 AǶEWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275441Zj9EFNOT Ignoring new targets: 131.10 m.BjMJjM] ProNav: ac range: 131.100006 m, nav range: 33.960579 m, bearing: 86.594460 deg, approach rate: -0.067404 m/s, LOS rate: -1.110142 deg/s, cmd heading: 151.125722 deg, new cmd heading: 149.689783 deg. 2j]x>eHeadingCmd: 2.612580 target range: 131.100006 and range: 133.60 m. je4'@jajajiiihihihihucBfqfqfyrfybf} KQ @ɛd 隭֬I D;ɚiI=I4'@iiX@>)4'@)*F=?2F9:F9BF=V5JF9G%i&>GBOmV> $?IzK>KK@9KK/K RK>JK?)  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 134.3 m (Round-trip 179.1 ms) speed 0.1 m/s  ,DAT read: user:3084>  BDAT read: Tx time:23:12:22.8265  $Ping request sent.  G٣RGy| > Nusing accuracyPremultiplier from config59z?5Y i> <@@E 3;2;m5  A JJcJ1JJJx9J3J addTargetRange:: Added new target pos. range: 134.300003 m, deltaT: 3.780075 s, deltaX: 0.699997 m, approachRate: 0.185181 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 131.10 m.BjuJju= ProNav: ac range: 131.100006 m, nav range: 33.923103 m, bearing: 86.146148 deg, approach rate: -0.089038 m/s, LOS rate: -1.066313 deg/s, cmd heading: 149.689784 deg, new cmd heading: 148.343624 deg. 2j=6EHeadingCmd: 2.589085 target range: 131.100006 and range: 134.30 m. jE%@jAjIjIiIhihqhyhyfyfyfyrf`@bf`@?ɛ I  I;ɚiI =I-%@i)i-n'>)5%@)1-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:12:22.8257 HqIq IuIIuBIq&Iq.Iq6Iu9<:Iu F*F?2F:FBFP5JF  $?I G Q)>G- ?G- >G B9 Oe >~ew,,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.yǹBrkImMb@Mb@Mb@iii i)iYmHzG?V-?y&1?ym=*?mh=imXA mCA)mAImAiym\AII 3٢> G=9Q > G٣y > 5Nusing accuracyPremultiplier from config=59wy?=5YC ir>=>+?=:=8@E@E<D<(5MB MAMʶEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 33.874352 m, bearing: 85.705841 deg, approach rate: -0.120710 m/s, LOS rate: -1.091760 deg/s, cmd heading: 148.343622 deg, new cmd heading: 147.021047 deg. 2jP;%HeadingCmd: 2.566001 target range: 131.100006 and range: 134.30 m. j%^9$@j!j!j!i!h!h)h)hUBfQfQfYrfYbf]` ?ɛ!% !]IY ];ɚYiYI]=Im^9$@iiimf@>)m^9$@)qEyEy*F?2F:FBF5JF!"G)G-=5Will construct direction to contact in vehicle frame from tetrahedron phase data.G *'>G B O >ew,A6/!@Y6N/@67\96KP=y6Hp ؿ9?`? j:??М? ??ɨ6/!@6kR;6CyBBBIIJZIJ4 PIT٢V= Z[=9Z.Q Z>\\ ^G٣\ybs߽ b> fNusing accuracyPremultiplier from configdj59fQy?j5YfU ifJ>hn 6@n@fEf >;f>;f˦5t vnAvͶE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 131.10 m.BjKJjK- ProNav: ac range: 131.100006 m, nav range: 33.820114 m, bearing: 85.292626 deg, approach rate: -0.155170 m/s, LOS rate: -1.184067 deg/s, cmd heading: 147.021051 deg, new cmd heading: 145.779624 deg. 2j-'K5HeadingCmd: 2.544334 target range: 131.100006 and range: 134.30 m. j5`"@j1j1j9i9h9hAhAhAfAfIfIrfIbfM`?ɛ뼽 I V;ɚiI\k=I `"@i i +>) `"@)zKuLKu9KqKu0KuBK:KoAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFV0JFGv+>GBO<>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256475Hm >Ii  Im IIm #BIi &Ii .Ii 6Im <:Im Fwew,i1AFv @YFw6.@F`9FA?=yFH8ڿ )??3?$?? D?ɨFv @FT;F"Cy~B~II )I W3٢]Ɏ= ]@=9eQ e>aa eG٣eRGym$ m> uNusing accuracyPremultiplier from configq}59uy?}5Yu iu>4@@uEu ;u ;u5 AZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 33.755829 m, bearing: 84.822695 deg, approach rate: -0.151535 m/s, LOS rate: -1.109829 deg/s, cmd heading: 145.779623 deg, new cmd heading: 144.367448 deg. 2jj>HeadingCmd: 2.519687 target range: 131.100006 and range: 134.30 m. jB!@jjjihhhhfffrfbf@?ɛ4n 15—I9 E(?;ɚIiIIu߈=IB!@ $?Iii-5>)B!@)*F?2F:FBFS0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240G ?>G qAG G B O >J oJ dJ J J >:J |9J J J a J a J :a J :a ̒ew,oKAy=B=IMb@Mb@Mb@ )Y(\?L7A`?{Gz?y.?+=ף<A rA)IAyAIFI%3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760194٢ d=  ?=9Q > G٣y %> 5Nusing accuracyPremultiplier from config)=59-y?=5Y-; i-==\.?=:E:1@E@-E->;-,;-5MB MBAMжEZjquFNOT Ignoring new targets: 131.10 m.Bj}ូJj}ូ ProNav: ac range: 131.100006 m, nav range: 33.676086 m, bearing: 84.347730 deg, approach rate: -0.186126 m/s, LOS rate: -1.111225 deg/s, cmd heading: 144.367441 deg, new cmd heading: 142.939484 deg. 2j>HeadingCmd: 2.494765 target range: 131.100006 and range: 134.30 m. j9@jjjihhhhBfffrfbf?ɛ  ^I |:ɚiI N=I 9@ii L>)9@)EE*F2F:FBF_0JFG GpAG]/9> $?IGB!OMt>zK BoHK s9K K 1K    Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012333ew,eABz@YBי+@B]9B[ =yBH@aܿ*9?m? ߿? l? ??ɨBz@BuӉ;@yJBJIIV;IV&3٢^= ^c=9^9Q ^>`` bG٣`yf j> vNusing accuracyPremultiplier from configpz59ry?~5Yr ir=.@@rEriz;r;r5 AӶEZjAEFNOT Ignoring new targets: 131.10 m.BjM으JjM으 ProNav: ac range: 131.100006 m, nav range: 33.600674 m, bearing: 83.947904 deg, approach rate: -0.206551 m/s, LOS rate: -1.097549 deg/s, cmd heading: 142.939481 deg, new cmd heading: 141.737495 deg. 2jO<HeadingCmd: 2.473786 target range: 131.100006 and range: 134.30 m. jR@jjj!i!h)h)hYhYfiffrfbf@ɛPB  I 4Y9ɚiI=I%R@i!i%\5>)%R@)) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264260HIC IIIVBI&I.I6I|<:I FBIJIRIZIbIjIđv4*F)2FA:FABFEo0JFA $?I G q4>G B O >!ew,vA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517029FK@YFL&*@FԍT9FG =yFH@@V`ݿ2?ɸ?XT@??`g?@?ɨFK@F ;F!Cyr!BrI}Mb@Mb@Mb@yyy y)yY}n?Zd;O{Gz?y}6?}j}#<}(A }A)}AI}Ayy}QAIAIk3٢~= <=95:Q > G٣RGyU > Nusing accuracyPremultiplier from config59#y?5Y| i=!6?: (@@E ;;5 cAZjFNOT Ignoring new targets: 131.10 m.Bj8Jj85 ProNav: ac range: 131.100006 m, nav range: 33.479252 m, bearing: 83.465359 deg, approach rate: -0.263423 m/s, LOS rate: -1.050660 deg/s, cmd heading: 141.737490 deg, new cmd heading: 140.284934 deg. 2j5C4=HeadingCmd: 2.448434 target range: 131.100006 and range: 134.30 m. j=$@j9jAjAiAhAhAhIhMBfQfQfQrfYbf]L@ɛ%ޗ I ɚiI)=I$@ii ;>)$@)JnJfJ0JJ|;:J9Jـ3JJJ;JJ;J:J:*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768047G 5>G B O >ew,aOA (I(F@YF(@FW9F޷IZ3٢j{= jY=9n Q n>!! %G٣!y%b -> 5Nusing accuracyPremultiplier from config)559-H~y?=5Y-x i-z=9=&@E@-E-* ;-);-5UB U A]ֶEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 131.10 m.BjHJjH ProNav: ac range: 131.100006 m, nav range: 33.367592 m, bearing: 83.035935 deg, approach rate: -0.314088 m/s, LOS rate: -1.211957 deg/s, cmd heading: 140.284928 deg, new cmd heading: 138.992576 deg. 2jOHeadingCmd: 2.425878 target range: 131.100006 and range: 134.30 m. jA@jjjihhhhfffrfbf@Y@ɛ%QB- )-I) -7ɚ1i1I5=I=A@i9i=)7<>)=A@)AEYzKILK59KK2K  (45571.,+)'&"!" (HpuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021234*F?2F:FBFD5JF"G=G=Gޝ9>GBOA>H >I  I MII BI &I .I BD6I T<:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:12:25.4096 - TRx dataTimestamp_ set to:1736377946.760681- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2732123ew,-A6A@Y6`'@6{,b96p11 5G٣9y=.] E> MNusing accuracyPremultiplier from configAM59Eiy?U5YEt iEZ=QUH%@U@EƒEE: ;E;Es5a ek AeٶEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 33.245956 m, bearing: 82.583966 deg, approach rate: -0.296492 m/s, LOS rate: -1.105717 deg/s, cmd heading: 138.992574 deg, new cmd heading: 137.631975 deg. 2j=HeadingCmd: 2.402131 target range: 131.100006 and range: 134.30 m. j@jjjihhhhfffrfbf\ @ɛv rI a ɚiI=I%@i!i-fk=>)-@)1 ]$?Ia*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525035G5D;>G B O5 >J oJ iJ J J >:J ڈ9J J J }O;J O;J i:J j:Jew,͖A2@Y2 &@2n92K] BDAT read: Tx time:23:12:26.5266 $Ping request sent.  G٣RGyC > %Nusing accuracyPremultiplier from config!-59%Sy?-5Y%p i%A=-;?5:54"@5@%ăE%;%;%W59 =Q A9 addTargetRange:: Added new target pos. range: 134.199997 m, deltaT: 3.779302 s, deltaX: -0.100006 m, approachRate: -0.026462 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 33.101234 m, bearing: 82.096062 deg, approach rate: -0.311256 m/s, LOS rate: -1.053919 deg/s, cmd heading: 137.631973 deg, new cmd heading: 136.162202 deg. 2j4EHeadingCmd: 2.376479 target range: 131.100006 and range: 134.20 m. jE:@jAjAjIiIhIhIhIhUCBfQfQfQrfU`f`@bf]@?ɛRB틽 隭كI "NɚiIa=I:@iiSuA>):@) E$?II*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:12:26.5258 zK LNK 9K K 3K {xocTMHD<60/*%#"   G <>G B O >Eew,&A2@Y2$@2ΰy92]! %G٣!y-Hk -> ENusing accuracyPremultiplier from config9U59=@y?]5Y=k i=*=ae @e@=ƃE=y;=;=5q }> A}ڶEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 32.972630 m, bearing: 81.674787 deg, approach rate: -0.373351 m/s, LOS rate: -1.227755 deg/s, cmd heading: 136.162198 deg, new cmd heading: 134.893664 deg. 2jRHeadingCmd: 2.354339 target range: 131.100006 and range: 134.20 m. j|@jjjihhh h f ffrfbf`k?ɛSBv ZI %|ɚiI7=I|@ii'B>)|@)H>IC IlIIBI&I.I6I8<:I F*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G?>GYBiO\> M $?IU i3/ew,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.F;@YFZ#@FL69F5 G٣y9K > Nusing accuracyPremultiplier from config59+y?5Yf i"=A?:5@5@ɃE<<̶59 =R A=ݶEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 32.822636 m, bearing: 81.192570 deg, approach rate: -0.348616 m/s, LOS rate: -1.125880 deg/s, cmd heading: 134.893668 deg, new cmd heading: 133.440733 deg. 2j+AHeadingCmd: 2.328980 target range: 131.100006 and range: 134.20 m. j@jjjihhh)h-$Bf1f9f9rf9bf=R?ɛTB` UI UɚiI*=I@ii#E>)@)*Ja"Je4=JiJmcJiJiJiJmx9JiJiJiJiJm:Jm:*F]?2FY:FYBF]V0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G= ?>GE ?GE 7?G B! OE > 9 I9 Vew,AR`@YR @RH9R]6 G٣RGy > %Nusing accuracyPremultiplier from config!-59%y?55Y%a i%=15@5@%˃E%2;%XD;%}5A E? AAeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 131.10 m.BjuJju ProNav: ac range: 131.100006 m, nav range: 32.674370 m, bearing: 80.752866 deg, approach rate: -0.403737 m/s, LOS rate: -1.202761 deg/s, cmd heading: 133.440736 deg, new cmd heading: 132.115888 deg. 2j\NHeadingCmd: 2.305857 target range: 131.100006 and range: 134.20 m. j*@jjjihhhhfffrfbfF?ɛޭ ꃿI ZɚiI=I*@ii@1>)*@)NGtA]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. YtAyBzKMK59KK4K}J8Z)*o5*F-?2F):F)BF-m0JF)GLC>GBO J>H I  I II BI &I .I 6I 9<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508877ew,t4AZb@YZb@Z榼9Z*11 5G٣1y=ol => ENusing accuracyPremultiplier from configAM59E#y?M5YE\ iE =IU[@U@E΃EE:E.:EF5]B ] A]EZjFNOT Ignoring new targets: 131.10 m.Bj!Jj! ProNav: ac range: 131.100006 m, nav range: 32.513725 m, bearing: 80.290913 deg, approach rate: -0.394820 m/s, LOS rate: -1.140951 deg/s, cmd heading: 132.115885 deg, new cmd heading: 130.723468 deg. 2jCHeadingCmd: 2.281555 target range: 131.100006 and range: 134.20 m. j@jjjihhhhfffrfbf`?ɛUB8 iI λɚiIuq=Iu@iyi}4>)}@)yEi>E> $?I*F?2F:FBF0JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760829Ge {C>GA BI Om >Ihew,JNAWill construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013051 2R@Y 2q@ 9 ui=y H Y"@-?'?? &b?K?9?ɨ 2R@ &; Cy6BI]Mb@Mb@Mb@YYY Y)YY]'1Z?L7A`堿 rhy]B?]+]C]XA ]A)]AI]AYy]AIuKIu4٢ =9Pm:Q > G٣y/@ > %Nusing accuracyPremultiplier from config!-59%x?-5Y%U i%=5 C?5:5@5@%уE%;%;%59 = A=EZjamFNOT Ignoring new targets: 131.10 m.Bjm3Jjm3} ProNav: ac range: 131.100006 m, nav range: 32.302582 m, bearing: 79.681215 deg, approach rate: -0.397544 m/s, LOS rate: -1.155430 deg/s, cmd heading: 130.723469 deg, new cmd heading: 128.883086 deg. 2j=FHeadingCmd: 2.249434 target range: 131.100006 and range: 134.20 m. j@jjjihhhh Bfffrfbf@$'@ $?IɛWB? I ɚiI[=I@ii;>)@)*F}?2Fy:FyBF}o0JFyGUk9>G B! O= >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265099zK $OK }9K K 5K +/4=INQTTPONX\XSMF>51,'%"RK ?JK >ew,=+hA2? @Y2?@2 ؠ92kH)-`@))HYIY I]yII]BIY&IY.I]AD6I]1<:I]| FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516925*F?2F:FBFP5JF IG a4>G B O5 >zew,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769034y}#B}IMb@Mb@Mb@ )Y+?Mbp?S㥛yv>?;/ݼ )IyI5_I5b(4٢EXE E4=9MQ M>II MG٣QyU ]> eNusing accuracyPremultiplier from configYe59]cx?m5Y]CL i]+=m>?m:mi@m@]ՃE]H;];]5y }BA}EZjFNOT Ignoring new targets: 131.10 m.BjvJjv ProNav: ac range: 131.100006 m, nav range: 32.030228 m, bearing: 78.852863 deg, approach rate: -0.367566 m/s, LOS rate: -1.185230 deg/s, cmd heading: 127.916657 deg, new cmd heading: 126.387586 deg. 2jZKHeadingCmd: 2.205879 target range: 131.100006 and range: 134.20 m. j!- @jjjihhhhBfffrfbf @ɛ YB   ZI YɚiI-=I!- @iiϣO>)!- @)!*F?2F:FBF4JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:12:29.1089 TRx dataTimestamp_ set to:1736377950.288853checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022082G5>GU ?GU >G) BI Ou > $?I ew,'ޛA> @Y>!@>J9>^H n@o?Z?p&?I?Uޝ??ɨ> @>=n;>CyJBJIIRLIR4٢Z Zh=9^PQ ^>`d fG٣dyf f> nNusing accuracyPremultiplier from confighr59j x?r5YjG ij<=pr@r@j׃Ej;j;jE5t zAx B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 131.10 m.Bj-Jj-= ProNav: ac range: 131.100006 m, nav range: 31.893919 m, bearing: 78.449273 deg, approach rate: -0.383653 m/s, LOS rate: -1.140785 deg/s, cmd heading: 126.387583 deg, new cmd heading: 125.171830 deg. 2j=CEHeadingCmd: 2.184661 target range: 131.100006 and range: 134.20 m. jE{ @jAjAjIiIhIhIhIhQfQfQfQrfQbf] @ɛZBA 隍}I W ɚiI=I{ @ii5>){ @)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272972*F=?2F9:F9BFER0JFAzK MK 9K K 6K   BKpA:KqAG:>GB O-,>J]oJ]cJ]0JYJ]>:J]x9J]ـ3JYHa Ia  Ie YIIe BIe =&Ia .Ia 6Ie N<:Ie FBI JI RI ZI bI jI ʒ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527254ew,AyrBrII~QI~4٢E鏽 EA=9MQ M>II UG٣URGyU U> eNusing accuracyPremultiplier from configYe59]x?m5Y]A i]Q=iim@]ڃE]:]:]Ñ5B AEZjFNOT Ignoring new targets: 131.10 m.BjJj ProNav: ac range: 131.100006 m, nav range: 31.733427 m, bearing: 77.963390 deg, approach rate: -0.380844 m/s, LOS rate: -1.158808 deg/s, cmd heading: 125.171836 deg, new cmd heading: 123.707152 deg. 2jFHeadingCmd: 2.159097 target range: 131.100006 and range: 134.20 m. j. @jjjihhhhfffrfbf) @ɛ[B6 I 1ɚiI%=I%. @i!i-Q>)-. @)) =$?I=i*Fu?2Fq:FyBF}]0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:12:29.1089 LVL= 17904, 21873, 10082, 23507, AGC= 59, IDX= 429, 0.23, 1.744, 2.201,-2.268, 2.706, PHS=-0.873,-0.458, 1.306, RAW= 220.3, 0.2, CAL= 220.4, -5.1, ROT= 289.6, 5.1 Ygot valid direction response: 23:12:29.1089 LVL= 17904, 21873, 10082, 23507, AGC= 59, IDX= 429, 0.23, 1.744, 2.201,-2.268, 2.706, PHS=-0.873,-0.458, 1.306, RAW= 220.3, 0.2, CAL= 220.4, -5.1, ROT= 289.6, 5.1 PDAT read: Bearing 289.6, 5.1 (Local) ~Local bearing/azimuth received: Bearing 289.6, 5.1 (Local) DAT read: Range 10 to 50 : 133.6 m (Round-trip 178.2 ms) speed 0.1 m/s ,DAT read: user:3086> BDAT read: Tx time:23:12:30.2266 $Ping request sent.G) G) G B O% >Mew,oϗA:h@Y:g<@:q49:q=y:Hl@Ů?@?n?`2?@ ?N?ɨ:h@:/;:"Cy~B~IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y Q?J +?V-y 5? H=  A CA) AI A y AIZI4٢ 5=9ANQ > G٣yͽ > Nusing accuracyPremultiplier from config59>x?5Y^< ii=W6?:@@܃Er;ƒ;ő5 wAkm=12?km? ki kmR—A:kmCBkmCZkmE?"mw(ŴZq=Sm:ps鿃'GbJkm˿Rkm""?*mU|R@7~1UR@EnTm◛ ?_)"h@)EEpA )I1*F2F:FBFJF"G =G =M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AG% N>zK} xLK} @9Ky K} 7K} (&cyeUD4 waF/ ~wtpolfG B OM >)ew,؀Ab@Yb@bb9b =ybH Kˣ?MQ?({?+???ɨb@bՈ;b CyvBvII ;I &3٢ܽ h=9%{Q %>!! %G٣)y-ڂ -> =Nusing accuracyPremultiplier from config1E595x?M5Y57 i5{=Q]I@]@5ރE5;5;5Ƒ5uB uAuEZjFNOT Ignoring new targets: 133.60 m.BjZ JjZ J!J%fJ!J!J!J%9J!J!u ProNav: ac range: 133.600006 m, nav range: 60.922199 m, bearing: 80.983306 deg, approach rate: -0.399474 m/s, LOS rate: -0.560771 deg/s, cmd heading: 122.117690 deg, new cmd heading: 121.529768 deg. 2jumuHeadingCmd: 2.121094 target range: 133.600006 and range: 133.60 m. j}@jyjyjyiyhyhyhhfffrfbf,C?H>I I.IIkBI&I.I6Ie<:I Fɛ_B  ҽ  = I  Rɚ iI3#=I=@i!n)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG WI>GBO> $?Ii] Will construct direction to contact in vehicle frame from tetrahedron phase data. fw,EAN;@YNZ@N 9Na G٣yn\ > Nusing accuracyPremultiplier from config59ox?5Y2 i=.,?:@@E;{;uȑ5 AEZjQUFNOT Ignoring new targets: 133.60 m.Bj]Jj]m ProNav: ac range: 133.600006 m, nav range: 60.772537 m, bearing: 80.758143 deg, approach rate: -0.347017 m/s, LOS rate: -0.523365 deg/s, cmd heading: 121.529761 deg, new cmd heading: 120.852640 deg. 2jHeadingCmd: 2.109277 target range: 133.600006 and range: 133.60 m. jc@jjjihhhhBfffrfbf?ɛ`Bҽ _I 9 dɚiII=I%c@i!iM,>)Mc@)Q*F2F:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data. I G LA>>G ?G ?G B O >fw,sgA@Y@69L(99 =G٣=RGyE;f E> MNusing accuracyPremultiplier from configIU59M^x?U5YM- iM=Y]@]@MEM;M*;MRʑ5mB mAmEWill construct direction to contact in vehicle frame from tetrahedron phase data.%B*** querying acoustic contact ***j)j)Zjq}FNOT Ignoring new targets: 133.60 m.Bj}qJj}q ProNav: ac range: 133.600006 m, nav range: 60.615463 m, bearing: 80.531513 deg, approach rate: -0.356447 m/s, LOS rate: -0.515621 deg/s, cmd heading: 120.852643 deg, new cmd heading: 120.171026 deg. 2jHeadingCmd: 2.097380 target range: 133.600006 and range: 133.60 m. jz;@jjjihhhhfff rf bf  %?zKM#OKM9KIKM8KMc_[YTRMIHE@<;843/.,),,((&&$$%"" ! ɛbBн 隝꨿I _wɚiITE=Iz;@ii!>)z;@)El>E>*F}?2F:FBF0JFG GGc5>JK(3 K(.KK"KJqJgJ1JJD:J9J3JGBO>H I  I II BBI &I .I 6I 4<:I ~ F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.. fw,I7A6@Y6@6l96ġ8;4y^B^JIIfdIf?14٢n& rb=9rn;Q r>tt vG٣tyvU z> ~Nusing accuracyPremultiplier from configx59zVOx?5Yzn) iz=@@zEze:z:zˑ5B ~AEZj9EFNOT Ignoring new targets: 133.60 m.BjE#JjM#e ProNav: ac range: 133.600006 m, nav range: 60.477913 m, bearing: 80.342238 deg, approach rate: -0.415010 m/s, LOS rate: -0.572368 deg/s, cmd heading: 120.171031 deg, new cmd heading: 119.601935 deg. 2jegļmHeadingCmd: 2.087448 target range: 133.600006 and range: 133.60 m. jm@jijijiiihihq }$?Ihhfffrfbf?ɛUdBU' QUIY ]UɚYiYI]Α=Ie@iaie1>)e@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001620E*Fm?2Fi:FiBFm0JFiG +P->G pAG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253666O >fw,8MTAj'T@Yj's@jN9j/ݼA A)IAyAIaI+4٢1 (=9{h;Q > G٣RGyHZ > Nusing accuracyPremultiplier from config59;x?5YM$ i=2 ? : @ @E;t;Α5 AZjIMFNOT Ignoring new targets: 133.60 m.BjUJjUe ProNav: ac range: 133.600006 m, nav range: 60.325851 m, bearing: 80.092157 deg, approach rate: -0.311793 m/s, LOS rate: -0.514068 deg/s, cmd heading: 119.601940 deg, new cmd heading: 118.849851 deg. 2jefmHeadingCmd: 2.074321 target range: 133.600006 and range: 133.60 m. jm@jijijiiihqhqhqhu@Bfyfyfyrfybf}@ɛfBlSٽ 隽ǯI ɚiI{=I@ii >)@) $?IE=)! !*F?2F):F)BFEA5JFIG|uA Y|uAyABG^p(>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506036GBO>zK= m NK= 9K9 K= 9K=    )VzwncXK@4& <fw, nAF?YFu @F9F=yFH ` @u? ? us? W?@? ?ɨF?F ;DyrB~,I!!)-BAI-lI-m?4٢m mS=9uY;Q u>yy G٣y > Nusing accuracyPremultiplier from configH >I  I II BI &I .I 6I p<:I  F59+x?M5Y i=Qu@u@E~<<ϑ5y }@AEZjFNOT Ignoring new targets: 133.60 m.Bjx Jjx  ProNav: ac range: 133.600006 m, nav range: 60.198315 m, bearing: 79.891492 deg, approach rate: -0.304902 m/s, LOS rate: -0.480745 deg/s, cmd heading: 118.849854 deg, new cmd heading: 118.246607 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7576265HeadingCmd: 2.063793 target range: 133.600006 and range: 133.60 m. j5.@j1j1j1i1h1h9h9h9f9fAfArfAbfE A@ɛgB z 隕I +aɚiI(=I.@ii1*=).@)EE*E"E I*F ?2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:12:32.8085  TRx dataTimestamp_ set to:1736377954.072582]$ >Invalid EZ Servo response:"8\r"1 -$ (Communications Fault! -$ +"fw,AEl?YE~U @EFЀ9E/=yEHt;`D@ţ?K?<\?@?z? ?ɨEl?E;E!CyuBu"I @ @ @  @ IGI3٢ %;=9%#6;Q %>)) 5G٣1y5c 5> EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=@x?M5Y=; i=>U+:QU:U@U@=E=E;=>=Dё5Y ]AYZjFNOT Ignoring new targets: 133.60 m.BjtJjt ProNav: ac range: 133.600006 m, nav range: 60.054356 m, bearing: 79.674602 deg, approach rate: -0.355340 m/s, LOS rate: -0.536639 deg/s, cmd heading: 118.246612 deg, new cmd heading: 117.594414 deg. 2j%HeadingCmd: 2.052410 target range: 133.600006 and range: 133.60 m. jZ@jjj i h h h hfffrfbf`W @J-nJ-fJ-0J)J-|;:J-9J-ـ3J)J-J;a=J-J;a=J-:aEJ-:aEɛiBP 隥)I ɚiIړ=IZ@ii%=)Z@)*Fu?2Fq:FyBF}P0JFy $4Uninitialize Rudder Servo.$Powering downG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262267GQBYOuX> $?I+(fw,EA6?Y6Y @6v96x+=y6H`@1??pअ?뿎?l??ɨ6?6]y;6 CyBBBIINWIN44٢f) fd=9f;Q f>hh jG٣hyn} n>Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:12:32.8085 LVL= 26768, 28993, 13922, 31651, AGC= 57, IDX= 441,-0.44,-1.370,-1.452, 0.505,-0.712, PHS=-0.570,-0.693, 1.215, RAW= 206.7, 0.5, CAL= 206.4, -6.4, ROT= 303.6, 6.4 ]Ygot valid direction response: 23:12:32.8085 LVL= 26768, 28993, 13922, 31651, AGC= 57, IDX= 441,-0.44,-1.370,-1.452, 0.505,-0.712, PHS=-0.570,-0.693, 1.215, RAW= 206.7, 0.5, CAL= 206.4, -6.4, ROT= 303.6, 6.4 ePDAT read: Bearing 303.6, 6.4 (Local) e~Local bearing/azimuth received: Bearing 303.6, 6.4 (Local) mDAT read: Range 10 to 50 : 133.3 m (Round-trip 177.8 ms) speed 0.2 m/s u,DAT read: user:3087> }BDAT read: Tx time:23:12:33.9266 }$Ping request sent.}:publishing transmit ping timeyFpublishing direction and range info95 םQ sٿy )Ii )Iin|?0.?PZʂ?)Ii %bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-59% x?-5Y% i%">U :QU^:U'@]@%E%;%V?%iґ5eB eAeEzK2NK9KK:K     kz|?k k kA:kLCBkjCZk} ?"!ule^TJ5 םQ sٿJk ϿRkh>*q7ZY@j}N@bM?*?v?K1ۿ"ktuB*kBk?k  2k.@kz^]?k  k.@kBkrf,?% addTargetRange:: Added new target pos. range: 133.300003 m, deltaT: 3.527751 s, deltaX: -0.300003 m, approachRate: -0.085041 m/s, rangeRepo size: 4 ] Added new target pos. range: 133.300003 m, bearing: 30.772132 deg, lat: 36.904915 deg, lon: -122.120042 deg, deltaT: 3.527751 s, deltaX: -0.300003 m, approachRate: -0.085041 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 133.30 m.BjJj ProNav: ac range: 133.300003 m, nav range: 98.389160 m, bearing: 38.585164 deg, approach rate: 0.000000 m/s, LOS rate: -0.536639 deg/s, cmd heading: 117.594411 deg, new cmd heading: 116.915128 deg. 2j HeadingCmd: 2.040554 target range: 133.300003 and range: 133.30 m. jo@jjjih!h!hIhIfQfQfQrf]`@bf] *?ɛ%kB%4 !-uI) 5zɚ1i9I==Io@ii4=)o@)*Fu?2Fq:FyBFyJFyHI IIIBI&I.I6ID<:I FGYBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:12:33.9258 I ~V.fw,)#A2?Y2Q}@2o92B=y2H 玨? ?8 v??N??ɨ2?2;2"CyNBNIIVMIV{4٢r% rI=9r\t:Q r>tt vG٣vRGyz` z> EbBottom track data is 1.2 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=w?M5Y=N i=4>U9QU4:U@U@=E=-;=?=Hӑ5y AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 133.30 m.Bj ӻJj ӻ= ProNav: ac range: 133.300003 m, nav range: 98.415436 m, bearing: 38.449359 deg, approach rate: 0.071407 m/s, LOS rate: -0.368967 deg/s, cmd heading: 116.915121 deg, new cmd heading: 116.507821 deg. 2j=8}EHeadingCmd: 2.033445 target range: 133.300003 and range: 133.30 m. jE#@jAjAjAiAhIhIhhfffYrfYbfe ^?=Will construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ɛ-lB- - =-躿I) 5Sɚ1i1I5Q=I=#@i9i=g=)=#@)aEiEmrA*F2F:FBF\0JF $%4Initializing EZServoServo.JU oJU jJQ JQ JU >:JU 9JQ JQ JU }O;JU O;JU :JU : $ 2Initializing RudderServo.G qAG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. = R= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744771! ^Clearing failed state for component RudderServo1 O >=5fw,՘AFf?YFOR@F9F/=yFHy`YF?b?K=Y?@b? ?`J?ɨFf?FK;F#CyRBRI $?Ii % % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%!rh?oʡ?~jty%l?%->%D%A %/A)%rAI%CA!y%AIm!Imi3٢< 2=9ꦻQ > G٣yn" > Nusing accuracyPremultiplier from config59w?5Y i,>T:3?:&@@E=;<;;EՑ55B 5A5EZjy}FNOT Ignoring new targets: 133.30 m.BjJj ProNav: ac range: 133.300003 m, nav range: 98.461639 m, bearing: 38.304575 deg, approach rate: 0.102200 m/s, LOS rate: -0.320105 deg/s, cmd heading: 116.507823 deg, new cmd heading: 116.073684 deg. 2j[HeadingCmd: 2.025868 target range: 133.300003 and range: 133.30 m. jҧ@jjjihhhhBfffrfbf`?ɛ]mB]y 隅ĹI  ɚiI<=Iҧ@iiTȬ=)ҧ@)*F2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997417GqBO~>zKM LKM }9KI KM ;KM RK] ?JK] ?i;fw, ABд?YBh@B̹9Bo4=yBH߿J?ह? R߿Qz?6?+? ?ɨBд?B%;B CyJBNIIV#IV%x3٢^'< bn=9b9Q b?dd fG٣dyfz j? %Nusing accuracyPremultiplier from configh-59jHw?-5Yj ij%>)-@-@jEj0;j ;j֑59 EAAHe>Ia IeIIeBIe =&Ia.Ia6Ie<<:Ie FBI)JI)RI)ZI- =bI- =jI-N4ZjFNOT Ignoring new targets: 133.30 m.BjJj ProNav: ac range: 133.300003 m, nav range: 98.492569 m, bearing: 38.196354 deg, approach rate: 0.090541 m/s, LOS rate: -0.316700 deg/s, cmd heading: 116.073683 deg, new cmd heading: 115.749125 deg. 2jYYHeadingCmd: 2.020203 target range: 133.300003 and range: 133.30 m. jK@jjjihhhhf f f1rf9bf=E?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248469ɛnB I ¼ƼɚiI=IK@i6oPExceeded connect timeout, disconnecting.U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503962PBfw,| AyrBrIuMb@Mb@Mb@qqq q)qYu r?{Gz?~jtxyu?u#>uĻuA q)uAIurAqyuAI-I3٢< ==9Q > G٣RGy > Nusing accuracyPremultiplier from config59w?5Yj i> ?:M@@E;;ؑ5 AZjFNOT Ignoring new targets: 133.30 m.Bj&Jj& ProNav: ac range: 133.300003 m, nav range: 98.529472 m, bearing: 38.062592 deg, approach rate: 0.088385 m/s, LOS rate: -0.320245 deg/s, cmd heading: 115.749126 deg, new cmd heading: 115.347996 deg. 2j[%HeadingCmd: 2.013202 target range: 133.300003 and range: 133.30 m. j%N@j!j!j!i!h)h)h)h-Bfffrfbf?JnJhJJJ|;:JȆ9JJJJ;JJ;JӬ:Jլ:ɛmpBm9d quIq uмɚqiqIug=I}N@i}rEu>*F ?2F :F BF _0JF G G ?Gq B O >Hfw,$$A6?Y6F-@696"=y6H {ݿ !^@f?he? ݿ`?Ғ?`Z?`#?ɨ6?6Vl;4yBBB4IINVINn4٢RC= VV=9V̺^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005178Q f>dd fG٣dyjl j> rNusing accuracyPremultiplier from configlr59nw?r5Yn in>tv@v@nEn:n:nTڑ5~B ~A~EZj%FNOT Ignoring new targets: 133.30 m.Bj%Jj- ProNav: ac range: 133.300003 m, nav range: 98.553780 m, bearing: 37.942956 deg, approach rate: 0.063158 m/s, LOS rate: -0.310772 deg/s, cmd heading: 115.347989 deg, new cmd heading: 114.989176 deg. 2jGUHeadingCmd: 2.006940 target range: 133.300003 and range: 133.30 m. jq@jjjihhhhf ffrfbfv|@ɛ]qB]l aeFIa tټɚiI=Iq@ibsH>I IIIBI&I.I6I<:If FuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259114 I Nfw,=A:"?Y:?@:+9:=y:H`}'̴ܿa?"? .ܿBA`ZP?V? ?ɨ:"?:tƊ;:!Cy^Bb:IIfHIf<3٢r8< rG=9rEQ v>tt vG٣tyz]j z> ~Nusing accuracyPremultiplier from config|59~w?5Y~Y i~=  @ @~E~:~L:~ܑ5 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 133.30 m.BjMJjMe ProNav: ac range: 133.300003 m, nav range: 98.574860 m, bearing: 37.816348 deg, approach rate: 0.051755 m/s, LOS rate: -0.310776 deg/s, cmd heading: 114.989172 deg, new cmd heading: 114.609434 deg. 2jeHUmHeadingCmd: 2.000312 target range: 133.300003 and range: 133.30 m. jm@jijijiiihihqhqhqfyfyfyrfybf ֍@ɛlJ 隵MI 9eɚiI=Ř=I@ii =)@) =nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512535E=J=*F2F:FBFP5JFGBO>JqJjJJJD:J9JJJIZ;JLZ;J:J:} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760386Ufw,WAy%B%FIi-=I-< 5=1 AIAMb@Mb@Mb@ )YS㥛?On?Mb`?y?>;A A)IyIUI4٢2= :=95Q =>99 =G٣=RGyE E> MNusing accuracyPremultiplier from configIu59MGw?u5YM iM=u; ?}:}@}@MEM>;M;Mޑ5 AEZjFNOT Ignoring new targets: 133.30 m.BjJj ProNav: ac range: 133.300003 m, nav range: 98.593216 m, bearing: 37.676554 deg, approach rate: 0.040302 m/s, LOS rate: -0.306863 deg/s, cmd heading: 114.609440 deg, new cmd heading: 114.190144 deg. 2j RHeadingCmd: 1.992994 target range: 133.300003 and range: 133.30 m. jm?jjjihhh!h%Bf!f!f!rf)bf-M9@ɛurBu6 y}Iy }@ɚyiyI}m=Im?i9tG B O- >[fw,fqA2?Y2?2}92I` IbIIbBI`&I`.I`6Ib<:Iba F٢^;> %`=9%(Q %>11 5G٣1yM U> }Nusing accuracyPremultiplier from configy59}Pw?5Y} i}=@@}E}:}~:}ߑ5 AZjFNOT Ignoring new targets: 133.30 m.Bj۳Jj۳=Will construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:12:36.5076 ]TRx dataTimestamp_ set to:1736377957.851363echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268922 ProNav: ac range: 133.300003 m, nav range: 98.600601 m, bearing: 37.558269 deg, approach rate: 0.019637 m/s, LOS rate: -0.314487 deg/s, cmd heading: 114.190142 deg, new cmd heading: 113.835317 deg. 2jmWHeadingCmd: 1.986801 target range: 133.300003 and range: 133.30 m. jO?jjjihhhhfffrfbfG] @ɛ%sB% !%I! -Yuɚ)i)I-.=I5O?i5S t Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518856bfw,vA%,2?Y%+p?%Ҽ9%u; A)AIyI-_I-b(4٢== E4=9EQ E>II MG٣IyU68 U> ]Nusing accuracyPremultiplier from configYe59]lw?u5Y]s i]=} ?}: @@]E];];]5 2AZjFNOT Ignoring new targets: 133.30 m.BjJjJrJJJJG:JJJJ_;J_;JJ ProNav: ac range: 133.300003 m, nav range: 98.595779 m, bearing: 37.419891 deg, approach rate: -0.010457 m/s, LOS rate: -0.300121 deg/s, cmd heading: 113.835320 deg, new cmd heading: 113.420176 deg. 2jMHeadingCmd: 1.979555 target range: 133.300003 and range: 133.30 m. jb?jjjihhh!h%;Bf!f!f)rf)bf-`S @ɛutBul y}Iy }ɚyiIښ=Ib?is *F]?2FY:FYBF]^0JFY}BDAT read: Tx time:23:12:37.6267 $Ping request sent.Fpublishing direction and range infoA9E4 FUĿM\ɿyECAEpcE1d E<)EszIE=iER޾E-}Ebx?E8X@Eq= E Y@)EPwVIEQ@iEPwV=AAE] ?`]E? K8?)E_?IEiEQ޿EzuN>AA:publishing transmit ping time؉Fpublishing direction and range infoA9E4 FUĿM\ɿyAAAA A)AIAiAAAAA A)AIAiAAAE] ?`]E? K8?)AIAiAAAA  % Y) y- B hfw,1[A6ͪ?Y6?6M96J a=9 Q  >  G٣RGy_ > ENusing accuracyPremultiplier from configAM59Ew?M5YE iEr=IM @M@EEE:E;:E35 vAEk}(ؠ?k}$4Q ky k}A:k}CBk}CZk}vZ>"}\z5iy `fX֍:}4 FUĿM\ɿJk}Q޿Rk}zuN>*}>iB؎_@@/)"c;@zj=}`Ν*z?RR`p?% ̿"k}A*k}Bk}?k} 2k} Bk}?kykyk}Bk}? addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.780500 s, deltaX: -0.699997 m, approachRate: -0.185160 m/s, rangeRepo size: 4  Added new target pos. range: 132.600006 m, bearing: 12.236521 deg, lat: 36.905150 deg, lon: -122.120042 deg, deltaT: 3.780500 s, deltaX: -0.699997 m, approachRate: -0.185160 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 132.60 m.BjJj% ProNav: ac range: 132.600006 m, nav range: 120.430573 m, bearing: 29.743004 deg, approach rate: 0.000000 m/s, LOS rate: -0.300121 deg/s, cmd heading: 113.420175 deg, new cmd heading: 113.090043 deg. 2j!zKULKU9KQKU>KUuHeadingCmd: 1.973794 target range: 132.600006 and range: 132.60 m. juE?jqjyjyiyhyhyhhfffrf@3`@bf@y?ɛuBd 㠿I i~ɚiIp=IE?irIC III.BI =&I.I6IY<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I G  >G B O >ofw,5A6(?Y6'?6 96ګxXX ZG٣Xy^/ ^> bNusing accuracyPremultiplier from config`f59bw?f5Ybw ibK=dj @j@bEb:b :b5l nAlzB*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 132.60 m.BjQJjQ% ProNav: ac range: 132.600006 m, nav range: 120.447487 m, bearing: 29.641951 deg, approach rate: 0.047806 m/s, LOS rate: -0.285570 deg/s, cmd heading: 113.090044 deg, new cmd heading: 112.786931 deg. 2j%C-HeadingCmd: 1.968503 target range: 132.600006 and range: 132.60 m. j-?j)j1j1i1h1h1h9h9f9f9fArfAbfE?ɛqu quٜIy }ɚyiI=I?iqGBOE>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966324C vfw,]ٙA @IDy]B]IMb@Mb@Mb@ )Ygfffff?1Zd?I +?y3?"=94<A )^AICAy AI1I3٢%9= %3=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9M59=vw?U5Y=o i==U?U:U&@U@=E=lK;=H;=5Y ]3AaZjFNOT Ignoring new targets: 132.60 m.Bj Jj  ProNav: ac range: 132.600006 m, nav range: 120.454079 m, bearing: 29.514956 deg, approach rate: 0.014262 m/s, LOS rate: -0.274741 deg/s, cmd heading: 112.786934 deg, new cmd heading: 112.405977 deg. 2j<HeadingCmd: 1.961854 target range: 132.600006 and range: 132.60 m. j ?jjjihhhhaBfffrfbf=?ɛvB2 隝I Q[ ɚiIm=I ?ipzK BHK }9K K ?K J pJ kJ J J A:J 9J J a @a @a @a @6#|fw,AH6>I4 I6.II6kBI6 =&I4.I46I6<:I6] FBQ?YBPX?B<2:9B>;yBH@CԿ`Y .?Q?@0LԿ@W@:D?`=r?t?ɨBQ?Bbf;B!CyJ6BJIiN=IN*?IV IV2٢ZJ!> ^h=9^Q ^>`` bG٣bRGyfyȽ f> jNusing accuracyPremultiplier from configdr59fnw?v5Yf ifv?jIjQjQiqhhhhfffrfbf`? $?Iɛ٧ I L ɚiI=I>v?i;ov?)EMR>EM>*F?2F:FBF05JFGWCW=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724742 fw, A:׍?Y:?:L9:=9+Q > G٣y> > Nusing accuracyPremultiplier from config59ew?5YP i<?:o@@EQ;gP;N5 U AQZjFNOT Ignoring new targets: 132.60 m.BjëJjë*J4="J%= ProNav: ac range: 132.600006 m, nav range: 120.432152 m, bearing: 29.290355 deg, approach rate: -0.048260 m/s, LOS rate: -0.300337 deg/s, cmd heading: 112.112569 deg, new cmd heading: 111.732115 deg. 2jNHeadingCmd: 1.950093 target range: 132.600006 and range: 132.60 m. j?jjjihhhhBfffrfbf$+?ɛaeY aeIIi mɚiIxb=I?itDm7fw,&A2g?Y2̥?2.^92)l!) -G٣)y-/ -> =Nusing accuracyPremultiplier from config9E59=\w?M5Y=l i==He>Ia IeIIeBIe =&Ia.Ia6IeK<:Ie FBIEƬCJIEƬCRIAZIE =bIE =jIEƁ55Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478958 i Ii G $G B O >7fw,z@A2' ?Y2$G?2Ϸt928zB>AI)@ @DFADF@AIJIJT3٢R> RS=9VhQ V>TT VG٣VRGyZ" Z> ^Nusing accuracyPremultiplier from config\b59^Tw?b5Y^ i^;dfO?f@^ E^:^:^5jB j3 AjE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 132.60 m.BjEJjE% ProNav: ac range: 132.600006 m, nav range: 120.385811 m, bearing: 29.060223 deg, approach rate: -0.063143 m/s, LOS rate: -0.299470 deg/s, cmd heading: 111.384075 deg, new cmd heading: 111.041596 deg. 2j%M-HeadingCmd: 1.938041 target range: 132.600006 and range: 132.60 m. j-?j)j)j)i1h1h1h1h1fffrfbfC@ɛ1U QU~IQ ]ɚYiYI]==Ie?iehJJ@AE Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:12:40.2052 M TRx dataTimestamp_ set to:1736377961.376887U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983603 Y I] hlfw,^ZA27?Y2u?2092==y2Hп?@?X)ѿ#Ӱ?`??ɨ27?2|;0yzBzfIMb@Mb@Mb@ )Yoʡ?l?/$?y-?=< A)AIAyAI+In3٢> 3=9WQ >    G٣ yud > Nusing accuracyPremultiplier from config%59Jw?%5Y ih;-,.?-:-H?-@ E;;51 5< A5EZjYeFNOT Ignoring new targets: 132.60 m.BjemJjmmu ProNav: ac range: 132.600006 m, nav range: 120.345818 m, bearing: 28.913707 deg, approach rate: -0.087517 m/s, LOS rate: -0.320727 deg/s, cmd heading: 111.041596 deg, new cmd heading: 110.601910 deg. 2j}\}HeadingCmd: 1.930367 target range: 132.600006 and range: 132.60 m. j}H?jjjihhhhBfffrfbf: @ɛxBϽ pI  aɚiIN=IH?iin)H?)*F?2F:FBFJFG]NUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235382GBOa>zK RIK 9K K AK   RK% ?JK% ?J qJ kJ J J D:J 9J J rfw,a3tAZH RH H(I( I*II*BI(&I(.I(6I*<:I*Z FR?YR=?Rsy9RĂ=yRHп`??`#ѿQ者?J??ɨR?R3;PyZBZ{IIb"Ibq3٢j9= je=9noQ n>pp rG٣pyr᜻ r> zNusing accuracyPremultiplier from configt59vCw? 5Yv iv:?@vEv5 = BDAT read: Tx time:23:12:41.3267 E $Ping request sent.E  G٣RGy%*< %> -Nusing accuracyPremultiplier from config)559-w7w?E5Y- i-':E3?E:EL?E@-E-`;-G_;-5I U$ AQkUI?kc k k5~A:kCBkCZk:d="B7{f5`TǞX3gǿVMj"oӛJkRk/%=*&`@`pɮ)@M!a3Ay?,?WYÿ"kMA*kCk9`?kaa 2ka4Bkk kkBk*p>  addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.780426 s, deltaX: -1.800003 m, approachRate: -0.476138 m/s, rangeRepo size: 4 = Added new target pos. range: 130.800003 m, bearing: 5.690173 deg, lat: 36.905150 deg, lon: -122.120406 deg, deltaT: 3.780426 s, deltaX: -1.800003 m, approachRate: -0.476138 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 130.80 m.BjMJjI ProNav: ac range: 130.800003 m, nav range: 108.547249 m, bearing: 13.438074 deg, approach rate: 0.000000 m/s, LOS rate: -0.260034 deg/s, cmd heading: 110.260645 deg, new cmd heading: 109.854318 deg. 2jHeadingCmd: 1.917320 target range: 130.800003 and range: 130.80 m. jj?jjjihhhhBfffrfY`@bf`s?ɛ%zB-`n -=-_I) -#ɚ)i)I5ч=I=j?i=clfw,ꯚAzK*LK*h9K(K*BK*  ,575411BK2qA:K2qAN?YN?N̽9N=yNH"ѿp F??Lҿ Iv?ួ??ɨN?N;LyZ؁B^IIvIv 3٢>  c=9"Q >! %G٣!y-p< 5> ENusing accuracyPremultiplier from configAU59E/w?U5YE iE9aeC?e@EEEny;Ey;Ef5q u@A}EJrJJJJG:JJJH}>Iy I}! II}1BIy&Iy.Iy6I}<:I}_ FZjFNOT Ignoring new targets: 130.80 m.Bj0ŻJj0Żm ProNav: ac range: 130.800003 m, nav range: 108.581001 m, bearing: 13.307281 deg, approach rate: 0.089005 m/s, LOS rate: -0.344791 deg/s, cmd heading: 109.854317 deg, new cmd heading: 109.462068 deg. 2jmluHeadingCmd: 1.910473 target range: 130.800003 and range: 130.80 m. jue?jqjqjqiyhyhyhyhyfffrfbf?EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛM{BMʽ IMQIQ U&ɚQiQIUȆ=I]e?i}befw,)˚A] ?Y]?]}9]^>y]H ҿG2?`? ҿ찿?? 9?ɨ] ?]lj;]!Cyލ߁BލIMb@Mb@Mb@ )Yy&1?X9v?L7A`?y`E?}=+=A I A) AIAyzAI-I-٢Mf= M/=9ULQ U>QQ ]G٣Yy]y< ]> mNusing accuracyPremultiplier from configau59eL%w?u5YeD ie8}1F?}:}}?}@eEegP;eJO;ek5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 130.80 m.BjJj ProNav: ac range: 130.800003 m, nav range: 108.627556 m, bearing: 13.122389 deg, approach rate: 0.109090 m/s, LOS rate: -0.433067 deg/s, cmd heading: 109.462066 deg, new cmd heading: 108.907645 deg. 2jHeadingCmd: 1.900797 target range: 130.800003 and range: 130.80 m. jQM?jjyjyiyhyhyhhUBfffrfbf`>?ɛ|B?Ž vNI (ɚiIo=I%QM?i!i%e|)%QM?))E=qAE=nAE-=*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. m$?Imh) C! = 5tAe A Y 5tAy ?BG 5G G ?G B O >Ǹfw,ABo?YB?BMr9Bڎ>yBHUhҿ "0L?@xi?gӿr᱿@[??mn?ɨBo?Ba;@yJBJI)P PIVIV(1٢^R= ^j=9^o޼Q b>`` bG٣bRGyf)< f> jNusing accuracyPremultiplier from confighn59j8w?r5Yj ij7pr*?r@jEj4;j$5;j5x zkAxZjFNOT Ignoring new targets: 130.80 m.Bj%[Jj%[仝5 ProNav: ac range: 130.800003 m, nav range: 108.664787 m, bearing: 12.983264 deg, approach rate: 0.106892 m/s, LOS rate: -0.399293 deg/s, cmd heading: 108.907646 deg, new cmd heading: 108.490422 deg. 2j5=HeadingCmd: 1.893515 target range: 130.800003 and range: 130.80 m. j=^?j9j9j9iAhAhAhAhAfIfIfIrfIbfUU?ɛ}BY8н 隅EI "*ɚiIQX=I^?iiL)^?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.433332E=zK rMKS9KKCK.,.+(''$#  *Fu?2Fy:FyBF}0JFyH>I If IIiBI =&I.I6I!<:Ig FGuc/ Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684836 I fw,yA2O?Y2L?2L92>y2H@jҿ_ ?Z?OӿuIJ? ?]?ɨ2O?2M;2CyNBRIIZ1IZ3٢b)= bJ=9f-Q f>dd jG٣hyjr< j> rNusing accuracyPremultiplier from configlr59nw?v5Yn" in7tv?v@nEnL:nL:n5x z&A|Zj%FNOT Ignoring new targets: 130.80 m.Bj%|Jj%|㻝5 ProNav: ac range: 130.800003 m, nav range: 108.709679 m, bearing: 12.822159 deg, approach rate: 0.110883 m/s, LOS rate: -0.397767 deg/s, cmd heading: 108.490424 deg, new cmd heading: 108.007322 deg. 2j5}EHeadingCmd: 1.885083 target range: 130.800003 and range: 130.80 m. jEjJ?jAjIjIiIhIhIhQhQfQfQfQrfbf=?ɛ%B%c) !%AI! --ɚ)i)I-]=I5jJ?i1i:)jJ?)EE*E"EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937343*F?2F:FBF3JFJ#K+ـ3 K+K#K#"K#Jq Ju nJq Jq Jq Ju 99Jq Jq Jq a Ju _;a Ju R:a Ju T:a G5 S.G= pAG= qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188214G! B1 OM >WVfw,A 4I6hbb?Yb?b9b2#>ybH nҿ@Z?\J?Կ@^׳`? "?>Q?ɨbb?bՉ;b CynBnIMb@Mb@Mb@ )YFx?i|?5?l?yK?q== A  A) AI=AyAI;I&3٢< .=9kQ > G٣y < > Nusing accuracyPremultiplier from config59w?5Y i5L?:-?@E;;5 AEZj)-FNOT Ignoring new targets: 130.80 m.Bj=Jj=黝M ProNav: ac range: 130.800003 m, nav range: 108.763321 m, bearing: 12.629909 deg, approach rate: 0.114104 m/s, LOS rate: -0.408737 deg/s, cmd heading: 108.007325 deg, new cmd heading: 107.430880 deg. 2jMAUHeadingCmd: 1.875023 target range: 130.800003 and range: 130.80 m. jU?jYjYjYiYhYhYhaheBfafafirfibfm@ɛB Ň=隝M?I W0ɚiIcӝ=I?iiU<)?)*F-?2F):F)BF5P0JF1G k}GBO%M>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.440543zK w'MK 9K K DK ؀fw,Pq4A2?Y2?2b 92 ">y2H ӿ? :?wRԿ@&??J?ɨ2?2o;0HF>ID IF IIFBIF =&ID.ID6IF<:IF@ FyN BNIiV>IV< V=TIZIZ2٢3= L=9{Q > G٣RGyg< > Nusing accuracyPremultiplier from config59v?5YZ i4?@!Eu*;*;5 AZjFNOT Ignoring new targets: 130.80 m.Bj Jj 黝- ProNav: ac range: 130.800003 m, nav range: 108.811234 m, bearing: 12.466310 deg, approach rate: 0.119395 m/s, LOS rate: -0.407499 deg/s, cmd heading: 107.430877 deg, new cmd heading: 106.940308 deg. 2j-ԋ=HeadingCmd: 1.866460 target range: 130.800003 and range: 130.80 m. j=-?j9j9j9i9h9hAhAhAfAfIfIrfIbfM@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693925ɛBO½ ;I 2ɚiIĉ=I-?i iʜ<)-?) U$?IY*F2F:F BF JF G- 7:G5 ?G5 $?G B1 OU >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:23:12:43.9027 u TRx dataTimestamp_ set to:1736377965.160659u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944745mfw,aNA% V?Y%?%89%5 >y%H@f>ӿl`?+?Կt@dg??F?ɨ% V?%W;!yޅBޅI5Mb@Mb@Mb@111 1)1Y5B`"?Zd;? G٣y< > Nusing accuracyPremultiplier from config59@v?5Y| i3O?:`?@$E3;;k5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 130.80 m.BjJj 뻝 ProNav: ac range: 130.800003 m, nav range: 108.866714 m, bearing: 12.286985 deg, approach rate: 0.127530 m/s, LOS rate: -0.411990 deg/s, cmd heading: 106.940306 deg, new cmd heading: 106.402624 deg. 2j_HeadingCmd: 1.857076 target range: 130.800003 and range: 130.80 m. j?j!j!J-vJ-lJ)J)J-{T:J-9J)J)J-Hu;J-Ju;J-(:J-):j!i9hAhAhIhM}BfIfIfIrfQbfU  @ɛ}B*8 隅=I i5ɚiI,=I?ii?=)?)*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196902G9)< 9I9GBOi>Ffw,5hAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:12:43.9027 LVL= 32752, 32753, 16530, 32755, AGC= 64, IDX= 412, 0.17,-0.030,-0.775, 1.316, 0.400, PHS=-0.343,-1.128, 0.912, RAW= 187.6, 6.3, CAL= 187.6, -2.5, ROT= 322.4, 2.5 Ygot valid direction response: 23:12:43.9027 LVL= 32752, 32753, 16530, 32755, AGC= 64, IDX= 412, 0.17,-0.030,-0.775, 1.316, 0.400, PHS=-0.343,-1.128, 0.912, RAW= 187.6, 6.3, CAL= 187.6, -2.5, ROT= 322.4, 2.5 PDAT read: Bearing 322.4, 2.5 (Local) ~Local bearing/azimuth received: Bearing 322.4, 2.5 (Local) DAT read: Range 10 to 50 : 128.8 m (Round-trip 171.8 ms) speed 0.4 m/s ,DAT read: user:3090> BDAT read: Tx time:23:12:45.0267 $Ping request sent. G٣y > Nusing accuracyPremultiplier from config59Cv?5Y"sς8r_n!(]RPȿ\s@￘a?JksRk"=*a+^@0u2@nAΛ hz?H$?&@#Rѿ"k3A*kYBkpJ?kTLZ 2k9AkpJ?kk9AkBk|<>zKm$JK9KKEK addTargetRange:: Added new target pos. range: 128.800003 m, deltaT: 3.531417 s, deltaX: -2.000000 m, approachRate: -0.566345 m/s, rangeRepo size: 4 = Added new target pos. range: 128.800003 m, bearing: 8.358960 deg, lat: 36.905296 deg, lon: -122.120406 deg, deltaT: 3.531417 s, deltaX: -2.000000 m, approachRate: -0.566345 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 128.80 m.BjEJjAH}>Iy I} II}BI} =&Iy.I}@D6I}/<:I}o FBI9JI9RI9ZI= =bI= =jI=ɼ4 ProNav: ac range: 128.800003 m, nav range: 124.782486 m, bearing: 10.546262 deg, approach rate: 0.000000 m/s, LOS rate: -0.411990 deg/s, cmd heading: 106.402627 deg, new cmd heading: 105.803639 deg. 2jHeadingCmd: 1.846622 target range: 128.800003 and range: 128.80 m. j^?jjjihhhhfffrf`@bf ?ɛEBExH AE>II M8ɚIiiIu=I^?ii@V(=)^?)Will construct direction to contact in vehicle frame from tetrahedron phase data.=<JDAT read: TxSync time:23:12:45.0259 1 I1 E Ho=*FM ?2FI :FI BFM A5JFQ }Will construct direction to contact in vehicle frame from tetrahedron phase data.G5<GBAOu#?fw,A:?Y:N?:R"9:Т>y:H@ӿ?@ ?Կ@@,?kH?D?ɨ:?:;8yBBFI)H JAJAJAMb@Mb@Mb@ )Y rh?T㥛 ?S㥛?yCK?=/< A A)AIyAII2٢fǻ =9ƼQ > G٣RGy$< > Nusing accuracyPremultiplier from config59'v?5Y{i i-1L?:?@*EL$;";5B AEZjFNOT Ignoring new targets: 128.80 m.Bj ׻Jj ׻ ProNav: ac range: 128.800003 m, nav range: 124.873161 m, bearing: 10.348077 deg, approach rate: 0.172779 m/s, LOS rate: -0.377360 deg/s, cmd heading: 105.803640 deg, new cmd heading: 105.209539 deg. 2j}J-tJ-mJ)J)J-;N:J-&9J)J)J-{j;J-~j;J-:J-:MHeadingCmd: 1.836253 target range: 128.800003 and range: 128.80 m. jMU ?jIjIjIiIhIhIhQhU?BfQfYfYrfYbf]?ɛB 隕z@I Ҙ;ɚiIn3=IU ?iip_=)U ?)E=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?Ih*F5?2F1:F1BF5P0JF1G r<GBOh>/fw,,AWill construct direction to contact in vehicle frame from tetrahedron phase data.N9(?YN6f?N$9N$>yNH ӿ??eտC~?? 9?ɨN9(?N΍;N!CyZBZIIfIf(*2٢n! nY=9r}ۻQ r>pp rG٣tyv[: v> zNusing accuracyPremultiplier from configx~59zv?~5YzWb iz30?@z-Ez ;z~ ;zy5   A ZjFNOT Ignoring new targets: 128.80 m.BjJj ProNav: ac range: 128.800003 m, nav range: 124.934341 m, bearing: 10.216635 deg, approach rate: 0.154383 m/s, LOS rate: -0.331520 deg/s, cmd heading: 105.209536 deg, new cmd heading: 104.815410 deg. 2jcHeadingCmd: 1.829374 target range: 128.800003 and range: 128.80 m. j(?jj!j!i!h)h)h)h)fffrfbfi?ɛB̽ 0EI 0>ɚiIɛ=I(?icImC Im IImBIm =&Ii.Ii6Im<:ImY FWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF 5JFG s*=G G ?G B O>fw,'țA @:#?Y:a?:l&9:;>y:Hːӿ`??@.տ>ỿ?I?@A?ɨ:#?:|o;:CyBBFIIJIJ(٢R V4=9VRQ V>XX ZG٣ZRGyZl Z> bNusing accuracyPremultiplier from config\b59^qv?f5Y^Y i^/df?j@^0E^R2;^TE;^t5EߒB EAEE}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 128.80 m.BjŻJjŻ ProNav: ac range: 128.800003 m, nav range: 125.009132 m, bearing: 10.058261 deg, approach rate: 0.163446 m/s, LOS rate: -0.345899 deg/s, cmd heading: 104.815414 deg, new cmd heading: 104.340587 deg. 2jcm HeadingCmd: 1.821087 target range: 128.800003 and range: 128.80 m. j _?j j jih9hAhQhfffrfbf K?ɛeB2hý 隍0GI rAɚiI8=I_?ie 1 I1 = Will construct direction to contact in vehicle frame from tetrahedron phase data.= ?= ?fw,lA6?Y6?6Z'96L>y6Hb_ӿ \H? ?@Կ@_?`?L?ɨ6?6|Y;6 CyBBBIiF0>IF>MMb@Mb@Mb@III I)IYMףp= ?/$?I +?yM>?M=M94=9}OQ > G٣y > Nusing accuracyPremultiplier from config59vv?5YR i.??:=?@2E; ;V 5 kAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 128.80 m.BjŻJjŻ ProNav: ac range: 128.800003 m, nav range: 125.087296 m, bearing: 9.917379 deg, approach rate: 0.191875 m/s, LOS rate: -0.345620 deg/s, cmd heading: 104.340586 deg, new cmd heading: 103.918212 deg. 2j2mHeadingCmd: 1.813715 target range: 128.800003 and range: 128.80 m. j'?j j j i h h hhBfffrfbf?ɛUBU>9߽ Q]MIY ]CɚYiYI]w=Ie'?iaie&=)e'?)i*Fm?2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G'@s=G H >I  I II BI  =&I .I 6I <:I N FzK MK 9K K GK uYG:1#c1<xsle_YQKEB?;8640.)" ! RK JK ?B O >  $?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244086FFfw,"A22?Y2p?2^'92Q=y2HӿY:??qlԿ@]??@Y?ɨ22?2;2!CyRBRIIj$Ij<3٢r rT=9vQ v>tt vG٣tyz2 z> Nusing accuracyPremultiplier from config59 v?5YJ i-?@5EP:: 5B AEZjFNOT Ignoring new targets: 128.80 m.Bj%չJj%չ] ProNav: ac range: 128.800003 m, nav range: 125.161072 m, bearing: 9.783663 deg, approach rate: 0.179386 m/s, LOS rate: -0.324937 deg/s, cmd heading: 103.918214 deg, new cmd heading: 103.517309 deg. 2j]_mHeadingCmd: 1.806718 target range: 128.800003 and range: 128.80 m. jmB?jijjihhhhfffrfbf`p@ɛ]B]ӽ Y]QIY eߙFɚaiaIe|=ImB?iu*gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496227..gw,gA>SR?Y>O?>bw'9>O=y>HzҿX8`H?@'? ӿFl ?^(?c?ɨ>SR?>$7;>"CyJBJI%Mb@Mb@Mb@!!! !)!Y%Gz?I +?MbPy%0?%9=%%A !)%AI%=A!y%\AI=I=m?3٢M޼ MD=9M :Q M>QQ UG٣URGy]T ]> eNusing accuracyPremultiplier from configam59ev?m5YejD ieU,u2?u:u?}@e7EeJ;eI;e 5 AEZjFNOT Ignoring new targets: 128.80 m.BjlJjl ProNav: ac range: 128.800003 m, nav range: 125.230087 m, bearing: 9.664601 deg, approach rate: 0.176888 m/s, LOS rate: -0.304988 deg/s, cmd heading: 103.517309 deg, new cmd heading: 103.160326 deg. 2jOQHeadingCmd: 1.800487 target range: 128.800003 and range: 128.80 m. j_v?jjjihhhhBfffrfbf`&@ IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749609ɛ5B5޽ 1=UI9 =8Iɚ9i9I=2$=IE_v?iEoi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000244X gw,/A:f?Y:?:&9:=y:H@FҿW)?@r9?:eӿ7? b?m?ɨ:f?: ;: Cy^B^I)` bAIj)IjW3٢r< vQ=9v :Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59ov? 5Y= i+  ? @9E::5 AZjAEFNOT Ignoring new targets: 128.80 m.BjM死JjM死e ProNav: ac range: 128.800003 m, nav range: 125.297554 m, bearing: 9.545867 deg, approach rate: 0.172872 m/s, LOS rate: -0.304072 deg/s, cmd heading: 103.160329 deg, new cmd heading: 102.804322 deg. 2jePmHeadingCmd: 1.794274 target range: 128.800003 and range: 128.80 m. jmĪ?jijijiiihqhqhqhyfyfyfyrfbf " @ɛB 隭 WI %KɚiI7ә=IĪ?ii`=)Ī?)JuvJuqJu1JqJu{T:Juq9Ju3Jqa}@a}@a}@a@H]>I]C I] II]BI] =&IY.I]?D6I]1<:I]i F*F?2F:FBFP5JFzKOK+9KKHK " !   BK:KqA I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:12:47.6009 TRx dataTimestamp_ set to:1736377968.943082%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255625GuX=GBO>?gw,7oIA6!?Y6_?6o%96 =y6HѿTz@x?(R?0ҿ`??pv?ɨ6!?6B;4y^BbIIj9Ij3٢rּ rK=9rp;Q r>tt vG٣tyzɼ z> ~Nusing accuracyPremultiplier from config|59~v?5Y~M7 i~*? @~;E~ ;~ ;~O5 AZjAEFNOT Ignoring new targets: 128.80 m.BjM]JjM]]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504334m ProNav: ac range: 128.800003 m, nav range: 125.364929 m, bearing: 9.423454 deg, approach rate: 0.166932 m/s, LOS rate: -0.303133 deg/s, cmd heading: 102.804319 deg, new cmd heading: 102.437283 deg. 2jm PmHeadingCmd: 1.787868 target range: 128.800003 and range: 128.80 m. ju?jqjqjqiqhqhhhff f rf bf }f @ɛB)޽ ZI NɚiIRt=I ?i k % BDAT read: Tx time:23:12:48.7268 - $Ping request sent.- tgw,vcAE?YE7?E %$9E%=yEHJ"ѿX?g?.ҿ=*n??@j}?ɨE?ES0;E!CyuفBuIMb@Mb@Mb@ )Y+?Mb? G٣RGy{ > Nusing accuracyPremultiplier from config59v?5Y/ i*!?:?@>E;;51 52A=EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:12:48.7260 k-99?k-U  k) k-l\A:k-BBk-LBZk-,>"-5N1P_R#-ſ*;o¢fJk-߿Rk-V=*-O`_@k/@O addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.780003 s, deltaX: -1.300003 m, approachRate: -0.343916 m/s, rangeRepo size: 4  Added new target pos. range: 127.500000 m, bearing: 7.309980 deg, lat: 36.905301 deg, lon: -122.120454 deg, deltaT: 3.780003 s, deltaX: -1.300003 m, approachRate: -0.343916 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 127.50 m.BjJj5 ProNav: ac range: 127.500000 m, nav range: 125.443367 m, bearing: 7.309872 deg, approach rate: 0.000000 m/s, LOS rate: -0.303133 deg/s, cmd heading: 102.437285 deg, new cmd heading: 101.963122 deg. 2j9=HeadingCmd: 1.779592 target range: 127.500000 and range: 127.50 m. j=?jAjAjAiAhAhAhIhmTBfififqrfu_@bfus?ɛB8׽ _I uRɚiIQ=I?ii[m=)?)!*F?2F:FBFS5JFZH9 RH= AAHE >IA  IE IIE BIE =&IA .IA 6IE L<:IE z FJ} yJ} Jy Jy J} ]:J} 9Jy Jy J} ;a J} ;a J} 2;a J} 3;a zK {MK h9K K IK RK ?JK ? I G B= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zgw,}AB6?YB2?B"9B=yBH Eпa`? }?tѿB?@ϲ?J?ɨB6?B)&;BCyLLIn Inb3٢vAh vw=9v;Q v?xx ~G٣|y ? %Nusing accuracyPremultiplier from config%59;v?-5Y* i))-?-@?E::5Q ]6AYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.50 m.BjgJjg ProNav: ac range: 127.500000 m, nav range: 125.500977 m, bearing: 7.222054 deg, approach rate: 0.180635 m/s, LOS rate: -0.275228 deg/s, cmd heading: 101.963120 deg, new cmd heading: 101.699788 deg. 2j<HeadingCmd: 1.774996 target range: 127.500000 and range: 127.50 m. j3?jjjihh!h!h!f!f)f)rfIbfM-?ɛB z `I oTɚiIsɘ=I-3?i-`-m%gw,ɗA2?Y2!?2e!92ԙ=y2H%пƸ@A??ѿ`@."?(?}?ɨ2?2;2!CyNށBNI]Mb@Mb@Mb@YYY Y)YY]kt?+η?~jty] ?]v=]ļ]A Y)]v@I]AYy] AImIm<٢#< A=9;Q > G٣yÅ > Nusing accuracyPremultiplier from config59zv?5Y3% i*)5?:?@AEw;;5  A IhZjFNOT Ignoring new targets: 127.50 m.BjJj󑻝  ProNav: ac range: 127.500000 m, nav range: 125.571533 m, bearing: 7.118378 deg, approach rate: 0.173775 m/s, LOS rate: -0.255201 deg/s, cmd heading: 101.699789 deg, new cmd heading: 101.388939 deg. 2j $/HeadingCmd: 1.769571 target range: 127.500000 and range: 127.50 m. jL?jjj!i!h!h!h!h-!Bf)f)f)rf)bf5?ɛ]B]r ae^Ia eWɚaiaIe=ImL?imǰn<uWill construct direction to contact in vehicle frame from tetrahedron phase data.u>uC=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972770iq~=)L?)Eu]>Eu>*F2F:FBF)JF)GM f=G) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225876BA O] > +gw,A:?Y: ?:H9:0=y:HDϿ@@ڶ??пIF? D?Մ?ɨ:?:<Đ;: CyFBFIIN IN̍2٢V1< VY=9V;Q Z>XX ZG٣Xy^ĸ ^> fNusing accuracyPremultiplier from config`f59bsv?f5Yb  ib(hj?j@bCEbX:b:bd5p rApZj FNOT Ignoring new targets: 127.50 m.BjJj% ProNav: ac range: 127.500000 m, nav range: 125.633255 m, bearing: 7.025416 deg, approach rate: 0.164583 m/s, LOS rate: -0.247766 deg/s, cmd heading: 101.388940 deg, new cmd heading: 101.110191 deg. 2j- *-HeadingCmd: 1.764706 target range: 127.500000 and range: 127.50 m. j-?j)j1j1i1h1h1h9h9f9f9fArfAbfE?ɛuBu> y}M^Iy }-ZɚyiyIC=I?i0pIC I IIBI&I.I6Im<:I FBIeªCJIeªCRIe”CZIe =bIe =jIe 6J}J~J0JJ[j:Jf9Jـ3JJ;J;J:J:*FQ2FQ:FQBFU`0JFQzKLKs9KKJKBK:KpA $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478359GuŠ}=GIBYOu>μ2gw,c{˜A6*w?Y6&?696_O=y6HͿ` ˺?2? Ͽm?ϱ??ɨ6*w?6;6CyRBRIIZ*IZ3٢bg= bI=9f;Q f>dd jG٣jRGyjfҼ j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.pipvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.728798 vNusing accuracyPremultiplier from configtz59vkv?z5Yvu ivI(|~"?~@vEEv ;v;v.5ߒB A EZj)5FNOT Ignoring new targets: 127.50 m.Bj5Jj5% ProNav: ac range: 127.500000 m, nav range: 125.698479 m, bearing: 6.923947 deg, approach rate: 0.159824 m/s, LOS rate: -0.248509 deg/s, cmd heading: 101.110193 deg, new cmd heading: 100.805949 deg. 2j%*-HeadingCmd: 1.759396 target range: 127.500000 and range: 127.50 m. j-3?j)j)j)i)h)h1hYhafififrfbf o$?ɛB'ܽ 隥YI ]ɚiI8=I 3?i q8gw,VABQ?YBL?BIi9By=yBHAu̿@ (>? ?Ϳt:? k۰?`?ɨBQ?Bn;BCyJBJI-Mb@Mb@Mb@))) )))Y-RQ?+η?:vy-?)-Լ- A -A)-@I-A)y-AIM(IM̍3٢UD= ]A=9].;Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59udv?}5Yu7 iu'}?:?@uFEu;u%;u5 <AZjFNOT Ignoring new targets: 127.50 m.BjPJjP ProNav: ac range: 127.500000 m, nav range: 125.760796 m, bearing: 6.829157 deg, approach rate: 0.147575 m/s, LOS rate: -0.224364 deg/s, cmd heading: 100.805949 deg, new cmd heading: 100.521722 deg. 2jHeadingCmd: 1.754435 target range: 127.500000 and range: 127.50 m. jT?jjjihhhhBfffrfbf`.@ɛ%B%f QU)UIQ U!#`ɚQiQI] =I]T?ierjHbH<Hx>I I IIBI =&I.I>D6IQ<:Ix FJ J J J J :J 9J J J !;J #;J ;J ;zKE +KKE 9KA KE KKE   I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ե ?ե < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484671?gw,xFA>u;?Y>py?>W9>M=y>H@$ʿ #@c??`)U̿`[?L? ?ɨ>u;?>/ʍ; VU=9Z\\ ^G٣\y^4 b> fNusing accuracyPremultiplier from config`f59b'^v?j5Ybh ib'hj ?j@bHEb ;b;b5p rdApEB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 127.50 m.Bj}2zJj}2z ProNav: ac range: 127.500000 m, nav range: 125.815460 m, bearing: 6.742502 deg, approach rate: 0.138046 m/s, LOS rate: -0.218739 deg/s, cmd heading: 100.521725 deg, new cmd heading: 100.261873 deg. 2jHeadingCmd: 1.749900 target range: 127.500000 and range: 127.50 m. j?jjjihhhhfffrfbf@ɛEBE" AEuHIA bɚiIMt=I?iIs*J "J 4=Egw,( A>l?Y>h ?>9>=y>H9ɿ82l?>$;> CyJ)BJ I-bonly read 0 of 1 data item for BIT error. Device response is::TS,25010815135761,35.0, +11.0, 05, 0  b@f f@f f@j  j@j Iz<Iz3٢= F=9;Q >    G٣ RGy޼ > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%59_Wv?-5Y5  i5'-+:)-:-?-@JE{<;>'55B AIA =AMEZjq}FNOT Ignoring new targets: 127.50 m.BjJj ProNav: ac range: 127.500000 m, nav range: 125.872345 m, bearing: 6.648948 deg, approach rate: 0.141099 m/s, LOS rate: -0.231949 deg/s, cmd heading: 100.261870 deg, new cmd heading: 99.981337 deg. 2j/HeadingCmd: 1.745004 target range: 127.500000 and range: 127.50 m. jG\?jjjihhhhfffrfbf@@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:12:51.2992 eTRx dataTimestamp_ set to:1736377972.468730echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989580ɛB`ڽ =I eɚiI0=IG\?iXpt Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241193@$Lgw,2A6E?Y6?696\"=y6H ȿLO?? dɿ`#YB??ڛ?ɨ6E?6xE;6CyBFBB< IIJ6IJm3٢n> nL=9rY;Q r>pt vG٣tyv v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59zQv?5Yz% iz& :  : ? @zKEz8;zP?zM 5 AZjAMFNOT Ignoring new targets: 127.50 m.BjMJjUe ProNav: ac range: 127.500000 m, nav range: 125.925377 m, bearing: 6.558141 deg, approach rate: 0.133458 m/s, LOS rate: -0.228425 deg/s, cmd heading: 99.981340 deg, new cmd heading: 99.709037 deg. 2jemHeadingCmd: 1.740251 target range: 127.500000 and range: 127.50 m. jm?jijijiiihihqhqhqfyfyfyrfybf} |3 @ɛB$(ڽ 隭40I J,gɚiI=I?intIC I IIĂBI =&I.I=D6I<:I F*F=?2FA:FABFMP0JFQzK&KK 9KKL 5$?I=hK     BKY:K]qAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495684GH-=GqByO> Sgw, LA68?Y633?696jc=y6HOƿ \?@ *?@Uȿ<`2 ???`?ɨ68?6[;6"Cy>cB>` IIRIR[3٢Z> ZM=9^I;Q ^>fWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:12:51.2992 LVL= 32752, 32753, 20370, 32755, AGC= 65, IDX= 423, 0.10,-1.213,-2.080,-0.071,-0.984, PHS=-0.141,-1.049, 0.909, RAW= 182.4, 3.4, CAL= 182.5, -5.1, ROT= 327.5, 5.1 Ygot valid direction response: 23:12:51.2992 LVL= 32752, 32753, 20370, 32755, AGC= 65, IDX= 423, 0.10,-1.213,-2.080,-0.071,-0.984, PHS=-0.141,-1.049, 0.909, RAW= 182.4, 3.4, CAL= 182.5, -5.1, ROT= 327.5, 5.1 PDAT read: Bearing 327.5, 5.1 (Local) ~Local bearing/azimuth received: Bearing 327.5, 5.1 (Local) 5DAT read: Range 10 to 50 : 126.1 m (Round-trip 168.2 ms) speed 0.6 m/s 5,DAT read: user:3092> 99 =G٣9yEʼ E> UbBottom track data is 1.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIU5BDAT read: Tx time:23:12:52.4268 $Ping request sent.._!D-пf0N¿]d7Qek`JkfۿRkf_;*fa!S?a_@T#@-%fI?6Zvu0? [V⵿dddd d)dIdidd"kf@*kf Bkf{ԛ?kfp 2kfYBkf{ԛ?kfTLZ kfx(BkfBkfj=df_D?A͏7O?cq3?)dIdidddd addTargetRange:: Added new target pos. range: 126.099998 m, deltaT: 3.781037 s, deltaX: -1.400002 m, approachRate: -0.370269 m/s, rangeRepo size: 4 U Added new target pos. range: 126.099998 m, bearing: 2.493020 deg, lat: 36.905305 deg, lon: -122.120460 deg, deltaT: 3.781037 s, deltaX: -1.400002 m, approachRate: -0.370269 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 126.10 m.Bj]JjY ProNav: ac range: 126.099998 m, nav range: 126.259117 m, bearing: 6.204698 deg, approach rate: 0.000000 m/s, LOS rate: -0.228425 deg/s, cmd heading: 99.709034 deg, new cmd heading: 99.348955 deg. 2jHeadingCmd: 1.733966 target range: 126.099998 and range: 126.10 m. j?jjjihJJJJJ̈́:J[9JJa@a@a@a@hhhfffrf`f_@bf ,? !I!ɛ]B] Y]"IY e4jɚaiaIe:=Im?imuE>}Will construct direction to contact in vehicle frame from tetrahedron phase data.)A E SC*Fu ?2Fq :Fq BF} P5JFy G  G H~G 5 PY9 y= BG5=G= ?G=>GB!O=>?Dƿ` ? ?Ҝ?ɨND?NZ;N!CyZBZ I)\ \^A\vWill construct direction to contact in vehicle frame from tetrahedron phase data.        Mb@Mb@Mb@ )YV-?kt?MbPy|> = A lA)@I3AyGAII٢M]= M=9M8Q U>QQ UG٣URGy> > Nusing accuracyPremultiplier from config59Bv?5Y i%T:?:^?@OE;;#5 Ak2Q?k0 k k:kBkZk<" ͉2>._!D-п0N¿]d7Qek`JkRk*7d_@3nr @sTܷJ%ˀ d?N~|?E3"kch@*k%Bk𹩭?kzs 2kKYBk𹩭?kaa ka4BkiBk<=ZjqFNOT Ignoring new targets: 126.10 m.BjJj򘻝 ProNav: ac range: 126.099998 m, nav range: 126.321426 m, bearing: 6.084564 deg, approach rate: 0.138774 m/s, LOS rate: -0.267430 deg/s, cmd heading: 99.348954 deg, new cmd heading: 98.988733 deg. 2j7HeadingCmd: 1.727679 target range: 126.099998 and range: 126.10 m. j$?jjjihhhhBfffrfbf5?ɛB&ƽ 隅I &lɚiI7=I$?iuIC I!IIBI =&I.IRagw,\A2T?Y2O;?292qۑ=y2Hÿ2yǘ? J? rf=9vL;Q v>tt vG٣xyzF¼ z> Nusing accuracyPremultiplier from config 594>v? 5Y it% H?@QE:":'%5 *AEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 126.10 m.BjUJjU ProNav: ac range: 126.099998 m, nav range: 126.360138 m, bearing: 6.007625 deg, approach rate: 0.117039 m/s, LOS rate: -0.232543 deg/s, cmd heading: 98.988730 deg, new cmd heading: 98.757984 deg. 2j HeadingCmd: 1.723652 target range: 126.099998 and range: 126.10 m. j ?j j j i hhhQhQfYfYfYrfYbf]r?ɛBh꿽 I vmɚiI=I?iuJ5 J5 J5 1J1 J5 -:J5 9J5 3J1 ) I- h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227863sggw,LA2M?Y2HW?2 92~=y2Huÿ~7?@S?U~Ŀ`I1-?`2:? ?ɨ2M?2/;0y>݂B> IEMb@Mb@Mb@AAA A)AYEK7A`?+?y&1?yE ?E=E`e mA=9u8Q u>qq }G٣yy}ӆ > Nusing accuracyPremultiplier from config598v?5Y i${ ?:?@RE;;'5 AZjFNOT Ignoring new targets: 126.10 m.BjQJjQ ProNav: ac range: 126.099998 m, nav range: 126.403137 m, bearing: 5.905774 deg, approach rate: 0.101403 m/s, LOS rate: -0.240107 deg/s, cmd heading: 98.757985 deg, new cmd heading: 98.452540 deg. 2j$HeadingCmd: 1.718321 target range: 126.099998 and range: 126.10 m. j?j jjihhhhSBfffrf!bf%J?ɛMBU QUvϾIQ U\nɚQiYI]<=I]?ie:vH f>I C I !II RBI  =&I GD.I 6I V<:I h Fmgw,A6?Y6??696&=y6H@߀?_?K{ÿ+@c?b?@?ɨ6?6b;6CyRBR8!IiV=IV>IZIZ3 `Id٢js> jU=9j;Q j> G٣%RGy=e E> MNusing accuracyPremultiplier from configIU59M3v?U5YM iM5$QUs?U@MTEMY!;M";M(5zK}LK} 9KyK}NK}   B @EZjFNOT Ignoring new targets: 126.10 m.Bj Jj = ProNav: ac range: 126.099998 m, nav range: 126.441650 m, bearing: 5.810954 deg, approach rate: 0.094568 m/s, LOS rate: -0.232757 deg/s, cmd heading: 98.452539 deg, new cmd heading: 98.168168 deg. 2j=EHeadingCmd: 1.713358 target range: 126.099998 and range: 126.10 m. jEOO?jAjAjAiAhIhIhIhIfQfYfYrfYbf] a&?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}?}4?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732149ɛBW ̚I oɚiI+4=IOO?i vwtgw,9ӝA%q?Y%lL?% 9%)=y%H=? 0i?u¿`ǻO?`퉵?S?ɨ%q?%ۊ;%Cy]9B]g!IMb@Mb@Mb@JJBAJCKK3 KKS}.KCKC"KCJJJ/JJ:Ju9J(N3J )Y\(\?ˡE?X9v?y?=< A v@)Z@IAyAIu%Iu)3٢}> }&=9 ;Q > G٣y| > Nusing accuracyPremultiplier from config597-v?5YR iH#?:zgw,A6c{?Y6]?6y 96G=y6H`Ju @g?m?¿ {?`j?ג?ɨ6c{?6o;6#CyRnBR!IIZIZ?13٢b> f=9fEQ f ?hh jG٣hyji n ?rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.487866 zNusing accuracyPremultiplier from configtz59v)v?z5Yv} iv"?@vXEv,IQ IU"IIUBIU =&IQ.IU;D6IU,<:IUD FBIŦCJIŧCRIZI =bI =jIO6 IzKMKh9KKOKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739767Gxr<G?G.?Gy B O >ہgw,A6?Y6*?6n 967=y6H ѿyһ? Ur?p?"e?`ݏ?ɨ6?6V ;6 CyBBB!I)D FAIJ IJb3٢RE&> RK=9VQ V>TX ZG٣ZRGyZ1 Z> bNusing accuracyPremultiplier from config\j59^#v?j5Y^b i^!lr ?r@^ZE^;^S;^-5| @=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 126.10 m.BjUBJjUBe ProNav: ac range: 126.099998 m, nav range: 126.558723 m, bearing: 5.490543 deg, approach rate: 0.099861 m/s, LOS rate: -0.278471 deg/s, cmd heading: 97.528613 deg, new cmd heading: 97.207255 deg. 2je?mHeadingCmd: 1.696587 target range: 126.099998 and range: 126.10 m. jm)?jijqjqiqhqhqhyhyfyffrfbf@ɛB) (IA E9qɚIiIIMߓ=IU)?iUu Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս =Ս = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244033gw,!AV?YV?V 9Vſ=yVH@DF@Ɛ@?@~s?6\`Bͮ? ??ɨV?Vo;V"CybƒBb"IUMb@Mb@Mb@QQQ Q)QYUm?EԸ?Mb?yU.?U=U@=UdA U3@)UC@IQQyUAImImm?3٢}k> >=9 Q > G٣yI > Nusing accuracyPremultiplier from config59v?5Y i 0?:s?@\E ;L ;/5 @ZjFNOT Ignoring new targets: 126.10 m.BjeJje ProNav: ac range: 126.099998 m, nav range: 126.606628 m, bearing: 5.361241 deg, approach rate: 0.108481 m/s, LOS rate: -0.292695 deg/s, cmd heading: 97.207252 deg, new cmd heading: 96.819500 deg. 2jHHeadingCmd: 1.689819 target range: 126.099998 and range: 126.10 m. jK?jjjihhhhBfffrfbf+ @ɛMBMP&h QU=IQ U;qɚYiYI]D=ImK?iuv BDAT read: Tx time:23:12:56.0768 $Ping request sent.iIA`?-J@`= -J@)|٠I@i|٠=#??%jEk?)O]?Ii|޿'%:publishing transmit ping time%Fpublishing direction and range info9G3Rſj݋Լ&?yE5ff= )Ii )Ii#??%jEk?)Ii*F ?2F :F BF 0JF HM X>IM C IM "IIM (BIM  =&II .IM :D6IM y<:IM s F y I} hG y<zKMqKKMػ9KIKMPKM BKeqA:KaWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:12:56.0760 GBO>)gw,ɮ@A2k?Y2?292~=y2H.Ҿ oƼ?,t?`0@`G?h?@?ɨ2k?2^;2 Cy>B>C"IIF)IFW3٢N3> N2=9N Q R>PP VG٣TyVX V> ZNusing accuracyPremultiplier from configX^59Zv?^5YZ& iZ`b2?b@Z_EZ ;Z ;Z15fB fG@jEkz?kq17 k k]10A:kfBBkBZk@"j)4Q^!9@G3Rſj݋Լ&?Jk|޿Rk'*F1o^@Uaŷ$+({ji?R@5#Vq踿"k*kBkZ?k`7 2kWBk?kp kWBkBk<= addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.527853 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, rangeRepo size: 4 M Added new target pos. range: 124.199997 m, bearing: 358.050323 deg, lat: 36.905301 deg, lon: -122.120552 deg, deltaT: 3.527853 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 124.20 m.BjUJjQ ProNav: ac range: 124.199997 m, nav range: 125.834656 m, bearing: 1.525422 deg, approach rate: 0.000000 m/s, LOS rate: -0.292695 deg/s, cmd heading: 96.819502 deg, new cmd heading: 96.403999 deg. 2jHeadingCmd: 1.682567 target range: 124.199997 and range: 124.20 m. j]^?jjjihhhhfffrf _@bf`??ɛ=B=S AE=IA EpɚAiAIE"=IM]^?iMovLgw,kZABw?YB?Bn9Bx8=yBH羿`m`}R?q?`P:`???ɨBw?B ;BC LILy5B5s"IiAIE<Mb@Mb@Mb@ )YMb?EԸ?:v?yC?T=A @)-@I AyAII ٢-,> -4=95=Q 5>11 5G٣=RGy=S: => MNusing accuracyPremultiplier from configIU59Mv?U5YMn iM]E?]:]]?]@MaEMf;M;M35aWill construct direction to contact in vehicle frame from tetrahedron phase data. e@ZjFNOT Ignoring new targets: 124.20 m.BjƻJj%ƻU ProNav: ac range: 124.199997 m, nav range: 125.908844 m, bearing: 1.373875 deg, approach rate: 0.170359 m/s, LOS rate: -0.347794 deg/s, cmd heading: 96.404002 deg, new cmd heading: 95.949637 deg. 2j]n]HeadingCmd: 1.674637 target range: 124.199997 and range: 124.20 m. jZ?jjjihhhh;Bfffrfbf$?ɛ B = (A=r=>I pɚiI=IZ?ii!<)Z?)EE*E"E*F ?2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G<HT>IC I#IIBI =&I.I9D6I'<:I3 FGBO>ԝgw,zAJVJVJV0JTJV:JV9JVـ3JTJV;a^JV;a^JV8;a^JV8;a^ dIdR+?YR}i?R1d9R /=yRHuPDn?1r?@'` 3=9%EQ > G٣y%E %> -Nusing accuracyPremultiplier from config)559- v?55Y- i-Q1=%?=@-dE- :-:-55A E@M EZjqFNOT Ignoring new targets: 124.20 m.BjƻJjƻ ProNav: ac range: 124.199997 m, nav range: 125.983833 m, bearing: 1.221448 deg, approach rate: 0.170496 m/s, LOS rate: -0.346351 deg/s, cmd heading: 95.949637 deg, new cmd heading: 95.492639 deg. 2jmHeadingCmd: 1.666661 target range: 124.199997 and range: 124.20 m. j%U?jjjihhhhfffrfbfW?ɛ}Bh) 隅0>I [oɚiI+=I%U?ii=)%U?)zKRKK9KKQK <Aw7!%CPHeI90+*&"  #$+131.--/GYRK%?JK%?=Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFuO0JFqGU5<G!B1OMR> Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,ŭA2`4?Y2Zr?292e8=y2H;`Z?:p? l?Y??ɨ2`4?2;2CyNWBR"IIVIVF٢z> zN=9~bqQ ~> G٣yR2: > Nusing accuracyPremultiplier from config 59 v?5Y  i =&?@ gE  ; G; 75! -@)EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 124.20 m.Bj]Jj]u ProNav: ac range: 124.199997 m, nav range: 126.049751 m, bearing: 1.089122 deg, approach rate: 0.166130 m/s, LOS rate: -0.333321 deg/s, cmd heading: 95.492636 deg, new cmd heading: 95.095871 deg. 2jud}HeadingCmd: 1.659736 target range: 124.199997 and range: 124.20 m. j};r?jyjyjyihhhhfffrfbf?ɛB $>I nɚiI{=I;r?ii%'=);r?)*F2F:FBF[0JF $?I*JR="J%=]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.~G bYyBGU<G) B1 OM >۪gw,Ay~vB~"IMb@Mb@Mb@ )Y@5^I ?|?5^?J +?ybP?=H= @)@II AyAII(٢> ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9839739Q > G٣RGy > Nusing accuracyPremultiplier from config59u?5Y( ikR?: ?@iE ;);m95 @EZjFNOT Ignoring new targets: 124.20 m.Bjo»Jjo» ProNav: ac range: 124.199997 m, nav range: 126.127060 m, bearing: 0.935660 deg, approach rate: 0.171375 m/s, LOS rate: -0.339978 deg/s, cmd heading: 95.095870 deg, new cmd heading: 94.635779 deg. 2jRiHeadingCmd: 1.651706 target range: 124.199997 and range: 124.20 m. jk?jjj i h h h1h5{Bf1f1f1rf9bf=|@ɛBi 隵#>I ԵlɚiI=Ik?iwI Iz#IIBI =&I.I6I7<:I; FG]F"=GiGi IhJ%J%J%/J!J%|:J%9J%(N3J!J%;J%;J%<;J%<;GQBaO{>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236335zK NK h9K K RK WF3&  BK pA:K +ñgw,VdǞA2?Y2?2'|92\=y2H*`?v?[@@??G? ?ɨ2?2L;2!CyBBB#IIJIJ2٢= U=9k;Q > G٣y%_ %> -Nusing accuracyPremultiplier from config)559-u?55Y-V i-1=i?=@-lE-;--;-;5A E_@AZjimFNOT Ignoring new targets: 124.20 m.BjuֻJjuֻ ProNav: ac range: 124.199997 m, nav range: 126.194305 m, bearing: 0.800339 deg, approach rate: 0.186713 m/s, LOS rate: -0.375531 deg/s, cmd heading: 94.635782 deg, new cmd heading: 94.230042 deg. 2j܀HeadingCmd: 1.644624 target range: 124.199997 and range: 124.20 m. j?jjjihhhhfffrfbf \@ɛB\Iݼ >I ÉkɚiI:=I?iiBF=)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487923E\i=*F?2F:FBFP0JF ! I) G '=Gq } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740649B O >gw,A6}]?Y6w?6w96=y6H`һx]?x?+/?+??ɨ6}]?6P;6CyBBB#IMb@Mb@Mb@ )Y-?i|?5?kt?y?U?= 0=MA @)@I Ay@I I̍2٢d= ;=91:Q > G٣yN > Nusing accuracyPremultiplier from config59`u?5Y" iW?|:A?@oE;;=5 w@ EZj!%FNOT Ignoring new targets: 124.20 m.Bj-ϻJj-ϻ= ProNav: ac range: 124.199997 m, nav range: 126.279671 m, bearing: 0.641288 deg, approach rate: 0.195124 m/s, LOS rate: -0.363307 deg/s, cmd heading: 94.230041 deg, new cmd heading: 93.753221 deg. 2j=UyEHeadingCmd: 1.636302 target range: 124.199997 and range: 124.20 m. jM[r?jIjIjIiIhIhQhQhUyBfQfYfYrfYbfe@ɛ5B][ Y]>IY ]hiɚaiaIeu!=Ie[r?iiim^=)m[r?)iEeA=*FE?2FI:FIBFM_0JFIG%Г>=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:12:58.6438 TRx dataTimestamp_ set to:1736377979.776853checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993625GB O%>Hu J>Iu C Iu #IIu 0BIu ! =&Iq .Iu 8D6Iu v<:Iu c F5gw,A DIDJVJVJV0JTJV:JV 9JVـ3JTJV7;JV8;JVO>;JVP>;yrBr+#IIzIz٢ `=  X=9 Q  > G٣RGy > %Nusing accuracyPremultiplier from config!-59%u?-5Y%1 i%)15@%qE%?;% R;%>5A Ey@E EZjimFNOT Ignoring new targets: 124.20 m.BjuϻJjuϻ ProNav: ac range: 124.199997 m, nav range: 126.354103 m, bearing: 0.504235 deg, approach rate: 0.196707 m/s, LOS rate: -0.361983 deg/s, cmd heading: 93.753219 deg, new cmd heading: 93.342311 deg. 2jlx HeadingCmd: 1.629131 target range: 124.199997 and range: 124.20 m. j Z?j j j i hhhhfff!rf!bf% @ɛB 隝>I hɚiI|e=IZ?ii2w=)Z?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243984EE*E"EzKMK9KKSK     *F5?2F1:F1BF1JF1G9 G9 Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496081G} ߛC=GQ BY O >Ygw,VAy B4#I E$?IAI I2*JC="J4=٢< "=9 Q  >99 EG٣AyA E> MNusing accuracyPremultiplier from configIU59Mu?]5YMa iMRYae@MuEM4;M55;M@5i m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 124.20 m.BjλJjλ ProNav: ac range: 124.199997 m, nav range: 126.456627 m, bearing: 0.317857 deg, approach rate: 0.199208 m/s, LOS rate: -0.361847 deg/s, cmd heading: 93.342308 deg, new cmd heading: 92.783645 deg. 2jUxHeadingCmd: 1.619380 target range: 124.199997 and range: 124.20 m. jG?jjjihhhhfffrfbf @ɛBټ e>I ufɚ i I u=IG?iiN=)G?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:12:58.6438 LVL= 32752, 32753, 21522, 32755, AGC= 63, IDX= 416, 0.07, 1.449, .575, 1.699, PHS=-0.163,-1.114, 0.873, RAW= 181.4, 4.7, CAL= 181.4, -4.1, ROT= 328.6, 4.1 5!unknown deviceResponse_: 23:12:58.6438 LVL= 32752, 32753, 21522, 32755, AGC= 63, IDX= 416, 0.07, 1.449, .575, 1.699, PHS=-0.163,-1.114, 0.873, RAW= 181.4, 4.7, CAL= 181.4, -4.1, ROT= 328.6, 4.1 EPDAT read: Bearing 328.6, 4.1 (Local) E~Local bearing/azimuth received: Bearing 328.6, 4.1 (Local) ]DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.4 m/s e,DAT read: user:3094> mBDAT read: Tx time:23:12:59.7268 u$Ping request sent.uZgw,1A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:*F?Y:#?:`S9:@G=y:H` U?@9?@B㽿@C_Ż?`? ?ɨ:*F?:$=;:CybBb8#I-zonly read 0 of 4 data items for beam range. Device response is::RA, 0.00, I, +106, +826, +24, +11,A  z@z z@~ ~@~  ~@ I%I%Գ٢5< 5n=95* B51 5@q addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.779342 s, deltaX: -2.099998 m, approachRate: -0.555652 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 124.20 m.Bj7»Jj7» ProNav: ac range: 124.199997 m, nav range: 126.524605 m, bearing: 0.191410 deg, approach rate: 0.182666 m/s, LOS rate: -0.339596 deg/s, cmd heading: 92.783646 deg, new cmd heading: 92.404516 deg. 2jiHeadingCmd: 1.612763 target range: 124.199997 and range: 122.10 m. jo?jjj i h h h1h1f1f1f1rf=`f^@bf=M?ɛBm 隍>I BeɚiI}=Io?i>yIC I$IIYBI" =&I.I6I@<:I9 FBIâCJIâCRIZI =bI =jI%6 IIMh*FU?2FQ:FQBFUP5JFQJJJJJ :J:JJJ;J;JDG;JEG;Will construct direction to contact in vehicle frame from tetrahedron phase data.zKw'MKh9KKTK   "+/37998Gm ghs=GA BI Om >gw,x|KAbd?Yb?b 9b =ybH߸%۹? ߍ? KTH?`b?P?ɨbd?b;`ynBr6#IIzIz(٢  M=9    G٣ RGy > bBottom track data is 0.7 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%59u?%5Ys i^- :)-%:-P?-@yE;;gI) -bcɚ)i)I-x =I~?iiv=)~?)E!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFZ4JF"G=G=Gq؃=GqAGqAG9BIOZ> QIQJJAA Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,keABL?YBED?B9BȨ=yBH'6??` 1Կ`} ??`k?ɨBL?B0;B!CyNBN9#I 5 5 55 55  5 = =Mb@Mb@Mb@999 9)9Y=Q?B`"۹?~jth?y=H?===D;=VA =@)=b@I=A9y=\@IUIUỳ٢]8< eD=9eH;Q e>ii mG٣iyur u> }Nusing accuracyPremultiplier from configy59}u?5Y}}k i}T:J?:?@}|E} ;};} E5 @ EZjFNOT Ignoring new targets: 124.20 m.BjkŻJjkŻe ProNav: ac range: 124.199997 m, nav range: 126.671143 m, bearing: 359.907154 deg, approach rate: 0.174176 m/s, LOS rate: -0.345192 deg/s, cmd heading: 91.984678 deg, new cmd heading: 91.552259 deg. 2jelHeadingCmd: 1.597888 target range: 124.199997 and range: 122.10 m. j?jjjihhhhBfffrfbf@W?ɛUăBUtIƼ QUY>IQ ]bɚYiYI]@=Ie?ii%=)?)*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G] XH=ZH RH @AH B>I  I $II hBI # =&I .I 6I T<:I D FGA BQ Ou > I IQ JM JM JI JI JM :JM :JI JI JM ;JM ;JM L;JM L; gw,`A2$?Y2b?2k92=y2H 'm7\O?`[?z.`?M??ɨ2$?2k;2Cy>B>3#IIJIJ[٢NҼ NW=9R%TT VG٣TyV! Z> ^Nusing accuracyPremultiplier from configX^59ZQu?b5YZc iZ`b?f@Z~EZ ;Z;ZF5h j@hZjQ]FNOT Ignoring new targets: 124.20 m.Bj]Jjeu ProNav: ac range: 124.199997 m, nav range: 126.736206 m, bearing: 359.775468 deg, approach rate: 0.165925 m/s, LOS rate: -0.335652 deg/s, cmd heading: 91.552259 deg, new cmd heading: 91.157412 deg. 2j}Zf}HeadingCmd: 1.590997 target range: 124.199997 and range: 122.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. j}ʥ?jjjihhhhfffrfbf@mM?ɛ-ƃB5 15t>I1 5`ɚ1i9I==Iʥ?ii=)ʥ?)zK MK+9KKUK41.,,*'# PM*FQ2FQ:FQBFU[0JFQG-=GBOMR>U Will construct direction to contact in vehicle frame from tetrahedron phase data.*gw, A2?Y24?28a92 ّ=y2H`4?@?Oy7ֿ?@?ʫ?ɨ2?2h);2"CyNBR6#IiV>IV>IZIZ[3٢b\< bI=9bLhh jG٣nRGyv v> UNusing accuracyPremultiplier from configQ]59Uu?e5YUN[ iU/iu?@UEUI ^ɚiIMՈ=I߫?ieGU{#gw, 貟AWill construct direction to contact in vehicle frame from tetrahedron phase data.:?Y: ?:9:$=y:H`}PB?A? Eg¾??`j?ɨ:?:+Lj;: CyB+#IMb@Mb@Mb@ )Y5^I ?+η?y&1y8?v=`eh@ @)K@IAy@II(1٢  :=9 G٣y9 > Nusing accuracyPremultiplier from config59nu?5YiS i9?:?@Ej!; ;hJ5  t@ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 124.20 m.Bj=ûJj=û ProNav: ac range: 124.199997 m, nav range: 126.869354 m, bearing: 359.494606 deg, approach rate: 0.160566 m/s, LOS rate: -0.342017 deg/s, cmd heading: 90.720424 deg, new cmd heading: 90.315288 deg. 2jjHeadingCmd: 1.576299 target range: 124.199997 and range: 122.10 m. j,?jjjihhhh̓Bf f f rf1bf5@e@ɛe˃Bmr i隍>I ]ɚiI;=I,?iiju=),?)H>>IC I$IIcBI% =&I.I7D6I <:I F Ih*FE?2FA:FABFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK 2MK K K VK BK! :K% pAG b=GA BQ Ou > gw,"̟ABѴ?YB?B:9B=yBH¯44O??`/ݱ񏼿.?`??ɨBѴ?B-;B"Cy^Bb'#IIfIf<2٢nN r[=9ra5tt vG٣tyz] z>  Nusing accuracyPremultiplier from config59u?5YnL i2!%?%@Edh;UX; L55B 5@=EZjFNOT Ignoring new targets: 124.20 m.Bj4Jj4% ProNav: ac range: 124.199997 m, nav range: 126.923698 m, bearing: 359.375200 deg, approach rate: 0.137896 m/s, LOS rate: -0.302857 deg/s, cmd heading: 90.315291 deg, new cmd heading: 89.957231 deg. 2j%OMHeadingCmd: 1.570050 target range: 124.199997 and range: 122.10 m. jMe?jIjQjYiYhahahahafififirfibfm[@ɛ̓B뾼 隥|>I ND\ɚiIT=Ie?i| Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:13:02.2916  TRx dataTimestamp_ set to:1736377983.561284 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010014a8gw,&A6Y?Y6Q?6r 96<=y6H` `Gk?`?j`Q@)? O?`?ɨ6Y?6;6!CyNBN$#I-Mb@Mb@Mb@))) )))Y-E?{Gz?I +y-&?-ף=-9-@ -@)-@I-@)y-\@IM!IMi3٢eh6 eB=9m-qy }G٣}RGyV > Nusing accuracyPremultiplier from config59u?5YEE i(?:?@EkS;;M5 @Zjy}FNOT Ignoring new targets: 124.20 m.BjTJjT ProNav: ac range: 124.199997 m, nav range: 126.975609 m, bearing: 359.252778 deg, approach rate: 0.122629 m/s, LOS rate: -0.289083 deg/s, cmd heading: 89.957232 deg, new cmd heading: 89.590120 deg. 2jeFHeadingCmd: 1.563643 target range: 124.199997 and range: 122.10 m. jq%?jjjihhhhBfffrfbf@Z @ɛMσBMμ IU >IQ UhZɚQiQIU=I]q%?i]$~I  I #II NBI & =&I .I 6I p<:I R FG B O >  I Bhw,zAyvBv#II#I%x3٢EB$ EM=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configam59eu?m5Ye> iewqqu@eEe2;eE;eO5 `@Will construct direction to contact in vehicle frame from tetrahedron phase data.՝=՝%=DAT read: 23:13:02.2916 LVL= 30320, 32753, 17586, 32755, AGC= 62, IDX= 424, 0.21, 0.109,-0.853, 1.324, 0.274, PHS=-0.077,-1.079, 1.048, RAW= 181.9, 1.2, CAL= 182.2, -6.8, ROT= 327.8, 6.8 Ygot valid direction response: 23:13:02.2916 LVL= 30320, 32753, 17586, 32755, AGC= 62, IDX= 424, 0.21, 0.109,-0.853, 1.324, 0.274, PHS=-0.077,-1.079, 1.048, RAW= 181.9, 1.2, CAL= 182.2, -6.8, ROT= 327.8, 6.8 PDAT read: Bearing 327.8, 6.8 (Local) ~Local bearing/azimuth received: Bearing 327.8, 6.8 (Local) DAT read: Range 10 to 50 : 120.3 m (Round-trip 160.5 ms) speed 0.3 m/s ,DAT read: user:3095> BDAT read: Tx time:23:13:03.3769 $Ping request sent.`JKM9KIKMWKMhihifqfqfqrfu@3^@bf}?Fpublishing direction and range infoء9إlg7F<ᅩVv?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥG R ?* ۧ9?]5?)ۡIۡiۡۡۡۡɛуBּ >I vYɚiIv=I*`?i0Ghw,mWA:u?Y:mV?:^Խ9:y=y:Ho?L?J@/???ɨ:u?:H;:CyFBF#II^I^M3٢jx, nR=9~ G٣y [G  > Nusing accuracyPremultiplier from configE59u?E5Y7 i&IMB?M@E < <XQ5}B }@} E Ikr՜?k=ء  k kA:kBBkBZk@"6j)t`]?lg7F<ᅩVv?JkGֿRk:\*]@I )W 9eO"4?tcщ]ү"k*kBkϽ?kt 2kIi mXɚiiiIm=IuKu?iu֡ hw,4AF1"?YF(`?Fн9Fg=yFH`s^@5?@?+` ???ɨF1"?F;F CyNBN#IiR%=IR<=Mb@Mb@Mb@999 9)9Y= G٣RGy > Nusing accuracyPremultiplier from config59u?5Y01 i?:?@E;;CS5 @EB*** querying acoustic contact ***jAjAZjq}FNOT Ignoring new targets: 120.30 m.Bj}۱Jj}۱ ProNav: ac range: 120.300003 m, nav range: 127.150520 m, bearing: 358.199310 deg, approach rate: 0.121929 m/s, LOS rate: -0.310986 deg/s, cmd heading: 88.834499 deg, new cmd heading: 88.495504 deg. 2jmUHeadingCmd: 1.544538 target range: 120.300003 and range: 120.30 m. jk?jjjihhhhPBfffrfbf`Hy?H9>IC I#II:BI% =&I.I6D6IM<:I8 FɛԃBż 隕K>I VɚiIs=Ik?iUUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.zK K 9K K XK +_Eyh2rB)}xrolcba]iFxhw,NA6k?Y6b'?6<Ƚ96A'l=y6H}P?@?`nz`" ?~\?@)?ɨ6k?6,;6!CybBb#IIjIj@٢r8< rV=9r(tt vG٣tyzeѼ z> }Nusing accuracyPremultiplier from config|}59~)u?5Y~+ i~S?@~E~+<~;~T5B q@ EZjFNOT Ignoring new targets: 120.30 m.BjJj ProNav: ac range: 120.300003 m, nav range: 127.186531 m, bearing: 358.103144 deg, approach rate: 0.096016 m/s, LOS rate: -0.256334 deg/s, cmd heading: 88.495503 deg, new cmd heading: 88.207090 deg. 2j/HeadingCmd: 1.539504 target range: 120.300003 and range: 120.30 m. jy?jjjihhhhfffrfbf?ɛՃB,ļ >I %Uɚ)i)I-=IEy?iE% Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499399hw,@jhAyB##IMb@Mb@Mb@ )YK7?V-?:vy ?m=ԼZ@ K@)@I@y@II٢,= :=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 u?5Y U% i  ?:=?@ E H%; "; V5! %@!ZjFNOT Ignoring new targets: 120.30 m.BjzJjz5 ProNav: ac range: 120.300003 m, nav range: 127.224449 m, bearing: 357.997592 deg, approach rate: 0.085124 m/s, LOS rate: -0.236889 deg/s, cmd heading: 88.207092 deg, new cmd heading: 87.890532 deg. 2j5"EHeadingCmd: 1.533979 target range: 120.300003 and range: 120.30 m. jEnY?jIjIjIiIhihihqhu"Bfqfqfyrfybf} ?ɛ׃B!ռ >I YTɚiIx=InY?iI)  I- #II- 0BI- & =&I) .I) 6I- W<:I- = FBIȟCJIȟCRIȓCZI% =bI% =jIə5GE np_= I G! B1 OM > hw,MAB?YB,?BE9Bku=yBHK|?gW?a?:Z? Ѷ? ?@?ɨB?BG;BCyRBR&#I)T VAIZIZ#3٢b@< b_=9fdd jG٣jRGyjI j> rNusing accuracyPremultiplier from configlr59nu?r5Yn#  in]tvC?v@nEnC:ne:niX5x ~@|Zj)-FNOT Ignoring new targets: 120.30 m.Bj5F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002897JjEFU ProNav: ac range: 120.300003 m, nav range: 127.251877 m, bearing: 357.909223 deg, approach rate: 0.079401 m/s, LOS rate: -0.255764 deg/s, cmd heading: 87.890533 deg, new cmd heading: 87.625486 deg. 2jU/]HeadingCmd: 1.529353 target range: 120.300003 and range: 120.30 m. j]?jYjYjYiYhahahahafififirfibfm-@ɛ؃Bi 隥>I  DSɚiI=I?i)SWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257818&hw,!A2yX?Y2q?2h[92m8=y2H@ ?A2?@{?`;?Zȵꄵ??`?ɨ2yX?2;2CyBBB6#IIV IVV2٢zք= ~H=9A    G٣ YIYy > Nusing accuracyPremultiplier from config559u?=5Y i4IM?U@E<<OZ5 @*J"JC=JsK{ـ3 K{ .KsKs"KsJ5J5J1J1J5̝:J5 9J1J1Zj%FNOT Ignoring new targets: 120.30 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507118BjU=pJjU=p ProNav: ac range: 120.300003 m, nav range: 127.281982 m, bearing: 357.804118 deg, approach rate: 0.060175 m/s, LOS rate: -0.210035 deg/s, cmd heading: 87.625487 deg, new cmd heading: 87.310250 deg. 2j%HeadingCmd: 1.523851 target range: 120.300003 and range: 120.30 m. j ?jjjihhhhfffrfbfH@ɛ5ڃB55ϼ 15>I9 =FxQɚ9i9I==IE ?iE˃b,hw,$EA:Ԩ?Y:?:X9:W=y:Hs͟?`i? ?`?ڴ e? K?I?ɨ:Ԩ?:њ;:!CyFτBFZ#IMb@Mb@Mb@ )YX9v?&1?I +y>P=9-@ @)@IZ@y@I5I52٢EX > MC=9M,QQ UG٣QyM > Nusing accuracyPremultiplier from config59ڟu?5Y i>:?@E;;\5 @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 120.30 m.Bj%:Jj%:E ProNav: ac range: 120.300003 m, nav range: 127.304993 m, bearing: 357.712882 deg, approach rate: 0.067143 m/s, LOS rate: -0.266174 deg/s, cmd heading: 87.310247 deg, new cmd heading: 87.036592 deg. 2jE6MHeadingCmd: 1.519075 target range: 120.300003 and range: 120.30 m. jM q?jIjIjQiQhQhQhYh]BfYfYfYrfabfeZ@ɛۃBH5>I I#II5BI&I.I6I<:IZ F_ 隵>I 37PɚiIl@=I q?i&5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>1=BDAT read: Rx Time:23:13:05.9395 ETRx dataTimestamp_ set to:1736377987.084839Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012065zK OK +9K K ZK     PExceeded connect timeout, disconnecting.3hw,ϠA2w?Y2ǵ?2s92=y2HV?@=? F?}ݢ? i?e??ɨ2w?2Yԉ;2CyBۄBBi#IiF?>IF< Fp=Fa=IJIJ?13٢jxu= jU=9r#xx ~G٣~RGy~ >  Nusing accuracyPremultiplier from config 59ܞu?5Y i(?@E :L:]5! %f@%EZjFNOT Ignoring new targets: 120.30 m.BjqtJjqt ProNav: ac range: 120.300003 m, nav range: 127.324280 m, bearing: 357.629663 deg, approach rate: 0.049537 m/s, LOS rate: -0.213709 deg/s, cmd heading: 87.036588 deg, new cmd heading: 86.786970 deg. 2j  HeadingCmd: 1.514718 target range: 120.300003 and range: 120.30 m. j K?jjjih1h1h9h9f9f9fArfAbfE  @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263724ɛ܃B x>I 8NɚiI$ۂ=I K?i 49hw,)AyޭBޭ#I=Mb@Mb@Mb@999 9)9Y=Cl?v/?I +y=d>=xi==94=@ =@)=@I=C@9y=@IU$IU<3٢mE= m2=9mQ m>qq uG٣qyu }> Nusing accuracyPremultiplier from configy59}qu?5Y}  i}$>:?@}E}!I;}F;}_5 @!ZjIMFNOT Ignoring new targets: 120.30 m.BjU|JjU| ProNav: ac range: 120.300003 m, nav range: 127.350517 m, bearing: 357.529559 deg, approach rate: 0.057773 m/s, LOS rate: -0.220378 deg/s, cmd heading: 86.786972 deg, new cmd heading: 86.486725 deg. 2j>HeadingCmd: 1.509478 target range: 120.300003 and range: 120.30 m. j6?jjjihhhh(Bfffrfbf K @ɛ݃Bqp  : ?I  gLɚ i I f=I=6?iE| ]BDAT read: Tx time:23:13:07.0269 e$Ping request sent.eڹڹ۽:>?'^?J#R?)۽/?I۽ i۽Կ۽);۹۹:publishing transmit ping timeG?'^?J#R?)۹I۹i۹۹۹۹GBO>jHbH<H4>I I#IISBI' =&I.I6I<:I F  I% hJ5 J5 J1 J1 J5 \:J5 :J1 J1 J5 j;aE J5 k;aE @hw,TA. ?Y.G?.ˊ9.U=y.H? ;گ? Y?`3?9?`?W?ɨ. ?./;.CJmC;aBJmC;aByFBF#IININ2٢r1> rh=9vҝtt vG٣tyz\ z>Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config)559-u?55Y-, i-15@?]@-E-;-;-Fa5a e@aky뛜?kXP) k k6A:kBBkBZkBI@")Z0&۾-Y]^qVŶ?=xŷHr٤￝v?eG?JkԿRk);*^g2JK]@J"e1$A ! ?_N¿B[m_"k*kZBkv.?kuY 2khBkZ?kt kYBkBk{@ addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.780358 s, deltaX: -1.500000 m, approachRate: -0.396788 m/s, rangeRepo size: 4 - Added new target pos. range: 118.800003 m, bearing: 351.449021 deg, lat: 36.905281 deg, lon: -122.120620 deg, deltaT: 3.780358 s, deltaX: -1.500000 m, approachRate: -0.396788 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 118.80 m.BjuJjq ProNav: ac range: 118.800003 m, nav range: 125.398094 m, bearing: 355.382997 deg, approach rate: 0.000000 m/s, LOS rate: -0.220378 deg/s, cmd heading: 86.486724 deg, new cmd heading: 86.249791 deg. 2jHeadingCmd: 1.505343 target range: 118.800003 and range: 118.80 m. j?jjjihhhhfffrf@3]@bf@?ɛ=ރB=Лֻ 9=[?I9 EJɚAiAIE*=IM? unManaging dock network, ignoring radio surface power offiuGhw,fA:㺤?Y:?:Ō9:/=y:H[!? ֺ???ɲ?ֲ?.?ɨ:㺤?:_;:"CyF.BF#I)H HIRIR(*2٢V$> VN=9ZGQ Z>X\ ^G٣^RG `Idyf5ƻ f> jNusing accuracyPremultiplier from confighr59ju?r5Yj ijitv?v@jEj B;jB;jb5x z,@xZj!%FNOT Ignoring new targets: 118.80 m.Bj-#Jj-#= ProNav: ac range: 118.800003 m, nav range: 125.424240 m, bearing: 355.295192 deg, approach rate: 0.069336 m/s, LOS rate: -0.232797 deg/s, cmd heading: 86.249792 deg, new cmd heading: 85.986436 deg. 2j=EHeadingCmd: 1.500746 target range: 118.800003 and range: 118.80 m. jEu?jAjAjAiAhAhIhIhIfIfQfQrfQbfU/?ɛ߃B5 GtAA5'?I9 EHɚAiAIM= eYmtAyuiBIu?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5;?iG)ş<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.-Mhw,ZF7A2ˣ?Y2 ?292 =y2H`? \??@%?I???ɨ2ˣ?2+;2 CyBJBB#I v@v v@v v@v  v@v IzIz<٢> E=9 ;Q  >    G٣y > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59u?-5Y i=-+:)-:-?5@E~(;>td5 v@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.80 m.BjHvJjHv ProNav: ac range: 118.800003 m, nav range: 125.450615 m, bearing: 355.202688 deg, approach rate: 0.061404 m/s, LOS rate: -0.215317 deg/s, cmd heading: 85.986433 deg, new cmd heading: 85.708981 deg. 2j%%HeadingCmd: 1.495904 target range: 118.800003 and range: 118.80 m. j%y?j)j)j)i)h)h)H]3>IY I];$II]BIY&I]HD.IY6I]:<:I]$ Fhqhqfyfyfyrfybf%?ɛB'ʺ 4?I PFɚiI%=Iy?iűThw,\QA>2A?Y>*?>9>ߧ=y>H@???@ڱ? X??Z?ɨ>2A?>k; ^O=9^ˆ;Q b>`` bG٣`yf/ f> jbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighn59j;u?r5Yj ijr :pr:r}?r@jEj5;jO?je5x z@xZjFNOT Ignoring new targets: 118.80 m.Bj%Jj%E ProNav: ac range: 118.800003 m, nav range: 125.475250 m, bearing: 355.114519 deg, approach rate: 0.065286 m/s, LOS rate: -0.233610 deg/s, cmd heading: 85.708984 deg, new cmd heading: 85.444530 deg. 2jES UHeadingCmd: 1.491288 target range: 118.800003 and range: 118.80 m. jU?jQjYjaiahahahahifififirfqbfu ?ɛB%< 隝WJ?I SCɚiIF=I?i4GBAO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743068?Zhw,3jAB}G?YBu?BH}9B,=yBHd?@?? ,?@棯?@Ե?s?ɨB}G?B;B!Cy^B^Q$Iib>Ibx>        Mb@Mb@Mb@ )Y&1?+?Q?y?=u<@ @)@I@y@IIb1٢3> ;=9};Q > G٣RGy: > Nusing accuracyPremultiplier from config59"u?5Y  i T:P?:?@E;o;}g5B @EZjFNOT Ignoring new targets: 118.80 m.Bj’Jj’- ProNav: ac range: 118.800003 m, nav range: 125.509521 m, bearing: 355.002427 deg, approach rate: 0.078478 m/s, LOS rate: -0.256611 deg/s, cmd heading: 85.444533 deg, new cmd heading: 85.108353 deg. 2j-05HeadingCmd: 1.485421 target range: 118.800003 and range: 118.80 m. j5F"?j1j9j9i9h9h9hAhEBfAfAfArfIbfM}?ɛ}B}$M*< y}Z?I 9@ɚiI0=IF"?i7˄I]C I]$II]ͅBIY&IY.IY6I]+<:I] FGBO> I J J J J J \:J 9J J J j;J k;J <;J <;M(ahw,ڄA6|?Y6?67r96=y6H@?;??}0?` sB? ?`?ɨ6|?6;6 CyBBB~$IIJIJ0٢R#H> R]=9V|;Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^Qu?b5Y^ i^[ df?f@^E^a:^:^i5h jW@h~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246574ZjamFNOT Ignoring new targets: 118.80 m.BjmJjm ProNav: ac range: 118.800003 m, nav range: 125.537651 m, bearing: 354.907276 deg, approach rate: 0.073685 m/s, LOS rate: -0.249190 deg/s, cmd heading: 85.108351 deg, new cmd heading: 84.822963 deg. 2j+HeadingCmd: 1.480440 target range: 118.800003 and range: 118.80 m. j?jjjihhhhfffrfbf _@ɛ)-:ۚ< qul?Iq u=ɚqiqI}^=I}?i`ф*Fe?2Fa:FaBFmO5JFiG <Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499939Gq B O >)Pghw,iA $I&h>ؠ?Y>?>lj9>S_=y>H@޷?@dk??`q?@G°O?ط??ɨ>ؠ?>; ZJ=9Z;Q ^>\\ bG٣`ybI f> jNusing accuracyPremultiplier from configdj59fu?n5Yfp if lnL?r@fEf;f;fj5t v@tZj FNOT Ignoring new targets: 118.80 m.Bj.Jj.- ProNav: ac range: 118.800003 m, nav range: 125.567741 m, bearing: 354.802818 deg, approach rate: 0.076670 m/s, LOS rate: -0.266094 deg/s, cmd heading: 84.822965 deg, new cmd heading: 84.509670 deg. 2j-65HeadingCmd: 1.474972 target range: 118.800003 and range: 118.80 m. j5˼?j1j1j1i1h1h9h9h9fAfIfIrfIbfM`Tr@ɛuBur}< z?I Q:ɚiIX~=I˼?i؄ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:13:09.5867  TRx dataTimestamp_ set to:1736377990.864551 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003397zmhw,7A j?Y ? e9 l=y H?@V`??~J?3ݯ? z?`?ɨ j? ; "CyB%$I)1 1Mb@Mb@Mb@ )Yjt?+η?~jt?y ?v=<@ j@)@Iy=@H1>I I$IIBI&I.I6I0<:I FBICJICRIZI' =bI' =jIq 5I]I] ٢mj> m1=9m-;Q u>qy }G٣}RGy} }> Nusing accuracyPremultiplier from config59bu?5Y i "?:?@E < <l5 @ AIAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.80 m.BjPJjP ProNav: ac range: 118.800003 m, nav range: 125.607849 m, bearing: 354.671416 deg, approach rate: 0.081316 m/s, LOS rate: -0.266324 deg/s, cmd heading: 84.509671 deg, new cmd heading: 84.115598 deg. 2j6-HeadingCmd: 1.468094 target range: 118.800003 and range: 118.80 m. j-?j)j1j1i1h9h9hAhEBfAfifirfibfm @ɛ 8< ?I 6ɚiI }=I-?i-mEJJJJJ :J9JJJ;J;J8;J8;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254607*F%?2F!:F!BF-5JF)"G5=G5=zK BHK 9K K ^K $:Wz l{m_F.BK :K qAG "<G B) Om >xwthw,ҡAyuBu$III(1٢92> T=9Q > G٣y > Nusing accuracyPremultiplier from config59nu?5Y` i @E:X:n5 z@Zj FNOT Ignoring new targets: 118.80 m.Bj\Jj\% ProNav: ac range: 118.800003 m, nav range: 125.641945 m, bearing: 354.561421 deg, approach rate: 0.096699 m/s, LOS rate: -0.311873 deg/s, cmd heading: 84.115596 deg, new cmd heading: 83.785704 deg. 2j% VEHeadingCmd: 1.462336 target range: 118.800003 and range: 118.80 m.UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:13:09.5867 LVL= 32752, 31345, 17010, 32755, AGC= 63, IDX= 406,-0.03, 0.242,-0.667, 1.324, 0.356, PHS=-0.026,-0.976, 0.965, RAW= 180.7, 0.4, CAL= 181.1, -7.5, ROT= 328.9, 7.5 Ygot valid direction response: 23:13:09.5867 LVL= 32752, 31345, 17010, 32755, AGC= 63, IDX= 406,-0.03, 0.242,-0.667, 1.324, 0.356, PHS=-0.026,-0.976, 0.965, RAW= 180.7, 0.4, CAL= 181.1, -7.5, ROT= 328.9, 7.5 PDAT read: Bearing 328.9, 7.5 (Local) ~Local bearing/azimuth received: Bearing 328.9, 7.5 (Local) -DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.6 ms) speed 0.2 m/s =,DAT read: user:3097>  jE-?jijijiiqhqhyBDAT read: Tx time:23:13:10.6769 $Ping request sent.QQU7R?i Se?#W?)U,?IUaiUv=տU)iQQ:publishing transmit ping time؉Fpublishing direction and range infoQ9UᢢNiN؍˟?yQQQQ Q)QIQiQQrfbf]?ɛBC = 隕r?IQQQ Q)QIQiQQQU7R?i Se?#W?)QIQiQQQQ =2ɚIiIIM{=I}-?i}ɝzhw,8A6ʢ?Y6?6i\96=y6H@wH? ~i??Ҹ?I^?~?@M?ɨ6ʢ?6a;6#CyB3BB%IMb@Mb@Mb@ )Ygfffff?)\(?Q?y33?G=< @)S@I@y@II(*2٢EX= EB=9Mԣ;Q M>QQ UG٣Qy]l ]> eNusing accuracyPremultiplier from configam59e6u?m5Ye ie 5?:H?@eEe;ek;ekp5 @Ek􃦾蚜?k] k kסA:kfBBkBZk|@"'t)&o]ǿ= @ᢢNiN؍˟?Jkv=տRk)i*9\@9d~6M"E!O?Oȿ*Dz"k*kaBk Y*?k/ 2k*jBkϽ?k`7 khBkBki@% addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.527972 s, deltaX: -2.100006 m, approachRate: -0.595245 m/s, rangeRepo size: 4 U Added new target pos. range: 116.699997 m, bearing: 348.855788 deg, lat: 36.905236 deg, lon: -122.120637 deg, deltaT: 3.527972 s, deltaX: -2.100006 m, approachRate: -0.595245 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 116.70 m.BjeJja ProNav: ac range: 116.699997 m, nav range: 120.864975 m, bearing: 353.465137 deg, approach rate: 0.000000 m/s, LOS rate: -0.311873 deg/s, cmd heading: 83.785705 deg, new cmd heading: 83.376624 deg. 2jHeadingCmd: 1.455197 target range: 116.699997 and range: 116.70 m. jC?jjjihhhhBfffrf,]@bf@)?ɛ]B]V= e#=e?I #/ɚiILz=IC?iic<)C?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBF}Y0JFyGUHn<G] ?G]?jH<bH<HI I[%IIpBI&I.I6I<:I FG1B9OU> Ihw,XtArWill construct direction to contact in vehicle frame from tetrahedron phase data.z|?Yzsۻ?zx]9z=yzH`R?YX? }?@Zĸ?K|`?X޺?@?ɨz|?zP;z Cy HB *%Iia=I%=I%I% ٢5w= 5]=95 $Q =>99 =G٣=RGyE E> MNusing accuracyPremultiplier from configIU59M(u?U5YM iM Y]9?]@MEM;M ;Mr5a e@aZjFNOT Ignoring new targets: 116.70 m.BjdĻJjdĻ ProNav: ac range: 116.699997 m, nav range: 120.907272 m, bearing: 353.343462 deg, approach rate: 0.119416 m/s, LOS rate: -0.343399 deg/s, cmd heading: 83.376625 deg, new cmd heading: 83.011733 deg. 2jkHeadingCmd: 1.448828 target range: 116.699997 and range: 116.70 m. j3s?jjjihhhhfffrfbfR?ɛBѼM= ?I +ɚiIby=I3s?ii 8"=) 3s?) EzKeNKe+9KaKe_KevB=;894# *FU?2FY:FYBF]_0JFYGa GeqAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAG} Ⱦ<GY Bi O > I hhw,E A2{t?Y2r?2]92T=y2Hf?`C?x??' ?@м?@?ɨ2{t?2;2Cy:_B:G%IIFIF۳٢R!= RT=9R9Q R>TT VG٣TyZU Z> ^Nusing accuracyPremultiplier from config\b59^u?b5Y^ i^ df?f@^E^:^:^s5h j0@lZj|FNOT Ignoring new targets: 116.70 m.Bj aJj a ProNav: ac range: 116.699997 m, nav range: 120.951538 m, bearing: 353.216524 deg, approach rate: 0.114906 m/s, LOS rate: -0.329387 deg/s, cmd heading: 83.011735 deg, new cmd heading: 82.631066 deg. 2jb%HeadingCmd: 1.442184 target range: 116.699997 and range: 116.70 m. j%~?j!j!j)i)h)h)h)h1fffrfbf ?ɛ]Bes3= ae"?Ia e'ɚaiiIml=x=Iu~?iu!n Will construct direction to contact in vehicle frame from tetrahedron phase data.Gٍhw,:AysB_%IH/>I I%IIBI( =&I.I6I><:I" FMb@Mb@Mb@ )YK7A?Q?:v?y B?=< )@Ix@y@IIk٢= 7=9Q > G٣y  > Nusing accuracyPremultiplier from config 59 u?5Y  i  D?:D?%@ E ; :; u5) -@) yIyZjFNOT Ignoring new targets: 116.70 m.Bjs»Jjs» ProNav: ac range: 116.699997 m, nav range: 121.008675 m, bearing: 353.057230 deg, approach rate: 0.122013 m/s, LOS rate: -0.340005 deg/s, cmd heading: 82.631069 deg, new cmd heading: 82.153423 deg. 2jWiHeadingCmd: 1.433848 target range: 116.699997 and range: 116.70 m. jS?jjjih!h!h!h%TBf)f)fIrfQbfU ?[?ɛBz,7= 隝͢?I #ɚiIv=IS?iiz-1=)S?))Will construct direction to contact in vehicle frame from tetrahedron phase data.Em&t@=*F 2F :F BF _0JF "G% =G% =zK MK 9K K `K GiGmqAGmpAWill construct direction to contact in vehicle frame from tetrahedron phase data.GQBYO}?tShw,{ZAzD?Yz;?z7U9z=yzH@(?@DǸ??έ?` m?`]?99 =G٣=RGyF > Nusing accuracyPremultiplier from config59Xu?5Y ih ?@E. ; ;w5 G@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.70 m.BjԻJjԻ ProNav: ac range: 116.699997 m, nav range: 121.070511 m, bearing: 352.882163 deg, approach rate: 0.131401 m/s, LOS rate: -0.371826 deg/s, cmd heading: 82.153427 deg, new cmd heading: 81.628508 deg. 2j.HeadingCmd: 1.424686 target range: 116.699997 and range: 116.70 m. j\?jjjihhh h f f f rfbf@T@ AIEhɛMBM,:= QU-?IQ U8ɚQiQIUtSu=I]\?iaiea9=)e\?)a)) -CEMd=H~G|uAA Y|uAy6BeW@eBJJJJJ<:J9JJ*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G-n=G9BAOe>Bqhw,/tAFgn?YF]?FQ9F=yFH ح?@`s??=?  F3?`d ??ɨFgn?F#;F#CyrBrt%IuMb@Mb@Mb@qqq q)qYuMbX?i|?5? G٣y > Nusing accuracyPremultiplier from config59qu?5Y+ i M?:F?@Ef;;y5 @ZjFNOT Ignoring new targets: 116.70 m.BjջJj ջ ProNav: ac range: 116.699997 m, nav range: 121.121681 m, bearing: 352.730681 deg, approach rate: 0.126216 m/s, LOS rate: -0.373483 deg/s, cmd heading: 81.628506 deg, new cmd heading: 81.174264 deg. 2j(%HeadingCmd: 1.416758 target range: 116.699997 and range: 116.70 m. j%UX?j!j!j!i!h!h)h)h-pBf9f9f9rf9bf=@(@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483800ɛBzO=  ?I  Bɚ iIs=IUX?iiLM=)UX?)E!E!*E)"E)HqIq Iu%IIuBIq&Iq.Iq6Iut<:IuH F III*FU?2FQ:FQBFUo0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735703Gu &/=G} ?G} >GQ BY Ou >hw,mA2^@?Y2T~?2N92i =y2H} ? M@ַ?@? s?Oѩ?Un??zKR:IKRh9KPKRaKRɨ2^@?2α;2Cy^B^w%IIfIf 2٢n`8< rD=9r1:Q r>pt vG٣tyv\ v> ~Nusing accuracyPremultiplier from configx~59zu?5Yzm iz|?@zEzL:zz:zg{5  @Zj9=FNOT Ignoring new targets: 116.70 m.Bj=$ջJjE$ջU ProNav: ac range: 116.699997 m, nav range: 121.174515 m, bearing: 352.575674 deg, approach rate: 0.127083 m/s, LOS rate: -0.372683 deg/s, cmd heading: 81.174264 deg, new cmd heading: 80.709457 deg. 2jU]HeadingCmd: 1.408646 target range: 116.699997 and range: 116.70 m. j]N?jYjYjYiYhYhahahafafifirfibfmz@ɛBb= 隝ɦ?I 6vɚiI҈r=IN?iid=)N?)*FU?2FQ:FQBF]4JFYGpA GMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:13:13.2339 ]TRx dataTimestamp_ set to:1736377994.398021echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.991209Gm/7=G9BAO]3> IJ J J /J J J 9J (N3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243898hw,I;%Mb@Mb@Mb@!!! !)!Y%oʡ?i|?5?~jtx?y%M?!%;%@ %@)%\@I%K@!y%@I=I=F2٢MF< M6=9Mb;Q U>QQ UG٣URGyeK̻ e> mNusing accuracyPremultiplier from configiu59mu?u5Ymב im}FO?}:}?}@mEm;m;m_}5 @ZjFNOT Ignoring new targets: 116.70 m.Bjo׻Jjo׻ ProNav: ac range: 116.699997 m, nav range: 121.232368 m, bearing: 352.405812 deg, approach rate: 0.128360 m/s, LOS rate: -0.376695 deg/s, cmd heading: 80.709456 deg, new cmd heading: 80.200126 deg. 2jBHeadingCmd: 1.399756 target range: 116.699997 and range: 116.70 m. j6+?jjjihhhhLBfffrfbf @ɛBH= 隝?I utɚiIq=I6+?ii w=)6+?)*F]?2Fa:FaBFe5JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.494260HQ IQ  IU &IIU BIU ' =&IQ .IQ 6IU <:IU U FG }M= I G B O >hw,=ĢA6S{?Y6I?6eC96=y6Hq?ඦ ??`Y? ˭Bj?P??ɨ6S{?6i:;6CyBBBn%IIJIJ 2٢R[ Rj=9R^;Q V>TT VG٣TyZ Z? fNusing accuracyPremultiplier from config`f59bu?j5Ybf ibhjQ?j@bEb;b;b~5rB r6@rEZjimFNOT Ignoring new targets: 116.70 m.BjuϻJjuϻ ProNav: ac range: 116.699997 m, nav range: 121.277145 m, bearing: 352.273997 deg, approach rate: 0.123454 m/s, LOS rate: -0.363290 deg/s, cmd heading: 80.200122 deg, new cmd heading: 79.804831 deg. 2jRyHeadingCmd: 1.392857 target range: 116.699997 and range: 116.70 m. j$I?jjjihhhhfffrfbf5 T"@ɛBp= 隥0?I  ɚiI2o=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:13:13.2339 LVL= 30992, 32753, 17362, 32755, AGC= 63, IDX= 409, 0.12, 1.649, 0.775, 2.687, 1.759, PHS=-0.021,-0.937, 0.925, RAW= 180.5, 0.4, CAL= 180.9, -7.5, ROT= 329.1, 7.5 Ygot valid direction response: 23:13:13.2339 LVL= 30992, 32753, 17362, 32755, AGC= 63, IDX= 409, 0.12, 1.649, 0.775, 2.687, 1.759, PHS=-0.021,-0.937, 0.925, RAW= 180.5, 0.4, CAL= 180.9, -7.5, ROT= 329.1, 7.5 PDAT read: Bearing 329.1, 7.5 (Local) ~Local bearing/azimuth received: Bearing 329.1, 7.5 (Local) DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.4 m/s ,DAT read: user:3098> %BDAT read: Tx time:23:13:14.3270 %$Ping request sent.%zK5K59K1K5bK5BKEqA:KAe Will construct direction to contact in vehicle frame from tetrahedron phase data.z$hw,0ݢA XIZhzQ ?YzGG?zO`=9zŴ=yzHt?`A)??TT?@@ᩧ??c?ɨzQ ?z ;z"CytBa%IIMIMỳ٢eL m>=9m`;Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59ou?5YG ih?@ĄE; ;ŀ5 @k]4?kb k kܺɢA:k3BBkBZkq)@"s [%s>\DzA"@܇#9wᅩebc?Jk2տRk! *b'i[@-xlz8BC֬㣫4?V%W˿BWR˭"k*kBkT?kH+ 2kTLhw,AycBL%I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YV-?Cl? G٣RGy > %Nusing accuracyPremultiplier from config!-59%׊u?-5Y%x i%*-A?-:15@%ƄE%;%;%59 =@9]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 114.60 m.BjmԻJjmԻ ProNav: ac range: 114.599998 m, nav range: 119.608696 m, bearing: 348.940234 deg, approach rate: 0.168560 m/s, LOS rate: -0.371838 deg/s, cmd heading: 79.328440 deg, new cmd heading: 78.878931 deg. 2j0HeadingCmd: 1.376697 target range: 114.599998 and range: 114.60 m. j7?jjjihhhh Bfffrfbf?ɛBg= T?I DɚiI\m=I7?ii=)7?)H->I I&IIBI I&I.I5D6I[<:I5 FBICJICRIZIbIjI´4*F?2F:FBF_0JFG]XH=GB!OEr>Will construct direction to contact in vehicle frame from tetrahedron phase data.>=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.4hw,Ay~MB~0%II I <zKk3IK9KKcK٢-& -Y=91Q 5>99 =G٣9y9 E> MNusing accuracyPremultiplier from configAM59EPu?U5YE]q iEQQU@EȄEE*J R="J %=J J J /J J ̝:J 9J (N3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505904.chw,h+A}ݚ?Y}?}?"9} =y}H@? T??@? H[?;? ?ɨ}ݚ?}1;} CyAB"%IMb@Mb@Mb@ )YQ?zG?I +y5? =9@ @)=@I@y@IIM3٢K 3=9Dh G٣yX > Nusing accuracyPremultiplier from config59u?5Yh i7?:?@˄E-;;B5 %@EZjFNOT Ignoring new targets: 114.60 m.Bj%ƻJj%ƻ5 ProNav: ac range: 114.599998 m, nav range: 119.736275 m, bearing: 348.653849 deg, approach rate: 0.150419 m/s, LOS rate: -0.346336 deg/s, cmd heading: 78.480629 deg, new cmd heading: 78.020256 deg. 2j5m=HeadingCmd: 1.361710 target range: 114.599998 and range: 114.60 m. j=L?jQjQjQiQhYhYhYh]Bfafafirfibfmc>?ɛB*W;= 隝?I ɚiIIj=IL?ii=)L?)*F2F:FBF0JFG:=GpAGGBOi>MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754998HI I%IIۆBI( =&I.I6I)<:I F i Im hHhw,_EA6 ?Y6C?696k=y6H@U??W?`1d?;i`(٢?@g??ɨ6 ?6;6!Cy^&B^%Iib=Ib>IfIf?13٢r0 rn=9r e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258658 Y IY 7{hw,`_AV?YV2?V9V =yVH? ? ? Cy?j西F?\??ɨV?VPa;VCy^B^$IIjIjT3٢nP- nI=9r tt zG٣xyzƧ z> Nusing accuracyPremultiplier from config| 59~8u? 5Y~Z  tIi~  2? @~τE~;~;~5 [@Zj9EFNOT Ignoring new targets: 114.60 m.BjMJJjMJ] ProNav: ac range: 114.599998 m, nav range: 119.841675 m, bearing: 348.401649 deg, approach rate: 0.139289 m/s, LOS rate: -0.337977 deg/s, cmd heading: 77.675076 deg, new cmd heading: 77.264000 deg. 2j]geHeadingCmd: 1.348511 target range: 114.599998 and range: 114.60 m. je?jajajaiahihihqhqfqfyfyrfybf}@ɛEBE;= IMY?II M7(ɚIiIIMq~h=IU?iQiU#6=)]?)Y*F?2F:FBF4JFG֑=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514279GBOuX>[hw,yA6ɗ?Y6?6u96=y6H[?@:`;?@ ? T?(] s??`%?ɨ6ɗ?6֍;6!CyRBR$IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762381EMb@Mb@Mb@AAA A)AYEx&1?+η?X9vyE!?Ev=EE@ E@)E@IE@AyE@I]I]3٢m mC=9ueyy }G٣yyP > Nusing accuracyPremultiplier from config59u?5YS iy#?:?@фE;l;\5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.60 m.Bj=Jj= ProNav: ac range: 114.599998 m, nav range: 119.891724 m, bearing: 348.276022 deg, approach rate: 0.119336 m/s, LOS rate: -0.299420 deg/s, cmd heading: 77.264001 deg, new cmd heading: 76.887282 deg. 2j}MHeadingCmd: 1.341936 target range: 114.599998 and range: 114.60 m. jī?jjjihhhhfBff f rf bf s@ZHRH?AH.>I I%IIBI&I.I6I&<:I IɛEBE2H&= AE߂?IA MɚIiII}G{g=Iī?i,hw,y蒣A63q?Y6(?6:ؼ96z=y6H A? Sv ~?`Q???N??ɨ63q?6T;4yRBR$I)T TIZ'IZ@3٢fƽ fU=9fhh jG٣hynV n> rNusing accuracyPremultiplier from configpv59ru?v5YrM irxz?z@rӄEr:r:r5  @EZj)-FNOT Ignoring new targets: 114.60 m.Bj5Jj5zK]K]9KYK]eK] ProNav: ac range: 114.599998 m, nav range: 119.935402 m, bearing: 348.161135 deg, approach rate: 0.114065 m/s, LOS rate: -0.299915 deg/s, cmd heading: 76.887282 deg, new cmd heading: 76.542751 deg. 2jMHeadingCmd: 1.335923 target range: 114.599998 and range: 114.60 m. j?jjjihhhhfffrfbf` @ɛeBe73= im{?Ii mݼɚiiiImf=Iu?i}NNG }YyyJB*Jm C="Ji  Will construct direction to contact in vehicle frame from tetrahedron phase data.ޭhw,ʬADAT read: 23:13:16.8814 LVL= 27056, 32049, 18066, 32755, AGC= 66, IDX= 415, 0.27,-2.201,-3.117,-1.313,-2.127, PHS= 0.014,-0.943, 0.811, RAW= 177.0, 1.6, CAL= 177.4, -6.7, ROT= 332.6, 6.7 Ygot valid direction response: 23:13:16.8814 LVL= 27056, 32049, 18066, 32755, AGC= 66, IDX= 415, 0.27,-2.201,-3.117,-1.313,-2.127, PHS= 0.014,-0.943, 0.811, RAW= 177.0, 1.6, CAL= 177.4, -6.7, ROT= 332.6, 6.7 PDAT read: Bearing 332.6, 6.7 (Local) ~Local bearing/azimuth received: Bearing 332.6, 6.7 (Local) =DAT read: Range 10 to 50 : 112.6 m (Round-trip 150.2 ms) speed 0.5 m/s E,DAT read: user:3099> MBDAT read: Tx time:23:13:17.9770 M$Ping request sent.M G٣RGy > Nusing accuracyPremultiplier from config59$u?5YUD i?:K?@քE7;94;5=Will construct direction to contact in vehicle frame from tetrahedron phase data.A E@AkW(?k!X k k뫣A:k3BBkBZk|@"9!+mݹ`[se&%@vy~BNB6z+ ?JkؿRk*P^Z@I@R|J @ey?WҿD&Yt˞?"k>*k*Bkpk?kU 2kBk Y*?kH+ kI Ia%IIuBI' =&I.I6I,<:I F Ih Added new target pos. range: 112.599998 m, bearing: 342.917778 deg, lat: 36.905183 deg, lon: -122.120725 deg, deltaT: 3.534194 s, deltaX: -2.000000 m, approachRate: -0.565900 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 112.60 m.Bj Jj   ProNav: ac range: 112.599998 m, nav range: 117.385033 m, bearing: 346.806915 deg, approach rate: 0.000000 m/s, LOS rate: -0.299915 deg/s, cmd heading: 76.542754 deg, new cmd heading: 75.971554 deg. 2j % HeadingCmd: 1.325954 target range: 112.599998 and range: 112.60 m. j% ڸ?j! jI jI iI hI hI hQ hU +BfQ fQ fY rf] `f&\@bf] @w?ɛ B D< 2s?I .Ӽɚ i I e=I ڸ?i ;a   G٣yq > %Nusing accuracyPremultiplier from config%59,u?-5Y> i)-|?5@؄EU;;@59 =@9ZjaeFNOT Ignoring new targets: 112.60 m.BjmhJjmh} ProNav: ac range: 112.599998 m, nav range: 117.420425 m, bearing: 346.707458 deg, approach rate: 0.107309 m/s, LOS rate: -0.301458 deg/s, cmd heading: 75.971552 deg, new cmd heading: 75.673274 deg. 2j}NHeadingCmd: 1.320748 target range: 112.599998 and range: 112.60 m. jC?jjjihhhhfffrfbf ?ɛBlkK= k?I ETϼɚiId=IC?ii:k=)C?)zKaKeh9KaKefKe*Fu?2Fq:FqBFuP0JFqGEl=GB1Oe4>Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I1)hw,IA-Will construct direction to contact in vehicle frame from tetrahedron phase data.?Yή?n9i}=yH?`F ?R??A͒?@H??ɨ?;!Cy}ͅBޅ$Ii=I< ==II㔳٢  0=9O;Q > G٣RGyޔ > Nusing accuracyPremultiplier from config59u?5Y 8 i!%l?%@ڄE:T:J5I e`@iZjFNOT Ignoring new targets: 112.60 m.Bj擻Jj擻 ProNav: ac range: 112.599998 m, nav range: 117.463432 m, bearing: 346.581931 deg, approach rate: 0.088634 m/s, LOS rate: -0.258609 deg/s, cmd heading: 75.673271 deg, new cmd heading: 75.296832 deg. 2j {1HeadingCmd: 1.314178 target range: 112.599998 and range: 112.60 m. j6?jjjihhh!h!f)f)f)rf)bf-=?ɛ]B]`= Y]f?IY e!!ȼɚaiaIed=Im6?im3#iw,AyzBz}$IMb@Mb@Mb@ )Yv?Zd;?{Gzy>y=ף@ )I=@y@IIԳ٢y _=9Q > G٣y > Nusing accuracyPremultiplier from config59яu?5Yb3 i)>:?@ۄENR;^;ޔ5 z@ B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 112.60 m.Bj%NJj%N= ProNav: ac range: 112.599998 m, nav range: 117.491112 m, bearing: 346.496607 deg, approach rate: 0.080174 m/s, LOS rate: -0.247082 deg/s, cmd heading: 75.296832 deg, new cmd heading: 75.040924 deg. 2j=)EHeadingCmd: 1.309711 target range: 112.599998 and range: 112.60 m. jE?jAjAjIiIhYhaJJJJJ<:J9JJJ;J;J$7;J%7;hhBfffrfbf?ɛmB= 隕]?I u¼ɚiI{Oc=I?izK ]JK 9K K gK  8rylf`]YT Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674579iw,֩A2?Y2Ы?2792ko=y2Hq?@K?*?`??@@?@o?q?ɨ2?2C;2"C `I`yjȅBj$IIMIM2٢e= eO=9miq uG٣qyur u> Nusing accuracyPremultiplier from configy59}xu?5Y}Q. i};?@}݄E}ݯ;};}5B @EZjFNOT Ignoring new targets: 112.60 m.BjaJja- ProNav: ac range: 112.599998 m, nav range: 117.517128 m, bearing: 346.403198 deg, approach rate: 0.065458 m/s, LOS rate: -0.234968 deg/s, cmd heading: 75.040925 deg, new cmd heading: 74.760762 deg. 2j-A!5HeadingCmd: 1.304821 target range: 112.599998 and range: 112.60 m. j5d?j1j1j1i9h9h9h9hAfAfAfArfAbfM ?ɛquRs)= quc?Iq }hɚyiyI}b=Id?iXS< iw,7Ay%̅B%$I)1 115AMb@Mb@Mb@ )Yv/?S㥫?Mbyx>/]=@ @)@I@yz@I  I ̍2٢< ?=9Q %>)) 5G٣=RGy= => ENusing accuracyPremultiplier from configAM59EJu?M5YE') iE:U#>U:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.177373U?@EބEEJJJJJ̝:J:JJJ;J;J@;J@;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430556'iw,amQA6 ?Y6H?696p=y6H@5?~Ŭ??,?@|2b? ??ɨ6 ?6';6 Cy^ׅB^$IIfIf?13٢ro= r`=9rStt vG٣tyv훽 z> Nusing accuracyPremultiplier from config| 59~7u? 5Y~$ i~@ y?@~E~;~ 7;~ 5 @!ZjAMFNOT Ignoring new targets: 112.60 m.BjMpJjMp] ProNav: ac range: 112.599998 m, nav range: 117.559380 m, bearing: 346.227067 deg, approach rate: 0.049522 m/s, LOS rate: -0.235068 deg/s, cmd heading: 74.474962 deg, new cmd heading: 74.232471 deg. 2jeS!HeadingCmd: 1.295601 target range: 112.599998 and range: 112.60 m. jA֥?jjjihhhhfffrfbfS@ɛB9H= j?I ɚiIfa=IA֥?ip2Oiw,@kA @J}?YJ?J\:9Jw=yJH ?v ?`??@Z`?`?ɨJ}?Jڇ;JCyVBV$II^I^2٢fG= fL=9fhh jG٣hyn n> Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936935 ENusing accuracyPremultiplier from configx59zu?5Yz izI?@zEz=zWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185399 I ZH RH AAH I  I $II $BI &I .I 6I <:I F7!iw,AyB$Ii%>I%= -a=-p=Mb@Mb@Mb@ )Y{Gz??~jth?y>L=D;@ @)&@I@yII٢= 8=9 Q  >   G٣RGy > %Nusing accuracyPremultiplier from config%59$u?%5Y i?-G>-:-?-@E;o;51 ==@9eB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 112.60 m.BjuȑJj}ȑ ProNav: ac range: 112.599998 m, nav range: 117.593262 m, bearing: 346.041323 deg, approach rate: 0.045047 m/s, LOS rate: -0.254906 deg/s, cmd heading: 73.963750 deg, new cmd heading: 73.675322 deg. 2j.HeadingCmd: 1.285877 target range: 112.599998 and range: 112.60 m. j?jjjihhhhBfffrfbfl @ɛsZQ= qv?I ɚiIz;`=I?izKe OKa Ka Ke iKe QMJE>:0//-+($%&#! !   RKm ?JKm ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.689430`'iw,,A I?Y?4<9+F=yH`?Ձ@?ɗ?? @W? ?ɨ?h;"Cy B$II- I-<2٢E> MW=9Uyy }G٣yy~ > Nusing accuracyPremultiplier from config59՜u?5Y` i<5?@E;>;l5 @ZjFNOT Ignoring new targets: 112.60 m.BjfJjf ProNav: ac range: 112.599998 m, nav range: 117.603256 m, bearing: 345.957447 deg, approach rate: 0.024056 m/s, LOS rate: -0.201867 deg/s, cmd heading: 73.675324 deg, new cmd heading: 73.423721 deg. 2j HeadingCmd: 1.281486 target range: 112.599998 and range: 112.60 m. j ?j j j i h)h1h1h1f1f9f9rf9bf=9@ɛB>= 隽L?I =ɚiIQ_=I?i s-iw,޸AJ΅?YJ ?J6W<9Jjɝ=yJHB4?lͳ?@…?5???ɨJ΅?J@-;J!CyVBV$IMb@Mb@Mb@ )YGz?V-?:v?yp>m=T<@ @)@I@yII 2٢e= C=9;Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y i*B>:?@E3"; ;95 @ZjFNOT Ignoring new targets: 112.60 m.BjJj%5 ProNav: ac range: 112.599998 m, nav range: 117.614655 m, bearing: 345.857406 deg, approach rate: 0.029804 m/s, LOS rate: -0.261555 deg/s, cmd heading: 73.423721 deg, new cmd heading: 73.123629 deg. 2j53=HeadingCmd: 1.276248 target range: 112.599998 and range: 112.60 m. j=\?j9j9j9i9hAhAhAhEFBmWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.193654fffrfbf -@ IhHIII IM%IIM8BII&II.II6IM&<:IM Fɛ~[p= 隝?I ɚ!i!I%{)_=I-\?i-R Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.446184w4iw,ҤAFR?YFGS?Fw<9F=yFHj?Z@B8?w?_?$n ? T?ɨFR?Ft;FCyR6BR%I)T TTVAIZIZ[3٢bn#> bZ=9fD;Q f>dh jG٣hynv n> vNusing accuracyPremultiplier from configpv59r1u?z5Yr7  irxz?~@rErw;r;rޢ5 @EZj)-FNOT Ignoring new targets: 112.60 m.Bj5\Jj5\E ProNav: ac range: 112.599998 m, nav range: 117.624245 m, bearing: 345.766328 deg, approach rate: 0.025660 m/s, LOS rate: -0.243676 deg/s, cmd heading: 73.123630 deg, new cmd heading: 72.850421 deg. 2jE;'MHeadingCmd: 1.271480 target range: 112.599998 and range: 112.60 m. jMٿ?jIjIjIiQhQhQhQhYfafafarfabfe@@ɛ2̓= 隝?I jɚiI5^=Iٿ?i4}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.697445 $?I)! !G ]YYy] BJ J BAJ J J J J ̝:J 9J J :iw,σA6 e?Y6?6Hͅ<96{=y6H(?`I`Ny?i??@B@xzG?@?ɨ6 e?6?;6"CyBVBB;%IIJ IJ<2rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.949498٢v> vH=9zI;Q z>xx ~G٣}RGyO > Nusing accuracyPremultiplier from config59צu?5Y i 7?@E<<¤5 @ZjFNOT Ignoring new targets: 112.60 m.BjxJjx  ProNav: ac range: 112.599998 m, nav range: 117.634476 m, bearing: 345.661297 deg, approach rate: 0.021198 m/s, LOS rate: -0.217598 deg/s, cmd heading: 72.850422 deg, new cmd heading: 72.535359 deg. 2j VHeadingCmd: 1.265981 target range: 112.599998 and range: 112.60 m. j ?jjjihhh!h!f!f!firfibfm V@ɛ`= N?I .͆ɚiI]=IE ?iMIQ  IU U%IIU kBIQ &IQ .IQ 6IU 7<:IU  FG G B O >mAiw,-]A6?Y6B?6H<96=y6H ?=?6b??tmʷ?`Z?ɨ6?6ֈ;6CyBqBB\%IMb@Mb@Mb@ )Y rh?p= ף?Zd;O?y ?=j<@ @)=@Iy@I-I-V٢= ?=9:Q > G٣y@ > Nusing accuracyPremultiplier from config59u?5Y i ?:Ǯ?@E;M;5 <@B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 112.60 m.Bj Jj % ProNav: ac range: 112.599998 m, nav range: 117.644653 m, bearing: 345.553322 deg, approach rate: 0.028852 m/s, LOS rate: -0.306068 deg/s, cmd heading: 72.535359 deg, new cmd heading: 72.211467 deg. 2j% R-HeadingCmd: 1.260328 target range: 112.599998 and range: 112.60 m. j5lR?j1j1j9i9h9h9hAhEBfAfAfArfIbfMY@ɛy}n= y} ?Iy }ɚiIJ]=IlR?iip4<)lR?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.454320*F?2F:FBFb1JFG5Mh <G B O5 >zK ƦNK +9K K kK   0HQPLB8/*$  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.706963 I Giw,8 Ar?Yr?rQm<9r=yrH;?@1 ,3?xZ?>?Ql ?^?ɨr?ro;r CyMBM~%IiU uM=9u:Q }>yy G٣y > Nusing accuracyPremultiplier from config59}u?5YB i]?@E* ; ;?5 @ZjFNOT Ignoring new targets: 112.60 m.BjQJjQ ProNav: ac range: 112.599998 m, nav range: 117.654427 m, bearing: 345.446409 deg, approach rate: 0.024668 m/s, LOS rate: -0.269830 deg/s, cmd heading: 72.211465 deg, new cmd heading: 71.890756 deg. 2j.9HeadingCmd: 1.254730 target range: 112.599998 and range: 112.60 m. j?jjjihhhhfffrfbf @s@ɛQUXr= Y]ա?IY ]tpɚYiYI]3\=Ie?ie!Miw,I:A6y?Y6?6㫏<96_=y6HO?*Z?+W?@Q?r@J?i?ɨ6y?6;4yRBR%I]Mb@Mb@Mb@YYY Y)YY]+?ˡE?Zd;O?y]v?]=Y]5@ ]r@)]S@I]@Yy]@I}I}b٢= I=9mQ > G٣RGyM > Nusing accuracyPremultiplier from config59u?5Y i?:?@E;;5B @EZjFNOT Ignoring new targets: 112.60 m.BjuJju ProNav: ac range: 112.599998 m, nav range: 117.669472 m, bearing: 345.322916 deg, approach rate: 0.036955 m/s, LOS rate: -0.303295 deg/s, cmd heading: 71.890753 deg, new cmd heading: 71.520327 deg. 2j&P HeadingCmd: 1.248265 target range: 112.599998 and range: 112.60 m. j 'ǟ?j j jihhhh%Bf!f!f!rf!bf- *@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.209480ɛae= ae?Ia m_ɚiiiImc[= yIyI'ǟ?iI I%IIBI&I.I6I<:I F*F?2F:FBF'5JFG- P< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.461368G B) OE >Tiw,SA:HJ?Y: ZY=9Z7Q Z>\\ ^G٣\ybm| b> jNusing accuracyPremultiplier from configdj59fu?n5Yf iflnȯ?r@fEf5;f;f5t v@vEZjFNOT Ignoring new targets: 112.60 m.BjJj- ProNav: ac range: 112.599998 m, nav range: 117.683510 m, bearing: 345.208490 deg, approach rate: 0.037236 m/s, LOS rate: -0.303478 deg/s, cmd heading: 71.520325 deg, new cmd heading: 71.177091 deg. 2j-FP5HeadingCmd: 1.242275 target range: 112.599998 and range: 112.60 m. j5?j1j1j1i1h9h9h9hAfAfAfArfAbfM@ɛy}Y= y隅.?I INɚiIZ=I?i7zKE_MKE9KAKElKE iImhuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.715098J J J J J ̝:J 9J J Ziw,nA6B| G٣y |  > Nusing accuracyPremultiplier from config%59ݺu?%5Y ib!%?-@EK;};~51 5p@1ZjY]FNOT Ignoring new targets: 112.60 m.BjeJje ProNav: ac range: 112.599998 m, nav range: 117.699440 m, bearing: 345.082005 deg, approach rate: 0.038238 m/s, LOS rate: -0.303570 deg/s, cmd heading: 71.177094 deg, new cmd heading: 70.797695 deg. 2jMVPHeadingCmd: 1.235653 target range: 112.599998 and range: 112.60 m. j)?jjji1h9h9hqhyfffrfbf`\@ɛ= !%?I! -7ɚ)iIIMY=IU)?iU$(I I%IIBI&I.I6I<:I FBIJIRIZIbIjIȭs4G 喇<G B O >}aiw,A:Iaa mG٣mRGym6 m> }Nusing accuracyPremultiplier from configq}59uu?5Yup iu;A3?:c?@uEul;u ;uK5  @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.60 m.BjJj ProNav: ac range: 112.599998 m, nav range: 117.717026 m, bearing: 344.941825 deg, approach rate: 0.042483 m/s, LOS rate: -0.338586 deg/s, cmd heading: 70.797697 deg, new cmd heading: 70.377229 deg. 2j^hHeadingCmd: 1.228314 target range: 112.599998 and range: 112.60 m. jh9?jjjihhhhJBfffrfbf`@ɛ= ?I &ɚiI-Y=I5h9?i1i==)=h9?)9EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.469872*F?2F:FBF_0JF G~<GBOg> I II } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.721382zK JK s9K K mK RK ?JK ?giw,A2$?Y2b?2't<92$t=y2Haa eG٣aym4 m> Nusing accuracyPremultiplier from config59u?5Y iI?@E'.=0.=5 -@ZjFNOT Ignoring new targets: 112.60 m.Bj`Jj` ProNav: ac range: 112.599998 m, nav range: 117.734825 m, bearing: 344.803749 deg, approach rate: 0.035028 m/s, LOS rate: -0.271682 deg/s, cmd heading: 70.377231 deg, new cmd heading: 69.963071 deg. 2js:HeadingCmd: 1.221086 target range: 112.599998 and range: 112.60 m. jL?jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.973347hhh f) f1 f9 rfA bfE @G @ɛ ’= 隽 ?I ɚ i I W=I L?i =) L?) *F ?2F :F BF @5JF "G =G = 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.225447H*>I I6&II"BI&I.I6I <:I FG7<GBO?qiw,ƥA2.?Y2l?2`<92[=y2Hs?`j?Q?@j?`wϼ?-?ɨ2.?2x;2 CyZBZ&Ii^%=I^;EMb@Mb@Mb@AAA A)AYE+?B`"۹? rh?yEv>?E=ECqy }G٣}RGy: > Nusing accuracyPremultiplier from config59u?5Y iB@?:A?@E;{;5B /@EZjFNOT Ignoring new targets: 112.60 m.Bj9Jj9 ProNav: ac range: 112.599998 m, nav range: 117.766869 m, bearing: 344.591379 deg, approach rate: 0.066826 m/s, LOS rate: -0.442773 deg/s, cmd heading: 69.963069 deg, new cmd heading: 69.326161 deg. 2jHeadingCmd: 1.209970 target range: 112.599998 and range: 112.60 m. jJ?jjjihhhhiBfffrfbfE!@ɛ"= <隽˿?I ɚiIV=IJ?iiA=)J?)J J J /J J :J 9J (N3J J ;aJ ;aJ 8;aJ 8;a%Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.479094*F?2F:FBFO0JFGN<GQBYO}X> $?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=8.730517wiw,}AzK.BoHK.+9K,K.nK.(/-)&%&&" !  :1 ?Y:%^?: TO<9:yt=y:Hz?%?`P?p?o@Tꉿ??ɨ:1 ?:T;8yB&III2٢=#< EN=9Eg/Q E>AI MG٣IyMđ M> ]Nusing accuracyPremultiplier from configQ]59Umu?e5YU iUae4?e@UEUq:U :UW5i u@uEZjFNOT Ignoring new targets: 112.60 m.BjWлJjWл ProNav: ac range: 112.599998 m, nav range: 117.789391 m, bearing: 344.447444 deg, approach rate: 0.057013 m/s, LOS rate: -0.364290 deg/s, cmd heading: 69.326161 deg, new cmd heading: 68.894448 deg. 2jzHeadingCmd: 1.202435 target range: 112.599998 and range: 112.60 m. jc?jjjihhhhfffrfbf!@ɛP= ?I %Nɻɚ!i)I-=U=Ic?ii9U=)c?)*Fm?2Fi:FiBFm^0JFqJJ@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.981535G^S=G B O5 >}iw,WARg?YR[??R6<9R7A=yRH;?,?GN?|?S@ӆ@.?`?ɨRg?Rև;R!Cy\t}Mb@Mb@Mb@yyy y)yY}K7?Cl?{Gz?y}I?};=}#<}@ }\@)yI}S@yy}Q@II٢y: D=9gmQ > G٣y > Nusing accuracyPremultiplier from config59u?5Y iK?:?@E;I;)5 @ZjFNOT Ignoring new targets: 112.60 m.Bj ۻJj ۻ ProNav: ac range: 112.599998 m, nav range: 117.816338 m, bearing: 344.286822 deg, approach rate: 0.064517 m/s, LOS rate: -0.384475 deg/s, cmd heading: 68.894445 deg, new cmd heading: 68.412701 deg. 2j%HeadingCmd: 1.194027 target range: 112.599998 and range: 112.60 m. j%՘?j!j!j!i)h)h)h)h5rBf1f1f1rf9bf=`"@ YI]hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.233537jH5<bH5p<H9I9 I=a&II=EBI9&I9.I96I= <:I= FɛQU= Y]?IY ]ɚYiYI]qT=Ie՘?iaimnn=)m՘?)*Fe?2Fa:FaBFe`0JFiGurA GurAG]R>=G1BAO]v>J5 J5 J5 0J1 J5 :J5 9J5 ـ3J1 J5 6;J5 7;J5 :;J5 :; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.485390 Єiw,/A6Խ?Y6?60q)<968=y6H@D?}Ժ?H???{@ .r?U?ɨ6Խ?67;6"CyBBB&IIJIJ0٢r( rW=9r Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~u?5Y~ i~  M? @~E~7:~7:~Ѹ5 !@5B*** querying acoustic contact ***j1j1ZjIMFNOT Ignoring new targets: 112.60 m.BjU ܻJjU ܻe ProNav: ac range: 112.599998 m, nav range: 117.841087 m, bearing: 344.140543 deg, approach rate: 0.065114 m/s, LOS rate: -0.384762 deg/s, cmd heading: 68.412705 deg, new cmd heading: 67.973969 deg. 2jemHeadingCmd: 1.186370 target range: 112.599998 and range: 112.60 m. jmڗ?jijijiiihqhqhqhqfyfyfyrfbf 4[#@ɛ= 隵?I buɚiINS=Iڗ?ii=)ڗ?) IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.738751E=zK}-iw,P.A6^}?Y6R?6KM<96c=y6H? pO? C??D)`8`??ɨ6^}?6LC;4yBBB&IIJIJ2٢Rq VH=9VkQ Z>XX ^G٣^RGy^% ^> bNusing accuracyPremultiplier from config`f59bu?f5YbO ibhzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=9.989471j?u@bEbE>*Fm?2Fi:FiBFm`0JFq IGMs=Will construct direction to contact in vehicle frame from tetrahedron phase data.iw,1HA:?Y:tF?:K<9:=y:H?* a?@Q:??o)r@? F?ɨ:?:sT;:CyBBB%IMb@Mb@Mb@ )YE?S㥻?yF?/=b@ r@)@Iy@I-I-3٢=' EA=9EUQ E>II MG٣IyMr M> ]Nusing accuracyPremultiplier from configYe59]ju?e5Y] i]eH?e:m?m@]E];];]t5q uv@qZj!%FNOT Ignoring new targets: 112.60 m.Bj-ܻJj-ܻJK|3 KS}-KK"KJJJJJ\:J 9JJJj;Jk;JO>;JO>; ProNav: ac range: 112.599998 m, nav range: 117.895981 m, bearing: 343.822145 deg, approach rate: 0.067133 m/s, LOS rate: -0.385953 deg/s, cmd heading: 67.499816 deg, new cmd heading: 67.019014 deg. 2jpHeadingCmd: 1.169702 target range: 112.599998 and range: 112.60 m. jϸ?jjjihhhheBfffrfbf3%@ɛs"= 隕?I RɚiIP=Iϸ?iiE=)ϸ?)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.   BDAT read: Tx time:23:13:28.9271  $Ping request sent. iw,9fAu?Yu&?u(;9ur<=yuH?`"׵?@o"?|?Q??ɨu?um;u"CyB%II=I=2٢u96 u#=9}}Q }> G٣RGyۍ > Nusing accuracyPremultiplier from config59=u?5Y ixȮ?@ E; ;5 -@ZjYeFNOT Ignoring new targets: 112.60 m.BjeݻJjmݻu ProNav: ac range: 112.599998 m, nav range: 117.927223 m, bearing: 343.629716 deg, approach rate: 0.062765 m/s, LOS rate: -0.386481 deg/s, cmd heading: 67.019011 deg, new cmd heading: 66.441900 deg. 2j}HeadingCmd: 1.159630 target range: 112.599998 and range: 112.60 m. jn?jjjihhhhf f f rf bf N&@ɛB{(= ?I 9ɚiIjO=In?i i  F=) n?) UWill construct direction to contact in vehicle frame from tetrahedron phase data.]=]=eJDAT read: TxSync time:23:13:28.9263 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249370*FU?2FQ:FYBF]0JFYGM=GY Bi O > $?I ?iw,jAB_?YB?B;9BS=yBH+?@ ~?@?`˽?@~&$??ɨB_?Btj;B CyN׆BN%IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500172Hj+>Ih Ijn&IIjPBIh&Ih.Ih6IjD<:Ij" FMb@Mb@Mb@ )YMb?v/?~jtxy@?x=ĻK@ @)@Iy@II㔳٢V R=9_Q >! %G٣!y%2 %> =Nusing accuracyPremultiplier from config1=595u?E5Y5 i5|EB?E:E?E@5 E5;5/;5Z5MB M@UEZjyFNOT Ignoring new targets: 112.60 m.BjyֻJjyֻ ProNav: ac range: 112.599998 m, nav range: 117.953606 m, bearing: 343.488157 deg, approach rate: 0.069908 m/s, LOS rate: -0.375017 deg/s, cmd heading: 66.441901 deg, new cmd heading: 66.017326 deg. 2jHeadingCmd: 1.152220 target range: 112.599998 and range: 112.60 m. j{?jjjihhhhHBfffrfbf &@ɛB= (?I ^Ѥ:ɚiiiImGN=Iu{?iqi}L_=)}{?)y*F ?2F :FBF5JFJJJJJ<:J9JJJ;J;J:;J:;uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751959G} *=GA BQ Ou >M,iw,C䙦A2^?Y2q?2K;92͠=y2H? `m??? \~L?`?ɨ2^?2dH;2"CyNBN%IIVIV٢^  ^c=9^`` bG٣`ybt f> jNusing accuracyPremultiplier from configdn59fu?n5Yf ifln4?r@fEf;fG;f5t v@vE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 112.60 m.Bj%ѻJj%ѻ= ProNav: ac range: 112.599998 m, nav range: 117.977448 m, bearing: 343.355931 deg, approach rate: 0.066210 m/s, LOS rate: -0.367122 deg/s, cmd heading: 66.017323 deg, new cmd heading: 65.620733 deg. 2j={EHeadingCmd: 1.145298 target range: 112.599998 and range: 112.60 m. jE?jAjAjAiAhIhIhIhIfQfQfQrfYbf]`6'@ɛ = 隍?I  S;ɚiI5)M=I?iiE=)?) IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004294*F5?2F1:F1BF5P0JF9GA GEpAzKuJK+9KKqKGe=GiGm+?GA BI O} >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256092<9RE=yRH`?` ? ?&Z?@g??ɨR1~?R3؈;PyZBZ%I)\ \IfIf٢j jI=9n:Q n>pp rG٣pyv8 z> Nusing accuracyPremultiplier from config 59 u?%5Y ؃ i !%?%@ E .B; -; Ò5) 5G@1ZjQ]FNOT Ignoring new targets: 112.60 m.BjeһJjeһu ProNav: ac range: 112.599998 m, nav range: 118.004028 m, bearing: 343.204845 deg, approach rate: 0.064794 m/s, LOS rate: -0.368205 deg/s, cmd heading: 65.620735 deg, new cmd heading: 65.167590 deg. 2ju|HeadingCmd: 1.137389 target range: 112.599998 and range: 112.60 m. j?jjjihhhQhYfafafirfbf@Xj(@ɛBղ= ܦ?I lDc;ɚiI K=I ?i ,׎9iw,ͦA:º{?Y:T?:b(<9:de=y:H?a???in`C `ȱ?`?ɨ:º{?:j;:CyFBF%IMb@Mb@Mb@ )YM?Cl?~jtyn2?;=@ @)j@I&@y@I5I5٢Eɵ EC=9M;Q U>QQ UG٣]RGyek e> mNusing accuracyPremultiplier from configiu59m;v?u5YmI| imu4?u:u(?}@mEmB;mDA;mŒ5 x@ZjFNOT Ignoring new targets: 112.60 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760885BjubûJj}bû ProNav: ac range: 112.599998 m, nav range: 118.028694 m, bearing: 343.062914 deg, approach rate: 0.059385 m/s, LOS rate: -0.341638 deg/s, cmd heading: 65.167586 deg, new cmd heading: 64.741890 deg. 2jvjHeadingCmd: 1.129959 target range: 112.599998 and range: 112.60 m. j?jjjihhhhBfffrfbfx>)@ɛE BE= AE?IA M ;ɚIiIImJ=Iu?iqiu=)u?)y*F-?2F):F)BF-_0JF) yIyGm = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013461Ga Bi O >zK= &KK9 K9 K= rK= ciw,cA2)y?Y2Ҙ?2]<92=y2H`?@ @ ?j?ɍ? V!? :?ɨ2)y?2;2!CyNxBRe%IIbIbF2٢rt vQ=9z4 G٣ y м  > %Nusing accuracyPremultiplier from config-59Xv?-5Y%u i15ެ?5@E0;2;@ǒ5Q U@QZjiFNOT Ignoring new targets: 112.60 m.BjJj ProNav: ac range: 112.599998 m, nav range: 118.049927 m, bearing: 342.928486 deg, approach rate: 0.049589 m/s, LOS rate: -0.313903 deg/s, cmd heading: 64.741888 deg, new cmd heading: 64.338684 deg. 2jmWHeadingCmd: 1.122922 target range: 112.599998 and range: 112.60 m. j经?jjjihhhhfffrfbf`! *@ɛ= ?I ;;ɚiII=IU经?iQiUS>=)]经?)YJJJ/JJ̝:J:J(N3Ja=@a=@aE@aE@*F2F:FBFJF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265127G- =G B O- > a Ii Kiw,6>AH4I4 I6&II6BI4&I4.I46I69<:I6 FFQgv?YFq?F4<9FC=yFHi0?+f?`%?`4?@"O搿 ? ?ɨFQgv?Far;F"CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516094yZbBZJ%Ii^;>I^= p==EMb@Mb@Mb@AAA A)AYEy&1?Zd;O?yE`%?Ej=E̼E@ E@)AIE@AyEf@I I2٢  2=9L;Q > G٣y > Nusing accuracyPremultiplier from config59e v?5Ym i*'?:ԩ?@E5;Z4;>ɒ5B j@EZjFNOT Ignoring new targets: 112.60 m.Bj0ûJj0û ProNav: ac range: 112.599998 m, nav range: 118.066330 m, bearing: 342.784466 deg, approach rate: 0.038877 m/s, LOS rate: -0.341294 deg/s, cmd heading: 64.338681 deg, new cmd heading: 63.906688 deg. 2j:j%HeadingCmd: 1.115382 target range: 112.599998 and range: 112.60 m. j%Ď?j!j!j!i!h!h!h)h-Bf1f1f1rf9bf=k*@ɛe Be= ae?Ia m;};ɚiiiImH=IuĎ?iqiu8=)uĎ?)y*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768075G= ʖ=G! B1 OM >Xviw,AFas?YF$#?FIm<9F~u=yFH?n^?~?/?tS-??ɨFas?Fn';F CyR>BR%IIZIZ(*3٢b N fm=9f JKm?G}ܒ=Gi B O >J J J J J J 9J J ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:13:31.4706 m TRx dataTimestamp_ set to:1736378012.796609m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273077iw,4A6pp?Y6?6V{<96l=y6Hlt?`K ? Y?~?IaN`?:?ɨ6pp?6ˆ;6!Cyz+Bz%II%I)3٢ F=9>;Q > %G٣!y%߼ %> -Nusing accuracyPremultiplier from config)}59-#v?}5Y-` i-gy}?}@-E-1.<-F.<-̒5 @ZjFNOT Ignoring new targets: 112.60 m.BjܱJjܱe ProNav: ac range: 112.599998 m, nav range: 118.087173 m, bearing: 342.544466 deg, approach rate: 0.024315 m/s, LOS rate: -0.310999 deg/s, cmd heading: 63.579328 deg, new cmd heading: 63.186760 deg. 2jmoUHeadingCmd: 1.102817 target range: 112.599998 and range: 112.60 m. j)?jjjihhhh!fAfAfQrfYbf],@ɛM BM5ӝ= IU?IQ U%><ɚQiQIU=?G=I])?ie]Ia Ie%IIeBIa&Ia.Ia6Ie3<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525027Ge "=G ?G >Gy B O >iw,pNA>k/n?Y>U?><9>wj=y>H?`' ?g6? ??Q`T??ɨ>k/n?>o;>CyJBJ$I)L L=Mb@Mb@Mb@999 9)9Y=ii mG٣iyuѼ u> Nusing accuracyPremultiplier from configy59}v?5Y}Z i}?:?@}E}/;}I;}^Β5 O@ZjFNOT Ignoring new targets: 112.60 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:13:31.4706 LVL= 24928, 32753, 18130, 32755, AGC= 63, IDX= 303,-0.10, 1.188, 0.136, 1.748, 1.107, PHS= 0.169,-0.924, 0.638, RAW= 167.0, 1.7, CAL= 168.1, -6.9, ROT= 341.9, 6.9 ]Ygot valid direction response: 23:13:31.4706 LVL= 24928, 32753, 18130, 32755, AGC= 63, IDX= 303,-0.10, 1.188, 0.136, 1.748, 1.107, PHS= 0.169,-0.924, 0.638, RAW= 167.0, 1.7, CAL= 168.1, -6.9, ROT= 341.9, 6.9 ]8DAT read: $Error in header e*Received a bad header ProNav: ac range: 112.599998 m, nav range: 118.093048 m, bearing: 342.427748 deg, approach rate: 0.014445 m/s, LOS rate: -0.286972 deg/s, cmd heading: 63.186763 deg, new cmd heading: 62.836630 deg. 2jDHeadingCmd: 1.096706 target range: 112.599998 and range: 112.60 m. j`?jjjihhhX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.138529,-0.953989,0.265921]9dR=nTDs&?`a F)I?iV->DlS#?q:@< ;@)ϢI@iϢ=n!-?Jg'e?Sh?)k R?IiۿFωT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehRBfffrfbfSI-@ɛquĨ= qu;?Iy }4<ɚyiyI}XF=I`?i-zK} jIK} ]9Ky K} tK}   F0 N( iw,hAynBr$II/I3٢M׽ ML=9UQ ]>ii uG٣uRGyu }> Nusing accuracyPremultiplier from config59C!v?5YT i@ E.:\:"В5 @ZjFNOT Ignoring new targets: 112.60 m.BjJj󟻝 ProNav: ac range: 112.599998 m, nav range: 118.099258 m, bearing: 342.313824 deg, approach rate: 0.015247 m/s, LOS rate: -0.279677 deg/s, cmd heading: 62.836627 deg, new cmd heading: 62.494877 deg. 2j?HeadingCmd: 1.090741 target range: 112.599998 and range: 112.60 m. jj?jjjihh h h f ffrfbfV.@ɛae= aey?IiJJJ J J 0J J |:J 9J ـ3J  -<ɚ)i)I-E=I5j?i5 I HY IY  I] a%II] uBIY &IY .IY 6I] ><:I]  Fiw,3łA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapseyB%$ImMb@Mb@Mb@iii i)iYm"~j?Zd;?~jtymS?my=mm@ m@)iIm@iym@II[3٢1 5=9Q > G٣y > Nusing accuracyPremultiplier from config59&v?5YO i W?:?@"Ey;;Ғ5B @ݶEZjIuFNOT Ignoring new targets: 112.60 m.Bj}Jj} ProNav: ac range: 112.599998 m, nav range: 118.101631 m, bearing: 342.202058 deg, approach rate: 0.005221 m/s, LOS rate: -0.245942 deg/s, cmd heading: 62.494879 deg, new cmd heading: 62.159593 deg. 2j(MHeadingCmd: 1.084890 target range: 112.599998 and range: 112.60 m. jM݊?jIjQjQiQhQhQhYh]#BfYfYfYrfabfe ./@ɛ BdK=  o?I  T-<ɚ i I *E=I݊?iiw,5~A6l f?Y6)D?6$=96t=y6H?\ R?`u?.?v?֌?W?ɨ6l f?6;6 CyZ݅BZ$IIb#Ib%x3 lInh٢vF va=9vxx zG٣xy~m ~> Nusing accuracyPremultiplier from config 59,v? 5YqJ i<?@$E;;Ӓ5B @!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 112.60 m.BjJj ProNav: ac range: 112.599998 m, nav range: 118.097961 m, bearing: 342.111272 deg, approach rate: -0.010441 m/s, LOS rate: -0.258307 deg/s, cmd heading: 62.159591 deg, new cmd heading: 61.887226 deg. 2jF1HeadingCmd: 1.080136 target range: 112.599998 and range: 112.60 m. jA?jIjIjIiIhIhQhQhQfYfYfarfabfed/@ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseɛlm= ?=h?I 8<ɚiI|D=IA?iu*J %="J 4=J J J J J J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse-iw,CA6Mc?Y6?6=96z=y6H??i?`Ԟ??|?@FR??ɨ6Mc?6;4yNօBR$IIZIZ?13٢b  fM=9f hh jG٣jRGyjܼ n> rNusing accuracyPremultiplier from configpv59r1v?v5YrXE irutvT?v@r%Ern:r:rhՒ5~B ~@}ڶEZj1EFNOT Ignoring new targets: 112.60 m.BjuJj} ProNav: ac range: 112.599998 m, nav range: 118.092094 m, bearing: 342.011616 deg, approach rate: -0.013693 m/s, LOS rate: -0.232603 deg/s, cmd heading: 61.887224 deg, new cmd heading: 61.588244 deg. 2j=HeadingCmd: 1.074918 target range: 112.599998 and range: 112.60 m. j=疉?j9jAjAiI $?Ihhhhfffrfbf@N0@ɛAE(= Ae\e?Ii mhE<ɚiiiIm-D=Iu疉?iu*IC I%II=BI( =&I.I6I@<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse*F?2F:FBFJFG }ܒ=G% ?G% ?G B O >iw, ѧAJL`?YJ?J9,=9JkA=yJH*?)e@G`?`mw?@:?nE'=E94A E@)E@IE@AyAI]I]#3٢m m@=9u qq}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse G٣yǼ > Nusing accuracyPremultiplier from config59\8v?5Y`@ i>:?@'Eb;qa;Fג5 @ZjaeFNOT Ignoring new targets: 112.60 m.BjmJjm ProNav: ac range: 112.599998 m, nav range: 118.077759 m, bearing: 341.913106 deg, approach rate: -0.034594 m/s, LOS rate: -0.237747 deg/s, cmd heading: 61.588246 deg, new cmd heading: 61.292685 deg. 2j)#HeadingCmd: 1.069759 target range: 112.599998 and range: 112.60 m. j?jjjihhhhBfffrfbf@0@ɛqu<= qua?Iq }" P<ɚyiyI}C=I?iC- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapsezK KK ػ9K K vK    )?QZbfhhfgheb^ZXSNLI>92.*'  @iw,A>.]?Y> "?>wc9=9> =y>Hq? 9ݳ?UL??1?`h*Z?@?ɨ>.]?>d;> Cy^ɅB^$IIfIf(*3٢n߼ nT=9r^pp vG٣tyv2 v> zNusing accuracyPremultiplier from configx 59zS>v? 5Yz; izQ?@z(Ez;z;zؒ5 ]@ZjFNOT Ignoring new targets: 112.60 m.BjJj5 ProNav: ac range: 112.599998 m, nav range: 118.063118 m, bearing: 341.824480 deg, approach rate: -0.037409 m/s, LOS rate: -0.226476 deg/s, cmd heading: 61.292683 deg, new cmd heading: 61.026773 deg. 2j=m=HeadingCmd: 1.065118 target range: 112.599998 and range: 112.60 m. j=U?jAjAjAiAhAhAhIhIfIfIfrfbf1@Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ=Օ<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ BЏ= ^?I 9]<ɚiI`aC=IU?i I C I $II BI &I .I 6I ><:I BIAJIARIAZIAbIAjIE45 Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseG7=GBO?jw,_] AyʅB$IMb@Mb@Mb@ )Yq= ףp?Q?Mb`y>\=@ @)I@y@I!Ii3٢ ; =9Q > G٣RGy > Nusing accuracyPremultiplier from config 59Fv? 5Y5 i 3>:?@*E;;aے5 S@ZjAMFNOT Ignoring new targets: 112.60 m.BjMJjMe ProNav: ac range: 112.599998 m, nav range: 118.040253 m, bearing: 341.700662 deg, approach rate: -0.043115 m/s, LOS rate: -0.233519 deg/s, cmd heading: 61.026770 deg, new cmd heading: 60.655249 deg. 2jeC mHeadingCmd: 1.058634 target range: 112.599998 and range: 112.60 m. jmP?jijijqiqhqhqhyh}Bfyfyfyrfbfଖ1@ɛa= 隽d_?I  j<ɚiIB=J J J J J ,:J :J J J ;aJ ;aJ C;aJ C;aIP?io I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse jw,&A6&sX?Y6w?6R=96=y6H?? * ?d?`?>????ɨ6&sX?6i[;6!Cy~DžB~$II%I%F3٢T Q=9y G٣yV >zKhNK9KKwK %Nusing accuracyPremultiplier from config-59nMv?-5Y>1 i+QU7?]@,E<<'ݒ5i m}@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.60 m.BjvJjv ProNav: ac range: 112.599998 m, nav range: 118.020035 m, bearing: 341.610392 deg, approach rate: -0.048262 m/s, LOS rate: -0.215520 deg/s, cmd heading: 60.655249 deg, new cmd heading: 60.384396 deg. 2jHeadingCmd: 1.053907 target range: 112.599998 and range: 112.60 m. ji?jj j i h h h1h1f1f1f9rf9bf=2@ɛ2 = 隅K^?I ?v<ɚiIB=Ii?i1I I$IIBI' =&I.I6I%<:I FGYBiO>njw,gDA"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapseZ1V?YZvV?Zo\=9Z =yZH4d? `?B?? ?Dw? ?ɨZ1V?Z ;Z"CyuЅBu$Ii!! %G٣%SGy- -> =bBottom track data is 0.5 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1=595cVv?E5Y5A+ i5bM+:IM:M?M@5.E5O;5I ?5ߒ5UB U@UնEZjyFNOT Ignoring new targets: 112.60 m.Bj䁻Jj䁻 ProNav: ac range: 112.599998 m, nav range: 117.991158 m, bearing: 341.489335 deg, approach rate: -0.054164 m/s, LOS rate: -0.227119 deg/s, cmd heading: 60.384398 deg, new cmd heading: 60.021143 deg. 2jHeadingCmd: 1.047567 target range: 112.599998 and range: 112.60 m. j?jjjihhhhfffrfbf2@ɛ B я= c?I <ɚiI3dB=I?i[aa eG٣aym m> }bBottom track data is 1.0 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u^v?5Yu% iu ::.?@u0Eu%);ui?u5 m@ZjFNOT Ignoring new targets: 112.60 m.Bj&~Jj&~ ProNav: ac range: 112.599998 m, nav range: 117.962029 m, bearing: 341.379545 deg, approach rate: -0.058937 m/s, LOS rate: -0.222195 deg/s, cmd heading: 60.021141 deg, new cmd heading: 59.691694 deg. 2j}HeadingCmd: 1.041817 target range: 112.599998 and range: 112.60 m. j?Z?jjjihhhhfffrfbf3@ɛ B鏗= g?I! %V<ɚ!i!I%!B=I?Z?i^ y I jw,σAH}+>Iy IyIyIy&Iy.Iy6I}?<:I}" FfP?Yf]?fq=9fU=yfHgE?`8a?ɸ? g}?@W`?Ɓ?.ܳ??ɨfP?ff;fCrWill construct direction to contact in vehicle frame from tetrahedron phase data.rT****** received valid address query ******rR****** received valid ping request ******vreceived new query, but waiting for acoustic response period to elapseyzBz$I        Mb@Mb@Mb@ )Yjt? rh?{Gz?y?C =#<@ @)@I@y@II3٢ = F=94;Q > G٣yp > Nusing accuracyPremultiplier from config59fv?5Y  iT:?:?@1E;(4;N5 =@ZjFNOT Ignoring new targets: 112.60 m.Bj;Jj;5 ProNav: ac range: 112.599998 m, nav range: 117.932381 m, bearing: 341.279384 deg, approach rate: -0.066869 m/s, LOS rate: -0.225965 deg/s, cmd heading: 59.691694 deg, new cmd heading: 59.391137 deg. 2j5=HeadingCmd: 1.036571 target range: 112.599998 and range: 112.60 m. j=[?j9j9j9i9hAhAhAhEMBfIfIfirfibfuI|3@ɛB= 隽q?I u<ɚiIA=I[?i]JJJJJJ 9JJJJJO>;JO>;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse?'jw,A2O?Y2?28t=92=y2H`e?J@ҳ?i?@"?Ӿ?`rtѴ? C?ɨ2O?24;2!Cy>B>$I)@ @IJ,IJ3٢fP< fZ=9f:Q f>hh jG٣jSG I!yEH E> MNusing accuracyPremultiplier from configIU59M:nv?U5YM^ iMY]x?]@M3EM;M_;M5a e@aZjFNOT Ignoring new targets: 112.60 m.BjJj ProNav: ac range: 112.599998 m, nav range: 117.903946 m, bearing: 341.185295 deg, approach rate: -0.079513 m/s, LOS rate: -0.263167 deg/s, cmd heading: 59.391138 deg, new cmd heading: 59.108806 deg. 2j4HeadingCmd: 1.031643 target range: 112.599998 and range: 112.60 m. j ?jjjihhhhfffrfbf3@ɛ߸= t?I 7<ɚiIyA=I ?i  ^ Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ ՝ = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsej>-jw,mAF!N?YF?FIkv=9FQ=yFH@r? :4?>X?ໞ?7y?Ȯ8?3?ɨF!N?FV;Dy=B=$IIMIMM3٢]˯= eA=9e+:Q e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}59u:vv?5Yu iu?@u5Eue:u :u5 @ҶEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.60 m.Bj!Jj! ProNav: ac range: 112.599998 m, nav range: 117.873413 m, bearing: 341.086034 deg, approach rate: -0.074274 m/s, LOS rate: -0.241524 deg/s, cmd heading: 59.108805 deg, new cmd heading: 58.810949 deg. 2j%HeadingCmd: 1.026445 target range: 112.599998 and range: 112.60 m. jb?jjjihhhhfffrfbf >4@ɛ-B-Q= )-m~?I) ,<ɚiI6A=Ib?i5bI I$IIBI& =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG <Gi By O >;&4jw,QgѨA2(M?Y2,?2l&u=92C=y2H_? $@vۻ?@ZL?s?Rm? J? M?ɨ2(M?2l;2$C NnManaging dock network, ignoring radio surface power offyn Bn$IJ]JYJYJYJ]|:JYJYJYJ];J];JYJYMb@Mb@Mb@ )Y rh?+?:v?y ?=T<b@ @)@I@y@I&I3٢ = E=9CQ > G٣y9 > Nusing accuracyPremultiplier from config59v?5Y2 i  ?:?@6E#;;5 U@ZjFNOT Ignoring new targets: 112.60 m.Bj^Jj^- ProNav: ac range: 112.599998 m, nav range: 117.840126 m, bearing: 340.976343 deg, approach rate: -0.080295 m/s, LOS rate: -0.264673 deg/s, cmd heading: 58.810948 deg, new cmd heading: 58.481785 deg. UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse2j5HeadingCmd: 1.020700 target range: 112.599998 and range: 112.60 m. jJ?jjjihhhhBfffrfbf@14@ɛ5B=@= 9=D?I9 =q<ɚ9iAIE6@=IEJ?impFO:jw,=A> M?Y>Â?>v=9>>=y>Hy?@ۼ?>?@?PYT?@Ϯbg??ɨ> M?>;> CyFBJ$IiN=IN<IRIRT3٢Z= Z\=9^:Q ^>\` bG٣bSGyb+ b> jNusing accuracyPremultiplier from configdj59fv?n5Yfl  if lr?r@f8EfW;fX;f95x z$@zжEzK~BoHK~+9K|K~zK~Zj)5FNOT Ignoring new targets: 112.60 m.Bj5kJj5k ProNav: ac range: 112.599998 m, nav range: 117.809982 m, bearing: 340.878008 deg, approach rate: -0.080605 m/s, LOS rate: -0.263016 deg/s, cmd heading: 58.481787 deg, new cmd heading: 58.186709 deg. 2j4HeadingCmd: 1.015550 target range: 112.599998 and range: 112.60 m. j?jjjihhhhfffrfbf 5@ɛ=B=D= AED?II uZ8<ɚqiqIuA@=I?iʅH +>I  I %II )BI &I .I 6I <:I F@6Ajw,HABfL?YBnq?B,t=9B=yBH )?@s`?@(4??xP@?@?ɨBfL?B C;BCbWill construct direction to contact in vehicle frame from tetrahedron phase data.f G٣yz > Nusing accuracyPremultiplier from config59Av?5Y iB ?:M?@:E&;%;A5B @ͶEZj15FNOT Ignoring new targets: 112.60 m.Bj=ܠJj=ܠu ProNav: ac range: 112.599998 m, nav range: 117.776070 m, bearing: 340.745830 deg, approach rate: -0.072145 m/s, LOS rate: -0.281272 deg/s, cmd heading: 58.186709 deg, new cmd heading: 57.790069 deg. 2juA}HeadingCmd: 1.008627 target range: 112.599998 and range: 112.60 m. j}?jyjyjyiyhyhhhBfffrfbf@5@ɛB = !%?I! %g<ɚ!iyI}1?=I?i꫕X`Gjw,JA6K?Y61?6]Rr=96X=y6H`?~?+?@?jE??ɨ6K?6QL;6CyR3BR%IIZIZ3 `Ifh٢ ׳=  X=9 Q  > G٣y > -Nusing accuracyPremultiplier from config)559-v?55Y- i-[ 15 ?=@- BDAT read: Tx time:23:13:39.8772 $Ping request sent.zKBHKKK{K} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:13:39.8764  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772Mjw,8AFTK?YF^?Ftn=9F=yFH? @\?@"?`?mvҭ{??ɨFTK?F;F Cy~0B~ %I)  II(*٢EYY EF=9M Q M>II UG٣USGyU& U> eNusing accuracyPremultiplier from configYe59]9v?m5Y]O i]v im?m@]>E];]&;]5  @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.60 m.BjJj ProNav: ac range: 112.599998 m, nav range: 117.720062 m, bearing: 340.527836 deg, approach rate: -0.071811 m/s, LOS rate: -0.279178 deg/s, cmd heading: 57.487052 deg, new cmd heading: 57.135933 deg. 2j?%HeadingCmd: 0.997210 target range: 112.599998 and range: 112.60 m. j%*I?j!j!j!i)h)h)h)h)f1fQfQrfYbf] G6@ɛB = 隥?I <ɚiIķ>=I*I?irTjw,RA>RK?Y>Z?>~g=9>Mu=y>H@7?@u?<#??w?9?ɨ>RK?>;YY ]G٣aye! m> uNusing accuracyPremultiplier from configq}59u«v?}5Yu iu '?:?@u@Eug;u;u`5 @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753822ZjAEFNOT Ignoring new targets: 112.60 m.BjMeJjMe} ProNav: ac range: 112.599998 m, nav range: 117.693619 m, bearing: 340.399456 deg, approach rate: -0.066398 m/s, LOS rate: -0.322424 deg/s, cmd heading: 57.135933 deg, new cmd heading: 56.750712 deg. 2j}F]HeadingCmd: 0.990487 target range: 112.599998 and range: 112.60 m. j}?jjjihhhhBfffrfbf6@ɛB=   ?I  +<ɚ i I-V>=I5}?i5f Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006038Zjw,ԁlAyn=Br%IIvIv[٢=_< =L=9EQ E>II MG٣QyU U> eNusing accuracyPremultiplier from configYe59],v?m5Y] i] iim@]BE]":]P:]!5uB uJ@}ȶEzK>BKK9KK|KZjFNOT Ignoring new targets: 112.60 m.Bj Jj  ProNav: ac range: 112.599998 m, nav range: 117.668076 m, bearing: 340.272613 deg, approach rate: -0.063380 m/s, LOS rate: -0.314800 deg/s, cmd heading: 56.750713 deg, new cmd heading: 56.370110 deg. 2j XHeadingCmd: 0.983844 target range: 112.599998 and range: 112.60 m. j4{?jjjihhhhfffrfbf.7@ɛ BR= ?I <ɚiI==I%4{?i!i%4=)%4{?))*F?2F:FBFP5JFJ]J]JYJYJ]:J] :JYJYa@a@a@a@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258009Gl=G?G?GBO > I H *>I  I H%II aBI ' =&I .I 6I <:I FTajw,\A6,K?Y6ԁ?6V=96=y6HR?4$?M"??<@Qͪ /j?`?ɨ6,K?6{;6"CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510546yZ@BZ!%Ii^C=I^a=Mb@Mb@Mb@ )Y rh?㥛 ?y,?=@ @)x@I=@yf@II٢o< ?=9s#Q > G٣SGy >  Nusing accuracyPremultiplier from config 59 v?5Y  i  -?:?@ DE !; M ; 5! -@)ZjQ]FNOT Ignoring new targets: 112.60 m.Bj]Jj]m ProNav: ac range: 112.599998 m, nav range: 117.638237 m, bearing: 340.132823 deg, approach rate: -0.070145 m/s, LOS rate: -0.328702 deg/s, cmd heading: 56.370111 deg, new cmd heading: 55.950644 deg. 2jma}HeadingCmd: 0.976523 target range: 112.599998 and range: 112.60 m. j}hy?jyjyjyiyhyhhh Bfffrfbf7@ɛB<= ?I p_<ɚiIB<=Ihy?iUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761938 gjw,BA 2$?I0: J?Y:C?:HY=9:=y:H ?f觽???m%8`z?h?ɨ: J?:;:CyJ6BN%IIZIZV83٢byc b`=9b5;Q b>dd fG٣dyfE j> nNusing accuracyPremultiplier from configlr59nv?r5Yn  in pr?v@nFEn:n:n5x z@xZjFNOT Ignoring new targets: 112.60 m.BjӳJjӳ ProNav: ac range: 112.599998 m, nav range: 117.612106 m, bearing: 340.012875 deg, approach rate: -0.068483 m/s, LOS rate: -0.314431 deg/s, cmd heading: 55.950642 deg, new cmd heading: 55.590721 deg. 2j%W-HeadingCmd: 0.970241 target range: 112.599998 and range: 112.60 m. jUax?jQjYjYiYhYhahahafffrfbfB7@ɛBMH5= IMs?II U}N<ɚQiQIU<=I]ax?i]yJa Je Ja Ja Ja Je :Ja Ja e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267518mjw,AB#I?YBπ?BY=9B%=yBH%? ;X?z?@-?Fr8V? ?ɨB#I?Bw;B!CyJ G٣yr > Nusing accuracyPremultiplier from config59v?5Y% iK ?@IEH!<{!<w5 b@ŶEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 112.60 m.BjmJjm ProNav: ac range: 112.599998 m, nav range: 117.580971 m, bearing: 339.871592 deg, approach rate: -0.072705 m/s, LOS rate: -0.329998 deg/s, cmd heading: 55.590722 deg, new cmd heading: 55.166771 deg. 2jybHeadingCmd: 0.962842 target range: 112.599998 and range: 112.60 m. j|v?jjjihhhhfffrfbf@ P8@ QIYɛB -= 隝\?I .<ɚiIf;=HM+>II IMU%IIMkBII&II.II6IM<:IM FI|v?iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518782*F?2F:FBF4JFG 0P=G% pAG% qAG B O >#ujw,թA6GH?Y6}a?6YY=96s=y6Hh/??@?`+D? 1c?@?ɨ6GH?6iw;6"CyF7BF%I)L L-Mb@Mb@Mb@))) )))Y-m?sh|??y&1|y-.?-=-`) ))-@I-S@)y- @IEIEm?3UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769789٢-⮼ 53=95aQ 5>99 =G٣=SGy= => mNusing accuracyPremultiplier from configau59ev?u5Ye ie u/?u:u?u@eKEeL;e3;en5 @ZjFNOT Ignoring new targets: 112.60 m.Bj$Jj$% ProNav: ac range: 112.599998 m, nav range: 117.552193 m, bearing: 339.722112 deg, approach rate: -0.064665 m/s, LOS rate: -0.335965 deg/s, cmd heading: 55.166772 deg, new cmd heading: 54.718232 deg. 2jEfMHeadingCmd: 0.955013 target range: 112.599998 and range: 112.60 m. jM{t?jIjIjIiIhQhQhQhUBfYfYfYrfYbf 8@ɛB= g?I ?E<ɚiI}y:=I{t?iiWVk=){t?) I*F?2F:FBFQ0JF)A ESC -HY)y-B Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:13:42.4120  TRx dataTimestamp_ set to:1736378023.632737 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023065G @Z=G B O% >H{jw,SA2 G?Y2ɜ?2kW=92Å=y2HkN?`C? ?b? }9'?`?ɨ2 G?2Ո;2#CyR'BR%IIZ IZ(2٢b fe=9fQ f>dh jG٣hyjWN j> rNusing accuracyPremultiplier from configpv59rv?v5Yr ir tva?v@rMEr:r;r5y }@öEzKkOK9KK~Ke:wdSC9-}unlfc]WUUPONKIFD?><:94342/.+*(%RK?JK>ZjFNOT Ignoring new targets: 112.60 m.BjZJjZ ProNav: ac range: 112.599998 m, nav range: 117.528809 m, bearing: 339.603324 deg, approach rate: -0.063787 m/s, LOS rate: -0.324094 deg/s, cmd heading: 54.718233 deg, new cmd heading: 54.361803 deg. 2jl^HeadingCmd: 0.948792 target range: 112.599998 and range: 112.60 m. jr?jjj i h h hhfffrfbf\%9@ɛEBM$= Q]?IY ]* <ɚYiYIe9=Ier?ie[I  I I I &I .I 6I (<:I  FO > Will construct direction to contact in vehicle frame from tetrahedron phase data./jw,, ADAT read: 23:13:42.4120 LVL= 25632, 30897, 18546, 32755, AGC= 66, IDX= 358, 0.10, 1.312,-0.047, 1.591, 1.119, PHS= 0.281,-1.119, 0.469, RAW= 156.2, 5.0, CAL= 157.2, -4.2, ROT= 352.8, 4.2 Ygot valid direction response: 23:13:42.4120 LVL= 25632, 30897, 18546, 32755, AGC= 66, IDX= 358, 0.10, 1.312,-0.047, 1.591, 1.119, PHS= 0.281,-1.119, 0.469, RAW= 156.2, 5.0, CAL= 157.2, -4.2, ROT= 352.8, 4.2 PDAT read: Bearing 352.8, 4.2 (Local) ~Local bearing/azimuth received: Bearing 352.8, 4.2 (Local) DAT read: Range 10 to 50 : 97.9 m (Round-trip 130.6 ms) speed 0.4 m/s ",DAT read: user:3103> &BDAT read: Tx time:23:13:43.5272 &$Ping request sent.&Md;M >M!z.@M¸= M/@)MQ IMj @iMQ =IIM )M7?UsX?N#?)Mv!?IMYWiM<翉MII>:publishing transmit ping time$bFpublishing direction and range infoI9Mr?$˿vSV뿑YO?yIIII I)IIIiIIIII I)IIIiIIIM )M7?UsX?N#?)IIIiIIIIvE?Yvx~?vCV=9v)@=yvHm??d? L?Z{ UŪ"??ɨvE?vg;vCyu"Bu$I]Mb@Mb@Mb@YYY Y)YY] rh?~jt?Mby],?]=]Y ]&@)YI]j@Yy]@I$I<3٢Ɔ  =949Q > G٣y > Nusing accuracyPremultiplier from config59v?5Y i -?:?@PEl<cl<5%B %@%E}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:13:43.5264 kM n?kM^[" kI kMA:kMBBkMtBZkM@"M`5I4jФl_UNőyE@Mr?$˿vSV뿑YO?JkM<RkM*MzpP@XP0A@M-x ?E{iz?"kM݀*kMBkMٸ'?kMN g" 2kMBkMT?kM/ kMp?jjjihhhhBfff rf yX@bf [?ɛU BU ľ= Q U ?IQ ] R<ɚY iY I] -9=Ie 4>p?ie șp?) E *F% ?2F! :F! BF% O0JF! "G- =G- = a Ia -Will construct direction to contact in vehicle frame from tetrahedron phase data.Gel=Gu ?Gu?GaBqO ?tjw,+A:mC?Y:{?:_Q=9:=y:H?Qy[???\s ()µ?`?ɨ:mC?: ;:!CyBBB$IIRIR)٢v̽ ve=9z.[Q z>x| ~G٣~SGy~g ~> Nusing accuracyPremultiplier from config59Zw?5Y iK l?@RE`;a;$5) -6@)ZjQUDNOT Ignoring new targets: 97.90 m.Bj]CԻJj]CԻm ProNav: ac range: 97.900002 m, nav range: 115.419846 m, bearing: 338.422260 deg, approach rate: -0.073607 m/s, LOS rate: -0.371151 deg/s, cmd heading: 53.769175 deg, new cmd heading: 53.410834 deg. 2jm~uHeadingCmd: 0.932195 target range: 97.900002 and range: 97.90 m. juSn?jqjqjyiyhyhyhyhfffrfbf/?ɛ4j= <6?I od=ɚiI78=ISn?iibu=)Sn?)zK}l"OK}9KyK}K}$%&##""   *F?2F:FBF_0JFBKqA:KqAG]{=G9JmJmJiJiJm,:Jm,:JiJiBO<>UWill construct direction to contact in vehicle frame from tetrahedron phase data.U%=UR=  I 5Yjw,EAH I  I"B%II"\BI"& =&I .I 6I" <:I" FWill construct direction to contact in vehicle frame from tetrahedron phase data.A?YkUz?L=9,“=yH ?`go?@1?3?,EQ? Dn?z?ɨA?;yB$IMb@Mb@Mb@ )Ysh|??MbX9?I +y)?ʡ=94@ S@)x@IyII1٢. /=9Q > G٣yX > Nusing accuracyPremultiplier from config59R w?5Y i 4+? : v? @UEU;S;-5 @5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 97.90 m.BjM༻JjM༻] ProNav: ac range: 97.900002 m, nav range: 115.390137 m, bearing: 338.268310 deg, approach rate: -0.063716 m/s, LOS rate: -0.330258 deg/s, cmd heading: 53.410833 deg, new cmd heading: 52.948874 deg. 2j]beHeadingCmd: 0.924132 target range: 97.900002 and range: 97.90 m. jel?jajajaiihihihihuBfqfqfqrfqbf}= ?ɛBئ= E?IA EY=ɚAiAIE7=IMl?iMjw,s_A6 =);k?)EEqA*F5?2F1:F1BF5h1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496845G=GBO>zK YMK 9K K K RK ?JK >\jw,/QyAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747393 :=??Y:!Ux?:0L=9:=y:H@?B?`O]? "?i4 }??ɨ:=??:n;:!CyBBB$IIJIJ2٢R> VN=9V;Q V>XX ZG٣ZSGyZ_ ^> bNusing accuracyPremultiplier from config`f59b_w?f5Yb ib dfv?f@bYEb:b:bc5p rA@vEZj!%DNOT Ignoring new targets: 97.90 m.Bj-ʺJj-ʺE ProNav: ac range: 97.900002 m, nav range: 115.342438 m, bearing: 338.025744 deg, approach rate: -0.065212 m/s, LOS rate: -0.326612 deg/s, cmd heading: 52.613422 deg, new cmd heading: 52.221036 deg. 2jM&`]HeadingCmd: 0.911429 target range: 97.900002 and range: 97.90 m. j]jSi?jajajaiihihqhAhAfAfAfArfIbfM X?ɛBhn= 隽u?I } =ɚiI[j6=IjSi?i$~ jw,uvAJJJJJ :J%:JJJ;aJ;aJK;aJL;aF0>?YFv?FlP=9FK=yFH\@?!t?;?R?h+?@H`#??ɨF0>?F};;DyNօBN$I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252138EMb@Mb@Mb@AAA A)AYEMb?IQ UG٣QyU] U> eNusing accuracyPremultiplier from configYe59],w?m5Y]Q i]Y m"$?m:mω?m@][E];];]5 @ZjDNOT Ignoring new targets: 97.90 m.Bj Jj % ProNav: ac range: 97.900002 m, nav range: 115.305885 m, bearing: 337.860098 deg, approach rate: -0.069093 m/s, LOS rate: -0.313210 deg/s, cmd heading: 52.221038 deg, new cmd heading: 51.723956 deg. 2j%V-HeadingCmd: 0.902753 target range: 97.900002 and range: 97.90 m. j-g?j1j1j1i1hQhQhYh]ǃBfYfYfarfabfe@!@ɛB= r?I 0k=ɚiI*5=Ig?izjw,/A>;?Y>It?>]T=9>&=y>Hhz?N?@?j? A?g??ɨ>;?>c;> CyNÅBN$IIV/IV3٢^߽ ^i=9b ;Q b>`` bG٣dyfʼ f> nNusing accuracyPremultiplier from confighn59j5w?n5Yj  ij pr?r@j]Ej:jL:j65t v@vEZj!%DNOT Ignoring new targets: 97.90 m.Bj-߸Jj-߸= ProNav: ac range: 97.900002 m, nav range: 115.279976 m, bearing: 337.749058 deg, approach rate: -0.075410 m/s, LOS rate: -0.323256 deg/s, cmd heading: 51.723957 deg, new cmd heading: 51.390766 deg. 2j=]EHeadingCmd: 0.896938 target range: 97.900002 and range: 97.90 m. jEe?jAjAjAiAhIhIhIhIfQfQfYrfYbf]i@ɛB= 隅h?I +=ɚiIJ5=Ie?iiQ=)e?)zKFKKh9KKKEE*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756818Eee>Ee)>*F?2F:FBFK1JF"G5=G5> IH .>I  I $II BI & =&I .I 6D6I <:I a FG = Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010995G B O >Ѳjw,N˪AJm9?YJq?JwW=9J]=yJH ?@ ?@7?X?M?@몿 0'??ɨJm9?J;HyVBVs$I=Mb@Mb@Mb@999 9)9Y=1Zd?X9v?{Gzy="?=}==#=@ =j@)9I99y=@Im$Im<3٢} }9=9}O:Q > G٣SGy > Nusing accuracyPremultiplier from config590Aw?5Y i ?:%?@_E7;Sh;# 5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 97.90 m.Bj*Jj* ProNav: ac range: 97.900002 m, nav range: 115.244362 m, bearing: 337.617037 deg, approach rate: -0.080710 m/s, LOS rate: -0.299286 deg/s, cmd heading: 51.390767 deg, new cmd heading: 50.994587 deg. 2jeMHeadingCmd: 0.890023 target range: 97.900002 and range: 97.90 m. jc?j j jihhhhBfffrfbf @ɛBf5= a?I {1=ɚiI|4=Ic?iO ! I! Bjw,4A27?Y2o?2O\=92>=y2Hr?Jť?`}?``?cW?^? ?ɨ27?2;2CyRBR]$IIZIZ[3٢b bW=9fL;Q f>dd jG٣hyj1Ƽ j> rNusing accuracyPremultiplier from configlr59nKw?v5YnĔ in tv?v@naEnL:n:n 5x ~0@Zj)-DNOT Ignoring new targets: 97.90 m.Bj5uJj5uE ProNav: ac range: 97.900002 m, nav range: 115.212067 m, bearing: 337.503339 deg, approach rate: -0.085133 m/s, LOS rate: -0.299801 deg/s, cmd heading: 50.994588 deg, new cmd heading: 50.653404 deg. 2jEMMHeadingCmd: 0.884069 target range: 97.900002 and range: 97.90 m. jMSRb?jIjIjIiQhQhQhYhYfafafarfabfe @ɛB= 隝xY?I 1=ɚiI3=ISRb?i Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 23:13:46.0595 LVL= 21216, 30097, 19106, 32755, AGC= 66, IDX= 411, 0.36,-2.241, 2.705,-2.133,-2.565, PHS= 0.413,-0.966, 0.430, RAW= 150.6, 1.8, CAL= 153.2, -7.1, ROT= 356.8, 7.1 ] Ygot valid direction response: 23:13:46.0595 LVL= 21216, 30097, 19106, 32755, AGC= 66, IDX= 411, 0.36,-2.241, 2.705,-2.133,-2.565, PHS= 0.413,-0.966, 0.430, RAW= 150.6, 1.8, CAL= 153.2, -7.1, ROT= 356.8, 7.1 e PDAT read: Bearing 356.8, 7.1 (Local) e ~Local bearing/azimuth received: Bearing 356.8, 7.1 (Local) u DAT read: Range 10 to 50 : 96.0 m (Round-trip 128.1 d 0.4 m/s u ,DAT read: user:3104> } BDAT read: Tx time:23:13:47.1773  $Ping request sent. Kw (> 8(@ = D +@) I SF@i = EvV)?YH? ?) ?I Si ࿉ 2  :publishing transmit ping time؁  Fpublishing direction and range info 9  wÿ`ŗ꿏;E]+?y  ) I i ) I i EvV)?YH? ?) I i A!jw,uA24?Y2%m?2 a=92*=y2H1?|r`ў??jF?ja?غ?@?ɨ24?2c;2 C hIhy=B=W$IIMIMV83٢] ]A=9e2;Q e>ii uG٣qyuĵ u> Nusing accuracyPremultiplier from config59^Vw?5Y iT Ã?@cE;; 5B @Ek=`ɟ?k=Scͭ! k9 k=A:k=BBk=BZk=@"=-dH>0SV AI@= wÿ`ŗ꿏;E]+?Jk=Rk=2*= 3M@M-G@=^w+s?K͝^Ƀ~U?"k=o*k=kBk=T ?k=`饸! 2k=RBk=pk?k=U k=Bk=(Bk=@ addTargetRange:: Added new target pos. range: 96.000000 m, deltaT: 3.780463 s, deltaX: -1.900002 m, approachRate: -0.502584 m/s, rangeRepo size: 4  Added new target pos. range: 96.000000 m, bearing: 314.571230 deg, lat: 36.905123 deg, lon: -122.120796 deg, deltaT: 3.780463 s, deltaX: -1.900002 m, approachRate: -0.502584 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 96.00 m.BjJjjH9bH=<H]/>IY I]$II]BIY&IY.IY6I]Z<:I]9 F ProNav: ac range: 96.000000 m, nav range: 113.579903 m, bearing: 334.070718 deg, approach rate: 0.000000 m/s, LOS rate: -0.299801 deg/s, cmd heading: 50.653403 deg, new cmd heading: 50.240798 deg. 2jHeadingCmd: 0.876867 target range: 96.000000 and range: 96.00 m. jaz`?jIjIjQiQhYhahhfffrfUX@bf]`?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:13:47.1765 ɛ-B5G= 1]W?Ia ein=ɚiiiImV3=Iuaz`?iuԞjw,qAF|2?YFj?Fe=9F鳋=yFH@i?`H@?`?`"~?h?زk?@?ɨF|2?F J;DybBbB$IMb@Mb@Mb@ )Y|?5^??{Gzty?L=ף@ @)@IyG@IUIU#٢e -=9;Q > G٣ SGyْ > Nusing accuracyPremultiplier from config $?I59bw?5Y߈ i ?:?@eEV<W<5  @ZjY]DNOT Ignoring new targets: 96.00 m.Bj٪Jj٪sA1 m@YmsAymB ProNav: ac range: 96.000000 m, nav range: 113.549744 m, bearing: 333.935144 deg, approach rate: -0.066437 m/s, LOS rate: -0.298735 deg/s, cmd heading: 50.240799 deg, new cmd heading: 49.833974 deg. 2jMHeadingCmd: 0.869767 target range: 96.000000 and range: 96.00 m. j ^?jjjihhhhBfffrfbfd?ɛB= =7P?I9 Ez8=ɚAiAIE2=IM ^?iIiMFl=)M ^?)Q*F?2F:FBFP0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 ap=G B O5 >yjw,95Ay~zB~-$II I zKBoHKKKK٢-Ž -a=95Q 5>11 =G٣9yE E> MNusing accuracyPremultiplier from configIU59Mkw?U5YMG iM QQ]@MgEM;M;MJ5a e@aZjDNOT Ignoring new targets: 96.00 m.BjvJjv ProNav: ac range: 96.000000 m, nav range: 113.527138 m, bearing: 333.831570 deg, approach rate: -0.065805 m/s, LOS rate: -0.301558 deg/s, cmd heading: 49.833975 deg, new cmd heading: 49.523197 deg. 2jNHeadingCmd: 0.864343 target range: 96.000000 and range: 96.00 m. jE]?jjjihhhhfffrfbfI?ɛB= IA IE$IIEͅBIE% =&IEGD.IA6IEE<:IE+ FG B1 O > Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,0OA:/?Y:gg?:[ae=9:sHl=y:H`?@ q??`??`U@y??ɨ:/?:;8y^yB^+$IeMb@Mb@Mb@aaa a)aYeʡE?{Gz?MbPye?e#=ee@ e@)e@Iaaye@I}I}V8٢巻 D=9JQ > G٣yn > Nusing accuracyPremultiplier from config59vw?5Y- i ?:y?@iE;;5B @EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 96.00 m.Bj Jj 5 ProNav: ac range: 96.000000 m, nav range: 113.495079 m, bearing: 333.714620 deg, approach rate: -0.071407 m/s, LOS rate: -0.260565 deg/s, cmd heading: 49.523198 deg, new cmd heading: 49.172254 deg. 2j52MHeadingCmd: 0.858218 target range: 96.000000 and range: 96.00 m. jU([?jYjYjaiahhhhBfffrfbf@?*J"Jp=JJJ0JJ:J:Jـ3JJ;J;JnN;JoN;ɛB=  H?I  [$=ɚ i I 1=I([?ijw,5hAFW-?YFe?Fyl=9F%y=yFH?J_???}?v`?@0?ɨFW-?F;DyVoBV$IIfIfF3EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749581٢B G=9l;Q > G٣ SGyv > Nusing accuracyPremultiplier from config59w?5Y+z i.x?@kE::5 p@Zj!%DNOT Ignoring new targets: 96.00 m.Bj-/Jj-/= ProNav: ac range: 96.000000 m, nav range: 113.462456 m, bearing: 333.599422 deg, approach rate: -0.086227 m/s, LOS rate: -0.304568 deg/s, cmd heading: 49.172253 deg, new cmd heading: 48.826563 deg. 2jEQEHeadingCmd: 0.852184 target range: 96.000000 and range: 96.00 m. jM(Z?jIjIjIiIhIhIhQhQfQfYfYrfYbf]g?ɛeBe,!= aeD?Ii m%&=ɚiIX1=I(Z?i"ByO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000696 I jw,܂AV+?YVc?Vx=9V~=yVHo!?@@U??9?PN}?`'??ɨV+?V~;V"CybeBb$IInInM3٢vRX vY=9v|;Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59-w? 5Yu i`  u?@lE~ ;6;5 @ZjAEDNOT Ignoring new targets: 96.00 m.BjMʠJjMʠ] ProNav: ac range: 96.000000 m, nav range: 113.431046 m, bearing: 333.493674 deg, approach rate: -0.083487 m/s, LOS rate: -0.281150 deg/s, cmd heading: 48.826564 deg, new cmd heading: 48.509235 deg. 2je@eHeadingCmd: 0.846646 target range: 96.000000 and range: 96.00 m. jeɽX?jijijiiihihqhqhqfqfyfyrfybf}i@ZHRHH1>IC Im$IIBI&I.I6IL<:I1 FɛeB= 隝V@?I (=ɚiI)0=IɽX?iF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504631jw,Aye`Be $I)i mAiiMb@Mb@Mb@ )Yn?ˡE?yV?'=@ )@I@y(@I I m?3٢ %8=9%Q %>)) -G٣) AIAyE E> UNusing accuracyPremultiplier from configIU59Mw?]5YM=p iM]?]:]fv?]@MnEM!;MQ;M5 n@EZjDNOT Ignoring new targets: 96.00 m.Bj-Jj- ProNav: ac range: 96.000000 m, nav range: 113.395317 m, bearing: 333.369706 deg, approach rate: -0.079184 m/s, LOS rate: -0.274833 deg/s, cmd heading: 48.509236 deg, new cmd heading: 48.137222 deg. 2j<HeadingCmd: 0.840153 target range: 96.000000 and range: 96.00 m. jEW?jjjihhhhBfffrfbf1@ɛBl= >?I +=ɚiI'x0=I EW?i [E>*F?2F:FBFB5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757129G% '\=G B O% >jw,}A6a&?Y6^?6|=96X=y6H`?xR@: ?k?`_?Zw?`c??ɨ6a&?6>;6!CyR]BR $IIZ%IZ)3٢b bd=9fLdd fG٣f SGyjQ j> rNusing accuracyPremultiplier from configlv59nw?v5Ynl intvq?v@npEnP:ne:n 5x ~@zK]k3IK]h9KYK]K]BKepA:KepAEJJJJJL:J :JJa@a@a@a@ZjDNOT Ignoring new targets: 96.00 m.BjJj ProNav: ac range: 96.000000 m, nav range: 113.363533 m, bearing: 333.270809 deg, approach rate: -0.084676 m/s, LOS rate: -0.263546 deg/s, cmd heading: 48.137223 deg, new cmd heading: 47.840452 deg. 2j4HeadingCmd: 0.834973 target range: 96.000000 and range: 96.00 m. j%U?j!j)j)iQhQhQhYhYfYfYfarfabfe@@ɛB=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008728 i>?I -=ɚiI0=IU?iȡHI IN$IIBI&I.I6I<:I FBIJIRIZI% =bI% =jI55u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263208Yjw,`[ЫA24$?Y2ְ\?2=92( =y2H@?X##?y=??t?`?ӱ? ?ɨ24$?2<;2 Cy>VBB$I Mb@Mb@Mb@    ) Y  rh?99 =G٣9yEX E> MNusing accuracyPremultiplier from configIU59Mmw?U5YM4g iMu ?u:um?u@MrEMٮ;M2jw,=AJQ!?YJ4aZ?J&=9J>=yJH3?`?{ ?$?8u?W??ɨJQ!?J;J"Cy^JB^#Iib=Ib4<IjIj2٢r vO=9v;Q v>xx zG٣xy~g ~> Nusing accuracyPremultiplier from config 59jw? 5Yb i5  7k? @tE@::5B @E=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768989ZjQ]DNOT Ignoring new targets: 96.00 m.BjeJjeu ProNav: ac range: 96.000000 m, nav range: 113.284760 m, bearing: 333.050561 deg, approach rate: -0.105909 m/s, LOS rate: -0.290201 deg/s, cmd heading: 47.500212 deg, new cmd heading: 47.179485 deg. 2ju)G}HeadingCmd: 0.823437 target range: 96.000000 and range: 96.00 m. j}R?jyjyjyihhhhfffrfbff@ɛۃBy= 7?I 2=ɚiId/=IR?iGva=GABIOm4>zKK 9KKKRK?JK>JK |3 K S}-KK"KJJJJJJ :JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020750  I kw,=A2??Y2#VX?2=92=y2H/?Zge??mM?w@s?̱n'??ɨ2??2;2 CyBNBB#IIVIV2٢zӝ< ~J=9~r:;Q ~> G٣y   > Nusing accuracyPremultiplier from config5HI I5$IIBI&I.I6I@<:I) F9w?5Y^ il,i?@uE<<`5 @Zj  DNOT Ignoring new targets: 96.00 m.Bj璻Jj璻% ProNav: ac range: 96.000000 m, nav range: 113.243378 m, bearing: 332.940910 deg, approach rate: -0.096907 m/s, LOS rate: -0.256869 deg/s, cmd heading: 47.179484 deg, new cmd heading: 46.850417 deg. 2j%I0-HeadingCmd: 0.817694 target range: 96.000000 and range: 96.00 m. j-eTQ?j)j1j1i1h1h1h9h9f9fAfIrfQbf]@ɛكBӿ= 隝K:?I o5=ɚiI/=IeTQ?i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524563"kw,A6?Y6g7V?6柑=96=y6Ha?¹?? O?s?0XH? T?ɨ6?6;6"CyBFBB#I $?IMb@Mb@Mb@ )YV-?Mb?MbP?yh?=: @)I@yp@I$I<3٢b <=9Ge;Q > G٣ SGyZ > Nusing accuracyPremultiplier from config59w?5YY i? : d? @wE@;;F!5B @EZjAMDNOT Ignoring new targets: 96.00 m.BjMJjM ProNav: ac range: 96.000000 m, nav range: 113.193314 m, bearing: 332.818783 deg, approach rate: -0.121509 m/s, LOS rate: -0.296541 deg/s, cmd heading: 46.850416 deg, new cmd heading: 46.483877 deg. 2jKHeadingCmd: 0.811297 target range: 96.000000 and range: 96.00 m. j$O?jjjihhhhBfffrfbf@ɛMփBmY= mx=m7?Iq u7=ɚqiqIu߾.=I}$O?i}VTL kw, 7A2?Y22T?2ѓ=92+=y2Hې?i>?a?3?dl? dn ? ?ɨ2?2r;2Cy:>B:#I)@ @IJIJm?3٢R9 Ra=9R*,;Q R>TT VG٣TyZ屼 Z> rNusing accuracyPremultiplier from configpv59rw?v5YrT irtzb?z@ryEr:r:r"5y }@yJJJJJ:J :JJzKBHK9KKK.N;  ZjDNOT Ignoring new targets: 96.00 m.BjJj% ProNav: ac range: 96.000000 m, nav range: 113.149658 m, bearing: 332.715328 deg, approach rate: -0.111369 m/s, LOS rate: -0.264026 deg/s, cmd heading: 46.483877 deg, new cmd heading: 46.173394 deg. 2j%25-HeadingCmd: 0.805878 target range: 96.000000 and range: 96.00 m. j-NN?j)j)j)i)h)h1hqhqfyfyfyrfybf}@f%@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028726ɛԃBx=  4?I  M9=ɚIiIIUVr.=IUNN?i]q5kw,"QA2c?Y2GR?2k=92'=y2H?C+ܺ?@c?@?h]??S?`?ɨ2c?2TB;2 Cyb6Bb#IMMb@Mb@Mb@III I)IYMQ?y&1?MbP?yM?M` G٣y.p > Nusing accuracyPremultiplier from config59w?5YO i,?:^?@{E;3;$5 "@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 96.00 m.BjJj ProNav: ac range: 96.000000 m, nav range: 113.094353 m, bearing: 332.591973 deg, approach rate: -0.136104 m/s, LOS rate: -0.303718 deg/s, cmd heading: 46.173394 deg, new cmd heading: 45.803154 deg. 2jpPHeadingCmd: 0.799416 target range: 96.000000 and range: 96.00 m. jL?jjjih!h!h!h%Bf)f)f)rf)bf`@ɛуB= 22?I N#<=ɚiI).=I L?i E_kw,kAN)?YN O?N\=9N|0=yNH?n? ?U?O5@_2??ɨN)?Nμ;N!CyZ-BZ#IIf Ifb3٢nH/ nU=9rS;Q r>pt vG٣v SGyvv v> ~Nusing accuracyPremultiplier from configx59zw?5YzLK izk[?@z}Ez;z:zl&5B @E}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796618ZjDNOT Ignoring new targets: 96.00 m.Bj%њJj%њU ProNav: ac range: 96.000000 m, nav range: 113.042587 m, bearing: 332.481581 deg, approach rate: -0.126880 m/s, LOS rate: -0.270701 deg/s, cmd heading: 45.803153 deg, new cmd heading: 45.471829 deg. 2jU9]HeadingCmd: 0.793633 target range: 96.000000 and range: 96.00 m. j]+K?jYjYjYiYhYhahahafafifirfibf^@ɛ%σB%,׿= !%^/?I! %u>=ɚ)i)I--=I5+K?i5'I  I $II cBI &I .I 6I E<:I - FGBO>fs"kw,GAB?YB N?B_=9B=yBH`?O????6i??ɨB?BU;B CyN+BN#IiR G٣yn6 > %Nusing accuracyPremultiplier from config=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.30385159x?5YJE i  G٣SGy > %Nusing accuracyPremultiplier from config%59x?%5Y4? i-7?-:-lW?-@E;#;*59 =N@=EZjamDNOT Ignoring new targets: 96.00 m.BjmJju} ProNav: ac range: 96.000000 m, nav range: 112.896378 m, bearing: 332.179795 deg, approach rate: -0.153866 m/s, LOS rate: -0.312309 deg/s, cmd heading: 45.023545 deg, new cmd heading: 44.565903 deg. 2jUVHeadingCmd: 0.777822 target range: 96.000000 and range: 96.00 m. jSG?jjjihhhhBfffrfbf``a@ɛȃB= im.?Ii uC=ɚqiqIub-=I}SG?i}62kw,IɬAN.*?YNK?N =9NN=yNH@U? 7??&v?.{ s˵?O?ɨN.*?Nkˆ;NCyZBZ#IIb4IbV3٢ny n>=9nc7Q n>pp rG٣pyv챼 v> zNusing accuracyPremultiplier from configx~59z&x?~5Yz*: izl|~U?@zEz:zv:z,5  ~@!ZjAUDNOT Ignoring new targets: 96.00 m.BjUyJjUye ProNav: ac range: 96.000000 m, nav range: 112.831856 m, bearing: 332.052580 deg, approach rate: -0.149322 m/s, LOS rate: -0.294582 deg/s, cmd heading: 44.565902 deg, new cmd heading: 44.184044 deg. 2je+JmHeadingCmd: 0.771157 target range: 96.000000 and range: 96.00 m. jmjE?jqjqjqiqhqhqhyhyfyfyfyrfbfg@ɛŃB|= &?I bF=ɚiI[$-=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311579I5jE?i=FJ% J% J! J! J% L:J% :J! J! J% O;a5 J% Q;a5 J% L;a5 J% L;a5  Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ =՝ < checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560967 } $?Iy 1[8kw,k Ay~B~#I) Mb@Mb@Mb@ )YS?V-?y&1|y?<`@ @)@I@y@I(I̍3٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59~5x?5Y4 i? : .X? @E;0;.5B @E=B*** querying acoustic contact ***jAjAZjIMDNOT Ignoring new targets: 96.00 m.Bj]RJj]Re ProNav: ac range: 96.000000 m, nav range: 112.769997 m, bearing: 331.922735 deg, approach rate: -0.141804 m/s, LOS rate: -0.297815 deg/s, cmd heading: 44.184043 deg, new cmd heading: 43.794300 deg. 2jmcLmHeadingCmd: 0.764355 target range: 96.000000 and range: 96.00 m. juC?jqjqjqiqhqhyhyh}Bfyffrfbf@ɛƒBUݻ= QU/?IY e~H=ɚiiIG,=IC?i>kw,PA6/?Y6I?6+=96x=y6H? q@R?? ?7Ჿ@?@?ɨ6/?6!;6"CyRBR#IIZ IZb3٢b; f^=9f!Q f>dh jG٣jSGyj j> rNusing accuracyPremultiplier from configpv59rBx?v5Yr0 irtz5V?z@rEr:r:rV05zK~ MK~9K|K~K~RK ?JK ?   @ZjIMDNOT Ignoring new targets: 96.00 m.BjUبJjUب]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.064732u ProNav: ac range: 96.000000 m, nav range: 112.716614 m, bearing: 331.813324 deg, approach rate: -0.143978 m/s, LOS rate: -0.295230 deg/s, cmd heading: 43.794299 deg, new cmd heading: 43.465914 deg. 2juJHeadingCmd: 0.758623 target range: 96.000000 and range: 96.00 m. j#5B?jjjihhhhfffrf bf 3 @ I%hɛuB}H= y};?Iy }:uJ=ɚyiI,=I#5B?i lEkw,A6?Y6iH?6>E=96=y6Hڟ? OU&>?`?@?K`m@Լ??ɨ6?6Y;4y^B^z#IMb@Mb@Mb@ )Y/$?I +?I +y?9<94@ )@Ib@y(@I!Ii3٢% ;=9 Q > G٣y7 > Nusing accuracyPremultiplier from config59WQx?5Y+ in?:R?@E;;?25B @EZj)5DNOT Ignoring new targets: 96.00 m.Bj=JJj=JM ProNav: ac range: 96.000000 m, nav range: 112.648750 m, bearing: 331.682193 deg, approach rate: -0.156718 m/s, LOS rate: -0.303005 deg/s, cmd heading: 43.465913 deg, new cmd heading: 43.072290 deg. 2jMOUHeadingCmd: 0.751753 target range: 96.000000 and range: 96.00 m. jUr@?jYjYjYiYhYhYhaheBfafafarfibfm" !@JJJJJJJJJJJJɛuB}fe= y}2?Iy }ʓL=ɚyiyIo,=Ir@?i Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820531Kkw,|0A6?Y6G?60c=96<=y6H?d@4?jn?T?ϋTh@f??ɨ6?61;6 CyvۄBvj#Iiz G٣y-@ -> 5Nusing accuracyPremultiplier from config1E595^x?E5Y5 ' i5AEQ?E@5E5#;5$;535Q U@QZjyDNOT Ignoring new targets: 96.00 m.BjJj ProNav: ac range: 96.000000 m, nav range: 112.589233 m, bearing: 331.567770 deg, approach rate: -0.155907 m/s, LOS rate: -0.299894 deg/s, cmd heading: 43.072290 deg, new cmd heading: 42.728843 deg. 2jMHeadingCmd: 0.745759 target range: 96.000000 and range: 96.00 m. j>?jjjihhhhfffrfbf!@ɛBU= ?I  5N=ɚiI23,=I>?il?)*F?2F:FBF_0JFzK5LK5 9K1K5K5Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս<Ս%=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075904 IG5G;=G B1 Om >Hu 1>Iq  Iu #IIu !BIq &Iq .Iq 6Iu D<:Iu - FZRkw,yJAj' ?Yj F?j=9j=yjH? '?@N?]?(@;۶?d?ɨj' ?jŌ;hyvӄBv_#II~I~(*3٢ ?*  J=9 ܺQ > G٣SGy-_ -> 5Nusing accuracyPremultiplier from config1E595mx?E5Y5T" i5AEO?E@5E549;5w9;555Q U~@QZjy}DNOT Ignoring new targets: 96.00 m.BjܫJjܫ ProNav: ac range: 96.000000 m, nav range: 112.525337 m, bearing: 331.446569 deg, approach rate: -0.158334 m/s, LOS rate: -0.300506 deg/s, cmd heading: 42.728844 deg, new cmd heading: 42.365039 deg. 2j= $?I G B O >٨Xkw,"RdA6 ?Y6vE?6bU=96"h=y6H@?N@Ӽ? 6?`?\ ֶ? ?ɨ6 ?6 ;6!CyBƄBBO#IMMb@Mb@Mb@III I)IYMZd;?:v?I +yM?My G٣y' > Nusing accuracyPremultiplier from config59x{x?5Y in?:}P?@Eo;|n;}75 ]@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 96.00 m.BjxJjx ProNav: ac range: 96.000000 m, nav range: 112.462036 m, bearing: 331.323874 deg, approach rate: -0.151893 m/s, LOS rate: -0.294577 deg/s, cmd heading: 42.365037 deg, new cmd heading: 41.996750 deg. 2j%*J-HeadingCmd: 0.732982 target range: 96.000000 and range: 96.00 m. j-;?j)j)j)i1h1h1h9h=~Bf9f9fArfAbfEs#@ɛ=B== AEM?IA MeQ=ɚIiIIM#+=I};?iyi}@ M=)};?)*F%?2F!:F)BF-v0JF)G1 G5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829757GM A=G! B) O] >w^kw,U/~A2 ?Y2dC?2s =92˴=y2H?zdd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nɈx?r5Yn2 intvN?v@nEn:n':n(95x z@x=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJ=)":?)*F?2F:FBF3JFHI I#IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data. yekw,9A6N ?Y61#B?6=96Ȳ=y6H`-???JF?@-@MOD?`}?ɨ6N ?6ӈ;6"CyBBB.#IMb@Mb@Mb@ )Y㥛 ? G٣SGy8 > Nusing accuracyPremultiplier from config59×x?5Yu i?:J?@E;G;;5B @EZjDNOT Ignoring new targets: 96.00 m.Bj1Jj1- ProNav: ac range: 96.000000 m, nav range: 112.334106 m, bearing: 331.087163 deg, approach rate: -0.167922 m/s, LOS rate: -0.302835 deg/s, cmd heading: 41.658741 deg, new cmd heading: 41.286220 deg. 2j-O5HeadingCmd: 0.720580 target range: 96.000000 and range: 96.00 m. j5w8?j1j1j9i9h9h9hAhErBfAfAfArfAbfMh%@ɛ}B}㞰= y隅>I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:3105>  BDAT read: Tx time:23:13:58.1274  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config 59 x? 5Y iiiu@Ej<j<<5y }@}EZjDNOT Ignoring new targets: 96.00 m.BjUJjU ProNav: ac range: 96.000000 m, nav range: 112.264397 m, bearing: 330.960383 deg, approach rate: -0.153094 m/s, LOS rate: -0.278601 deg/s, cmd heading: 41.286219 deg, new cmd heading: 40.905649 deg. 2j 3?HeadingCmd: 0.713938 target range: 96.000000 and range: 96.00 m. j6?jjjihhhhff!f!rf!bf%:%@ɛB=  >I W=ɚiI'+=I6?iI  I s#II BI & =&I .I 6I W<:I ; FGA BI Oe >rkw,n˭AyB#Ii-=I-;I=I=(*2٢M p Mc=9IQ M>QQ UG٣QyY ]> eNusing accuracyPremultiplier from configam59e#x?m5Ye  ieiim@eEe:e :e>5B C@EZjDNOT Ignoring new targets: 96.00 m.BjKJjK ProNav: ac range: 96.000000 m, nav range: 112.209633 m, bearing: 330.859962 deg, approach rate: -0.160401 m/s, LOS rate: -0.294271 deg/s, cmd heading: 40.905648 deg, new cmd heading: 40.604241 deg. 2jIHeadingCmd: 0.708678 target range: 96.000000 and range: 96.00 m. jk5?jjjihhhhfffrfbf &@ɛB̶= >I %UX=ɚ!i!I%4*=I5k5?i5 *JR="Jp=J J J J J ܫ:J J J J ;J ;J J I IM h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254%xkw,A2F?Y2=?2=92O=y2HǍ?Bf ޺?@?t?ڭ`?`W?ɨ2F?2],;2!Cy>BB #IEMb@Mb@Mb@AAA A)AYEX9v?{Gz?:vyE?E# G٣SGy;# > MNusing accuracyPremultiplier from config!U59%;x?]5Y%M i%']?]:]B?e@%E%4<%;%g@5 @B*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 96.00 m.BjJj𙻝M ProNav: ac range: 96.000000 m, nav range: 112.136421 m, bearing: 330.739364 deg, approach rate: -0.163296 m/s, LOS rate: -0.269166 deg/s, cmd heading: 40.604242 deg, new cmd heading: 40.242215 deg. 2jU8UHeadingCmd: 0.702359 target range: 96.000000 and range: 96.00 m. jU3?jYjYjYiYhYhYhahe]BfffrfbfǓ'@ɛB-= =>I wZ=ɚiIr*=I3?i6 kw,`tAJ?YJ7;?J'==9J˪=yJH ?`,?7?,T??1`$1H?G?ɨJ?JS;J$CyVBV #I v$?ItI^I^̍٢C Q=9wQ >! %G٣!y%tڼ %> 5Nusing accuracyPremultiplier from config)559-fx?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261468M5Y-w i-qIM"@?M@-E-';-H;-B5Q U@YZjDNOT Ignoring new targets: 96.00 m.BjJj ProNav: ac range: 96.000000 m, nav range: 112.071518 m, bearing: 330.635328 deg, approach rate: -0.182755 m/s, LOS rate: -0.293113 deg/s, cmd heading: 40.242214 deg, new cmd heading: 39.929931 deg. 2j)IzKBoHKh9KKK HeadingCmd: 0.696909 target range: 96.000000 and range: 96.00 m. jh2?jjjihhhhfffrfbf E(@ɛ B Ԗ= o>I ZX[=ɚiID*=Ih2?iÓI IT#IIʄBI% =&I.I6I%<:I FGaBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516728kw,8hA>?Y>8?>=9>=y>H9?@n??@?@j= .??ɨ>?>c;>!CyXZ #I)` bAMb@Mb@Mb@ )Yi|?5?y&1? G٣y; > Nusing accuracyPremultiplier from config59kx?5Y i?:??@E;`;C5  @EZj)-DNOT Ignoring new targets: 96.00 m.Bj5ꟻJj5ꟻM ProNav: ac range: 96.000000 m, nav range: 111.997589 m, bearing: 330.516781 deg, approach rate: -0.174259 m/s, LOS rate: -0.279615 deg/s, cmd heading: 39.929931 deg, new cmd heading: 39.574059 deg. 2jM?UHeadingCmd: 0.690698 target range: 96.000000 and range: 96.00 m. jU0?jQjQjQiQhYhYhYh]iBfafafarfibfm[)@ɛBRƮ= 隝'>I x\=ɚiIk)=I0?i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0203622kw,)3A6>Y6m6?69=96=y6H`"?@ ?`? 6?xSd ??ɨ6>6f;6"CyRBR#II^I^3٢f f]=9f:Q f>hh jG٣hyn` n> eNusing accuracyPremultiplier from configam59e x?m5Ye7 ieimb=?m@eEea:e:eE5 e@ZjDNOT Ignoring new targets: 96.00 m.Bj훻Jj훻  ProNav: ac range: 96.000000 m, nav range: 111.929672 m, bearing: 330.410295 deg, approach rate: -0.173790 m/s, LOS rate: -0.272647 deg/s, cmd heading: 39.574058 deg, new cmd heading: 39.254410 deg. 2j ;HeadingCmd: 0.685119 target range: 96.000000 and range: 96.00 m. jc/?jjj1i1h9h9h9h9fAfAfArfAbfE )@ɛB*= >I v^=ɚiI)=I c/?i DiH I  I A#II BI &I .I 6I _<:I C FBIyJIyRIyZIybIyjI}s4Pkw,MAF%>YF͎4?F ؃=9FGt=yFH@P?@A??d?Zx`ҝ?]?ɨF%>F;F!CyNBN"IIV0IV(3٢^ ^K=9bD:Q b>`d fG٣fSGyf f> rNusing accuracyPremultiplier from configpz59rx?z5YrX irJ.;?@rEr;rY;rGG5B @%EZjDNOT Ignoring new targets: 96.00 m.Bj0Jj0 ProNav: ac range: 96.000000 m, nav range: 111.860039 m, bearing: 330.303513 deg, approach rate: -0.179120 m/s, LOS rate: -0.274848 deg/s, cmd heading: 39.254412 deg, new cmd heading: 38.933871 deg. 2j<HeadingCmd: 0.679524 target range: 96.000000 and range: 96.00 m. jM-?jjjihhhhff f rfbf5ķ*@ɛ}B}2= 隅7>I _=ɚiIb)=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522318IM-?i9Gkw,fAyB#Ii-?>I-%=%Mb@Mb@Mb@!!! !)!Y%i|?5?~jt?y!%<%%`@ %b@)%@I%@!y%@Ie=Ie=3٢}< }1=9}Q > G٣y > Nusing accuracyPremultiplier from config59 y?5Y i?:U??@E;;JI5 Y@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 96.00 m.BjJj ProNav: ac range: 96.000000 m, nav range: 111.781601 m, bearing: 330.175397 deg, approach rate: -0.172765 m/s, LOS rate: -0.282383 deg/s, cmd heading: 38.933871 deg, new cmd heading: 38.549259 deg. 2jAHeadingCmd: 0.672812 target range: 96.000000 and range: 96.00 m. j`=,?jjjih h hhyBfffrfbf+@ɛMBM߱= IM>II UUa=ɚQiQIU)=I]`=,?i]2J J J 0J J L:J :J ـ3J )-kw,jA &$?I(>=v>Y>0?>Ճ=9>$=y>Hp?T.@ڹ?@U??5 `w?0?ɨ>=v>>;> Cy^Bb#IIn&In3٢v*Z vh=9vdQ v>xx zG٣xyz. ~>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277214 Nusing accuracyPremultiplier from config%59y?%5Y i!-};?-@En::J5zK5K59K1K5K5RKE?JKE?uB u@u~EZjDNOT Ignoring new targets: 96.00 m.BjՙJjՙ ProNav: ac range: 96.000000 m, nav range: 111.712929 m, bearing: 330.068046 deg, approach rate: -0.171962 m/s, LOS rate: -0.268983 deg/s, cmd heading: 38.549260 deg, new cmd heading: 38.227012 deg. 2j8HeadingCmd: 0.667187 target range: 96.000000 and range: 96.00 m. j*?jjjihhh!h!f!f!f)rf)bfMe,@ɛB= 隝>I 2c=ɚiIӿ(=I*?iЂIQ IU5#IIUBIU$ =&IQ.IQ6IU*<:IU F*FE?2FA:FABFE5JFIGYB=GBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531550Vkw, A6!>Y6d /?6=96\=y6H 6??m,??X7 tb!? ?ɨ6!>6;6CyRBR#I=Mb@Mb@Mb@999 9)9Y=X9v?Q?MbP?y=?=<=:=I@ =@)9I=@9y=G@IU$IU<3٢eO< eC=9mQ m>ii mG٣mSGyu!~ u> Nusing accuracyPremultiplier from config59%y?5Y i?:II md=ɚiIk(=I 'X)?i ʬ< U$?IQim D=)u'X)?)qEy5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:14:00.6483 LVL= 25776, 32753, 26866, 32755, AGC= 67, IDX= 296, 0.02, 2.167, 0.669, 1.633, 1.619, PHS= 0.635,-0.903, 0.011, RAW= 126.2, 3.9, CAL= 133.7, -2.2, ROT= 16.3, 2.2 Ygot valid direction response: 23:14:00.6483 LVL= 25776, 32753, 26866, 32755, AGC= 67, IDX= 296, 0.02, 2.167, 0.669, 1.633, 1.619, PHS= 0.635,-0.903, 0.011, RAW= 126.2, 3.9, CAL= 133.7, -2.2, ROT= 16.3, 2.2 PDAT read: Bearing 16.3, 2.2 (Local) ~Local bearing/azimuth received: Bearing 16.3, 2.2 (Local) DAT read: Range 10 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.4 m/s ,DAT read: user:3106> BDAT read: Tx time:23:14:01.7274 $Ping request sent.i=nF=99=h8?qG L?k"PR?)==I=i=z=dj~99E:publishing transmit ping timeMFpublishing direction and range info99=Orɿv͚YA࿯Q?y9999 9)9I9i99999 9)9I9i999=h8?qG L?k"PR?)9I9i9999GD=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.\kw,A2>Y2"w-?2ρ=92wd=y2Hh?`g@?s?.?ƙ 7`U;?@E?ɨ2>2~;2 CyRBR#I)T TI^I^Ʋ٢- -L=9=2Q =>AA EG٣AyMz > Nusing accuracyPremultiplier from config595y?5Y i1  :? @E ::N5 B @{EkE];?kEhf kA kEiA:kEBBkḘBZkEwk@"Efe1&X9FzkUR@EOrɿv͚YA࿯Q?JkEzRkEdj~*E#|5@㩘fGVcQ@EMn?ЍLhT YVUZ?"kE=*kEAkEG7G?kE 2kECkEٸ'?kAkEBkEBkEZ@m addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 14.637019 s, deltaX: -8.500000 m, approachRate: -0.580719 m/s, rangeRepo size: 4  Added new target pos. range: 87.500000 m, bearing: 294.392495 deg, lat: 36.904773 deg, lon: -122.120796 deg, deltaT: 14.637019 s, deltaX: -8.500000 m, approachRate: -0.580719 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 87.50 m.BjJj ProNav: ac range: 87.500000 m, nav range: 80.340218 m, bearing: 315.757031 deg, approach rate: 0.000000 m/s, LOS rate: -0.289923 deg/s, cmd heading: 37.901235 deg, new cmd heading: 37.530084 deg. 2jHeadingCmd: 0.655024 target range: 87.500000 and range: 87.50 m. j'?jjjihhhhfffrfU@bf` ?ɛBl= >I Rf=ɚiI,(=I'?izKmBoHKm9KiKmKm   BKuqA:KupAH= 9>I= C I= .#II= BI= # =&I9 .I9 6I9 :I= Fikw,MήABk>YB,?B}=9Bd=yBHI? ?? ?@' f??ɨBk>B;BCybBb#IIjIj(٢r< rQ=9vgQ v>tt zG٣xyzu z> Nusing accuracyPremultiplier from config|59~gBy? 5Y~ i~b  9? @~E~H:~:~P5 G@ZjIUDNOT Ignoring new targets: 87.50 m.Bj][Jj][ ProNav: ac range: 87.500000 m, nav range: 80.325249 m, bearing: 315.606407 deg, approach rate: -0.041237 m/s, LOS rate: -0.415025 deg/s, cmd heading: 37.530083 deg, new cmd heading: 37.078136 deg. 2jiHeadingCmd: 0.647136 target range: 87.500000 and range: 87.50 m. j%?jjjihhhhfffrfbfj?ɛBĽ= O>I g=ɚiI'=I%%?i!i%P4=)%%?))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FQ:FQBF]`0JFYGmA"= 5 $?I1 GI BQ Ou >)= f= 9 E Will construct direction to contact in vehicle frame from tetrahedron phase data. c~G tA % Y% tAy% Bkw,^+A62>Y6`,?6x=96=y6H@? Q@)??@ ?g隿@ ?@}?ɨ62>6T܈;6"CyRBR#IMb@Mb@Mb@ )YOn?:v?{Gzt?y?T=ף;`@ @)I@I@y@II(٢"E= :=9?7Q > G٣SGy >  Nusing accuracyPremultiplier from config 59 qRy?5Y  i )?%:%"B?%@ E 0; O/;  R5) -@-yEMB*** querying acoustic contact ***jIjIZjYeDNOT Ignoring new targets: 87.50 m.BjeJje󻝊u ProNav: ac range: 87.500000 m, nav range: 80.315804 m, bearing: 315.419487 deg, approach rate: -0.021470 m/s, LOS rate: -0.424934 deg/s, cmd heading: 37.078136 deg, new cmd heading: 36.517331 deg. 2j}Б}HeadingCmd: 0.637348 target range: 87.500000 and range: 87.50 m. j7)#?jjjihhhhBfffrfbfV?ɛBo= ?I Ωi=ɚiIA'=I7)#?ii>L=)7)#?)*F?2F:FBFo0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G- '2=G B O5 >  I J% J% J% 2J! J% :J% :J% c3J! zkw,CA6k>Y6*?6ʮz=96=y6Hc???(?RPG?{?ɨ6k>6ӈ;4yBBB#IiF=IF=IJ(IJ̍3٢RPݼ Vb=9V:Q V>X\ ^G٣\y^u b> fNusing accuracyPremultiplier from config`f59b_y?j5Yb4 ibhj@?j@bEb:b:bS5~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489310Y ]@aZjDNOT Ignoring new targets: 87.50 m.BjJj軝 ProNav: ac range: 87.500000 m, nav range: 80.307472 m, bearing: 315.265188 deg, approach rate: -0.021911 m/s, LOS rate: -0.405837 deg/s, cmd heading: 36.517330 deg, new cmd heading: 36.054396 deg. 2jBHeadingCmd: 0.629268 target range: 87.500000 and range: 87.50 m. j!?jjjihhhhfffrfbf?zKuLKu+9KqKuKuɛBz= 隽?I Zk=ɚiI4&=I!?ii xR=)!?)H:>I I;#IIBI" =&I.I7D6I4<:I) F*F?2F:FBF1JFGH=GABIOeV>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741245{kw,Ay~B~#IMb@Mb@Mb@ )Y1Zd?Q?Mb?y"?\=<QA @)`@I@yz@I Ib3٢gH< 7=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 py?5Y + i .?%:%G?%@ E &D; A; U5-!B -@-vEZjQ]DNOT Ignoring new targets: 87.50 m.Bj]Jj]m ProNav: ac range: 87.500000 m, nav range: 80.305298 m, bearing: 315.071350 deg, approach rate: -0.005097 m/s, LOS rate: -0.454433 deg/s, cmd heading: 36.054397 deg, new cmd heading: 35.472888 deg. 2jmJ@AJHeadingCmd: 0.619119 target range: 87.500000 and range: 87.50 m. j~?jjjihhhhƒBfffrf $?Ihbf-?ɛB = *?I A%m=ɚiI{a&=I~?iiWww=)~?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993713*F?2F:FBF4JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245990Skw,|5Ay~B~#II I 3٢< Y=9!Q %>!! -G٣-SGy) -> 5Nusing accuracyPremultiplier from config1=595}y?E5Y5 i5 AAE@5E5;5;55W5I M@QZjDNOT Ignoring new targets: 87.50 m.BjJj ProNav: ac range: 87.500000 m, nav range: 80.304176 m, bearing: 314.907666 deg, approach rate: -0.002935 m/s, LOS rate: -0.428362 deg/s, cmd heading: 35.472888 deg, new cmd heading: 34.981840 deg. 2jHeadingCmd: 0.610548 target range: 87.500000 and range: 87.50 m. jL?jjjihhhhfffrfbf6@ɛ BJ= 隵k ?I Jn=ɚiIh%=IL?ii!=)L?)I*F%?2F!:F!BF%5JF!G) G) IGCf=GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497339B!OEs>zKm$JK]9KKKH ;>I  I A#II BI &I .I 6I 8<:I - Fkw,؜OA6>Y6-<&?6vy=96=y6Ho?n#@$?O??\| !?'?ɨ6>6+;6CyRBR#I)X XIf(If̍3٢rA; rN=9vv|;Q v>tt vG٣xyz3 z> UNusing accuracyPremultiplier from configQ]59Uy?]5YUb iU1aeJC?e@UEUe ;Uu ;UX5i m@msEZjDNOT Ignoring new targets: 87.50 m.BjJj  ProNav: ac range: 87.500000 m, nav range: 80.299355 m, bearing: 314.730132 deg, approach rate: -0.011675 m/s, LOS rate: -0.429899 deg/s, cmd heading: 34.981838 deg, new cmd heading: 34.449221 deg. 2j%HeadingCmd: 0.601252 target range: 87.500000 and range: 87.50 m. j%?j!j!j!i)h)h)h1h1f1f1f1rf9bf=@ɛmBm`%= iuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749812m ?I p=ɚiIvz%=I?iiUp=)U?)Y*F?2F:FBF3JF $?I*J4="J=JJJ0JJ:J:Jـ3JJ6;aJ8;aJDG;aJEG;a% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:23:14:04.2454 - TRx dataTimestamp_ set to:1736378045.5766315 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002333G5 s=G9 BA Oe >3kw,mtiAN>YN$?Nw=9N=yNHk? ?e$?ڟ?@q5`ʵ??ɨN>N;N CybBb#IEMb@Mb@Mb@AAA A)AYEGz?kt?Mb?yEp?E =AEA E@)Ev@IAAyE@I] I]b3٢m m4=9m9Q m> G٣yqj > Nusing accuracyPremultiplier from config59y?5Y/ i\?:G?@E;:Z5"B @pEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.50 m.BjJj- ProNav: ac range: 87.500000 m, nav range: 80.299690 m, bearing: 314.529867 deg, approach rate: 0.000760 m/s, LOS rate: -0.453524 deg/s, cmd heading: 34.449220 deg, new cmd heading: 33.848450 deg. 2j-5HeadingCmd: 0.590767 target range: 87.500000 and range: 87.50 m. j5<?j1j9j9i9h9hAhAhMڃBfIfQfQrfQbfU @ɛ}B}|7= 隅* ?I r=ɚiIS%=I<?iid=)<?)*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254214Gm q=GA BI Om > I kw,JArWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:14:04.2455 LVL= 20240, 30673, 22002, 32755, AGC= 64, IDX= 410,-0.11,-2.936, 1.870, 2.774, 2.855, PHS= 0.580,-0.938,-0.084, RAW= 124.1, 6.8, CAL= 132.2, 1.9, ROT= 17.8, -1.9 Ygot valid direction response: 23:14:04.2455 LVL= 20240, 30673, 22002, 32755, AGC= 64, IDX= 410,-0.11,-2.936, 1.870, 2.774, 2.855, PHS= 0.580,-0.938,-0.084, RAW= 124.1, 6.8, CAL= 132.2, 1.9, ROT= 17.8, -1.9 %PDAT read: Bearing 17.8, -1.9 (Local) -~Local bearing/azimuth received: Bearing 17.8, -1.9 (Local) 5DAT read: Range 10 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.7 m/s =,DAT read: user:3107> EBDAT read: Tx time:23:14:05.3275 E$Ping request sent.Eirppr(v|ݱ?LUضR?n&$?)rV=Irir5,rAppm:publishing transmit ping timeAmFpublishing direction and range infop9r8((п?ݿ-_?ypppp p)pIpippppp p)pIpipppr(v|ݱ?LUضR?n&$?)pIpippppyB#IzKBHK9KKKI'I@3٢U U<=9]Q ]>YY ]G٣]SGye e>ZHRH?AH=>I IH#IIBI! =&I.I6I6<:IBI]ßCJI]ßCRIYZI]" =bI]# =jI]Î5 Nusing accuracyPremultiplier from configi59my?5YmO im@mEm:mC:m\5 @kr80~?kr^a kp krA:krBBkrnBZkr@"rmŹ5.+YQC)`qR@r8((п?ݿ-_?Jkr5,RkrA*rF+@V<FG-qQ@r;{F?08ۻ,?"krZ<*kr\Akr],8~?krߚ 2kr CkrT ?kpkrRBkr˚BkrN@ addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.526482 s, deltaX: -2.199997 m, approachRate: -0.623850 m/s, rangeRepo size: 4 5 Added new target pos. range: 85.300003 m, bearing: 286.331260 deg, lat: 36.904735 deg, lon: -122.120796 deg, deltaT: 3.526482 s, deltaX: -2.199997 m, approachRate: -0.623850 m/s, posRepo size: 4 Zj1uDNOT Ignoring new targets: 85.30 m.BjuJjq ProNav: ac range: 85.300003 m, nav range: 77.398323 m, bearing: 312.097958 deg, approach rate: 0.000000 m/s, LOS rate: -0.453524 deg/s, cmd heading: 33.848450 deg, new cmd heading: 33.226645 deg. 2j%HeadingCmd: 0.579914 target range: 85.300003 and range: 85.30 m. j%Du?j)j)j)i1h1hyhhfffrf@3SU@bf?ɛ|B== AEo?IA Et=ɚAiIIM$=IMDu?iQiUK=)UDu?)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:14:05.3267 *F5 ?2F1 :F1 BF9 JF9 "GE =GE =GU x}=G BOE>4kw,Q.A IJ6J6J4J4J6:J6:J4J4J6;J6;J6I;J6I;^ j>Y^0!?^^=9^}=y^H ? N??y?^/ ? B?ɨ^ j>^.V;\yvBv"Iiz=Iz%=Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm r?sh|??ym#?m=mi m@)mQAIm@iym@II ٢X 5=9xQ > G٣yb >  Nusing accuracyPremultiplier from config 559 gy?=5Y  i =$?=:=0B?=@ E ; g; ^5A M@MnEZjDNOT Ignoring new targets: 85.30 m.BjOJjO= ProNav: ac range: 85.300003 m, nav range: 77.405846 m, bearing: 311.881289 deg, approach rate: 0.017523 m/s, LOS rate: -0.504658 deg/s, cmd heading: 33.226644 deg, new cmd heading: 32.576731 deg. 2jE+uHeadingCmd: 0.568571 target range: 85.300003 and range: 85.30 m. ju?jqjqjqiyhyhyhhփBfffrfbf`K?ɛ5zB5P= 15?I1 =Uv=ɚ9i9I=$=IE?iAiEO=)E?)I*F?2F:FBFJFG=GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ekw,ֺA6>Y6?6{=96 =y6H`h??/?@a?D m2??ɨ6>6ڈ;6CyRyBR"IIZIZb٢b bu=9fwQ f?dd jG٣hyj, j? rNusing accuracyPremultiplier from configlr59nny?r5Yn/ intv@?v@nEn:n:n?`5x z@xZj)-DNOT Ignoring new targets: 85.30 m.Bj5 Jj5  ProNav: ac range: 85.300003 m, nav range: 77.410843 m, bearing: 311.724503 deg, approach rate: 0.015494 m/s, LOS rate: -0.486079 deg/s, cmd heading: 32.576731 deg, new cmd heading: 32.106413 deg. 2j˦HeadingCmd: 0.560363 target range: 85.300003 and range: 85.30 m. js?jjjihhhhfffrf!bf%?ɛmyBm= im>Ii uw=ɚiI#=Is?i!i%֔=)%s?)! =$?I9*F2F:FBF`0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.zKURKKU9KQKUKUBKepA:KerAH?>IC IA#IIBI&I.I6Ij<:IT FG x=G B O >Lkw,ԯAFWill construct direction to contact in vehicle frame from tetrahedron phase data.nZ>Yn[?nSx=9n`#=ynH@?gL?`?`t?߄E??ɨnZ>n);n#CyznBz"III̍٢H E=9'ֺQ >!! %G٣%SGy%{1 %> 5Nusing accuracyPremultiplier from config)559-y?=5Y-f i-&9=??=@-E-* ;- ;-b5E#B MM@MkEZjDNOT Ignoring new targets: 85.30 m.BjJj ProNav: ac range: 85.300003 m, nav range: 77.416763 m, bearing: 311.527175 deg, approach rate: 0.014047 m/s, LOS rate: -0.468167 deg/s, cmd heading: 32.106414 deg, new cmd heading: 31.514498 deg. 2j HeadingCmd: 0.550032 target range: 85.300003 and range: 85.30 m. j  ?j jjihhh!h!f!f)f1rfbfQ?ɛwB1= 9E>IA my=ɚiiiIm:2#=Iu ?iqiu!ɞ=)u ?)yEEmA -$?I-h*FY2FY:FYBFel0JFaGmrA GmqAJJJJJ|:J9JJJ;J;J<;J<;5Will construct direction to contact in vehicle frame from tetrahedron phase data.G! G1 G5 rAG B O- > kw,.A6Lj>Y6E?6w=96Y=y6Hm#? V7@?[?@1?!朿Y??ɨ6Lj>6j;6Cy>`B>"I)@ @Mb@Mb@Mb@ )YK7A?AA MG٣IyM U> ]Nusing accuracyPremultiplier from configQe59U]y?e5YUӯ iUie#?e:e9?e@UEU;UD;Uc5q u1@uhE5B*** querying acoustic contact ***j1j1Zj9=DNOT Ignoring new targets: 85.30 m.BjeJjeu ProNav: ac range: 85.300003 m, nav range: 77.417595 m, bearing: 311.333665 deg, approach rate: 0.001963 m/s, LOS rate: -0.456870 deg/s, cmd heading: 31.514500 deg, new cmd heading: 30.933997 deg. 2juŜ}HeadingCmd: 0.539900 target range: 85.300003 and range: 85.30 m. j}6 ?jyjyjihhhhBfffrfbf@T?ɛuBN= AEw>IA ET{=ɚAiAIED"=IU6 ?iQiUܢ=)U6 ?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF1JFGu=GIBQOuy>  I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003665^lw,8iA6>Y6-?6}=96O=y6H`6E? V@?*?T?@"lø;?`?ɨ6>6I3;6!Cy>UBR"II^:I^3٢ff fS=9fQx;Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59ry?v5Yr irxz 8?z@r…Er':r3:re5~$B ~@~eEZj!-DNOT Ignoring new targets: 85.30 m.Bj-:Jj-:M ProNav: ac range: 85.300003 m, nav range: 77.417381 m, bearing: 311.151399 deg, approach rate: -0.000583 m/s, LOS rate: -0.497385 deg/s, cmd heading: 30.933995 deg, new cmd heading: 30.387213 deg. 2jMUHeadingCmd: 0.530357 target range: 85.300003 and range: 85.30 m. jUy?jQjQjQiQhQHeH>IeC Ie.#IIeBIa&Ia.Ie8D6Ie<:Ie FzK}BoHK}h9KyK}K}RK?JK>hQhhfffrfbf@ɛtB= >I #a|=ɚiIe"=Iy?iiO=)y?)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257158G=GBOe >  $?I 0lw,Z"AJ.J.J,J,J.,:J.:J,J,J.;J.;J.DG;J.EG;B%G>YBt?B2=9Bo=yBH`em?`^η?@?}?/4 r*??ɨB%G>B~M;B CyN>BN"I%NG=|uAQ {Y|uAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507922Mb@Mb@Mb@ )Yx&1?:v?Qy!?T=uQA )QAIC@y@I1I3٢㼽 ,=9:Q > G٣SGyo > Nusing accuracyPremultiplier from config 59z? 5Y i  !"?:.?@ąENi;g;g5! e`@mcEZjDNOT Ignoring new targets: 85.30 m.BjYJjY5 ProNav: ac range: 85.300003 m, nav range: 77.406570 m, bearing: 310.930014 deg, approach rate: -0.021800 m/s, LOS rate: -0.446489 deg/s, cmd heading: 30.387215 deg, new cmd heading: 29.722998 deg. 2j55eHeadingCmd: 0.518764 target range: 85.300003 and range: 85.30 m. je?jajajiiihihihqhuBfqffrfbf@"@ɛrBྱ= >I  ~=ɚiI!=I?ii=)?)!*F?2F:FBFO5JF"G=G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759664G =G ?G >G B O >Ulw,2 Y6Uw?6Qt=96C=y6Hp?` ?:?o?KQV?M?ɨ6>6;;6"Cy^*B^"Iib8>Ib<Ij*Ij3٢E Ej=9M *;Q M>II UG٣QyUż U> eNusing accuracyPremultiplier from configYe59]%z?e5Y] i]Uim+?m@]ƅE]:]:]$i5y }@yZjDNOT Ignoring new targets: 85.30 m.Bj Jj  ProNav: ac range: 85.300003 m, nav range: 77.397484 m, bearing: 310.766838 deg, approach rate: -0.027659 m/s, LOS rate: -0.496765 deg/s, cmd heading: 29.722999 deg, new cmd heading: 29.233424 deg. 2jvHeadingCmd: 0.510220 target range: 85.300003 and range: 85.30 m. j?jjjihhhhfffrfbf\@ɛ qB l= 0>I l~=ɚiI!=I?i!i%Ȫ=)%?)! $?I*F?2F:FBFT0JFGm֪=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:14:07.8423 TRx dataTimestamp_ set to:1736378049.105984%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014798G)B1OM1>H]M>I]C I]#II]BI] =&IY.I]9D6I]گ<:I] FzKk3IK9KKK =lw,UA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2637116)Ƕ>Y6v?69=96,*=y6H ?O6y?`o?a?֔[|/?N?ɨ6)Ƕ>6;6CyfBjn"III?13٢ F=9_:Q > G٣y9ɼ > Nusing accuracyPremultiplier from config590z?5Y i\)?@ȅEX::j5%B h@ `EuPExceeded connect timeout, disconnecting.ZjyDNOT Ignoring new targets: 85.30 m.BjJj5 ProNav: ac range: 85.300003 m, nav range: 77.384804 m, bearing: 310.572428 deg, approach rate: -0.029366 m/s, LOS rate: -0.450305 deg/s, cmd heading: 29.233425 deg, new cmd heading: 28.650122 deg. 2j=uHeadingCmd: 0.500039 target range: 85.300003 and range: 85.30 m. ju?jyjyjyihhhhfff)rf1bf=6 @ IɛoBg=  >I9 E!=ɚAiIIM n!=IU?iQ*J}C="J}R=i]ͩ=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 23:14:07.8423 LVL= 21456, 32753, 25474, 32755, AGC= 66, IDX= 411, 0.00, 0.738,-0.812, 0.041, 0.254, PHS= 0.572,-1.020,-0.216, RAW= 120.3, 9.6, CAL= 128.6, 5.6, ROT= 21.4, -5.6 UYgot valid direction response: 23:14:07.8423 LVL= 21456, 32753, 25474, 32755, AGC= 66, IDX= 411, 0.00, 0.738,-0.812, 0.041, 0.254, PHS= 0.572,-1.020,-0.216, RAW= 120.3, 9.6, CAL= 128.6, 5.6, ROT= 21.4, -5.6 UPDAT read: Bearing 21.4, -5.6 (Local) ]~Local bearing/azimuth received: Bearing 21.4, -5.6 (Local) eDAT read: Range 10 to 50 : 83.0 m (Round-trip 110.7 ms) speed 0.3 m/s m,DAT read: user:3108> }BDAT read: Tx time:23:14:08.9275 }$Ping request sent.} ȥ@)+=It;>i+Ƚ$X?vѮmw?mIZK|?){";I,i":publishing transmit ping timeyFpublishing direction and range info9jrӿo_Rٿ?y )Ii )Ii*F 2F :F BF P0JF $X?vѮmw?mIZK|?)IiG5 ª=G9 G9 G B O>;Jlw,?sAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:14:08.9267 y޽B޽a"IMb@Mb@Mb@ )YS?S㥛?~jty?/<ļA p@)hAIyG@IIT3٢ =9Q >YY ]G٣]SGy] e> mNusing accuracyPremultiplier from configam59e5Gz?u5Ye ie7u?: ?@e˅Ee0-@{Q@jrӿo_Rٿ?Jk"Rk*ě# @4ߙEvVQ@qL:?(ZcJ?"k,*k<\@k0i{?k  2kCkG7G?k k CkVBk@ addTargetRange:: Added new target pos. range: 83.000000 m, deltaT: 3.528019 s, deltaX: -2.300003 m, approachRate: -0.651925 m/s, rangeRepo size: 4  Added new target pos. range: 83.000000 m, bearing: 274.554209 deg, lat: 36.904449 deg, lon: -122.120698 deg, deltaT: 3.528019 s, deltaX: -2.300003 m, approachRate: -0.651925 m/s, posRepo size: 4 Zj)5DNOT Ignoring new targets: 83.00 m.Bj5Jj1E ProNav: ac range: 83.000000 m, nav range: 53.508774 m, bearing: 289.924368 deg, approach rate: 0.000000 m/s, LOS rate: -0.450305 deg/s, cmd heading: 28.650123 deg, new cmd heading: 27.889285 deg. 2jAmHeadingCmd: 0.486760 target range: 83.000000 and range: 83.00 m. jm8>jijijqiqhqhqhyh}BfyfyfyrfT@bfB? $?IɛnB(= >I |=ɚiIR'!=I8>ii=)8>)JJJJJ :J:JJa@a@a@a@*F?2F:FBF3JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.H H>I  I "II `BI  =&I .I 6I <:I  FzKm 9LKm 9Ki Km Km    G l=G B O->9 $lw,NAb\#>Yb ?b=9b=ybHb;b CyjBj4"I)l lppIv.Iv3٢~E ~^=9~;Q >    G٣ y= > Nusing accuracyPremultiplier from config59+Vz?%5Ys i!%?-@ͅE ; ;n55&B 5c@5]EMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 83.00 m.BjmBJjmB} ProNav: ac range: 83.000000 m, nav range: 53.561981 m, bearing: 289.701886 deg, approach rate: 0.162992 m/s, LOS rate: -0.680857 deg/s, cmd heading: 27.889285 deg, new cmd heading: 27.222536 deg. 2j}鼝HeadingCmd: 0.475123 target range: 83.000000 and range: 83.00 m. jNC>jjjihhh h f f frfbf`]\?ɛmB= 隍d>I Y=ɚiI"!=INC>ii9ߟ=)NC>)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBF]^0JFY nManaging dock network, ignoring radio surface power offGÜ=G)BYOe> IJAAJBA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994963dA*lw,A @B;>YB\ ?BZ=9B=yBH>a?Q ?n?s? Ȕ@GȰ9?@-?ɨB;>Bv[;B!CyJуBJ""I%Mb@Mb@Mb@!!! !)!Y%l?YY ]G٣Yy]G e> mNusing accuracyPremultiplier from configam59egz?u5YeP ieu?u:u(?}@e΅Ee*;eE9;ep5 M@ZjIuDNOT Ignoring new targets: 83.00 m.Bj )Jj ) ProNav: ac range: 83.000000 m, nav range: 53.603226 m, bearing: 289.446063 deg, approach rate: 0.095377 m/s, LOS rate: -0.591129 deg/s, cmd heading: 27.222535 deg, new cmd heading: 26.455703 deg. 2jʼHeadingCmd: 0.461739 target range: 83.000000 and range: 83.00 m. ji>jjjihh1h9h=VBf9fAfirfibfu@?ɛlB^4= 隽`J>I d=ɚi I ' =Ii>iip/=)i>)*F2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247159G g=G ?G %?G B $?I O >J J J J J L:J :J J &1lw,İA6<>Y6?6=96|=y6HЍ?`_? "?ޠ?@&8@~?@h?ɨ6<>6yL;6"CyBƒBB"IIJ IJ̍2٢Rt RV=9R;Q R>TT VG٣VSGyZ Z> ^Nusing accuracyPremultiplier from config\%59^xz?%5Y^x i^[!%b?%@^ЅE^g<^g<^ar59 EK@EZE]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499878ZjDNOT Ignoring new targets: 83.00 m.Bj2Jj2 ProNav: ac range: 83.000000 m, nav range: 53.639931 m, bearing: 289.209331 deg, approach rate: 0.097077 m/s, LOS rate: -0.625674 deg/s, cmd heading: 26.455703 deg, new cmd heading: 25.746033 deg. 2jּHeadingCmd: 0.449353 target range: 83.000000 and range: 83.00 m. j>jjjihhhhfffrfbf h?ɛ5kB5= QU>.>IQ ]⣁=ɚYiYI] =Ie>iaimD=)m>)iHG>IC I"II-BI =&I.I8D6I/<:I1 FBI=áCJI=áCRI=ÔCZI= =bI= =jI=%=6*F ?2F :F BF0JFzKLKs9KKKG蘸=GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752138Z7lw,^ްAU ї>YUhd?U6=9U.x=yUHE?Z߿ Ŷ?ฑ?H?cc>? ?ɨU ї> iIuhUC;Qy}B}!Ii%>I]> a=MMb@Mb@Mb@III I)IYM|?5^?J +V-yM?MHMMA M;@)MzAIM;@IyMG@Ie@Ie3٢u m u/=9ul_;Q u>yy }G٣yyLܼ > Nusing accuracyPremultiplier from config59z?5Y i?:>@҅EI;;kt5 )@XEZjDNOT Ignoring new targets: 83.00 m.Bj!4Jj!4 ProNav: ac range: 83.000000 m, nav range: 53.667076 m, bearing: 288.925831 deg, approach rate: 0.060347 m/s, LOS rate: -0.629932 deg/s, cmd heading: 25.746033 deg, new cmd heading: 24.896029 deg. 2j(ؼHeadingCmd: 0.434518 target range: 83.000000 and range: 83.00 m. jy>jjjihh h h /Bf ffrfbf)?ɛiB釕= >I =ɚiIo =Iy>iiW==)y>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003384*F?2F:FBF0JFG F=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133=|=lw,A5Ý>Y5J?5=95qs=y5H? }޿@1Ҷ?@g??e@W??ɨ5Ý>5 ;5 CyMBM!II]6I]m3٢m㯽 m^=9uY;Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config591z?5Y; iNR>@ԅEq ;* ;v5'B 7@UEZjQ]DNOT Ignoring new targets: 83.00 m.Bj]=&Jje=& ProNav: ac range: 83.000000 m, nav range: 53.686897 m, bearing: 288.701773 deg, approach rate: 0.051448 m/s, LOS rate: -0.581351 deg/s, cmd heading: 24.896029 deg, new cmd heading: 24.224136 deg. 2j|ǼHeadingCmd: 0.422791 target range: 83.000000 and range: 83.00 m. j x>jjjihhhhfffrfbf"@ɛhB}h= D=I l=ɚiI =I x>ii=) x>) u$?Iq*F?2F:FBFR5JFJJJ1JJ<:J9J3JuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506955GW=GI BQ jHm <bHm p<Hq Iq  Iu T"IIu BIq &Iq .Iq 6Iu <:Iu  FO >zK KK 59K K K bDlw,#eA2FL>Y2 D>2L_=92r=y2H?ݿ?2? 5?qX ;?S?ɨ2FL>2ή;2!CyrBr!IIz?IzT3٢ț Q=9 FY;Q > %G٣%SGy- 5> =Nusing accuracyPremultiplier from config9E59=z?E5Y=݈ i=AE>M@=օE=*:=:=w5Q U*@QmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 83.00 m.Bj:6Jj:6 ProNav: ac range: 83.000000 m, nav range: 53.706211 m, bearing: 288.462237 deg, approach rate: 0.051402 m/s, LOS rate: -0.637268 deg/s, cmd heading: 24.224135 deg, new cmd heading: 23.505824 deg. 2jڼHeadingCmd: 0.410254 target range: 83.000000 and range: 83.00 m. j >jjjihhhhfffrfbf@ɛfB{ď= =I $;=ɚiI =I >ii;=) >)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760182*F?2F:FBF`0JF $?IG:=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:14:11.4399  TRx dataTimestamp_ set to:1736378052.636125 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015581fJlw,|B,AB嬄>YB>BU=9Bl=yBHP?Aݿ.?-w?`f?ʒ F? s?ɨB嬄>BĈ;B"CyJBJ!I)P PPRA]Mb@Mb@Mb@YYY Y)YY]/$?㥛 Zd;Oy]&?]]j]hA ]@)YI]Q@Yy]@I}:I}3٢E B=9D;Q > G٣y > Nusing accuracyPremultiplier from config59`z?5Y i6w?:>@؅E;;y5(B @REZjDNOT Ignoring new targets: 83.00 m.BjO-JjO- ProNav: ac range: 83.000000 m, nav range: 53.714161 m, bearing: 288.209086 deg, approach rate: 0.019036 m/s, LOS rate: -0.606074 deg/s, cmd heading: 23.505825 deg, new cmd heading: 22.746530 deg. 2j ϼ HeadingCmd: 0.397002 target range: 83.000000 and range: 83.00 m. j C>jjjihhhhBf!f!f!rf!bf%: @ɛMeBU@= Y]8=IY ]`[=ɚYiYI]V =IeC>iaieL=)eC>)i*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262975Gb=G?G>G B O > q Iq J5 J5 J5 0J1 J5 -:J5 9J5 ـ3J1 wQlw,'FAMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:14:11.4399 LVL= 23696, 31825, 28722, 32755, AGC= 65, IDX= 417, 0.23, 2.673, 0.996, 1.796, 2.040, PHS= 0.721,-0.998,-0.248, RAW= 115.8, 7.1, CAL= 125.4, 3.6, ROT= 24.6, -3.6 Ygot valid direction response: 23:14:11.4399 LVL= 23696, 31825, 28722, 32755, AGC= 65, IDX= 417, 0.23, 2.673, 0.996, 1.796, 2.040, PHS= 0.721,-0.998,-0.248, RAW= 115.8, 7.1, CAL= 125.4, 3.6, ROT= 24.6, -3.6 PDAT read: Bearing 24.6, -3.6 (Local) ~Local bearing/azimuth received: Bearing 24.6, -3.6 (Local) =DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.5 m/s E,DAT read: user:3109> MBDAT read: Tx time:23:14:12.5275 e|>YeTe>$Ping request sent.epm;e CyB!IHI>I I""IIуBI&I.I6I<:I FI]FI]%3٢mg9 m/=9m8;Q m>qq uG٣qy}ּ }> Nusing accuracyPremultiplier from configMY@M= M @)M=IM>iMIIM, ^}?_4ֈ`/?)MF^IM\iMp9MG II:publishing transmit ping timeةFpublishing direction and range infoI9M+пs^-5տQE]?yIIII I)IIIiIIIII I)III59az?5Y^ i>@څE1;J;{5 @OEiIIIM, ^}?_4ֈ`/?)IIIiIIIIkM>Az?kMxh kI kM&HA:kMfBBkMJBZkMr.@"M;\^4D:WtR@M+пs^-5տQE]?JkMp9RkMG *MP|?D*QAPRK\R@Mhu?i>LۿSU?"kM *kMW>kM~z?kMd< 2kM1 CkM],8~?kMߚ kMCkMIBkMvZ@zKBHKh9KKK addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.530775 s, deltaX: -1.800003 m, approachRate: -0.509804 m/s, rangeRepo size: 4  Added new target pos. range: 81.199997 m, bearing: 270.689290 deg, lat: 36.904392 deg, lon: -122.120679 deg, deltaT: 3.530775 s, deltaX: -1.800003 m, approachRate: -0.509804 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 81.20 m.BjJj  ProNav: ac range: 81.199997 m, nav range: 50.495392 m, bearing: 281.740103 deg, approach rate: 0.000000 m/s, LOS rate: -0.606074 deg/s, cmd heading: 22.746529 deg, new cmd heading: 21.820915 deg. 2j HeadingCmd: 0.380847 target range: 81.199997 and range: 81.20 m. jZ>jjjih1h9h9h9f9fAfArfELT@bfE?ɛbBw= 隽h=I {=ɚiI =IZ>ii '=) Z>)QEY*F?2F:FBF15JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:14:12.5267 G yT= } $?Iy G B O%>Xlw,cA) JGP` ~Y|yRB]@e Bmpo>Ym~>m?!=9mj=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝m黈;m"CyB!IMb@Mb@Mb@ )Y|?5^?MbX9Mby ?ʡA @)AIp@y(@I:I3٢H<  =9X(;Q > G٣SGyѼ >  Nusing accuracyPremultiplier from config 59Jz?5Y  i9Q?:à>@܅E;8;}5A E`@AZjDNOT Ignoring new targets: 81.20 m.Bju@Jju@ ProNav: ac range: 81.199997 m, nav range: 50.527306 m, bearing: 281.417927 deg, approach rate: 0.066713 m/s, LOS rate: -0.673047 deg/s, cmd heading: 21.820914 deg, new cmd heading: 20.855096 deg. 2j漝HeadingCmd: 0.363990 target range: 81.199997 and range: 81.20 m. j\>jjjihhhh+Bfffrfbf?ɛM`BM= IM|=IQ UЛ=ɚQiQIU4 =I}\>iyi}=)\>)*F?2F:FBF4JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G ڹ=G B O >_lw,QA2db>Y2:*>2=92v=y2H?`ۿ]?I?@?ϗ@訮??ɨ2db>2V4;2!CyBtBB!I b=b=Ij6Ijm3٢n r=9r_Q r?tt vG٣tyzn. z? Nusing accuracyPremultiplier from config|59~z? 5Y~ i~  C> @~ޅE~l;~5;~&5)B Q@LEZjAEDNOT Ignoring new targets: 81.20 m.BjM8JjM8] ProNav: ac range: 81.199997 m, nav range: 50.544434 m, bearing: 281.231251 deg, approach rate: 0.059222 m/s, LOS rate: -0.645232 deg/s, cmd heading: 20.855096 deg, new cmd heading: 20.295276 deg. 2j]hݼeHeadingCmd: 0.354219 target range: 81.199997 and range: 81.20 m. je?\>jajaja u$?Iqiahyhyhhfffrfbf?ɛ_Bȉ= 隽H*=I =ɚiI =I?\>iiu=)?\>)*FE?2FI:FIBFM_0JFIGs=Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O-->H5Z>I5C I5!II5BI5 =&I1.I5:D6I5<:I5 FzKK9KKK RK ?JK >elw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.VS>YV¸>V"=9V]{j=yVH ?:ڿ8?@q?!?@ ߲@6?R?ɨVS>VD;V CywB!II-I-b٢=M< =E=9=";Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U0 {?]5YU  iUYe’>e@U߅EU* ;U ;U5i m@iB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.20 m.Bj3Jj3 ProNav: ac range: 81.199997 m, nav range: 50.565750 m, bearing: 280.971876 deg, approach rate: 0.051470 m/s, LOS rate: -0.626007 deg/s, cmd heading: 20.295277 deg, new cmd heading: 19.517529 deg. 2jּHeadingCmd: 0.340645 target range: 81.199997 and range: 81.20 m. j i>jjjihhhhff frfbft?ɛu]Bu= y}W=I =ɚiIP =I5 i>i1i=Tq=)= i> I)JK3 KA.KK"KJmJmJiJiJm:Jm:JiJiJm;aJm;aJm@;aJm@;a*F?2F:FBFJFGqA GmAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G =G B O >"#llw,B貱A6^E>Y6>6쟘=96~d=y6H`#9?lٿ,?@[? O?͕x??ɨ6^E>6؈;4yF{BF!IMb@Mb@Mb@ )YʡE?333333y&1|y?` @) AI@y@IeIe 2٢u< uG=9u:Q }>yy }G٣}SGy > Nusing accuracyPremultiplier from config59{?5YX} iD ?:Ə>@E3&;$;5*B @IEZjDNOT Ignoring new targets: 81.20 m.Bj5Jj5 ProNav: ac range: 81.199997 m, nav range: 50.586929 m, bearing: 280.710662 deg, approach rate: 0.051565 m/s, LOS rate: -0.635713 deg/s, cmd heading: 19.517529 deg, new cmd heading: 18.734265 deg. 2j$ڼHeadingCmd: 0.326975 target range: 81.199997 and range: 81.20 m. j8i>jjjihhhh.Bf f f rf bf J?ɛ=[B=%= 9=Ԁ=I9 E`ق=ɚAiAIE!=IM8i>iIiM|Z=)U8i>)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721603*F?2F:FBF0JFG^=GaBiO9> }$?Iy Will construct direction to contact in vehicle frame from tetrahedron phase data. &? p= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973048( slw,̱AH\>IC I!IIBI =&I.I;D6I<:I FF7>YF>F=9F`=yFH-c? ؿ?? {?~@f? [?ɨF7>F9;F"CyxB!I)  AI)IW3٢}= }J=9}Q;Q > G٣yH > Nusing accuracyPremultiplier from config59{2{?5Y{ i و>@EG ; ;5+B  @FEZjDNOT Ignoring new targets: 81.20 m.Bj5Jj5  ProNav: ac range: 81.199997 m, nav range: 50.605759 m, bearing: 280.453147 deg, approach rate: 0.046486 m/s, LOS rate: -0.635522 deg/s, cmd heading: 18.734266 deg, new cmd heading: 17.962058 deg. 2j ڼ%HeadingCmd: 0.313497 target range: 81.199997 and range: 81.20 m. j%>j!j)j)i)h1h9h9h9f9fAfArfIbfM.@zKLKs9KKKɛ-XB-= 15=I1 5=ɚ1i1I5\1!=IU>iQiU"=)U>)Y*F ?2F :FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227078G 蘸=G B O] > I 85ylw,A*J"J=JJJJJ :J:JJJ;J;JC;JC;J֯)>YJ>J=9J[=yJHw?׿߷?_ ?@T?Ol`8`d]??ɨJ֯)>J?;J CyzBz!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477626Mb@Mb@Mb@ )Y(\?kty&1|?yz? 0`;A )AI@y@I0I(3٢ =  A=9";Q >! %G٣!y- -> Nusing accuracyPremultiplier from config59MG{?5Yy i ?:>@E;;y5 @ZjAMDNOT Ignoring new targets: 81.20 m.Bju8Jju8 ProNav: ac range: 81.199997 m, nav range: 50.639847 m, bearing: 280.161933 deg, approach rate: 0.075699 m/s, LOS rate: -0.646254 deg/s, cmd heading: 17.962059 deg, new cmd heading: 17.089076 deg. 2jݼHeadingCmd: 0.298261 target range: 81.199997 and range: 81.20 m. j>jjjihhhhSBfffrfbf@ɛVBY= p=I C$=ɚiIM!=I>ii=)>)I*F?2F:FBF1JFG G"GGm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728753G B O >lw,{A2Q>Y2>2s=92[Z=y2H`T?:׿? R? ?̔@Ո1??ɨ2Q>2;0yBBB!IIJ&IJ3٢R[h< Rd=9Vb;Q V>TT VG٣VSGyZ Z> bNusing accuracyPremultiplier from config\b59^V{?f5Y^(x i^#!df]>f@^E^:^v:^5h j@nCEZj  DNOT Ignoring new targets: 81.20 m.Bj;Jj; %$?I!5 ProNav: ac range: 81.199997 m, nav range: 50.663799 m, bearing: 279.944686 deg, approach rate: 0.072458 m/s, LOS rate: -0.656872 deg/s, cmd heading: 17.089077 deg, new cmd heading: 16.437675 deg. 2j5gἝ=HeadingCmd: 0.286892 target range: 81.199997 and range: 81.20 m. j=s>j9j9j9i9h9hAhAhAfAfIfIrfIbfMI@ɛUB= T=I %J=ɚ!i!I%b!=I-s>i)i-Z=)-s>)1*F ?2F :F BF B4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981354GBO+>H%M>I%C I!I!I% =&I!.I%9D6I% <:I!BIƢCJIƣCRIZI =bI =jIƱ6zKe BoHKe 9Ka Ke Ke   AJlw,aA"Will construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:23:14:15.0375 *TRx dataTimestamp_ set to:1736378056.421363.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239971^>Y^m>^ú=9^W=y^H`:?Fcֿ46?? i?蔿 tѴ ת??ɨ^>^P;^$Cy޵B޵!Ii!>I< =a=I/I3٢ = 6=9b";Q > G٣y  ݼ  > ENusing accuracyPremultiplier from config9u59=%l{?u5Y=1v i=r!y}*>@=E=~ <= <=鉓5 X@B*** querying acoustic contact ***jjZj1=DNOT Ignoring new targets: 81.20 m.Bju1Jju1 ProNav: ac range: 81.199997 m, nav range: 50.694370 m, bearing: 279.649250 deg, approach rate: 0.064322 m/s, LOS rate: -0.621230 deg/s, cmd heading: 16.437675 deg, new cmd heading: 15.551977 deg. 2j,ռ %$?I)uHeadingCmd: 0.271433 target range: 81.199997 and range: 81.20 m. juK>jqjyjyihhhYhYfafafarfabfm @ɛRBړ= 隵T>I 땃=ɚiI!=IK>ii1=)K>)J9J=AAJEJEJAJAJE<:JE9JAJAJE;JE;JE:;JE:;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489410*F-?2F):F1BF5S5JF1G! BQ Om >qlw,24A20>Y2`>2=92c0Z=y2HT?@'տ@p?k? ?:#+??ɨ20>26;2 CyBBB!IMMb@Mb@Mb@III I)IYMx?I +?I +?yMK?M94yy }G٣yy} > Nusing accuracyPremultiplier from config59}{?5Yt i!Y?:>@EM;;5,B 2@@EZjDNOT Ignoring new targets: 81.20 m.BjEJjE ProNav: ac range: 81.199997 m, nav range: 50.739548 m, bearing: 279.401000 deg, approach rate: 0.126053 m/s, LOS rate: -0.692042 deg/s, cmd heading: 15.551977 deg, new cmd heading: 14.807933 deg. 2jxHeadingCmd: 0.258447 target range: 81.199997 and range: 81.20 m. j1S>jjjihhhhkBfffrf bf  $ @ɛ=QB=v= 9=>I9 E=ɚAiAIE(!=IM1S>iIiMK=)M1S>)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:14:15.0375 LVL= 26080, 32753, 28866, 32755, AGC= 62, IDX= 425,-0.15, 3.047, 1.260, 2.024, 2.360, PHS= 0.776,-1.053,-0.339, RAW= 112.8, 7.8, CAL= 122.6, 4.7, ROT= 27.4, -4.7 Ygot valid direction response: 23:14:15.0375 LVL= 26080, 32753, 28866, 32755, AGC= 62, IDX= 425,-0.15, 3.047, 1.260, 2.024, 2.360, PHS= 0.776,-1.053,-0.339, RAW= 112.8, 7.8, CAL= 122.6, 4.7, ROT= 27.4, -4.7 PDAT read: Bearing 27.4, -4.7 (Local) ~Local bearing/azimuth received: Bearing 27.4, -4.7 (Local) DAT read: Range 10 to 50 : 79.3 m (Round-trip 105.8 ms) speed 0.4 m/s ,DAT read: user:3110> BDAT read: Tx time:23:14:16.1275 $Ping request sent.i]F?]Ȇ]h]d?]'g > ] @)]=*F ?2F :F BF \0JFI]G>i]YY]5t?%y*tڿֹ3L?)]I]. i] ]ẖYYE:publishing transmit ping timeFpublishing direction and range infoY9]:rп٬#mѿ ʎ?yYYYY Y)YIYiYYYYY Y)YIYiYYY]5t?%y*tڿֹ3L?)YIYiYYYYGBO*> I! Will construct direction to contact in vehicle frame from tetrahedron phase data.H% P>I!  I% !II% BI%  =&I! .I! 6I% ٯ<:I% F:~lw,NA6$=Y6>6ݠ=96DZ=y6H` ?տ3?@ X?(?#떿 M -?@?ɨ6$=6!;6"CyJBJ!IPPIRIR٢ZA= ^R=9^;Q ^>`` bG٣b SGyf ռ f> nNusing accuracyPremultiplier from configlr59n{?r5Ynq in!pr>r@nEn*:n:nG5x z@xkEqy?kE[t kA kE1;A:kEBBkEBZkE3@"EH4S!"6ROR@E:rп٬#mѿ ʎ?JkE RkEẖ*E-?4hlq=7飢\R@E0e>ɰs J׿g?"kE*kEdkEOy?kEy 2kEC CkE0i{?kE  kECkE2BkEw@ addTargetRange:: Added new target pos. range: 79.300003 m, deltaT: 3.786280 s, deltaX: -1.899994 m, approachRate: -0.501810 m/s, rangeRepo size: 4  Added new target pos. range: 79.300003 m, bearing: 259.984807 deg, lat: 36.904316 deg, lon: -122.120618 deg, deltaT: 3.786280 s, deltaX: -1.899994 m, approachRate: -0.501810 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 79.30 m.Bj Jj  ProNav: ac range: 79.300003 m, nav range: 44.711430 m, bearing: 269.410333 deg, approach rate: 0.000000 m/s, LOS rate: -0.692042 deg/s, cmd heading: 14.807934 deg, new cmd heading: 13.988123 deg. 2j%HeadingCmd: 0.244139 target range: 79.300003 and range: 79.30 m. j%y>j!jIjIiQhQhQhQhYfYfYfYrf]@3S@bfe`i?ɛOBЌ= t&>I  =ɚiIb!=zKLK9KKKBKqA:KqAIMy>iIiMg=)My>)Q*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G! $?I GY B O >J J J J J :J =9J J J 8;J 9;J *;J *;lw,,ghAy]B]!IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYES?y&1?qq uG٣qy} }> Nusing accuracyPremultiplier from config59 {?5Yn i/"M?:>@Ej;;F5-B u@;EZjDNOT Ignoring new targets: 79.30 m.BjHJjH ProNav: ac range: 79.300003 m, nav range: 44.830715 m, bearing: 269.091070 deg, approach rate: 0.263279 m/s, LOS rate: -0.702776 deg/s, cmd heading: 13.988123 deg, new cmd heading: 13.032977 deg. 2j'񼝊HeadingCmd: 0.227468 target range: 79.300003 and range: 79.30 m. jwh>jjjihhhhBfffrfbfx?ɛUMBU4Z= QUN0>IY ]U=ɚYiYI]!=Iewh>iaie=)ewh>)iE1E5rA*F2F:FBFJFG7=GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.clw,pDA6r=Y6m>6O=96=y6H@sF?ӿ@{??^?`bO`c̰?@?ɨ6r=6u;4 F$?IDyRBR!IIZIZԲ٢bv bi=9f8Q f>dd fG٣dyj~ j> nNusing accuracyPremultiplier from configlr59n{?r5Ynl ine"tve>v@nEn;nY;nΐ5x z@z8EZjDNOT Ignoring new targets: 79.30 m.Bj=Jj= ProNav: ac range: 79.300003 m, nav range: 44.918873 m, bearing: 268.844959 deg, approach rate: 0.237981 m/s, LOS rate: -0.663068 deg/s, cmd heading: 13.032977 deg, new cmd heading: 12.296136 deg. 2j㼝HeadingCmd: 0.214608 target range: 79.300003 and range: 79.30 m. j7[>jjjihhhhfffrfbf@?ɛ-LB5= 15->I1 =M=ɚ9i9I=Z!=IE7[>iAiEW=)E7[>)I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHV>IC I"IIƒBI =&I.I:D6I<:I FGGBO >zKm BoHKm h9Ki Km Km  #%)'%&&#$!  = Will construct direction to contact in vehicle frame from tetrahedron phase data.9lw,TANr=YNr>NF=9N~=yNHd?% ӿ ?-R?|?wB =?`?ɨNr=N/;N CyZBZ!IIf If̍2٢n; nG=9nQ n>pp rG٣r!SGyv v> zNusing accuracyPremultiplier from configx~59z{?~5Yzj iz"|~o>@zEz ;zq ;z5  @ ZjQUDNOT Ignoring new targets: 79.30 m.Bj]QJj]Qu ProNav: ac range: 79.300003 m, nav range: 45.020596 m, bearing: 268.556262 deg, approach rate: 0.259132 m/s, LOS rate: -0.733772 deg/s, cmd heading: 12.296136 deg, new cmd heading: 11.432071 deg. 2juHeadingCmd: 0.199527 target range: 79.300003 and range: 79.30 m. jPL>jjjihhhh f f f rf bf[?ɛJB $?Ih$=G HY!y%B im2>Ii uV=ɚqiqIu!=I}PL>iyi}=)PL>)*F=?2FA:FABFEo0JFAGMqA GMpAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge 4=Gi Gm pAG9 BI Oe >lw,3RA6xx=Y6䕖>6ܭ=96l=y6H?@9ҿ?u|?О?`SԴ[c??ɨ6xx=6S֌;6!CyBBB!I-jonly read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V  n@n n@n n@n  n@n Ir*Ir3٢}S= H=90;Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59{?5Yg i"+::~>@E};>5.B @5EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.30 m.BjIJjI ProNav: ac range: 79.300003 m, nav range: 45.124626 m, bearing: 268.254935 deg, approach rate: 0.244104 m/s, LOS rate: -0.705419 deg/s, cmd heading: 11.432071 deg, new cmd heading: 10.530251 deg. 2j 򼝊HeadingCmd: 0.183788 target range: 79.300003 and range: 79.30 m. j2<>jjjihhhhff!f!rf!bf%@?ɛ]IB]= Y]K>IY e6=ɚaiaIex"=Im2<>iiimV =)m2<>)qWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFA5JFG^=GBOB> IJJJJJJb9JJa@a@a@a@} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249951He `>Ie C Ie "IIe ̃BIe  =&Ia .Ie ;D6Ie (<:Ie A F&lw,gвA2z=Y2JW>2}H=92`=y2H{?|ѿ???r?@h?ɨ2z=2;2 Cy^B^!IIf#If%x3٢~Q ~H=9~F;Q > G٣y   > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59{?%5YBe i)#% :!%e:-H>-@E);R?:51 5 @1ZjYeDNOT Ignoring new targets: 79.30 m.BjeIJjeI ProNav: ac range: 79.300003 m, nav range: 45.217995 m, bearing: 267.979791 deg, approach rate: 0.240032 m/s, LOS rate: -0.705876 deg/s, cmd heading: 10.530251 deg, new cmd heading: 9.706584 deg. 2j7򼝊HeadingCmd: 0.169412 target range: 79.300003 and range: 79.30 m. jMz->jjjihhhhfffrfbf1@ɛ]GB]M= ae+>Ia e~=ɚaiaIe0."=IMz->ii=)Mz->)zKMBMKM+9KIKMKM  *F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502372GeK0=GI m $?Ii Bq O >*J R="J a=alw,1AN";X=YN+>N)==9N[=yNHб?nпn?@7?? לr@KV?C?ɨN";X=N;NCyZB^!I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753980        Mb@Mb@Mb@ )YS?`"?MbPy/?=A I@)vAI@yABAI*I3٢4Լ ;=9 2;Q  >   G٣"SGy > %Nusing accuracyPremultiplier from config%59 |?-5Yb i#-T:-5 ?-:->-@EG; ;#5=/B =r@=2EZjDNOT Ignoring new targets: 79.30 m.BjECJjEC ProNav: ac range: 79.300003 m, nav range: 45.350323 m, bearing: 267.677841 deg, approach rate: 0.300144 m/s, LOS rate: -0.682874 deg/s, cmd heading: 9.706584 deg, new cmd heading: 8.803458 deg. 2jS꼝HeadingCmd: 0.153649 target range: 79.300003 and range: 79.30 m. j@V>jjjihhh1h5ՃBf1f1f9rf9bf=@#@ɛFBS= ">I IɅ=ɚiI?X"=Im@V>iqiu$=)u@V>)yE*F=?2FA:FABFE\4JFA"GM=GM=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:14:18.6347 TRx dataTimestamp_ set to:1736378059.948687checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007021G C=GY Bi O > Y Ia lw,(AF3=YFh>F=9FաP=yFH?nп ?8?|? ܚw??ɨF3=Fϊ;F"CyNBN!I)P PIZ0IZ(3٢b  b`=9f;Q f>hh jG٣hyj ɼ n> rNusing accuracyPremultiplier from configlr59n<|?v5YnZ_ in#tv?>z@nEn ;n{!;n5| ~v@~/EZj!%DNOT Ignoring new targets: 79.30 m.Bj-GJj-GE ProNav: ac range: 79.300003 m, nav range: 45.459900 m, bearing: 267.426058 deg, approach rate: 0.304373 m/s, LOS rate: -0.697692 deg/s, cmd heading: 8.803458 deg, new cmd heading: 8.049975 deg. 2jEh=MHeadingCmd: 0.140499 target range: 79.300003 and range: 79.30 m. jM>jIjIjIiQhQhQhQhYfYfYfYrfYbfeEz @ɛEBr= 隕>I =ɚiI{"=I>ii=)>)JuJuJqJqJuݒ:Ju9JqJq*F ?2F :F BF _0JF G7=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257935GBjHbH<H]>I I"IIǃBI =&I.I6I<:I FO'>zK LLK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  DAT read: 23:14:18.6347 LVL= 16368, 27937, 26530, 32755, AGC= 62, IDX= 411, 0.14,-1.058,-2.897,-2.130,-1.737, PHS= 0.768,-1.113,-0.395, RAW= 112.2, 9.0, CAL= 121.7, 6.2, ROT= 28.3, -6.2 % Ygot valid direction response: 23:14:18.6347 LVL= 16368, 27937, 26530, 32755, AGC= 62, IDX= 411, 0.14,-1.058,-2.897,-2.130,-1.737, PHS= 0.768,-1.113,-0.395, RAW= 112.2, 9.0, CAL= 121.7, 6.2, ROT= 28.3, -6.2 5 PDAT read: Bearing 28.3, -6.2 (Local) 5 ~Local bearing/azimuth received: Bearing 28.3, -6.2 (Local) = DAT read: Range 10 to 50 : 77.2 m (Round-trip 103.0 ms) speed 0.4 m/s E ,DAT read: user:3111> !lw,KA"BDAT read: Tx time:23:14:19.7276 &$Ping request sent.&?| > @)k=I'>ikݽv 0O?44kF?)\ IB!iAJ:publishing transmit ping time$JFpublishing direction and range info9ӂZDҿߓTѿ c t?y )IiR{=YRC>R4=9R!.H=yRH E?Ͽ`? #??,9?H?ɨR{=Rp;RC )Iiv 0O?44kF?)Iiy-B-!II]I][3٢ & 8=9 ;:Q  > G٣y= => ENusing accuracyPremultiplier from configAM59En*|?M5YE$\ iE"$IU>U@ $?IEEE9=jjjihhhhfffrfLS@bfτ?ɛuDBu= qu=Iq u B=ɚyiyI}"=I}>=ii>)>=)*F ?2F :F BF 4JF GM=GQGUqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OM?%=9%I=y%H@-?Ϳ[?? B?Iܐq ?`?ɨ%ȑ~<%/M;% CyޕfBޕ!Ii=I<Mb@Mb@Mb@ )Yrh|?v/?{Gzy?x=#IA v@) AI@y\AI I ٢฽ =9E^:Q M>II MG٣M#SGyU U> ]Nusing accuracyPremultiplier from configYe59]C|?5Y]X i]$?:[>@]E]|;]x;]50B @,EB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 77.20 m.Bj Jj  ProNav: ac range: 77.199997 m, nav range: 36.507801 m, bearing: 263.835212 deg, approach rate: 0.412546 m/s, LOS rate: -1.112062 deg/s, cmd heading: 6.805137 deg, new cmd heading: 5.460655 deg. 2j>MHeadingCmd: 0.095306 target range: 77.199997 and range: 77.20 m. jM0=jIjIjIiIhQhQhQhUBfYfYfYrfYbf9?ɛCBS= (=I ^=ɚiI #=I0=iyi}F >)}0=)JJJ1JJ:J9J3J*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.U>U;?]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.H^>I I!IIBI =&I.I6I=<:IQ FBIǥCJIǤCRIZI =bI =jIS}6G3=GBO >#lw,WA69R;Y6%ri>6iζ=96g=y6HE ?r̿L?>?,?M@ Ҷ]??ɨ69R;6NG;6"CzK^:IK^s9K\K^K^yfNBf!IIr Ir̍2٢zU zv=9z#:Q z?|| ~G٣|yMͼ ?  Nusing accuracyPremultiplier from config 59 rS|?5Y mV i $'>@ E l; (; v5! %!@%)EZjIMDNOT Ignoring new targets: 77.20 m.BjUxJjUxe ProNav: ac range: 77.199997 m, nav range: 36.608871 m, bearing: 263.561326 deg, approach rate: 0.321947 m/s, LOS rate: -0.870018 deg/s, cmd heading: 5.460655 deg, new cmd heading: 4.641323 deg. 2jeEmHeadingCmd: 0.081006 target range: 77.199997 and range: 77.20 m. jm=jijijiiqhqhqhyhyfyffrfbf?ɛBBW= 隵@)=)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986345*Fm?2Fi:FqBFu`0JFq $?IG>*J"J=GB OE >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238258lw,qA2L@Y2}`>2Զ=92*=y2H?l˿??`? G٣y; > Nusing accuracyPremultiplier from config59g|?5Y T i|%?:X>@E;;S5 @Zj DNOT Ignoring new targets: 77.20 m.Bj oJj o% ProNav: ac range: 77.199997 m, nav range: 36.726357 m, bearing: 263.201408 deg, approach rate: 0.274750 m/s, LOS rate: -0.839004 deg/s, cmd heading: 4.641323 deg, new cmd heading: 3.565157 deg. 2j%-HeadingCmd: 0.062224 target range: 77.199997 and range: 77.20 m. j-O~=j)j)j)i)h)h)h1h5Bf9f9f9rf9bf=W?ɛABm=  I  d=ɚ i I5B#=I5O~=i9i=T>)=O~=)9*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488028G >GBOb> $?IJ J J 0J J :J 9J ـ3J lw,~AFZ@YF`?U>F\=9Ft =yFH-?`ʿ ?Z?O?vP ]83{?o?ɨFZ@F};FCyN(BRR!I)T TIZWIZ44٢~ U=9ʄ;Q >    G٣ $SGy R  >%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740387 -Nusing accuracyPremultiplier from config-59Yz|?55YQ i%15>5@E;:5E>B EAM&EZjiuDNOT Ignoring new targets: 77.20 m.Bju9pJj}9p ProNav: ac range: 77.199997 m, nav range: 36.831192 m, bearing: 262.877188 deg, approach rate: 0.272416 m/s, LOS rate: -0.840085 deg/s, cmd heading: 3.565157 deg, new cmd heading: 2.595365 deg. 2j"HeadingCmd: 0.045298 target range: 77.199997 and range: 77.20 m. j 9=jjjiZHRH@AHb>I I!IIBI =&I.I6I<:I FhhhhfffrfbfE?ɛ@B~= %B=隽@I R=ɚiI0#=I 9=ii!>) 9=)*F?2F:FBF0JFzKk3IK9KKKGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993457G B O > $?I Nlw,hAR9@YR (G>Rnȼ=9R JJ?A G٣y   > Nusing accuracyPremultiplier from config59|?5YO i&>%@Ej<;rY; 55?B 5A5!EZjy}DNOT Ignoring new targets: 77.20 m.BjoJjo ProNav: ac range: 77.199997 m, nav range: 36.957554 m, bearing: 262.480166 deg, approach rate: 0.267599 m/s, LOS rate: -0.837900 deg/s, cmd heading: 2.595365 deg, new cmd heading: 1.408550 deg. 2jHeadingCmd: 0.024584 target range: 77.199997 and range: 77.20 m. j d<jjjihhhhfffrfbf@%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245391ɛyo= 隥߽I =ɚiI~$=I d) d<)*F?2F:FBF0JFGr>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496190lw,K=A2@Y28>2k~=92?@?ɨ2@2;2 Cy:B: !IeMb@Mb@Mb@aaa a)aYebX9?Mb?V-yeE?e=ea a)e AIeI@ayeQAI}JI})4٢  U=9;Q > G٣y) > Nusing accuracyPremultiplier from config59)|?5Y>N i'?:q>@ Ec;;5 {AZjDNOT Ignoring new targets: 77.20 m.BjsJjs ProNav: ac range: 77.199997 m, nav range: 37.032936 m, bearing: 262.178979 deg, approach rate: 0.213696 m/s, LOS rate: -0.852074 deg/s, cmd heading: 1.408550 deg, new cmd heading: 0.506904 deg. 2j1HeadingCmd: 0.008847 target range: 77.199997 and range: 77.20 m. j<jjjihh!h!h%`Bf!f)f)rf)bf-1@ɛ]?B]q [= Y]IY e=ɚaiaIeE$=Im)<)E*F?2F:FBF5JFG GrAJ}J}JyJyJ}̈́:J}9JyJy5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748002Hg>IC I!II\BI =&I.IG) BQ Om >lw,ٳA61=@Y6`'>6=962Ib=IjXIj4٢r^ڽ vV=9zd5;Q z>xx zG٣~%SGy~+ ~>  Nusing accuracyPremultiplier from config 59y|? 5YL i'`>@ E::zKBoIKs9KKK $552/+&! I5-@B 5'A5EMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 77.20 m.BjenJjenu ProNav: ac range: 77.199997 m, nav range: 37.111168 m, bearing: 261.856763 deg, approach rate: 0.203251 m/s, LOS rate: -0.835367 deg/s, cmd heading: 0.506904 deg, new cmd heading: 359.542392 deg. 2juS}HeadingCmd: 6.275198 target range: 77.199997 and range: 77.20 m. j}m@jyjyjihhhhfffrfbf@T@ɛR= 隽GI 3=ɚiIv%=Iii\">)m@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյABDAT read: Rx Time:23:14:22.2328 TRx dataTimestamp_ set to:1736378063.480839checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005342 iIq)= EEr =c~G e{YayeB*F?2F:FBFP5JF *J C="J e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256124G5 :{!>G B! O= >lw,A>|@Y>#>>=9>UH?k¿`?? ߨ?OeJ@??ɨ>|@>;>CyJĂBJ IUMb@Mb@Mb@QQQ Q)QYU|?5^?{GzQyU?UףUUIA UzA)UE AIU3@QyUAIuPIu 4٢0ǽ 4=9 ;Q > G٣yW > Nusing accuracyPremultiplier from config 59|? 5Y0L i+(;?:=%@ E& <u<N5I UAQZjDNOT Ignoring new targets: 77.20 m.BjZJjZ ProNav: ac range: 77.199997 m, nav range: 37.178303 m, bearing: 261.464144 deg, approach rate: 0.131037 m/s, LOS rate: -0.764945 deg/s, cmd heading: 359.542387 deg, new cmd heading: 358.366830 deg. 2j>HeadingCmd: 6.254681 target range: 77.199997 and range: 77.20 m. jY&@jjjih h h h ?Bfffrfbf @ɛ>BܐN= 隍tI =ɚiI;&=Isii.-%>)Y&@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:14:22.2328 LVL= 15712, 20209, 20674, 25043, AGC= 59, IDX= 423,-0.40,-3.069, 1.133, 1.697, 2.119, PHS= 1.183,-0.939,-0.426, RAW= 103.4, 1.9, CAL= 114.1, -1.0, ROT= 35.9, 1.0 -Ygot valid direction response: 23:14:22.2328 LVL= 15712, 20209, 20674, 25043, AGC= 59, IDX= 423,-0.40,-3.069, 1.133, 1.697, 2.119, PHS= 1.183,-0.939,-0.426, RAW= 103.4, 1.9, CAL= 114.1, -1.0, ROT= 35.9, 1.0 EPDAT read: Bearing 35.9, 1.0 (Local) E~Local bearing/azimuth received: Bearing 35.9, 1.0 (Local) }DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.3 m/s ,DAT read: user:3112> BDAT read: Tx time:23:14:23.3276 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:14:23.3268 jH <bH p<H k>I C I G!II BI  =&I FD.I 6I ̯<:I FGA BI Om > mw,bA@Y >=9WYY eG٣ay > Nusing accuracyPremultiplier from config59|?5YK i(=@E::R5AB AEkA(|?krf k k~A:kfBBkaBZka@"}d%Q2]Y"tmR@;9 {¿c: Vl?Jk˧Rk*r?;O%R@\ǝw< P¿Jl):?"kH-*k kK-'|?kh 2k6 Ckky k1 Ck}Ak8@ addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.533952 s, deltaX: -1.500000 m, approachRate: -0.424454 m/s, rangeRepo size: 4  Added new target pos. range: 75.699997 m, bearing: 258.509974 deg, lat: 36.904304 deg, lon: -122.120447 deg, deltaT: 3.533952 s, deltaX: -1.500000 m, approachRate: -0.424454 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 75.70 m.BjJj ProNav: ac range: 75.699997 m, nav range: 31.436506 m, bearing: 259.406200 deg, approach rate: 0.000000 m/s, LOS rate: -0.764945 deg/s, cmd heading: 358.366830 deg, new cmd heading: 357.399146 deg. 2jHeadingCmd: 6.237792 target range: 75.699997 and range: 75.70 m. j@jjjihhh h f f frfR@bf#b?ɛ7= 隅I =ɚiI&=I9ii"J$>)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. I II *F ?2F :F BF Q5JF "G =G =JI JI JM /JI JI JI JM (N3JI JM ;a} JM ;a} JM ;a JM ;a G A#>G ?G >Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>x} mw,j10A^^@Y^=^2=9^c0 G٣&SGy6% > Nusing accuracyPremultiplier from config59|?5YK ic)?:@E1;T:S5 yAEEZjDNOT Ignoring new targets: 75.70 m.BjJj ProNav: ac range: 75.699997 m, nav range: 31.483717 m, bearing: 258.935748 deg, approach rate: 0.101267 m/s, LOS rate: -1.007596 deg/s, cmd heading: 357.399156 deg, new cmd heading: 355.990216 deg. 2j,HeadingCmd: 6.213202 target range: 75.699997 and range: 75.70 m. j@jjjihhhh-Bf)f)f)rf1bf5^?ɛ(.= {I d=ɚiI'=I Si i )>) @)*F?2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMA $?I G _r#>G B O% >J`mw,YIAyzB} II-#I-%x3٢= =P=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQe59U }?e5YUK iU)aim@UEU4;U:U 5q u6AqZjDNOT Ignoring new targets: 75.70 m.BjJj ProNav: ac range: 75.699997 m, nav range: 31.525780 m, bearing: 258.534469 deg, approach rate: 0.112809 m/s, LOS rate: -1.074752 deg/s, cmd heading: 355.990225 deg, new cmd heading: 354.788179 deg. 2je8HeadingCmd: 6.192222 target range: 75.699997 and range: 75.70 m. j&@jjjihhhhffqfqrfqbf}?Hl>I I IIBI =&I.I=D6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=B-o= ¾I :J=ɚiI{(=IKii)=>)&@)*F2F:FBFQ0JFG}Mf(>GQBYO}z>zKe k3IKe 59Ka Ke Ke  Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,cA "$?I$:r@Y:@l=:+V=9:p;y:H?@t^ҷ?s?R? %?·N|?@s?ɨ:r@:#;:CyRkBRi IIZIZ(*3٢b fR=9fkQ f>hh jG٣hyjb j> rNusing accuracyPremultiplier from configpv59rW}?v5YrK irc*tv,v@rEr:r:r5zBB ~A}EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.70 m.Bj茼Jj茼 ProNav: ac range: 75.699997 m, nav range: 31.561586 m, bearing: 258.134900 deg, approach rate: 0.088417 m/s, LOS rate: -0.985520 deg/s, cmd heading: 354.788166 deg, new cmd heading: 353.591002 deg. 2j) HeadingCmd: 6.171327 target range: 75.699997 and range: 75.70 m. j {@j j j ih9hAhIhIfqfyfyrfbf`}?JSK[ـ3 K[ .KSKS"KSJJJ0JJ:J[9Jـ3JJ;J;J;J;ɛ){@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FYBF]P0JFYGa GepAG ^p(>G pAG pAG B O >mw,~A6@Y6Jk=6=96;y6H ?`?@:D? ?qV@緿~{??ɨ6@61!;6 C^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998577yfbBj_ Iiz=IzR>Mb@Mb@Mb@ )YV-? rhyh?̽CMA A)` AIyAIM>IM3٢]  ]-=9e:Q e>aa mG٣m'SGyu# u> }Nusing accuracyPremultiplier from configy59}3}?5Y}L i}*?:i@}E};};}Ͳ5CB AE $?IZjQ]DNOT Ignoring new targets: 75.70 m.Bj]Jje ProNav: ac range: 75.699997 m, nav range: 31.586882 m, bearing: 257.645322 deg, approach rate: 0.053175 m/s, LOS rate: -1.028341 deg/s, cmd heading: 353.590998 deg, new cmd heading: 352.123778 deg. 2jo0HeadingCmd: 6.145720 target range: 75.699997 and range: 75.70 m. j@jjjihhhh Bfffrfbf`2@ɛae.= efNh=moپIi moف=ɚiiiImn*=Iu iqiuz6>)u@)y*Fu?2Fq:FqBFu_0JFqH5k>I1 I5 II5BI1&I1.I5G1 BA O] >h%mw,ŌA6=@Y6_=6{=96 ;y6H` ?`|?? ?`pf췿`#z??ɨ6=@6 ;6"Cy>SB>M IIJ<IJ3٢RN Rl=9Vk9Q V?TX ZG٣XyZ^ Z? Nusing accuracyPremultiplier from config59D}?5YwM iT+% %@E ?;n?;\51 5zA1ZjY]DNOT Ignoring new targets: 75.70 m.BjewJjewu ProNav: ac range: 75.699997 m, nav range: 31.603668 m, bearing: 257.275782 deg, approach rate: 0.049738 m/s, LOS rate: -1.094348 deg/s, cmd heading: 352.123791 deg, new cmd heading: 351.015908 deg. 2ju;}HeadingCmd: 6.126383 target range: 75.699997 and range: 75.70 m. j}U @jyjyjyihhhhfffrfbf@ɛ;BLd< I >=ɚiI*=I ii6>)U @)zKLK+9KKKBKpA:KpA*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501924GMu0>GABiO:> IJ% J% J! J! J% :J% H9J! J! J% !;J% ";J% Q;J% R;} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753833V,mw,zoAB&@YBț<B>=9BgӪ;yBH?R@߷?c?{?L/lIڷBu?@?ɨB&@BH;@y HB? IMb@Mb@Mb@ )Yi|?5?ʡE{Gzy?ケ#A 7A) AIv@y=AIFI%3٢D 7=9M$Q U>QQ UG٣Qy]/ ]> eNusing accuracyPremultiplier from configam59eY}?m5YeN ie+u?u:uU=u@eEe_;e;eQ5}DB }AEZjDNOT Ignoring new targets: 75.70 m.Bj#Jj# ProNav: ac range: 75.699997 m, nav range: 31.614336 m, bearing: 256.807463 deg, approach rate: 0.023769 m/s, LOS rate: -1.043099 deg/s, cmd heading: 351.015907 deg, new cmd heading: 349.611718 deg. 2j2HeadingCmd: 6.101876 target range: 75.699997 and range: 75.70 m. jB@jjjihhhhBfffrfbf@v,@ɛ5:B5>*= 9=I9 =^=ɚ9i9I=ѳ+=IE;9iAiM/T:>)MB@)IEY*F?2F:FBF1JF"G=G>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:14:25.8309 TRx dataTimestamp_ set to:1736378067.012857checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007014 $?IG5>G ?G?G B O >2mw,@̴A6@Y6J @6l=96&;y6H?&N?ķ?@W.B@?@8p ķ \o?@?ɨ6@6뮈;6 CyRBBR7 I)T TIZ8IZ3٢f  f_=9fsQ f>hh jG٣j(SGynb n> vNusing accuracyPremultiplier from configpz59raj}?z5YrO ir$,xzcQz@rEr$;r ;rݷ5  AZj)-DNOT Ignoring new targets: 75.70 m.Bj5ەJj5ەE ProNav: ac range: 75.699997 m, nav range: 31.620266 m, bearing: 256.437010 deg, approach rate: 0.016781 m/s, LOS rate: -1.048129 deg/s, cmd heading: 349.611729 deg, new cmd heading: 348.500727 deg. 2jE3UHeadingCmd: 6.082485 target range: 75.699997 and range: 75.70 m. jU@jajajiiiHj>I I IIBI =&I.I6I<:I F=Will construct direction to contact in vehicle frame from tetrahedron phase data.====Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258220hAhIhIhIfIfQfrfbf`Q @ɛ1< !%I! %'=ɚ!i!I%,=IMOMiQiU=9>)U@)QEq*F ?2F :F BF ~0JF! zKU rKKU 59KQ KU KU B qWyN1 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:14:25.8309 LVL= 13536, 24561, 20018, 26819, AGC= 58, IDX= 420,-0.20,-2.417, 1.751, 1.948, 2.617, PHS= 1.338,-0.818,-0.672, RAW= 93.5, 1.5, CAL= 101.8, -1.5, ROT= 48.2, 1.5  Ygot valid direction response: 23:14:25.8309 LVL= 13536, 24561, 20018, 26819, AGC= 58, IDX= 420,-0.20,-2.417, 1.751, 1.948, 2.617, PHS= 1.338,-0.818,-0.672, RAW= 93.5, 1.5, CAL= 101.8, -1.5, ROT= 48.2, 1.5  PDAT read: Bearing 48.2, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 48.2, 1.5 (Local) E DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.2 ms) speed 0.3 m/s ] ,DAT read: user:3113> I  BDAT read: Tx time:23:14:26.9276  $Ping request sent. GBO=>:mw,+A*J4="J4=JEJEJAJAJE}:JE9JAJAJE;JE;JE\ ;JE] ;eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:14:26.9268 Ө@YP@$=9yH`&?@q?@?_?3k< R?ɨӨ@r;"Cy @B5 IMb@Mb@Mb@ )Y"~?`"{Gzty?ף`A A)\ AIAyAILI4٢-. -=95ӾQ 5>11 =G٣9y=܃ => ENusing accuracyPremultiplier from configAm59E6}?u5YEDR iE,u.?u:uLu@EEE;E;E5y }AEkM |?kM.T kI kM /A:kM̔BBkM̓BZkM@"MP)G! @9=rR@Mǩa?AH?JkM,0@RkM*MVFٯ"k @AJR@M\y6?$r?r?"kMo@*kM~kM|?kM 2kMh CkIkMV* kMC CkMAkM{@] addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.532443 s, deltaX: -1.299995 m, approachRate: -0.368016 m/s, rangeRepo size: 4  Added new target pos. range: 74.400002 m, bearing: 116.370272 deg, lat: 36.904304 deg, lon: -122.120413 deg, deltaT: 3.532443 s, deltaX: -1.299995 m, approachRate: -0.368016 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 74.40 m.BjJj ProNav: ac range: 74.400002 m, nav range: 28.709969 m, bearing: 254.274370 deg, approach rate: 0.000000 m/s, LOS rate: -1.048129 deg/s, cmd heading: 348.500731 deg, new cmd heading: 346.401207 deg. 2jHeadingCmd: 6.045842 target range: 74.400002 and range: 74.40 m. jw@jjjihhhhBff frfR@bf?ɛ}8B= 隅I Ơ|=ɚiIs-=IC sii"V5>)w@) Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I E i=*Fy 2Fy :Fy BF} P0JFy jHE<bHE<HMm>II IMf IIMiBIM =&II.II6IM<:IM FGnW9>GqAGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?Dmw,AyM?BU3 IIe<Ie3٢ #=9Q > G٣y > Nusing accuracyPremultiplier from config59}?5Y+T i3-@!E":P:ټ5EB 3A EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 74.40 m.Bj䰼Jj䰼 ProNav: ac range: 74.400002 m, nav range: 28.718819 m, bearing: 253.690691 deg, approach rate: 0.018765 m/s, LOS rate: -1.237201 deg/s, cmd heading: 346.401213 deg, new cmd heading: 344.651290 deg. 2jETHeadingCmd: 6.015300 target range: 74.400002 and range: 74.40 m. jV}@jjjih!h!h!h)f)f)f)rf)bf5zx?ɛ]7B]N< Y]$IY ePz=ɚaiaIe.=ImL(iiimi)mV}@)qEyEy*Ey"EyzKCOK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF^0JF %$?I)~GtA 5 Y= tAy= BG 5>G B1 Ou >>kKmw,/AnWill construct direction to contact in vehicle frame from tetrahedron phase data.n>n@rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.206282zyp@Yz@zږ=9zGyzH?J?@Gö?@d`?`Q?>驀?ɨzyp@z<;xy=B1 IMb@Mb@Mb@ )Yd;O?&1MbP?y?н:A A)AIhAy(AI)IW3٢ 2=9-.Q > G٣)SGy > Nusing accuracyPremultiplier from config59/}? 5Y V i- ? : H @#E;A;5FB GAEZjYeDNOT Ignoring new targets: 74.40 m.BjJj ProNav: ac range: 74.400002 m, nav range: 28.728752 m, bearing: 253.126652 deg, approach rate: 0.020299 m/s, LOS rate: -1.152185 deg/s, cmd heading: 344.651291 deg, new cmd heading: 342.960278 deg. 2jEHeadingCmd: 5.985786 target range: 74.400002 and range: 74.40 m. j@jjjihhhh(Bfffrfbfƞ?ɛM5BM8< IMtII Ux=ɚQiQIU/=I]DiYi]F>)]@)a*F?2F:FBF_0JFG:>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457966 I QRmw,IA6߾@Y6S@6Ji=96y6H?dҸ? '? X⸿2?սV.|l?ɨ6߾@6*;6!Cy>?BB4 IIJIJ(*٢R3h< Rd=9VfQ V>TX ZG٣XyZyX Z? bNusing accuracyPremultiplier from config`f59b&}?f5YbpW ib-dfNf@b%Eb:b:bi5l n2AlZjDNOT Ignoring new targets: 74.40 m.Bj ثJj ث ProNav: ac range: 74.400002 m, nav range: 28.733831 m, bearing: 252.734603 deg, approach rate: 0.015574 m/s, LOS rate: -1.201905 deg/s, cmd heading: 342.960273 deg, new cmd heading: 341.784506 deg. 2j%6N%HeadingCmd: 5.965265 target range: 74.400002 and range: 74.40 m. j%s@j)j)j)i)h)h)h1h1f1f9f9rf9bf= C?ɛe4BeFv< imIi m;w=ɚiiiIuH0=I}Ƣiyi}J>)}s@)*F?2F:FBFH5JFJUJUJQJQJUy:JU9JQJQa]@a]@a]@a]@Huo>Iq Iu` IIudBIu =&Iq.Iu=D6Iu<:Iu FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710022G6N>G?G>GBO$>zKu BoHKq Kq Ku Ku  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961872yXmw,LcA2K:@Y2I@2=92y2H q?@c? ?z?h1׵| ?ɨ2K:@2؈;2"C B$?I@yJ@BJ5 II2I?3٢F; :=9ֺQ > G٣yj< > Nusing accuracyPremultiplier from config59}?5YfY i-.@'E::T“5GB 0AEZjDNOT Ignoring new targets: 74.40 m.Bj%[Jj%[] ProNav: ac range: 74.400002 m, nav range: 28.737331 m, bearing: 252.219738 deg, approach rate: 0.007958 m/s, LOS rate: -1.170510 deg/s, cmd heading: 341.784497 deg, new cmd heading: 340.240485 deg. 2jeHeHeadingCmd: 5.938317 target range: 74.400002 and range: 74.40 m. jm@jijijiiihihihhfffrfbf@ɛ53B=< 9=UIA Eu=ɚAiAIE 1=Iii% P>)@)*FU?2FY:FYBFed2JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216886G 3Q>Ga Bi O > ^mw,nh}A2@Y2@24=92wy2H?Γ?`??@Ҙ`&?gp R{?ɨ2@2 ;0yRDBR9 IUMb@Mb@Mb@QQQ Q)QYUI +?sh|?~jth?yU9?UUD;UzA U A)UAIUAQyUAIBI3٢~< K=9 Q > G٣*SGyZP > Nusing accuracyPremultiplier from config59}?5Y[ ix.?:@)E|;6-;ē5 AZjDNOT Ignoring new targets: 74.40 m.BjݥJjݥ- ProNav: ac range: 74.400002 m, nav range: 28.745125 m, bearing: 251.752345 deg, approach rate: 0.019349 m/s, LOS rate: -1.160080 deg/s, cmd heading: 340.240491 deg, new cmd heading: 338.838989 deg. 2j- G5HeadingCmd: 5.913856 target range: 74.400002 and range: 74.40 m. j=O>@j9j9j9i9h9h9hAhEDBfAfAfIrfIbfM@< @]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465996ɛ2B< 隕I n]t=ɚiI1=IiiS>)O>@) }$?Iy*F?2F:FBF4JFGѰP>GBOE>ZHM ?ARHI HU p>IU C IQ IQ IU =&IQ .IQ 6IU <:IU FJu Ju Jq Jq Ju =:Ju 9Jq Jq Ju ԥ;a} Ju ե;a Jq a Jq a  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718424emw,CA2[@Y2@2ӆ=92d%y2H{?``>?@Cn?GĿz?ґjJ@3?ɨ2[@2L;2CyBNBBF IIJ6IJm3٢fZf= fZ=9jdQ j>hh nG٣lyvUg z> Nusing accuracyPremultiplier from config 59 ~?5Y \ i .Ԛ@ +E < < œ5 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 74.40 m.BjϟJjϟ ProNav: ac range: 74.400002 m, nav range: 28.749542 m, bearing: 251.310724 deg, approach rate: 0.011182 m/s, LOS rate: -1.117722 deg/s, cmd heading: 338.838991 deg, new cmd heading: 337.514579 deg. 2j?HeadingCmd: 5.890741 target range: 74.400002 and range: 74.40 m. j@jjjihhhhfffrfbfI@ɛ-0B5P< 15I1 =|r=ɚ9i9I=H2=IE~ȾiIiMsT>)M@)I*F?2F:FBFP0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970053zKBHKs9KKK u$?IqGP>GpAGrAGBO>kmw,s-AfWill construct direction to contact in vehicle frame from tetrahedron phase data.nBDAT read: Rx Time:23:14:29.4295 nTRx dataTimestamp_ set to:1736378070.795913rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.226268yTBM Ii=I=Mb@Mb@Mb@ )Y5^I ?~jty?D )AI Ay AI ?I T3٢< %*=9-Q ->11 5G٣5+SGy= => ENusing accuracyPremultiplier from configAM59E~?M5YE^ iE/U?U:UXvU@E-EEV;E;EǓ5]HB ]A]EZjDNOT Ignoring new targets: 74.40 m.Bj-Jj- ProNav: ac range: 74.400002 m, nav range: 28.775152 m, bearing: 250.748679 deg, approach rate: 0.055559 m/s, LOS rate: -1.218210 deg/s, cmd heading: 337.514590 deg, new cmd heading: 335.830470 deg. 2jQ-HeadingCmd: 5.861348 target range: 74.400002 and range: 74.40 m. j-)@j)j1j1i1h1h9h9h=mBfafafarfabfe& @ɛ/BBZ= k۾I 8q=ɚiIJf3=I׾iiLo>))@)*FM?2FQ:FQBFUH4JFQmWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.474179 Q IQ Gu ƉR>GQ Ba O} >,rmw,`[˵AJõ@YJ@@J-b=9JtyJH ? ?@6_?@J̿-?bzi @ ?ɨJõ@J3;J!CyRXBVR II^[I^K!4٢f"< ju=9nsQ n?pp rG٣pyvQ v? zNusing accuracyPremultiplier from configx~59z(~?~5Yz7` iz[/|@z/Ez3:zv:zIɓ5 AZjDNOT Ignoring new targets: 74.40 m.BjJj  ProNav: ac range: 74.400002 m, nav range: 28.781239 m, bearing: 250.354383 deg, approach rate: 0.017033 m/s, LOS rate: -1.103226 deg/s, cmd heading: 335.830484 deg, new cmd heading: 334.648022 deg. 2j H=HeadingCmd: 5.840710 target range: 74.400002 and range: 74.40 m. j@jjjihhhhff!f!rf!bf-a @ɛU.BU Z< QU־IY ep=ɚaiaImK3=Im"iiiu>>)u@)qHJJJ1JJ:Jľ9J3Ja%@a%@a%@a%@IC Il IInBI =&I.I6I<:I" FBIJI§CRIZI =bI =jI=5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:14:29.4295 LVL= 12464, 20881, 15906, 22163, AGC= 54, IDX= 421,-0.04,-0.043,-1.634,-2.033,-0.917, PHS= 0.963,-0.669,-1.118, RAW= 78.2, 8.7, CAL= 82.4, 12.1, ROT= 67.6, -12.1 Ygot valid direction response: 23:14:29.4295 LVL= 12464, 20881, 15906, 22163, AGC= 54, IDX= 421,-0.04,-0.043,-1.634,-2.033,-0.917, PHS= 0.963,-0.669,-1.118, RAW= 78.2, 8.7, CAL= 82.4, 12.1, ROT= 67.6, -12.1 PDAT read: Bearing 67.6, -12.1 (Local)  ~Local bearing/azimuth received: Bearing 67.6, -12.1 (Local) DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed 0.1 m/s ,DAT read: user:3114> %BDAT read: Tx time:23:14:30.5277 %$Ping request sent.%)٭VI٭6i٭+v?٭C+٭٭R?٭|> ڭX?)ڭ@X>Iڭ?iڭ@XککۭЪ]?0-n?)ۭ:Iۭiۭ @ۭ۩۩M:publishing transmit ping time!MFpublishing direction and range infoة9ح9 ͿCkt?[h9?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭЪ]?0-n?)۩I۩i۩۩۩۩*F?2F:FBF_0JFG߸U>GqByO]>U Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:23:14:30.5269 zK K }9K K K Ac5 ALj$,:Rgtzu`Ec6 nV>'RK ?JK ?  $?I xmw,n1A2@Y2r@2^=92%Vy2H ??Ƴ? Ͽ?#y i@{Z?ɨ2@2Td;2CyJUBJO IIR9IR3٢^> ^K=9bҕQ b>`` fG٣dyfAm v> ~Nusing accuracyPremultiplier from configx~59z<~?5YzGb iz/쩾@z1Ez:zU:z ˓55IB 5A=Ek|?k  k kҵA:kfBBkjBZk޳?"`706@%BbP@9 ͿCkt?[h9?Jk @Rk*EXҞ 9@ۺQ@46P@m?ǟ]f?"k4A*kk6y'|?k K 2kCkK-'|?kh kk)v @)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm>GBO>mw,&AyVB)) )Mb@Mb@Mb@ )Y㥛 ?Q~jthy?uD A  A)/AI Ay= AI5I3٢: 8=9Q > G٣y   >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config-59P~?55Y d i/5?5:5=@3Ep;om;̓5A EAEEZjamDNOT Ignoring new targets: 73.20 m.BjubQJjubQ ProNav: ac range: 73.199997 m, nav range: 11.880375 m, bearing: 236.414023 deg, approach rate: 0.187804 m/s, LOS rate: -2.928912 deg/s, cmd heading: 333.258754 deg, new cmd heading: 329.728167 deg. 2jBHeadingCmd: 5.754842 target range: 73.199997 and range: 73.20 m. j'@jjjihhhhBfffrfbf? $?Iɛ,B}!< ־I .Am=ɚiI)=5=I/iij>)'@)*F2F:FBF0JFGm>jHbH<H I  I  II }BI &I .I 6I ̯<:I  FJ) J- J- /J) J) J- 9J- (N3J) J- n;a= J- o;a= J- g;aE J- h;aM G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >}mw,A2̀@Y2J@2M=92%Oy2H@?s?@FԱ?फҿF?@mei@?ɨ2̀@2։;2!CyJ`BN\ IIVIV2٢^!i= ^a=9b-MQ b>`` bG٣f,SGyf f> jNusing accuracyPremultiplier from confighn59ja~?n5Yje ij=0pr*r@j4EjL:j:jΓ5t vIAtB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 73.20 m.Bj-?Jj-? ProNav: ac range: 73.199997 m, nav range: 11.937130 m, bearing: 235.435523 deg, approach rate: 0.156367 m/s, LOS rate: -2.682942 deg/s, cmd heading: 329.728174 deg, new cmd heading: 326.809300 deg. 2j(潝HeadingCmd: 5.703898 target range: 73.199997 and range: 73.20 m. jV@jjjihhhhfffrfbf@~?ɛim< quj˾Iq ul=ɚqiqIu5=I}giyi}nq>)V@)*FE?2FA:FABFE2JFAGk>EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode. IzK|OK9KKKywurplfa\XTQLJGDAAB?=9630+&$%# BK!:K%oAG)BIO}Y>mw,2ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503044y\BX I}Mb@Mb@Mb@yyy y)yY}gfffff?Mb?Mb`y}3?}<}} A }3 A)yI}Ayy} AII2٢끼 /=9Q > G٣y > Nusing accuracyPremultiplier from config59cw~?5Yg i07?:Ր@6Ep;5;Г5JB mAEZjDNOT Ignoring new targets: 73.20 m.Bj P8Jj P8 ProNav: ac range: 73.199997 m, nav range: 12.024228 m, bearing: 234.223309 deg, approach rate: 0.186613 m/s, LOS rate: -2.578237 deg/s, cmd heading: 326.809307 deg, new cmd heading: 323.204043 deg. 2j-ݽHeadingCmd: 5.640975 target range: 73.199997 and range: 73.20 m. j݂@jjjihhhhBfffrfbf?ɛM+BM]< QUkξIq }Drj=ɚyiyI}g6=Ijii >)݂@)*F?2F:FBF 1JFG GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751628 $?IG ej>G B O >mw,LA6f@Y6@6M=96f`B>\ IiB=IBx>IJZIJ4٢R< Rs=9RC:Q R?TT VG٣TyZ Z? ^Nusing accuracyPremultiplier from config\b59^~?f5Y^i i^0hjVj@^8E^?a;^a;^ғ5p rOApZj  DNOT Ignoring new targets: 73.20 m.Bj8Jj8 ProNav: ac range: 73.199997 m, nav range: 12.081427 m, bearing: 233.348404 deg, approach rate: 0.169764 m/s, LOS rate: -2.584304 deg/s, cmd heading: 323.204032 deg, new cmd heading: 320.593652 deg. 2jݽHeadingCmd: 5.595415 target range: 73.199997 and range: 73.20 m. j @jjjihhhhfffrfbfrJ?ɛ*B<  ʾI 1bi=ɚ!i!I%G6=I5f&i9i9)= @)9Ho>I I IIBI&I.I6Iů<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006792*F?2F:FBFO0JFG6n>GBOE>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255745 I ) - NGzK= jNK= @9K9 K= K=  ()')'&'%$%&%$"#!    n%mw,\fAJ|uATr+@Yr;@r=9r7=9u:Q u> G٣-SGymk > Nusing accuracyPremultiplier from config59~?5Yk i1#@:EO<M<ӓ5-KB 5hA5EZjDNOT Ignoring new targets: 73.20 m.Bjf0Jjf0 ProNav: ac range: 73.199997 m, nav range: 12.153943 m, bearing: 232.215323 deg, approach rate: 0.158877 m/s, LOS rate: -2.467513 deg/s, cmd heading: 320.593643 deg, new cmd heading: 317.218810 deg. 2jӽHeadingCmd: 5.536513 target range: 73.199997 and range: 73.20 m. j+@jjjihhhhfffrfbf@;@ɛH< 隕˾I fg=ɚiI7=I&Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511312GBO>mw,>A>[T@Y>c@>=9>8Hq??`6G?ؿ?ߣ@ڲ@A ?[T@>;>!Cyj`Bj\ IeMb@Mb@Mb@aaa a)aYeV-?~jt?Mb`ye ?e G٣y焽 > Nusing accuracyPremultiplier from config59~?5Ym ia1 ?:u@G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:14:33.0289  TRx dataTimestamp_ set to:1736378074.324754 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012898G B O > 8mw,A2w@Y25@2qE=92;u! fX=9f?D;Q j>hh jG٣hyn. n> rNusing accuracyPremultiplier from configpz59ro~?~5Yro ir1?¾ @r=Er;r;rcד5LB AE B*** querying acoustic contact ***j j Zj9=DNOT Ignoring new targets: 73.20 m.BjEJjE} ProNav: ac range: 73.199997 m, nav range: 12.285718 m, bearing: 230.291758 deg, approach rate: 0.151682 m/s, LOS rate: -2.236832 deg/s, cmd heading: 314.255310 deg, new cmd heading: 311.484286 deg. 2j}㿽}HeadingCmd: 5.436426 target range: 73.199997 and range: 73.20 m. j4@jjjihhhhfffrfbf @ɛu< !%ѾI! %IKe=ɚ!i!I%8=IU9TiQiQ)U4@)Y*F?2F:FBF_0JF $?I %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263840zK= MK=9K9K=K=G >G B O% >J5 J5 J5 0J1 J5 }:J5 9dmw,AJeـ3JaBWill construct direction to contact in vehicle frame from tetrahedron phase data.F%=F4=^DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed 0.0 m/s f,DAT read: user:3115> rBDAT read: Tx time:23:14:34.1277 v$Ping request sent.v G٣.SGyW > Nusing accuracyPremultiplier from config59P~?5Yr i 2( ?:\@@E;;ٓ5 AE- addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.533613 s, deltaX: -0.500000 m, approachRate: -0.141498 m/s, rangeRepo size: 4 Zj)5DNOT Ignoring new targets: 73.20 m.Bj5}6Jj5}6 ProNav: ac range: 73.199997 m, nav range: 12.379442 m, bearing: 229.006326 deg, approach rate: 0.187560 m/s, LOS rate: -2.552698 deg/s, cmd heading: 311.484275 deg, new cmd heading: 307.663170 deg. 2jڽHeadingCmd: 5.369735 target range: 73.199997 and range: 72.70 m. jԫ@jjjihhhhփBfffrf,R@bfn?ɛ!%< !%;I) -c=ɚ)i)I-}9=IMehiIiQ)Uԫ@)a I*F2F:FBF\0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:14:34.1269 G G B O >Iq Iu IIuBIq&Iq.Iq6Iuد<:Iu Fhahhhfffrfbf E?ɛRQ< ޾I =b=ɚiI:=Ipii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe0JFaG>GaBiO> - $?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K ѹmw,^/AJ@YJpȸ@J=9Jz_yJH?)?=?߿M??{F` a?ɨJ@JZ;Hy^@B^4 IInIn<2٢zIM zJ=9~q:Q >   G٣ y > %Nusing accuracyPremultiplier from config!-59%~?-5Y%v i%215޾5@%CE%;%;%ܓ5=MB =lA=EZjDNOT Ignoring new targets: 73.20 m.Bj+)Jj+) ProNav: ac range: 73.199997 m, nav range: 12.496312 m, bearing: 227.310225 deg, approach rate: 0.160794 m/s, LOS rate: -2.366376 deg/s, cmd heading: 305.507067 deg, new cmd heading: 302.602861 deg. 2j˽%HeadingCmd: 5.281416 target range: 73.199997 and range: 72.70 m. j%]@j!j!j!i!h)h)h)h)f1fQfYrfYbf]z?ɛ(B< 隭I "a=ɚiIu:=I9ii)]@)*FM?2FI:FIBFM1JFIJ)J-J)J)J)J-9J)J)Will construct direction to contact in vehicle frame from tetrahedron phase data.G)G B O5 >/mw,A6@Y6H@6!=96r:y6H@[r?nN? }?@? D x7N??ɨ6@6;4y>8BR* I pIpEWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUE?{Gz? G٣/SGy| > Nusing accuracyPremultiplier from config59?5Ypy i2?:꾑@EE;j;ޓ5 AZjDNOT Ignoring new targets: 73.20 m.Bj#Jj# ProNav: ac range: 73.199997 m, nav range: 12.560230 m, bearing: 226.348639 deg, approach rate: 0.153241 m/s, LOS rate: -2.293519 deg/s, cmd heading: 302.602870 deg, new cmd heading: 299.735325 deg. 2jĽHeadingCmd: 5.231369 target range: 73.199997 and range: 72.70 m. j_g@jjjihh h h Bf ffrfbf`?ɛɴ< I m_=ɚiIV;=IGii)_g@)*F?2F:FBFP5JFjH}<bH}<Hq>I I IIBI&I.I6I<:IH FBIAJIARIAZIAbIE =jIEDž4Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >^mw,Ayr-Br IIzGIz3٢-aW -P=9-Q 5>11 5G٣1y= E> MNusing accuracyPremultiplier from configAM59E@?U5YE{ iE<3QQU@EFEE:E:E_5]NB e AeE}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 73.20 m.Bj3"Jj3" ProNav: ac range: 73.199997 m, nav range: 12.623659 m, bearing: 225.451775 deg, approach rate: 0.161280 m/s, LOS rate: -2.268904 deg/s, cmd heading: 299.735339 deg, new cmd heading: 297.060320 deg. 2j½HeadingCmd: 5.184680 target range: 73.199997 and range: 72.70 m. j@jjjihhhhfffrfbf?ɛ)B < xI ]=ɚiIS<=IR(ii)@)  $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFE5JFAzK&~JK9KKKGi GA BQ O} >JK|3 KL.KK"KJa Ja Ja Ja Ja Ja Ja Ja - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009091mw,16AV4@YC@=9-܅;yH? f?ȱ?%5?~1@p? u?ɨV4@ ;騕Cyޭ Bޭ I) =Mb@Mb@Mb@999 9)9Y=K7A?Zd;O?Qy= ?=j<=u= A =\ A)=XAI=IA9y=G AIUEIU3٢ei e8=9eeii mG٣iyu; u> Nusing accuracyPremultiplier from config59!?5Y~ i3<?: @HE0;;Q5 n AZjDNOT Ignoring new targets: 73.20 m.BjJj ProNav: ac range: 73.199997 m, nav range: 12.678109 m, bearing: 224.462893 deg, approach rate: 0.122317 m/s, LOS rate: -2.211777 deg/s, cmd heading: 297.060309 deg, new cmd heading: 294.109164 deg. 2jHeadingCmd: 5.133173 target range: 73.199997 and range: 72.70 m. jB@jijijiiihihihqhuBfqfqfyrfybf}+@ɛZ;< SI [=ɚiIUV==Iii)B@)*F?2F:FBFP0JF $?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258712G >G B O >*mw,PA6@]@Y6l@66<=96c.;y6H`??gp?`?hZ&'?,0t??ɨ6@]@6;4yBBBIIJ8IJ3٢V뜽 Vl=9V-I-C I-f II-iBI)&I).I)6I-<:I-; F ProNav: ac range: 73.199997 m, nav range: 12.718562 m, bearing: 223.695480 deg, approach rate: 0.116644 m/s, LOS rate: -2.205698 deg/s, cmd heading: 294.109175 deg, new cmd heading: 291.815553 deg. 2j8HeadingCmd: 5.093142 target range: 73.199997 and range: 72.70 m. j@jjjihhhhfffrfbf`i@ɛQUrO< UCƇ=U: IY ]cZ=ɚYiYI]9>=Im\ iiii)@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510790*F)2F):F)BF-[0JF)G5pA G5qAGm>GqGupAGI BQ Om > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763254zK] K] 9KY K] K]    :+mw,jARK6?JK6>J@YJ3@J2=9J٪;yJH8?#?7:? ?X緿Cx??ɨJ@J;J CyVBVII^VI^n4٢fj fG=9f} hh jG٣hyn n> vNusing accuracyPremultiplier from configpv59re<?z5Yrs ire4xzGz@rKErC:r7:r5~OB  AEZj)-DNOT Ignoring new targets: 73.20 m.Bj5Jj5E ProNav: ac range: 73.199997 m, nav range: 12.764083 m, bearing: 222.785547 deg, approach rate: 0.110755 m/s, LOS rate: -2.205934 deg/s, cmd heading: 291.815543 deg, new cmd heading: 289.097634 deg. 2jE=MHeadingCmd: 5.045706 target range: 73.199997 and range: 72.70 m. jMlv@jIjQjQiQhQhQhYhYfYfYfYrfabfeF @ɛ<< |I ~pX=ɚiI=WN?=IM/iQiQ)Ulv@)y*F5?2F1:F1BF5_0JF9JJ~JJJs:Jf9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:23:14:36.6291 5TRx dataTimestamp_ set to:1736378077.868653Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.029260G]>G B! O= >Rmw,rPA $I$y~BI}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274634Mb@Mb@Mb@ )Y\(\?y&1|{Gzy>`廹ףvA  A)AIMAy AI]I$4٢ƽ <=9Q > G٣y > Nusing accuracyPremultiplier from config59J?5Yׇ i4>:'@MEc;;5 P AZjDNOT Ignoring new targets: 73.20 m.BjwJjw ProNav: ac range: 73.199997 m, nav range: 12.801397 m, bearing: 221.852952 deg, approach rate: 0.082219 m/s, LOS rate: -2.048813 deg/s, cmd heading: 289.097647 deg, new cmd heading: 286.310341 deg. 2j¯ HeadingCmd: 4.997058 target range: 73.199997 and range: 72.70 m. j @j j j1i1h1h1h9h=~Bf9f9fArfAbfE`: @ɛ*B)< "I V=ɚiI@=I]ii)@)*F?2F:FBFJFZHRH?AH%u>I! I%: II%EBI% =&I!.I!6I%<:I%H F- Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.3 ms) speed -0.1 m/s E ,DAT read: user:3116> M BDAT read: Tx time:23:14:37.7277 U $Ping request sent.U z2mw,/AybӁBbIIjLIj4٢zc zZ=9xQ ~> G٣1SGy   > Nusing accuracyPremultiplier from config59V?5YƊ i@5!%@NE;;+5) - A-EMB*** querying acoustic contact ***jIjIe addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.537368 s, deltaX: 0.200005 m, approachRate: 0.056541 m/s, rangeRepo size: 4 ZjaeDNOT Ignoring new targets: 73.20 m.Bjmg Jjmg  ProNav: ac range: 73.199997 m, nav range: 12.836416 m, bearing: 221.050343 deg, approach rate: 0.098171 m/s, LOS rate: -2.243796 deg/s, cmd heading: 286.310328 deg, new cmd heading: 283.910552 deg. 2j|HeadingCmd: 4.955174 target range: 73.199997 and range: 72.90 m. jɐ@jjjihhhhfffrf9R@bf 2?ɛ": +I +T=ɚiIA=I?ii) ɐ@)  5$?I1GtA =Y=tAyEBWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:14:37.7269 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Eg=E)E)zK=A}LK9K9K=K=BKa:KepA*F?2F:FBFJFG G ?G ?M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503392G B! O >mw,1Ab@@Yb@bT4=9bŮZQQ UG٣Qy]) ]> eNusing accuracyPremultiplier from configam59ed?m5Yew ie5uH?u:uQu@ePEeA;e;eM5y } AyZjDNOT Ignoring new targets: 73.20 m.BjJjE ProNav: ac range: 73.199997 m, nav range: 12.847367 m, bearing: 219.963883 deg, approach rate: 0.022430 m/s, LOS rate: -2.223287 deg/s, cmd heading: 283.910555 deg, new cmd heading: 280.657648 deg. 2jEMHeadingCmd: 4.898400 target range: 73.199997 and range: 72.90 m. jM@jIjIjIiIhQhQhQhUkBfYfYfYrfybfH x>I C I II BI =&I .I >D6I ׯ<:I  FG B O >mw,pԷA6l@Y6@68=96<|hh jG٣hyn㰽 n> rNusing accuracyPremultiplier from configpv59rn?v5Yr irL6xzkYz@rREr:r:r5| ~ AEZjDNOT Ignoring new targets: 73.20 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.>"@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004889 ProNav: ac range: 73.199997 m, nav range: 12.852809 m, bearing: 219.177842 deg, approach rate: 0.014706 m/s, LOS rate: -2.123313 deg/s, cmd heading: 280.657637 deg, new cmd heading: 278.301915 deg. 2j&HeadingCmd: 4.857285 target range: 73.199997 and range: 72.90 m. jn@jjjihhhhfffrfbf%`U?ɛim8 m=mFIi mN=ɚqiqI D=Iii)n@)EE*E"E $?Ih*F12F1:F1BF5o0JF1m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256228zK} }\KK} 9Ky K} K}   GU >G1 B9 Om >mw,AZk @YZ@Zx:=9Zixx zG٣z2SGy~ ~> Nusing accuracyPremultiplier from config 59z? 5Ys i6 `@SE ;~ ;5PB &AEZjAEDNOT Ignoring new targets: 73.20 m.BjM$JjM$] ProNav: ac range: 73.199997 m, nav range: 12.856842 m, bearing: 218.188962 deg, approach rate: 0.009415 m/s, LOS rate: -2.307594 deg/s, cmd heading: 278.301904 deg, new cmd heading: 275.338988 deg. 2j]ŽmHeadingCmd: 4.805572 target range: 73.199997 and range: 72.90 m. jm?Ǚ@jqjqjyiyhhhhfffrfbf6 ?ɛ,B _PI L=ɚiIF=I 1ii)?Ǚ@)*J"Jp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512142*F?2F:FBF ;5JF G >GBO > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7601501~nw,t AyEfBE(IMb@Mb@Mb@ )Y"~j?EԸL7A`堿yS?ƽ+A rA)AIAy AI\I#4٢ +  :=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%`?-5Y%_ i%7-?5:5w5@%UE%%;%;%59 =TA9ZjiuDNOT Ignoring new targets: 73.20 m.Bju#Jju# ProNav: ac range: 73.199997 m, nav range: 12.844365 m, bearing: 217.179955 deg, approach rate: -0.028302 m/s, LOS rate: -2.290868 deg/s, cmd heading: 275.338996 deg, new cmd heading: 272.312007 deg. 2jĽHeadingCmd: 4.752741 target range: 73.199997 and range: 72.90 m. ju@jjjihhhh-Bfffrfbf3?ɛ-BL, cI XH=ɚiIG=I:ii)u@)jHqbHqH|>I IIIՁBI =&I.I6I<:I@ F*F 2F :FBF5JFJ{J|JJJd:J@9JJJ#;J$;J{:J|:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012202GM >G! B1 OM > PExceeded connect timeout, disconnecting.ynw,P$A 0I4:Z@Y:Fj@:u=9:ٵwIJ>IRRIRW4٢Z޽ Zc=9Zo\\ bG٣`ybu b> fNusing accuracyPremultiplier from configdj59f?j5Yf if8ln=@fWEf=m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520353G B9 O} >nw,->Ay~7BIMb@Mb@Mb@ )Ym?x&/$y?7 ,A )SAIIAyAIcIy/4٢Q ;=9Q > G٣3SGy > Nusing accuracyPremultiplier from configU59?U5Y? i8U ?]:]]@YE<<25QB AEZjDNOT Ignoring new targets: 73.20 m.Bj1Jj1 ProNav: ac range: 73.199997 m, nav range: 12.796428 m, bearing: 215.260217 deg, approach rate: -0.069926 m/s, LOS rate: -2.486578 deg/s, cmd heading: 269.836677 deg, new cmd heading: 266.547047 deg. 2jPսHeadingCmd: 4.652123 target range: 73.199997 and range: 72.90 m. j2ޔ@jjjihhhhBfffrfbf@@@ɛ.Bdp ]{I %B=ɚ!i!I%.PK=I-̿i)i))-2ޔ@)1 ]$?IY%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768378Eb$=*F?2F:FBF4JFHm >Im C Im YIIm BIm  =&Ii .Im ?D6Im <:Im ; FBI=ʩCJI=ʩCRI=ʔCZI= =bI= =jI=66J J vJ 0J J J ϣ9J ـ3J J J J :J :G px>G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:14:40.2300  TRx dataTimestamp_ set to:1736378081.392671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021256Gq By O >\nw,ZA6@Y6&@6z=96+`yy }G٣yy} > Nusing accuracyPremultiplier from config59x?5Y i9ˏ@[E?;i;5 AZj)5DNOT Ignoring new targets: 73.20 m.Bj=`6Jj=`6m ProNav: ac range: 73.199997 m, nav range: 12.757602 m, bearing: 214.171064 deg, approach rate: -0.090673 m/s, LOS rate: -2.551149 deg/s, cmd heading: 266.547040 deg, new cmd heading: 263.273401 deg. 2jmڽuHeadingCmd: 4.594988 target range: 73.199997 and range: 72.90 m. ju$ @jqjqjqiqhyhyhyhyfffrfbf d$ @ɛ 픮=隍~I >=ɚiIeM=IaVտii)$ @) EnManaging dock network, ignoring radio surface power offEX= I*F5?2F9:F9BF=Q0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273675zKe LKe }9Ka Ke Ke G 8U>G B O >Bnw, stA2ؤ@Y2@2G=92ia G٣yj %> -Nusing accuracyPremultiplier from config!-59% ?55Y%a i%7:1535@%\E%:%*:%5A E*AEEZjDNOT Ignoring new targets: 73.20 m.Bj*7Jj*7 ProNav: ac range: 73.199997 m, nav range: 12.720997 m, bearing: 213.195033 deg, approach rate: -0.095819 m/s, LOS rate: -2.562142 deg/s, cmd heading: 263.273412 deg, new cmd heading: 260.339602 deg. 2j۽HeadingCmd: 4.543783 target range: 73.199997 and range: 72.90 m. jf@jjjihhhhfffrfbf@ @eWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528166ɛ/B I !;=ɚiI-SO=IUG>ڿiYiY)ef@) IE- ஜ= Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 23:14:40.2300 LVL= 14704, 15505, 16770, 20979, AGC= 59, IDX= 442,-0.42, 0.830, 0.942,-1.270, 0.249, PHS= 0.669, 0.741,-1.521, RAW= 28.4, 1.0, CAL= 27.6, 0.1, ROT= 122.4, -0.1  Ygot valid direction response: 23:14:40.2300 LVL= 14704, 15505, 16770, 20979, AGC= 59, IDX= 442,-0.42, 0.830, 0.942,-1.270, 0.249, PHS= 0.669, 0.741,-1.521, RAW= 28.4, 1.0, CAL= 27.6, 0.1, ROT= 122.4, -0.1  PDAT read: Bearing 122.4, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 122.4, -0.1 (Local)  DAT read: Range 10 to 50 : 73.6 m (Round-trip 98.2 ms) speed -0.3 m/s  ,DAT read: user:3117>  BDAT read: Tx time:23:14:41.3277  $Ping request sent. 5< Ϣ>) :I ܸ@i \ CɔA) ?) ̿I Zi Ь? ޾  :publishing transmit ping timeع  Fpublishing direction and range info 9 ޳fǁP?5Ul??[%Q?y  ) I i ) I i \ CɔA) ?) I i GH->I) I-II-QBI- =&I).I)6I-ӯ<:I-& FGBO?;%nw,|AJdJfsJf1JdJdJf9Jf3JdJdJdJf<:Jf=:5@Y5V#@5K=95h G٣4SGy½ > Nusing accuracyPremultiplier from config59ݱ?5YM iV; ?:@_Ef;;W5%RB %A%ߵEkU v?krZL k kl|A:k3BBk7BZk\?"b?%}تP@?@޳fǁP?5Ul??[%Q?JkЬ?Rk޾*©hL@öd!@@K-W?@k.?ll((?|ʀ5z?"k!B*keBkޑR?kF 2k+Bk6y'|?k kd Ck_EAk@ addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.780429 s, deltaX: 0.699997 m, approachRate: 0.185163 m/s, rangeRepo size: 4 - Added new target pos. range: 73.599998 m, bearing: 30.295557 deg, lat: 36.904346 deg, lon: -122.120060 deg, deltaT: 10.851410 s, deltaX: 0.400002 m, approachRate: 0.036862 m/s, posRepo size: 4 Zj15DNOT Ignoring new targets: 73.60 m.Bj=Jj9M ProNav: ac range: 73.599998 m, nav range: 12.335818 m, bearing: 141.427325 deg, approach rate: 0.000000 m/s, LOS rate: -2.562142 deg/s, cmd heading: 260.339600 deg, new cmd heading: 255.721475 deg. 2jiuHeadingCmd: 4.463181 target range: 73.599998 and range: 73.60 m. jubҎ@jqjqjyiyhyhyhyhςBfffrf`ffR@bf7?ɛN I 95=ɚiIQ=I nii)bҎ@) E$?IEhEU P= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P5JF zK= BoHK= 9K9 K= K=   G@Z>GBO8-nw,sA^ @Y^)@^:=9^E1I~[I~K!4٢ ¦  .=9 jQ  > G٣y >%Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config559?=5Y i9H >I  I II BI  =&I .I 6I ɯ<:I FGqByO>XB5nw,ָA:15@Y:D@:K=9:ocY G٣5SGyhe > Nusing accuracyPremultiplier from config59?5Y i:=-?:դ@dE=m;v;5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237961Zj%DNOT Ignoring new targets: 73.60 m.Bj%2Jj%2 ProNav: ac range: 73.599998 m, nav range: 12.849929 m, bearing: 139.852414 deg, approach rate: 0.620315 m/s, LOS rate: -1.849208 deg/s, cmd heading: 253.558233 deg, new cmd heading: 251.095291 deg. 2jHeadingCmd: 4.382440 target range: 73.599998 and range: 73.60 m. j<@jjjih h h h ւBfffrfbfn?ɛe 隝I e,=ɚiIV=I%Ki)i))-<@))*F?2F:FBFO0JF 1I1) ]CG) U@#YQy]#B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493712GY Ge ?Ge ?G1 B9 O] >,h;nw,AFGI@YFX@F6=9F_hl nG٣lyn: r> vNusing accuracyPremultiplier from configpv59r*?z5YrR ir=xzz@rfEr:r:r15 ,AEZj!-DNOT Ignoring new targets: 73.60 m.Bj-iJj5i𼝊E ProNav: ac range: 73.599998 m, nav range: 13.054993 m, bearing: 139.218144 deg, approach rate: 0.552322 m/s, LOS rate: -1.681483 deg/s, cmd heading: 251.095294 deg, new cmd heading: 249.223078 deg. 2jE?MHeadingCmd: 4.349763 target range: 73.599998 and range: 73.60 m. jMC1@jIjIjIiIhIhQhQhQfYfYfYrfYbfe +M?ɛrH 隍I ق)=ɚiIZX=I^ii)C1@)*FM?2FI:FQBFU_0JFQJ|JvJJJ;g:Jϣ9JJa%@a%@a%@a%@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741842GiGIBaO> ) I) PBnw, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993716>t@Y>@>G=9>9ZH'?@ht@>Z;)) -G٣)yg > Nusing accuracyPremultiplier from config59#?5Yv i>4?:@iEsp;o;35 RAZjDNOT Ignoring new targets: 73.60 m.Bj(Jj(뼝 ProNav: ac range: 73.599998 m, nav range: 13.320670 m, bearing: 138.444230 deg, approach rate: 0.576124 m/s, LOS rate: -1.644719 deg/s, cmd heading: 249.223084 deg, new cmd heading: 246.948913 deg. 2jHeadingCmd: 4.310071 target range: 73.599998 and range: 73.60 m. j @j j j i hhhhBfffrfbf%`o@ɛQ]n` Y]̙IY ]$=ɚYiaIeZZ=Ieiiii)m@)q*F?2F:FBFJFHIIMC IMIIMBIM =&II.II6IM<:IM3 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245758G 8U>G B O >|Hnw,1#A6c@Y6@6=96Kt `I`dd fG٣dyfD j? nNusing accuracyPremultiplier from configlr59n?r5Yn in?prr@nkEn:n:n5vSB zHAz޵EZjYuDNOT Ignoring new targets: 73.60 m.BjJj鼝= ProNav: ac range: 73.599998 m, nav range: 13.519260 m, bearing: 137.856167 deg, approach rate: 0.560211 m/s, LOS rate: -1.634492 deg/s, cmd heading: 246.948905 deg, new cmd heading: 245.211195 deg. 2jE7EHeadingCmd: 4.279743 target range: 73.599998 and range: 73.60 m. jE@jIjIjIiIhihihqhqfqfqfyrfybf}`@ɛMR8 QU% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752485,Nnw,}=Ay ˀBjIMb@Mb@Mb@ )YGz?~jtÿL7A`堿y0?+A A)IAypAILI4٢; -=9Q > G٣6SGy > Nusing accuracyPremultiplier from config59?5Y i\@5?:@mE;3;5 ;A %B*** querying acoustic contact ***j!j!Zj15DNOT Ignoring new targets: 73.60 m.Bj=Jj=漝M ProNav: ac range: 73.599998 m, nav range: 13.794911 m, bearing: 137.092343 deg, approach rate: 0.593750 m/s, LOS rate: -1.612348 deg/s, cmd heading: 245.211195 deg, new cmd heading: 242.966726 deg. 2jMQUHeadingCmd: 4.240569 target range: 73.599998 and range: 73.60 m. jU@jQjQjQiQhQhYhaheBfififirfibfme@ɛ.B5>/ 隝I $?Ih =K=ɚ9i9IE3^=IEl?iIiI)M@)I*F?2F:FBFp0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:14:43.8317 TRx dataTimestamp_ set to:1736378085.173962checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004405G= F>G1 HA IA  IE IIE BIA &IA .IA 6IE <:IE = FBY Ou >Unw,WAy%րB%wIi- >I-a= 5=5=I=RI=W4٢Mh= Md=9IQ U>QQ UG٣QyY ]> eNusing accuracyPremultiplier from configam59e?m5Yew ie@iqu@eoEe:e:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253673eW5 AZjDNOT Ignoring new targets: 73.60 m.Bj˼Jj˼ ProNav: ac range: 73.599998 m, nav range: 14.004368 m, bearing: 136.536244 deg, approach rate: 0.544875 m/s, LOS rate: -1.424964 deg/s, cmd heading: 242.966713 deg, new cmd heading: 241.323844 deg. 2j|tHeadingCmd: 4.211895 target range: 73.599998 and range: 73.60 m. jdž@jjjihhhhfffrfbfmz @ɛSG=  I ?=ɚiI `=Iii)dž@) *F?2F:FBF}1JF Ih} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed -0.4 m/s  ,DAT read: user:3118>  BDAT read: Tx time:23:14:44.9278  $Ping request sent.  :publishing transmit ping timeع ؁ y؅ B؁ e :publishing transmit ping timeع ؁ y؁ ؁ G B! OU >a[nw,9cqAj@Yj@j=9j))) -G٣)y5Ӑ 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=AAM M@=rE=n:=:= 5Q UAUE addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.530550 s, deltaX: 1.200005 m, approachRate: 0.339892 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 73.60 m.Bj-Jj- ProNav: ac range: 73.599998 m, nav range: 14.222663 m, bearing: 135.828756 deg, approach rate: 0.588167 m/s, LOS rate: -1.876926 deg/s, cmd heading: 241.323834 deg, new cmd heading: 239.234925 deg. 2jHeadingCmd: 4.175437 target range: 73.599998 and range: 74.80 m. j.@jjjihhhhfffrf@3R@bf j0?ɛ-BB !I =ɚiI\Zb=Iii).@)E E qA*F2F:FBF84JF*J4="J=J|JwJJJ;g:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:14:44.9270 G(K>GBO> i Iq =bnw,:AWill construct direction to contact in vehicle frame from tetrahedron phase data.bU@Yb@b"=9b;ybHL?b?@l?A? L Yr? |?ɨbU@b#o;b!CyjBnIMb@Mb@Mb@ )Ym?y&1{Gzy.?`役ףrA /A)AI AyAII?13٢c= B=9.3Q > G٣7SGyo > Nusing accuracyPremultiplier from config59?5YI i,B1?:!@tE;; 5Y ]OAYZjDNOT Ignoring new targets: 73.60 m.BjۼJjۼ ProNav: ac range: 73.599998 m, nav range: 14.454889 m, bearing: 135.140546 deg, approach rate: 0.525592 m/s, LOS rate: -1.532546 deg/s, cmd heading: 239.234916 deg, new cmd heading: 237.204356 deg. 2jxHeadingCmd: 4.139997 target range: 73.599998 and range: 74.80 m. jz@jjjihhhh%!Bf!f!f!rf!bf-`B0?ɛO 隝I =ɚiIFd=I) ii)z@)ZHRH@AH>I IIIBI =&I.I6I<:IV FBIīCJIīCRIēCZI =bI =jIĿ5*Fe?2Fa:FaBFe3JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G 0P>Ga Bi O > a Ia hnw,=A>F @Y>@>=9>&H@M?? e?` @S?j?6?ɨ>F @>;`` fG٣dyf= f> nNusing accuracyPremultiplier from confighn59jY?r5Yj  ijBprr@jvEj:j;j 5x zAxZjDNOT Ignoring new targets: 73.60 m.BjJj%= ProNav: ac range: 73.599998 m, nav range: 14.659788 m, bearing: 134.521234 deg, approach rate: 0.577107 m/s, LOS rate: -1.719907 deg/s, cmd heading: 237.204356 deg, new cmd heading: 235.373046 deg. 2j=EHeadingCmd: 4.108035 target range: 73.599998 and range: 74.80 m. jMu@jIjIjIiIhIhIhQhQfQfQfYrfYbf]O?ɛ,BhdE 隍I n=ɚiI7e=Iϙ ii)u@)*F ?2F :F BF Z0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMK9KKKG%(K>GBOM>J J @AJ wJ vJ 1J J W:J ϣ9J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.7onw,2Ay-B-IMb@Mb@Mb@ )Yףp= ?sh|?~jtxy?Ļ )Iy II I̍2٢!= +=9Q >    G٣ y > Nusing accuracyPremultiplier from config%59E?%5Y  iC-$ ?-:-洿5@xES;P;59 ={A9UB*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 73.60 m.Bjm¼Jjm¼} ProNav: ac range: 73.599998 m, nav range: 14.902459 m, bearing: 133.858526 deg, approach rate: 0.507478 m/s, LOS rate: -1.363269 deg/s, cmd heading: 235.373045 deg, new cmd heading: 233.418100 deg. 2j}iHeadingCmd: 4.073915 target range: 73.599998 and range: 74.80 m. j]@jjjihhhhGA GE pAH >I  I II BI  =&I .I 6I <:I Y FGQ BY O} >unw,oعA:s]@Y:l@:o=9:PqGBO->e Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010292|nw,ƧA6ی@Y6X@6CF=96 IV> V=V=IZZIZ4٢b< bJ=9fcQ f>dh jG٣hyjπ j> rNusing accuracyPremultiplier from configpz59r?z5Yr irCxz⾿z@r|ErF;zK~LK~59K|K~K~rF;r5 AZj9=DNOT Ignoring new targets: 73.60 m.BjEͼJjEͼU ProNav: ac range: 73.599998 m, nav range: 15.262269 m, bearing: 132.786245 deg, approach rate: 0.485172 m/s, LOS rate: -1.440728 deg/s, cmd heading: 231.999533 deg, new cmd heading: 230.240685 deg. 2jU0wHeadingCmd: 4.018458 target range: 73.599998 and range: 74.80 m. j5@jjjihhhhfffrfbf+g@ɛqu y}eIy }=ɚyiyIrj=IKii)5@)*FM?2FI:FIBFM0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262963G> IG B O >Znw, AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514130:Э@Y:M@:=9:  G٣y~ > Nusing accuracyPremultiplier from config59)?5Y3 i D?:p@~E;K;5TB AEZj)-DNOT Ignoring new targets: 73.60 m.Bj5`Jj5`E ProNav: ac range: 73.599998 m, nav range: 15.453609 m, bearing: 132.215575 deg, approach rate: 0.440175 m/s, LOS rate: -1.296545 deg/s, cmd heading: 230.240677 deg, new cmd heading: 228.550382 deg. 2jEs^MHeadingCmd: 3.988957 target range: 73.599998 and range: 74.80 m. jUK@jYjYjYiYhYhYhaheBfafafirfibfm@@ɛ5*B5 15PI9 =@R=ɚ9i9I=~Il=IEiAiA)EK@)IjHqbHqH}>Iy I}II}BI} =&Iy.I}@D6I}<:I}O F*F?2F:FBF 0JF J3KO3 K(.KK"KJxJtJJJZ:J9JJJ ;aJ ;aJ:aJ:aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766023G- ,>G5 ?G5 )?G B O= > I %'nw,c&A.~G:|uAD f#Yf|uAyfcBzeӔ@Yz@z=9zxOXAA EG٣E9SGyE䍽 M> UNusing accuracyPremultiplier from configI]59M?]5YM" iMHDaeÿe@MEMlK;MK;Mr5q }AyZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 15.619493 m, bearing: 131.708998 deg, approach rate: 0.424829 m/s, LOS rate: -1.283540 deg/s, cmd heading: 228.550383 deg, new cmd heading: 227.047157 deg. 2j8\HeadingCmd: 3.962720 target range: 73.599998 and range: 74.80 m. j6}@jjjihhhhfffrfbfH@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:14:47.4339 ETRx dataTimestamp_ set to:1736378088.705736Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020255ɛV 隅|I <ɚiIm=I-@ti)i1)56}@)9*F?2F:FBF1JF!zKJK9KKKG% F> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270951G B O5 >nw,PT@A@Yt@1=99!! %G٣!y%c %> 5Nusing accuracyPremultiplier from config)559-I?=5Y-) i-D=?=:=ƿ=@-E-;-};-5I MAIeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 73.60 m.Bj߬Jj߬  ProNav: ac range: 73.599998 m, nav range: 15.814635 m, bearing: 131.104082 deg, approach rate: 0.394929 m/s, LOS rate: -1.209104 deg/s, cmd heading: 227.047154 deg, new cmd heading: 225.255415 deg. 2j sO5HeadingCmd: 3.931449 target range: 73.599998 and range: 74.80 m. j=ۜ{@j9j9j9i9h9h9hAhEBfAfAfIrfIbfM @ɛ kwI q <ɚiI3{o=Iaii5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed -0.5 m/s E,DAT read: user:3119> MBDAT read: Tx time:23:14:48.5278 U$Ping request sent.UI] C I] II] BBI]  =&IY .IY 6I] <:I] ? FGI J vJ mJ 0J J {T:J &9J ـ3J J Hu;J Ju;J :J :G! B1 OU >inw,I\AFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJDAT read: TxSync time:23:14:48.5270 R@YR"!@R=9R(-G B! OE >ޜnw,uA:l @Y:@:=9:ll nG٣n:SGyr r> vNusing accuracyPremultiplier from configtz59vr?z5Yv3 ivDxzVο~@vEv*:v ;v5 AEZjDNOT Ignoring new targets: 73.60 m.BjPJjP ProNav: ac range: 73.599998 m, nav range: 16.092663 m, bearing: 130.199429 deg, approach rate: 0.358625 m/s, LOS rate: -1.177214 deg/s, cmd heading: 224.042895 deg, new cmd heading: 222.565722 deg. 2jIHeadingCmd: 3.884505 target range: 73.599998 and range: 76.50 m. jx@jjjihhhhfffrfbfNk?ɛ)-D. )-fxI) 5;<ɚ1i1I5Pr=I=i9i9)=x@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFT0JF qIuhGIG9 BI Om >e Will construct direction to contact in vehicle frame from tetrahedron phase data.ףnw,Ab#@Yb2@bے|=9bm7m;i mrA)iIm AiympAI*I3٢V: <9BϻQ > G٣yԂ > Nusing accuracyPremultiplier from config59?5Y8 i.E>: ֿ@E;';5 SB A EZj9EDNOT Ignoring new targets: 73.60 m.BjE魼JjM魼] ProNav: ac range: 73.599998 m, nav range: 16.235573 m, bearing: 129.679363 deg, approach rate: 0.337217 m/s, LOS rate: -1.216350 deg/s, cmd heading: 222.565717 deg, new cmd heading: 221.019650 deg. 2j]PeHeadingCmd: 3.857521 target range: 73.599998 and range: 76.50 m. jev@jajajaiahahihihm΃Bfqfqfqrfqbf}H?ɛ 隵 xI <ɚiIxs=Iii)v@)ZHRHAAH>I I!II`BI =&I.I6I<:IN F*F-?2F1:F1BF5_0JF1JqJkJJJD:J9JJJIZ;JLZ;J:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.GUA>G! B1 OU > I II nw,AR@@YR>P@Rso=9RXc|| G٣y >  Nusing accuracyPremultiplier from config u59 ?}5Y Y= i UEy}ٿ}@ E n< o< `5 AZjDNOT Ignoring new targets: 73.60 m.Bj_Jj_ ProNav: ac range: 73.599998 m, nav range: 16.352949 m, bearing: 129.239010 deg, approach rate: 0.306780 m/s, LOS rate: -1.142652 deg/s, cmd heading: 221.019649 deg, new cmd heading: 219.708314 deg. 2j DHeadingCmd: 3.834634 target range: 73.599998 and range: 76.50 m. jju@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.iɛ)-r1 15yI1 5<ɚ9i9I= t=I=iAiA)Eju@)AEUl>EU>*F?2F:FBFJF"GC>GC>zKNK}9KKK|tkidaZTQNIEDD?;:510/+.*&$$%#"  G  >GB Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,RúA IM%9%T%A %CA)%AI%A!y%AI5QI54٢Eqn E6=9MQ M>IQ UG٣U;SGyUf U> eNusing accuracyPremultiplier from configau59eZ?u5YeB ieEu>u:ul㿑}@eEeU9;eH;eW 5 RAZjDNOT Ignoring new targets: 73.60 m.Bj0Jj0 ProNav: ac range: 73.599998 m, nav range: 16.480797 m, bearing: 128.692574 deg, approach rate: 0.292223 m/s, LOS rate: -1.239291 deg/s, cmd heading: 219.708321 deg, new cmd heading: 218.082189 deg. 2jTHeadingCmd: 3.806252 target range: 73.599998 and range: 76.50 m. js@jjjihhhh҃Bfffrfbf`Z?ɛNk) eI <ɚiI+v=Iii)s@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFU`0JFQH >I  I .II kBI  =&I .I AD6I I<:I FBIȬCJIȬCRIZI =bI =jIȕ5G G B O >J rJ hJ J J G:J Ȇ9J J J _;J _;J Ӭ:J լ:Znw,@jݺA6ۜ@Y6Y@6#i=965\9 =G٣9ye e> mNusing accuracyPremultiplier from configiu59m#?u5YmF imEq濑@mEm;mx;m!5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.Bj  Jj   ProNav: ac range: 73.599998 m, nav range: 16.583502 m, bearing: 128.240946 deg, approach rate: 0.270555 m/s, LOS rate: -1.182340 deg/s, cmd heading: 218.082189 deg, new cmd heading: 216.735960 deg. 2jJ%HeadingCmd: 3.782756 target range: 73.599998 and range: 76.50 m. j%r@j!j!j!i!h)h)h)h)f1fIfQrfqbfu~@ɛ+BC .I G<ɚiI/w=I ii ) r@) I*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.GG B O >m.nw,^IA6Í@Y6WӔ@6d=96!k;y6H)w@? oA錬@ ?`?ɨ6Í@6p\;6 CyNBNIIVlIVm?4٢b bI=9fa4Q f>dh jG٣hyj\ j> rNusing accuracyPremultiplier from configlr59ne?v5Yn=K inFtv'꿑v@nEn:n7:n#5zK~-NK~ŷ9K|K~K~RK?JK?  A Zj15DNOT Ignoring new targets: 73.60 m.Bj=BJj=BM ProNav: ac range: 73.599998 m, nav range: 16.688490 m, bearing: 127.764318 deg, approach rate: 0.277920 m/s, LOS rate: -1.253758 deg/s, cmd heading: 216.735959 deg, new cmd heading: 215.315376 deg. 2jMWUHeadingCmd: 3.757962 target range: 73.599998 and range: 76.50 m. jUtp@jQjYjYiYhYhYhahafafafarfibfm`Ԝ@ɛ 5cR 15I1 =^`<ɚ9i9I=x=IE@!iAiA)Etp@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769780*F?2F:FBFO5JF IG->G B OU >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:14:51.0368 E TRx dataTimestamp_ set to:1736378092.232607M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0216432nw,AyޝBޝIEMb@Mb@Mb@AAA A)AYE}?5^I?&1{GzyAEнEףA A)AIE^AAyEAI]WI]44٢mox m3=9mQ m>qq uG٣u Nusing accuracyPremultiplier from config59o?5YuP ikFz>: @Eb;;%5 AEjH<bH<H>IC I!II`BI =&I.I6I<:IH FZjiuDNOT Ignoring new targets: 73.60 m.Bj}nJj}n ProNav: ac range: 73.599998 m, nav range: 16.809832 m, bearing: 127.192259 deg, approach rate: 0.254689 m/s, LOS rate: -1.192030 deg/s, cmd heading: 215.315375 deg, new cmd heading: 213.612117 deg. 2jLHeadingCmd: 3.728235 target range: 73.599998 and range: 76.50 m. jfn@jjjihhhhBfff rf bf @ɛ],B]< Y]dIY e<ɚaiaIerz=IO#ii)fn@)*FY2FY:FaBFeP5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273038  I G >Gy B O >Anw,+An@Yn~@nvX=9n;ynH@ ?x{s` |? Y?ɨn@nkލ;ly%B-IiMa>IM=I]xI]T4٢m| m\=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59?5YT iF@E;;E'5TB TAWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerZjUDNOT Ignoring new targets: 73.60 m.BjUWJjUWe ProNav: ac range: 73.599998 m, nav range: 16.902620 m, bearing: 126.713587 deg, approach rate: 0.263580 m/s, LOS rate: -1.352259 deg/s, cmd heading: 213.612117 deg, new cmd heading: 212.184297 deg. 2jehuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.539973HeadingCmd: 3.703315 target range: 73.599998 and range: 76.50 m. jm@jjjihhhhfffrfbf,g @ɛ}{ ƐI A<ɚiI%{=I%%iIiI)Mm@)I*F?2F:FBFP0JFzKMKKM@9KIKMKM J|.2 P B ) |<r E|T_V$ydM0JJJqJiJJJD:Jڈ9JJa@a@a@a@G% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778352G B) O >)nw,]DA `Id%@Yn5@R=9߯9M"۽MMA I)MAIM/AIyM=AIm`Im(*4٢} }:=9`Q > G٣y > Nusing accuracyPremultiplier from config59<?5YY iGJ>:@E;;/)5I M#AQZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 17.018789 m, bearing: 126.104476 deg, approach rate: 0.251196 m/s, LOS rate: -1.308087 deg/s, cmd heading: 212.184294 deg, new cmd heading: 210.370074 deg. 2jn`HeadingCmd: 3.671650 target range: 73.599998 and range: 76.50 m. jRj@jjjihhh h }Bf f frfbf9@ɛ-Be mI {[<ɚiIh}=Ic#'ii)Rj@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028867*F?2F:FBFJFH>I IIIGBI&I.I6I<:IV FG >G ?G >Gq B O >Pnw,^A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280477yUBU^IIeiIe:4٢ݘ \=9Q > G٣=SGy > Nusing accuracyPremultiplier from config59?5Yh^ ikG@Ez::*5SB AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.BjϼJjϼ  ProNav: ac range: 73.599998 m, nav range: 17.118900 m, bearing: 125.593916 deg, approach rate: 0.286574 m/s, LOS rate: -1.452945 deg/s, cmd heading: 210.370072 deg, new cmd heading: 208.847729 deg. 2j IyHeadingCmd: 3.645081 target range: 73.599998 and range: 76.50 m. jIi@jjjihhh!h!f!f!f)rf)bf-^@ɛ].Be ae"Ia eVЦ<ɚaiaIm~=Im(iqiq)uIi@)y $?Ih*F?2F:FBF^0JF)y y )9 Yy BWill construct direction to contact in vehicle frame from tetrahedron phase data.iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533558G>Gq By O >{nw,?xA6X@Y6xh@6 >F=96tt zG٣xyzG z> Nusing accuracyPremultiplier from config|59~\?5Y~b i~G   @~E~L:~:~|,5 JAzK=QPK=9K9K=K=~xxtkgc]\ZVTQNJGDD@<96322.-*'%&(&$"! ! ZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 17.214546 m, bearing: 125.055847 deg, approach rate: 0.238458 m/s, LOS rate: -1.334005 deg/s, cmd heading: 208.847732 deg, new cmd heading: 207.242935 deg. 2jdHeadingCmd: 3.617072 target range: 73.599998 and range: 76.50 m. j~g@jjjihh h h f ffrf1bf5@i@J]oJ]nJYJYJ]>:J]99JYJYɛ}/B}# 隅3I d<ɚiI'=I*iia)e~g@uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786477)*F%?2F):F)BF-_0JF) IG- >GA BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036580dnw,mAyBIMb@Mb@Mb@ )Yq= ףp?Cl绿+y ?;߽A rA)I^AyIIt4٢m :=9Q > G٣y   > Nusing accuracyPremultiplier from config59n?%5Yh i=H%?%:%%@E;';h.51 5NA1ZHQRHQH]>IY I]II]BIY&IY.IY6I]ǯ<:I]- FZjyDNOT Ignoring new targets: 73.60 m.Bj1Jj1㼝 ProNav: ac range: 73.599998 m, nav range: 17.345629 m, bearing: 124.375074 deg, approach rate: 0.308300 m/s, LOS rate: -1.589010 deg/s, cmd heading: 207.242939 deg, new cmd heading: 205.216948 deg. 2jPHeadingCmd: 3.581712 target range: 73.599998 and range: 76.50 m. j:e@jjjihhhh7Bfffrfbf৬@ɛ0B I mU<ɚiiiImY=Iu,iqiq)u:e@)y*F%?2F!:F!BF%o0JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288857Ge '>Gm qAGi I hGA BI Oa Սnw,NDA6=~@Y6@6s9=96TT VG٣V>SGyZ% Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZm iZHdff@ZEZ;Z;Z/5h jAhZjDNOT Ignoring new targets: 73.60 m.BjؼJjؼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541961 ProNav: ac range: 73.599998 m, nav range: 17.444506 m, bearing: 123.808363 deg, approach rate: 0.265730 m/s, LOS rate: -1.514367 deg/s, cmd heading: 205.216954 deg, new cmd heading: 203.526974 deg. 2j遽 HeadingCmd: 3.552216 target range: 73.599998 and range: 76.50 m. j Wc@j1j1j1i9h9h9hAhIfIfIfqrfybfhB@ɛ1Bsà fI K<ɚiIí=I3.ii)Wc@)*F?2F:FBFS1JFzK{NK9KKK   !(2JqJuiJqJqJqJuڈ9JqJqG,> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794055G B O5 >xnw,<-ƻA ,I0掆@Yd@m[3=9+ G٣yy > Nusing accuracyPremultiplier from config 59q? 5Yst i-I ? :@@E;>;25 AEZjAEDNOT Ignoring new targets: 73.60 m.BjU#JjU#m ProNav: ac range: 73.599998 m, nav range: 17.594049 m, bearing: 122.990770 deg, approach rate: 0.324038 m/s, LOS rate: -1.756481 deg/s, cmd heading: 203.526974 deg, new cmd heading: 201.096584 deg. 2jmmHeadingCmd: 3.509798 target range: 73.599998 and range: 76.50 m. ju`@jqjqjqiqhqhqhyh}Bfyfyfrfbf@ɛ2BL 隍I <ɚiI5=I01ii)`@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044794*F-?2F1:F1BF50JF1HU>IQ IUIIUBIQ&IQ.IQ6IU<:IUH FG >G B O% >Şnw,߻A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296763>|@Y>@>0-=9>H@aӿ@f?ؠbӿ8Y:7??ɨ>|@>;>"CyJ@BJIIVIVt4٢b?9 bv=9b7Q f?dd fG٣dyj j? nNusing accuracyPremultiplier from configlr59n?r5Yn-y inItv$v@nEn:n:n35x zAxZjDNOT Ignoring new targets: 73.60 m.BjJj伝 ProNav: ac range: 73.599998 m, nav range: 17.694710 m, bearing: 122.422086 deg, approach rate: 0.284994 m/s, LOS rate: -1.600901 deg/s, cmd heading: 201.096588 deg, new cmd heading: 199.400764 deg. 2jUHeadingCmd: 3.480200 target range: 73.599998 and range: 76.50 m. j^@jjjihhhhfffrfbf k@ɛaeQɽ e =eIa mzBs<ɚiiiImix=II2ii)^@)E e$?Ia*FM?2FI:FIBFM2JFI"GUR>GUG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549522Gm(K>Ga B O >:nw,Ay2BII-I-1h4٢=[ =C=9EQ E>AI MG٣M?SGyM M> ]Nusing accuracyPremultiplier from configQ]59U?e5YU% iU Jaae@UEU;:U:U[55i mAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.BjNJjN ProNav: ac range: 73.599998 m, nav range: 17.824329 m, bearing: 121.712965 deg, approach rate: 0.322358 m/s, LOS rate: -1.750683 deg/s, cmd heading: 199.400761 deg, new cmd heading: 197.289879 deg. 2j/HeadingCmd: 3.443358 target range: 73.599998 and range: 76.50 m. j_\@jjjizKYMK9KKK:EOWags}}z~|zqdXOGC@<:85423.*))#RK?JK?J=tJ9J9J9J=;N:J9J9J9hqhqhqhqfyfyfyrfybf}@ɛ3B` JI x^<ɚiI#_=IU5ii)_\@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.800844*F?2F:FBFP0JF AIAGE 0P>G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0526432ow,.A2@Y2Њ@2v"=92K|BBI)D DEMb@Mb@Mb@AAA A)AYEHzG?~jtktyE=*?EE 0A EA)E(AIEAAyAIUIUm4٢e eH=9mPQ u>qy }G٣yy} > Nusing accuracyPremultiplier from config59?5Y iJ+?:@E;;&75RB AEZjDNOT Ignoring new targets: 73.60 m.BjJjjH<bH<H>I I@IIBI =&I.I6I<:IN FBICJICRIZI =bI =jIo4- ProNav: ac range: 73.599998 m, nav range: 17.964085 m, bearing: 120.960096 deg, approach rate: 0.343003 m/s, LOS rate: -1.833348 deg/s, cmd heading: 197.289878 deg, new cmd heading: 195.050048 deg. 2j-F5HeadingCmd: 3.404266 target range: 73.599998 and range: 76.50 m. j=}Y@j9j9j9i9h9h9hAhE‚BfAfAfIrfIbfM`j@ɛ]4B] Y]ƿIY eh:I<ɚaiaIeJ=Im8@8iii)}Y@)*F%?2F!:F!BF!JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.304649 1 I1 G5 F>G! B1 OQ ow, -A6(ς@Y6މ@6ʬ=96^#BByIIJyIJxV4٢R̹ RX=9RbQ R>TT VG٣TyZ Z>  Nusing accuracyPremultiplier from config\59^k?5Y^H i^J@^E^V<^D;^85! -TA)ZjY]DNOT Ignoring new targets: 73.60 m.Bje\Jje\u ProNav: ac range: 73.599998 m, nav range: 18.089195 m, bearing: 120.264822 deg, approach rate: 0.321095 m/s, LOS rate: -1.772026 deg/s, cmd heading: 195.050054 deg, new cmd heading: 192.979609 deg. 2ju}HeadingCmd: 3.368129 target range: 73.599998 and range: 76.50 m. j}oW@jyjyjyihhhhfffrfbf`7@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556665ɛ>ܽ M˿I h6<ɚiIf!=Iu9ii)oW@)Eϰ=*F?2F:FBFJFG GrAzKM NKM @9KI KM KM   m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809548G 0P>G G qA - $?I- hG B OE >Aow,pwIA}@؁@Y}@}=9} G٣@SGyx > Nusing accuracyPremultiplier from config59%w?5Y iwKq9?:@Eض;3;:5 AEZjDNOT Ignoring new targets: 73.60 m.Bj3 Jj 3  ProNav: ac range: 73.599998 m, nav range: 18.279816 m, bearing: 119.306133 deg, approach rate: 0.388455 m/s, LOS rate: -1.933198 deg/s, cmd heading: 192.979605 deg, new cmd heading: 190.136000 deg. 2jץ%HeadingCmd: 3.318499 target range: 73.599998 and range: 76.50 m. j%KbT@j!j!j!i!h!h)h)h5Bf1f1f1rf1bf= @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060706ɛ5B   пI  <ɚ i I-=Ij=ii)KbT@)EMpAEMqAE%==*F?2F:FBF^0JFH>IC IIIrBI&I.I6I<:IJm oJm hJi Ji Jm >:Jm Ȇ9Ji Ji Jm }O;a Jm O;a Ji a Ji a G GY Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data.} =} < checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312868O >WZow,cAf߀@Yf@fd=9fԼ?u ܿ 13`???ɨf߀@f;fCyrBrRIiv G٣y=⭽ E> MNusing accuracyPremultiplier from configAM59E\l?U5YE~ iEKQUU@EEE7:E;E<5QB KAEZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 18.412771 m, bearing: 118.619549 deg, approach rate: 0.373087 m/s, LOS rate: -1.912668 deg/s, cmd heading: 190.136006 deg, new cmd heading: 188.092043 deg. 2j IHeadingCmd: 3.282825 target range: 73.599998 and range: 76.50 m. jR@jjjihhhhfffrfbf @ɛn hӿI P<ɚiI=I ?i i )5R@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564615E$=*F ?2F :F BF P0JF *J C="J G GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817306BzKxLK9KKK"),+&!#!!'07<O> ow,SwAj}@Yj^@j=9jk G٣y2 > %Nusing accuracyPremultiplier from config!-59%\?-5Y%6 i%\L)5 5@%E%:%P:%>59 =`A9]B*** querying acoustic contact ***jYjYZjDNOT Ignoring new targets: 73.60 m.Bj Jj  ProNav: ac range: 73.599998 m, nav range: 18.580204 m, bearing: 117.664388 deg, approach rate: 0.341277 m/s, LOS rate: -1.929263 deg/s, cmd heading: 188.092044 deg, new cmd heading: 185.254836 deg. 2j  5$?I1EHeadingCmd: 3.233307 target range: 73.599998 and range: 76.50 m. jEN@jAjAjAiAhAhIhIhIfIfQfQrfQbfU!@ɛ6Bɽ (ԿI ;ɚ i I~ =IE51CiIiQ)}N@)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068606*F 2F :F BF JF ZHi RHm ?AHu >Iq  Iu IIu DBIu =&Iu ED.Iq 6Iu ү<:Iu ; FG (K>JnJgJJJ|;:J9JJJJ;JJ;J>:J@:GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320747O%><'(ow,2A6{@Y6}@6֭<96FBB>IMb@Mb@Mb@ )YNbX9? G٣ASGyZt > Nusing accuracyPremultiplier from config59I?5Y  iLE?: @E;;@5PB AEZj%DNOT Ignoring new targets: 73.60 m.Bj-Jj- AIIM ProNav: ac range: 73.599998 m, nav range: 18.778635 m, bearing: 116.598234 deg, approach rate: 0.388984 m/s, LOS rate: -2.067777 deg/s, cmd heading: 185.254838 deg, new cmd heading: 182.093569 deg. 2jMcUHeadingCmd: 3.178132 target range: 73.599998 and range: 76.50 m. jUfK@jQjYjYiYhYhYhaheqBfafafirfibfmh"@Aay FYyAɛ Ž  ׿I  =2;ɚ9i9I=@=IE0FiAiI)MfK@)Q*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572551GM 8U>G! B1 OU >E.ow,ݻABy@YB@Be<9Bdd fG٣dyj7 j> rNusing accuracyPremultiplier from configlr59n;?r5Yn, in7Mtv v@nEn:n:nB5zQB zA~EZj)-DNOT Ignoring new targets: 73.60 m.Bj5Jj5E ProNav: ac range: 73.599998 m, nav range: 18.915569 m, bearing: 115.842143 deg, approach rate: 0.369976 m/s, LOS rate: -2.027995 deg/s, cmd heading: 182.093567 deg, new cmd heading: 179.842939 deg. 2jEMHeadingCmd: 3.138851 target range: 73.599998 and range: 76.50 m. jMH@jIjIjIiIhQhQhQhQfYfYfarfabfe`d#@ɛ 隕iؿI  y;ɚiI=IGii)H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.<<%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826188zK5/MK59K1K5K59768Hk~zvtpkhfdb]ZTSPNMJGD8(!%Qv*FE?2FA:FABFE0JFA U$?I]hG}(K>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. Ia IeIIe%BIa&Ia.IeBD6Ieگ<:IeA FMb@Mb@Mb@ )YK7?S㥛?X9vyIL?/<A rA)(AIAyAIkI=4٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59,?5Y iML?:@E;l;rD5PB A EZj15DNOT Ignoring new targets: 73.60 m.Bj=Jj=M ProNav: ac range: 73.599998 m, nav range: 19.105343 m, bearing: 114.958758 deg, approach rate: 0.433364 m/s, LOS rate: -1.997168 deg/s, cmd heading: 179.842938 deg, new cmd heading: 177.221042 deg. 2jMTUHeadingCmd: 3.093091 target range: 73.599998 and range: 76.50 m. jU3E@jQjQjQiYhYhYhYh]Bfafafarfabfm mk$@ɛ'ٽ 隽aֿI ;ɚiI=ISF@ii)3E@)EJkـ3Kkـ3 KkKcKc"KcJoJhJJJ>:JȆ9JJJ}O;JO;JԬ:Jլ:*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MG B O >Y;ow,0A6u@Y6@6"3<96[îdd jG٣jBSGyrB/ r> vNusing accuracyPremultiplier from configtz59v?z5Yvb ivMxz ~@vEv'!;v!;vF5 lAZj)-DNOT Ignoring new targets: 73.60 m.Bj5Jj5E ProNav: ac range: 73.599998 m, nav range: 19.254232 m, bearing: 114.191217 deg, approach rate: 0.401475 m/s, LOS rate: -2.053582 deg/s, cmd heading: 177.221047 deg, new cmd heading: 174.937507 deg. 2jE+MHeadingCmd: 3.053236 target range: 73.599998 and range: 76.50 m. jM6hC@jIjIjIiQhQhYhahafafafarfibfm)%@Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYO}>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Response Not Received U *response not receivedU ,DAT read: user:3121> -U AA MG٣Iy] e> Nusing accuracyPremultiplier from configy59}W ?5Y}/ i}=N@}E} <}5<}H5uOB uAuEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.BjJjE ProNav: ac range: 73.599998 m, nav range: 19.440857 m, bearing: 113.269116 deg, approach rate: 0.386074 m/s, LOS rate: -1.889178 deg/s, cmd heading: 174.937510 deg, new cmd heading: 172.199965 deg. 2jMUHeadingCmd: 3.005456 target range: 73.599998 and range: 76.50 m. jUfY@@jQjQjQiQhYhYhYhYfafafarfabfm*&@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:14:59.4779 $Ping request sent.I III BI&I.I6I<:Im FG 0P>J J eJ J J J 9J J J J J :J :G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251269rHow,Xo#A6q@Y6@6ؗ<96ȴYi mG٣iym# m> }Nusing accuracyPremultiplier from configq}59u~?5Yu iu{NM?: @uEu;u;uI5 AZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 19.603083 m, bearing: 112.444012 deg, approach rate: 0.428496 m/s, LOS rate: -2.161285 deg/s, cmd heading: 172.199970 deg, new cmd heading: 169.746728 deg. 2jhHeadingCmd: 2.962639 target range: 73.599998 and range: 76.50 m. j=@jjjihh h hBfffrfAbfEn&@ɛq3 隕οI UbɚQiQI]ю=I]d>@iaia)e=@)a*Fm?2Fi:FiBFm4JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504687G G B O >ߔNow,(=A6g|o@Y6b}@6@<96[ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007359 |Uow,WAyf!BfIH>I III0BI =&I.I6I<:Iq FBICJICRIZI =bI =jI5Mb@Mb@Mb@ )YZd;?Mb?y>?= )IyI5I3٢v= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59!~?5Yr iN??: @E;;@M5 kAZj  DNOT Ignoring new targets: 73.60 m.BjB JjB % ProNav: ac range: 73.599998 m, nav range: 19.903162 m, bearing: 110.923997 deg, approach rate: 0.396349 m/s, LOS rate: -1.920047 deg/s, cmd heading: 167.639753 deg, new cmd heading: 165.223960 deg. 2j%-HeadingCmd: 2.883702 target range: 73.599998 and range: 76.50 m. j-8@j)j)j)i)h1h1hhςBfffrfbf@A{(@ɛ5B    ſI  =Qɚ9i9I=~=IE/9@iAiI)M8@)i*F ?2F :F BF ]0JF JmJdJJJ\8:J|9JJJD;JD;J:J:%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259464 IhGM (K>G! B1 OM >$[ow,pA6k@Y6 y@6G$1<96q  V\=9VUQ V>XX ZG٣XyZ;A ^> bNusing accuracyPremultiplier from config`f59bm~?f5Yb ibNhjj@bEba;b;bN5nNB rAr EZj DNOT Ignoring new targets: 73.60 m.Bj Jj% ProNav: ac range: 73.599998 m, nav range: 20.031029 m, bearing: 110.215071 deg, approach rate: 0.344638 m/s, LOS rate: -1.898518 deg/s, cmd heading: 165.223956 deg, new cmd heading: 163.111766 deg. 2j%ݢ-HeadingCmd: 2.846837 target range: 73.599998 and range: 76.50 m. j-26@j)j1j1i1h1h1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511187h9hfffrfbf9)@ɛ 㾿I R\ɚiI=?=I%6@i!i!)-26@))*F?2F:FBFo0JFG0P>*Jq"JqGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763514zKE yNKE }9KA KE KE `- (=JA(qI, RKM ?JKM ? $?I &h@Y>"v@>#!<9> H `?}1\?d$?@?ɨ>&h@>8;>!CyJOBJIIzfIz44٢= E=9 Q  >    G٣ DSGy짽 > Nusing accuracyPremultiplier from config%597~?%5Y iN)--@ÆEB;y~;P5Y eAiZj %DNOT Ignoring new targets: 73.60 m.Bj-9Jj9m ProNav: ac range: 73.599998 m, nav range: 20.168152 m, bearing: 109.419400 deg, approach rate: 0.313665 m/s, LOS rate: -1.807643 deg/s, cmd heading: 163.111761 deg, new cmd heading: 160.742403 deg. 2juuHeadingCmd: 2.805484 target range: 73.599998 and range: 76.50 m. ju3@jyjyjyiyhyhyhhfffrfbf (*@ɛ4Bt9ͽ bI ڻɚiI/=Iy4@i)i1)53@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015520*F2F:FBFJFHI IIIXBI =&I.I6I3<:I FG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267238how,򕤽A2f@Y2t@2& <92' G٣yۗ  > =Nusing accuracyPremultiplier from config)E59-~?E5Y-s i-NM8?M:MCM@-ņE-.;-]y;-R5eMB e2Ae EB*** querying acoustic contact ***jjZjmDNOT Ignoring new targets: 73.60 m.Bju"Jju" ProNav: ac range: 73.599998 m, nav range: 20.295959 m, bearing: 108.598051 deg, approach rate: 0.298210 m/s, LOS rate: -1.904294 deg/s, cmd heading: 160.742410 deg, new cmd heading: 158.295454 deg. 2j\HeadingCmd: 2.762777 target range: 73.599998 and range: 76.50 m. jV0@jjjihhhhBfffrfbf*@ɛ)5׽ 15:I1 5&ɚ1i1I=ْ=I= 1@iAiA)EV0@)aEq*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519853GA GM ?GM ,?G B) OE >now,pA>Ud@Y>Qr@>;9>UuH+n@k?`6l*n`j~?^1~Ud@>);>Cy^BbIIjKIj4٢rV*> v\=9vX;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59Õ~? 5Y iNW@ȆEq::4T5 %5A!ZjAMDNOT Ignoring new targets: 73.60 m.BjM JjM e ProNav: ac range: 73.599998 m, nav range: 20.398020 m, bearing: 107.910280 deg, approach rate: 0.287891 m/s, LOS rate: -1.930309 deg/s, cmd heading: 158.295453 deg, new cmd heading: 156.243390 deg. 2jemHeadingCmd: 2.726962 target range: 73.599998 and range: 76.50 m. jm.@jqjqjqiqhqhyhyhyfffrfbfU+@ɛ3B 隵0I vɚiI}=I.@ii).@)J=oJ=iJ9J9J=>:J=ڈ9J9J9aM@aM@aM@aM@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772824 $?I*F?2F:FBF5JFzK-NK-59K)K-K-GU8U>GI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:15:01.9959  TRx dataTimestamp_ set to:1736378103.324656 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024409uow,NؽA2b@Y2|p@2;92b_IP IR!IIRBIR =&IP.IP6IR$<:IRz Fy^B^.IUMb@Mb@Mb@QQQ Q)QYUK7?Mbpy&1?yUI,?UU`eIm3٢}= }A=9}> Q > G٣ESGy > Nusing accuracyPremultiplier from config597~?5YX iNT,?:!@ʆET<; V5) -A-EZjq}DNOT Ignoring new targets: 73.60 m.Bj}Jj󼝊 ProNav: ac range: 73.599998 m, nav range: 20.484652 m, bearing: 107.151695 deg, approach rate: 0.195503 m/s, LOS rate: -1.704620 deg/s, cmd heading: 156.243391 deg, new cmd heading: 153.978508 deg. 2j;HeadingCmd: 2.687432 target range: 73.599998 and range: 76.50 m. j+@jjjihhhhXBfffrfbf;,@ɛYe aeIa e+!ɚaiaI%@=I~+@ii)+@)*FM?2FI:FQBFU4JFYWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276165 $?I) SC)  YyEBG 0P>G B O > {ow,+AJS`@YJOn@J;9J    G٣ yk > Nusing accuracyPremultiplier from config-59o~?-5Y& iN)-#-@̆E1; 2;W5ELB EAEE]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 85.4 m (Round-trip 113.9 ms) speed -0.7 m/s m,DAT read: user:3122> uBDAT read: Tx time:23:15:03.0779 u$Ping request sent.}J]pJ]eJYJYJ]A:J]9JYJYGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:15:03.0771 I hzKe JQJKe 9Ka Ke Ke   ;ow, AyUĀBUaIIm ImV2٢= >=9Q > G٣y  > 5Nusing accuracyPremultiplier from config!E59%[~?U5Y%q i%NYae@%ΆE%<% <%Y5 =AZjDNOT Ignoring new targets: 73.60 m.BjJj缝 ProNav: ac range: 73.599998 m, nav range: 20.648186 m, bearing: 105.667988 deg, approach rate: 0.183725 m/s, LOS rate: -1.621364 deg/s, cmd heading: 151.887520 deg, new cmd heading: 149.547486 deg. 2jeWill construct direction to contact in vehicle frame from tetrahedron phase data.mHeadingCmd: 2.610096 target range: 73.599998 and range: 85.40 m. jm '@jijijiiihihqhqhqfqfyfyrfybfd?ɛ9= ( 9=TIA EDɚAiAIEI=IM '@iIiI)M '@)QjH<bHHI IlIÌBI =&I.I6I3<:I F*F-?2F1:F1BF5O0JF1GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 O >Y#ow,S&A &$?I$BB\@YB>j@Bb3;9BH IQ UG٣UFSGy] ]> mNusing accuracyPremultiplier from configi}59mG~?5YmQ imN?:y-@mІEms;mr;m[5KB AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.60 m.Bj% Jj%  ProNav: ac range: 73.599998 m, nav range: 20.690792 m, bearing: 104.953457 deg, approach rate: 0.114631 m/s, LOS rate: -1.918418 deg/s, cmd heading: 149.547484 deg, new cmd heading: 147.409352 deg. 2jHeadingCmd: 2.572778 target range: 73.599998 and range: 85.40 m. jg$@jjjihhh9h=BfAfAfArfAbfM_?ɛ1BVɽ 隽I 4RɚiIPD=Ig$@ii)g$@)*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G F>G B O >@ow,?A6Z@Y6h@6)g :96Qhl nG٣lyrŽ r> vNusing accuracyPremultiplier from configtz59v 6~?z5Yv ivhNx~/~@v҆Ev;v;v]5 .A Zj1=DNOT Ignoring new targets: 73.60 m.BjEJjEU ProNav: ac range: 73.599998 m, nav range: 20.721605 m, bearing: 104.353940 deg, approach rate: 0.088142 m/s, LOS rate: -1.712344 deg/s, cmd heading: 147.409348 deg, new cmd heading: 145.614090 deg. 2jU咽UHeadingCmd: 2.541445 target range: 73.599998 and range: 85.40 m. j] "@jYjYjYiYhahahahafififirfibfm|?JnJfJ1JJ|;:J9J3JɛIU&ɽ 隕I TV`ɚiIٖ=I5]#@ii) "@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ս8>ս=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257889EE]>EE%> m$?IqzKMvKKMK9KIKMKM ((&! #"!*F?2F:FBFo0JFG 8U>G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510977'ow,cYAH>I III BI =&I.I6I<:Ii Fy=B=IMb@Mb@Mb@ )Y\(\?Mby&1|?y?`;A A)XAIyAI3Iʴ3٢-u= -6=9-Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM59E~?M5YE iE_NUQ?U:U6U@EԆEEV;E;E^5]JB eAeEZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 20.733513 m, bearing: 103.588437 deg, approach rate: 0.026648 m/s, LOS rate: -1.712066 deg/s, cmd heading: 145.614087 deg, new cmd heading: 143.320194 deg. 2jߒHeadingCmd: 2.501409 target range: 73.599998 and range: 85.40 m. j @jjjihhhhӃBfffrfbf ?ɛ븽 fI ~oɚiIz=I @ii) @)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762666 m$?IiG 0P>G B O >:Row,ɭsA:V@Y:d@:K:9:}xXX ^G٣\y^0 ^> fNusing accuracyPremultiplier from config`f59b ~?j5Yb ibXNhj:j@bֆEb.:b:b`5l rArEZjDNOT Ignoring new targets: 73.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013210Bj-dJj-d󼝊= ProNav: ac range: 73.599998 m, nav range: 20.732132 m, bearing: 102.981468 deg, approach rate: -0.003873 m/s, LOS rate: -1.702316 deg/s, cmd heading: 143.320195 deg, new cmd heading: 141.499813 deg. 2j= EHeadingCmd: 2.469638 target range: 73.599998 and range: 85.40 m. jE@jAjAjIiIhIhIhIhQfQfQfQrfQbf]0@ɛNb½ 隕ԉI  y|ɚiIG =I&@ii)@)*F%?2F!:F!BF%15JF!GU@Z>*J4="Ja=JpJgJJJA:J9JJG1BAO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264874 Q IQ zK MK K K K  !"   RK ?JK ?9ow,A2T@Y2c@25:92dd jG٣jGSGy]X ]> }Nusing accuracyPremultiplier from configq59u}?5YuD iuQNi<@u؆Eu3;u%);ugb5 BAZjYmDNOT Ignoring new targets: 73.60 m.BjIJjI鼝e ProNav: ac range: 73.599998 m, nav range: 20.726187 m, bearing: 102.253983 deg, approach rate: -0.013331 m/s, LOS rate: -1.631648 deg/s, cmd heading: 141.499813 deg, new cmd heading: 139.317846 deg. 2jmHeadingCmd: 2.431555 target range: 73.599998 and range: 85.40 m. j@jjjihhhhfffrfbf@5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518406ɛyF 隭ዿI ZɚiI=I@ii)@)H)I) I-II-=BI)&I).I)6I-<:I-K FBIJIRIZI =bI =jIưh4*FM?2FI:FIBFMT5JFQGe 0P>G9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768828 = $?IA 8dow,dAy BIMb@Mb@Mb@ )Yv?ˡEĿ{Gzty?'ףXA A)(AIAy(AITI4٢%vռ %6=9-Q ->)1 G٣y > Nusing accuracyPremultiplier from config59}?5YD i`N?:4@@چEk;;Vd5IB lA!EB*** querying acoustic contact ***j j ZjYeDNOT Ignoring new targets: 73.60 m.BjeCJjmC} ProNav: ac range: 73.599998 m, nav range: 20.707291 m, bearing: 101.496573 deg, approach rate: -0.043282 m/s, LOS rate: -1.736385 deg/s, cmd heading: 139.317841 deg, new cmd heading: 137.044796 deg. 2j}HeadingCmd: 2.391883 target range: 73.599998 and range: 85.40 m. j@jjjihhhhBfffrfbfb=@ɛIMý IUfIQ UɚQiQIUXZ=I]@iYiY)]@)a*F?2F:FBF4JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:15:05.5986 ETRx dataTimestamp_ set to:1736378106.852925Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022373G G B O >Low,tAA6؂Q@Y6ԡ_@6*z96Ltt vG٣tyvC z> ~Nusing accuracyPremultiplier from configx59z}?5Yz izkNC@z܆Ezp;z;ze5HB [A$EZjAEDNOT Ignoring new targets: 73.60 m.BjMJjMJ@AJ ProNav: ac range: 73.599998 m, nav range: 20.683413 m, bearing: 100.901749 deg, approach rate: -0.071134 m/s, LOS rate: -1.774009 deg/s, cmd heading: 137.044795 deg, new cmd heading: 135.258875 deg. 2j/HeadingCmd: 2.360713 target range: 73.599998 and range: 85.40 m. j@jjjihhhhfffrfbf@m @ɛIM"̽ IMIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275100 $?I UɚiI=IY@ii)@)*F?2F:FBFR0JFzKEF'MKE@9KAKEKE "    BKQ:KQGG B O% >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed -0.4 m/s } ,DAT read: user:3123> } BDAT read: Tx time:23:15:06.6780  $Ping request sent.  G٣ HSGy {  > Nusing accuracyPremultiplier from config59}?5Y= iN% ?%:%D%@ކE;l0;g5Q UAY addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.531923 s, deltaX: 1.900002 m, approachRate: 0.537951 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 73.60 m.Bj Jj  ProNav: ac range: 73.599998 m, nav range: 20.651278 m, bearing: 100.139851 deg, approach rate: -0.072179 m/s, LOS rate: -1.713935 deg/s, cmd heading: 135.258878 deg, new cmd heading: 132.970912 deg. 2jHeadingCmd: 2.320780 target range: 73.599998 and range: 87.30 m. j@jjjihhhhBfffrf@3U@bfع?ɛý I _ɚiId=I 2@ii)@)!JoJJ0JJ>:JJـ3JJ~O;a JO;a J>:aJ@:a*F2F:FBF\0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:15:06.6772 G (K>G B O >#ow,A:N@Y:9\@:>*Ǻ9:>xx zG٣xy~i ~> Nusing accuracyPremultiplier from config 59 }? 5Y} iN  nF@E:":fi5Will construct direction to contact in vehicle frame from tetrahedron phase data.%GB %:A%'EZjIUDNOT Ignoring new targets: 73.60 m.Bj]Jj]m ProNav: ac range: 73.599998 m, nav range: 20.621206 m, bearing: 99.502781 deg, approach rate: -0.082629 m/s, LOS rate: -1.753040 deg/s, cmd heading: 132.970915 deg, new cmd heading: 131.057669 deg. 2jucuHeadingCmd: 2.287388 target range: 73.599998 and range: 87.30 m. jud@jyjyjyiyhyhhhfffrfbf?ɛ2BR-׽ 隽_I FɚiI26=I@ii)d@)*FQ2FQ:FQBFUo0JFQG0P>*JR="Jp=GB IO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU TQMKU 9KQ KU KU ow,)ARK?JK?6IL@Y6hZ@6@#|96>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^}?b5Y^ i^Ndf8Hf@^E^;^] ;^!k5Q ]Ae*EZjDNOT Ignoring new targets: 73.60 m.BjټJjټ ProNav: ac range: 73.599998 m, nav range: 20.584833 m, bearing: 98.818352 deg, approach rate: -0.080562 m/s, LOS rate: -1.518564 deg/s, cmd heading: 131.057670 deg, new cmd heading: 129.001685 deg. 2jE-Will construct direction to contact in vehicle frame from tetrahedron phase data.eHeadingCmd: 2.251504 target range: 73.599998 and range: 87.30 m. je@jajajaiahihihihifqfqfqrfqbfuL?ɛYeBb imIi 9ɚiI=I@HI III =&IFD.I6I<:Il Fii)@)1*F?2F:FBF_0JFJ nJ fJ J J |;:J 9J J J J;J J;J :J : $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G G pAG mAG GB - 5tAI Om >?Gow,?+A 2!Y25tAy2B= I@Y=,W@=Fݻ9=  G٣ISGy˽ > Nusing accuracyPremultiplier from config59\s}?5Y iFO&?:H@@E;;Ym5 rA B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 73.60 m.BjYJj%Y- ProNav: ac range: 73.599998 m, nav range: 20.535774 m, bearing: 97.911848 deg, approach rate: -0.108265 m/s, LOS rate: -2.005207 deg/s, cmd heading: 129.001687 deg, new cmd heading: 126.277846 deg. 2j55HeadingCmd: 2.203964 target range: 73.599998 and range: 87.30 m. j5 @j9j9j9i9hAhAhAhEBfIfIfIrfIbfM?ɛ3BL 隍I +!ɚiI\=I @ii) @)*FQ2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 8U>Gq B O >q*ow,DA>BdG@Y>>U@>V˻9>HPe?W?ȿb`F?jy?`?~?ɨ>BdG@> ;>"CyFBF:IIVjIV;4٢^ ^h=9^;:Q ^?`` bG٣`yf" f? jNusing accuracyPremultiplier from confighr59j`}?r5Yj_ ij}Opr(G@r@jEjG;jKG;jn5zFB z Az-E $?IZj!-DNOT Ignoring new targets: 73.60 m.Bj-Jj-E ProNav: ac range: 73.599998 m, nav range: 20.500326 m, bearing: 97.308296 deg, approach rate: -0.104434 m/s, LOS rate: -1.781175 deg/s, cmd heading: 126.277849 deg, new cmd heading: 124.464702 deg. 2jE̘MHeadingCmd: 2.172319 target range: 73.599998 and range: 87.30 m. jMF @jIjIjIiIhIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761012hhhfffrfbf7p?ɛ} I ɚiIN=I% @ii)F @)*F?2F:FBF2JFzK0LK@9KKK!'))&%!$!!$$"   - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013283GE 0P>G! BI Ou >H I  I II =BI &I .I 6I ԯ<:I = FPow,ͮ^A:EE@Y:AS@:0ɻ9:II MG٣IyU= U> eNusing accuracyPremultiplier from configYe59]I}?e5Y] i]Om'?m:mEm@]E]/;];]p5uEB uA}0EZjDNOT Ignoring new targets: 73.60 m.Bj|Jj| ProNav: ac range: 73.599998 m, nav range: 20.481333 m, bearing: 96.539419 deg, approach rate: -0.045394 m/s, LOS rate: -1.839251 deg/s, cmd heading: 124.464707 deg, new cmd heading: 122.157256 deg. 2jȝHeadingCmd: 2.132046 target range: 73.599998 and range: 87.30 m. jrs@jjjihhhh_Bffqfqrfybf}@ɛ4BJ ʩI żɚ iI; =Irs@ii)rs@)JmJJJJ\8:JJJJD;JD;JJ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265611*F?2F:FBF35JFG G ?G ?G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517160{ow,׊xA2'C@Y2#Q@2Bfһ92|?7f?4R ӛ?`Lz?.??ɨ2'C@2BQ;2"CyzwB~II hI V84٢Խ L=9%=8Q %>)) -G٣5JSGy5J 5> ENusing accuracyPremultiplier from config9E59=3}?E5Y= i=PIMGM@=E=e:=:=jr5Q UlAYZjDNOT Ignoring new targets: 73.60 m.BjvJjv ProNav: ac range: 73.599998 m, nav range: 20.459270 m, bearing: 95.809136 deg, approach rate: -0.055075 m/s, LOS rate: -1.824955 deg/s, cmd heading: 122.157250 deg, new cmd heading: 119.965166 deg. 2jHeadingCmd: 2.093787 target range: 73.599998 and range: 87.30 m. j@jjjihhhhfffrfbfq@ɛ CI  Gμɚ1iIž=IU#@iYiY)]@)Y*F?2F:FBF3JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768914G) G B O= >zK5 HMK5 ŷ9K1 K5 K5 bow,eA2"A@Y2O@2D1޻92\TX ZG٣Xybꢽ f> jNusing accuracyPremultiplier from confighn59j }?n5Yj ij`PprH@r@jEjp;j;jt5vDB vAv3EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:15:09.2009 %TRx dataTimestamp_ set to:1736378110.388501Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030142ZjQ]DNOT Ignoring new targets: 73.60 m.Bj]ۼJj]ۼ ProNav: ac range: 73.599998 m, nav range: 20.433044 m, bearing: 95.096978 deg, approach rate: -0.056560 m/s, LOS rate: -1.537798 deg/s, cmd heading: 119.965169 deg, new cmd heading: 117.827001 deg. 2j샽HeadingCmd: 2.056469 target range: 73.599998 and range: 87.30 m. j1@jjjihhhhfffrfbf@bi@HU>IQ IUIIUBIQ&IQ.IQ6IU<:IUs Fɛ5B/ 隭*I DUټɚiIҟ=I@ii)1@)*F?2F:FBFO0JFJK3 K.KK"KJ oJ gJ 1J J >:J 9J 3J J }O;J O; $?I J >:J @: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273744G G B O% >gow,BABK?@YBFM@B9BGN G٣yC > Nusing accuracyPremultiplier from config59}?5Y iP=,?:C@EL ;;u5 A6EZjDNOT Ignoring new targets: 73.60 m.Bjq"Jjq"= ProNav: ac range: 73.599998 m, nav range: 20.434460 m, bearing: 94.289535 deg, approach rate: 0.003983 m/s, LOS rate: -2.272281 deg/s, cmd heading: 117.827006 deg, new cmd heading: 115.406368 deg. 2j=½EHeadingCmd: 2.014221 target range: 73.599998 and range: 87.30 m. jE@jAjAjIiIhIhIhQhUBfQfQfYrfYbf]\D @ɛ 6B  ;=׹I <ɚiIc=IW@ii!)%@)!*F5?2F1:F1BF5Y0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 89.1 m (Round-trip 118.8 ms) speed -0.6 m/s ,DAT read: user:3124> %BDAT read: Tx time:23:15:10.2780 %$Ping request sent.%Gm qAGm qAGA BI Om >tow,ƿA B$?IFhy;BI)! !I5nI5B4٢Eǽ EN=9EQ M>QQ UG٣UKSG]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:15:10.2772 yU m> uNusing accuracyPremultiplier from configq}59up|?}5Yu!  iuP@uEu;u;uw5CB =A8EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 89.099998 m, deltaT: 3.529092 s, deltaX: 1.799995 m, approachRate: 0.510045 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 73.60 m.BjeJje ProNav: ac range: 73.599998 m, nav range: 20.439428 m, bearing: 93.537754 deg, approach rate: 0.012428 m/s, LOS rate: -1.879973 deg/s, cmd heading: 115.406373 deg, new cmd heading: 113.152804 deg. 2jFHeadingCmd: 1.974889 target range: 73.599998 and range: 89.10 m. j*?jjjihhhhfffrf`fFV@bf5?ɛ 7B E )5I1 5ɚ1i1I58=I=t?i9i9)=*?)A*F?2F:F BF _0JF zKRIKж9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.Gm (K>GI Ba O >H >I  I II ܀BI =&I .I 6I $<:I x FBIJIRIZI =bI =jIn5̞ow,<߿A:Y;@Y:UI@: 9:Уyy G٣y > Nusing accuracyPremultiplier from config59g|?5Y  i,QX-?:#A@E;N;y5 AZjDNOT Ignoring new targets: 73.60 m.Bj Jj  ProNav: ac range: 73.599998 m, nav range: 20.458351 m, bearing: 92.767808 deg, approach rate: 0.046470 m/s, LOS rate: -1.888999 deg/s, cmd heading: 113.152807 deg, new cmd heading: 110.846423 deg. 2j HeadingCmd: 1.934635 target range: 73.599998 and range: 89.10 m. j?jjjihhhhĂBfffrfbfn?ɛ1=w 9=CÿI9 =ɚAiAIE"=IM?iIiI u$?Iy)M?)yuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753195*F5?2F1:F1BF5n0JF1mPExceeded connect timeout, disconnecting.G F>Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003763|ow,PA2#9@Y2G@2D 92_HB>IIJ:IJ3٢RX RX=9RgQ V>TT VG٣TyZY Z> ^Nusing accuracyPremultiplier from config\b59^|?b5Y^  i^]Qdf+Cf@^E^2:^:^+{5jBB j#An;EZj|DNOT Ignoring new targets: 73.60 m.Bj SJj S} ProNav: ac range: 73.599998 m, nav range: 20.471144 m, bearing: 92.052333 deg, approach rate: 0.033868 m/s, LOS rate: -1.892956 deg/s, cmd heading: 110.846423 deg, new cmd heading: 108.702396 deg. 2j}cHeadingCmd: 1.897215 target range: 73.599998 and range: 89.10 m. j?jjjihhhhfffrfbf'?ɛ8B  %ƿI! %ɚ!i!I%=I]l?iYiY)]?)a YIYJpJvJ0JJA:Jϣ9Jـ3Ja@a@a@a@EL=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256734*Fm?2Fi:FiBFm_0JFi"GuC>GqzK KK ŷ9K K K      G (K>G ?G ?Gi Bq O >Rpw,LTAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014E7@YEE@E",9EcI I@IIBI =&IED.I6I<:I+ FMb@Mb@Mb@ )YJ +?S?Qy(?> rA)IAypAI+In3٢  %=9%өQ ->19 =G٣=LSGyEa M> ]Nusing accuracyPremultiplier from configQu59U\|?u5YUk  iUQ}?-?}:}=}@UEUK;U7;U}5AB iA>EZjDNOT Ignoring new targets: 73.60 m.BjJj ProNav: ac range: 73.599998 m, nav range: 20.528460 m, bearing: 91.000483 deg, approach rate: 0.101382 m/s, LOS rate: -1.855253 deg/s, cmd heading: 108.702399 deg, new cmd heading: 105.558994 deg. 2j'HeadingCmd: 1.842352 target range: 73.599998 and range: 89.10 m. j1?jjjihhhhBfffrfbfh?ɛ~ ɿI ɚiI\=I%1?i!i!)%1?)) $?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.M 6?M +?U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761490Ee e=  nManaging dock network, ignoring radio surface power off*F ?2F :F BF JF GGBO?a pw,l!8A285@Y23C@2 .92֎tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~͋|?5Y~  i~Q?@~E~:~P:~t5@B AAEZj9=DNOT Ignoring new targets: 73.60 m.BjE(JjE(U ProNav: ac range: 73.599998 m, nav range: 20.566633 m, bearing: 90.219677 deg, approach rate: 0.091923 m/s, LOS rate: -1.876645 deg/s, cmd heading: 105.558996 deg, new cmd heading: 103.222293 deg. 2j]eHeadingCmd: 1.801569 target range: 73.599998 and range: 89.10 m. jeϙ?jajajaiahihihqhqfqfqfyrfybf}`I@ɛ9B 5 隭hʿI $ ɚiIӤ=IJ3?ii)ϙ?)EE*E"E*F?2F:FBFJF 5$?I1JAAJJnJhJJJ|;:JȆ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263696G G B O >Cpw,QA23@Y2A@292A B>IIVmIV3A4٢^/ ^L=9b-s:Q f>dd fG٣dyj᤽ j> ]Nusing accuracyPremultiplier from configle59nI) I-II-BI- =&I).I)6I-<:I-L F*FE?2FI:FIBFM1JFIG G pAG rA 5 $?I1 Ga Bq O >) ]C c~G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769774 |uA  %Y |uAy NBfopw,kA>@>dByUB]I)a aMb@Mb@Mb@ )Yw/?ʡE?Mby&?-2>A )IrAyI^I&4٢%HU< %6=9-Q ->11 =G٣=MSGy= => ENusing accuracyPremultiplier from configAM59E[|?M5YE iEQ,?:?@EEE|W!pw,ӢA2 /@Y2=@2q92^TX ZG٣XyZt7 `I` Z> fNusing accuracyPremultiplier from configdj59fG|?j5Yf  ifQlnCn@fEf;f';f5r?B vAvIEZjDNOT Ignoring new targets: 73.60 m.Bj Jj - ProNav: ac range: 73.599998 m, nav range: 20.675964 m, bearing: 87.978955 deg, approach rate: 0.081341 m/s, LOS rate: -1.941945 deg/s, cmd heading: 98.498056 deg, new cmd heading: 96.515966 deg. 2j-=HeadingCmd: 1.684521 target range: 73.599998 and range: 89.10 m. j=f?j9j9j9i9h9hAhAhAfAfIfIrfIbfM @*Jq"JqJ}qJ}gJyJyJ}D:J}9JyJyɛw GǿI ɚiI%=I%̲?i!i))-f?))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:15:12.8030 ]TRx dataTimestamp_ set to:1736378114.164707echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272972*FE?2FA:FABFMP0JFIzKJKK9KKKRK?JK?Gm<>Gi B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527256O >ZH1 RH5 AAHQ IQ  IU IIU mBIQ &IU FD.IU AD6IU <:IU c F'pw,dA]N-@Y]J;@] 9]V$ףA A)rAIAyzAI^I&4٢; /=9慺Q > G٣y匽 > Nusing accuracyPremultiplier from config59M-|?5Y iQ,?:KC@E;;5>B ALEZjDNOT Ignoring new targets: 73.60 m.BjfJjf ProNav: ac range: 73.599998 m, nav range: 20.717659 m, bearing: 87.115504 deg, approach rate: 0.089617 m/s, LOS rate: -1.852065 deg/s, cmd heading: 96.515969 deg, new cmd heading: 93.932678 deg. 2jួ HeadingCmd: 1.639434 target range: 73.599998 and range: 89.10 m. j ?j j j i h hhhBfffrfbfr @ɛiu(' quƿIq u!ɚyiyI}=I]?ii)?) $?I*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:15:12.8030 LVL= 16624, 12913, 12850, 23459, AGC= 58, IDX= 450,-0.20,-1.559,-0.125, 1.036,-0.195, PHS=-1.276, 0.117, 1.228, RAW= 243.7, -0.6, CAL= 246.2, -0.5, ROT= 263.8, 0.5 Ygot valid direction response: 23:15:12.8030 LVL= 16624, 12913, 12850, 23459, AGC= 58, IDX= 450,-0.20,-1.559,-0.125, 1.036,-0.195, PHS=-1.276, 0.117, 1.228, RAW= 243.7, -0.6, CAL= 246.2, -0.5, ROT= 263.8, 0.5 PDAT read: Bearing 263.8, 0.5 (Local) ~Local bearing/azimuth received: Bearing 263.8, 0.5 (Local) DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.0 m/s ,DAT read: user:3125> BDAT read: Tx time:23:15:13.9280 $Ping request sent. -pw,OA6+@Y69@6*96)E-@E::J51 5nA1kk9}?kB] k k̪A:k3BBkBZk?"ğ@օ}kG$a1;S萇?c8Y "+Jk8=Rkuс?*˵@ =F@/!vSX)ʉ7M?lP`X=?Vg"k7B*k@ksr}?kkzU 2k\k|?k K kCkR(Bkk?M addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.779745 s, deltaX: 1.500000 m, approachRate: 0.396852 m/s, rangeRepo size: 4  Added new target pos. range: 90.599998 m, bearing: 82.848063 deg, lat: 36.904357 deg, lon: -122.119820 deg, deltaT: 32.520530 s, deltaX: 17.000000 m, approachRate: 0.522747 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.BjJj ProNav: ac range: 90.599998 m, nav range: 42.080856 m, bearing: 86.579292 deg, approach rate: 0.000000 m/s, LOS rate: -1.852065 deg/s, cmd heading: 93.932675 deg, new cmd heading: 91.818286 deg. 2jHeadingCmd: 1.602531 target range: 90.599998 and range: 90.60 m. j?jjjihhhhfffrf`fV@bf`?ɛquh qu%¿Iy }S&ɚyiyI}o=I?ii)?)*F?2F:FBFT0JF IJmJcJ1JJ\8:Jx9J3JuWill construct direction to contact in vehicle frame from tetrahedron phase data.GM A>G! B) OM >4pw,)A:x)@Y:t7@:DF9:{hh jG٣hyn䗽 n> rNusing accuracyPremultiplier from configpv59r|?v5Yra irQtz$Gz@rErL:r:r5| ~ AOEB*** querying acoustic contact ***jjZj!5DNOT Ignoring new targets: 90.60 m.Bj5Jj5E ProNav: ac range: 90.599998 m, nav range: 42.105682 m, bearing: 86.216297 deg, approach rate: 0.067483 m/s, LOS rate: -0.986123 deg/s, cmd heading: 91.818288 deg, new cmd heading: 90.730082 deg. 2jM1)MHeadingCmd: 1.583539 target range: 90.599998 and range: 90.60 m. jUe?jQjQjQiQhQhQhYhYfafafarfabfe?ɛ 隕)I *ɚiI==IM?ii)e?)zKk3IK9KKKBKEqA:KA*F=?2F9:FABFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI IIIrBI&I.I6I<:IQ FG}0P>GQBYOu> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994524:pw,Ay=OB=IMb@Mb@Mb@ )YK7A?/$?~jth?y "?&1>D;A rA)ICAyGAI8I3٢= 9=9Q > G٣y >  Nusing accuracyPremultiplier from config59P{?5Y_ iQ%'?%:%I@%@ Egk;h;5-=B -nA-REZj DNOT Ignoring new targets: 90.60 m.Bj5oqJj5oqE ProNav: ac range: 90.599998 m, nav range: 42.125553 m, bearing: 85.823145 deg, approach rate: 0.042694 m/s, LOS rate: -0.844318 deg/s, cmd heading: 90.730081 deg, new cmd heading: 89.551358 deg. 2jEMHeadingCmd: 1.562966 target range: 90.599998 and range: 90.60 m. jME?jIjIjIiqhqhqhqh}ނBfyfyfyrfybf8b?ɛim% qunIq u0ɚqiqIu6=I} ?iyiy)E?)*F=?2F9:F9BF=`0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246557Ge F>Gi Gm mAGI BY Ou >ߣApw,A 4I4>&@Y>04@>*9>H@-O?{Կ| ?[? OF?"?`?i?ɨ>&@>;>!Cy^eBbI)d dIjIj 3٢rG= r]=9r6Q v>xx zG٣zOSGy~! ~> Nusing accuracyPremultiplier from config 59{? 5Y iQBE@@ E:C:5 A!ZjAMDNOT Ignoring new targets: 90.60 m.BjMJjMe ProNav: ac range: 90.599998 m, nav range: 42.129543 m, bearing: 85.492218 deg, approach rate: 0.011518 m/s, LOS rate: -0.955140 deg/s, cmd heading: 89.551355 deg, new cmd heading: 88.558772 deg. 2je#mHeadingCmd: 1.545642 target range: 90.599998 and range: 90.60 m. jm?jqjqjqiqhyhyhyhyfffrfbf?ɛ8B 隵´I q4ɚiI=I?ii)?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498336*F5?2F1:F9BF=)2JF9GUA>G)B9zKMKKM9KIKMKM Oe> Will construct direction to contact in vehicle frame from tetrahedron phase data. i 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754102H >I  I II BI &I .I 6I <:I S FBIJIRIZI =bI =jIy5Gpw,# AF7 $@YF3,2@F9F`;CA CA)CAIyI-I3٢[= 8=99Q >!! %G٣!y-̑ -> 5Nusing accuracyPremultiplier from config1=595{?=5Y5 i5pQ='?E:E@@E@5E5|;5;55M:J}9J}ـ3JyJyaJyaJ}:aJ}:a %9ɚiI߬=I6?ii) 6?) uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003239*F?2F:FBF0JFG 7>G ?G ?G B O >Mpw,V:A:1"@Y:-10@:9:D?*Z?`< ?I?`?ɨ:1"@:P;:CyFBFIINHIN<3^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253702٢Z>= bd=9fQ f>dh jG٣hyj| j> rNusing accuracyPremultiplier from configlr59n {?v5Yn inQQtv>@v@nEn:ne:n5~;B ~tA~VEZj!%DNOT Ignoring new targets: 90.60 m.Bj-7~Jj-7~ ProNav: ac range: 90.599998 m, nav range: 42.098263 m, bearing: 84.780251 deg, approach rate: -0.047958 m/s, LOS rate: -0.889009 deg/s, cmd heading: 87.382626 deg, new cmd heading: 86.422357 deg. 2jHeadingCmd: 1.508355 target range: 90.599998 and range: 90.60 m. j?jjjihhhhfffrfbf F@ɛ]7B]* Y]Ia e=ɚaiaIe=Im?iii)?)*F-?2F):F)BF-5JF) AIAmWill construct direction to contact in vehicle frame from tetrahedron phase data.u>u%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505848G}(K>Gi Bq O >sTpw, TAJ @YJ2.@J9JrIX ^=^=IbFIb%3٢j= jG=9n'Q n>ll nG٣nPSGyrk r> vNusing accuracyPremultiplier from configtz59v {?z5Yv  iv,Q|~<@~@vEv5;vo;vݒ5 A5B*** querying acoustic contact ***j1j1ZjYmDNOT Ignoring new targets: 90.60 m.BjmzJjmz ProNav: ac range: 90.599998 m, nav range: 42.072109 m, bearing: 84.419828 deg, approach rate: -0.063402 m/s, LOS rate: -0.874281 deg/s, cmd heading: 86.422356 deg, new cmd heading: 85.340549 deg. 2jHeadingCmd: 1.489474 target range: 90.599998 and range: 90.60 m. j?jjjihhhzK%\LK%}9K!K%K% O}"09;871,(# oYL=/'%)'$%$#!!hfafifqrfybfa@ɛiu 隥I SBɚWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760306iIo=I ?i1i9)E?HyIy I}SII}BIy&Iy.Iy6I}<:I}' F)Q*F?2F:FBF=5JF % $?I! J} mJ} Jy Jy J} \8:J} y9Jy Jy J} D;J} D;J} ;:J} =:G >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:15:16.4537 } TRx dataTimestamp_ set to:1736378117.697153 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011616G B O > [pw,UMnAMO@YMn*@M)9M蘐I]3٢m= m4=9uXQ u> G٣yY > Nusing accuracyPremultiplier from config59v|{?5YJ  iP%?::5@@E;;ڔ5:B /AYEZjDNOT Ignoring new targets: 90.60 m.BjyJjy ProNav: ac range: 90.599998 m, nav range: 42.010910 m, bearing: 84.026721 deg, approach rate: -0.135784 m/s, LOS rate: -0.873460 deg/s, cmd heading: 85.340550 deg, new cmd heading: 84.159689 deg. 2jHeadingCmd: 1.468864 target range: 90.599998 and range: 90.60 m. j?jjjihhh h ?Bf ffrfbf`> @ɛE6BEG} AEyIA MnFɚIiIIMx0=IU?iQiQ)U?)Y*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261570G,>GGqAG B O > % $?I! apw,(Ay%ĀB%aII1I1٢E= E_=9MQ M>IQ UG٣Qye e> mNusing accuracyPremultiplier from configiu59mki{?u5Ymb  imPq@mEmAn UBDAT read: Tx time:23:15:17.5281 ]$Ping request sent.]zK>NK9KKK     G  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:15:17.5273 B) ZHq RHq H I  I II BI &I .I 6I կ<:I ; FO- >Thpw,A2o@Y2j(@2lp92 G٣QSGy >  Nusing accuracyPremultiplier from config 59 S{?5Y  i P&?:/@@ E ; ; O5! -A) $?Ih  addTargetRange:: Added new target pos. range: 91.000000 m, deltaT: 3.531452 s, deltaX: 0.400002 m, approachRate: 0.113268 m/s, rangeRepo size: 4 ~GZjtA%A5DNOT Ignoring new targets: 90.60 m.JUnJUlJQJQJU|;:JU9JQJQJUJ;JUJ;JU(:JU*: %YtAyBBjGoJjGo ProNav: ac range: 90.599998 m, nav range: 41.886238 m, bearing: 83.345922 deg, approach rate: -0.176553 m/s, LOS rate: -0.836775 deg/s, cmd heading: 83.207277 deg, new cmd heading: 82.114431 deg. 2jHeadingCmd: 1.433167 target range: 90.599998 and range: 91.00 m. jr?jjjihhh h vBf f frfbf?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5B 隵OI OɚiIQ=Ir?ii)r?)*Fq2Fq:FqBF}Z0JFyG G ?G /?G B O >1npw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>$@>|߼9>ўH`{~2?v? fP@?r? ?ɨ>@>n̉;> CyJBNIIZ&IZ3٢%= %P=9%v2Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=v@{?E5Y= i=PIM ,@M@=E=;=8;=5U9B U1AU_EZjyDNOT Ignoring new targets: 90.60 m.Bj@Jj@ ProNav: ac range: 90.599998 m, nav range: 41.802532 m, bearing: 83.014651 deg, approach rate: -0.226208 m/s, LOS rate: -0.897020 deg/s, cmd heading: 82.114433 deg, new cmd heading: 81.118736 deg. 2jHeadingCmd: 1.415789 target range: 90.599998 and range: 91.00 m. j8?jjjihhhhfffrfbf?ɛ I QɚiIcO=I8?ii)8?)*F}?2Fy:FyBF}0JFy"GG>G )I1G5,>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>4mupw,A:4 @Y:/)#@:o~9:S\` bG٣`yb b> fNusing accuracyPremultiplier from configdj59fr-{?j5Yf ifePlnV*@n@fEf6;f;f5r8B rAvbE B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 90.60 m.BjoJj%o- ProNav: ac range: 90.599998 m, nav range: 41.714027 m, bearing: 82.687362 deg, approach rate: -0.226404 m/s, LOS rate: -0.839009 deg/s, cmd heading: 81.118735 deg, new cmd heading: 80.134885 deg. 2j55HeadingCmd: 1.398618 target range: 90.599998 and range: 91.00 m. j=?j9j9j9i9h9hAhAhAfAfIfIrfIbfM1)?ɛy}c6 隅ÌI 5`UɚiI=I?ii)?)zK5wMK5ŷ9K1K5K5 EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAUT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F}?2F:FBF5H>I III)BI =&I.I6I<:Io FJF %$?I!GM(K>G B O] >J J fJ 1J J J 9J 3J J J J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508577|{pw,VA:5@Y:T!@:b9:ْ?X?@?ɨ:5@:G;8ybBbIif=If%= f=f=UMb@Mb@Mb@QQQ Q)QYUsh|??A`"?Mb`?yU)?UY=U;Q UCA)UAIQQyUGAImIm ٢}= >=9]Q > G٣RSGyB > Nusing accuracyPremultiplier from config59{?5Y i;P*?:m&@@E&;;5 0AZjY]DNOT Ignoring new targets: 90.60 m.Bjm$hJjm$h ProNav: ac range: 90.599998 m, nav range: 41.599957 m, bearing: 82.326738 deg, approach rate: -0.256089 m/s, LOS rate: -0.811816 deg/s, cmd heading: 80.134887 deg, new cmd heading: 79.050185 deg. 2jI HeadingCmd: 1.379686 target range: 90.599998 and range: 91.00 m. j?jjjihhhhBfffrfbfTn?ɛ!- )-I) UdYɚQiQIU=I]?iYiY)]?)aE*F!2F!:F)BF-3JF)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760746GM 7>G! B1 OM > I X~pw,hu A6!L@Y6k@6(96Ҝ G٣yS  > Nusing accuracyPremultiplier from config 59 {?5Y  i P$@@ !E  ; ; K5-7B -A-eEZjYeDNOT Ignoring new targets: 90.60 m.BjexJjexu ProNav: ac range: 90.599998 m, nav range: 41.491627 m, bearing: 82.004667 deg, approach rate: -0.291558 m/s, LOS rate: -0.869076 deg/s, cmd heading: 79.050185 deg, new cmd heading: 78.081549 deg. 2ju}HeadingCmd: 1.362780 target range: 90.599998 and range: 91.00 m. j}o?jjjihhhhfffrfbfP@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012993ɛ I v\ɚiI7=Io?ii)o?)*F?2F:FBF-3JFG GpAG(K>GBzKKK 9KKK !'('('*''#""# O>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264566jH <bH 4=H I  I II [BI &I .I BD6I <:I R FQpw,KX$Ay~'B~I $?I Mb@Mb@Mb@    ) Y ?Q?~jthy ,? < D rA rA) I  y AI5BI53٢=U< E7=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configam59ez?u5Yet ieOu,?}:}D"@}@e$Ee>e;ed;e@5 ~AZjDNOT Ignoring new targets: 90.60 m.BjmJjm ProNav: ac range: 90.599998 m, nav range: 41.356522 m, bearing: 81.630657 deg, approach rate: -0.298576 m/s, LOS rate: -0.829239 deg/s, cmd heading: 78.081548 deg, new cmd heading: 76.956006 deg. 2jFHeadingCmd: 1.343136 target range: 90.599998 and range: 91.00 m. j?jjjihhh)h-Bf1f1f1rf9bf=@ɛ)5] 9=fI9 = t`ɚ9i9IE=IM?iQiQ)U?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516907*F?2F:FBF4JFG= 2>G B! OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770008ߎpw,`>AyE1BEI)I IQQI]3I]ʴ3٢}M= V=9Q > G٣SSGy > Nusing accuracyPremultiplier from config59z?5Y iO@&E%;;ꢔ5 *AhEZjDNOT Ignoring new targets: 90.60 m.Bj>uJj>u ProNav: ac range: 90.599998 m, nav range: 41.242889 m, bearing: 81.310306 deg, approach rate: -0.303376 m/s, LOS rate: -0.857627 deg/s, cmd heading: 76.956008 deg, new cmd heading: 75.992403 deg. 2j% HeadingCmd: 1.326318 target range: 90.599998 and range: 91.00 m. j ĩ?j j j ihhhhfff!rf!bf%@ɛIM~ QUIQ U\cɚQiQIUy=Iĩ?ii)ĩ?)EqAEqA $?Ih*F?2F:FBFP0JFJmJeJ0JJ\8:J9Jـ3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:15:20.0538 TRx dataTimestamp_ set to:1736378121.224801checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021799GA>G B O >pw, XA6> @Y69@6g96q3 @6Z|;6 CyR=BRIIZBIZ3٢by= bX=9fO,Q f>dd jG٣hyjh j> rNusing accuracyPremultiplier from configlz59n?z?z5YnO inOxz@u@n(En  BDAT read: Tx time:23:15:21.1281  $Ping request sent. GQ Ba O} >'pw,.8rAyU G٣y > Nusing accuracyPremultiplier from config59}z?5Y iO-?: @@+E?;G;5 A addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 3.530477 s, deltaX: 0.099998 m, approachRate: 0.028324 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.Bj@sJj@s  ProNav: ac range: 90.599998 m, nav range: 40.938072 m, bearing: 80.601023 deg, approach rate: -0.364898 m/s, LOS rate: -0.850667 deg/s, cmd heading: 75.075834 deg, new cmd heading: 73.856761 deg. 2j HeadingCmd: 1.289044 target range: 90.599998 and range: 91.10 m. jb?jjjihhh!h%Bf!f!f)rf5`fV@bfE Й?ɛ6B0R 隅|I |jɚiIa=Ib?ii)b?)Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:15:21.1273 *F=?2F9:F9BF=_0JF9 e $?Ia G} 7>GQ BY O >pw,AJK3 K.-KK"KJ,J.fJ,J,J,J.9J,J,FgB@YFba@Fy!9F4BRIiV=IV;II٢-< -y=95Q =?99 =G٣=TSGyE, E? MNusing accuracyPremultiplier from configIUWill construct direction to contact in vehicle frame from tetrahedron phase data.e59Mϫz?e5YM iMOae@e@M,EMy~;M~;M-5u5B uAulEZjDNOT Ignoring new targets: 90.60 m.BjaJja ProNav: ac range: 90.599998 m, nav range: 40.813477 m, bearing: 80.340949 deg, approach rate: -0.377474 m/s, LOS rate: -0.790322 deg/s, cmd heading: 73.856762 deg, new cmd heading: 73.074209 deg. 2jHeadingCmd: 1.275385 target range: 90.599998 and range: 91.10 m. j??jjjihhhhfffrfbf?ɛ 9|I WmɚiIY9=I%??i!i!)%??))E5a>E5!>*F?2F:FBF0JFG2>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i AH I  I rII BI &I .I 6I :I zK ePK 9K K K pQ~}yrlfa^[VRPOLJGFCCB><=<::9:7Ppt~ pw,pA6Pd@Y6J@6m*96c G٣y > Nusing accuracyPremultiplier from config59jz?%5YD ivO+?:@@/E<$< 5 AZj)-DNOT Ignoring new targets: 90.60 m.Bj5.SJj5.SE ProNav: ac range: 90.599998 m, nav range: 40.652664 m, bearing: 80.007099 deg, approach rate: -0.354337 m/s, LOS rate: -0.738517 deg/s, cmd heading: 73.074206 deg, new cmd heading: 72.068803 deg. 2jEkuHeadingCmd: 1.257838 target range: 90.599998 and range: 91.10 m. j}?jyjyjyiyhyhyhhBfffrfbf?ɛ57B5* 9=|I9eWill construct direction to contact in vehicle frame from tetrahedron phase data. =>pɚiIٶ=I?ii)?)*F?2F:FBFp0JFG 0P>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.e0pw,Ay->B-II=I=٢U壻 UQ=9]Q ]>Ya eG٣aye e> mNusing accuracyPremultiplier from configiu59mŊz?}5Ym imfOyy@m1Em;m ;m54B AoEZjDNOT Ignoring new targets: 90.60 m.BjtJjt ProNav: ac range: 90.599998 m, nav range: 40.509201 m, bearing: 79.704541 deg, approach rate: -0.404100 m/s, LOS rate: -0.855244 deg/s, cmd heading: 72.068802 deg, new cmd heading: 71.157995 deg. 2jHeadingCmd: 1.241941 target range: 90.599998 and range: 91.10 m. j?jjjihhhhfffrfbf@UE?ɛ!%3 )-|I) -sɚ)i)I-\=I5?i9i9)=?)9*F?2F:FBF25JF $?I JtJbJ1JJ;N:Jt9J3J}Will construct direction to contact in vehicle frame from tetrahedron phase data.} ?}?G F>GBO >pw,:A:@Y:@:69:5`` bG٣bUSGyf' f> jNusing accuracyPremultiplier from confighn59j|z?n5Yj ijROprS@r@j3Ej ;j? ;jf5t vAt B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 90.60 m.Bj%ZJj%Z= ProNav: ac range: 90.599998 m, nav range: 40.354797 m, bearing: 79.411735 deg, approach rate: -0.402046 m/s, LOS rate: -0.765340 deg/s, cmd heading: 71.157997 deg, new cmd heading: 70.276291 deg. 2j=OEHeadingCmd: 1.226553 target range: 90.599998 and range: 91.10 m. jE?jAjAjIiIhIhIhIhQfQfQfQrfYbf] g?ɛ8Bd 隍A~I gvɚiI$=I?ii)?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI IIIBI =&I.I6I<:IF F*F?2F:FBFP0JFzK%4OK%}9K!K%K%gRD<3,#%%&#""#"   $?IG9) SCGe~G|uABO >] A $Y |uAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009249Bpw,YlAy~@B~IMb@Mb@Mb@ )Y??Zd;Oyf&?L=jA )AICAyAII3٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59Bkz?5Y+ iEO&?:@@5E;;O53B AupEZjDNOT Ignoring new targets: 90.60 m.Bj-PJj-P ProNav: ac range: 90.599998 m, nav range: 40.190582 m, bearing: 79.079625 deg, approach rate: -0.358509 m/s, LOS rate: -0.728011 deg/s, cmd heading: 70.276288 deg, new cmd heading: 69.275992 deg. 2j%HeadingCmd: 1.209094 target range: 90.599998 and range: 91.10 m. j%Ú?j!j!j!i!h!h)h)hEBfIfIfQrfQbfU s@ɛ}9B} 隅.|I zɚiI=IÚ?ii)Ú?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261870*F]?2FY:FYBF]w4JFY I hG% ">G B O% >)pw,pD AJ&nJ&dJ&0J$J&|;:J&|9J&ـ3J$=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513264,?Y @z29zEaa mG٣iymv m> Nusing accuracyPremultiplier from config59{Zz?5Y  i9O@@8E.:.:\5 AZjaeDNOT Ignoring new targets: 90.60 m.Bjm]WJjm]W} ProNav: ac range: 90.599998 m, nav range: 40.000935 m, bearing: 78.736598 deg, approach rate: -0.414424 m/s, LOS rate: -0.753143 deg/s, cmd heading: 69.275993 deg, new cmd heading: 68.242152 deg. 2j}8HeadingCmd: 1.191050 target range: 90.599998 and range: 91.10 m. jVt?jjjihhhhfffrfbfB@ɛ:BZ ~I g~ɚiIU2=I Vt?ii)Vt?)*F?2F:FBF5JFjHbH<HI IIIBI =&I.I6IB<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766666zK] sMK] 9KY K] K]       $?I G <>G BO%>?pw,*A^?Y^ @^'29^tIn=Mb@Mb@Mb@ )Y%C? G٣VSGyI > Nusing accuracyPremultiplier from config59 Lz?5Y i0O%?:C@ @:Er>;H<;52B AsEZj9EDNOT Ignoring new targets: 90.60 m.BjE?WJjE?WU ProNav: ac range: 90.599998 m, nav range: 39.842106 m, bearing: 78.441115 deg, approach rate: -0.403005 m/s, LOS rate: -0.752732 deg/s, cmd heading: 68.242155 deg, new cmd heading: 67.352247 deg. 2j]%]HeadingCmd: 1.175519 target range: 90.599998 and range: 91.10 m. j]dw?jajajaiahahahihmiBfifiuWill construct direction to contact in vehicle frame from tetrahedron phase data.u>u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017661frfbf.@ɛ  隽I ɚiI=Idw?ii)dw?)EQEUrA*F?2F:FBFR0JFG F>G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:23:15:23.6539 5 TRx dataTimestamp_ set to:1736378125.005479= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271186rpw,DAyv2BvII~6I~m3٢E MW=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYm59]>z?m5Y] i]'Oiim@]Apw,q^A6+??Y6>@6yQ0964BrI~Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 23:15:23.6539 LVL= 18096, 26417, 13106, 24499, AGC= 56, IDX= 442, 0.06,-2.465,-2.250,-0.340,-1.680, PHS=-0.697,-0.524, 1.337, RAW= 214.4, -1.2, CAL= 213.5, -7.7, ROT= 296.5, 7.7 =Ygot valid direction response: 23:15:23.6539 LVL= 18096, 26417, 13106, 24499, AGC= 56, IDX= 442, 0.06,-2.465,-2.250,-0.340,-1.680, PHS=-0.697,-0.524, 1.337, RAW= 214.4, -1.2, CAL= 213.5, -7.7, ROT= 296.5, 7.7 EPDAT read: Bearing 296.5, 7.7 (Local) E~Local bearing/azimuth received: Bearing 296.5, 7.7 (Local) mDAT read: Range 10 to 50 : 91.2 m (Round-trip 121.6 ms) speed 0.0 m/s Iz)IzW3٢I< F=9:Q > G٣zKLK9KKK,DAT read: user:3128> BDAT read: Tx time:23:15:24.7781 $Ping request sent. Nusing accuracyPremultiplier from config W{n@) Iʘ@i >590z?5YF iO%o@%@%_á?byaS~)?IE:J=K=5عFpublishing direction and range info9N8RS2b6뿥VHy A )Ii )Ii%_á?byaS~)Iikc?kVt k k`A:kfBBk1BZkCP?"Exܻ|[Sk 3G $?IN8RS2b6뿥VHJkG=ɿRkͨ?*"#YP@;wD@̔Gb"i?Њ.C?Tw"k&B*k΂BkdM淏?k"m 2kAksr}?k"m k+Bk-BkFl? addTargetRange:: Added new target pos. range: 91.199997 m, deltaT: 3.777300 s, deltaX: 0.099998 m, approachRate: 0.026474 m/s, rangeRepo size: 4  Added new target pos. range: 91.199997 m, bearing: 32.522857 deg, lat: 36.904386 deg, lon: -122.119786 deg, deltaT: 10.839229 s, deltaX: 0.599998 m, approachRate: 0.055354 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 91.20 m.BjJj ProNav: ac range: 91.199997 m, nav range: 43.277924 m, bearing: 74.494784 deg, approach rate: 0.000000 m/s, LOS rate: -0.742504 deg/s, cmd heading: 66.502519 deg, new cmd heading: 65.370485 deg. 2jHeadingCmd: 1.140930 target range: 91.199997 and range: 91.20 m. j ?jjjih!h!h)h)f)f1f1rf=V@bfy?ɛ=B.0 (I ɚiI  =I5 ?i9i9)= ?)9EM{>EM>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:15:24.7773 *F?2F:FBFQ0JFG A>G B O >,pw,s{AV]y?YV[@Vpy09V:y G٣WSGWill construct direction to contact in vehicle frame from tetrahedron phase data.yx > Nusing accuracyPremultiplier from config59>!z?5Y- i"O&?:@@@E%<%<5$B AuE B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 91.20 m.BjEdJjEd] ProNav: ac range: 91.199997 m, nav range: 43.104111 m, bearing: 74.180179 deg, approach rate: -0.438867 m/s, LOS rate: -0.797558 deg/s, cmd heading: 65.370484 deg, new cmd heading: 64.422954 deg. 2j]HeadingCmd: 1.124393 target range: 91.199997 and range: 91.20 m. j?jjjihhhhJBfffrfbfm?ɛ>B 9EIA E-ɚAiAIE=IM?iIiI)M?)Q I*F%?2F!:F!BF%_0JF!*J= C="J= a=G9 E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.G1 B9 O >apw,h=Aj?YjЎ@j59j G٣y > %Nusing accuracyPremultiplier from config!-59%Az?-5Y% i%#O)-M @5@%BE%Q;%;%@59 EAEsEZjamDNOT Ignoring new targets: 91.20 m.Bjm"?Jju"? ProNav: ac range: 91.199997 m, nav range: 42.970490 m, bearing: 73.948869 deg, approach rate: -0.384921 m/s, LOS rate: -0.668402 deg/s, cmd heading: 64.422952 deg, new cmd heading: 63.726901 deg. 2j\弝HeadingCmd: 1.112244 target range: 91.199997 and range: 91.20 m. j^?jjjihhhhfffrfbf`?ɛ?BГ GI >ɚiI/=I^?ii)^?)*F]?2Fa:FaBFmk2JFiH)I) I-II-BI- =&I).I)6I-H<:I- FBIĭCJIĭCRIZIbIjI4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984548zK]m$JK]@9KYK]K]RKe?JKe ?G<>GqBO > - $?I5 h78pw,AJoJfJJJ>:J9JJJ}O;a"JO;a"Ja"Ja"jn?Yjp@j69j G٣y > Nusing accuracyPremultiplier from config]59 z?]5Y- iO]?]:e @e@DEЕ<<5y }A}vEZjDNOT Ignoring new targets: 91.20 m.Bj*Jj* ProNav: ac range: 91.199997 m, nav range: 42.816208 m, bearing: 73.683796 deg, approach rate: -0.344797 m/s, LOS rate: -0.594532 deg/s, cmd heading: 63.726901 deg, new cmd heading: 62.928872 deg. 2j̼HeadingCmd: 1.098316 target range: 91.199997 and range: 91.20 m. j?jjjihh h9h=3Bf9f9fArfAbfEV?ɛ@BB I HɚiI߼=I?ii)?)E*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488511G >G G G B O > ! I! pw,A2F?Y2 @2<492ߪIN5IN3٢V< V]=9Z:Q Z>XX ZG٣ZXSGy^i ^> bNusing accuracyPremultiplier from config`f59bsy?f5Ybn ibOhj @j@bFEb:b:b5l rApZjDNOT Ignoring new targets: 91.20 m.Bj:Jj:- ProNav: ac range: 91.199997 m, nav range: 42.678280 m, bearing: 73.457336 deg, approach rate: -0.395144 m/s, LOS rate: -0.650870 deg/s, cmd heading: 62.928869 deg, new cmd heading: 62.247327 deg. 2j-W߼5HeadingCmd: 1.086421 target range: 91.199997 and range: 91.20 m. j5?j1j1j1i9hhhhfffrfbf@u?ɛ-AB5UH QU&IQ ] ɚYiYI]t=Ie?iaia)e?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741659*F2F!:F!BF%4JF!G-7>G B OE >H1 I1  I5 yII5 BI1 &I1 .I1 6I5 /<:I5 z F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992594fpw,=AzKFQJKF 9KDKFKF  O=?2So~sG%Q~N&|zxyBKX:KX IyU+B]I-Mb@Mb@Mb@))) )))Y-n?y&1?y-V?-`=-̼-A -/A)- AI-\A)y-AIE.IE3٢Mբ U=9UQ U>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configau59ey?u5Ye ieOuV?u:u @}@eHEe.;e=;e 5  A ZjQUDNOT Ignoring new targets: 91.20 m.Bj] (Jj] ( ProNav: ac range: 91.199997 m, nav range: 42.496155 m, bearing: 73.134939 deg, approach rate: -0.330725 m/s, LOS rate: -0.587954 deg/s, cmd heading: 62.247325 deg, new cmd heading: 61.276085 deg. 2jɼJpJlJ0JJA:J9Jـ3JJT;JT;J(:J):MHeadingCmd: 1.069469 target range: 91.199997 and range: 91.20 m. jU`?jQjQjQiQhQhQhYh]5BfYfYfrfbf` @ɛCB# 隵ՅI nɚiI@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244751I%`?i)i))-`?))*F?2F:FBF2JFG (K>G ?G ?G B O> 1qw,A>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496694N?YN?NL&9N' G٣y > Nusing accuracyPremultiplier from config59y?5YC iO@@JE::5#B VAyEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 91.20 m.Bj ,Jj , ProNav: ac range: 91.199997 m, nav range: 42.354641 m, bearing: 72.925413 deg, approach rate: -0.404995 m/s, LOS rate: -0.601638 deg/s, cmd heading: 61.276086 deg, new cmd heading: 60.645437 deg. 2jsμHeadingCmd: 1.058463 target range: 91.199997 and range: 91.20 m. j{?jj j i h hhhfffrfbf:@ɛAM^ Ud=UςIQ UKÎɚQiYI]Ҿ=I]{?iaia)e{?)a $?I*FE?2FI:FIBFMP0JFI-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748713G'>Gy B O >\qw,AJ?YJ?J #9Ji} G٣YSGy 8  > Nusing accuracyPremultiplier from config59y?5Y0 iO@%@LE7:;ZÔ51 5xA1ZjYeDNOT Ignoring new targets: 91.20 m.BjeJjeu ProNav: ac range: 91.199997 m, nav range: 42.202076 m, bearing: 72.710904 deg, approach rate: -0.394077 m/s, LOS rate: -0.556081 deg/s, cmd heading: 60.645434 deg, new cmd heading: 59.999609 deg. 2j}Ѿ}HeadingCmd: 1.047191 target range: 91.199997 and range: 91.20 m. j}Y ?jjjihhhhfffrfbf@ɛDB2= I gɚiI{=IY ?ii)Y ?)HI IrIIBI&I.I6I <:Io F*Fe?2Fa:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:15:27.3034 TRx dataTimestamp_ set to:1736378128.533790checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002779zKOKŷ9KKKvsutrogc_b`]^]ZZYQPOOMHGFDB=;976542100000.,'$" IG>H~G =s%Y9yEBGBO>Jm mJm cJi Ji Jm \8:Jm x9Ji Ji Jm D;Jm D;Jm :Jm :5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2525584 qw,r4A6S?Y6F?696.| G٣y > Nusing accuracyPremultiplier from config %59 y?%5Y ֍ i O!%@%@ ME 2`; +?; Ŕ51 5\A5wEZjY]DNOT Ignoring new targets: 91.20 m.BjeRJjeRu ProNav: ac range: 91.199997 m, nav range: 42.039188 m, bearing: 72.493515 deg, approach rate: -0.405418 m/s, LOS rate: -0.543165 deg/s, cmd heading: 59.999612 deg, new cmd heading: 59.344948 deg. 2jub}HeadingCmd: 1.035765 target range: 91.199997 and range: 91.20 m. j}?jyjyjyiyhyhhhfffrfbf@5 @ɛEBB dI ɚiI+=I?ii)?)*FU?2FQ:FQBFU`0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:15:27.3034 LVL= 21984, 25233, 11506, 28611, AGC= 57, IDX= 435, 0.38, 2.173, 1.748,-2.561, 2.686, PHS=-0.425,-0.891, 1.034, RAW= 196.6, 3.3, CAL= 196.7, -4.6, ROT= 313.3, 4.6 Ygot valid direction response: 23:15:27.3034 LVL= 21984, 25233, 11506, 28611, AGC= 57, IDX= 435, 0.38, 2.173, 1.748,-2.561, 2.686, PHS=-0.425,-0.891, 1.034, RAW= 196.6, 3.3, CAL= 196.7, -4.6, ROT= 313.3, 4.6 PDAT read: Bearing 313.3, 4.6 (Local) ~Local bearing/azimuth received: Bearing 313.3, 4.6 (Local) DAT read: Range 10 to 50 : 90.7 m (Round-trip 121.0 ms) speed 0.4 m/s ,DAT read: user:3129> BDAT read: Tx time:23:15:28.4282 $Ping request sent.ۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝"Y hD. οyؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙG>GqAG)ڙIڙiڙڙڙ۝,`?Drj?PApL?)ۙIۙiۙۙۙۙGBO > I #rqw,sNA:?Y:?:9:9A EG٣Aymy m> uNusing accuracyPremultiplier from configq}59u=y?}5Yu* iuOy}@@uOEu7:u:Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:15:28.4274 uƔ5"B AzEkkE,?k1e k k4LBA:kfBBk2BZk4>"F *%ʩU++5"Y hD. οJkؿRkx>*U@wNq<&@]7*?Iooa?п"k1A*kBke\?k)Ac 2k"BkdM淏?kk"Bk7Bk$ ? addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.527923 s, deltaX: -0.500000 m, approachRate: -0.141726 m/s, rangeRepo size: 4 % Added new target pos. range: 90.699997 m, bearing: 7.302117 deg, lat: 36.904870 deg, lon: -122.119786 deg, deltaT: 3.527923 s, deltaX: -0.500000 m, approachRate: -0.141726 m/s, posRepo size: 4 Zj)-DNOT Ignoring new targets: 90.70 m.Bj-Jj1e ProNav: ac range: 90.699997 m, nav range: 77.609329 m, bearing: 30.918047 deg, approach rate: 0.000000 m/s, LOS rate: -0.543165 deg/s, cmd heading: 59.344946 deg, new cmd heading: 58.599644 deg. 2jamHeadingCmd: 1.022757 target range: 90.699997 and range: 90.70 m. jm?jqjqjqiqhqhqhhfffrf̬V@bf?ɛFB TI  ɚiIH=I%?i!i!)-?))E]as=HI IyIIBI&I.I6IJ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF P0JF zKm TNKm 9Ki Km Km   $?I hG5>GB)O]?2!qw,dnAV?YVZ?V!9V G٣ZSGymR > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59y? 5Y iO +: :?@RE ?;?Ȕ5 A!ZjAMDNOT Ignoring new targets: 90.70 m.BjMJjUe ProNav: ac range: 90.699997 m, nav range: 77.570099 m, bearing: 30.687639 deg, approach rate: -0.076084 m/s, LOS rate: -0.447084 deg/s, cmd heading: 58.599642 deg, new cmd heading: 57.908103 deg. 2jejmHeadingCmd: 1.010687 target range: 90.699997 and range: 90.70 m. jm2^?jijijiiihqhqhqhqfyfyfrfbf;?ɛ!% )-I) -'ɚ)i)I-=I52^?iYiY)]2^?)aE5b=*F?2F:FBFW0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O > "qw,lA @IDF>?YF|?F#9FLb?F;FCyRLBR II^I^٢fM= fu=9jmQ j?hh jG٣lynJ r? vbBottom track data is 0.9 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz59ry?z5Yr{ ir O~ :| u: ? @rSEr;rd?rɔ5 A=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 90.70 m.BjUJjU껝e ProNav: ac range: 90.699997 m, nav range: 77.541351 m, bearing: 30.549169 deg, approach rate: -0.085192 m/s, LOS rate: -0.410499 deg/s, cmd heading: 57.908106 deg, new cmd heading: 57.492551 deg. 2je܌mHeadingCmd: 1.003434 target range: 90.699997 and range: 90.70 m. jmp?jijijiiihqhqhyhyfyfyfyrfbf)P?ɛGB 隭}I ?tɚiIR=Ip?ii)p?)EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF_0JFG! G!G= >GE ?GE ?ZH RH @AH >I  I II BI &I .I AD6I <:I D FG B! O= >k!(qw,A6#?Y6?6J$96SwUB>IIFIF(٢R)= RN=9RqQ V>ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507123`` bG٣`ybm f> jbBottom track data is 1.3 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59fy?n5YfZv if"Or9prF:rK?r@fUEfO+;f?fʔ5t zjAxZjqDNOT Ignoring new targets: 90.70 m.BjbJjb绝 ProNav: ac range: 90.699997 m, nav range: 77.501244 m, bearing: 30.384743 deg, approach rate: -0.098637 m/s, LOS rate: -0.404582 deg/s, cmd heading: 57.492550 deg, new cmd heading: 56.999029 deg. 2jԊHeadingCmd: 0.994821 target range: 90.699997 and range: 90.70 m. j~?jjjihhhhfffrfbf`@?zKmLKiKiKmKmɛ+ yI 04ɚ i I ^ =I%~?iIiI)U~? I)*F2F:FBFp0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.m?m?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759368G 7>Gq B O > F.qw,+޻A6b?Y6|?6"96#^`B>!I)@ BADFA        Mb@Mb@Mb@ )Yn?"~j?:vyS=TA A) AIAy3AI52I5?3٢EO= EA=9M):Q M>II MG٣M[SGyU U> uNusing accuracyPremultiplier from configi59my?5YmYp imOT:.?:?@mWEmJi Ji Ju oJu fJq Jq Ju >:Ju 9Jq Jq a} @a} @a} @a} @Gq } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263054B O >&.5qw,EA2Z?Y2?2W"92JAA EG٣IyM M> UNusing accuracyPremultiplier from configQm59ULy?u5YUj iUNqu?}@UYEU;U;UaΔ5  A{EZjDNOT Ignoring new targets: 90.70 m.BjJj󻝊 ProNav: ac range: 90.699997 m, nav range: 77.397675 m, bearing: 30.047929 deg, approach rate: -0.139789 m/s, LOS rate: -0.426094 deg/s, cmd heading: 56.478103 deg, new cmd heading: 55.987938 deg. 2j6HeadingCmd: 0.977174 target range: 90.699997 and range: 90.70 m. j(z?jjjihhhhfffrfbf`@ɛ !%oI! %<ɚ!i!I%o\=I-(z?i)i))-(z?)*F-?2F):F)BF-5JF)HI IIIBI =&I.I6IG<:I FBIIJIIRIIZIIbIIjIMvy4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514972G>GpAGGBi $?I zKm$JK9KKK BK :K qAO >V_;qw,A2W?Y2֕?2$92v;jBB.I-Mb@Mb@Mb@))) )))Y-Zd;O?X9v?Mby-~ ?-=--zA - A)-M AI))y-AIE'IE@3٢e< eG=9eQ e>ii mG٣iyu! u> }Nusing accuracyPremultiplier from configy59}y?5Y}d i}N-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767133 ?5:5X?5@}[E}<}<},Д59 = AAZjDNOT Ignoring new targets: 90.70 m.Bjs׻Jjs׻ ProNav: ac range: 90.699997 m, nav range: 77.341942 m, bearing: 29.884490 deg, approach rate: -0.128371 m/s, LOS rate: -0.376724 deg/s, cmd heading: 55.987938 deg, new cmd heading: 55.497282 deg. 2jEHeadingCmd: 0.968610 target range: 90.699997 and range: 90.70 m. jw?jjjihhhh#Bf f f rf bf x@ɛHB2 隝nI ɚiIh=Iw?ii)w?)*Fu?2Fq:FqBF}4JFyG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019089G B O >?Bqw,io A $I&h>x?Y>?>)9>S_H@-1K??`ʝ2?r݋?7?ɨ>x?>";> CyFnBJ3IiJ=IJ= Na=N=IR"IRq3٢Zm< ZW=9bGQ b>dd fG٣f\SGyji j> nNusing accuracyPremultiplier from confighU59jy?U5Yjq_ ijNimw?m@j\Ej\GBO>H I  I II ЁBI &I .I 6I *<:I v FjHqw,N#A>z?Y>ȸ?>T}-9>P\H`e? =`b??`a?-???ɨ>z?>;>"CVWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524216yxB%?IIMIMm?3٢9= >=9}Q > G٣y > MNusing accuracyPremultiplier from configA59EGy?5YEY zKLK9KKK 3]jdVMHD@=821/***'$"#$.78200+&%### yhS@ YIaRKu?JKu ?iENy?@E^EEC=E[D=EӔ5 I A ZjAUDNOT Ignoring new targets: 90.70 m.Bj]ûJjû ProNav: ac range: 90.699997 m, nav range: 77.210037 m, bearing: 29.557077 deg, approach rate: -0.143784 m/s, LOS rate: -0.341165 deg/s, cmd heading: 55.044850 deg, new cmd heading: 54.514221 deg. 2j#jHeadingCmd: 0.951453 target range: 90.699997 and range: 90.70 m. jfs?jjjihhhhfffrfbfQ @ɛ gI JɚiI=Ifs?ii)fs?)eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:15:30.9514 LVL= 31776, 32753, 19282, 32755, AGC= 63, IDX= 417,-0.43,-1.404,-2.306,-0.156,-1.187, PHS=-0.129,-1.072, 1.027, RAW= 183.4, 1.9, CAL= 183.5, -6.2, ROT= 326.5, 6.2 Ygot valid direction response: 23:15:30.9514 LVL= 31776, 32753, 19282, 32755, AGC= 63, IDX= 417,-0.43,-1.404,-2.306,-0.156,-1.187, PHS=-0.129,-1.072, 1.027, RAW= 183.4, 1.9, CAL= 183.5, -6.2, ROT= 326.5, 6.2 PDAT read: Bearing 326.5, 6.2 (Local) ~Local bearing/azimuth received: Bearing 326.5, 6.2 (Local) DAT read: Range 10 to 50 : 89.3 m (Round-trip 119.1 ms) speed 0.1 m/s ,DAT read: user:3130>  BDAT read: Tx time:23:15:32.0282  $Ping request sent. G] ?G] ?G)B1OM>PPqw,PSAAJs?YJf?Js"49JEU G٣yc > Nusing accuracyPremultiplier from config59y?5YmR iN ?:#?@`E0;88;Ք51 = A9kr?k6| k k4A:kBBkjBZkl?@"+w#^37%0j)V A^-Ldh￉uJkNؿRkz~<*0t8V@2o**0.J? ,,ÿҡ"kV*kyBk:?kWҲ 2kvBkޑR?kkkBk> addTargetRange:: Added new target pos. range: 89.300003 m, deltaT: 3.791374 s, deltaX: -1.399994 m, approachRate: -0.369258 m/s, rangeRepo size: 4  Added new target pos. range: 89.300003 m, bearing: 351.380239 deg, lat: 36.904949 deg, lon: -122.119786 deg, deltaT: 3.791374 s, deltaX: -1.399994 m, approachRate: -0.369258 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 89.30 m.BjJj ProNav: ac range: 89.300003 m, nav range: 84.827179 m, bearing: 26.490243 deg, approach rate: 0.000000 m/s, LOS rate: -0.341165 deg/s, cmd heading: 54.514219 deg, new cmd heading: 54.110713 deg. 2jHeadingCmd: 0.944410 target range: 89.300003 and range: 89.30 m. jq?jjjihhhh%B AIMhfIfIfIrfM@3SV@bfUf?ɛGB^ bI ѢɚiI=)=Iq?ii)q?)*F?2F:FBFP0JFJK 3 K .KK"KJMnJMfJIJIJM|;:JM9JIJIe Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O >8vVqw,L[A2?Y2#?2>92y   G٣ ]SGy m  > Nusing accuracyPremultiplier from config%59#y?%5YM iN!%j?%@bE$;g;sה51 5 A5yEZjYeDNOT Ignoring new targets: 89.30 m.Bje|ԻJje|Ի ProNav: ac range: 89.300003 m, nav range: 84.763092 m, bearing: 26.358615 deg, approach rate: -0.180757 m/s, LOS rate: -0.371537 deg/s, cmd heading: 54.110712 deg, new cmd heading: 53.715537 deg. 2j~HeadingCmd: 0.937513 target range: 89.300003 and range: 89.30 m. jp?jjjihhhhfffrfbf?ɛ} bI ɚiIa=Ip?ii)p?)HAIA IEIIEBIA&IA.IA6IE8<:IE F*F]?2FY:FYBF]g0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.)! ) iIizK1NK}9KKe~G}5tAGM>K0+(m6iH6*!   ] '(Y] 5tAye h BBKq :Ku oAG B O >\qw,^tAWill construct direction to contact in vehicle frame from tetrahedron phase data.v?Yv|'?vH9vڒ? ??˩?^U??ɨv?vO;v!Cy~B\I-monly read 0 of 1 data item for water mass range. Device response is::WD, .00, +0.00 +0.00, 20.00,1208.80  u@u u@u u@u  u@u I}I}m?٢a= A=9tQ > G٣yɖ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59y?5YF iN+::p?@dE=;>ؔ5  AZjDNOT Ignoring new targets: 89.30 m.BjOȻJjOȻ ProNav: ac range: 89.300003 m, nav range: 84.684029 m, bearing: 26.210493 deg, approach rate: -0.186778 m/s, LOS rate: -0.350248 deg/s, cmd heading: 53.715538 deg, new cmd heading: 53.270766 deg. 2j_pHeadingCmd: 0.929750 target range: 89.300003 and range: 89.30 m. jn?jjjihhhhfffrfbf @G qAG pA i Ii Gq B O >cqw,ڎAEV?YE?E, T9Eӊ G٣y@ > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59]y?5Y*A iN :|:?@fE*(;S?ڔ5  AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.30 m.BjƻJjƻ ProNav: ac range: 89.300003 m, nav range: 84.603539 m, bearing: 26.070753 deg, approach rate: -0.199733 m/s, LOS rate: -0.347089 deg/s, cmd heading: 53.270766 deg, new cmd heading: 52.851154 deg. 2j4n HeadingCmd: 0.922427 target range: 89.300003 and range: 89.30 m.JmJeJJJ\8:J9JJ j '$l?j!j!j!i!h)h)h)h1f1f9f9rf9bf=å?ɛdUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. 隅ZI  즽ɚiIf=I'$l?ii)'$l?)*FE?2FA:FIBFM0JFIH5 >I1  I5 II5 BI5 =&I1 .I5 BD6I5 <:I5 n FG >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745645Uiqw,AB?YBT?BU9BI^;> b=b=If)IfW3٢v vU=9vOQ z>x !I)zK=BNK=59K9K=K=y }G٣}^SGy}= > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59hy?5YY; i~N9L:?@gEh<?۔5a m AqZjDNOT Ignoring new targets: 89.30 m.BjJj ProNav: ac range: 89.300003 m, nav range: 84.516945 m, bearing: 25.932966 deg, approach rate: -0.185520 m/s, LOS rate: -0.295500 deg/s, cmd heading: 52.851153 deg, new cmd heading: 52.437378 deg. 2jJHeadingCmd: 0.915205 target range: 89.300003 and range: 89.30 m. jJj?jjjihh!h!h!f!fIfIrfIbfU.?ɛFB 隝C[I ɚiI=IJj?ii)Jj?)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998610*F2F:FBF0JFG >G B O >)pqw,Ay~BlI        Mb@Mb@Mb@ )YV-?A`"?S㥛y|>=/ݼM A 7 A) AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249329yz AII(*3٢v= <=9Q > G٣y > Nusing accuracyPremultiplier from config59gy?5Y5 i}N T: ? : 6? @iE<;; ;ܔ5 $ AZjAEDNOT Ignoring new targets: 89.30 m.BjMgٻJjMgٻ ProNav: ac range: 89.300003 m, nav range: 84.434593 m, bearing: 25.799219 deg, approach rate: -0.233835 m/s, LOS rate: -0.380140 deg/s, cmd heading: 52.437377 deg, new cmd heading: 52.035752 deg. 2jqHeadingCmd: 0.908195 target range: 89.300003 and range: 89.30 m. j{h?j j j i h hhhBfffrfbf@ɛEB 隵NTI ũɚiI =I{h?ii){h?) I*F?2F:FBF@5JFG GrAu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503629G >G ?G >G B O >)vqw,5aA6˾?Y6?6 ]96?"<\_{?0? ʷ?Q? 0L??ɨ6˾?6L;4yRBRzIIZIZm?3٢bs= b^=9b$Q b>dd fG٣dyj5 j> rNusing accuracyPremultiplier from configpv59ry?v5Yr0 irzNtv?v@rkEr7:rz:rwޔ5| ~ A|Zj!%DNOT Ignoring new targets: 89.30 m.Bj-bJj-b= ProNav: ac range: 89.300003 m, nav range: 84.351311 m, bearing: 25.684691 deg, approach rate: -0.226590 m/s, LOS rate: -0.311910 deg/s, cmd heading: 52.035752 deg, new cmd heading: 51.691831 deg. 2jEVEHeadingCmd: 0.902193 target range: 89.300003 and range: 89.30 m. jEf?jIjIjIiIhIhIhQhQfQfQfQrfbfjq@ɛAEc4 AEkNIA MɚIiyI}=If?ii)f?)H>IC IIIBI&I.I6I<:I@ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755069*F%?2F!:F)BF-O0JF) !I%hzKRIK9KKKGM >GA BI Om >JI JM fJI JI JI JM 9JI JI JM D;a] JM D;a] JM :ae JM :ae F|qw,KD?Y>6?>=b9>H@?l>n??@G?`@ D?`u?`,?ɨ>D?>S;>CyzBz}I)I IQQ ]@e e@e e@e  e@e aaIm%Im)3٢}&< }1=9}2Q > G٣_SGy* > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59^y?5Y* iuN+::?@mE';>5  AwEZjDNOT Ignoring new targets: 89.30 m.Bj䮻Jj䮻 ProNav: ac range: 89.300003 m, nav range: 84.241112 m, bearing: 25.543727 deg, approach rate: -0.238753 m/s, LOS rate: -0.305805 deg/s, cmd heading: 51.691831 deg, new cmd heading: 51.268396 deg. 2jQHeadingCmd: 0.894802 target range: 89.300003 and range: 89.30 m. je?j j j i h hhhfffrfbf5@ɛMDBUJ QULIY ]fɚYiYI]S==Iee?iaia)ee?)i*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258023G G B I O >܃qw,2AB-p?YB?Bg9B2xx zG٣xyz~ ~> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~y?5Y~% i~pN ::?@~nE~g;~-Q?~5! % A!EB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 89.30 m.BjU笻JjU笻e ProNav: ac range: 89.300003 m, nav range: 84.151436 m, bearing: 25.436933 deg, approach rate: -0.253599 m/s, LOS rate: -0.302330 deg/s, cmd heading: 51.268397 deg, new cmd heading: 50.947677 deg. 2je|OuHeadingCmd: 0.889205 target range: 89.300003 and range: 89.30 m. juc?jqjqjqiqhyhyhyhyfyffrfbf@Y @ɛCBZ ,KI ɚaiaIe=Imc?iiiq)uc?)q-Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 23:15:34.5495 LVL= 24096, 32753, 16610, 32755, AGC= 63, IDX= 428,-0.22,-2.598, 2.851,-1.794,-2.577, PHS= 0.067,-0.809, 0.780, RAW= 176.6, -0.6, CAL= 177.4, -8.4, ROT= 332.6, 8.4 Ygot valid direction response: 23:15:34.5495 LVL= 24096, 32753, 16610, 32755, AGC= 63, IDX= 428,-0.22,-2.598, 2.851,-1.794,-2.577, PHS= 0.067,-0.809, 0.780, RAW= 176.6, -0.6, CAL= 177.4, -8.4, ROT= 332.6, 8.4 PDAT read: Bearing 332.6, 8.4 (Local) ~Local bearing/azimuth received: Bearing 332.6, 8.4 (Local) DAT read: Range 10 to 50 : 87.8 m (Round-trip 117.1 ms) speed 0.2 m/s ,DAT read: user:3131> BDAT read: Tx time:23:15:35.6782 $Ping request sent.))-?+o^蕷?n~o)-Q|?I-$I I IIBI&I.I6I<:IS FBIJIRIZIbIjIȭ5GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:15:35.6774 vqw,)A TITb~g?Ybp?bCm9bl    G٣ y˞ > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59Yy?-5Yf  ijN-9)-\:-?5@pE(;? 59 = AAzKjIK9KKK:=CljB ke2.瓜?ke֧ ka keA:keBBkepBZke *@"er'KU՟$"@eV3\FUr?Jke٣ӿRke~ӽ*e`0S T@(J3)AW'J@eEn4W?=IfٿG?"keM *keBke?ke 2keBke?ke)Ac kakeBke)= addTargetRange:: Added new target pos. range: 87.800003 m, deltaT: 3.529293 s, deltaX: -1.500000 m, approachRate: -0.425014 m/s, rangeRepo size: 4 = Added new target pos. range: 87.800003 m, bearing: 336.906710 deg, lat: 36.904990 deg, lon: -122.120109 deg, deltaT: 3.529293 s, deltaX: -1.500000 m, approachRate: -0.425014 m/s, posRepo size: 4 ZjAmDNOT Ignoring new targets: 87.80 m.Bj}Jjy ProNav: ac range: 87.800003 m, nav range: 80.821365 m, bearing: 5.096273 deg, approach rate: 0.000000 m/s, LOS rate: -0.302330 deg/s, cmd heading: 50.947675 deg, new cmd heading: 50.563556 deg. 2j=HeadingCmd: 0.882501 target range: 87.800003 and range: 87.80 m. j=a?j9j9j9i9hAhahahafififirfm@3U@bfu@p?ɛBBE 隽>I bɚiI/[=Ia?ii)a?)J nJ cJ J J |;:J x9J J J J;J J;J :J :EWill construct direction to contact in vehicle frame from tetrahedron phase data.E%=E%=*F?2F:FBF_0JFG G B! OE >~qw,ȱCAy  i4=I< =a=Will construct direction to contact in vehicle frame from tetrahedron phase data. - 5 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5q= ףp?5t=5`57 A 5 A)5hAI5A1y5 AIMIMF٢UM ]7=9]Q ]>ai mG٣m`SGym u> Nusing accuracyPremultiplier from config59%y?5Y iT:>:?@qEi ;v;5  AZjDNOT Ignoring new targets: 87.80 m.BjJj ProNav: ac range: 87.800003 m, nav range: 80.770241 m, bearing: 4.952741 deg, approach rate: -0.119205 m/s, LOS rate: -0.334877 deg/s, cmd heading: 50.563556 deg, new cmd heading: 50.132698 deg. 2jeHeadingCmd: 0.874981 target range: 87.800003 and range: 87.80 m. j_?jjjihhhh Bfffrfbf ?ɛ5AB5$ 15b>I1 5'ɚ9i9I==IE_?iAiA)E_?)I I*F2F:FBF0JFJ!J!G5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE >qw,Eg]Ay ԁB II=I=V٢M= M_=9IQ M>QQ UG٣QyQ ]> mNusing accuracyPremultiplier from configiu59mny?u5Ym ii@msEm^RI I II,BI&I.I6I=<:I F)*Fu?2Fq:FqBF}3JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. IzK]вNK]}9KYK]K].c|zoha\WUWUQPQNHIHECDJXahf<-,?8*$RK ?JK>G>G Ba O} >JE oJE gJA JA JE >:JE 9JA JA JE }O;JE O;JE >:JE ?:-qw,EwAWill construct direction to contact in vehicle frame from tetrahedron phase data.F9p?YF?F 9F*mY=ļ  A)$AIzAy AI I T٢= >=9:Q >!! %G٣!y-0] -> =Nusing accuracyPremultiplier from config1=595y?E5Y5 i5`NMI>M:M?M@5tE50:;58;5{5Q ] AYZjDNOT Ignoring new targets: 87.80 m.BjJj ProNav: ac range: 87.800003 m, nav range: 80.658348 m, bearing: 4.707567 deg, approach rate: -0.163653 m/s, LOS rate: -0.296767 deg/s, cmd heading: 49.780048 deg, new cmd heading: 49.396668 deg. 2jKHeadingCmd: 0.862135 target range: 87.800003 and range: 87.80 m. jٴ\?jj!j!i!h!h!h)h- BfIfQfQrfQbfU_?ɛ?Bb+ (-I  ~ɚiI=Iٴ\?i)ٴ\?)*F?2F:FBF94JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I G% >G B O% >qw,A "@"@ZO`?YZe?ZY9Zu~xx zG٣xy~6 ~> Nusing accuracyPremultiplier from config 59y? 5Y  iWN?@vE::5"B %} A%uEEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 87.80 m.BjUJjUm ProNav: ac range: 87.800003 m, nav range: 80.588913 m, bearing: 4.601725 deg, approach rate: -0.196771 m/s, LOS rate: -0.300204 deg/s, cmd heading: 49.396669 deg, new cmd heading: 49.078872 deg. 2jmNuHeadingCmd: 0.856588 target range: 87.800003 and range: 87.80 m. juXI[?jqjqjqiqhqhyhyhyfffrfbf]?ɛ>B[ %&I cɚiI7=I-XI[?i-lD)-XI[?)Q=Will construct direction to contact in vehicle frame from tetrahedron phase data.=?=?ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFP0JFG>GaBqO9>ZHRHH>IC I: IIEBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246887Dqw,A $I&h@N|uAX rc*Yr|uAyrd#B=W?Y= ?=Sц9=mKb G٣aSGyY > Nusing accuracyPremultiplier from config59y?5Y iMNB?@wE.::5  AZj%DNOT Ignoring new targets: 87.80 m.zKm1NKm9KiKmKm BKoA:KqABj5Jj5m ProNav: ac range: 87.800003 m, nav range: 80.502914 m, bearing: 4.480800 deg, approach rate: -0.199007 m/s, LOS rate: -0.280127 deg/s, cmd heading: 49.078871 deg, new cmd heading: 48.715715 deg. 2ju?@HeadingCmd: 0.850250 target range: 87.800003 and range: 87.80 m. jY?jjjihhhhf)f)f9rfabfmj@ɛ)Y?JuJhJJJ[Q:JȆ9JJJo;Jo;JӬ:Jլ:)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499914*F?2F:FBF4JF"GR>GY>G .>G G qAG B O >*qw,A6O?Y6sƃ?6Ň96Y  0=   A ~A) I  y  AI%I%3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750791٢= D=9Q > G٣y8 > Nusing accuracyPremultiplier from config59y?5YT i8NA>%:%?%@yE;;5I M]AMrEZjDNOT Ignoring new targets: 87.80 m.Bj Jj  ProNav: ac range: 87.800003 m, nav range: 80.405411 m, bearing: 4.360905 deg, approach rate: -0.228728 m/s, LOS rate: -0.281596 deg/s, cmd heading: 48.715713 deg, new cmd heading: 48.355596 deg. 2jAAHeadingCmd: 0.843964 target range: 87.800003 and range: 87.80 m. j X?jjj!i!h! 5$?I1h!hIhM!BfIfIfQrfQbfU`@ɛ;BW 隭TI ɚiI{ =I X?i#) X?)*F}?2Fy:FyBF}P0JFyGMB{>G)B1OM>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:15:38.1977 M TRx dataTimestamp_ set to:1736378139.380660U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0038027Rqw,A2zeF?Y2]~?2n92jhh nG٣lynл r> vNusing accuracyPremultiplier from configpv59ry?z5Yrb ir%Nxzi?z@rzEr:rI;r[5 AZj)-DNOT Ignoring new targets: 87.80 m.Bj5ЧJj5ЧM ProNav: ac range: 87.800003 m, nav range: 80.316063 m, bearing: 4.258579 deg, approach rate: -0.255930 m/s, LOS rate: -0.293431 deg/s, cmd heading: 48.355595 deg, new cmd heading: 48.048278 deg. 2jMaIUHeadingCmd: 0.838601 target range: 87.800003 and range: 87.80 m. jUV?jQjQjQiQhYhYhYhYfafafarfabfm@Y @ɛ:B EI BɚiI)%V?)!H=>I9 I=f II=iBI= =&I9.I=AD6I=<:I=Z F*F2F:FBF_0JFGNZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260106GBOA> )I)zKKKKKKRK?JK?qw,{AWill construct direction to contact in vehicle frame from tetrahedron phase data.nDAT read: 23:15:38.1977 LVL= 20656, 24737, 15938, 26611, AGC= 64, IDX= 425, 0.40, 2.738, 1.433, 2.935, 2.350, PHS= 0.476,-0.871, 0.582, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2 rYgot valid direction response: 23:15:38.1977 LVL= 20656, 24737, 15938, 26611, AGC= 64, IDX= 425, 0.40, 2.738, 1.433, 2.935, 2.350, PHS= 0.476,-0.871, 0.582, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2 vPDAT read: Bearing 352.6, 11.2 (Local) v~Local bearing/azimuth received: Bearing 352.6, 11.2 (Local) DAT read: Range 10 to 50 : 86.5 m (Round-trip 115.4 ms) speed 0.4 m/s %,DAT read: user:3132> %R#Rx 1: Read range and direction messages.`direction in FSK: [-0.066224,-0.867945,0.492225]Fpublishing direction and range info9ҫJ=/5 : ?yBP` B>)gI@iF>^?>+@A F/@)+HI@i+H>7r?7^?us)?I@=i2ҿT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yޭDBޭ: I=Mb@Mb@Mb@999 9)9Y=v?J +?=H==t9 =A)=AI99y=AI&I3٢= =9Q > G٣bSGy >  Nusing accuracyPremultiplier from config 59 y?5Y 3 i M=">=:=Y?=@ |E ; ; 5A EAIk烆?k=M k kA:kBBkګBZk@":윍IR.IE@ҫJ=/5 : ?Jk2ҿRk*5lpM@%I&HVnD@8?g/lY?"k4A*kkBkuf"?k(d 2kNBkkWҲ kvBkhBk w@% addTargetRange:: Added new target pos. range: 86.500000 m, deltaT: 3.533968 s, deltaX: -1.300003 m, approachRate: -0.367859 m/s, rangeRepo size: 4 U Added new target pos. range: 86.500000 m, bearing: 320.635847 deg, lat: 36.904990 deg, lon: -122.120362 deg, deltaT: 3.533968 s, deltaX: -1.300003 m, approachRate: -0.367859 m/s, posRepo size: 4 ZjQ]DNOT Ignoring new targets: 86.50 m.Bj]JjYm ProNav: ac range: 86.500000 m, nav range: 81.703873 m, bearing: 348.188250 deg, approach rate: 0.000000 m/s, LOS rate: -0.293431 deg/s, cmd heading: 48.048277 deg, new cmd heading: 47.549487 deg. 2jiHeadingCmd: 0.829895 target range: 86.500000 and range: 86.50 m. jtT?jjjihhhhIBfffrfU@bf#?ɛ8B I dɚiI,=I%tT?i%K޾)%tT?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:15:39.3282 $Ping request sent.G ?G >G B O >S#qw,ߌAJ.rJ.kJ.1J,J.G:J.9J.3J,a2@a6@a6@a6@yUaBU^ IIeIe٢u)> uo=9qQ }?yy }G٣yy ? Nusing accuracyPremultiplier from config59,y?5YX iM@}E);!*;15 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 86.50 m.BjʻJjʻ ProNav: ac range: 86.500000 m, nav range: 81.660454 m, bearing: 348.076997 deg, approach rate: -0.138386 m/s, LOS rate: -0.354775 deg/s, cmd heading: 47.549489 deg, new cmd heading: 47.215557 deg. 2jzsHeadingCmd: 0.824067 target range: 86.500000 and range: 86.50 m. j R?jj j i hhhhfff!rf!bf%р?ɛ7B3P վI 7﷽ɚiI6=I R?iiAX%>) R?)*F?2F:FBFo0JFGlU>>GQBaO}Y>jH<bH4<H>I I IIBI =&I.I6I<:I? Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503861 I Hqw,S/A28/?Y2g?2[`92Ɯhh jG٣hynAt r> vNusing accuracyPremultiplier from configpv59ry?z5Yr3 irMxz?z@rEr& ;zK]JK]9KYK]K]ri ;r5 RAZjQ]DNOT Ignoring new targets: 86.50 m.BjeڛJjeڛ ProNav: ac range: 86.500000 m, nav range: 81.595520 m, bearing: 347.954416 deg, approach rate: -0.144241 m/s, LOS rate: -0.272513 deg/s, cmd heading: 47.215558 deg, new cmd heading: 46.847526 deg. 2j;HeadingCmd: 0.817644 target range: 86.500000 and range: 86.50 m. jQQ?jjjihhhhfffrfbfKGBO>70qw,-IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007299b$-)?Yba?bb9b9 G٣cSGygX > Nusing accuracyPremultiplier from configy59}?y?5Y} i}WM?:?@}E};};}5#B AmEZjDNOT Ignoring new targets: 86.50 m.BjJj軝 ProNav: ac range: 86.500000 m, nav range: 81.513977 m, bearing: 347.797781 deg, approach rate: -0.211659 m/s, LOS rate: -0.406979 deg/s, cmd heading: 46.847526 deg, new cmd heading: 46.377162 deg. 2jHeadingCmd: 0.809434 target range: 86.500000 and range: 86.50 m. j7O?jjjihhhh`Bfffrfbf?ɛ-5B-܏ )5I1 5#ɚ1i1I5s=I=7O?i9i=I=)=7O?)AEQ*F?2F:FBFP5JFJJJ0JJJJـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259403Ge 69 >Gm qAGm mAGA BI O >iZqw,$ cAH6>I6C I6 II6ɂBI6 =&I4.I46I6ԯ<:I6/ FBI)JI)RI)ZI- =bI- =jI-Ǭ5F #?YF[?F 9F=yFH A?=`s ?v?[?p?@C?ɨF #?Fn;F!CyRBR IIZIZ(*٢ft=> f]=9f^Q f>hh jG٣hyn8 n> rNusing accuracyPremultiplier from configpv59ry?v5Yr irMxz |?z@rEr:rz:rc5| ~AZj!-DNOT Ignoring new targets: 86.50 m.Bj-UûJj-UûE ProNav: ac range: 86.500000 m, nav range: 81.447411 m, bearing: 347.677892 deg, approach rate: -0.189484 m/s, LOS rate: -0.341547 deg/s, cmd heading: 46.377162 deg, new cmd heading: 46.017207 deg. 2jEfjMHeadingCmd: 0.803152 target range: 86.500000 and range: 86.50 m. jM[M?jIjIjIiQhQhQhQhYfYfYfarfabfe@:?ɛ 4B   I  oɚiI=I[M?i%GABYOu6>zKBHK@9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763225ńqw,C|AyB% Ii-N>I-> -=-=Mb@Mb@Mb@ )Y?bX9ȶ?y&1|?y ?E=`; ;A)AIyAII<2٢/= :=9Q > G٣y > Nusing accuracyPremultiplier from config}59y?}5Yq iL}?}:}P?@E<<M5 3AZjDNOT Ignoring new targets: 86.50 m.BjʻJjʻ ProNav: ac range: 86.500000 m, nav range: 81.367233 m, bearing: 347.516437 deg, approach rate: -0.175818 m/s, LOS rate: -0.354397 deg/s, cmd heading: 46.017208 deg, new cmd heading: 45.532377 deg. 2j8sHeadingCmd: 0.794690 target range: 86.500000 and range: 86.50 m. jpK?jjjihhhhBfffrfbfB@ɛ3BTٽ !%lI! -ɚ)i)I-w-=I5pK?i1i==)=pK?)9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015317 I E==*F?2F:FBFV5JFG !{=G B O >lqw,{AJ$J&nJ$J$J$J&99J$J$y˂B II-$I-<3٢EǕ= ET=9AQ E>II MG٣MdSGyI U> ]Nusing accuracyPremultiplier from configYe59]y?e5Y] i]hLaae@]E]b;];]5u$B uAujEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267659ZjDNOT Ignoring new targets: 86.50 m.BjۻJjۻ ProNav: ac range: 86.500000 m, nav range: 81.297371 m, bearing: 347.374418 deg, approach rate: -0.188921 m/s, LOS rate: -0.384375 deg/s, cmd heading: 45.532377 deg, new cmd heading: 45.105962 deg. 2j僼HeadingCmd: 0.787248 target range: 86.500000 and range: 86.50 m. jI?jjjihhhhfffrfbf6@ɛ2BCؽ *NI %Fɚ!i!I%Y=I-I?i)i-_=)-I?))E-~=*F?2F:FBFP0JFG=GaZHiRHiHqIq Iu(!IIuBIu =&Iq.Iq6Iu<:Iu_ FBO_>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519955 $?I yqw,JA6?Y6 J?6 96a=y6Hv?|`?f? A[???ɨ6?6 d;6 CyB܂BB IIJIJ2٢v?= vP=9~;Q >    G٣ yd0 >]PExceeded connect timeout, disconnecting. Nusing accuracyPremultiplier from configzKK9KKKBKpA:K592z?%5Y iL)5s?]@E<<5 ?AZjDNOT Ignoring new targets: 86.50 m.Bj-豻Jj-豻= ProNav: ac range: 86.500000 m, nav range: 81.208328 m, bearing: 347.225716 deg, approach rate: -0.186070 m/s, LOS rate: -0.311078 deg/s, cmd heading: 45.105961 deg, new cmd heading: 44.659377 deg. 2j=}UEHeadingCmd: 0.779453 target range: 86.500000 and range: 86.50 m. jE>G?jAjajiiihihihqhqfqfqfqrfybf}@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771392ɛ1BbϽ *I ɚiI=I%>G?i%G?))Ee =*F ?2F :F BF O5JF "G =G >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:15:41.8454 e TRx dataTimestamp_ set to:1736378143.164661m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024357 I G9GB)OE?qw,tA66 ?Y6lE?6$96=y6H@?@h^>?@?R=? ۯ? ?ɨ66 ?6(;6Cy>BB!I)D DMMb@Mb@Mb@III I)IYM +?S㥛?y&1|?yM?M$>IM A MA)MAIMM AIyM3AJuuJumJqJqJu[Q:Ju&9JqJqIe Ie<2٢{Q=  =9XQ > G٣eSGy > Nusing accuracyPremultiplier from config59z?5Y? imKz?:}?@E@;;D5 AgEZjDNOT Ignoring new targets: 86.50 m.Bj#Jj# ProNav: ac range: 86.500000 m, nav range: 81.090065 m, bearing: 347.000206 deg, approach rate: -0.236492 m/s, LOS rate: -0.451611 deg/s, cmd heading: 44.659376 deg, new cmd heading: 43.981892 deg. 2jHeadingCmd: 0.767629 target range: 86.500000 and range: 86.50 m. jSD?jjjihh!h)h-Bf)f)f)rf1bf5 @ɛ]0B](ͽ Y]H IY e*⺽ɚaiaIeԙ=ImSD?iqiu=<)uSD?)qEyEy*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277456Hu>Iq Ium!IIu>BIu =&Iq.Iq6Iu'<:Iui F*F?2F:FBF15JFG}X=GY Ba O >)A M ]C} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  DAT read: 23:15:41.8454 LVL= 29552, 31729, 25074, 32755, AGC= 64, IDX= 416, 0.34, 2.495, 0.754, 2.077, 1.756, PHS= 0.827,-0.955, 0.318, RAW= 133.9, -2.4, CAL= 139.4, -12.1, ROT= 10.6, 12.1 I h Ygot valid direction response: 23:15:41.8454 LVL= 29552, 31729, 25074, 32755, AGC= 64, IDX= 416, 0.34, 2.495, 0.754, 2.077, 1.756, PHS= 0.827,-0.955, 0.318, RAW= 133.9, -2.4, CAL= 139.4, -12.1, ROT= 10.6, 12.1  PDAT read: Bearing 10.6, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 10.6, 12.1 (Local)  DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.9 ms) speed 0.5 m/s  ,DAT read: user:3133>  BDAT read: Tx time:23:15:42.9283  $Ping request sent.% م W@م + څ @)څ @XIڅ q=>iڅ @X>ځ ځ ۅ ?)?_?E>)ۅ yx>Iۅ ,=iۅ ؿ = #Y9 yE 0Bjqw,VA۽)`۹۹>:publishing transmit ping timeA>Fpublishing direction and range infoع9ؽl/wwN+"sFf?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽?)?_?E>)۹I۹i۹۹۹۹ ?YB?y9c=yH#?Kh? ?@`g?6? ?ɨ ?ˋ;騅 CyB!II=I=?13٢M= U?=9]Q/Q ]>Ya eG٣a nManaging dock network, ignoring radio surface power offy >zKJKŷ9KKKRK ?JK> Nusing accuracyPremultiplier from config5592z?=5Y iJz?@E<]<R5 IAeEkq@Se4Ib>N@KC9g?:5"㿴Ly??"kI*k|AkN?kҒ> 2kBkk kBkBWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:15:42.9275 k:ٺ@  addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.778897 s, deltaX: -1.900002 m, approachRate: -0.502793 m/s, rangeRepo size: 4 = Added new target pos. range: 84.599998 m, bearing: 301.535305 deg, lat: 36.904990 deg, lon: -122.120576 deg, deltaT: 3.778897 s, deltaX: -1.900002 m, approachRate: -0.502793 m/s, posRepo size: 4 Zj9EDNOT Ignoring new targets: 84.60 m.BjEJjA} ProNav: ac range: 84.599998 m, nav range: 87.327820 m, bearing: 334.551030 deg, approach rate: 0.000000 m/s, LOS rate: -0.451611 deg/s, cmd heading: 43.981893 deg, new cmd heading: 43.256230 deg. 2jyHeadingCmd: 0.754964 target range: 84.599998 and range: 84.60 m. jLEA?jjjihhhhfffrf`f&U@bf@2?ɛ-/B5kǽ 1=ѽI9 EɚAiAIM=IULEA?iYi] <)]LEA?)a*F ?2F :F BF 4JF G <G B O >rw,HkAy B0!IEWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IMb@Mb@Mb@ )YCl?/$?:v?yd?>T<7 A A)@Id AyAIIk٢= @=9Q > G٣y   > -Nusing accuracyPremultiplier from config)U59-)z?U5Y- i-kJUI ?U:]?]@-E-;- ;-5a eAaZjDNOT Ignoring new targets: 84.60 m.Bj`Jj` ProNav: ac range: 84.599998 m, nav range: 87.299118 m, bearing: 334.395344 deg, approach rate: -0.087893 m/s, LOS rate: -0.476913 deg/s, cmd heading: 43.256230 deg, new cmd heading: 42.789030 deg. 2j HeadingCmd: 0.746809 target range: 84.599998 and range: 84.60 m. j .??j j j ihhhhʃBfffrfbf%I?ɛcƽ 隕I ;4ɚiIg=I.??iiv =).??)*F%?2F!:F!BF%^0JF!G) G)JKm3 KS}-KK"KJJnJJJJ99JJWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge V<Gm ?Gi G9 BI Om >*rw,B"ABi?YB;?Bӽ9Bғ=yBHJ?(@ Q??Vd?]?#?ɨBi?B;BCyRBR*!IiV=IVp;IZIZW٢b' fw=9fQ f?hh jG٣hyj j? rNusing accuracyPremultiplier from configpv59r3z?v5YrO irItv&{?z@rEre:r":rp5~%B ~A~bEjH!bH%<H->I-C I-!II-vBI- =&I).I-@D6I-<:I-_ FEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 84.60 m.Bj]FJj]F軝m ProNav: ac range: 84.599998 m, nav range: 87.270294 m, bearing: 334.262712 deg, approach rate: -0.088234 m/s, LOS rate: -0.406140 deg/s, cmd heading: 42.789031 deg, new cmd heading: 42.391012 deg. 2jm]uHeadingCmd: 0.739863 target range: 84.599998 and range: 84.60 m. jug=?jqjqjqiqhqhyhyhyfffrfbfK?ɛhǽ =隽I MɚiIۦ=Ig=?iiT̅<)g=?)*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. yIyGVv<GIBQOm5>zK BHK 59K K K +0.+($  BK :K lA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2412659Vrw,"-;-3 A -QA)-`@I-` A)y-AII٢%)) -G٣-fSGy5. 5> =Nusing accuracyPremultiplier from config9E59='@z?M5Y= i=dIM ?U:Uڀ?U@=E=;=;=e5q }AyZjDNOT Ignoring new targets: 84.60 m.Bj-Jj-滝= ProNav: ac range: 84.599998 m, nav range: 87.238678 m, bearing: 334.080308 deg, approach rate: -0.069905 m/s, LOS rate: -0.403447 deg/s, cmd heading: 42.391012 deg, new cmd heading: 41.843621 deg. 2jEpEHeadingCmd: 0.730309 target range: 84.599998 and range: 84.60 m. jE:?jIjIjIiIhIhQhQhUBfYfYfYrfYbf]`?ɛ.B[½ @bI .iɚiI=I:?ii <):?)A*F?2F:FBF%o0JF! ]$?IYeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494881GE n =GM pAGM pAG B) OE >q=rw,jUAB%>YB7?B9$9BM=yBH@?4s٦? ?`W*@??.?ɨB%>B ;@yJBJ4!IIRIRF2٢ZC{ Ze=9^,Q ^>\` bG٣`ybNj b> jNusing accuracyPremultiplier from configdn59fEJz?r5Yf' ifHtv?v@fEfq;fq;f5x zAxZj%DNOT Ignoring new targets: 84.60 m.Bj%Jj%5 ProNav: ac range: 84.599998 m, nav range: 87.212860 m, bearing: 333.935135 deg, approach rate: -0.073882 m/s, LOS rate: -0.415562 deg/s, cmd heading: 41.843621 deg, new cmd heading: 41.407979 deg. 2j5EHeadingCmd: 0.722706 target range: 84.599998 and range: 84.60 m. jE;9?jAjAjAiAhAhIhIhQfyfyfrfbfԑ?ɛĽ 隵wI X~ɚiIl=I;9?ii<);9?)EEpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745562*F?2F:FBFP5JF"G>G=G<GBOE>H%>I! I%!II%BI% =&I!.I!6I%p<:I% F Q IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997320grw,oA6Xr>Y66?6fC96=y6H&?@[_v?`q?@9DT?X?s?ɨ6Xr>6N5;6"Cyb Bb,!I)d dIjIjb2٢v, vG=9vXQ v>xx zG٣xy~C ~> Nusing accuracyPremultiplier from config-59Uz?55Y~ iUH15?E@E<; 5M&B UAU_EZjDNOT Ignoring new targets: 84.60 m.BjMݻJjMݻ  ProNav: ac range: 84.599998 m, nav range: 87.182671 m, bearing: 333.768218 deg, approach rate: -0.069962 m/s, LOS rate: -0.386954 deg/s, cmd heading: 41.407977 deg, new cmd heading: 40.907067 deg. 2jȄMHeadingCmd: 0.713963 target range: 84.599998 and range: 84.60 m. jMG6?jqjqjqiqhqhyhyhyfyffrfbf@'H@zKu MKu9KqKuKu 12T_\O7yi]RG;!JwJwJJJW:J9JJJz;aJz;aJ:aJ:aɛIMUŽ QU`IYWill construct direction to contact in vehicle frame from tetrahedron phase data.?4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249835 ]$ɚiI9=IG6?i^>Y>5?>7 9>=y>H_?,tϘ? x ?¿FY?-?@+?ɨ>>>;>#CyJBJ#!IuMb@Mb@Mb@qqq q)qYu ףp= ?jt?~jtyuQ?u >uDu A q)u@IqqyuzAII 3٢ʼ  =9Q > G٣gSGy]8 > Nusing accuracyPremultiplier from config59gz?5Y© iG?:w?@E@;;N 5 "A]EZjDNOT Ignoring new targets: 84.60 m.Bj Jj 뻝= ProNav: ac range: 84.599998 m, nav range: 87.131935 m, bearing: 333.536265 deg, approach rate: -0.090126 m/s, LOS rate: -0.412278 deg/s, cmd heading: 40.907065 deg, new cmd heading: 40.210837 deg. 2j=xEHeadingCmd: 0.701811 target range: 84.599998 and range: 84.60 m. jE3?j!j!j!i!h!h!h)h-wBf)f)f1rf1bf5l@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753462ɛ-ƽ 隅ȱI ׻ɚiI=I3?ii<)U3?)QEB=ZHIRHMAAHU>IQ IU!IIUBIQ&IQ.IQ6IU<:IUA FBIȫCJIȫCRIZI =bI =jI5*F?2F:FBFJF ] $?IY  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:15:45.4426  TRx dataTimestamp_ set to:1736378146.692704 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006497G <G B O >+rw,pAR~P>YR"4?R!N9R:=yRH`=?t||?F ?Bÿ9? y??ɨR~P>R ;RCyZB^!IIb Ib<2٢n c nA=9nQ n>pp rG٣pyrog v> zNusing accuracyPremultiplier from configx~59z]sz?~5Yz) izGw?@zEz:ze:z'5  AZE-B*** querying acoustic contact ***j)j)Zj9=DNOT Ignoring new targets: 84.60 m.BjEGJjEG㻝U ProNav: ac range: 84.599998 m, nav range: 87.095795 m, bearing: 333.368258 deg, approach rate: -0.085451 m/s, LOS rate: -0.397401 deg/s, cmd heading: 40.210837 deg, new cmd heading: 39.706622 deg. 2jU]]HeadingCmd: 0.693011 target range: 84.599998 and range: 84.60 m. j]0i1?jYjajaiahahahihifififqrfqbf} B @ɛ̽ =隭I ɚiI=I0i1?ii1=)0i1?)EE*E"EzKlNKKKK JxJtJJJZ:J9JJJ ;J ;J:J:El>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259823*F 2F :F BF0JFG GGU <Gi Bq O >2rw,qA 0I0:S>Y:3?:S9:?==y:H%?5`is??Ŀ??]?ɨ:S>:;:#CyBBF!IiJ>IJR=nWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:15:45.4426 LVL= 30192, 29617, 29778, 32755, AGC= 66, IDX= 420, 0.37, 1.201,-0.569, 0.736, 0.486, PHS= 0.803,-1.008, 0.247, RAW= 132.5, -0.5, CAL= 138.2, -9.5, ROT= 11.8, 9.5 Ygot valid direction response: 23:15:45.4426 LVL= 30192, 29617, 29778, 32755, AGC= 66, IDX= 420, 0.37, 1.201,-0.569, 0.736, 0.486, PHS= 0.803,-1.008, 0.247, RAW= 132.5, -0.5, CAL= 138.2, -9.5, ROT= 11.8, 9.5 %8DAT read: $Error in header %*Received a bad headerX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.115148,-0.612030,0.782407]l9nA]Xz"S; z ?lnuns nRt)lInBinhM?n%n|>n@n5 n^@)n)InBR>in)>lnG;?Z?ji삿)n`>Ing G٣hSGy亻 >  Nusing accuracyPremultiplier from config 59 oz?5Y   i nF?:Cj?@ E ; @; d5a eAaZjDNOT Ignoring new targets: 84.60 m.Bj:ϻJj:ϻ ProNav: ac range: 84.599998 m, nav range: 87.040611 m, bearing: 333.178643 deg, approach rate: -0.105387 m/s, LOS rate: -0.362347 deg/s, cmd heading: 39.706622 deg, new cmd heading: 39.137436 deg. 2jxHeadingCmd: 0.683077 target range: 84.599998 and range: 84.60 m. j$.?jjjihhh!h%\Bf!f!f)rf)bf-~X @ɛZ*˽ I DɚiI %=I$.?ii#=)$.?)*F-?2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGm H=H >I C I !II BI =&I .I 6I ,<:I c FGI BY O >o`9rw,&TA6>Y6Aa3?6Q96C=y6H)? a? !?ſJ? :? z?ɨ6>6ʉ;6"CyBBB!IININ3٢Vx Vg=9VYQ V>XX ZG٣\y^ ^? fNusing accuracyPremultiplier from configdj59frz?j5Yf ifFhji?j@fEf2:f:f5p rApZj)-DNOT Ignoring new targets: 84.60 m.Bj=ٻJj=ٻU ProNav: ac range: 84.599998 m, nav range: 87.004242 m, bearing: 333.052934 deg, approach rate: -0.109734 m/s, LOS rate: -0.379449 deg/s, cmd heading: 39.137435 deg, new cmd heading: 38.760155 deg. 2jU4HeadingCmd: 0.676492 target range: 84.599998 and range: 84.60 m. j.-?jjjihh $?I hhf!f!f!rf!bf%@ɛiuhҽ quIq uCxWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɚqiI=I.-?ii2=).-?)*F-?2F1:F1BF5O5JF9Gs=GBOk>zKVBJKKKK RK>JK>J yJ wJ J J ]:J 9J J J ;J ;J :J :M Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse<@rw,Ay~B~ IMb@Mb@Mb@ )YJ +?p= ף?    G٣ y }> Nusing accuracyPremultiplier from config59nz?5Y9 iE ?:S?@EB;:;5'B )AWEZjDNOT Ignoring new targets: 84.60 m.Bj ĻJj Ļ ProNav: ac range: 84.599998 m, nav range: 86.938499 m, bearing: 332.897226 deg, approach rate: -0.144622 m/s, LOS rate: -0.342789 deg/s, cmd heading: 38.760156 deg, new cmd heading: 38.292688 deg. 2j@kHeadingCmd: 0.668333 target range: 84.599998 and range: 84.60 m. j+?jjjihhhh*Bfffrfbf@ɛ)-Aѽ 158I1 5ɚ1i9I=w=IE+?iAiMIN=)M+?)IEY I *F?2F:FBFO0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- #=G B O- >fFrw,IA6>Y6:1?6[+96=y6H??̽_0?^%? ǿQ?@v?g?ɨ6>6%;6 CyNւBR I)T TTVAIZIZ2٢b|~ b`=9fQ f>dd jG٣jiSGyjv j> rNusing accuracyPremultiplier from configlr59n5z?v5Yn inNEtvgR?v@nEna:n:ng5x zA|Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseZj15DNOT Ignoring new targets: 84.60 m.Bj=Jj=M ProNav: ac range: 84.599998 m, nav range: 86.887505 m, bearing: 332.778019 deg, approach rate: -0.144869 m/s, LOS rate: -0.338848 deg/s, cmd heading: 38.292687 deg, new cmd heading: 37.934861 deg. 2jMhUHeadingCmd: 0.662088 target range: 84.599998 and range: 84.60 m. jU~)?jQjjihhhhfffrfbfC@ɛM/Bu}ֽ qu0Iy }ɚyiyI}=I~)?i[I1 I5!II5BI5 =&I1.I5?D6I5Y<:I5 FEL=%NG QIQIq @!YyB*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG $N=GY Ba O} >ՐLrw,_4A>t>Y>0?>g09> =y>H`mR?㱿?s;?`zǿ? /y?`?ɨ>t>>$;>Cy^˂Bb IIjIj<2٢r_ rI=9r9FQ r>tt vG٣ty~5; ~> Nusing accuracyPremultiplier from config 59ձz? 5Yd iD:Q?@E::15%(B %A%RE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 84.60 m.BjUfûJjUfûe ProNav: ac range: 84.599998 m, nav range: 86.827599 m, bearing: 332.639106 deg, approach rate: -0.147240 m/s, LOS rate: -0.341661 deg/s, cmd heading: 37.934860 deg, new cmd heading: 37.517843 deg. 2jezjmHeadingCmd: 0.654810 target range: 84.599998 and range: 84.60 m. jm'?jijijiiqhqhyhhfffrfbf@ɛٽ HGI }BMɚiIΪ=zK+LK9KKK     BK:KpAI%'?JU|JU|JQJQJU;g:JU@9JQJQJU֊;JU׊;JU{:JU|:iuN= E $?IE h Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >TxSrw,NAyޕ͂Bޕ I%Mb@Mb@Mb@!!! !)!Y%X9v?~jty%>%%D%A %@)%@I% A!y%AI5I5[3٢E< E6=9MQ M>IQ UG٣QyU ]> mNusing accuracyPremultiplier from configam59e9z?m5Ye ieDu#>u:u2?u@eEeN;e;e'5 AZjDNOT Ignoring new targets: 84.60 m.BjᢻJjᢻ ProNav: ac range: 84.599998 m, nav range: 86.742142 m, bearing: 332.503038 deg, approach rate: -0.178692 m/s, LOS rate: -0.284800 deg/s, cmd heading: 37.517843 deg, new cmd heading: 37.109245 deg. 2jtCHeadingCmd: 0.647678 target range: 84.599998 and range: 84.60 m. jB%?jjjihhhh҂Bfff rf bf @ɛ}.B}[.ֽ y}BIy үɚiIZ=IB%?ivI)  I- !II- BI- =&I) .I) 6I- S<:I- | F 1I1G0P=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGiByO?tH[rw, SoA6n>Y6f+?6p1<966;6 CyFǂBF IiJX\ ^G٣^jSGyb3 b> fNusing accuracyPremultiplier from configdj59f-z?j5Yfׅ ifMDhj-?j@fEf:f:f(5a eAaZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 86.651039 m, bearing: 332.364959 deg, approach rate: -0.202439 m/s, LOS rate: -0.307149 deg/s, cmd heading: 37.109244 deg, new cmd heading: 36.694577 deg. 2jRHeadingCmd: 0.640441 target range: 84.599998 and range: 84.60 m. j#?jjjihhhhfff!rf!bf% ێ@ɛimiyٽ mB=m|NIi  ɚiI=I#?i.brw,A $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseyւB IUMb@Mb@Mb@QQQ Q)QYUw/?y&1&1yU>U`eUPU;A U@)Ux@IQQyU@Ie Ie(2٢uij= u"=9}Q }> G٣y > Nusing accuracyPremultiplier from config59z?5Y iD%>:?@EG;dE;]5 AOEZjDNOT Ignoring new targets: 84.60 m.Bj$Jj$ ProNav: ac range: 84.599998 m, nav range: 86.534561 m, bearing: 332.233366 deg, approach rate: -0.239788 m/s, LOS rate: -0.271270 deg/s, cmd heading: 36.694577 deg, new cmd heading: 36.299272 deg. 2j+:HeadingCmd: 0.633542 target range: 84.599998 and range: 84.60 m. j/"?jjjihhh h Bf f f rfbfw@ɛԽ 隽0I _eɚiI=I/"?iWvJuJuJqJqJu:Ju9JqJqa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.ս=ս%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseRhrw,AZHRH@AH"|>I"C I"!II"BI" =&I .I">D6I"<:I"P FFrp>YF&?FڡA9F| =yFH`~?Ľ` ? ?@#wǿ _?4?`N?ɨFrp>F%F;DyRނBR IIZIZ<2٢b:K= bl=9f4{Q f?dd fG٣hyjY j? rNusing accuracyPremultiplier from configlr59nz?v5Yn} inCtv ?v@nEn:n7:n5| ~PA|Zj!-DNOT Ignoring new targets: 84.60 m.Bj-Jj5E ProNav: ac range: 84.599998 m, nav range: 86.452309 m, bearing: 332.143871 deg, approach rate: -0.237661 m/s, LOS rate: -0.258832 deg/s, cmd heading: 36.299273 deg, new cmd heading: 36.030536 deg. 2jE1MHeadingCmd: 0.628851 target range: 84.599998 and range: 84.60 m. jMi ?jIjIjIiQhQhQhYhYfYfYfYrfabfe@ɛ=-B=)ֽ AEIA EPɚIiII]n=Iui ?i}sE> 1I1-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*Fe?2Fa:FaBFeh0JFiG‹9=Ga Bq O >zK $)LK K K K  BK :K  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse$orw,Ae>Ye: $?eZ.D9e&=yeH.?+z}ܹ?]??'Hǿv_?w? L?ɨe>eZ;ayޕBޕ!IMMb@Mb@Mb@III I)IYM}?5^I?B`"۹A`"yMM>MνMYMA Mp@)M&@IM7 AIyM@I]I] 2٢m= u2=9uƱQ u>yy G٣kSGy# > Nusing accuracyPremultiplier from config59Ez?5Y.~ iC>:P>@E;; 5)B ALEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjRJjR  ProNav: ac range: 84.599998 m, nav range: 86.323753 m, bearing: 332.032942 deg, approach rate: -0.277852 m/s, LOS rate: -0.240113 deg/s, cmd heading: 36.030535 deg, new cmd heading: 35.697256 deg. 2j $HeadingCmd: 0.623035 target range: 84.599998 and range: 84.60 m. j3?jjjihhhhBf!f!f!rf!bf-@ɛimtͽ quIy }ѾɚyiyI=I3?ivrw,NA6>Y64B!?6 F96,=y6H@v_?x3+?`v?@ ǿ@E? v?@J?ɨ6>6+;6"CyR BR,!IIZIZb2٢b= fj=9j&Q j>ll nG٣lyr@ r? vNusing accuracyPremultiplier from configtz59vl{?z5Yv| ivCxz>~@vEJ9J=AAJEJEJAJAJE}:JE9JAJAv:vIEC IE!IIEBIE =&IA.IE=D6IEF<:IEg FBI ƪCJI ƩCRI ƔCZI =bI =jI S6EG=*F?2F:FBF_0JF  I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseG =G B O >3}rw,ޏA: >Y:r?:eI9:=y:H"?@N s4?@?6ǿ?=?` F?ɨ: >:Y;:!CyF*BFU!IIRIR 3٢Z> Z4=9ZٻQ ^>\\ ^G٣\ybƼ b> fNusing accuracyPremultiplier from configdj59ff{?j5YfYz ifhCln>n@fEf;f;fd$5r*B r@rIEZj  DNOT Ignoring new targets: 84.60 m.BjJj- ProNav: ac range: 84.599998 m, nav range: 86.097610 m, bearing: 331.843291 deg, approach rate: -0.301362 m/s, LOS rate: -0.251123 deg/s, cmd heading: 35.449662 deg, new cmd heading: 35.127549 deg. 2j-W,=HeadingCmd: 0.613091 target range: 84.599998 and range: 84.60 m. j=?j9j9j9i9h9h9hAhAfAfAfIrfIbfM`Ds @ɛ)Uw: Y]Ia ɚiIk=I?i4 e $?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse_rw,_AJ]>YJ?J wL9Jy=yJH?@Y??1ǿ`}c?ܴ?oA?ɨJ]>J;J Cy޽KB޽}!I]Mb@Mb@Mb@YYY Y)YY]}?5^I?Dl ףp= yY]O ]Q8]A ]@)]@I] AYy]@IuIu2٢ > 0=9%Q > G٣lSGy+ > Nusing accuracyPremultiplier from config59({?5Yx i*C1>:֡>@EA;;k&5 @ZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 85.948845 m, bearing: 331.739537 deg, approach rate: -0.320571 m/s, LOS rate: -0.223963 deg/s, cmd heading: 35.127550 deg, new cmd heading: 34.815753 deg. 2jHeadingCmd: 0.607650 target range: 84.599998 and range: 84.60 m. j?jjjihhhhBf!f!f!rf!bf-`!@ɛU+BUc7 UC_=U =IY ]iоɚYiYI]ڝ=Ie?ie'7I C I "II BI  =&I GD.I rw,@-A6U>Y6?6O96٬=y6H?@b@7@j??Tǿ`?$?6 ;6$CyBzBB!IININ٢Zl> ^L=9^λQ ^>`` bG٣`yb f>jWill construct direction to contact in vehicle frame from tetrahedron phase data.lilnT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapse rNusing accuracyPremultiplier from configdr59f7{?v5Yfw ifBtv;>v@fEfb;fH:f+(5+B @ FEZjiuDNOT Ignoring new targets: 84.60 m.BjueJjue ProNav: ac range: 84.599998 m, nav range: 85.819176 m, bearing: 331.650619 deg, approach rate: -0.291595 m/s, LOS rate: -0.200257 deg/s, cmd heading: 34.815752 deg, new cmd heading: 34.548597 deg. 2jo HeadingCmd: 0.602987 target range: 84.599998 and range: 84.60 m. jW]?jjjihhhhfffrfbf _J"@ɛ *B n  T!>I  ɚiI=IW]?i zKmSLNKm59KiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseKmKm!  +?Zh +;>4$wZB*BK:KEґrw,GA>(>Y>x?>-(Q9>?=y>H?<'@ޏ`?P5? ǿ??6?ɨ>(>>C;> CyNBN!I%Mb@Mb@Mb@!!! !)!Y%!rh?X9vy&1y%l>%%`%~@ %@)%\@I% A!y%@I=I=(*٢MZ>> MA=9UfQ U>QQ UG٣Yye e> Nusing accuracyPremultiplier from config-59H{?-5YQu iB->5:5ث>5@ =$?IAE~;Σ;*5Y u}@qB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjJj- ProNav: ac range: 84.599998 m, nav range: 85.679703 m, bearing: 331.548449 deg, approach rate: -0.339597 m/s, LOS rate: -0.249177 deg/s, cmd heading: 34.548596 deg, new cmd heading: 34.241587 deg. 2j-+UHeadingCmd: 0.597628 target range: 84.599998 and range: 84.60 m. jU-?jQjQjQiQhQhYhYh]BfYfafarfabfe@#@ɛ)Bꋜ s>I ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI -?i= Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezrw,(aAZ>YZ?ZnR9Z-k=yZH(>? !@Ǿ?w]?#ȿ e/?$?z0?ɨZ>Z ;Z#CyvBv4"I)x xI%I%b1٢eS> eI=9mQ m>ii uG٣umSGyͼ > Nusing accuracyPremultiplier from config59V{?5Ys tIi:B>@Ej;;+5 @CEZj!-DNOT Ignoring new targets: 84.60 m.Bj-3Jj-3e ProNav: ac range: 84.599998 m, nav range: 85.556686 m, bearing: 331.459685 deg, approach rate: -0.317479 m/s, LOS rate: -0.229410 deg/s, cmd heading: 34.241586 deg, new cmd heading: 33.974913 deg. 2jeqmHeadingCmd: 0.592974 target range: 84.599998 and range: 84.60 m. jm'?jijijiiihihqHk>IC IZ"IIBI =&I.I6I<:I+ Fhhfffrfbf@#@ɛ%(B%hˆ )->I) -ɚiiqIu=Iu'?i}'rw,_{AyE BEi"II I2٢H> @=9%Q ->99 EG٣AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJK ?y  > Nusing accuracyPremultiplier from config59g{?5Yq iA@E7::-5 @ZjDNOT Ignoring new targets: 84.60 m.Bj#Jj#U ProNav: ac range: 84.599998 m, nav range: 85.409096 m, bearing: 331.352660 deg, approach rate: -0.315664 m/s, LOS rate: -0.229298 deg/s, cmd heading: 33.974915 deg, new cmd heading: 33.653290 deg. 2jm]HeadingCmd: 0.587361 target range: 84.599998 and range: 84.60 m. jF]?jjjihhhhf f frfbf^$@ɛ'Bq y=>I ɚiIK=IF]?i;BDAT read: Response Not Received >*response not receivedB,DAT read: user:3135> BBDAT read: Tx time:23:15:53.8784 F$Ping request sent.FYZ ?Z V9Z=yZH?I%bt? ? \ȿc??'?ɨZx>Z\;Z!CyfFBf"IirʡtQ@ =@)/@I~AyG@I I <٢F> =9EлQ E>II MG٣IyM# U> ]Nusing accuracyPremultiplier from configQZHRHHe>IC I"IIeBI =&I.I6IG<:IZ F59U|{?5YU?o iUA!>:>@UEUםEZjaeDNOT Ignoring new targets: 84.60 m.BjmuJjmu ProNav: ac range: 84.599998 m, nav range: 85.240082 m, bearing: 331.211649 deg, approach rate: -0.293784 m/s, LOS rate: -0.245594 deg/s, cmd heading: 33.653291 deg, new cmd heading: 33.229429 deg. 2j(HeadingCmd: 0.579963 target range: 84.599998 and range: 84.60 m. jtx?jjjihhhhABfffrfbf%%@ɛ%Bko s?I XɚiIl=Itx?ib(OKrw,AA6#>Y6 ?6W96C1=y6H?ju[@8G?=?@(_ȿ@??%?ɨ6#>6ˈ;4y>B> #IIJIJ)٢RO> Ra=9VoQ V>TX ZG٣ZnSGy^ ^> bNusing accuracyPremultiplier from config`f59bd{?f5Ybm ib@dfQ>f@bEJlJnJlJlJlJn:JlJlJn8;arJn9;avJnJ;avJnJ;avb:bH;b15  @]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505181ZjDNOT Ignoring new targets: 84.60 m.zK%NK9KKK     BKqA:KBjĔJjM̆ ProNav: ac range: 84.599998 m, nav range: 85.130836 m, bearing: 331.121184 deg, approach rate: -0.284262 m/s, LOS rate: -0.235698 deg/s, cmd heading: 33.229430 deg, new cmd heading: 32.957688 deg. 2j!HeadingCmd: 0.575220 target range: 84.599998 and range: 84.60 m. jA?jjjihhhhfffrfbf`&@ɛE$BM17 M7*V=Mf=?II M9%ɚQiQIUN=IUA?i]-.rw,bA2 >Y24 ?2Y92k =y2H@?@`|7??NȿO?6̷?I$?ɨ2 >2ֈ;2"CybфBb]#IUMb@Mb@Mb@QQQ Q)QYUS㥛?:vI +?yU?UTU94 >=9EQ > G٣y > Nusing accuracyPremultiplier from config59Y{?5Yj i??:l?@E{;;35-B @;EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 85.017265 m, bearing: 330.995976 deg, approach rate: -0.298742 m/s, LOS rate: -0.329793 deg/s, cmd heading: 32.957688 deg, new cmd heading: 32.581566 deg. 2jUb HeadingCmd: 0.568656 target range: 84.599998 and range: 84.60 m. j j?j j j i h hhhBfffrfbf%|z'@ɛ 5 V?I nɚiI==Ij?ii޳;)j?)E1*F?2F:FBF[0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007369HuT>IuC Ium#IIu߄BIu =&Iq.Iu:D6Iuo<:Iuh FG $;G B OU > I hWrw,>A6ꚤ>Y6X ?6HY96J=y6H ?o#??3ȿ ?델?` ?ɨ6ꚤ>6;6 CyB BB#I)D DIJIJ-٢R> RZ=9V Q V>TT ZG٣XyZ< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257992 fNusing accuracyPremultiplier from configdj59fB{?j5YfArw,Gv Ay?B#I }$?IMb@Mb@Mb@ )Y|?5^?A`"??y?Y=<@ @)@I;Ay@II٢ r> 7=9Q > G٣oSGy >  Nusing accuracyPremultiplier from config59){?%5Y\d i=-?-:-!?5@EG;{;T75A E@M8EZj15DNOT Ignoring new targets: 84.60 m.Bj=Jj= ProNav: ac range: 84.599998 m, nav range: 84.814880 m, bearing: 330.734219 deg, approach rate: -0.227806 m/s, LOS rate: -0.336833 deg/s, cmd heading: 32.254062 deg, new cmd heading: 31.795373 deg. 2j*gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590MHeadingCmd: 0.554934 target range: 84.599998 and range: 84.60 m. jM'?jIjQjQiQhQhQhYh]σBfYfYfYrfabf`e@)@ɛ"Bx C?I pMɚiI'~=I'?i/Sڌrw,#A>d>Y>R ?>BU9>g=y>H?`J[ʿj ??@ȿ$?`~ι?#?ɨ>d>><#;>#CyJ}BJ0$IIRIRb٢Z> Z\=9^u6\\ ^G٣`yb= b> fNusing accuracyPremultiplier from configdj59fR{?n5Yf&a if=lr ?r@f‡Ef>;f?;f85t v@tZjDNOT Ignoring new targets: 84.60 m.BjԻJjԻ- ProNav: ac range: 84.599998 m, nav range: 84.728142 m, bearing: 330.606740 deg, approach rate: -0.253142 m/s, LOS rate: -0.372421 deg/s, cmd heading: 31.795374 deg, new cmd heading: 31.412552 deg. 2j-5HeadingCmd: 0.548252 target range: 84.599998 and range: 84.60 m. j5FZ ?j9j9j9i9h9h9hAhAfAfAfIrfIbfM@)@jH<bHp<HK>IC I$IImBI =&I.I9D6IY<:IN FBICJICRICZI =bI =jI6ɛAMBm; ms%=uԖ?Iq uɚqiqIu[=I}FZ ?iyi}"v<)}FZ ?) -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267125EEE*FM?2FI:FIBFIJFIGq GuoAG l o<J J J J J |:J :J J J ;J ;J C;J C;G B O >M&rw,@ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520973zK:LK9KKKmB>YmW ?mRS9mU=ymH? C@??ȿ@A?@,?%?ɨmB>m%;m!CyޥBޥm$Ii,>Ia= =p==Mb@Mb@Mb@999 9)9Y=?q= ףp?L7A`?y= ?===+==@ =@)=r@I=A9y=@IMIM̍٢],> e=9em;Q e>ii mG٣mpSGymz~ u> }Nusing accuracyPremultiplier from configy59}|{?5Y}[ i};"?:7?@}ŇE}Y;};}r;5;B @5EZjDNOT Ignoring new targets: 84.60 m.Bj@Jj@ໝ ProNav: ac range: 84.599998 m, nav range: 84.612297 m, bearing: 330.383837 deg, approach rate: -0.203504 m/s, LOS rate: -0.392110 deg/s, cmd heading: 31.412552 deg, new cmd heading: 30.742957 deg. 2jMHeadingCmd: 0.536566 target range: 84.599998 and range: 84.60 m. jUa\ ?jQjQjQiQhQhQhYh]BfYfYfarfabfe`y+@ Iɛ!B "3 K?I ˰ɚ i I _=Ia\ ?ii<)a\ ?)E P/=EWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771549*F 2F :F BF JF G= T<G1BAO]>Trw,^AJ J Fʠ>YF(?F7}Q9F=yFH ? ž?B?Cȿ ?@`?(?ɨFʠ>F;F"CyRBR$IIbIb٢f> jg=9jP;Q j>ll nG٣lyr) r> vNusing accuracyPremultiplier from configtz59vD{?z5YvYW iv:|~r7?~@vLJEvs;v;v<5  @%B*** querying acoustic contact ***j!j!Zj)5DNOT Ignoring new targets: 84.60 m.Bj5Jj=ໝM ProNav: ac range: 84.599998 m, nav range: 84.540779 m, bearing: 330.245145 deg, approach rate: -0.201825 m/s, LOS rate: -0.391721 deg/s, cmd heading: 30.742958 deg, new cmd heading: 30.326540 deg. 2jMjmHeadingCmd: 0.529298 target range: 84.599998 and range: 84.60 m. ju?jqjqjqiyhyhyhyhyfffrfbfਸ+@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:15:56.3850 TRx dataTimestamp_ set to:1736378157.532827checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023168ɛQU8y< QUT?IQ ]ծɚYiYI]K=Ie?iaie<)e?)aHC>IC I$IIBI# =&I.I8D6I<:Ig F $?IE$=*FM?2FI:FIBFIJFIG% b<U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275552G B O% >zrw,xA6!>Y6?6N96^=y6H`?`~:@N?K?@ȿʭ?|? ,?ɨ6!>6R;6!Cy>B>$IIFIFn٢NQ> RN=9V^;Q Z>`` fG٣dyjQ r> zNusing accuracyPremultiplier from configx59z{?5YzS izr9  7? @zɇEz`;za;z>5! %1@-2EZj%DNOT Ignoring new targets: 84.60 m.Bj%bѻJj%bѻ] ProNav: ac range: 84.599998 m, nav range: 84.459320 m, bearing: 330.086455 deg, approach rate: -0.187755 m/s, LOS rate: -0.366117 deg/s, cmd heading: 30.326539 deg, new cmd heading: 29.850019 deg. 2j]C{eHeadingCmd: 0.520981 target range: 84.599998 and range: 84.60 m. je_?jijijiiihihihqhfffrfbf ,@J=J=J9J9J=:J= 9J9J9J=;J=;J=O>;J=P>;ɛe Bm9< im?I  ɚiIӴ=I_?ii7 =)_?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:15:56.3851 LVL= 31520, 32753, 32754, 32755, AGC= 54, IDX= 357, 0.34, 1.100,-0.489, 0.501, 0.559, PHS= 0.629,-1.001,-0.062, RAW= 125.0, 6.2, CAL= 133.0, 1.1, ROT= 17.0, -1.1 Ygot valid direction response: 23:15:56.3851 LVL= 31520, 32753, 32754, 32755, AGC= 54, IDX= 357, 0.34, 1.100,-0.489, 0.501, 0.559, PHS= 0.629,-1.001,-0.062, RAW= 125.0, 6.2, CAL= 133.0, 1.1, ROT= 17.0, -1.1 PDAT read: Bearing 17.0, -1.1 (Local) ~Local bearing/azimuth received: Bearing 17.0, -1.1 (Local) DAT read: Range 10 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.4 m/s ,DAT read: user:3136> BDAT read: Tx time:23:15:57.4785 $Ping request sent.iڍnFډډۍRq&?bkE?-݊%?)ۍp=Iۍܽiۍ96ۍۉۉ:publishing transmit ping timeFpublishing direction and range info؉9؍8ο˪޿@b?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍRq&?bkE?-݊%?)ۉIۉiۉۉۉۉE5e>E5> I *F ?2F :F BF JF "G =G =G E<-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:15:57.4777 GBO>rw,)A2̟>Y2a?2ZK92 =y2H? Rs? ?vȿ@??1?ɨ2̟>2*H;2$Cy>*B>%I)@ @Mb@Mb@Mb@ )Y~jt?/$?S㥛?y$?,>/<Z@ &@)/@IQAy@IIm?٢= =9);Q > G٣qSGy) >  Nusing accuracyPremultiplier from config 59 |?5Y L i 8F*?:~J?@ ˇE E9; 8; A5 @0Ek=P%z?k=uP k9 k=r4A:k=BBk=BZk=쒔@"=I2P^B&P@=8ο˪޿@b?Jk=96Rk=*="%- sIJI4K@=niӗ@Zӫ?"k=T*k=lk=z?k= 2k=Bk=uf"?k= k=NBk=]Bk=@E addTargetRange:: Added new target pos. range: 76.800003 m, deltaT: 14.427518 s, deltaX: -7.799995 m, approachRate: -0.540633 m/s, rangeRepo size: 4 ] Added new target pos. range: 76.800003 m, bearing: 266.020581 deg, lat: 36.904800 deg, lon: -122.120696 deg, deltaT: 14.427518 s, deltaX: -7.799995 m, approachRate: -0.540633 m/s, posRepo size: 4 ZjY]DNOT Ignoring new targets: 76.80 m.BjeJjau ProNav: ac range: 76.800003 m, nav range: 74.183189 m, bearing: 314.371138 deg, approach rate: 0.000000 m/s, LOS rate: -0.366117 deg/s, cmd heading: 29.850020 deg, new cmd heading: 29.281863 deg. 2jq}HeadingCmd: 0.511065 target range: 76.800003 and range: 76.80 m. j}'?jyjjihhhhNBfffrf@33S@bfc@?ɛx1< n?I ΨɚiIw=I'?ii]+=)'?)Y*F2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G<<H=>IC Ia%IIuBI& =&I.I7D6I<:I FGBO> ~G sA A  $?I % @"Y% sAy% aBrw,|eA2>Y2cR?21F92O=y2H ?m @? 4?`5ȿ g?? 38?ɨ2>2?.;2!CyBNBB2%IIJIJͳ٢bH> b`=9f?dh jG٣hyjT* j> rNusing accuracyPremultiplier from configpv59r|?v5YrcH ir 7tv[J?v@r͇Era:r:rB5~zK5 # MK5 9K1 K5 K5  rw,iRA2>Y2O?26C92=y2H9?=@tM@ ? ?6yǿ@2;0 LINhyRbBRJ%IEMb@Mb@Mb@AAA A)AYEK7?V-?I +?yEI,?E|?>E9yy }G٣yyv > Nusing accuracyPremultiplier from config59J0|?5Y B i52?:N?@ЇE;{;D5=B @*EZjyDNOT Ignoring new targets: 76.80 m.BjJj ProNav: ac range: 76.800003 m, nav range: 74.199951 m, bearing: 313.931888 deg, approach rate: 0.024769 m/s, LOS rate: -0.505949 deg/s, cmd heading: 28.737140 deg, new cmd heading: 27.964345 deg. 2jHeadingCmd: 0.488070 target range: 76.800003 and range: 76.80 m. jL>jjjihhhh>Bfffrfbf@?ɛ膸< 隅?I bɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.IL>ii9x=)L>)E!*F?2F:FBFP5JFG GrAG>=G ?G?Ga Bi O >J J J J J \:J :J J a @a @a @a @rrw,A>1>Y>?>g>9>>y=y>H@?`L> ?@?v9ǿթ?!?H?ɨ>1>>;>CyZsBZ_%Ii^=I^>IjIj ٢r= r=9riX?  Nusing accuracyPremultiplier from config| 59~<|? 5Y~= i~4N?@~҇E~th;~j:~+F5! %@!EB*** querying acoustic contact ***jAjAZjQ]DNOT Ignoring new targets: 76.80 m.Bj]Jjem ProNav: ac range: 76.800003 m, nav range: 74.209076 m, bearing: 313.765039 deg, approach rate: 0.030530 m/s, LOS rate: -0.558175 deg/s, cmd heading: 27.964345 deg, new cmd heading: 27.463872 deg. 2juuHeadingCmd: 0.479335 target range: 76.800003 and range: 76.80 m. j}ek>jyjyjyiyhhhhfffrfbf ?H:>IC I%IIۆBI&IHD.I6Ik<:IJ FɛQ] o= Y]?IY enɚaiaIe=Imek>iiבֿ=)ek>) $?I*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GH=G B O >+rw,jAJ~>YJ?J?r19J=yJH` 1?@)g}?5?@Cſ?B,? &`?ɨJ~>Jxn;J!CyZB^o%IIjIj٢= G=9s G٣rSGy%> -> 5Nusing accuracyPremultiplier from config)=59-HM|?=5Y-8 i-39=M?E@-ԇE- ;-h;-G5I M@IZjDNOT Ignoring new targets: 76.80 m.BjJj ProNav: ac range: 76.800003 m, nav range: 74.220802 m, bearing: 313.548803 deg, approach rate: 0.028394 m/s, LOS rate: -0.523495 deg/s, cmd heading: 27.463871 deg, new cmd heading: 26.815297 deg. 2jHeadingCmd: 0.468015 target range: 76.800003 and range: 76.80 m. j>jjjihhhhfffrfbf@v%?ɛIUd= Y]?IY eɚiiISL=I>ii=)>)!zKk3IK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008615RK%?JK%? IE*F- ?2F1 :F1 BF5 4JF9 G% p=G B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259267^sw,MA^i>Y^ذ?^*9^"=y^H`J?k@_ ?pP?qĿ*? ?m?ɨ^i>^;\yjBj|%IeMb@Mb@Mb@aaa a)aYeMbX?K?Mbp?ye*?e^:>e;e@ ed@)e@Ie@aye@IIq٢8>= >=9 G٣y; > Nusing accuracyPremultiplier from config59m^|?5Y 3 i20?:K?@ևE;I5>B 7@ 'EZj15DNOT Ignoring new targets: 76.80 m.Bj=(Jj=(M ProNav: ac range: 76.800003 m, nav range: 74.231758 m, bearing: 313.324520 deg, approach rate: 0.025826 m/s, LOS rate: -0.528612 deg/s, cmd heading: 26.815297 deg, new cmd heading: 26.142578 deg. 2jMdUHeadingCmd: 0.456274 target range: 76.800003 and range: 76.80 m. jU>jQjQjQiQhYhYhYh]Bfafafarfabfe C@ɛ&= 隝x?I ɛɚiI=I>ii`=)>)E =JJJJJ|:J&:JJ*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512452H7>I I6&II"BI&I.I6Iذ<:I FG =G pAG qA m $?Im hG B O > sw,2A6>Y6H?6c#96p=y6Hh?`@= n?o?KÿJ?? z?ɨ6>6T;6CyRBR}%I)T TIZIZ[٢b; b^=9f™dh jG٣hyjs j> rNusing accuracyPremultiplier from configlv59nOm|?v5Ynn. in:2tz?J?z@n؇En;n;nsK5| ~&@%EZj!-DNOT Ignoring new targets: 76.80 m.Bj-Jj-= ProNav: ac range: 76.800003 m, nav range: 74.240685 m, bearing: 313.130957 deg, approach rate: 0.024210 m/s, LOS rate: -0.524921 deg/s, cmd heading: 26.142578 deg, new cmd heading: 25.561979 deg. 2jEEHeadingCmd: 0.446141 target range: 76.800003 and range: 76.80 m. jEl>jIjIjIiIhIhIhQhQfQfQfrfbf@ɛe!Beș:= ae?Ia m֘ɚiiiIm=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763477Il>ii=)l>)E5G<*F?2F:FBF[0JFG J== Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019409zK BoHK ]9K K K BK pA:K qAGA BI Oe > q Iq sw,LAB`>YBm?B9BQ=yBH@? I`'`?`?L¿F? "ߴ??ɨB`>Bӈ;@ybBb%ImMb@Mb@Mb@iii i)iYmL7A`?L7A`?Qym+'?m+>mum@ m7@)mV@Im@iym@II٢< <=9i G٣sSGy > Nusing accuracyPremultiplier from config59|?5Yy) i1*?:P7?@ۇE`;;YM5 @"EZjDNOT Ignoring new targets: 76.80 m.BjJj% ProNav: ac range: 76.800003 m, nav range: 74.230713 m, bearing: 312.909827 deg, approach rate: -0.022961 m/s, LOS rate: -0.509242 deg/s, cmd heading: 25.561980 deg, new cmd heading: 24.898533 deg. 2j%-HeadingCmd: 0.434561 target range: 76.800003 and range: 76.80 m. j-~>j)jjihhhhBfffrfbf- @ɛv#=  ?I ɚiI !=I~>ii =)~>)E!E!*E!"E!]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:23:15:59.9826 mTRx dataTimestamp_ set to:1736378161.376699mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268433*Fe ?2Fa :Fa BFe ^0JFa J J J J J \:J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520757G 6=H5>I In&IIPBI' =&I.I6D6I<:Ic FG B) E$?IAOM?sw,lABICJICRICZI& =bI% =jI>5^qt>Y^6?^p9^J =y^H?`y߿ N?? N {I?@??ɨ^qt>^Ճ;^!CyzBz%Ii|I~II٢5Q ='=9=AA EG٣Ay] > Nusing accuracyPremultiplier from config59|?5Y# i05?@݇E,;g;O5?B @E B*** querying acoustic contact ***j j ZjEDNOT Ignoring new targets: 76.80 m.BjMJjM] ProNav: ac range: 76.800003 m, nav range: 74.217690 m, bearing: 312.655938 deg, approach rate: -0.025665 m/s, LOS rate: -0.500414 deg/s, cmd heading: 24.898533 deg, new cmd heading: 24.136779 deg. 2j]HeadingCmd: 0.421266 target range: 76.800003 and range: 76.80 m. j6>jjjihhhhfffrfbf @ɛ"Bj= 8"= ?I  Sɚ i I ٷ=I6>ii n=)6>)*F?2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuADAT read: 23:15:59.9826 LVL= 24560, 32753, 26610, 32755, AGC= 62, IDX= 411,-0.04, 2.436, 0.965, 1.799, 1.908, PHS= 0.616,-0.896,-0.112, RAW= 121.2, 6.0, CAL= 130.3, 1.6, ROT= 19.7, -1.6 Ygot valid direction response: 23:15:59.9826 LVL= 24560, 32753, 26610, 32755, AGC= 62, IDX= 411,-0.04, 2.436, 0.965, 1.799, 1.908, PHS= 0.616,-0.896,-0.112, RAW= 121.2, 6.0, CAL= 130.3, 1.6, ROT= 19.7, -1.6 PDAT read: Bearing 19.7, -1.6 (Local) ~Local bearing/azimuth received: Bearing 19.7, -1.6 (Local) DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.4 m/s ,DAT read: user:3137> BDAT read: Tx time:23:16:01.0785 $Ping request sent.iu-?uB`euB`ua@uPw= u@)uiuqquxr?QZŕ?w.a?)uJ%)qIqiqqqqq q)qIqiqqquxr?QZŕ?w.a?)qIqiqqqq!sw,|ArWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMJKM9KIKMKMRK]?JK]?4>Y>F 9ظ=yHz?s޿`[kH"??@V`p;?g??ɨ4>;騍"CyޝBޝ%IMb@Mb@Mb@ )YV-?V-?V-y|?h=/@ @)?@I@yp@II٢q< 5=9H G٣tSGyX > Nusing accuracyPremultiplier from config59|?5Y ip0 ?:?@߇E 3;8;uQ5 @ $?Ik,z?kL k kXxA:kBBkBZk@"x1Js?dP@OO\ο1ۿ#?Jk54Rk/*(حfjQjQjQiQhQhQhyhOBfffrfR@bf`?ɛ  H&= ?I 5ɚ9i9I=pZ=IE>iAiE)=)E>)A*F ?2F :F BFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GU =G) B9 O] >'sw,˝A6`H>J:J:J8J8J::J::J8J8Y6(@>696Ab<=y6H`?*!޿@Q A? 1?v@K?Y??ɨ6`H>6WЊ;6 CyJBJ|%IIRIR٢Z&) Zp=9^jAjjihhhhfffrfbf91?ɛm#Bm= im?Ii usΌɚqiqIu&\=I}L>iyi}=)}L>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F BF @5JF ZHARHE?AG"==Hu4>Iq Iua&IIuEBIq&Iq.Iq6IuK<:Iu- FGB IOD> Will construct direction to contact in vehicle frame from tetrahedron phase data.-sw, TA @R">YR>R9R8=yRH*E?`|ݿ{ǵH?_]?@(`o? ??ɨR">R@;R"Cy^~B^m%I)` `IjIjV٢rMg vH=9v=xx zG٣xyz*ڼ ~> Nusing accuracyPremultiplier from config 59c|? 5Y i/  ? @E: :T5 @1ZjYeDNOT Ignoring new targets: 75.00 m.Bje(Jje(u ProNav: ac range: 75.000000 m, nav range: 59.562069 m, bearing: 292.561148 deg, approach rate: 0.120324 m/s, LOS rate: -0.589497 deg/s, cmd heading: 22.862274 deg, new cmd heading: 22.138989 deg. 2juHʼ}HeadingCmd: 0.386398 target range: 75.000000 and range: 75.00 m. j>jjjihhhhfffrfbf`cP?ɛ\V= ?I `*ɚiIG=I>ii=)>)E%>=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF>4JFzKk3IK9KKK $?IGU =G1 BI Om >Y5sw,rAy%B-r%IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yd;O?Mbp?kty?; 0@ @)@Ir@y@II٢%K< %*=9-Q ->)1 5G٣5uSGy5 5> ENusing accuracyPremultiplier from configAM59E;|?M5YEP iE/M%?M:M>M@EEE;E+;EV5]AB ]@]EZjDNOT Ignoring new targets: 75.00 m.Bjv Jjv  ProNav: ac range: 75.000000 m, nav range: 59.587955 m, bearing: 292.293509 deg, approach rate: 0.054299 m/s, LOS rate: -0.561152 deg/s, cmd heading: 22.138989 deg, new cmd heading: 21.336475 deg. 2jHeadingCmd: 0.372392 target range: 75.000000 and range: 75.00 m. j!>jjjihhhhBfffrfbf@a?ɛ$B,= ?I ކɚiI=I!>ii=)!>)JJ@AE#= Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ 2FQ :FQ BFU ]1JFQ ) ]CHM 3>IM C IM H&IIM 1BIM ( =&II .II 6IM <:IM Z F |uA I A Y |uAy BGU ^=G1B9Om>Y2>R>2ҽ92b'F=y2H@S?@PNܿB?@? 7?`?d?ɨ2n>2;2!CyRBRu%IIZIZ̍٢bv$< b?=9b=Q b>dd fG٣dyjB j> nNusing accuracyPremultiplier from configlr59n|?r5Yna in/pv>v@nEn ;n;nX5x z@|B*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 75.00 m.Bj5Jj5E ProNav: ac range: 75.000000 m, nav range: 59.607117 m, bearing: 292.055275 deg, approach rate: 0.044664 m/s, LOS rate: -0.555132 deg/s, cmd heading: 21.336474 deg, new cmd heading: 20.622044 deg. 2jE}MHeadingCmd: 0.359923 target range: 75.000000 and range: 75.00 m. jMG>jIjIjIiQhQhQhQhYfYfYfarfabfe?ɛ %B 5C==Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. Iu?Iq }ʃɚyiyI}/=IG>ii`=)G>)EE*E"EJJJ/JJ :J:J(N3JJ;aJ;aJJ;aJJ;a*F2F:FBF[5JFG=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257168O >zK BoHK s9K K K RK >JK ? $?I hMxCsw,΍A>0e>Y>a>>9>S=y>H`?Tۿӯp??B?\? ?ɨ>0e>>˒;>CyZBZv%I ^=^=Mb@Mb@Mb@ )Y|?5^?V-ˡEy ?m'7@ l@)@I@y(@II(*2٢Z; <=9 G٣yǡ > Nusing accuracyPremultiplier from config594}?5Y8 is/?:>@E;l;Z5 @EZj)-DNOT Ignoring new targets: 75.00 m.Bj5Jj5E ProNav: ac range: 75.000000 m, nav range: 59.597939 m, bearing: 291.822140 deg, approach rate: -0.021012 m/s, LOS rate: -0.533811 deg/s, cmd heading: 20.622044 deg, new cmd heading: 19.922566 deg. 2jE,MHeadingCmd: 0.347714 target range: 75.000000 and range: 75.00 m. jM>jIjQjQiQhQhQhYh]BfYfYfarfabfee@ɛ V=   ?I 〽ɚiI=I>iiv/=)>)!*F?2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505977G b=G B O >Isw,k(A:K[>Y:>:Ю9:RY=y:Ha?+ۿ@r?`n?QyPӵ?$?@?ɨ:K[>: P;:!CyHJw%IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758592jH`bHb4=IrIr٢~TJ; ~W=9Q    G٣ vSGye > -Nusing accuracyPremultiplier from config)E59-D}?E5Y-] i-n/IUT>U@-E-x;-4<-D\5BB @H2>I I/&IIBI' = %$?I!&I.I6IJ<:I+ FEZjDNOT Ignoring new targets: 75.00 m.Bj%uJj%uU ProNav: ac range: 75.000000 m, nav range: 59.588417 m, bearing: 291.616243 deg, approach rate: -0.021903 m/s, LOS rate: -0.473713 deg/s, cmd heading: 19.922566 deg, new cmd heading: 19.304802 deg. 2jU]HeadingCmd: 0.336932 target range: 75.000000 and range: 75.00 m. j]f>jYjajaiahahahihifffrfbf-@ɛ&B|N= .?I E{ɚiI#=I f>i iQ=)f>)*F?2F:FBFT0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]BDAT read: Rx Time:23:16:03.5802 eTRx dataTimestamp_ set to:1736378164.905651echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011847G 0=G B O >rPsw,DBAJ&J&J&0J$J&:J&:J&ـ3J$J&;J&;J&C;J&C;y%B%z%II5I5<٢&< B=9Q > G٣y > Nusing accuracyPremultiplier from config59&}?5YV  ih/@EX:C:^5 @ZjDNOT Ignoring new targets: 75.00 m.Bj0Jj0 ProNav: ac range: 75.000000 m, nav range: 59.578896 m, bearing: 291.391293 deg, approach rate: -0.026125 m/s, LOS rate: -0.617315 deg/s, cmd heading: 19.304802 deg, new cmd heading: 18.629875 deg. 2jӼHeadingCmd: 0.325153 target range: 75.000000 and range: 75.00 m. j iz>j j j i h h hhfff!rf!bf%, @ɛQUJ= Q]?IY ]vɚYiYI] =Ieiz>iaie]=)eiz>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265326*F?2F:FBF`0JFzKK+9KK K" !I!BK:KrAG5-=GBO% >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:16:03.5802 LVL= 21856, 32753, 27426, 32755, AGC= 65, IDX= 420, 0.07,-1.338,-2.850,-2.136,-1.863, PHS= 0.612,-0.941,-0.277, RAW= 115.2, 9.0, CAL= 124.3, 5.7, ROT= 25.7, -5.7  Ygot valid direction response: 23:16:03.5802 LVL= 21856, 32753, 27426, 32755, AGC= 65, IDX= 420, 0.07,-1.338,-2.850,-2.136,-1.863, PHS= 0.612,-0.941,-0.277, RAW= 115.2, 9.0, CAL= 124.3, 5.7, ROT= 25.7, -5.7  PDAT read: Bearing 25.7, -5.7 (Local)  ~Local bearing/azimuth received: Bearing 25.7, -5.7 (Local)  DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.6 ms) speed 0.4 m/s  ,DAT read: user:3138>  BDAT read: Tx time:23:16:04.6785  $Ping request sent. e - @)e %=Ie L>ie %˽a a e .~?Z@*2?)e E骽Ie 6!ie ݰe j`a a  :publishing transmit ping time  Fpublishing direction and range infoa 9e BmҿTwOԿ?ya Vsw,t$\Af;>Yf<>f9fM=yfH@Z?Tٿ@`?W?@Dzұ?? ?ɨf;>f;f#C؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ.~?Z@*2?)ۉIۉiۉۉۉۉyB%Iy}A Mb@Mb@Mb@    ) Y Pn?y&1{Gzy ? `役 # @ @) η@I 7@ y @I=I=q٢u5= u/=9up =Q u>yy }G٣yy > Nusing accuracyPremultiplier from config59;}?5Y  iz/?:G>@ED;;)`5CB @Ek"x?k k kZA:kfBBkeBZkw/@"Pm 53:7ʯ:ވP@BmҿTwOԿ?JkݰRkj`*gewz"*&5AFO@Mƿ1`hO޿UDu?"k *kQk ex?k*ڕ 2kCkz?kkBk_Bk>@} addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.527475 s, deltaX: -1.800003 m, approachRate: -0.510281 m/s, rangeRepo size: 4  Added new target pos. range: 73.199997 m, bearing: 249.210528 deg, lat: 36.904300 deg, lon: -122.120696 deg, deltaT: 3.527475 s, deltaX: -1.800003 m, approachRate: -0.510281 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 73.20 m.BjJjE ProNav: ac range: 73.199997 m, nav range: 55.995377 m, bearing: 262.553732 deg, approach rate: 0.000000 m/s, LOS rate: -0.617315 deg/s, cmd heading: 18.629875 deg, new cmd heading: 17.725938 deg. 2jAMHeadingCmd: 0.309376 target range: 73.199997 and range: 73.20 m. jMf>jIjIjIiIhIhQhQhUBfQfYfYrf]LR@bf?ɛv?= U=B?I %foɚ!i!I%7=I-f>i)i-=)-f>))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:04.6777 *F?2F:FBF_0JFH1>I I#&IIBI( =&I.I6IA<:I$ F $?IG=G?G?Gi Bq O >*\sw,uA6^)>Y6>696Z?=y6H@k?T>ؿ{ ?`?`Gܯ?Fݧ?`3?ɨ6^)>6;6 CyBBB%IININW٢fq= j=9j]@-E-;-;-a5i m_@iB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.20 m.BjJj ProNav: ac range: 73.199997 m, nav range: 56.046940 m, bearing: 262.388024 deg, approach rate: 0.164449 m/s, LOS rate: -0.527999 deg/s, cmd heading: 17.725937 deg, new cmd heading: 17.229284 deg. -Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.2jM.}HeadingCmd: 0.300708 target range: 73.199997 and range: 73.20 m. j}]>jyjyjyiyhyhyhhfffrfbf?ɛ= ?I kɚiI@V=I ]>iIiM=)M]>)Q*F2F:FBF 0JF JeJeJe/JaJe:Je:Je(N3JaJe;Je;JeA;JeA;GM m#= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746525Gy B O >  I zK= KK= s9K9 K= K= RKM ?JKM >pcsw,ՏA:U.>Y:>:ei9:(=y:Hw?8׿ ?p?s&?[ ??ɨ:U.>:;8yRBR%IuMb@Mb@Mb@qqq q)qYuT㥛 ?=9L G٣y# > Nusing accuracyPremultiplier from config59;\}?5Y  i/x?:=@EX;S;gc5 @ EZjDNOT Ignoring new targets: 73.20 m.BjJjU ProNav: ac range: 73.199997 m, nav range: 56.097256 m, bearing: 262.167720 deg, approach rate: 0.113932 m/s, LOS rate: -0.498395 deg/s, cmd heading: 17.229284 deg, new cmd heading: 16.568994 deg. 2j]]HeadingCmd: 0.289183 target range: 73.199997 and range: 73.20 m. je>jajajaiahahahihzBfffrfbf?ɛ|= ?I dɚiI|=I>iij=)>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996335*F?2F:FBFu2JFG}5=GqBO~>fisw,_AZH0RH2AABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248290rDh >Yr諵>rO9r&=yrH ?3WֿH@4?@x?f?0ͤ??ɨrDh >rҌ;r"CH=0>I9 I=/&II=BI9&I9.I96I=<:I= FBI]CJI]CRI]CZI]( =bI]( =jI]_4yzBޥ%I $?IIIT߳٢= D=9(u   G٣ y   > =Nusing accuracyPremultiplier from config9U59=n}?U5Y=B  i=/Y]ԣ=]@=E=T;=;=?e5a e^@aZjDNOT Ignoring new targets: 73.20 m.BjJj ProNav: ac range: 73.199997 m, nav range: 56.145271 m, bearing: 261.947087 deg, approach rate: 0.121747 m/s, LOS rate: -0.558951 deg/s, cmd heading: 16.568994 deg, new cmd heading: 15.907692 deg. 2jͿHeadingCmd: 0.277642 target range: 73.199997 and range: 73.20 m. j '>jjjihhhhfff rf)bf- ?ɛq}˔= y}?Iy }_ɚyiIn=I '>iif=) '>)E "==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500911*F ?2F :F BF 0JF JCKKcw3 KK.-KCKC"KCJ} J} J} 0Jy J} :J} :J} ـ3Jy J} 6;J} 7;J} I;J} I;G%=G-qAG)GB OE>Ursw,AVWill construct direction to contact in vehicle frame from tetrahedron phase data.ZP?Zq?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756245U=YU!>U9U r=yUH5T?[ԿqE?`P?*Ԩ`;? yɣ?,?ɨU=Ue;U C IzKUKQKQKU KUyφB%IMb@Mb@Mb@ )Y+?/$ÿyv>̼@ @)@I@y̼@IIF٢|= =9c G٣xSGywm > Nusing accuracyPremultiplier from config59 }?5Y  i/G?:<@E;;g5DB P@EZj DNOT Ignoring new targets: 73.20 m.BjJj ProNav: ac range: 73.199997 m, nav range: 56.193748 m, bearing: 261.657957 deg, approach rate: 0.088077 m/s, LOS rate: -0.524857 deg/s, cmd heading: 15.907693 deg, new cmd heading: 15.041121 deg. 2jHeadingCmd: 0.262517 target range: 73.199997 and range: 73.20 m. jh>jjjihhhhBfffrfbf{?ɛ9Ee= AEO?IA E>VɚIiIIMן=IMh>iQiu=)uh>)yEUhW=*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003663G=G B O >yxsw,ڌAJ J 6ݯ=Y6>>696;#=y6Hn~?_ӿᑿCM?x?s?`?ɨ6ݯ=64C;6CyfBf%IInIn(*٢ <>  =9ۣjjjihhhhfffrfbf@ɛx"= ?I m%RɚiIp3=I>ii=)>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256598H/>I IU&II;BI&I.I6Iz<:IL F $?I*F?2F:FBFR5JFG ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506969G B O% >T~sw,iAVq=YV=>VҼ9V|.=yVHJ?`{ҿ@~;+m? &?-`W?"إ??ɨVq=V;V Cy^Bb&IIjIj(*2٢rR= vM=9vXxx zG٣xyz z> Nusing accuracyPremultiplier from config 59e}? 5Y  i0  2 @E]::j5 @5B*** querying acoustic contact ***j1j1ZjAMDNOT Ignoring new targets: 73.20 m.BjMJjMe ProNav: ac range: 73.199997 m, nav range: 56.249798 m, bearing: 261.283196 deg, approach rate: 0.075774 m/s, LOS rate: -0.523304 deg/s, cmd heading: 14.545110 deg, new cmd heading: 13.917445 deg. 2jemHeadingCmd: 0.242905 target range: 73.199997 and range: 73.20 m. jm'x>jijijqiqhqhqhhfffrfbf@ɛM%BMn= IMV?II uKɚqiqIu w=I}'x>iyi}`7=)'x>)J-J-J)J)J-|:J- :J)J)J-;J-;J-9P;J-9P;*FM?2FI:FIBFMP0JFIGQ GQG%>=G- ?G-?GBOL>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763989 $?IzK:IK+9KK K#sw,|DA2 h=Y2>2@~92a4=y2HH?@ѿ8;`?T?@e[ϕ??3?ɨ2 h=2븉;2#CyBBB%&I-Mb@Mb@Mb@))) )))Y-x&1?p= ף rhy-?--C) ))-@I-V@)y-z@II٢^= >=9 ( G٣ySGy > Nusing accuracyPremultiplier from config59}?5Y i0 ? : *< @Eo;u:l5Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:16:07.1778 %TRx dataTimestamp_ set to:1736378168.432736%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012196-FB -@-EZjYeDNOT Ignoring new targets: 73.20 m.BjeBJjmB} ProNav: ac range: 73.199997 m, nav range: 56.291008 m, bearing: 261.054864 deg, approach rate: 0.093643 m/s, LOS rate: -0.518466 deg/s, cmd heading: 13.917445 deg, new cmd heading: 13.232984 deg. 2j}豼HeadingCmd: 0.230959 target range: 73.199997 and range: 73.20 m. jl>jjjihhhh‚Bfffrfbf=R@ɛ= ?I U"DɚQiQIU=I]l>iYi]äw=)]l>)a*F?2F:FBFR0JF*J]R="J]p=G x\= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263890G H% 0>I!  I% &II% iBI! &I! .I! 6I% <:I% Z FBA M NGa q  Y y rBO > I sw, 1A>#5=Y>&>>Y9>}?=y>H@?`AпDsK??r??@?ɨ>#5=>~";>!Cy^/BbG&IIjIj٢r6> rY=9r"tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~}?5Y~ i~10Kz< @~E~3:~:~On5 g@ZjAEDNOT Ignoring new targets: 73.20 m.BjMJjM] ProNav: ac range: 73.199997 m, nav range: 56.324371 m, bearing: 260.860684 deg, approach rate: 0.090747 m/s, LOS rate: -0.527848 deg/s, cmd heading: 13.232984 deg, new cmd heading: 12.650810 deg. 2j] eHeadingCmd: 0.220798 target range: 73.199997 and range: 73.20 m. jeb>jajajaiihihihihifqfqfqrfybf}@C @ɛ= 隭S@I 1>ɚiI]=Imb>ii@Lp=)b>)*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:16:07.1778 LVL= 14752, 32753, 28338, 32755, AGC= 58, IDX= 410, 0.04, 0.265,-1.461,-0.783,-0.387, PHS= 0.740,-1.027,-0.399, RAW= 110.5, 8.9, CAL= 120.2, 6.3, ROT= 29.8, -6.3 Ygot valid direction response: 23:16:07.1778 LVL= 14752, 32753, 28338, 32755, AGC= 58, IDX= 410, 0.04, 0.265,-1.461,-0.783,-0.387, PHS= 0.740,-1.027,-0.399, RAW= 110.5, 8.9, CAL= 120.2, 6.3, ROT= 29.8, -6.3 PDAT read: Bearing 29.8, -6.3 (Local) ~Local bearing/azimuth received: Bearing 29.8, -6.3 (Local) DAT read: Range 10 to 50 : 71.3 m (Round-trip 95.1 ms) speed 0.4 m/s ,DAT read: user:3139> BDAT read: Tx time:23:16:08.2786 $Ping request sent. -C@)-z0=I-%?i-z0))-'1//?sVĿ)#?)-h)I-i--ʘ)) :publishing transmit ping timeة Fpublishing direction and range info)9-R;wѿ ‘ο'Z?y)))) )))I)i))))) )))I)i)))-'1//?sVĿ)#?))I)i))))GBOb>sw,KABWill construct direction to contact in vehicle frame from tetrahedron phase data.JJDAT read: TxSync time:23:16:08.2778 $?I=Yv>k9~L=zKK9KK KyH? пPWS?`)?Zt?k?@?ɨ=Xg;騵Cy5MB5k&IMb@Mb@Mb@ )YPn?MbQy?u @)I(@y3@II٢=  =9#;Q > G٣y%( %> -Nusing accuracyPremultiplier from config)559-a}?55Y-E i-K05S?=:=J==@-E-;-A;-p5A E@EEk]bXx?k]" kY k];A:k]BBk]BZk];@"]VQ4e0EP@]R;wѿ ‘ο'Z?Jk]Rk]ʘ*]0m.v-8`"DP@]SQP˿Es-Tֿ^5i3?"k]*k]osk]WGx?k]{ޢ 2k]Ck]$z?k]oU k]Bk]H9Bk]^E@ addTargetRange:: Added new target pos. range: 71.300003 m, deltaT: 3.529091 s, deltaX: -1.899994 m, approachRate: -0.538381 m/s, rangeRepo size: 4 M Added new target pos. range: 71.300003 m, bearing: 238.548989 deg, lat: 36.904299 deg, lon: -122.120580 deg, deltaT: 3.529091 s, deltaX: -1.899994 m, approachRate: -0.538381 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 71.30 m.BjUJjQ ProNav: ac range: 71.300003 m, nav range: 46.320850 m, bearing: 258.316178 deg, approach rate: 0.000000 m/s, LOS rate: -0.527848 deg/s, cmd heading: 12.650810 deg, new cmd heading: 11.837610 deg. 2jHeadingCmd: 0.206605 target range: 71.300003 and range: 71.30 m. jUS>jjjihhhhBfffrf@3Q@bf?ɛ $B =   @I  +^5ɚiI)=IUUS>iqiuXy=)uUS>)y=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFU]0JFQ"G]=G]=Ju Ju Jq Jq Ju ,:Ju :Jq Jq a @a @a @a @G vpx=G G Gi B O >sw,gAy~oB~&III٢5A> 5e=9Q > G٣zSGy > Nusing accuracyPremultiplier from config59}?5Y i]0@E1;1;*r5GB {@EWill construct direction to contact in vehicle frame from tetrahedron phase data.H%/>I! I%&II%BI%' =&I!.I!6I%d<:I%; FZj9=DNOT Ignoring new targets: 71.30 m.BjE1JjE1U ProNav: ac range: 71.300003 m, nav range: 46.375019 m, bearing: 258.083566 deg, approach rate: 0.144883 m/s, LOS rate: -0.621430 deg/s, cmd heading: 11.837610 deg, new cmd heading: 11.140625 deg. 2jU=ռ]HeadingCmd: 0.194441 target range: 71.300003 and range: 71.30 m. j]oG>jYjYjYiahahahahafififirfibfuS?ɛ#Bv= :,=隥 @I 8b/ɚiIki=IoG>ii=)oG>) $?I*Fm?2Fi:FiBFmp0JFiGGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ksw,nāA6hĆ6|C96JbZ=y6H C?@οM??@J?@iz? zH??ɨ6hĆ<6^;6!CyNBN&IIVIVʳ٢^m= bR=9b;Q b>dd fG٣dyf, f> -Nusing accuracyPremultiplier from config)559-~?55Y- i-s09=p==@-E- ;- ;-s5A E>@ImB*** querying acoustic contact ***jijiZjy}DNOT Ignoring new targets: 71.30 m.Bj4Jj4 ProNav: ac range: 71.300003 m, nav range: 46.428490 m, bearing: 257.843882 deg, approach rate: 0.141036 m/s, LOS rate: -0.631469 deg/s, cmd heading: 11.140625 deg, new cmd heading: 10.422440 deg. 2jؼHeadingCmd: 0.181906 target range: 71.300003 and range: 71.30 m. jE:>jjjihhhhfffrfbf &S?ɛV3=  @I ٗ(ɚiI=IE:>iiV=)E:>)*F?2F:FBF2JFG=5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.GiB $?IO]>zKJKs9KKKsw,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497476ynBr&IMb@Mb@Mb@ )YNbX9?Mb{Gzy?@#@ @)Iy׻@II٢> 9=9Q > G٣y > Nusing accuracyPremultiplier from config 59~? 5Y i~02?:>@E;-;u5HB p@%EZjIMDNOT Ignoring new targets: 71.30 m.BjU,JjU,e ProNav: ac range: 71.300003 m, nav range: 46.508801 m, bearing: 257.583094 deg, approach rate: 0.186216 m/s, LOS rate: -0.603639 deg/s, cmd heading: 10.422440 deg, new cmd heading: 9.641479 deg. 2je"ϼmHeadingCmd: 0.168276 target range: 71.300003 and range: 71.30 m. jmnP,>jijqjqiqhqhqhyh}EBfyfyfrfbf`29?ɛ"BM== QU@IQ U; ɚQiQIU=I]nP,>iYi]m=)enP,>)aJJJ1JJ:J:J3J*F?2F:FBFY5JFG GpAH .>I  I 'II އBI ( =&I .I 6I i<:I = F5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747312 IG =G ?G *?G B O- >sw,AyB&II-I-٢== =V=9AQ E>AI MG٣M{SGyI M> ]Nusing accuracyPremultiplier from configQ]59UT%~?e5YU iU0aae@UEUL:U:Uew5i mG@qZjDNOT Ignoring new targets: 71.30 m.Bj+Jj+ ProNav: ac range: 71.300003 m, nav range: 46.580746 m, bearing: 257.352835 deg, approach rate: 0.188150 m/s, LOS rate: -0.601238 deg/s, cmd heading: 9.641480 deg, new cmd heading: 8.951806 deg. 2jOμHeadingCmd: 0.156238 target range: 71.300003 and range: 71.30 m. j>jjjihhhhffifqrfqbfuө?ɛ!B= E@I ɚiIؘ=I5>i1i55=)5>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999702EUV=*F?2F:FBF0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252179 I G 6=G BO5>sw,FAzKJQJKh9KK6@Y6]>6ɻKBK8:K:pA96P݂=y6H`@? L|˿?}?@/?@M`L2y?`X? ?ɨ6@6f;6 CyBχBF 'I]Mb@Mb@Mb@YYY Y)YY]Q?MbP?~jthy]?]:]D] @ ]t@)]@I]@YyYIuIuM٢}= }-=9H G٣yS2 > Nusing accuracyPremultiplier from config59*:~?5Yw i0?:_>@El;;wy5IB @EZjDNOT Ignoring new targets: 71.30 m.Bj%&Jj%&M ProNav: ac range: 71.300003 m, nav range: 46.689053 m, bearing: 257.071559 deg, approach rate: 0.225183 m/s, LOS rate: -0.583449 deg/s, cmd heading: 8.951806 deg, new cmd heading: 8.109996 deg. 2jU5ȼUHeadingCmd: 0.141546 target range: 71.300003 and range: 71.30 m. j]y>jYjYjYiYhYhYhahrBfffrfbf@ɛ15r= 9=@I9 ɚiI=Iy>ii=)y>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504306ES,=*F?2F:FBFT5JFG =GaBiO>J J J 0J J :J :J ـ3J H />I  I b'II BI &I .I 6I <:I  FBIJIRIZIbIjI˼4sw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755745:\@Y:U>:I9:ߕ=y:H`O?nʿ@W?@r?>?+,Is?/??ɨ:\@ R$?IT:M;8ynއBr'Iivp>Iv=IzIzԲ٢V= S=9 t;Q  > G٣y > Nusing accuracyPremultiplier from config59$L~?5YD i0eW>@ EL:n:?{5 @ZjDNOT Ignoring new targets: 71.30 m.Bj -Jj -- ProNav: ac range: 71.300003 m, nav range: 46.781586 m, bearing: 256.829411 deg, approach rate: 0.231799 m/s, LOS rate: -0.605388 deg/s, cmd heading: 8.109997 deg, new cmd heading: 7.385032 deg. 2j-ϼ-HeadingCmd: 0.128893 target range: 71.300003 and range: 71.30 m. j5>j1j1j1i1h9h9h9h9fAfAfArfAbfE`H@ɛm Bu > qu@Iq }bɚyiyI}=I>iiҳ=)>)EE*E"E*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:16:10.7759 TRx dataTimestamp_ set to:1736378171.961748checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009546G "==G B O >sw,`A6]@Y6`K>6RaM96 =y6H`m^? DɿS?K?`N?`'i?@'ܯ??ɨ6]@6[;6"CyBBB4'IIJIJV٢R߯= RH=9V|;Q V>TX ZG٣Z|SGyZA¼ Z> bNusing accuracyPremultiplier from config\b59^L]~?b5Y^, i^0dfM>f@^ E^ ;^" ;^|5h n@nEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.30 m.Bj(Jj( ProNav: ac range: 71.300003 m, nav range: 46.868786 m, bearing: 256.598596 deg, approach rate: 0.223475 m/s, LOS rate: -0.590426 deg/s, cmd heading: 7.385032 deg, new cmd heading: 6.693911 deg. 2jʼHeadingCmd: 0.116831 target range: 71.300003 and range: 71.30 m. jD=jjjihhhhfffrfbf @ɛy>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261194 @I *ɚiI=ID=iix=)D=) $?I *F?2F:F BF P0JFzKK9KKK7I RK?JK?G =m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii G B O= >e DAT read: 23:16:10.7759 LVL= 12784, 31201, 22514, 32755, AGC= 53, IDX= 423,-0.28, 0.398,-1.347,-0.846,-0.381, PHS= 0.867,-0.919,-0.468, RAW= 104.0, 6.5, CAL= 114.2, 4.6, ROT= 35.8, -4.6  Ygot valid direction response: 23:16:10.7759 LVL= 12784, 31201, 22514, 32755, AGC= 53, IDX= 423,-0.28, 0.398,-1.347,-0.846,-0.381, PHS= 0.867,-0.919,-0.468, RAW= 104.0, 6.5, CAL= 114.2, 4.6, ROT= 35.8, -4.6  PDAT read: Bearing 35.8, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 35.8, -4.6 (Local)  DAT read: Range 10 to 50 : 69.9 m (Round-trip 93.2 ms) speed 0.3 m/s  ,DAT read: user:3140>  BDAT read: Tx time:23:16:11.8786  $Ping request sent. ^#޺9^_v=y^Hn?`uȿ˲?@G ?@f_?@]\#[? ̾?4?ɨ^ @^Ӊ;^CyjBjF'IJeJeJaJaJeL:Je :JaJa%Mb@Mb@Mb@!!! !)!Y%v/?X9v?Mby%x ?%<%%V@ !)!I!!y%@IeIeԲ٢d= "=9{:;Q > G٣y > Nusing accuracyPremultiplier from config59t~?5jH<bH<HI I'IIHBI&I.I6IC<:I" FYO i0 ?:k}>@ Eu<<<I5JB @EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:11.8778 $?I kiCz?ki  k kA:k̋BBk׊BZkz|@"k0w~IC" :P@L RͿu0Щ s?Jk'Rk榿*ON*\/ PZP@5yȿ!O9Ϳ4[D?"kZ*kUk7z?k|Ǥ 2kCk7z?k*ڕ kCk7Bk@ addTargetRange:: Added new target pos. range: 69.900002 m, deltaT: 3.530642 s, deltaX: -1.400002 m, approachRate: -0.396529 m/s, rangeRepo size: 4  Added new target pos. range: 69.900002 m, bearing: 230.053711 deg, lat: 36.904279 deg, lon: -122.120459 deg, deltaT: 3.530642 s, deltaX: -1.400002 m, approachRate: -0.396529 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 69.90 m.BjJj  ProNav: ac range: 69.900002 m, nav range: 37.304131 m, bearing: 249.003914 deg, approach rate: 0.000000 m/s, LOS rate: -0.590426 deg/s, cmd heading: 6.693911 deg, new cmd heading: 5.652589 deg. 2j=HeadingCmd: 0.098656 target range: 69.900002 and range: 69.90 m. j=P =j9j9j9i9h9hAhAhE~BfAfIfIrfMyQ@bfM ?ɛ= @I AGɚiI!=IP =ii =)P =)*F ?2F :F BF 5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G GBO>0&sw,,@A=_@Y=`+>=Ǡ99=h=y=HՌ?Yſ ?@>c?? 4|??ɨ=_@=uK;= CyuB}P'IAAII ٢E= E<=9M;Q M>IQ UG٣QyUW U> Nusing accuracyPremultiplier from configY59]~?5Y] i]0g>@]E];];] 5 3@Zj DNOT Ignoring new targets: 69.90 m.Bj ,XJj ,X= ProNav: ac range: 69.900002 m, nav range: 37.425121 m, bearing: 248.729869 deg, approach rate: 0.334846 m/s, LOS rate: -0.755974 deg/s, cmd heading: 5.652589 deg, new cmd heading: 4.833172 deg. 2jEEHeadingCmd: 0.084355 target range: 69.900002 and range: 69.90 m. jM1¬=jIjIjIiIhIhIhQhQfQfQfYrfybf@u?ɛ > ̵=@I qCۼɚiI=I1¬=ii,=)1¬=)*F?2F:FBFP0JF IG[=Will construct direction to contact in vehicle frame from tetrahedron phase data.GiBqO>zK LK 9K K K  ""! BK qA:K qAnNsw,isZA:@Y:`#>:cf:9:GU=y:HA?^ĿÂ?+g?[?@P<zLޥ??ɨ:@:[;:"CyrBrd'IMb@Mb@Mb@ )Y?T㥛 ?y&1|y ?=`l@ ^@)@Iη@y@II( Will construct direction to contact in vehicle frame from tetrahedron phase data.٢'= N=9ͼ:Q > %G٣%}SGy%̠ -> 5Nusing accuracyPremultiplier from config)559-v~?=5Y-u i-0= ?=:=>=@-E-;-;-ǂ5KB 5@ EZjQUDNOT Ignoring new targets: 69.90 m.Bj]8Jj]8 ProNav: ac range: 69.900002 m, nav range: 37.558048 m, bearing: 248.461657 deg, approach rate: 0.321531 m/s, LOS rate: -0.646467 deg/s, cmd heading: 4.833172 deg, new cmd heading: 4.031439 deg. 2jݼ=HeadingCmd: 0.070362 target range: 69.900002 and range: 69.90 m. j==j9j9j9i9hAhAhAhEBfIfIfIrfIbfM`a?ɛ-> @I ɼɚiI==I=i1i5=)5=)9JJ*F?2F:FBFV0JF)Q USCH.>I I'IIgBI&I.I6IN<:I) F G% 5tAQ $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. Y 5tAy B Z@ BG R=G G rAG B O >qsw,2tA6@Y6>6S:966Q=y6H s?@ÿ ? I??éY.?E?ɨ6@6H;4yBBB_'IIJIJ٢Rϼ Rf=9R;Q R>TT ZG٣XyZ"˼ ^> bNusing accuracyPremultiplier from config`f59bx~?f5Yb ib0dj>j@bEbn:b:bT5l n~@lZjDNOT Ignoring new targets: 69.90 m.Bj `QJj `Q% ProNav: ac range: 69.900002 m, nav range: 37.676243 m, bearing: 248.221778 deg, approach rate: 0.361908 m/s, LOS rate: -0.732197 deg/s, cmd heading: 4.031439 deg, new cmd heading: 3.314099 deg. 2j%@-HeadingCmd: 0.057842 target range: 69.900002 and range: 69.90 m. j-l=j)j)j)i)h1hhhfffrfbfƌ?ɛ)-,> QUf@IQ UɚYiYI]X4=Iel=iaie!=)el=)a*F?2F:FBF~0JF"GG!>PExceeded connect timeout, disconnecting.%Will construct direction to contact in vehicle frame from tetrahedron phase data.G g=GBO >J5 J5 J1 J1 J5 :J5 :J1 J1 J5 6;a= J5 7;a= J5 J;aE J5 J;aE Xsw,) A IBWill construct direction to contact in vehicle frame from tetrahedron phase data.A@Y`>ב;9H=yH?wX+?  ?@?t:r??ɨA@;y%B%h'I M=M=zKMK9KKKMb@Mb@Mb@ )YS?Dl?I +y?O=94V@ t@)I@y@II̍٢8< =9 ;Q  > G٣y > %Nusing accuracyPremultiplier from config-59~?-5Y i0-7?-:->5@E;u;59 =@=EB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 69.90 m.Bj ;Jj ; ProNav: ac range: 69.900002 m, nav range: 37.850994 m, bearing: 247.871740 deg, approach rate: 0.329262 m/s, LOS rate: -0.656484 deg/s, cmd heading: 3.314099 deg, new cmd heading: 2.268957 deg. 2jDἝEHeadingCmd: 0.039601 target range: 69.900002 and range: 69.90 m. jEi4"=jAjIjIiIhIhIhQhUBfQfQfQrfYbf] ?ɛE"> AES@II UFɚQiQI]=Iei4"=iaie=)ei4"=)a=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.E *F= ?2F9 :F9 BFE P0JFA *JI "JM R=HI I'IIvBI&I.I6I <:I F m$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228058G7=GaBiO?sw,ѲA650@Y6>6G+;96{@=y6H ù?`;j??a?[[@W~ ??ɨ650@6B;6!Cy>B>n'IIJIJ٢RО< R0=9R;Q V>TT VG٣V~SGyZ˻ Z> ^Nusing accuracyPremultiplier from config\b59^L~?b5Y^^ i^0dfF>f@^E^2 ;^ ;^5nLB nҲ@nEZj1=DNOT Ignoring new targets: 69.90 m.BjUEJj]E ProNav: ac range: 69.900002 m, nav range: 38.007614 m, bearing: 247.556225 deg, approach rate: 0.344740 m/s, LOS rate: -0.691623 deg/s, cmd heading: 2.268957 deg, new cmd heading: 1.326402 deg. 2jSHeadingCmd: 0.023150 target range: 69.900002 and range: 69.90 m. j<<jjjih!h!h!h!f)f)f)rf)bf-`.@ɛy%> 隥@I IɚiI=I<J J J J J :J :J J J ;J ;J 9P;J 9P;^sw,ˁA:O@Y:@=:Q<9:!:=y:H?`܀@.?T? ?gw4 A?.?ɨ:O@:Q;: CyFBFc'IININV8٢V. VK=9Z;Q Z>XX ^G٣\y^ܼ b> fNusing accuracyPremultiplier from config`j59b~?j5Yb ib0l r$?Itnly>v@bEbѓ;b;b\5x z_@|Zj%DNOT Ignoring new targets: 69.90 m.Bj%TDJj%TD5 ProNav: ac range: 69.900002 m, nav range: 38.142704 m, bearing: 247.281877 deg, approach rate: 0.339274 m/s, LOS rate: -0.686575 deg/s, cmd heading: 1.326402 deg, new cmd heading: 0.506330 deg. 2j5뼝EHeadingCmd: 0.008837 target range: 69.900002 and range: 69.90 m. jE<jAjAjAiAhAhIhQhQfQfQfYrfabfe m.@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731367ɛ '> 隝@I )ɚiI =Iv%sw,\A6l@Y6=6'@<96:68=y6H??@?c?3:b?`'?ɨ6l@6f;4y> B>R'I)@ @eMb@Mb@Mb@aaa a)aYe|?5^?+?/$ye ?e=ee?@ e^@)aIe@aye@II٢v <=9;Q > G٣y[ɼ > Nusing accuracyPremultiplier from config59~?5YT i1R?:_>@EUw;_;E5MB A@EZjDNOT Ignoring new targets: 69.90 m.Bj5Jj5HI I'IIqBI&I.I6I)<:I F= ProNav: ac range: 69.900002 m, nav range: 38.290554 m, bearing: 246.990163 deg, approach rate: 0.323519 m/s, LOS rate: -0.635849 deg/s, cmd heading: 0.506330 deg, new cmd heading: 359.634638 deg. 2j=0ڼEHeadingCmd: 6.276809 target range: 69.900002 and range: 69.90 m. jE@jAjIjIiIhIhihqhujBfqfqfyrfybf} @ Iɛ!B> @I hdɚiI=ILлii=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:16:14.3744 TRx dataTimestamp_ set to:1736378175.748893checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236615*F?2F:FBF0JFG^=GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487217 tw,8A6@Y6 =6ue<96ú0=y6H?Ǔ?Vٸ?3?}Hн??ɨ6@69 G٣SGy > ENusing accuracyPremultiplier from config9}59=?5Y= i=E1at>@=E= m<=h<=5 @ZjDNOT Ignoring new targets: 69.90 m.Bj LAJj LA= ProNav: ac range: 69.900002 m, nav range: 38.431061 m, bearing: 246.709875 deg, approach rate: 0.340106 m/s, LOS rate: -0.675971 deg/s, cmd heading: 359.634650 deg, new cmd heading: 358.796925 deg. 2j=缝EHeadingCmd: 6.262187 target range: 69.900002 and range: 69.90 m. jEc@jAjAjAiIhIhihqhqfqfqfqrfybf}1 @ɛh!> JJJJJ,:JJJJ;J;JJ@I CɚIiIIMO&=IUuiQiUx=)Uc@)Q*F}?2Fy:FyBF}1JFy $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:16:14.3745 LVL= 14560, 26561, 21490, 29507, AGC= 53, IDX= 423, 0.16, 0.155,-1.789,-1.452,-0.936, PHS= 1.180,-0.806,-0.519, RAW= 97.7, 1.6, CAL= 107.2, -1.3, ROT= 42.8, 1.3 Ygot valid direction response: 23:16:14.3745 LVL= 14560, 26561, 21490, 29507, AGC= 53, IDX= 423, 0.16, 0.155,-1.789,-1.452,-0.936, PHS= 1.180,-0.806,-0.519, RAW= 97.7, 1.6, CAL= 107.2, -1.3, ROT= 42.8, 1.3 PDAT read: Bearing 42.8, 1.3 (Local) ~Local bearing/azimuth received: Bearing 42.8, 1.3 (Local) DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.2 m/s ,DAT read: user:3141> BDAT read: Tx time:23:16:15.4787 $Ping request sent.m9Kؿ:I9?)۝mǾI۝0i۝<۝sۙۙe:publishing transmit ping timemFpublishing direction and range infoؙ9؝E n@@|Ć ?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝{?>m9Kؿ:I9?)ۙIۙiۙۙۙۙG 7=G ?G ?zK] BHKY KY K] K] Gy B O >n8tw,"AV@YVL=V*<9V(=yVH? 2@???H ??ɨV@Vި;V!CybBb;'IMb@Mb@Mb@ )YV-?Zd;O?I +y ?j<=9(@ @)η@I@yII<Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:15.4779 ٢I  /=9-ӵ;Q ->11 5G٣1y=ռ => MNusing accuracyPremultiplier from configAu59E+#?u5YE iEz1}+?}:J.>@EEE 隵@I ɚiIq'=I_ii"=)@)E*FU?2FY:FYBF]2JFY"Gm>Gm=H I  I 'II ]BI ' =&I .I 6I <:I FBIJIRIZIbIjIT4 $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G= =G B O% > b tw,x3AF^N@YF=FT<9Fu=yFHf?9 ̀?`"k??4`~?m?ɨF^N@F;Dy^B^ 'Iib=Ib;IjIjʴ٢ r=9;Q  ?    G٣ y& ? Nusing accuracyPremultiplier from config%592?%5Y i1)-P >-@E;;x51 5@5޵EeB*** querying acoustic contact ***jajaZjimDNOT Ignoring new targets: 68.70 m.Bju vJju v ProNav: ac range: 68.699997 m, nav range: 30.090000 m, bearing: 238.734283 deg, approach rate: 0.381300 m/s, LOS rate: -0.860463 deg/s, cmd heading: 357.896558 deg, new cmd heading: 357.091285 deg. 2jHeadingCmd: 6.232419 target range: 68.699997 and range: 68.70 m. jo@jjjihhhhfffrfbf?ɛ#B=G<> 隝@I ɚiIfX=IOiiUj=)o@)*F?2F:FBFP0JFGmY=%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GABIOmV>J J J J J J :J J J J J I;J I;Itw,MA $I$>!@Y>j=>7<9>LK)=y>H? 䬿?V?? `&?Y?ɨ>!@>);>"Cy^؇B^'IIjIj٢r$ rL=9r";Q v>tt vG٣vSGyzV z> ]Nusing accuracyPremultiplier from configQe59UE?e5YU- iU1imb>m@U!EU;U;UD5q}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998982 ul@ZjDNOT Ignoring new targets: 68.70 m.BjfJjf ProNav: ac range: 68.699997 m, nav range: 30.235338 m, bearing: 238.400175 deg, approach rate: 0.352589 m/s, LOS rate: -0.806642 deg/s, cmd heading: 357.091278 deg, new cmd heading: 356.093879 deg. 2je HeadingCmd: 6.215011 target range: 68.699997 and range: 68.70 m. j^@jjjihhhhfffrfbfj?ɛ#> @I }ӻɚi!I%r=I%i)i-=)-^@))*F?2F:FBF]0JFzKeBoIKe9KaKeKeBKmpA:KmnAGܥ=GpAGnAGB - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250868O= >{utw,mgA6X@Y6,=6x<96Te=y6H?k~??d? Q ?G?ɨ6X@6'';4y~͇B~'IMb@Mb@Mb@ )Yoʡ?    G٣ yc > %Nusing accuracyPremultiplier from config!-59%~Y?-5Y% i%2-5 ?-:5u=5@%#E%;%;%%5=OB ='@=۵EHI I'II9BI( =&I.I6I<:I FZjDNOT Ignoring new targets: 68.70 m.BjhJj h 5$?I1E ProNav: ac range: 68.699997 m, nav range: 30.371889 m, bearing: 238.034441 deg, approach rate: 0.304958 m/s, LOS rate: -0.813115 deg/s, cmd heading: 356.093879 deg, new cmd heading: 355.001749 deg. 2jE mHeadingCmd: 6.195950 target range: 68.699997 and range: 68.70 m. ju8E@jqjqjqiqhqhqhyh})Bfyfyfrfbf,?ɛ$BO>  @I -6ɚ1i1I==I=iAiEt>)E8E@)aEqEurAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506713*F?2F:FBF[0JFGqA GpAG% =G B O% >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758917]b tw,A6i@Y6 <6q<96[v =y6H.?@Ry?@?`t? h@w vL? ?ɨ6i@6;6 Cy>BB&I)D FAIJIJ(٢R@ Rc=9V TX ZG٣XyZ_& Z> bNusing accuracyPremultiplier from config\b59^+j?f5Y^ i^O2df9=f@^%E^);^*;^5l n@lZj  DNOT Ignoring new targets: 68.70 m.BjJj% ProNav: ac range: 68.699997 m, nav range: 30.484692 m, bearing: 237.727773 deg, approach rate: 0.330696 m/s, LOS rate: -0.895710 deg/s, cmd heading: 355.001760 deg, new cmd heading: 354.085241 deg. 2j%-HeadingCmd: 6.179953 target range: 68.699997 and range: 68.70 m. j--@j)j1j1i1h1h1h9h9f9f9f9rfAbfE ?ɛ5%B5+.> 152@I1 =H/ɚ9i9I==IEhkӽiAiEi>)e-@)i*F2F:FBFm0JF $?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012364G/>Gi B O% >zK jIK K K K RK ?JK ?&tw,ZA2l@Y2bW<2<92) G٣SGyZ > Nusing accuracyPremultiplier from config59%~?5Y i2 ?:@'EK; ;5PB V@صEZjDNOT Ignoring new targets: 68.70 m.BjpJjp ProNav: ac range: 68.699997 m, nav range: 30.604513 m, bearing: 237.343745 deg, approach rate: 0.263609 m/s, LOS rate: -0.841552 deg/s, cmd heading: 354.085230 deg, new cmd heading: 352.937819 deg. 2jcHeadingCmd: 6.159927 target range: 68.699997 and range: 68.70 m. j@jjjihhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264386f rfbf`:f@ɛE&BE> 隍@I 4ɚiIɇ=Inii>)@)*F]?2FY:FYBF]`0JFaJKm3 KS}-KK"KJJJJJL:J:JJa @a @a @a @i|uAZHRH?AH->I I['IIBI' =&I.I6I<:I F  Y |uAy B  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514917G >G ?G ?G B O >,tw,5A6@Y6 @6?N=96BB&IIJIJ<٢n nX=9rpt vG٣tyv. v> zNusing accuracyPremultiplier from configx~59zd?5Yz iz2`Q@z(Ez; ;z ;zE5  i@-B*** querying acoustic contact ***j)j)Zj9EDNOT Ignoring new targets: 68.70 m.BjEJjMU ProNav: ac range: 68.699997 m, nav range: 30.706661 m, bearing: 237.011641 deg, approach rate: 0.284956 m/s, LOS rate: -0.923362 deg/s, cmd heading: 352.937813 deg, new cmd heading: 351.944920 deg. 2j]leHeadingCmd: 6.142598 target range: 68.699997 and range: 68.70 m. je)@jijijiiihihihqhqfqfqfyrfybf}@ɛ'Bl3> 隭T@I jHc:ɚiI[ =I<ii >))@)*F]?2Fa:FaBFeQ5JFa"Gu=GqG5 >GBO%,>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766784  $?I 3tw,A:@Y:@:*y=9:tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~?5Y~t i~3  Z @~*E~@:~:~ 5QB B@ֵEZjAEDNOT Ignoring new targets: 68.70 m.BjM{JjM{] ProNav: ac range: 68.699997 m, nav range: 30.814720 m, bearing: 236.654561 deg, approach rate: 0.267215 m/s, LOS rate: -0.879907 deg/s, cmd heading: 351.944922 deg, new cmd heading: 350.877568 deg. 2jeeHeadingCmd: 6.123969 target range: 68.699997 and range: 68.70 m. jm@jijijiiihihihqhqfq}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:16:17.9731 TRx dataTimestamp_ set to:1736378179.284742checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020028ffrfbfG@ɛ>  @I .;ɚiI~?=I #ii>)@)*F}?2F:FBF4JFzK>`JK9KKKG]>GQBaO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272510 9tw,IAJVJVJTJTJV:JV :JTJTy%B%&IHM.>II IM#'IIMBII&II.II6IM<:IMo F I Mb@Mb@Mb@    ) Y Dl?V-~jty O ? h ļ @ @) @I t@ y @I}I}٢I %=9Q > G٣SGy > Nusing accuracyPremultiplier from config59ø?5Yz iv3?:@,E;;25 @ӵEZjDNOT Ignoring new targets: 68.70 m.BjJj ProNav: ac range: 68.699997 m, nav range: 30.932409 m, bearing: 236.195179 deg, approach rate: 0.238734 m/s, LOS rate: -0.928306 deg/s, cmd heading: 350.877555 deg, new cmd heading: 349.504930 deg. 2jE HeadingCmd: 6.100012 target range: 68.699997 and range: 68.70 m. j L3@j jjihhhhBff!f!rf!bf%3 @ɛM(BM> QU @IQ U-Ŝ;ɚYiYI]d=I]đ;iaiek$>)eL3@)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:16:17.9731 LVL= 14528, 25137, 19122, 24819, AGC= 58, IDX= 425,-0.10, 1.172,-0.748,-0.723,-0.009, PHS= 1.269,-0.692,-0.718, RAW= 89.4, 1.4, CAL= 96.6, -1.8, ROT= 53.4, 1.8 Ygot valid direction response: 23:16:17.9731 LVL= 14528, 25137, 19122, 24819, AGC= 58, IDX= 425,-0.10, 1.172,-0.748,-0.723,-0.009, PHS= 1.269,-0.692,-0.718, RAW= 89.4, 1.4, CAL= 96.6, -1.8, ROT= 53.4, 1.8 PDAT read: Bearing 53.4, 1.8 (Local) ~Local bearing/azimuth received: Bearing 53.4, 1.8 (Local) DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed 0.2 m/s ,DAT read: user:3142> BDAT read: Tx time:23:16:19.0787 $Ping request sent.G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:23:16:19.0779 @tw,A6ϓ@Y6L@6'=96 )-@I1 5|&;ɚ1i1I5j=I=Ki9i="Z>)=+@)AJJAA*F?2F:FBFP0JF $?IG >GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= BoHK= +9K9 K= K= ?Ftw,A @2 @Y2Y@2D-=92ȅyy }G٣yy > Nusing accuracyPremultiplier from config591?5Y i4?:@0E;;5RB @еEZjDNOT Ignoring new targets: 67.70 m.Bj窼Jj窼 ProNav: ac range: 67.699997 m, nav range: 24.069204 m, bearing: 222.905320 deg, approach rate: 0.307202 m/s, LOS rate: -1.195320 deg/s, cmd heading: 348.587802 deg, new cmd heading: 347.009541 deg. 2jMWill construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 6.056459 target range: 67.699997 and range: 67.70 m. j@jjjihhhhBff f rf bf"?ɛ)B> @I ݄<ɚiI=I *hi i !>) @)*F%?2F!:F!BF!JF!JJJJJ,:J:JJjHQbHQHYIY I]&II]B u$?IyIY&IY.IY6I]w<:I]H FG Oh#> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Ltw,A}6A6葿@Y6e@64=96e @I -<ɚiI28=I `v}i i Ю%>) ($@) *F2F:FBF_0JF"G=GGx!>GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. a Ia Stw, \PA2@Y2| @2.:=923dd fG٣fSGyf18 j> nNusing accuracyPremultiplier from confighr59j?r5YjV ij4prGr@j3Ej ;j ;jؤ5zSB z(@z͵EZj!%DNOT Ignoring new targets: 67.70 m.Bj-oJj-o= ProNav: ac range: 67.699997 m, nav range: 24.286407 m, bearing: 222.036343 deg, approach rate: 0.286153 m/s, LOS rate: -1.150081 deg/s, cmd heading: 345.818051 deg, new cmd heading: 344.414838 deg. 2j=REEHeadingCmd: 6.011173 target range: 67.699997 and range: 67.70 m. jE[@jAjAjAiAhIhIhIhIfQfQfQrfQeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495686bfm`j6?ɛQUm> QU@IY ]58<ɚYiYI]Yy=Ie:EiaieV*>)e[@)iEEqA*F5?2F9:F9BF=o0JF9zK=BHK=59K9K=K=G5"> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747363GA BQ Om >8Ztw,9jAJFJFJDJDJF:JF:JDJDZGm@YZ|@ZF=9ZMfI> == $?IH I  I &II BI &I .I 6I \<:I 5 FBIJIRIZI' =bI' =jI_4=Mb@Mb@Mb@999 9)9Y=> ףp=?yy }G٣yy}S > Nusing accuracyPremultiplier from config59?5Y i5?:@5E;;٦5 P@ʵEZjAMDNOT Ignoring new targets: 67.70 m.BjuKJjuK ProNav: ac range: 67.699997 m, nav range: 24.411360 m, bearing: 221.475186 deg, approach rate: 0.263451 m/s, LOS rate: -1.177076 deg/s, cmd heading: 344.414830 deg, new cmd heading: 342.740481 deg. 2jIHeadingCmd: 5.981950 target range: 67.699997 and range: 67.70 m. j"l@jjjihhhhBfffrfbfm?uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000178ɛgS> @I }Z<ɚi!I%³=I%;i)i-Т4>)-"l@))*F?2F:FBF`0JFG_)>GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250976`tw,EA6!н@Y6@6S=96&OB@IJ IJ<2٢M: M_=9UoQY ]G٣YyeU e> mNusing accuracyPremultiplier from configiu59m$?u5Ym imm5y}}@m7EmV;m;mt5 M@ZjDNOT Ignoring new targets: 67.70 m.Bj絼Jj絼 ProNav: ac range: 67.699997 m, nav range: 24.509235 m, bearing: 221.026136 deg, approach rate: 0.278416 m/s, LOS rate: -1.272247 deg/s, cmd heading: 342.740477 deg, new cmd heading: 341.398966 deg. 2jHZHeadingCmd: 5.958536 target range: 67.699997 and range: 67.70 m. jT@jjjihhhhfffrfbf`³@ɛ*B7> @I! %,o<ɚ!i!I%c =I-n8i)i-C8>)-T@)JJ@A*Fm?2Fi:FiBFmV5JFi $?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503121GP)>G B O5 >"gtw,AzK.BoHK.9K,K.K.RK6 ?JK6?>8@Y>G@>Re]=9>i;y>H ٘?@O?Ū?@ÿ@?㏿@7v!??ɨ>8@>&s;>"CyJSBJs&I=Mb@Mb@Mb@999 9)9Y=㥛 ?ףp= ÿ rhy=?==C=ݸ@ =@)9I=V@9y=\@IUIUb٢$< B=9!;Q > G٣SGy4 > Nusing accuracyPremultiplier from config59>8?5Y i5?:Ѿ@9E;B;K5TB  @ ǵEZjAMDNOT Ignoring new targets: 67.70 m.Bj]Jj] ProNav: ac range: 67.699997 m, nav range: 24.619495 m, bearing: 220.493678 deg, approach rate: 0.260543 m/s, LOS rate: -1.252540 deg/s, cmd heading: 341.398973 deg, new cmd heading: 339.809183 deg. 2jVHeadingCmd: 5.930789 target range: 67.699997 and range: 67.70 m. jɽ@jjjihhhhBfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755670ɛ9=]> 9=<@IA E<ɚAiAIEM=IMHmiIiMvG?>)Uɽ@)Q*F?2F:FBFP5JFG|!3>GB IZHRHAAH->I I&IIBI&I.I6IM<:I* FOE> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:16:21.5720  TRx dataTimestamp_ set to:1736378182.812612 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008105GOmtw,(ӷA Z@YZY@ZD7p=9Z=>;yZH/a??@3?ǿn?lWg??ɨZ@Z|;XyfVBfv&IInInb1٢vW^< vZ=9vIx| ~G٣|yhԽ >  Nusing accuracyPremultiplier from config 59 mI?5Y , i 6徑@ ;E  ; ; 𥉉5! %@)EB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 67.70 m.Bj] Jj] m ProNav: ac range: 67.699997 m, nav range: 24.711681 m, bearing: 220.013657 deg, approach rate: 0.246787 m/s, LOS rate: -1.280237 deg/s, cmd heading: 339.809179 deg, new cmd heading: 338.374804 deg. 2jm[uHeadingCmd: 5.905755 target range: 67.699997 and range: 67.70 m. ju@jqjqjqiyhyhyhhfffrfbf1 @ɛ)B8> @I <ɚiIQ=IM>iIiU1>)U@)Q*F?2F:FBF O0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259055G-7>G) B9 OU >J J J /J J l:J J (N3J J ;a J ;a J L;a J L;a $?I 6ttw,ũARQ@YRa@Ray=9R:yRH'??Š?@9k?}ʿM?@슿`K'A??ɨRQ@R;R CyZ\BZ~&IIfIf 2٢jU< nL=9n;Q r>pt vG٣tyvP v> ~Nusing accuracyPremultiplier from configx59z[?5Yz  izh65@z=Ez :z:z5UB @ĵE=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:16:21.5720 LVL= 12064, 22257, 15714, 24419, AGC= 55, IDX= 430,-0.17, 2.433, 1.040, 0.462, 1.638, PHS= 0.883,-0.551,-1.179, RAW= 72.7, 9.3, CAL= 74.9, 13.9, ROT= 75.1, -13.9 }Ygot valid direction response: 23:16:21.5720 LVL= 12064, 22257, 15714, 24419, AGC= 55, IDX= 430,-0.17, 2.433, 1.040, 0.462, 1.638, PHS= 0.883,-0.551,-1.179, RAW= 72.7, 9.3, CAL= 74.9, 13.9, ROT= 75.1, -13.9 PDAT read: Bearing 75.1, -13.9 (Local) ~Local bearing/azimuth received: Bearing 75.1, -13.9 (Local) DAT read: Range 10 to 50 : 66.9 m (Round-trip 89.2 ms) speed 0.0 m/s ,DAT read: user:3143> BDAT read: Tx time:23:16:22.6787 $Ping request sent. =T?)=Ulx>I=gƧ?i=Ulx99=TMgl?߇3|9)?)=BSI=C &i=@=99:publishing transmit ping timeءFpublishing direction and range info9k=*x~?k=# k9 k=8A:k=̅BBk=BZk=?"= dH.Kf:@y_hM@=@.̿F`A?~ 3?Jk=@Rk=*=⺠Bܪ3O-<@Rg3N@9=@.̿F`A?~ 3?y9999 9)9I9i99999 9)9I9i999=TMgl?߇3|9)?)9I9i9999=jia?J^B?"k=jA*k=k=w+u~?k=Vҵ 2k=Ck= ?|?k=)bz k9k=/ 隕[@I Q<ɚiI}=Ilоii;>)$@)zK:IK+9KKKfmN4% BK:KpA*Fm?2Fi:FiBFm25JFi"Gu=Gu>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:22.6779 G f1>) u GG B O >{tw,PqA I HI I&IIBI&I.I6I<:IV F:tAX vYvtAyvB@Yq@_=9IyH@? x? m?mͿ)?cSU?ɨ@;"CyfB&IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YbX9?7A`¿{GzyE?#@ η@)(@IG@y@I=I=٢= =9U;Q > G٣SGy > Nusing accuracyPremultiplier from config59u?5Y<  i6?:Y@@Eq;;35 VB @ EZjDNOT Ignoring new targets: 66.90 m.BjC#JjC# ProNav: ac range: 66.900002 m, nav range: 11.990097 m, bearing: 200.989111 deg, approach rate: 0.421730 m/s, LOS rate: -2.283786 deg/s, cmd heading: 336.627676 deg, new cmd heading: 332.920451 deg. 2jýHeadingCmd: 5.810558 target range: 66.900002 and range: 66.90 m. j@jjjihhhhȂBff)f)rf)bf-r?ɛq}&> 隅@I ص<ɚiIQ|=INii:W>)@)*FE?2FA:FABFE5JFAG Γ9>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.9tw,%Ay}B&II5I5 2٢E> E=9EQ E?II MG٣IyU U? eNusing accuracyPremultiplier from configam59e?m5YeX  ie 7iim@eAEeX:e:ew5y }@yZjDNOT Ignoring new targets: 66.90 m.BjX"JjX" ProNav: ac range: 66.900002 m, nav range: 12.107205 m, bearing: 200.372511 deg, approach rate: 0.435525 m/s, LOS rate: -2.270907 deg/s, cmd heading: 332.920441 deg, new cmd heading: 331.089192 deg. 2j½HeadingCmd: 5.778596 target range: 66.900002 and range: 66.90 m. jC@jjjihhhhfffrfbf/?J%J%J%0J!J%:J%:J%ـ3J!J%;J%;J%I;J%I; $?IɛNF> !% @II M,<ɚIiIIM*z=IUNiQiUc;j>)]C@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF Y0JF GM :>G9 BI Oe >zK DMK s9K K K RK >JK >tw,"Ay~B~&IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YQ?`"~jtxy?Ļ@ @)l@I^@yG@IIỳ٢%-= %==9!Q %>)) -G٣)y1 5> =Nusing accuracyPremultiplier from config9E59=]?E5Y=1 i=Y7M?M:M ޾M@=CE= ;= ;=Z5Q U@]EZjyDNOT Ignoring new targets: 66.90 m.Bj Jj  ProNav: ac range: 66.900002 m, nav range: 12.289904 m, bearing: 199.520559 deg, approach rate: 0.422974 m/s, LOS rate: -1.943007 deg/s, cmd heading: 331.089185 deg, new cmd heading: 328.573034 deg. 2jHeadingCmd: 5.734681 target range: 66.900002 and range: 66.90 m. j@jjjihhhhBfffrfbf@?ɛ(B8> 隽 @I )@)*F?2F:FBF_0JF $?I jHAbHEp<HQIQ IU&IIUBIQ&IQ.IQ6IUF<:IU$ FG}9B>G9BAO{>- Will construct direction to contact in vehicle frame from tetrahedron phase data.Ftw,Y;A>ظ@Y>s@>%\=9>y>Hn? ? ϛ?`ҿ`g?W 9( ``?ɨ>ظ@>;> Cy^Bb&IIjIjm٢rW= ra=9rcBtt vG٣vSGyv{ z> ~Nusing accuracyPremultiplier from configx59zm?5Yz iz72 @zEEz>;z;z5 ]@E=B*** querying acoustic contact ***jAjAZjYmDNOT Ignoring new targets: 66.90 m.BjuR Jj}R  ProNav: ac range: 66.900002 m, nav range: 12.436533 m, bearing: 198.785109 deg, approach rate: 0.398846 m/s, LOS rate: -1.976854 deg/s, cmd heading: 328.573026 deg, new cmd heading: 326.393800 deg. 2jHeadingCmd: 5.696647 target range: 66.900002 and range: 66.90 m. jJ@jjjihhhhfffrfbf x?ɛ>?> 隽 @I <ɚiIyw=Ig'ii)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF0JFG@3a>GABIOeV>J9J=J9J9J9J=:J9J9J9J9J=.Y;J=.Y; I= Will construct direction to contact in vehicle frame from tetrahedron phase data.= ?= B?E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006705.tw,#UA21@Y2-A@2u4=92vly2Hn?K?:s?Bӿׂ?`=6I~m?ɨ21@2D;2!CyBBB&IININ<٢f{= fL=9jhhh jG٣hy=.J => ENusing accuracyPremultiplier from configAM59E?M5YE  iE7QUU@EGEE;E;E5WB @EZjDNOT Ignoring new targets: 66.90 m.Bj Jj  ProNav: ac range: 66.900002 m, nav range: 12.602562 m, bearing: 197.951475 deg, approach rate: 0.396972 m/s, LOS rate: -1.966875 deg/s, cmd heading: 326.393813 deg, new cmd heading: 323.927472 deg. 2j=HeadingCmd: 5.653601 target range: 66.900002 and range: 66.90 m. j=L@j9j9j9i9h9hAhAhAfAfIfIrfIbfM@ɛ'BP:> 隝&@I s<ɚiI{v=I}˺!ii)L@)zKBoHK9KKKF XhM3'" BK:KqA*F?2F:FBFy0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260328G #h>G) G- qA $?I hG B O >HA IA  IE &IIE ćBIA &IA .IA 6IE L<:IE ) F:Xtw,6oA6@Y6(@6A=96Ļy6H-6??rB?@FԿL? \`òtx?ɨ6@6F;6 CyBBB&ImMb@Mb@Mb@iii i)iYm9v?MbX9MbPym?mʡmm @ m@)m@Im?@iym=@IIb1٢= >=9@;Q > G٣yS > Nusing accuracyPremultiplier from config59ʀ?5Y i48[?:?@IE;p;5 @ZjDNOT Ignoring new targets: 66.90 m.BjoJjo  ProNav: ac range: 66.900002 m, nav range: 12.778138 m, bearing: 197.182843 deg, approach rate: 0.429083 m/s, LOS rate: -1.852563 deg/s, cmd heading: 323.927459 deg, new cmd heading: 321.654506 deg. 2j잽HeadingCmd: 5.613930 target range: 66.900002 and range: 66.90 m. jQ@jjjihh!h!h%7Bf!f)f)rf)bf-@@ɛEC> @I <ɚiIt=IPT+Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510644i i)Q@)*F?2F:FBFP5JF"GG%>G k>GYBaO[> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762466?tw,;oA6ȶ@Y6wؽ@6X=96(y6H~??=?տ?@琿 ?@ ?ɨ6ȶ@6hщ;6"CybBb&Iif8>If=IjIj1٢rM4= rV=9v;Q v>tt zG٣zSGyzp z> Nusing accuracyPremultiplier from config|59~ۀ? 5Y~ i~z8   @~JE~:~a:~<5XB $@EZjAMDNOT Ignoring new targets: 66.90 m.BjMJjMe ProNav: ac range: 66.900002 m, nav range: 12.937018 m, bearing: 196.482990 deg, approach rate: 0.416855 m/s, LOS rate: -1.813612 deg/s, cmd heading: 321.654508 deg, new cmd heading: 319.581693 deg. 2jeeHeadingCmd: 5.577753 target range: 66.900002 and range: 66.90 m. jm|@jijijiiihihihqhqfqfqfrfbfV @ɛ&B5AH> 隵@I p#=ɚiI}s=I0ii)|@)JJJJJL:J:JJJO;JP;JJ;JJ; $?I*FU?2FQ:FQBFUP0JFQG->GBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:16:25.1716  TRx dataTimestamp_ set to:1736378186.345130checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016080zK5 NK5 9K1 K5 K5 RKE ?JKE >wtw,ZAyB&IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266542UMb@Mb@Mb@QQQ Q)QYU/$?)\(yU ?UGaUQ U @)U@IUl@QyU3@ImImV٢}g= }2=9}Q }> G٣y > Nusing accuracyPremultiplier from config59?5Y i8 ?:澑@LE;;=5 @ZjDNOT Ignoring new targets: 66.90 m.BjJJjJ⼝ ProNav: ac range: 66.900002 m, nav range: 13.124050 m, bearing: 195.743721 deg, approach rate: 0.406219 m/s, LOS rate: -1.582711 deg/s, cmd heading: 319.581683 deg, new cmd heading: 317.396602 deg. 2jƇHeadingCmd: 5.539616 target range: 66.900002 and range: 66.90 m. jD@jjjihhhhXBfffrfbf @ɛ9E7> AE@IA E~e =ɚIiIIMq=IuZ>iqiq)uD@)q QIQHI I'IIއBI&I.I6I+<:I FBIJIRIZIbIjI*W4*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 66.5 m (Round-trip 88.7 ms) speed 0.0 m/s  ,DAT read: user:3144> - X#Rx 1: Read range message, but no direction.yB T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G} U>Ga Bi O >}tw,1'A6?@Y6O@6ds=96gy6Hsd??;?ؿ? Y?ɨ6?@6.;6!CyN‡BR&IIVIVԲ٢b7< bm=9b @I =ɚiIap=IMCiQiQ)UR@)QuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Tx time:23:16:26.2788 $Ping request sent.GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249583}tw,A6Hl@Y6{@6,=96c/y6H ?-@?`aϵ?Aڿ-? 㾵S?ɨ6Hl@6_k;6CyNćBN&I)P RAIZIZƲ٢b< bJ=9b;Q b>dd fG٣fSGyj j> %Nusing accuracyPremultiplier from config%59. ?-5Y! iR9)-]-@PEC::59 =L@9ZjDNOT Ignoring new targets: 66.90 m.BjXJjX򼝊 ProNav: ac range: 66.900002 m, nav range: 13.420157 m, bearing: 194.486894 deg, approach rate: 0.400786 m/s, LOS rate: -1.694999 deg/s, cmd heading: 315.704758 deg, new cmd heading: 313.669663 deg. 2jhHeadingCmd: 5.474568 target range: 66.900002 and range: 66.50 m. j/@jjjihhhhfffrfbf@q?ɛAEM> IM@II Md=ɚIiIIU2n=INii)/@)*F?2F:FBF_0JFzK]qKK]@9KYK]K]uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501955Ge A>GA Ba O >J! J% J! J! J! J% :J! J! a- @a- @a- @a- @ q Iq H I  I 6'II BI &I .I 6I Y<:I 1 Ftw,A6֏@Y6S@6U=96Ǻ^y6H? ? ?`ۿ?M`C@5?ɨ6֏@61,;6 CyBȇBB'I Mb@Mb@Mb@    ) Y '1Z?S㥛y ? /ݼ   M@) @I @ y p@ImIm(*٢}ܜ< ?=9;Q > G٣yɀ > Nusing accuracyPremultiplier from config59?5Y$ i9?:@QE;;a5 @EZjDNOT Ignoring new targets: 66.90 m.Bj~ҼJj~Ҽ ProNav: ac range: 66.900002 m, nav range: 13.576136 m, bearing: 193.868048 deg, approach rate: 0.375391 m/s, LOS rate: -1.472229 deg/s, cmd heading: 313.669662 deg, new cmd heading: 311.835116 deg. 2j|HeadingCmd: 5.442550 target range: 66.900002 and range: 66.50 m. j^)@jjjih h h h BfffrfbfX{?ɛAM=N> IM\@II U #=ɚQiQIUc`m=I]߼TiYiY)]^)@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753804*F?2F:FBFu0JFGUF>G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005544tw, A>²@Y>iҹ@>N=9>9y>HR?@Q?y ? 8ݿ@q? @J`! 5qj?ɨ>²@>b;    G٣ y  > Nusing accuracyPremultiplier from config%59N+?-5YH' i9)-}-@SE&@;@;Õ51 5@9ZjaeDNOT Ignoring new targets: 66.90 m.BjmҼJjmҼ} ProNav: ac range: 66.900002 m, nav range: 13.718505 m, bearing: 193.292772 deg, approach rate: 0.367319 m/s, LOS rate: -1.468811 deg/s, cmd heading: 311.835128 deg, new cmd heading: 310.127744 deg. 2j}|HeadingCmd: 5.412750 target range: 66.900002 and range: 66.50 m. j@5@jjjihhhhfffrfbf`F?ɛ+)S> V@I m*=ɚiIk=I^ii)@5@) % $?I!*Fu?2Fq:FqBFu2JFq"G}>G}>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261920GGBO >tw,$AzK.BHK.59K,K. K.>@Y>~@>g=9>;y>H,? ? ?޿?`%#ةq?l?ɨ>@>R;YY ]G٣]SGye|v e> mNusing accuracyPremultiplier from configiu59mQ:?}5Ym* imE:}X?}:} }@mUEm6;mg5;mĕ5ZB @EZjDNOT Ignoring new targets: 66.90 m.BjOJjO% ProNav: ac range: 66.900002 m, nav range: 13.868336 m, bearing: 192.698705 deg, approach rate: 0.334028 m/s, LOS rate: -1.310064 deg/s, cmd heading: 310.127745 deg, new cmd heading: 308.365386 deg. 2j%`MHeadingCmd: 5.381991 target range: 66.900002 and range: 66.50 m. jMF9@jQjQjQiQhQhQhYh]BfYfYfrfbf@=o?5H~GIi YySBɛ @> M@I 3=ɚiI^j=I>ocJJJ/JJ:J:J(N3J  $?Iii)F9@) H,>I I<'IIBI&I.I6I<:I F*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761656G5 A>G B O= >tw,VJ>A2(@Y2c8@2F=92h`` bG٣`yfo f> jNusing accuracyPremultiplier from confighn59jG?n5Yj, ij:pror@jVEj:j:jƕ5I MP@QB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 66.90 m.BjҼJjҼ ProNav: ac range: 66.900002 m, nav range: 14.003832 m, bearing: 192.150751 deg, approach rate: 0.367770 m/s, LOS rate: -1.472871 deg/s, cmd heading: 308.365392 deg, new cmd heading: 306.737898 deg. 2j| HeadingCmd: 5.353586 target range: 66.900002 and range: 66.50 m. j P@j jjihhhhfffrf!bf%@ɛq}c> 隥@I 9=ɚiIi=I(jii)P@) eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014382*F?2F:FBF$5JF I G}F>GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265621tw, XAFb]@YFl@F=9F7k0??ʵ?@n`=?F`(?`?ɨFb]@F;F!CyRBR&IIZIZb٢r! rH=9vrxx zG٣xyz\y > %Nusing accuracyPremultiplier from config%59JV?-5Y/ i;)--@XEL::[ȕ5][B ]ߺ@]EZjDNOT Ignoring new targets: 66.90 m.BjѼJjѼ ProNav: ac range: 66.900002 m, nav range: 14.147864 m, bearing: 191.556641 deg, approach rate: 0.359368 m/s, LOS rate: -1.467215 deg/s, cmd heading: 306.737894 deg, new cmd heading: 304.974298 deg. 2j{HeadingCmd: 5.322805 target range: 66.900002 and range: 66.50 m. jlT@jjjihhhh!f!f!f!rf!bf-@ɛ=&BE|O> 隕@I A=ɚiIg=Iyuii)lT@)!*F?2F:FBF4JFG! G%rAzKK@9KK!K}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517998G G I B JKcw3 K.-KK"KJ% J% J% 0J! J% :J% :J% ـ3J! O >H I  I 'II އBI &I .I 6I +<:I  Ftw,qA2 @Y2@2r=926 ee`ee@ eM@)e\@IaayeQ@I} I}<2٢˲ @=9` G٣SGy: > Nusing accuracyPremultiplier from config59c?5Y2 i~;h>:'%@YEY;V;1ʕ5 @EZjDNOT Ignoring new targets: 66.90 m.Bj ϼJj ϼ ProNav: ac range: 66.900002 m, nav range: 14.281396 m, bearing: 190.954269 deg, approach rate: 0.324035 m/s, LOS rate: -1.448054 deg/s, cmd heading: 304.974285 deg, new cmd heading: 303.184681 deg. 2j rx HeadingCmd: 5.291571 target range: 66.900002 and range: 66.50 m. jT@jjjiqhqhqhyh}Bfyfyfrfbf]@Will construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770069ɛ*6Q> ~@I -II=ɚ)i1I51f=I5D{i9i9)=T@)9*F?2F:FBF5JFGA>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:16:28.7720  TRx dataTimestamp_ set to:1736378190.124749 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807@tw,]A:@Y:s@:zv=9:d:;y:Ht%?4??P? <`w{?@x?ɨ:@:;8y^Bb&IIjIjb1٢r3 rV=9rytt vG٣tyz z> Nusing accuracyPremultiplier from config|59~o?5Y~5 i~;  + @~[E~z:~:~˕5 t@ZjAMDNOT Ignoring new targets: 66.90 m.BjM˼JjM˼] ProNav: ac range: 66.900002 m, nav range: 14.400366 m, bearing: 190.404523 deg, approach rate: 0.310838 m/s, LOS rate: -1.424457 deg/s, cmd heading: 303.184693 deg, new cmd heading: 301.549551 deg. 2jeeteHeadingCmd: 5.263032 target range: 66.900002 and range: 66.50 m. jej@jijijiiihihihqhqfqfyfyrfybf} @  $?IɛvV>  @I aO=ɚiIkre=IEii)j@)JJBA*F?2F:FBFU0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273556GF>GBO>jtw,A6ȭ@Y6xش@6=96Z;y6H`$?q?5?b?ڳ˥`v? ?ɨ6ȭ@6<;4zKLKLKLKN"KN9{yVkBV&I=Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 66.8 m (Round-trip 89.1 ms) speed -0.2 m/s e,DAT read: user:3145> mBDAT read: Tx time:23:16:29.8788 m$Ping request sent.uqq uG٣qy}e }> Nusing accuracyPremultiplier from config59~?5Y : i<>:S@@]E<x<͕5 \B @E Ih addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.780343 s, deltaX: 0.300003 m, approachRate: 0.079359 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 66.90 m.Bj}ʼJj}ʼJJJJJ:J:JJZHaRHe?AHm+>Ii Im&IImBIi&Ii.Ii6Im-<:Im F} ProNav: ac range: 66.900002 m, nav range: 14.540139 m, bearing: 189.667930 deg, approach rate: 0.271358 m/s, LOS rate: -1.416248 deg/s, cmd heading: 301.549546 deg, new cmd heading: 299.362133 deg. 2jrHeadingCmd: 5.224855 target range: 66.900002 and range: 66.80 m. j2@jjjihhhhfBfffrf@3P@bf~?ɛ'B07> 3&.=隽@I iY=ɚiIXnd=I`wii)2@)E*F?2F:FBF$5JF"G>G >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:29.8780 G A>G B O >utw,A:@Y:G@: R>9:;y:H ?@v? ?Bk J?@<`{~`z?@?ɨ:@:q;:"CyBKBFi&IiJ=IJ<ININ@٢V, V]=9Vi\` bG٣bSGybo b> fNusing accuracyPremultiplier from configdn59f?n5YfT= if =ln1Gn@f^Ef;f;fϕ5t v@tB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 66.90 m.BjyJjy輝- ProNav: ac range: 66.900002 m, nav range: 14.644347 m, bearing: 189.105420 deg, approach rate: 0.303381 m/s, LOS rate: -1.625958 deg/s, cmd heading: 299.362137 deg, new cmd heading: 297.687118 deg. 2j-|HeadingCmd: 5.195621 target range: 66.900002 and range: 66.80 m. jB@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛBW> @I C_=ɚiIc=I S5i i )B@)*F?2F:FBFP0JF  $?IG <>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750145G B O >Btw,A:D@Y: @:>9:GS;y:H ?@U?@&?"??Z¶y?Ʒ?ɨ:D@:ꕌ;:$Cy^+B^A&IIjIj2٢r rG=9r tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~?5Y~A i~=N @~`E~@:~a:~gѕ5 @EZjDNOT Ignoring new targets: 66.90 m.Bj̼Jj̼ ProNav: ac range: 66.900002 m, nav range: 14.755851 m, bearing: 188.483452 deg, approach rate: 0.257827 m/s, LOS rate: -1.427268 deg/s, cmd heading: 297.687129 deg, new cmd heading: 295.836005 deg. 2j5t=HeadingCmd: 5.163312 target range: 66.900002 and range: 66.80 m. j=9@j9j9jAiAhAhAhAhIfqfyfrfbf@b?ɛ(B;0A> 隕N@I f=ɚiIb=IWizKE[eMKAKAKE#KE+G_>{tbM?*k=yngcBKUqA:KUpAi)]9@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001904*F?2F:FBFQ0JF IH I  I &II iBI ( =&I .I 5D6I <<:I  FBIqJIqRIqZIqbIqjIurt4J J J J J ܫ:J :J J J ;a J ;a J DG;a J DG;a G% :>G B O% >tw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254570y B !&IMb@Mb@Mb@ )YRQ?|?5^ rhy?ҽC @ @)@I@y@IIb٢% %7=9-Q ->)1 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=0?E5Y=E i=T>Mz?M:McM@=bE=F;=>;=Zӕ5Q ]@YZjDNOT Ignoring new targets: 66.90 m.BjJj ProNav: ac range: 66.900002 m, nav range: 14.873019 m, bearing: 187.726123 deg, approach rate: 0.276511 m/s, LOS rate: -1.773121 deg/s, cmd heading: 295.836011 deg, new cmd heading: 293.583151 deg. 2jHeadingCmd: 5.123992 target range: 66.900002 and range: 66.80 m. j@jjjihhhh4Bfffrfbf 2?ɛm)BmVSO> qu?Iq u&Zl=ɚqiqIuya=I}q`iyi)@)E#=EEmAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506119*F% ?2F) :F) BF- P0JF) G1  G5 qA I GI GU qAGQ G!B1OU>uw,AFO@YFt_@F9>9Fĩ/hh jG٣jSGynh n> vNusing accuracyPremultiplier from configp59rꪁ? 5YrSJ ir ?Xq%@rcEr] y?I s=ɚiI8a=Iq,ii)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757750E,=*F]?2FY:FYBF]`0JFYG2>Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010087zK `OK 9K K $K `^WUOOGDA=::75.*%#"   RK ?JK ? uw,i.A @ 6$?I6h:yv@Y:@:.9>9:;IeC Ie/&IIeBIa&Ia.Ia6IeZ<:Ie2 F-Mb@Mb@Mb@))) )))Y-Q?Qkty-\?-\- 0-@ -@)-@I-@)y-@IEIEF3٢UZ U4=9U:YY ]G٣Yye[p e> mNusing accuracyPremultiplier from configiu59mA?u5Ym P im?}.?}:}}@meEm_;m;m/ו5]B <@EZjDNOT Ignoring new targets: 66.90 m.Bj\ Jj\  ProNav: ac range: 66.900002 m, nav range: 15.085698 m, bearing: 186.114538 deg, approach rate: 0.242560 m/s, LOS rate: -1.949406 deg/s, cmd heading: 291.409092 deg, new cmd heading: 288.785697 deg. 2j;HeadingCmd: 5.040261 target range: 66.900002 and range: 66.80 m. jI@jjjihhhh+BfffrfbfX@ɛ+B r4> ?I z=ɚiI`=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262603Ieiaii)mI@)qEyEy*Ey"Ey*F 2F :F BF Q0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516831G:>G?G IGBO?uw,OA>ٿ@Y>VϮ@>qa>9>WIH я?`q?Ж?  ?e@ÿ??ɨ>ٿ@>;>CJNJNJLJLJN:JN:JLJLJN6;JN7;JN@;JN@;yZBZ%IIbIb(*3٢n n-=9npp rG٣pyr v> uNusing accuracyPremultiplier from configtu59v ?}5Yv6V iv@y}}@vgEv 隝_?I =ɚiIZ`=I5~ii)@)*Fe?2Fa:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765815G2>Ga B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ e BDAT read: Rx Time:23:16:32.3734 m TRx dataTimestamp_ set to:1736378193.654295u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021142uw,^jAzK*MK*9K(K*%K*=@Y=f@=e~!>9=dAI G٣SGyX > Nusing accuracyPremultiplier from config 59Ý? 5Y] i(B H"?:@jE3;o;yە5 @ZjDNOT Ignoring new targets: 66.90 m.BjLJjL ProNav: ac range: 66.900002 m, nav range: 15.300856 m, bearing: 184.081816 deg, approach rate: 0.224000 m/s, LOS rate: -2.214336 deg/s, cmd heading: 286.022013 deg, new cmd heading: 282.736731 deg. 2jHeadingCmd: 4.934687 target range: 66.900002 and range: 66.80 m. j@jjjihhhhBfffrfbf@ @ɛ,B)0> 2Q=隍?I =ɚiI`=It媿ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270476*F?2F:FBFJFG :>G B1 O] >}r!uw,A6\@Y6@6!$>96a^;6Cy>BB}%IIJIJ<2٢R Rx=9V{;Q V?TT VG٣XyZ禽 Z? ^Nusing accuracyPremultiplier from config\f59^AӁ?f5Y^b i^Bhjj@^lE^a;^b;^ܕ5n^B r+@rEZj  DNOT Ignoring new targets: 66.90 m.BjJj% ProNav: ac range: 66.900002 m, nav range: 15.370525 m, bearing: 183.368141 deg, approach rate: 0.215192 m/s, LOS rate: -2.194311 deg/s, cmd heading: 282.736719 deg, new cmd heading: 280.606437 deg. 2j%=-HeadingCmd: 4.897506 target range: 66.900002 and range: 66.80 m. j-_@j)j)j)i)h1h1h1h1f9f9f9rf9bfE` @ɛqu*L> qu?Iq }B=ɚyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:16:32.3735 LVL= 16080, 15601, 15090, 21475, AGC= 57, IDX= 443,-0.13,-1.335,-1.406, 2.780,-2.073, PHS= 0.826, 0.713,-1.433, RAW= 32.5, -1.0, CAL= 32.2, -2.9, ROT= 117.8, 2.9 Ygot valid direction response: 23:16:32.3735 LVL= 16080, 15601, 15090, 21475, AGC= 57, IDX= 443,-0.13,-1.335,-1.406, 2.780,-2.073, PHS= 0.826, 0.713,-1.433, RAW= 32.5, -1.0, CAL= 32.2, -2.9, ROT= 117.8, 2.9 %PDAT read: Bearing 117.8, 2.9 (Local) %~Local bearing/azimuth received: Bearing 117.8, 2.9 (Local) 5DAT read: Range 10 to 50 : 67.8 m (Round-trip 90.5 ms) speed -0.3 m/s =,DAT read: user:3146> EBDAT read: Tx time:23:16:33.4789 E$Ping request sent.E< :)SI9itS?+6?l6?5 ?)4QOIx@i4QO=K,?MZ=yg)`ÿI=G B O >'uw,xA:a @Y:/@:0&>9:`xx zG٣xy~_ ~> Nusing accuracyPremultiplier from config 59Eہ? 5Yh iC @nE::ޕ5 @k-7?k-^ k) k-DA:k-BBk-BZk-j?"-wHU@mM@nmo@@-\< ,F?5fU?Z <?Jk-g?Rk-*-O:=þI@l=@a^@@-9[1??hT>?#?"k-A*k-}MBk-I^Ē?k-_X 2k-Bk-􆒋K~?k-6A k)k-(yAk-@ addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.527660 s, deltaX: 1.000000 m, approachRate: 0.283474 m/s, rangeRepo size: 4  Added new target pos. range: 67.800003 m, bearing: 30.084157 deg, lat: 36.904394 deg, lon: -122.119985 deg, deltaT: 10.840011 s, deltaX: 0.900002 m, approachRate: 0.083026 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 15.572490 m, bearing: 134.009226 deg, approach rate: 0.000000 m/s, LOS rate: -2.194311 deg/s, cmd heading: 280.606438 deg, new cmd heading: 277.860234 deg. 2jHeadingCmd: 4.849576 target range: 67.800003 and range: 67.80 m. j/@jjjihhhhfffrf@3P@bf`?ɛ--B-.> 15g?I1 5=ɚ1i1I5h_=I=ζi9iA)E/@)A Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKKs9KK&K*F?2F:FBF1JF IHIC I%IIBI&I.I6I<:I FG :>G B O >j-uw,TA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:90@Y:?@:X'>9:u;y:H@? q? D?@W`?@`5Ŀq??ɨ:90@:ߌ;8yFlBFW%IMb@Mb@Mb@ )Y{Gz?Gzǿ:vy#?p=TE@ @)@I@yQ@I5I5b٢ ==9 ;Q > G٣SGy֊ > Nusing accuracyPremultiplier from config59gぜ?5Yo iE+?:)@pE;M;5 @Zj!%DNOT Ignoring new targets: 67.80 m.Bj- Jj- = ProNav: ac range: 67.800003 m, nav range: 15.829626 m, bearing: 133.597236 deg, approach rate: 0.608091 m/s, LOS rate: -0.958465 deg/s, cmd heading: 277.860237 deg, new cmd heading: 276.644536 deg. 2jEr$EHeadingCmd: 4.828358 target range: 67.800003 and range: 67.80 m. jE遚@jIjIjIiIhIhIhQhU؂BfQfYfYrfYbf]@?ɛ&A> 隍?I ;ڋ=ɚiIxG_=Il,ii)遚@)E2_.=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF I hJ J J J J J :J J a @a @a @a @G {>GQ Ba O} >y65uw,/A28Z@Y2i@2 (>92v&`` bG٣`yb] f> jNusing accuracyPremultiplier from confighn59jꁜ?n5YjNv ij Flnwn@jrEj:j :j_5x z@zEB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 67.80 m.Bj-Jj-= ProNav: ac range: 67.800003 m, nav range: 16.069857 m, bearing: 133.198878 deg, approach rate: 0.586942 m/s, LOS rate: -0.958729 deg/s, cmd heading: 276.644545 deg, new cmd heading: 275.467511 deg. 2j=}$EHeadingCmd: 4.807815 target range: 67.800003 and range: 67.80 m. jEٙ@jAjAjAiAhIhIhIhQfQfQfQrfQbf]`?ɛ޼8> 隍 ?I 7=ɚiI_=Iyii)ٙ@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Em M=*F?2F:FBF1JFG%B>G BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501186zK BoHK 9K K 'K  W;uw,ٓA $?IN~@YNW@N(>9N+_If> fp=fa=HE)>IEC IEN%IIEfBIA&IA.IA6IEF<:IE$ FMb@Mb@Mb@ )YuV?#~jĿJ +yr(?%H\@ )5@I@y=@I%I%%x٢5; 56=95F:Q =>99 =G٣9yEs E> MNusing accuracyPremultiplier from configIU59M?U5YM} iM0G]-?]:]]@MtEM;M;MW5e_B e@eEZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 16.342470 m, bearing: 132.779132 deg, approach rate: 0.608155 m/s, LOS rate: -0.920753 deg/s, cmd heading: 275.467512 deg, new cmd heading: 274.229486 deg. 2j5HeadingCmd: 4.786208 target range: 67.800003 and range: 67.80 m. j5(@j1j1j1i1h1h9h9h=Bf9fAfArfAbfE=?ɛ3> N?I =ɚiI^=IiIiI)M(@)IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752019E5Q=*F ?2F :F BF X2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004322G GBO>~Cuw,TAB,@YB@BD+>9B  G٣SGy%7g -> MNusing accuracyPremultiplier from configA]59E?e5YE* iEXHaeՠe@EwEE;EC;EP5 @JJJJJ:J:JJZjy}DNOT Ignoring new targets: 67.80 m.BjzJjz ProNav: ac range: 67.800003 m, nav range: 16.613777 m, bearing: 132.348085 deg, approach rate: 0.561424 m/s, LOS rate: -0.877406 deg/s, cmd heading: 274.229500 deg, new cmd heading: 272.957694 deg. 2jHeadingCmd: 4.764010 target range: 67.800003 and range: 67.80 m. jr@jjjihhhhfffrfbfY@ɛ:3> ?I >=ɚiI^=ISt¿ii)r@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255995*F= ?2F9 :F9 BFE 1JFA G% J> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508991GBO->yJuw,(`,AzK:KK:@9K8K:(K:z@Yz @z!->9z%I IMb@Mb@Mb@ )Ysh|??333333ÿˡEy)?'@ E@)x@Iݸ@yf@II2٢  $=9;Q > G٣yݽ >  Nusing accuracyPremultiplier from config 59 =?5Y g i I.?:@ yE ; ; t5! %i@!ZjIMDNOT Ignoring new targets: 67.80 m.BjUJjUm ProNav: ac range: 67.800003 m, nav range: 16.906204 m, bearing: 131.860260 deg, approach rate: 0.637823 m/s, LOS rate: -1.045594 deg/s, cmd heading: 272.957691 deg, new cmd heading: 271.519851 deg. 2jme3}HeadingCmd: 4.738915 target range: 67.800003 and range: 67.80 m. j2@jjjihhhh%Bfffrfbf`@jH <bH <HI I/%IILBI&I.I6I<:I FBIœCJIœCRIZI( =bI( =jI 4ɛy4> 隭?I e͗=ɚiI^=Iſii)2@)*F?2F:FBF3JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759932G} :>GQ BY O} >[xQuw,*FAJ@YJ*@JB->9J?pt vG٣tyҖ > Nusing accuracyPremultiplier from config 59 q?5Y  i zJ@ {E m ;  ; 5! -x@-EZjY]DNOT Ignoring new targets: 67.80 m.BjejJjeju ProNav: ac range: 67.800003 m, nav range: 17.125286 m, bearing: 131.482067 deg, approach rate: 0.588596 m/s, LOS rate: -1.003067 deg/s, cmd heading: 271.519854 deg, new cmd heading: 270.399939 deg. 2ju,}HeadingCmd: 4.719369 target range: 67.800003 and range: 67.80 m. j}@jyjyjyiyhhhhfffrfbf@ɛY]IF> Y]?IY e!6=ɚaiaIeLb^=Im+ȿWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:16:35.9751 TRx dataTimestamp_ set to:1736378197.180756checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013102ii)@)*FA2FA:FABFEP0JFA IhG2>Ga By O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265521Wuw,Q_A6@@Y6uP@6.>96ِXX ZG٣ZSGy^! ^> bNusing accuracyPremultiplier from config`f59bf ?f5Ybd ibuKhjj@b}Eb:b:b5l r;@p~B*** querying acoustic contact ***j|j|Zj  DNOT Ignoring new targets: 67.80 m.BjՓJjՓ ProNav: ac range: 67.800003 m, nav range: 17.355516 m, bearing: 131.070578 deg, approach rate: 0.586286 m/s, LOS rate: -1.033954 deg/s, cmd heading: 270.399949 deg, new cmd heading: 269.182053 deg. 2jf1HeadingCmd: 4.698113 target range: 67.800003 and range: 67.80 m. jV@jjjihhhhfffrfbfe4 @ɛ   C> ?I ]FӜ=ɚYiYI]^=Ieʿiaia)eV@)i*F ?2F :F BF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 69.0 m (Round-trip 92.1 ms) speed -0.4 m/s ,DAT read: user:3147> BDAT read: Tx time:23:16:37.0789 $Ping request sent.]uw,yAJD^@YJm@J.>9Jg=9u$Q u>yy }G٣yy > Nusing accuracyPremultiplier from config59?5YY igL&?:`@E< ;;5`B @E addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.529926 s, deltaX: 1.199997 m, approachRate: 0.339950 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 17.598951 m, bearing: 130.669427 deg, approach rate: 0.566001 m/s, LOS rate: -0.919791 deg/s, cmd heading: 269.182045 deg, new cmd heading: 267.995418 deg. 2jHeadingCmd: 4.677402 target range: 67.800003 and range: 69.00 m. jH@jjjihhhhBfffrf@Q@bf ?ɛ1={?> 9=?I9 =s̟=ɚ9iAIE]=ImKͿiiii)mH@)i*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G:>G B O > $?I oduw,A>h@Y>`x@>},>9>H0W?@?*E?z?Ŀ`uſ`?L?ɨ>h@>;\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fe?j5Yf if;Mhj.n@fEf:f:fS5p r@pZjDNOT Ignoring new targets: 67.80 m.Bj Jj - ProNav: ac range: 67.800003 m, nav range: 17.810919 m, bearing: 130.304590 deg, approach rate: 0.559476 m/s, LOS rate: -0.951499 deg/s, cmd heading: 267.995422 deg, new cmd heading: 266.914073 deg. 2j-@#5HeadingCmd: 4.658529 target range: 67.800003 and range: 69.00 m. j5@j1j1j1i1h9h9hAhAfAfAfIrfIbfMy:?ɛy} N> 隅`?I  =ɚiI=}]=IϿii)@)*FU?2FQ:FQBFU1JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.GqGyGyGQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.juw,YA&G.5tA:A R/#YR5tAyRBzKnĂKKlKlKn*Knz-y@ !I!Yz@z`+>9z   G٣ SGy ;  > Nusing accuracyPremultiplier from config59?%5YT iN%G?%:%|%@EQ;;F5) 5#@1ZjQ]DNOT Ignoring new targets: 67.80 m.Bj]u|Jjeu|m ProNav: ac range: 67.800003 m, nav range: 18.043444 m, bearing: 129.905946 deg, approach rate: 0.521694 m/s, LOS rate: -0.882868 deg/s, cmd heading: 266.914067 deg, new cmd heading: 265.733722 deg. 2juy}HeadingCmd: 4.637928 target range: 67.800003 and range: 69.00 m. j}i@jyjyjihhhhBfffrfZHRHHI IB%II\BI&I.I6IO<:I+ FJ1J5AAJEJAJAJAJE|:JAJAJAJE;JE;JAJAbfu@J3?ɛ?> ,?I \=ɚiI0]=Iŗҿii)i@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >quw,MjA6@Y6@6*>969|B>p%IIFIF٢N[< Rc=9RK Q R>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b59^3?f5Y^ڳ i^Ndff@^E^:^:^5h v@vEZjDNOT Ignoring new targets: 67.80 m.BjɀJjɀ5 ProNav: ac range: 67.800003 m, nav range: 18.229097 m, bearing: 129.575386 deg, approach rate: 0.511106 m/s, LOS rate: -0.900762 deg/s, cmd heading: 265.733728 deg, new cmd heading: 264.752248 deg. 2j5=HeadingCmd: 4.620799 target range: 67.800003 and range: 69.00 m. j=ݓ@jAjAjAiAhAhAhIhIfIfIfIrfQbfU@w?ɛ@W> ?I u=ɚiIܸ\=I Կi i ) ݓ@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF&5JF IG2>GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.wuw, AA6ә@Y6@6 ,>96wX\ ^G٣\ybGu b> fNusing accuracyPremultiplier from configdj59fV!?j5Yf ifOhjn@fEf@:f;f5p rR@pB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 18.435448 m, bearing: 129.196321 deg, approach rate: 0.512197 m/s, LOS rate: -0.930365 deg/s, cmd heading: 264.752257 deg, new cmd heading: 263.627945 deg. 2jHeadingCmd: 4.601176 target range: 67.800003 and range: 69.00 m. j<@jjjihhhhfffrfbfU?ɛy}%I> y}h?Iy W=ɚiI0P\=IL׿ii)<@)*F?2F:FBFl2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IhzKBoIK9KK+KHI I[%IIpBI&I.I6IT<:I. FG- B>G1 G5 >Je Je Ja Ja Je :Je 9Ja Ja Je ;Je ;Je :;Je :;G B O >~uw,PAN@YN|@Ni,>9N_11 5G٣=SGy=,b => ENusing accuracyPremultiplier from configAM59E$?M5YE iENPU?U:U/U@EEEJ;E;E5Y ]@aZjDNOT Ignoring new targets: 67.80 m.BjoJjo ProNav: ac range: 67.800003 m, nav range: 18.649736 m, bearing: 128.812379 deg, approach rate: 0.473358 m/s, LOS rate: -0.838367 deg/s, cmd heading: 263.627953 deg, new cmd heading: 262.489519 deg. 2jHeadingCmd: 4.581306 target range: 67.800003 and range: 69.00 m. j@jjjihhhhBfffrfbf`@ɛL> p?I =ɚiI[=I *ٿi i ) @)I*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513720G- :> I G) B1 OM >?uw,A @6;@Y66K@6->96Il!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595&?=5Y5 i5P9E\E@5E5 ;52 ;565I Mf@IZjy}DNOT Ignoring new targets: 67.80 m.BjuJju ProNav: ac range: 67.800003 m, nav range: 18.822844 m, bearing: 128.492083 deg, approach rate: 0.468725 m/s, LOS rate: -0.859290 deg/s, cmd heading: 262.489525 deg, new cmd heading: 261.537566 deg. 2jnHeadingCmd: 4.564692 target range: 67.800003 and range: 69.00 m. j@jjjihhhhfffrfbf@ɛ.BdrU> ?I v=ɚiIf[=Iۿii)@)*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764639GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019458_)uw,.A @IDzK}BoHK}@9KyK},K}yޥBޥw%IjHQbHU<HYIY I]g%II]zBIY&IY.IY6I]_<:I]6 FMb@Mb@Mb@ )Y)\(?sh|?MbyG?@ )@I@y@I IV2٢C5 2=9Q > G٣y > Nusing accuracyPremultiplier from config59(?5Y iQ?:?@E;;65 @JCKKـ3 KKKCKC"KCJJJJJJ:JJJJJ@;J@;ZjQeDNOT Ignoring new targets: 67.80 m.Bj.eJj.e ProNav: ac range: 67.800003 m, nav range: 19.017292 m, bearing: 128.115972 deg, approach rate: 0.418634 m/s, LOS rate: -0.801456 deg/s, cmd heading: 261.537560 deg, new cmd heading: 260.420913 deg. 2j HeadingCmd: 4.545202 target range: 67.800003 and range: 69.00 m. j-Lr@j)j)j)i)h)h)h1h5Bf1f1f9rf9bf=xx @ɛE> 隭,?I n=ɚiI[=Iuw,HA6ꌖ@Y6h@63y,>96cB>n%IIFIFF2٢R: Ru=9V8Q V?TT ZG٣ZSGyZN! Z? bNusing accuracyPremultiplier from config\b59^f)?f5Y^I i^!Rdf¿f@^E^:^:^5h j@nEZj|DNOT Ignoring new targets: 67.80 m.Bj|Jj| ProNav: ac range: 67.800003 m, nav range: 19.154545 m, bearing: 127.824780 deg, approach rate: 0.419378 m/s, LOS rate: -0.883361 deg/s, cmd heading: 260.420906 deg, new cmd heading: 259.553661 deg. 2j%HeadingCmd: 4.530066 target range: 67.800003 and range: 69.00 m. j%M@j!j)j)i)h)h)h1h1f1f1f1rf9bfb @ɛ0`> &=?I A=ɚiI|Z=I7fii)M@)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]AiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520910 I*F?2F:FBFp0JFGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 70.6 m (Round-trip 94.2 ms) speed -0.5 m/s  ,DAT read: user:3148> % BDAT read: Tx time:23:16:40.6789 % $Ping request sent.% 9:@ \\ ^G٣\yby b> fNusing accuracyPremultiplier from configdj59f)?j5Yf ifRhjmƿn@fEf:f ;fr5p r@p B*** querying acoustic contact ***j j  addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.777934 s, deltaX: 1.599998 m, approachRate: 0.423512 m/s, rangeRepo size: 4 Zj!%DNOT Ignoring new targets: 67.80 m.Bj-{Jj-{= ProNav: ac range: 67.800003 m, nav range: 19.318777 m, bearing: 127.463294 deg, approach rate: 0.403474 m/s, LOS rate: -0.880519 deg/s, cmd heading: 259.553663 deg, new cmd heading: 258.478557 deg. 2j=EHeadingCmd: 4.511302 target range: 67.800003 and range: 70.60 m. jE\@jAjAjAiAhIhIhIhIfIfQfQrfU`fQ@bf`V}?ɛ%/B%O> !%?I! - U=ɚ)i)I-Z=I5iQiQ)U\@)Y*F?2F:FBF0JF uWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:40.6781 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. aIazKBHK}9KK-KH]*>IY I]a%II]uBIY&IY.IY6I]`<:I]8 FBIJIRIZIbIjI 3G 2>Ga Bi O >veuw,a|AfWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503182ycBL%IMb@Mb@Mb@ )Y?I +Qy?9u@ @)@I@yp@II㔳٢] 9=9Q > G٣y > Nusing accuracyPremultiplier from config59)?5Yu ioS?:ǿ@E;;_5  @ ZjDNOT Ignoring new targets: 67.80 m.BjjJjj- ProNav: ac range: 67.800003 m, nav range: 19.494957 m, bearing: 127.074670 deg, approach rate: 0.375608 m/s, LOS rate: -0.821038 deg/s, cmd heading: 258.478564 deg, new cmd heading: 257.323393 deg. 2j- UHeadingCmd: 4.491140 target range: 67.800003 and range: 70.60 m. jUl@jQjQjQiQhYhYhYh]!Bfafafrfbf?ɛ0BH> ?I Y=ɚiIVY=I aii)l@)E!E%qA*F?2F:FBF0JF"G>G>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753044 Q IU hG- :>G B O- >JE JE JA JA JE :JE 9JA JA aM @aM @aM @aM @]Muw,2=A6֓@Y6@6'>96Y;y6H\#?9? ~?P`N?ĩĿĿ b?$?ɨ6֓@6 {;6 CyRQBR5%IIZIZ٢bĽ b]=9fJQ f>dh jG٣jSGyj j> rNusing accuracyPremultiplier from configlr59n')?v5YnM inTtv[Ͽv@nEnn:nL:n5x z@|ZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 19.636555 m, bearing: 126.730165 deg, approach rate: 0.392879 m/s, LOS rate: -0.948967 deg/s, cmd heading: 257.323388 deg, new cmd heading: 256.297443 deg. 2j"HeadingCmd: 4.473234 target range: 67.800003 and range: 70.60 m. j$@jj j i h h hhf1f1f9rf9bf=?ɛ%1B%Q> )-?I) -ɽ=ɚQiQIUPY=I]|iYiY)]$@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005495ES=*FM ?2FI :FI BFM ~0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571 9 IA Gq ZHIRHM@AHU+>IUC IUB%IIU\BIQ&IQ.IQ6IUf<:IU= FGizKmBoHKm@9KiKm.KmBO>희uw,JA2@Y2G@2;%>92cm|;y2Hȹ??@b?@`k ?@Ŀ Ŀ$o??ɨ2@2x;2!Cy:9B:%IMb@Mb@Mb@ )YZd;O?ʡE/$yj>ケ@ @)I@yf@II%x٢ j  =9eQ > =G٣9y=I => MNusing accuracyPremultiplier from configAM59E0&?U5YE iETU?U:U^ڿU@EEE';E';EH5y }h@yZjDNOT Ignoring new targets: 67.80 m.Bj Jj  ProNav: ac range: 67.800003 m, nav range: 19.823740 m, bearing: 126.201328 deg, approach rate: 0.365020 m/s, LOS rate: -1.021503 deg/s, cmd heading: 256.297439 deg, new cmd heading: 254.726325 deg. 2jC/%HeadingCmd: 4.445813 target range: 67.800003 and range: 70.60 m. j%D@j)j)j)i)h)h)hhBfffrf)bf-{?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509097ɛ2B6>> ?I =ɚiIʤX=I/ii)D@)IEE$=*F?2F:FBF0JFG 2>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760979 I G B O >uw,`AF5@YFE@F%>9F!IV>IZIZ<2٢be bS=9fQ f>dd fG٣dyjp j> rNusing accuracyPremultiplier from configpv59r#?v5Yr irwUtvݿv@rEr:re:r59 ="@9ZjamDNOT Ignoring new targets: 67.80 m.BjmJjm ProNav: ac range: 67.800003 m, nav range: 19.958004 m, bearing: 125.812287 deg, approach rate: 0.349307 m/s, LOS rate: -1.005329 deg/s, cmd heading: 254.726332 deg, new cmd heading: 253.567226 deg. 2j|,HeadingCmd: 4.425583 target range: 67.800003 and range: 70.60 m. j`@jjjihhhhfffrfbf?ɛ-3B-Q> QU̺?IQ U%=ɚQiQIUI%X=I]iYia)e`@)aEiEi*Ey"EyJJJJJ|:J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014682*F?2F:FBFZ2JFG GnAG :>G G pAG B O >huw,rAV*g@YVv@V$>9Vgk!! %G٣%SGy%@ ->H=->I9 I=%II=)BI=' =&I9.I96I=<:I=R FzKqKu+9KqKu/Ku bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config)59-?5Y- i-UV+::࿑@-E-u<-F ?-5aB @EB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 67.80 m.*JI"JIBj5,JjU,e ProNav: ac range: 67.800003 m, nav range: 20.142082 m, bearing: 125.264989 deg, approach rate: 0.337542 m/s, LOS rate: -0.994388 deg/s, cmd heading: 253.567221 deg, new cmd heading: 251.940793 deg. 2je*mHeadingCmd: 4.397196 target range: 67.800003 and range: 70.60 m. jmյ@jijijiiqhqhqhqhqfyfyfyrfybf6/@ɛ4BJ9> ?I I=ɚiI2W=Ihii)յ@)*F2F:FBFP5JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516950G 2>G B O >3uw,duA2@Y2@2R$>92߼ 42? ĀĿ`sĿ:?@o?ɨ2@2);2"CyZڅBZ$IIbIb#3٢jC n=9nQ n?pp rG٣pyr v? zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configx~59z?~5Yz izV ::㿑@zEzP';zY?z5  m@Zj9EDNOT Ignoring new targets: 67.80 m.BjEJjEU ProNav: ac range: 67.800003 m, nav range: 20.247646 m, bearing: 124.942042 deg, approach rate: 0.358442 m/s, LOS rate: -1.090839 deg/s, cmd heading: 251.940789 deg, new cmd heading: 250.977098 deg. 2j](;]HeadingCmd: 4.380377 target range: 67.800003 and range: 70.60 m. j] ,@jajajaiahahahihifififqrfqbfu cy@ɛ5B_S> =?I w=ɚiIXW=IGB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:16:43.1802  TRx dataTimestamp_ set to:1736378204.489389 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022846uw,5 A6@Y6+ǖ@6od#>96N$XX ^G٣\y^ʋ b> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b?j5Yb ib|Wn9ln^:nq翑n@bEb )5?I1 5#=ɚ1i1I5W=I=Ti9i9)Ez@)AE*F)2F):F)BF-V0JF)"G=>G9MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276371 IG G ?G ?jH bH H .>I  I $II BI &I .I 6I Q<:I 1 FGa Bi zK K @9K K 0K O >/uw,)":AV1ێ@YV@VJ">9V=9úQ > G٣SGy} > Nusing accuracyPremultiplier from config59?5Yp i|XT:?:鿑@E] ;v; 5 @ZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 20.545052 m, bearing: 123.994548 deg, approach rate: 0.401122 m/s, LOS rate: -1.272693 deg/s, cmd heading: 249.737589 deg, new cmd heading: 248.156171 deg. 2j\ZHeadingCmd: 4.331142 target range: 67.800003 and range: 70.60 m. j@jjjih!h!h!h%Bf)f)Will construct direction to contact in vehicle frame from tetrahedron phase data.՝<՝<DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.2 ms) speed -0.7 m/s ,DAT read: user:3149> BDAT read: Tx time:23:16:44.2789 $Ping request sent. 1=S?I9 EL*=ɚAiIIMݯV=Iuiqiy)}@)*F]?2FY:FYBF]_0JFaPExceeded connect timeout, disconnecting.G E Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:23:16:44.2781 GY Ba I O >Tuw,SA6M@Y6@6!>96̝dh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rm?v5Yr irYYtv!z@rEr :r :r6 5~`B ~o@~E- addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.529431 s, deltaX: 2.300003 m, approachRate: 0.651664 m/s, rangeRepo size: 4 Zj)5DNOT Ignoring new targets: 67.80 m.Bj5஼Jj=஼M ProNav: ac range: 67.800003 m, nav range: 20.685347 m, bearing: 123.531358 deg, approach rate: 0.373001 m/s, LOS rate: -1.223114 deg/s, cmd heading: 248.156181 deg, new cmd heading: 246.776317 deg. 2jMQUHeadingCmd: 4.307059 target range: 67.800003 and range: 72.90 m. j]nӉ@jYjYjYiYhYhahahafafifirfibfm`yW?JJJJJ:J:JJɛ9B/;> 隵?I  =ɚiIcV=Iii)nӉ@)*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G*>G B O >uw,mAFM@YF@F6O >9F?} G٣y5z 5> ENusing accuracyPremultiplier from config9M59=;?M5Y= HyIy I}N$II}BI}& =&I}GD.Iy6I}F<:I}+ Fi=pZ@=E= 3<=l,<=O5 @ZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 20.860453 m, bearing: 122.933307 deg, approach rate: 0.354602 m/s, LOS rate: -1.200906 deg/s, cmd heading: 246.776319 deg, new cmd heading: 244.997832 deg. 2j N HeadingCmd: 4.276019 target range: 67.800003 and range: 72.90 m. j %Ո@j j j i hhhhfffrfbfzi?zKRIK9KK1Kɛ:B\-> 隝?I w=ɚiI.V=Iluii)%Ո@)EE*F?2F:FBFJFGqA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G :>G  nManaging dock network, ignoring radio surface power offB O >^uw,Ay6B#IMb@Mb@Mb@ )YRQ?QX9vy"?}b@ @)I@Iy3@I I #٢E K=9%Q %>!) -G٣-SGy- -> =Nusing accuracyPremultiplier from config1=595?E5Y5 i5f[E2&?E:EN쿑E@5E5;5;55I U@eE}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 67.80 m.BjgJjg ProNav: ac range: 67.800003 m, nav range: 21.014929 m, bearing: 122.456005 deg, approach rate: 0.429639 m/s, LOS rate: -1.317729 deg/s, cmd heading: 244.997820 deg, new cmd heading: 243.576747 deg. 2jbHeadingCmd: 4.251216 target range: 67.800003 and range: 72.90 m. j @jjjihhhhPBfffrfbf6w?ɛ C}?I [f=ɚiIU=I ii) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ]$?I]h*F?2F:FBFP5JFG*>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508096uw,A6@Y6,@6>96JhQTX ZG٣XyZM+ Z> %Nusing accuracyPremultiplier from config!-59%x?-5Y% i%W\)55@%E%q:%.:%5a m@qZjDNOT Ignoring new targets: 67.80 m.BjJj ProNav: ac range: 67.800003 m, nav range: 21.159639 m, bearing: 121.963433 deg, approach rate: 0.378795 m/s, LOS rate: -1.280524 deg/s, cmd heading: 243.576758 deg, new cmd heading: 242.109487 deg. 2j[HeadingCmd: 4.225608 target range: 67.800003 and range: 72.90 m. j.8@jj!j!i!h!h!h)h)f)f)f)rf1bf5`>?ɛ=BF*> &j?I =ɚiIqU=IXii).8@)*F?2F:FBF05JF-Will construct direction to contact in vehicle frame from tetrahedron phase data. YIYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769146G:>ZHq RHu AAH} />Iy  I} #II} DBIy &Iy .Iy 6I} r<:I} L FBIeɝCJIeɝCRIaZIe' =bIe' =jIeM/5G B O >zK K 9K K 2K   J J J J J ,:J :J J J ;a J ;a J DG;a% J DG;a% &uw,uZAN=@YNL@Nf>9NQ1 5G٣1y=Tw => ENusing accuracyPremultiplier from configAM59Ei?M5YE"" iE]U4?U:uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011654Uu@EEE %L=%\?I! y=ɚiIaU=Iii)/@)E]>E!>*F}?2Fy:FyBFyJFy"G>G>= Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ = Ai9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269531G G B O >Guw,8A6Z@Y68j@6(S>96PۄBBj#IIJ2IJ?3٢R R]=9RKQ R>TT VG٣VSGyZ Z> vNusing accuracyPremultiplier from configpz59rO쁜?z5Yr5( ir^xzz@rEr:r:r 5_B ?@ EZj)5DNOT Ignoring new targets: 67.80 m.BjϼJjϼ ProNav: ac range: 67.800003 m, nav range: 21.506115 m, bearing: 120.829445 deg, approach rate: 0.440565 m/s, LOS rate: -1.453399 deg/s, cmd heading: 240.258488 deg, new cmd heading: 238.736422 deg. 2j]yHeadingCmd: 4.166737 target range: 67.800003 and range: 72.90 m. jU@jjjihhhhf f f rf bf >@ɛ@B'> 隥uM?I %=ɚiIU=I-si1i1)5U@)1*F%?2F!:F!BF%P0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515603GI GA BQ O >8uw,A pIpvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769144yUĄBeM#IIIM3٢ν 8=9Q >  G٣y-H=0>I9 I=#II=BI9&I9.I96I=2<:I= F > Nusing accuracyPremultiplier from config59⁜?5Y0 i`@EW;;45`B @EZjAmDNOT Ignoring new targets: 67.80 m.Bju>¼Jju>¼ ProNav: ac range: 67.800003 m, nav range: 21.721121 m, bearing: 120.136177 deg, approach rate: 0.425556 m/s, LOS rate: -1.358553 deg/s, cmd heading: 238.736422 deg, new cmd heading: 236.678143 deg. 2jiJJJJJ:J:JJJ6;J7;JC;JC;zKqkKKKK3K   X"$&%i#QHeadingCmd: 4.130813 target range: 67.800003 and range: 72.90 m. j/@j j j i h h hhfffrfbfE@ɛBBd > A?I  U/=ɚ i I ,U=Iy ii)/@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ>Օ4=BDAT read: Rx Time:23:16:46.7837 TRx dataTimestamp_ set to:1736378208.017695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021721G G B O >jvw,# A28@Y2@2t>92-IF4< J=J%=%Mb@Mb@Mb@!!! !)!Y%ʡE?QʡEy%=?%u%! !)%@I%@!y% @I= I=b3٢M MJ=9UʔQ U>QQ UG٣Qy]c ]> Nusing accuracyPremultiplier from config 59zځ? 5Y7 i0a U?? :!@E ;;5 )@=B*** querying acoustic contact ***j9j9ZjamDNOT Ignoring new targets: 67.80 m.Bju?ԼJju?Լ ProNav: ac range: 67.800003 m, nav range: 21.888210 m, bearing: 119.595257 deg, approach rate: 0.462089 m/s, LOS rate: -1.484484 deg/s, cmd heading: 236.678131 deg, new cmd heading: 235.068204 deg. 2j~HeadingCmd: 4.102714 target range: 67.800003 and range: 72.90 m. joI@jjjihhhhBfffrfbf > @ =$?IEh]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271799ɛeCBef"> im4?Ii m1=ɚiiiIpU=I֌ ii)oI@)E}S,=E*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 75.4 m (Round-trip 100.6 ms) speed -0.5 m/s % ,DAT read: user:3150> - BDAT read: Tx time:23:16:47.8790 - $Ping request sent.- ˕ vw,3(AB&@YB@B>9B|| ~G٣~SGyY > %Nusing accuracyPremultiplier from config559Ё?=5Y> ibAE M@E8;u;5a eI@au addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.526539 s, deltaX: 2.500000 m, approachRate: 0.708910 m/s, rangeRepo size: 4 Zjq}DNOT Ignoring new targets: 67.80 m.Bj}μJj}μ ProNav: ac range: 67.800003 m, nav range: 22.084057 m, bearing: 118.939858 deg, approach rate: 0.435575 m/s, LOS rate: -1.444688 deg/s, cmd heading: 235.068200 deg, new cmd heading: 233.120234 deg. c~G2jw1 e"YayevBUHeadingCmd: 4.068716 target range: 67.800003 and range: 75.40 m. jm2@jijijiiqhqhqhqhqfyfyfyrf}R@bf`~? )I)ɛ5EB5b> 1=!+?I9}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:47.8782 =ˌ=ɚiIxU=I߹ i i)2@)IjH<bH<HI I;#IIBI% =&I.I6I(<:I FJUJUJQJQJU:JU :JQJQJU;JU;JUR;JUR;zKܔPK}9KK4K8 G UFxfWH=60*$ E} QO= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O5JF GB>GBO%? hvw,INA2@Y28@2>92)B>"I@@ Mb@Mb@Mb@    ) Y S㥛?MbV-y D? @ h @ b@) QAI @ y @I%I%ʴ٢5g 5=9=iźQ E>II MG٣IyUP U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]I i]OdeF?m:mpm@]E]L;]#;]]5u_B u@Will construct direction to contact in vehicle frame from tetrahedron phase data.uEZjY]DNOT Ignoring new targets: 67.80 m.Bje5ӼJje5Ӽ ProNav: ac range: 67.800003 m, nav range: 22.363094 m, bearing: 118.021510 deg, approach rate: 0.454541 m/s, LOS rate: -1.477224 deg/s, cmd heading: 233.120230 deg, new cmd heading: 230.401722 deg. 2js}HeadingCmd: 4.021269 target range: 67.800003 and range: 75.40 m. j<@jjjihhhhBfffrfbf@^s?ɛFB> ?I F=ɚ i I U=I5<i1i9)=<@)qEyEy*Ey"Ey*F?2F:FBFP5JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G :>G B O>jvw,kAy%B%"II=I= ٢m u/=9uQ u>yy }G٣}SGy > Nusing accuracyPremultiplier from config59)?5Y;R ie@E:e:f5 @EZjDNOT Ignoring new targets: 67.80 m.Bj~޼Jj~޼ ProNav: ac range: 67.800003 m, nav range: 22.582584 m, bearing: 117.327484 deg, approach rate: 0.496987 m/s, LOS rate: -1.556160 deg/s, cmd heading: 230.401733 deg, new cmd heading: 228.340830 deg. $?I2jHeadingCmd: 3.985299 target range: 67.800003 and range: 75.40 m. j%@jjjihhhhfff Will construct direction to contact in vehicle frame from tetrahedron phase data.rfbf|?H I C I  #II BI & =&I .I 6I `<:I A FɛGB O>  !?I  \=ɚiIU=Iii)%@)!E)E-mAJJJJJ,:J:JJJ;J;JI;JI;zK}OK}9KyK}5K}*F2F:FBF25JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 2>G B O- >,!vw,SAyEzBE"IMb@Mb@Mb@ )Y"~j?y&1Zd;ySC?`ey-@ @)hAI&@y3@IIb٢ܼ 6=9IQ M>QQ UG٣QyQ ]> eNusing accuracyPremultiplier from configam59eԪ?m5YeZ iefuC?u:uu@eEe;e;eh!5}^B }K@EZjDNOT Ignoring new targets: 67.80 m.Bj0ƼJj0Ƽ ProNav: ac range: 67.800003 m, nav range: 22.812176 m, bearing: 116.684708 deg, approach rate: 0.500160 m/s, LOS rate: -1.386151 deg/s, cmd heading: 228.340833 deg, new cmd heading: 226.432660 deg. 2jmHeadingCmd: 3.951995 target range: 67.800003 and range: 75.40 m. j~|@jjjihhhhBfffrfbf?ɛ HB a> ?I 0=ɚiIU=I62ii!)%~|@)! Ih*F?2F:FBFP0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >'vw, A>@Y>@>L>9>YHܿm?`g*[ݿ`Z$`_¿?ӥ?ɨ>@>;>!CyFyBDNWill construct direction to contact in vehicle frame from tetrahedron phase data.IZ)IZW3٢b bb=9bἻQ f>dd fG٣dyj^ j> nNusing accuracyPremultiplier from configlr59ng?r5Yn` ingtvv@nEn:n:n"5x zN@|B*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 67.80 m.Bj-׼Jj-׼E ProNav: ac range: 67.800003 m, nav range: 22.964369 m, bearing: 116.149640 deg, approach rate: 0.432248 m/s, LOS rate: -1.509568 deg/s, cmd heading: 226.432656 deg, new cmd heading: 224.838524 deg. 2jEMHeadingCmd: 3.924173 target range: 67.800003 and range: 75.40 m. jM%{@jIjIjIiQhQhQhYhYfYfYfYrfabfeT@ɛ-IB-0> 15/?I9 =5=ɚ9i9I=U=IE(iiAiE>)M%{@)i*F ?2F :F BF _0JF   $?IGMB>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.GY B O >ZH) RH- ?AHM 1>II  IM "IIM yBIM % =&II .II 6IM A<:IM + F.vw,AzKZ:IKXKXKZ6KZ %(*./2443-" ~k5@Y~4@~L>9~)) -G٣-SGy- 5> =Nusing accuracyPremultiplier from config1=595q?E5Y5.h i5iEq>?E:EM@5E5 ;5;5$5Q U(@QZjy}DNOT Ignoring new targets: 67.80 m.BjPռJjPռ ProNav: ac range: 67.800003 m, nav range: 23.145760 m, bearing: 115.474164 deg, approach rate: 0.403819 m/s, LOS rate: -1.491952 deg/s, cmd heading: 224.838530 deg, new cmd heading: 222.828854 deg. 2jHeadingCmd: 3.889097 target range: 67.800003 and range: 75.40 m. jx@jjjihhhh/Bfffrfbf@ɛJB-> 15?I1Will construct direction to contact in vehicle frame from tetrahedron phase data.ե>աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516288 = *=ɚiIU=I8ii >)x@)Ee>E>*Fu?2Fq:FqBFqJFqG}pA G}rAGU'+>G)B1OMt> I hU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7680614vw,NAF?}@YFy@F>9F G٣ y   > Nusing accuracyPremultiplier from config59?5Yn ij!%%@E ; ;&5) -@-EZjQ]DNOT Ignoring new targets: 67.80 m.Bj]ּJj]ּm ProNav: ac range: 67.800003 m, nav range: 23.288467 m, bearing: 114.922966 deg, approach rate: 0.391327 m/s, LOS rate: -1.502184 deg/s, cmd heading: 222.828856 deg, new cmd heading: 221.185872 deg. 2jm݀}HeadingCmd: 3.860422 target range: 67.800003 and range: 75.40 m. j}&w@jyjyjyihhhhfffrfbf@ɛ9Em> AEe?IA E~=ɚAiIIMxU=IMWiQiq)u&w@)yJJJJJJJJa @a @a @a @*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020092G-pX>GBO- >;vw,7A6N{@Y6분@6v>96Q?)44@_+¿[??ɨ6N{@6Gk;6 Cy>}BB"I)D DIJ7IJ3٢R" RP=9V39Q V>TT VG٣XyZ; Z> ^Nusing accuracyPremultiplier from config\b59^y?b5Y^St i^jdfv f@^ÈE^s;^b;^7(5p r @rµEZj  DNOT Ignoring new targets: 67.80 m.BjC׼JjC׼% ProNav: ac range: 67.800003 m, nav range: 23.437284 m, bearing: 114.325487 deg, approach rate: 0.377405 m/s, LOS rate: -1.505578 deg/s, cmd heading: 221.185868 deg, new cmd heading: 219.405417 deg. 2j%(-HeadingCmd: 3.829347 target range: 67.800003 and range: 75.40 m. j-u@j)j)j)i)h1h1h1h1 E $?IAfAfIfIrfIbfM @ɛKBV> "?I  =ɚiIygU=I fi i ) u@)Will construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272309H53>I1 I1I1I1&I1.I56D6I55<:I5$ FBIÞCJIÞCRIZI% =bI% =jIbp4*F?2F:FBF\5JFG2>GaBiO[>zK5gMK5+9K1K57K5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525201'Bvw,yAN^y@YNž@N'>9N G٣SGy > Nusing accuracyPremultiplier from config59i?5Yz ik66?:W@ƈEQ;;$*5]B m@ŵEZjDNOT Ignoring new targets: 67.80 m.BjּJjּ5 ProNav: ac range: 67.800003 m, nav range: 23.580286 m, bearing: 113.661100 deg, approach rate: 0.325475 m/s, LOS rate: -1.502956 deg/s, cmd heading: 219.405415 deg, new cmd heading: 217.425174 deg. 2j=EHeadingCmd: 3.794785 target range: 67.800003 and range: 75.40 m. jEr@jAjAjAiAhAhAhIhMbBfQfQfQrfQbfU` @ɛ}LB#> 隅G?I {#=ɚiIYXU=I+ii)r@) )I)*FA2FA:FABFM@5JFI%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776458Gm>Gm?Gm?JcKc KcKcKc"KcJ J J J J :J :J J GA BQ Ou >+Hvw,D"A6bqw@Y6/Ȃ@6CX>96ʩ`` bG٣`yb f> jNusing accuracyPremultiplier from configdj59f[?n5Yf ifllnCn@fȈEfK ;f ;f+5t v@tB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 67.80 m.BjμJjμ ProNav: ac range: 67.800003 m, nav range: 23.695606 m, bearing: 113.102171 deg, approach rate: 0.298869 m/s, LOS rate: -1.441470 deg/s, cmd heading: 217.425180 deg, new cmd heading: 215.757052 deg. 2jQwHeadingCmd: 3.765671 target range: 67.800003 and range: 75.40 m. jq@jjjihhhhfffrfbf S@ɛYeb > ae"?Ia eS,=ɚaiaIm1?U=Im iqi)q@)*FU?2FQ:FQBFU3JFQ  $?I!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.280974GqGQ B jH bH H5 6>I1  I5 "II5 BI5 $ =&I1 .I1 6I5 D<:I5 1 FO >UVNvw,}"96_=9v9Q > G٣yl > Nusing accuracyPremultiplier from config59J?5Yu im,.?:2@ʈED;;-5\B ^@ȵEZjDNOT Ignoring new targets: 67.80 m.BjؼJjؼ ProNav: ac range: 67.800003 m, nav range: 23.815060 m, bearing: 112.471188 deg, approach rate: 0.288238 m/s, LOS rate: -1.514878 deg/s, cmd heading: 215.757056 deg, new cmd heading: 213.874320 deg. 2j􁽝HeadingCmd: 3.732811 target range: 67.800003 and range: 75.40 m. j`n@jjjihhhhBfffrfbf\ @ɛUMB]> ae$?Ia e?N=ɚaiaIe%U=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534234IT9#ii)`n@)*Fm?2Fi:FqBFuP0JFqG > I G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784006=Uvw,UA6Ɲs@Y6aހ@6e>96ۀ#IIF"IFq3٢N> RZ=9R:Q R>TT VG٣TyV' V> ^Nusing accuracyPremultiplier from configXb59Z;?b5YZ) iZn`bb@Z̈EZ ;Z ;ZF/5d jd@hZj|DNOT Ignoring new targets: 67.80 m.Bj/ѼJj/Ѽ ProNav: ac range: 67.800003 m, nav range: 23.914335 m, bearing: 111.921144 deg, approach rate: 0.265166 m/s, LOS rate: -1.463054 deg/s, cmd heading: 213.874315 deg, new cmd heading: 212.231507 deg. 2j{5HeadingCmd: 3.704139 target range: 67.800003 and range: 75.40 m. j5m@j1j1jihhhhfffrfbf@ɛNB+"> %#?I! %]C=ɚ!i!I%HU=I-/$i)i))-m@)QJJJJJJ :JJ*F ?2F :F BF _0JF GrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035996G->G5qAG1G B O= >)i i NG  E YA yM B|[vw,+pA 9bP}U G٣SGy   > %Nusing accuracyPremultiplier from config-59*?-5YQ ido)-5@ΈE,;d*;15=[B = @=˵EZjaeDNOT Ignoring new targets: 67.80 m.BjmѼJjmѼ} ProNav: ac range: 67.800003 m, nav range: 24.021629 m, bearing: 111.298387 deg, approach rate: 0.253964 m/s, LOS rate: -1.467447 deg/s, cmd heading: 212.231504 deg, new cmd heading: 210.372269 deg. 2j}{HeadingCmd: 3.671689 target range: 67.800003 and range: 75.40 m. jj@jjjihhhhfffrfbf%@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288201ɛOBh!> %?I U=ɚiIT=I&ii)j@)H>>IC I#IIBI% =&I.I7D6I<:Im F*F5?2F1:F9BF=`0JF9zKk3IK9KK9K72G\ {U:.( JGG> Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ =Օ < checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544382G B) OE >zObvw,հA2o@Y2~@27>92FP=9{9Q > G٣y' > Nusing accuracyPremultiplier from config 59? 5Y̓ i QUy'?IQ U=ɚQiQIU6T=I]U1)iYia)e`h@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794084*F92F9:F9BFE_0JFAJJJJJ:J9JJG >GY Bi O >hvw,A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043899:n@Y:7|@:F|>9:J!\\ ^G٣\y^ܞ b> fNusing accuracyPremultiplier from config`j59be ?j5Ybz ibphjj@b҈Eb: ;b ;b45r[B r@rеEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 67.80 m.Bj̼Jj%̼5 ProNav: ac range: 67.800003 m, nav range: 24.170954 m, bearing: 110.155986 deg, approach rate: 0.181500 m/s, LOS rate: -1.432734 deg/s, cmd heading: 208.530812 deg, new cmd heading: 206.956846 deg. 2j5u=HeadingCmd: 3.612078 target range: 67.800003 and range: 75.40 m. j=K,g@j9j9j9i9h9hAhAhAfAfIfIrfIbfMQ@ɛ}QB&> 隅I&?I Tt=ɚiI%T=I-j*i)i1)5K,g@)1*F?2F:FBF0JF u$?IqGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298343G% ?G%>GB Oe >ZH RH AAH L>I C I #II BI =&I .I 9D6I <:I ~ F`nvw,iAy~B~#IzK}T$OK}@9KyK}:K}KMb@Mb@Mb@ )Y r?QX9vy#?@ @) AI@y@I$I<3٢  :=9Q > G٣SGy > Nusing accuracyPremultiplier from config59?5Y iq&?:!@ՈE;';65 M@Zj!%DNOT Ignoring new targets: 67.80 m.Bj-мJj-м ProNav: ac range: 67.800003 m, nav range: 24.244158 m, bearing: 109.516326 deg, approach rate: 0.167735 m/s, LOS rate: -1.461222 deg/s, cmd heading: 206.956849 deg, new cmd heading: 205.044413 deg. 2jzHeadingCmd: 3.578700 target range: 67.800003 and range: 75.40 m. jl e@jjjihhhhBfffrfbf;%@ɛ=SBE > AE!?IA E{=ɚAiAIMT=IMI-iQiQ)Ul e@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551097*F?2F :F BF 2JFG) i Iq G B O- >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799988uvw,gDA:nj@Y:ōx@:p?>9:(\\ ^G٣\yb f> jNusing accuracyPremultiplier from configdj59f.倜?n5Yf ifrln%r@fֈEf;fN;f85vZB v@vӵEZj DNOT Ignoring new targets: 67.80 m.BjѼJjѼ- ProNav: ac range: 67.800003 m, nav range: 24.295002 m, bearing: 108.973432 deg, approach rate: 0.137829 m/s, LOS rate: -1.468583 deg/s, cmd heading: 205.044410 deg, new cmd heading: 203.419596 deg. 2j-{5HeadingCmd: 3.550342 target range: 67.800003 and range: 75.40 m. j58c@j1j1j1i1h1h9h9hAfAfIfIrfIbfMC@ɛuTBu#> y隅+?I =ɚiIgT=I.ii)8c@)J=J=J9J9J=ݒ:J=9J9J9*F?2F:FBF@5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052086G>G B O > ] $?IY {vw,7A>ĝh@Y>v@>Z>9>-#-H@? [˷8ѵ¿g? ?ɨ>ĝh@>V;> CyNBN#IIV(IV̍3٢^< ^I=9bQ b>`` bG٣dyf f> nNusing accuracyPremultiplier from confighn59jDҀ?n5Yje ijisprs'r@jوEj.:j:j95t z@xZj%DNOT Ignoring new targets: 67.80 m.Bj%ѼJj%Ѽ= ProNav: ac range: 67.800003 m, nav range: 24.346352 m, bearing: 108.374309 deg, approach rate: 0.126074 m/s, LOS rate: -1.467837 deg/s, cmd heading: 203.419590 deg, new cmd heading: 201.626630 deg. 2j={EHeadingCmd: 3.519048 target range: 67.800003 and range: 75.40 m. jE8a@jAjAjAiAhAhAhIhIfQfQfQrfQbf] +@ɛUBZ!> 隅?I q=ɚiI9HT=I0ii)8a@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308031EHuX>IuC Iu#IIuBIu =&Iq.Iu:D6Iu,<:Iu; F*F?2F:FBFP0JFzK%&~JK%9K!K%;K%G>GGrAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567811{vw,, A2Gf@Y2Ct@2Y>92Q@ G٣SGy > Nusing accuracyPremultiplier from config 59 ?5Y  i ]t $?:(@ ۈE ; 3; ;5%YB -@-ֵEZjIUDNOT Ignoring new targets: 67.80 m.BjUμJjUμm ProNav: ac range: 67.800003 m, nav range: 24.399109 m, bearing: 107.732032 deg, approach rate: 0.119138 m/s, LOS rate: -1.447238 deg/s, cmd heading: 201.626624 deg, new cmd heading: 199.704721 deg. 2jmNxuHeadingCmd: 3.485505 target range: 67.800003 and range: 75.40 m. ju_@jqjqjqiqhqhyhyh}Bfffrfbf@@ɛWByQ> 隽?I =ɚiI+4T=I2 3ii)_@) $?I *FE?2FA:FABFAJFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.820060GaG9 BI Om >#͈vw,W$ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.072055Vd@YVs@V>9V:Vtt zG٣xyzL ~> Nusing accuracyPremultiplier from config|59~n? 5Y~ i~'u  t* @~݈E~:~<~p=5 @ٵEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 67.80 m.Bj}üJj}üM ProNav: ac range: 67.800003 m, nav range: 24.439064 m, bearing: 107.196964 deg, approach rate: 0.102268 m/s, LOS rate: -1.367284 deg/s, cmd heading: 199.704718 deg, new cmd heading: 198.102579 deg. 2jUj]HeadingCmd: 3.457542 target range: 67.800003 and range: 75.40 m. j]_H]@jYjajaihhhhfffrfbf`'K @ɛ]XB]0> !%(?I! %=ɚ)i)I-a%T=I5W4i1i1)5_H]@)1*F?2F:FBFJF IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.324085jH <bH 4=H ^>I C I "II BGM >I  =&I .I ;D6I <:I  FBIMɡCJIMɡCRIMɕCZIM =bIM =jIMt6Gy B O >J J J J J }:J H9J J J ;a J ;a J Q;a J R;a (vw,>AFN%c@YFJDq@F@>9Fo G٣y > Nusing accuracyPremultiplier from config59ٗ?5Y i$v'?:$+@߈EI;x1;O?5 @ZjzKRIK9KK<K%DNOT Ignoring new targets: 67.80 m.Bj-ܼJj-ܼ= ProNav: ac range: 67.800003 m, nav range: 24.486137 m, bearing: 106.565574 deg, approach rate: 0.115376 m/s, LOS rate: -1.544521 deg/s, cmd heading: 198.102574 deg, new cmd heading: 196.212771 deg. 2j=EHeadingCmd: 3.424559 target range: 67.800003 and range: 75.40 m. jE+[@jAjAjAiIhIhIhIhUBfQfQfQrfYbf]@!@ɛZB> 隅>I KB=ɚiIT=I6ii)+[@)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.յ=յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577114*FM?2FI:FIBFM_0JFI"GU,>GU%>Ghs> $?IGi By O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827974Bٕvw,XA^nNa@Y^jmo@^}>9^]q|| ~G٣SGy >  Nusing accuracyPremultiplier from config 59 U?5Y  i w,@ E y; 2; @5%XB %P@-ܵEZjQUDNOT Ignoring new targets: 67.80 m.Bj]ҼJj]Ҽm ProNav: ac range: 67.800003 m, nav range: 24.523527 m, bearing: 106.004857 deg, approach rate: 0.098534 m/s, LOS rate: -1.475389 deg/s, cmd heading: 196.212770 deg, new cmd heading: 194.533690 deg. 2jm"}uHeadingCmd: 3.395253 target range: 67.800003 and range: 75.40 m. juKY@jqjqjqiqhyhyhhfffrfbf!@ɛU\B]_> Y]Z>IY ]=ɚYiYIeTT=Ie8iiii)mKY@)i*F-?2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.080690Gm>GQ By O > I vw,mrA6Si_@Y6Om@6u>96LHtt vG٣xyz z> eNusing accuracyPremultiplier from configam59ep?m5Ye iewim.u@eEe:e\:eB5y }@}޵EZjDNOT Ignoring new targets: 67.80 m.BjҼJjҼ ProNav: ac range: 67.800003 m, nav range: 24.559341 m, bearing: 105.390377 deg, approach rate: 0.086088 m/s, LOS rate: -1.474857 deg/s, cmd heading: 194.533691 deg, new cmd heading: 192.693609 deg. 2j }HeadingCmd: 3.363138 target range: 67.800003 and range: 75.40 m. j=W@jjjihhhhfffrfbf"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332052ɛ%]B%7[> !%>I! -=ɚ)i)I-T=I5l:i1i1)5=W@)9He>IC I"II[BI =&I.IzKMBoHKM9KIKM=KMG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583982vw,@AJ]@YJ k@Ji>9J` G٣yl > Nusing accuracyPremultiplier from config59L\?5Yx ix*?:U-@E;D;D5WB @E }$?I}hZjDNOT Ignoring new targets: 67.80 m.BjV˼JjV˼ ProNav: ac range: 67.800003 m, nav range: 24.604687 m, bearing: 104.774686 deg, approach rate: 0.104936 m/s, LOS rate: -1.422155 deg/s, cmd heading: 192.693611 deg, new cmd heading: 190.850613 deg. 2jtHeadingCmd: 3.330971 target range: 67.800003 and range: 75.40 m. j.U@jjjihhhhԃBfffrfbf@6#@ɛ`B> 隵X>I 'S=ɚiI$T=IE>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837070*F?2F:FBF1JFGqA GqAG Yi>Ga Bi O >vw,mA:r[@Y:mi@:>9:LSpp rG٣rSGyrh v> zNusing accuracyPremultiplier from configtz59vZI?~5Yv ivy|~B/@vEv;v8;v?F5  @ EZj15DNOT Ignoring new targets: 67.80 m.Bj=8߼Jj=8߼M ProNav: ac range: 67.800003 m, nav range: 24.641266 m, bearing: 104.212345 deg, approach rate: 0.101708 m/s, LOS rate: -1.561236 deg/s, cmd heading: 190.850607 deg, new cmd heading: 189.166601 deg. 2jU]HeadingCmd: 3.301580 target range: 67.800003 and range: 75.40 m. j]MS@jYjYjYiahahahahafififirfibfu>$@ɛaBx> 隝>I N=ɚiI3T=I>ii)MS@)MGay Yy.A*F?2F:FBF4JF qIq5Will construct direction to contact in vehicle frame from tetrahedron phase data.5AH k>I C I "II -BI  =&I FD.I =D6I 9<:I X FG- 8U>G B O >J J J J J -:J 9J J J ;J ;J ;J ;?vw,sANY@YNg@N>>9NI??ɨNY@Ne;N!CyZBZ?"I)` ``bAMMb@Mb@Mb@III I)IYM?y&1v/yM,?M`弹IM@ M`@)M AIM@IyM @IaIa٢uv uA=9u)Q }>yy }G٣y > Nusing accuracyPremultiplier from config593?5Y  iz-?:-@El;N;H5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 67.80 m.BjռJjռ ProNav: ac range: 67.800003 m, nav range: 24.695740 m, bearing: 103.574527 deg, approach rate: 0.127990 m/s, LOS rate: -1.495261 deg/s, cmd heading: 189.166597 deg, new cmd heading: 187.258109 deg. 2jE}HeadingCmd: 3.268270 target range: 67.800003 and range: 75.40 m. j}X+Q@jyjyjyiyhyhhhBfffrfbf@ %@zKK}9KK>KɛdB? > >I 9=ɚiI(XT=I]@ii)X+Q@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E 96,VQ҃BB#"IIN!INi3٢E EM=9MQ M>II MG٣QyU~ U> Nusing accuracyPremultiplier from config59f?5Y i{.@Ea]; ^;I5VB C@EZjDNOT Ignoring new targets: 67.80 m.BjL׼JjL׼ ProNav: ac range: 67.800003 m, nav range: 24.742546 m, bearing: 102.966964 deg, approach rate: 0.116231 m/s, LOS rate: -1.505838 deg/s, cmd heading: 187.258106 deg, new cmd heading: 185.439509 deg. 2j.HeadingCmd: 3.236530 target range: 67.800003 and range: 75.40 m. jO#O@jjjihhhhfffrfbf%@ɛ5fB5G> 9=8X>I9 =m=ɚ9i9I=5{T=IEfBiAiI)MO#O@)I*F?2F:FBFZ0JF"G8>G;>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:3151> BDAT read: Tx time:23:16:58.8291 $Ping request sent.GBO > A II Rvw,lA2iU@Y2dc@2o>92qٿCD զ3L¿ԍ? ?ɨ2iU@2&;0yRBR "IIZ3IZʴ3٢bֽ bS=9bͺQ b>dd fG٣fSGyjW j> rNusing accuracyPremultiplier from configlr59n ?r5Yn[ in|tv0v@nEn`a;nK;nK5UB @EZjDNOT Ignoring new targets: 67.80 m.BjFμJjFμ ProNav: ac range: 67.800003 m, nav range: 24.781689 m, bearing: 102.390237 deg, approach rate: 0.098074 m/s, LOS rate: -1.442712 deg/s, cmd heading: 185.439513 deg, new cmd heading: 183.712617 deg. 2jwHeadingCmd: 3.206390 target range: 67.800003 and range: 75.40 m. j5M@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:16:58.8283  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249909h hff1f1rf9bf=x&@Hp>IC IN"IIBI =&I.I6I.<:IU FɛMhBM&> QU*>IQ U=ɚQiQIUT=I]7DiYia)e5M@)a*F?2F:FABFE]0JFIJJ}JJJs:JS9JJJ;J;J:J:zKK9KK?K   (8HV^gw Will construct direction to contact in vehicle frame from tetrahedron phase data.խ <խ a= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501453G @Z>G B O >;vw, AyB!Ii !! %G٣!y5 5> MNusing accuracyPremultiplier from configAU59E?]5YE iE~]X0?]:]Z-]@EEEJ;EG;EM5a m@iZj DNOT Ignoring new targets: 67.80 m.Bj߼Jj߼% ProNav: ac range: 67.800003 m, nav range: 24.848436 m, bearing: 101.709572 deg, approach rate: 0.153905 m/s, LOS rate: -1.565205 deg/s, cmd heading: 183.712623 deg, new cmd heading: 181.677019 deg. 2j%EUHeadingCmd: 3.170862 target range: 67.800003 and range: 75.40 m. jUhJ@jQjQjQiYhYhYhaheBfafafrfbf@'@ɛjBL> AE=II M =ɚIiIIMT=IUL0GiQiQ)UhJ@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755123*F}?2Fy:FyBF}_0JFyG H_>Gy B O >cvw,b'ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008450JlQ@YJh_@JW>9JD;yJHǬhi?` }7ֿ@[Wh??ɨJlQ@Jҋ;J"CyVBV!IIbIb٢j  j`=9j-Q n>ll rG٣pyr) v> ~Nusing accuracyPremultiplier from configx 59z? 5Yz iz~ B1@zEzw;z܁;zO5-TB -@-EZjquDNOT Ignoring new targets: 67.80 m.BjռJjռ ProNav: ac range: 67.800003 m, nav range: 24.889910 m, bearing: 101.160552 deg, approach rate: 0.112991 m/s, LOS rate: -1.493245 deg/s, cmd heading: 181.677021 deg, new cmd heading: 180.033181 deg. 2jHeadingCmd: 3.142172 target range: 67.800003 and range: 75.40 m. jXI@jjjihhhhfffrfbf`NO(@ɛlB_= 隭n=I  =ɚiI$U=I]Iii)XI@)*F?2F:FBF0JF $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261001Gm@Z>GupAGunAjH<bH<Hv>IC I"IIBI =&I.I>D6I<:I/ FGi By O >Lvw,BAA6@O@Y6;]@6f>96_@;y6HLi?@85GԿS @|~?` ?ɨ6@O@6e;6!Cy^yB^!IMb@Mb@Mb@ )Y|?5^??X9vy2?L=A v@)` AI@yAII ٢ 9=9\Q >  G٣ SGy ٖ  > 5Nusing accuracyPremultiplier from config)=59-?=5Y-! i-E4?E:E/E@-E-Έ;-ׂ;-Q5a e@mEB*** querying acoustic contact ***jjzKNKŷ9KK@KW#s3EKK?&X'Ax.Zj15DNOT Ignoring new targets: 67.80 m.Bj=3ӼJj=3Ӽm ProNav: ac range: 67.800003 m, nav range: 24.953474 m, bearing: 100.476596 deg, approach rate: 0.137635 m/s, LOS rate: -1.477158 deg/s, cmd heading: 180.033186 deg, new cmd heading: 177.987463 deg. 2jmp}uHeadingCmd: 3.106467 target range: 67.800003 and range: 75.40 m. ju\F@jqjqjqiqhyhyhyh}Bfffrfbf`:)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512540ɛnB= `E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765539Ivvw,[A2M@Y2[@2n >92*5xx zG٣xy~i >  Nusing accuracyPremultiplier from config 59 ?5Y  i }1@ E ; ; R5! %@!ZjIUDNOT Ignoring new targets: 67.80 m.BjUJj]켝m ProNav: ac range: 67.800003 m, nav range: 25.000366 m, bearing: 99.909502 deg, approach rate: 0.137114 m/s, LOS rate: -1.655067 deg/s, cmd heading: 177.987462 deg, new cmd heading: 176.289895 deg. 2jm}HeadingCmd: 3.076839 target range: 67.800003 and range: 75.40 m. j}D@jyjyjihhhhfffrfbf)@ɛpBU= ӼI m!=ɚiIU=ID@ii)D@)JJwJJJ:J9JJa@a@a@a@*FU?2FQ:FQBFU5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017030G58U>GB!O=> I vw,ZtA6OvK@Y6KY@6ń>96mTX ZG٣XyZ9 Z> Nusing accuracyPremultiplier from config%59?%5Y i!%3%@E* ; ;cT55SB 5@5EZjYeDNOT Ignoring new targets: 67.80 m.BjeWݼJjmWݼ} ProNav: ac range: 67.800003 m, nav range: 25.046024 m, bearing: 99.281542 deg, approach rate: 0.112767 m/s, LOS rate: -1.548087 deg/s, cmd heading: 176.289901 deg, new cmd heading: 174.410170 deg. 2j}΄HeadingCmd: 3.044032 target range: 67.800003 and range: 75.40 m. jjB@jjjihhhhfffrfbf`}*@ɛrB#= sI  =ɚiIV=IjB@ii)jB@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268554Ep>E>H}>IC I!IIBI =&I.I?D6I<:IJ FBI%¨CJI%¨CRI%”CZI% =bI% =jI%6*F?2F:FBFO0JFG0P>GBO>zKM PKI KI KM AKM \{>fK4zspjc\URNHCA>977751.,)+(#!"$# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524054Evw,ЎAy%HB%y!I e$?IaMb@Mb@Mb@ )YtV?333333?A`"y2?=Y A hA) AIyABAII#3٢VL 7=9Q > G٣SGy   > Nusing accuracyPremultiplier from config59?5Y i:4?:{1@E;;gV5 RB RAEZjY]DNOT Ignoring new targets: 67.80 m.Bje0׼Jje0׼ ProNav: ac range: 67.800003 m, nav range: 25.113029 m, bearing: 98.572557 deg, approach rate: 0.142626 m/s, LOS rate: -1.505072 deg/s, cmd heading: 174.410165 deg, new cmd heading: 172.289907 deg. 2jHeadingCmd: 3.007026 target range: 67.800003 and range: 75.40 m. js@@jjjihhhhqBfff!rf!bf%@+@ɛtB= zq=I =ɚiIpV=Is@@ii)s@@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778071*F?2F:FBF4JFJuJpJ1JJ[Q:J^9J3JG 8U>GY Bi O >vw,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.JBDAT read: Rx Time:23:17:01.3454 JTRx dataTimestamp_ set to:1736378222.653930Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031492RyG@YRU@Rr/>9Rw %G٣!y%* -> =Nusing accuracyPremultiplier from config1E595s?E5Y5 i5IMs5M@5E5Y;5K;5W5 AEZjiuDNOT Ignoring new targets: 67.80 m.BjsϼJjsϼ ProNav: ac range: 67.800003 m, nav range: 25.151871 m, bearing: 98.029226 deg, approach rate: 0.103885 m/s, LOS rate: -1.450930 deg/s, cmd heading: 172.289910 deg, new cmd heading: 170.662896 deg. 2jxHeadingCmd: 2.978629 target range: 67.800003 and range: 75.40 m. jݡ>@jjjihhhhfffrfbfk,@ɛuBc = t߽I 2=ɚ)i)I-oV=I5ݡ>@i1i1)5ݡ>@)9 U$?IQ*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.281136ZH@ARHAAH>IC I!II\BI =&I.I@D6IG<:Iz FG G BI O > vw,AnE@YnS@n} >9n| G٣yԌ > Nusing accuracyPremultiplier from confige59[?e5Y ivm/6?m:m6m@E<<Y5y }A}EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 67.80 m.BjJj弝 ProNav: ac range: 67.800003 m, nav range: 25.196457 m, bearing: 97.366190 deg, approach rate: 0.108139 m/s, LOS rate: -1.605248 deg/s, cmd heading: 170.662891 deg, new cmd heading: 168.678139 deg. 2jHeadingCmd: 2.943989 target range: 67.800003 and range: 75.40 m. jPj<@jjjihhhhzBfffrfbf:-@ɛwB5= 6 I Uz=ɚiI%*W=zK-- OK-@9K)K-BK-     I]Pj<@Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս%=DAT read: 23:17:01.3454 LVL= 16528, 16801, 12706, 22931, AGC= 58, IDX= 504, 0.23, 3.049,-0.964,-1.091,-1.782, PHS=-1.365, 0.865, 0.688, RAW= 274.1, -1.8, CAL= 276.7, -3.9, ROT= 233.3, 3.9 Ygot valid direction response: 23:17:01.3454 LVL= 16528, 16801, 12706, 22931, AGC= 58, IDX= 504, 0.23, 3.049,-0.964,-1.091,-1.782, PHS=-1.365, 0.865, 0.688, RAW= 274.1, -1.8, CAL= 276.7, -3.9, ROT= 233.3, 3.9 PDAT read: Bearing 233.3, 3.9 (Local) ~Local bearing/azimuth received: Bearing 233.3, 3.9 (Local)  DAT read: Range 10 to 50 : 84.1 m (Round-trip 112.2 ms) speed -0.4 m/s ,DAT read: user:3152> BDAT read: Tx time:23:17:02.4291 $Ping request sent.?iaۉۉ:publishing transmit ping timeFpublishing direction and range info؉9؍R ?Y Wdy؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍD:/IXM?=Am˯)ۉIۉiۉۉۉۉi)Pj<@)E*F?2F:FBF^0JFG GrA =$?I=hG @Z>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:23:17:02.4283 G B O >evw,0bA6C@Y6Q@6 >96*BNU!IIVIV[3٢^"0 ^[=9bb7Q b>`d fG٣fSGyfq f> Nusing accuracyPremultiplier from configh%59jF?%5Yj ij!%8%@jEjl,?* u~^?ˁ21?~;U?2oi?kAt8"k?*kb?k W?k_  2kkw+u~?kkCkjAk2? addTargetRange:: Added new target pos. range: 84.099998 m, deltaT: 14.636421 s, deltaX: 8.699997 m, approachRate: 0.594407 m/s, rangeRepo size: 4 % Added new target pos. range: 84.099998 m, bearing: 59.617083 deg, lat: 36.904399 deg, lon: -122.119985 deg, deltaT: 29.000251 s, deltaX: 16.299995 m, approachRate: 0.562064 m/s, posRepo size: 4 Zj!%DNOT Ignoring new targets: 84.10 m.Bj-Jj)JK m3 K S}-KK"KJ]rJ]lJ]0JYJ]G:J]9J]ـ3JY} ProNav: ac range: 84.099998 m, nav range: 25.177185 m, bearing: 95.665829 deg, approach rate: 0.000000 m/s, LOS rate: -1.605248 deg/s, cmd heading: 168.678133 deg, new cmd heading: 166.855190 deg. 2jHeadingCmd: 2.912173 target range: 84.099998 and range: 84.10 m. j a:@jjjihhhhfffrf`fU@bf?ɛExBE= AMII e8=ɚaiiIW=INk;@ii) a:@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E)f= *F5 ?2F1 :F1 BF5 P0JF1 A u tA A %Y tAy B ) I) Gm Yi>MWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiMAGQBaO}>-vw,AH >I C I m!II >BI  =&I.I6I $<:I e F-#@@Y-BN@- >9-qq }G٣yy}o }> Nusing accuracyPremultiplier from config59 *?5Y iz.<@Eq::]5PB xAEZjQUDNOT Ignoring new targets: 84.10 m.Bj]Jj]伝 ProNav: ac range: 84.099998 m, nav range: 25.214937 m, bearing: 94.882925 deg, approach rate: 0.077331 m/s, LOS rate: -1.601229 deg/s, cmd heading: 166.855197 deg, new cmd heading: 164.511383 deg. 2j]HeadingCmd: 2.871265 target range: 84.099998 and range: 84.10 m. j7@jjjihhhhfff rfbfM2?ɛzBh= &2I =ɚiIX=I7@ii)7@)zK} MKyKyK}CK}Will construct direction to contact in vehicle frame from tetrahedron phase data.EHu=*Fm ?2Fi :Fi BFq JFq  $?I G@Z>5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO?ww,Ay B ?!IMb@Mb@Mb@ )YQ?㥛 ?~jty5?=DA )AIp@yAI I V٢ =9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595 ?=5Y5o i5E!7?E:E=E@5E5;5;5_5MOB MAUEZjq}DNOT Ignoring new targets: 84.10 m.Bj}Jj}鼝 ProNav: ac range: 84.099998 m, nav range: 25.256598 m, bearing: 94.024276 deg, approach rate: 0.079371 m/s, LOS rate: -1.633136 deg/s, cmd heading: 164.511376 deg, new cmd heading: 161.941499 deg. 2jHeadingCmd: 2.826412 target range: 84.099998 and range: 84.10 m. j4@jjjihhhhfffrfbf1?JvJmJJJ{T:J&9JJɛ|B^=  FI w=ɚiIyX=I4@ii)4@) Will construct direction to contact in vehicle frame from tetrahedron phase data.E5q=*F ?2F :F BF 2JF } $?Iy GYi>Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH4=H>I IT!II*BI =&I.IAD6I<:IH FGBO>;ww,;A:]<@Y:YJ@: ] >9:j\\ ^G٣^SGyb b> fNusing accuracyPremultiplier from configdn59fQ~?n5Yf iflrm@r@f EfD;f2E;fa5t ttZjDNOT Ignoring new targets: 84.10 m.BjռJjռ ProNav: ac range: 84.099998 m, nav range: 25.278835 m, bearing: 93.314106 deg, approach rate: 0.046857 m/s, LOS rate: -1.495026 deg/s, cmd heading: 161.941504 deg, new cmd heading: 159.813900 deg. 2j@HeadingCmd: 2.789279 target range: 84.099998 and range: 84.10 m. j%2@j!j!j!i!h!h!hahafffrfbf`?ɛ}B#R= 隅 II  =ɚiI Y=I2@ii)2@)EE*E"EUWill construct direction to contact in vehicle frame from tetrahedron phase data.zK LKs9KKDK%)(   *F= ?2F9 :F9 BF= $5JF9 $?I G%8U>G Will construct direction to contact in vehicle frame from tetrahedron phase data.BO->gww,[ABx;@YBt'I@B >9BsaW`U?`dr_?ޱ?ɨBx;@B;@yZB^5!IifC>If> f=fp=MMb@Mb@Mb@III I)IYMd;O?p= ף?~jtyM4?M=IMMA M A)MEAIM@IyMGAIe+Ien3٢u= u<9}d:Q }>yy }G٣yyY > Nusing accuracyPremultiplier from config59~?5Yx i35?:B@ E;j;1d5 AEEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 84.10 m.BjRJjR弝 ProNav: ac range: 84.099998 m, nav range: 25.295439 m, bearing: 92.490950 deg, approach rate: 0.032374 m/s, LOS rate: -1.603915 deg/s, cmd heading: 159.813900 deg, new cmd heading: 157.347663 deg. 2jHeadingCmd: 2.746235 target range: 84.099998 and range: 84.10 m. jP/@jjjihhhhBfffrfbf@ɛeBes= ae`\Ii mY=ɚiiiIm Y=IuP/@iqi)P/@)*Fu?2Fq:FyBF}P0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B $?I O >ȯww,/6uA699@Y6WG@6& >96yhh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r~?v5Yr irxzDz@rErs;rs;re5NB A EZjDNOT Ignoring new targets: 84.10 m.BjJjἝ ProNav: ac range: 84.099998 m, nav range: 25.303308 m, bearing: 91.892751 deg, approach rate: 0.020719 m/s, LOS rate: -1.574415 deg/s, cmd heading: 157.347669 deg, new cmd heading: 155.554248 deg. 2jHeadingCmd: 2.714934 target range: 84.099998 and range: 84.10 m. jz-@jjjihhhhfffrfbf @ɛB:u= kI L=ɚi!I%WZ=I%.@i)i))-z-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754166H>I IA!IIBI&I.I6Iկ<:I/ F*F?2F:FBF_0JF*Ja"Jep=JsJiJ1JJK:Jڈ9J3JJe;aJe;aJi:aJj:aGH_>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:17:04.9470  TRx dataTimestamp_ set to:1736378226.181277 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007090zK= uMK= }9K9 K= EK= #ww,YA2|]7@Y2x|E@2_i >92 ףp=?:v?Zd;Oy1?T=j<A A)I@yAI(I̍3٢0 %7=9-^Q 5>9A EG٣ESGyUJ ]> eNusing accuracyPremultiplier from configam59eq~?m5Ye ie#u2?u:uGu@eEe|;e ;eg5}MB }AA EZjDNOT Ignoring new targets: 84.10 m.BjrJjr漝 ProNav: ac range: 84.099998 m, nav range: 25.301680 m, bearing: 91.189702 deg, approach rate: -0.003734 m/s, LOS rate: -1.611780 deg/s, cmd heading: 155.554253 deg, new cmd heading: 153.445976 deg. 2jDHeadingCmd: 2.678138 target range: 84.099998 and range: 84.10 m. jf+@jjjihhhhBfffrfbf` b @ɛB%= !隭yI =ɚiIZ=I1+@ii)f+@)E*F]?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258362G 0P>Ga Bq O >)ww,Av5@YvC@v >9viֻ BDAT read: Tx time:23:17:06.0291 $Ping request sent.]|?]B<@]; ]@٢=L: UH=9UQ ]>ai mG٣iyu }> Nusing accuracyPremultiplier from configm59݉~?u5Y iquH@u@E<<i5}LB 8AE)]{?)]m@I]a*ݻi]g]5?YY:publishing transmit ping timeFpublishing direction and range infoY9]  d?'hܿRS1yYYYY Y)YIYiYYYYY Y)YIYiYYYk]B$΁?k]6= kY k]uʫA:k]BBk]wBZk]Fإ?"]% @O.B}S]  d?'hܿRS1Jk]gRk]5?*]#@_QuVA@pc=S]MA?9?:"k] B*k]Ak]+{Ӂ?k]7 2k]H7k] W?]30oD}龵{?)YIYiYYYY M$?IIk]7 k]Bk]Bk]CȽ? addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.528020 s, deltaX: 1.200005 m, approachRate: 0.340135 m/s, rangeRepo size: 4  Added new target pos. range: 85.300003 m, bearing: 74.236003 deg, lat: 36.904429 deg, lon: -122.119872 deg, deltaT: 3.528020 s, deltaX: 1.200005 m, approachRate: 0.340135 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 85.30 m.Bj Jj ] ProNav: ac range: 85.300003 m, nav range: 35.527962 m, bearing: 84.950961 deg, approach rate: 0.000000 m/s, LOS rate: -1.611780 deg/s, cmd heading: 153.445978 deg, new cmd heading: 151.173159 deg. 2jaeHeadingCmd: 2.638469 target range: 85.300003 and range: 85.30 m. jm(@jijijiiihihihqhqfqfqfyrf@3SU@bf?ɛBU= Y]|IY ][=ɚYiYIe &[=IeI*@iaii)m(@)i*F ?2F:FBFJFZH?ARH>AH>I I4!IIBI&I.I6I<:I_ F Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A JDAT read: TxSync time:23:17:06.0283 BIȬCJIȬCRIȓCZI =bI =jI 5G} @Z>G ?G ?J J BAJ qJ mJ 0J J D:J &9J ـ3J J JZ;J LZ;J :J :G BO}> 1ww,_Ay}B}!IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YV-?L7A`?ktyh1?+= 0 )AI@yfAzK&`KKKKFKI I 3٢= =!=9EQ E>AA MG٣MSGyM M> uNusing accuracyPremultiplier from configq}59ul~?}5Yu iu"1?:F@@uEu];u;uk5 mAEkeU?ke`= ka ka:kaBkaZka"e% @O.B}Se  d?'hܿRS1JkaRka*e#@_QuVA@pc=SeMA?9?:"ka*kakenA?kec7 2ke7kenA?kec7 keH7keBke4إ?Zj1=DNOT Ignoring new targets: 85.30 m.Bj==Jj==m ProNav: ac range: 85.300003 m, nav range: 35.548260 m, bearing: 84.396001 deg, approach rate: 0.044088 m/s, LOS rate: -1.204674 deg/s, cmd heading: 151.173164 deg, new cmd heading: 149.509728 deg. 2juNuHeadingCmd: 2.609437 target range: 85.300003 and range: 85.30 m. ju'@jyjyjyiyhyhyhhBfffrfbfr? $?I!ɛMBUy= Y]6IY =ɚiI[=Iwi'@ii)'@)*F=?2F9:FABFAJFA Will construct direction to contact in vehicle frame from tetrahedron phase data.G H_>G B O% >U7ww,A6@0@Y6_>@6Q>96G B OU > >ww,AHB>IBC IB(!IIBBI@&I@.I@6IB(<:IBm F^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.242439yUBU !IIeIe<٢uW }==9}Q }> G٣y > Nusing accuracyPremultiplier from config59kB~?5Y4 i@E;;o5KB AEZjDNOT Ignoring new targets: 85.30 m.BjJj ProNav: ac range: 85.300003 m, nav range: 35.542046 m, bearing: 83.579345 deg, approach rate: -0.006315 m/s, LOS rate: -1.098264 deg/s, cmd heading: 148.480813 deg, new cmd heading: 147.059971 deg. 2jn<HeadingCmd: 2.566681 target range: 85.300003 and range: 85.30 m. jD$@jjjihhhhff f rf bf ?ɛ=B== AE♾IA E=ɚAiAIMČ\=IMD$@iQiQ)UD$@)Q*F?2F:FBF5JFJQJUkJQJQJQJU9JQJQJQJQJU:JU:G8U>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494872GBO- >zK BHK 9K K GK   % $?I! RDww,A2@,@Y2< ;@2+>92x%B> ImMb@Mb@Mb@iii i)iYmB`"?S㥛?Zd;Oym.?m/ G٣y > Nusing accuracyPremultiplier from config59+~?5Y i[a/?:=@@E;f;p5JB >AEZjDNOT Ignoring new targets: 85.30 m.Bj Jj  ProNav: ac range: 85.300003 m, nav range: 35.525154 m, bearing: 83.138025 deg, approach rate: -0.041485 m/s, LOS rate: -1.084375 deg/s, cmd heading: 147.059970 deg, new cmd heading: 145.735627 deg. 2j :HeadingCmd: 2.543566 target range: 85.300003 and range: 85.30 m. j"@jjjihh!h!h%ɃBf!f)f)rf)bf-`[?ɛ}B})= 隅ŧI {z=ɚiI; ]=I#@ii)"@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746652*F?2F :F BF 3JF G- @Z>G B OE >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998185Kww,X.A4J|uAVA jQ&Yj|uAyj}B}+@Y}89@} >9}ZF G٣SGy捽 > Nusing accuracyPremultiplier from config59~?5Yp ï;@@E;;r5 AZjiuDNOT Ignoring new targets: 85.30 m.BjuJju ProNav: ac range: 85.300003 m, nav range: 35.502453 m, bearing: 82.693594 deg, approach rate: -0.053921 m/s, LOS rate: -1.056287 deg/s, cmd heading: 145.735623 deg, new cmd heading: 144.401733 deg. 2j:5HeadingCmd: 2.520286 target range: 85.300003 and range: 85.30 m. j\L!@jjjihhhhfffrfbfF@ɛ5B5= 15sI1 =;=ɚ9i9I=]=Ie6a!@iaia)e\L!@)i*F?2F:FBFP0JF"G?>GG>jHu<bHu<H}>Iy I}!II}BIy&Iy.Iy6I}ޯ<:I}8 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254371G= H_>G B! Jy J} iJy Jy Jy J} ڈ9Jy Jy Jy Jy J} i:J} j:O >vRww,czHAŷB I)! !Mb@Mb@Mb@ )Y?L7A`?I +y,?+=94 A dA)AI3@yzAI$I<3٢ZL I=9Q > G٣y > Nusing accuracyPremultiplier from config59}?5Y  i8_-?:}<@@!E;w;mt5MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506181zKMv+Xww,9DbA6;'@Y675@6>96ÂB> IIJIJM3٢RA Va=9V5Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f59b}?f5Ybx ibdf9@f@b#Ebq:b:bv5l n(AnEzB*** querying acoustic contact ***jxjxZjDNOT Ignoring new targets: 85.30 m.Bj Jj % ProNav: ac range: 85.300003 m, nav range: 35.457798 m, bearing: 81.870936 deg, approach rate: -0.093537 m/s, LOS rate: -1.339644 deg/s, cmd heading: 143.095851 deg, new cmd heading: 141.932623 deg. 2j-e-HeadingCmd: 2.477192 target range: 85.300003 and range: 85.30 m. j-O@j1j1j1i1h1h1h9h9f9fAfArfAbfE^#@ɛ B h=  ̾I  =ɚiI5N^=I=@i9i9)=O@)A*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:23:17:08.5481 mTRx dataTimestamp_ set to:1736378229.712619uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011247 IG5@Z>G B O5 >7V^ww,!|AH>I I IIBI&I.I6Iɯ<:I* FV%@YV3@Vu>9V G٣SGy   > Nusing accuracyPremultiplier from config59}?5Yx i!%57@%@%E;f;w5) -\A)ZjQUDNOT Ignoring new targets: 85.30 m.Bj]Jj]m ProNav: ac range: 85.300003 m, nav range: 35.421192 m, bearing: 81.429416 deg, approach rate: -0.088368 m/s, LOS rate: -1.066944 deg/s, cmd heading: 141.932629 deg, new cmd heading: 140.606950 deg. 2jm7uHeadingCmd: 2.454054 target range: 85.300003 and range: 85.30 m. ju9@jqjyjihhhhfffrfbf@@s @ɛBխ=  վI =ɚiI/_=I9@ii)9@)E*F ?2F :FBF~0JFG GrAG8U>}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.2 m/s ,DAT read: user:3154> -X#Rx 1: Read range message, but no direction.yy}3ByT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBO >zK 9MK 9K K IK ' $?I he@eww,A6$@Y6 2@6U>96~; G٣y҇ > Nusing accuracyPremultiplier from config59@}?5Y[ iv)?:+6@@'E;;y5HB A"E addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.533208 s, deltaX: 0.799995 m, approachRate: 0.226422 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 85.30 m.BjJju ProNav: ac range: 85.300003 m, nav range: 35.382175 m, bearing: 80.986849 deg, approach rate: -0.086898 m/s, LOS rate: -0.986762 deg/s, cmd heading: 140.606944 deg, new cmd heading: 139.278032 deg. 2juM)HeadingCmd: 2.430860 target range: 85.300003 and range: 86.10 m. j7@jjjihhhh˃Bfffrf`fU@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.@DAT read: x time:23:17:09.6291 ^unknown deviceResponse_: x time:23:17:09.6291 JDAT read: TxSync time:23:17:09.6284 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768086ɛ-B5= 15GI1 5L=ɚ1i1I=_=I=f@i9i)7@)*F5?2F1:F1BF5`0JF1JaJelJe1JaJaJe9Je3Jaam@am@am@am@GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019981G1 B9 O] >lkww,-AyB I II%I%٢Ewܽ EO=9MQ M>IQ UG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]}?e5Y]b i]ߊiim@])E] ;];]f{5uGB }AyZjDNOT Ignoring new targets: 85.30 m.BjJj ProNav: ac range: 85.300003 m, nav range: 35.347767 m, bearing: 80.574177 deg, approach rate: -0.093002 m/s, LOS rate: -1.116479 deg/s, cmd heading: 139.278035 deg, new cmd heading: 138.039016 deg. 2j?HeadingCmd: 2.409235 target range: 85.300003 and range: 86.10 m. j0@jjjihhhhfffrfbf ?ɛ B = 3= I  `=ɚiIn`=IsF@ii)0@)!*F?2F:FBFA5JFZH@ARHAAH>I I IIɂBI =&I.IBD6I<:IO FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270779GGBO>)Urww,Ab @Yb.@b|=9b G٣SGy > Nusing accuracyPremultiplier from config592}?5Y: tIiK_'?:5@@+E* ; ;6}5 AZjDNOT Ignoring new targets: 85.30 m.Bj-Jj-=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.524553 ProNav: ac range: 85.300003 m, nav range: 35.309372 m, bearing: 80.147169 deg, approach rate: -0.092458 m/s, LOS rate: -1.029382 deg/s, cmd heading: 138.039011 deg, new cmd heading: 136.756820 deg. 2j0EHeadingCmd: 2.386857 target range: 85.300003 and range: 86.10 m. jMC@jIjIjIiIhIhIhQhUBfQfQfYrfYbf]4?zKMK@9KKJK`~fUF81*# ɛB=  $?I LI   a=ɚ i I  a=I@ii)C@)EAEEpA*F?2F:FBFP5JF"GG?> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774253G5 @Z>G B O5 >^nxww,\AB@YB4-@Bs=9Bԙ`d fG٣dyfP f> nNusing accuracyPremultiplier from confighn59jA}?n5Yj' ijpr3@r@j-Ej :jq:j~5vFB vCAv%E B*** querying acoustic contact ***j j J9J=gJ=0J9J9J=9J=ـ3J9ZjDNOT Ignoring new targets: 85.30 m.BjJj ProNav: ac range: 85.300003 m, nav range: 35.271057 m, bearing: 79.765550 deg, approach rate: -0.097886 m/s, LOS rate: -0.976004 deg/s, cmd heading: 136.756821 deg, new cmd heading: 135.610882 deg. 2jt'HeadingCmd: 2.366856 target range: 85.300003 and range: 86.10 m. jz@jjjihhhhfffrf bf-l?ɛuBuHO= y}Iy }=ɚyiyI}!a=I1V@ii)z@)*Fe?2Fa:FaBFeP0JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.026315 IG!G B O- >H= >I9  I= II= BI9 ~ww,'A&Iq.Iq6Iu<:IuR FBI5CJI5CRI1ZI1bI5 =jI54VAG@YV    G٣ y  > Nusing accuracyPremultiplier from config%59~l}?%5Y i!%1@%@/E;^;55EB 5A5(EZjQ]DNOT Ignoring new targets: 85.30 m.BjetJjetu ProNav: ac range: 85.300003 m, nav range: 35.223057 m, bearing: 79.343924 deg, approach rate: -0.122819 m/s, LOS rate: -1.080281 deg/s, cmd heading: 135.610879 deg, new cmd heading: 134.344496 deg. 2juX9}HeadingCmd: 2.344754 target range: 85.300003 and range: 86.10 m. j}r@jyjyjihhhhfffrfbf@?ɛBՍ= I =ɚiI$lb=Ir@ii)r@)*JMR="JM%=Er=*F?2F:FBF^4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530635 $?I zKm YNKm 9Ki Km KKm BK} pA:K} oAG 8U>G B O >ʅww,KA6~w@Y6y)@6W=96 G٣SGy > Nusing accuracyPremultiplier from config59V}?5Y/ i"?:2@@1E;;5 /AZjDNOT Ignoring new targets: 85.30 m.Bj  Jj   ProNav: ac range: 85.300003 m, nav range: 35.179653 m, bearing: 78.898237 deg, approach rate: -0.097317 m/s, LOS rate: -1.000513 deg/s, cmd heading: 134.344493 deg, new cmd heading: 133.006038 deg. 2j+%HeadingCmd: 2.321393 target range: 85.300003 and range: 86.10 m. j%@j!j!j!i!h)h)h)h-Bfffrfbf@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782710ɛBq= 隕* I oe=ɚiI?c=I$"@ii)@)Eۋ=*F?2F:FBFP0JFJoJhJJJ>:JȆ9JJG!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034400G B O% > Y IY vww,=2A @:@Y:'@:=9:?IF<IR'IR@3٢Z > ZX=9^9Q ^>\` bG٣`yb˛ b> jNusing accuracyPremultiplier from configdn59f4D}?n5Yf iflr1@r@f3Ef\,;f:f75t vqAv+EZjquDNOT Ignoring new targets: 85.30 m.Bj}Jj} ProNav: ac range: 85.300003 m, nav range: 35.138115 m, bearing: 78.523425 deg, approach rate: -0.107347 m/s, LOS rate: -0.969759 deg/s, cmd heading: 133.006036 deg, new cmd heading: 131.880424 deg. 2jb&HeadingCmd: 2.301748 target range: 85.300003 and range: 86.10 m. jO@jjjihhhhfffrfbf@ɛBǁ= %I q=ɚiIc=Izb@ii)O@)EE*E"EjH=<bH=<HE>IEC IE IIE}BIA&IA.IA6IE<:IED F=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.287471*F?2F:FBFJFJ J G! G B O- >Nww,MA:@Y:%@:=9:=b]q?`pޖ?`?ɨ:@: ;:!CyBABB6 IZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538343Mb@Mb@Mb@ )YCl?q= ףp?~jty;?=D3 A  A)+AIQAy AI0I(3٢  -=9 Q > G٣ $?Iy v > %Nusing accuracyPremultiplier from config!-59%,}?55Y%+ i%]=e"?=:=1@=@%6E%Z;%Y;%J5EDB EAE.EzKKKKKLK!1=?=850/.'&%%""   RK ?JK?ZjDNOT Ignoring new targets: 85.30 m.Bj%Jj%5 ProNav: ac range: 85.300003 m, nav range: 35.091827 m, bearing: 78.046587 deg, approach rate: -0.095972 m/s, LOS rate: -0.989964 deg/s, cmd heading: 131.880421 deg, new cmd heading: 130.448335 deg. 2j5)=HeadingCmd: 2.276753 target range: 85.300003 and range: 86.10 m. j=R@j9jAjAiahihihihmBfqfqfqrfqbfu@ɛB= <1I =ɚiIRd=IR@ii)R@)*F?2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:17:12.1492 TRx dataTimestamp_ set to:1736378233.495205checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794537G G ?G >G B O >J pJ eJ J J A:J 9J J uww,gA6@Y6$@6#=96 X\ bG٣bSGyb f> nNusing accuracyPremultiplier from confighr59jb}?r5Yj ijtv0@v@j8Ejr;jZ;jއ5| AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 85.30 m.BjJj% ProNav: ac range: 85.300003 m, nav range: 35.051956 m, bearing: 77.685602 deg, approach rate: -0.108470 m/s, LOS rate: -0.983178 deg/s, cmd heading: 130.448335 deg, new cmd heading: 129.364284 deg. 2j%(-HeadingCmd: 2.257833 target range: 85.300003 and range: 86.10 m. j-U@jIjQjQiQhQhQhYhYfYfYfYrfabfe: @ɛBbb= ?I =ɚiI׵e=IU@ii)U@)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044418=c~GQq %Yy#B*F?2F:FBF0JF $?I -Q%@-WBGE an>G! B) OM >H} >Iy  I} S II} YBI} =&Iy .Iy 6I} I<:I} F} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 86.9 m (Round-trip 115.9 ms) speed -0.1 m/s  ,DAT read: user:3155>  BDAT read: Tx time:23:17:13.2291  $Ping request sent. AI MG٣Iym > Nusing accuracyPremultiplier from config59}?5Y  i)@:E::≖5CB A1E- addTargetRange:: Added new target pos. range: 86.900002 m, deltaT: 3.778447 s, deltaX: 0.800003 m, approachRate: 0.211728 m/s, rangeRepo size: 4 Zj)-DNOT Ignoring new targets: 85.30 m.Bj5Jj5E ProNav: ac range: 85.300003 m, nav range: 35.002960 m, bearing: 77.222351 deg, approach rate: -0.111297 m/s, LOS rate: -1.053764 deg/s, cmd heading: 129.364288 deg, new cmd heading: 127.972879 deg. 2je4mHeadingCmd: 2.233548 target range: 85.300003 and range: 86.90 m. jmt@jijijqiqhqhqhyhyfffrfU@bf ?ɛB%t= )5)?I1 ==ɚi I Uf=It@ii)t@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:17:13.2284 ) $?I*F2F:FBF`0JFzKE ܳMKE 9KA KE MKE   6 b;=  BKY :K] pAG @Z>G B O >>ww,cA:M@Y:l @:s=9: 0  A)AIAy AIIV٢c :=9yQ > G٣y >  Nusing accuracyPremultiplier from config 59|?5YZ i?://@@) @)JaKe3 Ke.KaKa"KaJ)J-hJ-1J)J)J-Ȇ9J-3J)*F%?2F!:F)BF-0JF)uWill construct direction to contact in vehicle frame from tetrahedron phase data. q Iq Ga GA BI Om >+\ww,9 A:v@Y:@:=9:q\\ ^G٣bSGybA b> fNusing accuracyPremultiplier from configdj59fm|?j5Yf ifގlnQ-@n@f>Ef ;fh;fX5vBB v Av4EZjDNOT Ignoring new targets: 85.30 m.BjrJjr- ProNav: ac range: 85.300003 m, nav range: 34.914299 m, bearing: 76.458188 deg, approach rate: -0.118777 m/s, LOS rate: -0.961329 deg/s, cmd heading: 126.719434 deg, new cmd heading: 125.677810 deg. 2j-$5HeadingCmd: 2.193491 target range: 85.300003 and range: 86.90 m. j5*b @j1jjihhhhfffrfbf@Z*?ɛ]B]d2F= Y]OIa e=ɚaiaIe$hh=ZHRHH>I I( II6BI =&I.I6I<:ID FI*b @ii>)*b @)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm5JFiGE8U>GB)OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data.Cww,?A $?IR_@YRZ@RU =9RS#I A I A)IhAyz AII(*٢Z :=zKROKŷ9KKNKRK?JK?9Q > G٣y'y > Nusing accuracyPremultiplier from config59/|? 5Y i> ? : -@ @@E;I;H5  A7EZj9EDNOT Ignoring new targets: 85.30 m.BjEJjM ProNav: ac range: 85.300003 m, nav range: 34.864853 m, bearing: 76.032147 deg, approach rate: -0.111838 m/s, LOS rate: -0.964984 deg/s, cmd heading: 125.677803 deg, new cmd heading: 124.398094 deg. 2j%HeadingCmd: 2.171156 target range: 85.300003 and range: 86.90 m. j: @jjjihhh h zBf1f9fArfAbfEE=?ɛB_V= 隵SI  x=ɚiIxYi=I: @ii|>): @)*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G 4>G ?G >G B O >mww,AJ @YJ @J=9J%zll rG٣pyr r> vNusing accuracyPremultiplier from configtz59v|?z5Yv iv|~+@~@vAEvy;v;v吖5 % A B*** querying acoustic contact ***jjZj9=DNOT Ignoring new targets: 85.30 m.BjMzJjMzeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 85.300003 m, nav range: 34.818752 m, bearing: 75.678500 deg, approach rate: -0.114221 m/s, LOS rate: -0.877366 deg/s, cmd heading: 124.398099 deg, new cmd heading: 123.335880 deg. 2jHeadingCmd: 2.152617 target range: 85.300003 and range: 86.90 m. j{ @jjjih $?Ihhh!f!f!f!rf!bf-?ɛBC= 隽 XI =ɚiI@Aj=I{ @iiKr>){ @)*Fa2Fa:FaBFeP0JFaG=t>GB!O=r>H>I I IIBI&I.I6I.<:I~ F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013180CWww,AJ @YJ@J=9Jcw    G٣ SGy = > Nusing accuracyPremultiplier from config%59]|?%5Y} i!%)@-@CE:":55AB 5, A58E*J=4="J==JAJEgJE0JAJAJE9JEـ3JAJET;aMJET;aMJE?:aUJE@:aUZj%DNOT Ignoring new targets: 85.30 m.Bj% Jj% U ProNav: ac range: 85.300003 m, nav range: 34.761723 m, bearing: 75.286876 deg, approach rate: -0.142407 m/s, LOS rate: -0.979511 deg/s, cmd heading: 123.335881 deg, new cmd heading: 122.159256 deg. 2jU(]HeadingCmd: 2.132081 target range: 85.300003 and range: 86.90 m. j]t@jYjajaiahahahihifififrfbf x@PExceeded connect timeout, disconnecting.ɛB<= EYIA EF=ɚAiAIEZ)k=IMt@iIiMj>)Ut@)QeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265052 I h*F?2F:FBFJFzKBoIK@9KKOKBK:KG= S~>G B! O= >tww,EAnWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516980yBIMb@Mb@Mb@ )Y`"?sh|?? rhy?)>C ` A  A)AAI~Ay AI"Iq3٢0 0=9Q > G٣y > Nusing accuracyPremultiplier from config59;|?5Y iD?:*@@FEH;E;5! %Y A!ZjIUDNOT Ignoring new targets: 85.30 m.BjUJjUm ProNav: ac range: 85.300003 m, nav range: 34.702084 m, bearing: 74.832431 deg, approach rate: -0.135623 m/s, LOS rate: -1.035200 deg/s, cmd heading: 122.159258 deg, new cmd heading: 120.793854 deg. 2jm1mHeadingCmd: 2.108250 target range: 85.300003 and range: 86.90 m. ju@jqjqjqiqhqhqhyh}{Bfyfyfrfbf@ɛB:= 隽 ]I :=ɚiIl=I@ií>)@)*Fy2Fy:FyBF_0JFGpA GGU2Fx>GB!O=q>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769021 $?I ww,9AyBII-I-3٢=gJ< =k=9AQ E?AA EG٣IyI M? UNusing accuracyPremultiplier from configQ]59UV|?]5YU iUaae@UGEU2;U;U;5u@B }A A};EZjDNOT Ignoring new targets: 85.30 m.BjJj ProNav: ac range: 85.300003 m, nav range: 34.658672 m, bearing: 74.489643 deg, approach rate: -0.124757 m/s, LOS rate: -0.986345 deg/s, cmd heading: 120.793849 deg, new cmd heading: 119.764316 deg. 2j:)HeadingCmd: 2.090282 target range: 85.300003 and range: 86.90 m. j-@jjjihhhhfffrfbfH@ɛ S#= P=%g\I)jHqbHu<H}>I}C I}II} BIy&Iy.I}CD6I}<:I}q FBI=®CJI=®CRI9ZI= =bI= =jI=(5 =ɚiIIl=I-@ii >)-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:17:15.7494 TRx dataTimestamp_ set to:1736378237.022671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024739*F?2F:FBF0JFG]j>GB)OEQ>JqJu@AJ}oJyJyJyJ}>:JyJyJyJ}~O;J}O;JyJy - nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273253 I Mww,}RAR@P@YR;o@RA=9RQ` A ` A)I Ay AII0٢ '  >=9 8Q  > G٣SGyN > %Nusing accuracyPremultiplier from config!-59%r|?-5Y%٣ i%ې-?-:5^$@5@%IE%;%;%59 = A9zKKKKPKRK ?JKZj!MDNOT Ignoring new targets: 85.30 m.Bj]Jj] ProNav: ac range: 85.300003 m, nav range: 34.582348 m, bearing: 74.079941 deg, approach rate: -0.168574 m/s, LOS rate: -0.906879 deg/s, cmd heading: 119.764321 deg, new cmd heading: 118.532702 deg. 2jMHeadingCmd: 2.068786 target range: 85.300003 and range: 86.90 m. jUf@jQjQjYiYhhhhBfffrfbf @^ @ɛUBUH= QUaIQ ]g'=ɚYiYI]; n=If@ii_P>)f@)Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:17:15.7494 LVL= 18768, 23585, 13234, 22739, AGC= 60, IDX= 433, 0.29,-1.238,-0.694, 1.176,-0.165, PHS=-0.986,-0.482, 1.337, RAW= 221.9, 1.2, CAL= 222.6, -3.3, ROT= 287.4, 3.3 eYgot valid direction response: 23:17:15.7494 LVL= 18768, 23585, 13234, 22739, AGC= 60, IDX= 433, 0.29,-1.238,-0.694, 1.176,-0.165, PHS=-0.986,-0.482, 1.337, RAW= 221.9, 1.2, CAL= 222.6, -3.3, ROT= 287.4, 3.3 mPDAT read: Bearing 287.4, 3.3 (Local) ~Local bearing/azimuth received: Bearing 287.4, 3.3 (Local) DAT read: Range 10 to 50 : 87.0 m (Round-trip 116.1 ms) speed 0.0 m/s ,DAT read: user:3156> BDAT read: Tx time:23:17:16.8291 $Ping request sent.GE ?GE ?G B O >ww,/nnAy-B-II=%I=)3٢u4< uG=9uQ }>yy }G٣yy >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:17:16.8284 Nusing accuracyPremultiplier from config59B`|?5YD i(@KE; $?I;홖5-?B -^ A->Ekeμ?keY ka keaA:keBBke٬BZke6?"e;g5)QT"-ӮJe׷c7_ia@F8NJke9&οRkeE )?*e8mRL@(LKC@il7Ke٣?gc?N"keZB*keu`Bke;؎?ke= 2ked-Ake+{Ӂ?kakake(Bke? addTargetRange:: Added new target pos. range: 87.000000 m, deltaT: 3.528651 s, deltaX: 0.099998 m, approachRate: 0.028339 m/s, rangeRepo size: 4 - Added new target pos. range: 87.000000 m, bearing: 34.514841 deg, lat: 36.904491 deg, lon: -122.119872 deg, deltaT: 10.840306 s, deltaX: 1.699997 m, approachRate: 0.156822 m/s, posRepo size: 4 Zj)-DNOT Ignoring new targets: 87.00 m.Bj5Jj1e ProNav: ac range: 87.000000 m, nav range: 37.039787 m, bearing: 63.443071 deg, approach rate: 0.000000 m/s, LOS rate: -0.906879 deg/s, cmd heading: 118.532701 deg, new cmd heading: 117.396386 deg. 2jamHeadingCmd: 2.048954 target range: 87.000000 and range: 87.00 m. jm"@jijijqiqhyhhhfffrfU@bf@?ɛ5B5(= 1U_IY ]>=ɚYiYI]n=Ie"@iaiek>)e"@)i*F-?2F1:F1BF50JF1G %c>HI IIIBI =&IED.I6I<:Ic FGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.ww, )A6@Y6@6"=960??ɨ6@*JBC="JB%=JPJRfJPJPJPJR9JPJPJPJPJR:JR:6Q;6#Cy~B~II I b1٢%< %Q=9%׻Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=cP|?E5Y= i=nAM @M@=ME=;=;=5Q U3 AQB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.00 m.Bj ΆJj Άu ProNav: ac range: 87.000000 m, nav range: 37.002121 m, bearing: 63.087314 deg, approach rate: -0.099724 m/s, LOS rate: -0.942845 deg/s, cmd heading: 117.396390 deg, new cmd heading: 116.328161 deg. 2ju!}HeadingCmd: 2.030309 target range: 87.000000 and range: 87.00 m. j}@jyjyjyiyhhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ!%^,= )-_]I) -O=ɚ)i)I-o=I5@i1i5oE>)=@)9zK-BIK-K9K)K-QK- +CUYYURNIFC?;51,&$  BK9:K=qAEe p,=*F ?2F :F BF `0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980604GEQQ>GMqAGMpAG!B1OU?ww,%vAR?YR @R9=9R \jvA  A)IAyfAIIT٢s =9"Q > G٣SGyk > Nusing accuracyPremultiplier from config59:|?5Y ȋ?:"@@PE;; 5>B 8 AAEZjDNOT Ignoring new targets: 87.00 m.BjJj- ProNav: ac range: 87.000000 m, nav range: 36.925423 m, bearing: 62.574418 deg, approach rate: -0.142469 m/s, LOS rate: -0.954683 deg/s, cmd heading: 116.328162 deg, new cmd heading: 114.786673 deg. 2j-#=HeadingCmd: 2.003405 target range: 87.000000 and range: 87.00 m. j=7@jAjAjQiYhihyhhB~G5tAA M YU5tAyU@Bfifqfqrfqbfu@?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230274 IɛBt,D= ^I Pv=ɚiIp=I7@ii e4>)7@)E- =ZH RH H >I  I I I =&I FD.I 6I <:I - F*F ?2F :F BF _0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483140G} E>GQ Ba O >O?ww,G;AN?YN @N =9N^pp rG٣pyve v> ~Nusing accuracyPremultiplier from configx~59z+|?~5Yz izy@@zREz:z:z5  O ADEJ!J!J-rJ-eJ-1J)J-G:J-9J-3J)J-_;J-_;J-:J-:ZjQUDNOT Ignoring new targets: 87.00 m.Bj]qJj]q ProNav: ac range: 87.000000 m, nav range: 36.867271 m, bearing: 62.214982 deg, approach rate: -0.136420 m/s, LOS rate: -0.844544 deg/s, cmd heading: 114.786670 deg, new cmd heading: 113.706795 deg. 2jHeadingCmd: 1.984558 target range: 87.000000 and range: 87.00 m. j?jjjihhhhfffrfbfB`?ɛB9= !%`I! % =ɚ!i!I%q=I-?i)i5A/>)5?)1EAEA*EA"EA U$?IY]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.736635*Fy2Fy:FyBF0JFzKU MKU 9KQ KU RKU J.#"}vO ,X?*'\~gF1$ RKe ?JKe ?G F>G B O >n&ww,/A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990081> ?Y># @>&u=9>%H;N?@(?!`1? M?ɨ> ?>;5ף5A 5` A)1I11y1I%I%<2٢e@R= e#=9efʺQ e>ii mG٣iyu` u> }Nusing accuracyPremultiplier from configy59}#|?5Y} i}_#?:E@@}UE}l;};}5=B  ABEZjDNOT Ignoring new targets: 87.00 m.Bj Jj = ProNav: ac range: 87.000000 m, nav range: 36.781437 m, bearing: 61.738504 deg, approach rate: -0.183683 m/s, LOS rate: -1.022017 deg/s, cmd heading: 113.706797 deg, new cmd heading: 112.274342 deg. 2j=Y/EHeadingCmd: 1.959557 target range: 87.000000 and range: 87.00 m. jE?jAjIjIiIhIhIhQhUBfQfyfrfbf@@ɛ-B-;= 1uYZIq }W=ɚyiyI}=r=I?ii-.>)?)*F?2F:FBF3JF"G=G >G+->>G ?G> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242184GyBO>wEww,A 6?Y6B@68=96IV=IZIZ(*3٢׼ e=9 Q  >    G٣ SGy% > %Nusing accuracyPremultiplier from config!-59% |?-5Y% i%)-@-@%VE%":%:%59 = A=EEZjaeDNOT Ignoring new targets: 87.00 m.Bjm-Jjm-H>I III BI =&IED.I6Iί<:I; F ProNav: ac range: 87.000000 m, nav range: 36.716522 m, bearing: 61.400256 deg, approach rate: -0.182469 m/s, LOS rate: -0.952456 deg/s, cmd heading: 112.274342 deg, new cmd heading: 111.257918 deg. 2jj#HeadingCmd: 1.941817 target range: 87.000000 and range: 87.00 m. ju?jjjihhhhfffrfbf@ɛT= \I -=ɚiICs=Iu?ii#(>)u?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494784*F?2F:FBFP0JFGUc/>G!B1OM1>*J"JR= $?I h- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748720f.xw,QA2e?Y2 @2s\=92a G٣y!f > Nusing accuracyPremultiplier from config59{?5YB iݒ$?:@@XE ;] ;Z5  AB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 87.00 m.Bj>Jj> ProNav: ac range: 87.000000 m, nav range: 36.620846 m, bearing: 61.004210 deg, approach rate: -0.224550 m/s, LOS rate: -0.931929 deg/s, cmd heading: 111.257914 deg, new cmd heading: 110.066854 deg. 2jHeadingCmd: 1.921029 target range: 87.000000 and range: 87.00 m. jG?jzKlOPK9KKSK(CI1BK:KpAjjihhhhƃBfffrfbf@M@ɛmBm(= 隍^I p=ɚiIjt=IG?ii|%>)G?)*FM?2FQ:FYBFYJFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:17:19.3488 TRx dataTimestamp_ set to:1736378240.552664checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999299G J oJ cJ J J >:J x9J J a @a @a @a @Ga Bq O >W xw,/A6?Y6r@6<=96=y6Hâ޿$`E?`޿UD?@>??ɨ6?6V؋;6"CybBbIIj-Ij3٢rk< vW=9v"Q v>xx zG٣xyzl ~> Nusing accuracyPremultiplier from config 59{? 5YQ~ i e@@ZE;";5)~?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250942*F?2F:FBF_0JFGqA GGm+>GABIOe4>jHbH<H>I I IIBI =&I.I6I#<:Iz F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:17:19.3489 LVL= 22832, 30769, 14834, 30499, AGC= 57, IDX= 443,-0.29,-0.500,-0.475, 1.442, 0.302, PHS=-0.714,-0.731, 1.137, RAW= 209.6, 3.4, CAL= 210.5, -3.3, ROT= 299.5, 3.3  Ygot valid direction response: 23:17:19.3489 LVL= 22832, 30769, 14834, 30499, AGC= 57, IDX= 443,-0.29,-0.500,-0.475, 1.442, 0.302, PHS=-0.714,-0.731, 1.137, RAW= 209.6, 3.4, CAL= 210.5, -3.3, ROT= 299.5, 3.3  PDAT read: Bearing 299.5, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 299.5, 3.3 (Local)  DAT read: Range 10 to 50 : 86.6 m (Round-trip 115.5 ms) speed 0.1 m/s  ,DAT read: user:3157>  BDAT read: Tx time:23:17:20.4292  $Ping request sent. ۙ ۙ  :publishing transmit ping time  Fpublishing direction and range infoؙ 9؝  }fHFSWܿyؙ ؙ ؙ ؙ ٙ )ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۝ q/?uֻ?o[?)ۙ Iۙ iۙ ۙ ۙ ۙ &Cxw, }IA66?Y6]:@6=96M=y6H`hݿkˀE?Oݿ`V?`vQ??ɨ66?6l;6!CyNBNI)P RAIZIZM3٢\ H=9Q  >    G٣ SGy\ 5> ENusing accuracyPremultiplier from configAM59E8{?M5YEx iEXIU@u@E]EE;E;EШ5y 6 Ak?k"V k k1CA:k3BBkBZkwԤ>"%bܑ }LS8F,C }fHFSWܿJkֿRk >*N+R@ai>8@ Ip8-D-(?՘!?sϑݿ"kA*k_Bk)iΓ?kT 2kAkk7 kkBk֞? addTargetRange:: Added new target pos. range: 86.599998 m, deltaT: 3.533213 s, deltaX: -0.400002 m, approachRate: -0.113212 m/s, rangeRepo size: 4  Added new target pos. range: 86.599998 m, bearing: 18.445429 deg, lat: 36.904491 deg, lon: -122.119872 deg, deltaT: 3.533213 s, deltaX: -0.400002 m, approachRate: -0.113212 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 86.60 m.Bj Jj  ProNav: ac range: 86.599998 m, nav range: 36.420914 m, bearing: 60.259245 deg, approach rate: 0.000000 m/s, LOS rate: -0.935950 deg/s, cmd heading: 109.005871 deg, new cmd heading: 107.744486 deg. 2jHeadingCmd: 1.880496 target range: 86.599998 and range: 86.60 m. j?jjji hh $?IhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.4=R= JDAT read: TxSync time:23:17:20.4285 frf=`fU@bf=?ɛB-1= 隕aI i=ɚiI0u=I?ii">)?)*F?2F:FBF\0JFzK% wLK! K! K% TK% &YnbN</% RK5 ?JK5 ?G} x&>GQ BY Ou >ۂxw,ȲcAWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B5IMb@Mb@Mb@ )YuV?MbX?:vyr(?=Լ vA)AIdAyAIIq٢Uw  ]5=9Q > G٣y > Nusing accuracyPremultiplier from config59{?5Y]r iy*?: @@_E|;]u;Ԫ5 F AZjAMDNOT Ignoring new targets: 86.60 m.BjU$JjU$u ProNav: ac range: 86.599998 m, nav range: 36.297722 m, bearing: 59.820356 deg, approach rate: -0.285937 m/s, LOS rate: -1.022139 deg/s, cmd heading: 107.744486 deg, new cmd heading: 106.423597 deg. JnJhJJJ|;:JȆ9JJ2j_/HeadingCmd: 1.857442 target range: 86.599998 and range: 86.60 m. j?jjjihhhhʃBfffrfbf%|P?ɛB`5= 隝bI =ɚiIxbv=I?ii9>)?)*F?2F:FBF_0JF QIQG!#>Will construct direction to contact in vehicle frame from tetrahedron phase data.GYBiO>ͣxw,jg}A2K?Y2@2Ũ=92O=y2H@<ۿ`?`U?@ ۿm? `>٩??ɨ2K?2W;0yRBRIIZIZ?13٢b( bi=9fۼQ f>dd jG٣hyj j? rNusing accuracyPremultiplier from configlv59n{?v5Yn|m inړxz @z@naEn>;n :nM5H >I  I  II BI  =&I .I 6I ǯ<:I 7 FBICJICRIZI =bI =jI4%;B %{ A-IEZjIUDNOT Ignoring new targets: 86.60 m.BjU?JjU?m ProNav: ac range: 86.599998 m, nav range: 36.200989 m, bearing: 59.502264 deg, approach rate: -0.286898 m/s, LOS rate: -0.945937 deg/s, cmd heading: 106.423595 deg, new cmd heading: 105.466862 deg. 2jmL"uHeadingCmd: 1.840744 target range: 86.599998 and range: 86.60 m. ju?jjjihhhhfffrf bf ?ɛUBu %< y}fIy }=ɚyiyI}v=I?iiZ!>)?)Ea>E!>5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-1JF1"G5=G5=GMOh#>G1 BQ Om > a Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.%xw,BA2?Y2{=?2,=92uA=y2H 5ڿ$1(?@A? ڿ@C.?@!??ɨ2?2Y;2#CyNBRIiV=IV:? Vp=T5Mb@Mb@Mb@111 1)1Y5J +?Zd;O?:vy5(?5j=15A 1)5XAI5 A1y5AIUIUF٢e*b< e@=9m#Q m>ii uG٣uSGyu5- u> Nusing accuracyPremultiplier from config59R{?5Yf i%x*?%:%@%@cEK;;=5) -c A)UB*** querying acoustic contact ***jQjQZjYeDNOT Ignoring new targets: 86.60 m.BjeJjm} ProNav: ac range: 86.599998 m, nav range: 36.067944 m, bearing: 59.087439 deg, approach rate: -0.302938 m/s, LOS rate: -0.948014 deg/s, cmd heading: 105.466863 deg, new cmd heading: 104.218006 deg. 2j}"HeadingCmd: 1.818947 target range: 86.599998 and range: 86.60 m. jD?jjjihhhhBfffrfbf@>?ɛB= eI K=ɚiIқw=ID?iiIE(>)D?)zKMK9KKUK*FM?2FI:FQBFUP5JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G5k:">G B! OE >J oJ jJ J J >:J 9J J +xw,TA6?Y6?6 =96)=y6H @ٿ g?O?ٿD?@䟲Z?`V?ɨ6?6;6 CyBҁBBIIJ,IJ3٢V] VW=9ZgQ Z>XX ^G٣\y^K2 ^> fNusing accuracyPremultiplier from config`f59bѯ{?j5Yba ibPhj@j@beEb:bq:bѯ5n:B rA ArLE $?IhZjDNOT Ignoring new targets: 86.60 m.BjJj5 ProNav: ac range: 86.599998 m, nav range: 35.957237 m, bearing: 58.749706 deg, approach rate: -0.306316 m/s, LOS rate: -0.937354 deg/s, cmd heading: 104.218004 deg, new cmd heading: 103.201798 deg. 2j5 =HeadingCmd: 1.801211 target range: 86.599998 and range: 86.60 m. j=?j9jAjAiAhAhAhIhIfIfIfIrfQbfU ?ɛy< 隅tI =ɚiI0x=I?ii(>)?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750085)*F?2F:FBF.2JFGX&>GBOA>ZHRH@AH>IC IIIBI&I.I6I <:Ik FU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002631 2xw,A6_ ?Y6S^?6s=96I=y6H 6׿yC??@׿$?걿 Eܢ?V?ɨ6_ ?6A;6!Cy^́B^IIfIfT3٢&ϼ D=9[ٻQ >! %G٣!y%R %> -Nusing accuracyPremultiplier from config)559-{?=5Y-C[ i-9=0@=@-gE-` ;- ;-5A Em AIZjiuDNOT Ignoring new targets: 86.60 m.BjuJj} ProNav: ac range: 86.599998 m, nav range: 35.825523 m, bearing: 58.361200 deg, approach rate: -0.316496 m/s, LOS rate: -0.936968 deg/s, cmd heading: 103.201795 deg, new cmd heading: 102.032163 deg. 2j HeadingCmd: 1.780797 target range: 86.599998 and range: 86.60 m. j*?jjjihhhhfffrfbf_Y@ɛBxW< wI 8=ɚiIAx=I*?ii'>)*?)E*F?2F:FBFP0JFGpA GoA IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258352G- >(>G B O5 >zK BHK K K VK ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5071208xw,A25?Y2)?2["=92=y2HֿH~??ֿ?@ ?[?ɨ25?2j;2"Cy:āB:I)< >A@@Mb@Mb@Mb@ )YuV?(\µ?Qyr(?=\A )+AI AyII2٢ ' :=9%FQ %>)1 5G٣=SGy^3 > Nusing accuracyPremultiplier from config59 {?5YKT i͔*?:C@@jE7]<[<5! - A)JmmJmeJiJiJm\8:Jm9JiJiZjDNOT Ignoring new targets: 86.60 m.BjxJjx  ProNav: ac range: 86.599998 m, nav range: 35.676304 m, bearing: 57.942664 deg, approach rate: -0.307949 m/s, LOS rate: -0.867350 deg/s, cmd heading: 102.032166 deg, new cmd heading: 100.771523 deg. 2j 5HeadingCmd: 1.758795 target range: 86.599998 and range: 86.60 m. j51 ?jQjQjQiQhQhQhYh]ɃBfafafirfibfmbQ@ɛB < 隽|I Q7=ɚiI]y=I1 ?ii)>)1 ?)= )uNG|uAA -I#Y5|uAy5B $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758950*F?2F:FBF4JFG] K'>H >I  I II BI &I .I DD6I ߯<:I L FG B) OE >93@xw,AFw?YFkS?FB~=9F==yFHɦտ |? ?տ ٱ?կf?@?ɨFw?FM;DyZBZIIfIf(٢n nO=9r0Q r>pt vG٣tyzxR z> ~Nusing accuracyPremultiplier from config|59~a{?5Y~nN i~@ @~lE~:~P:~J59B d AZj9=DNOT Ignoring new targets: 86.60 m.BjEOJjEO] ProNav: ac range: 86.599998 m, nav range: 35.549290 m, bearing: 57.595478 deg, approach rate: -0.362841 m/s, LOS rate: -0.995342 deg/s, cmd heading: 100.771525 deg, new cmd heading: 99.726367 deg. 2je*eHeadingCmd: 1.740553 target range: 86.599998 and range: 86.60 m. jeu?jijijiihhhhfffrfbf@y&@ Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:17:22.9477 TRx dataTimestamp_ set to:1736378244.080717checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011178ɛ=BM u< IMIQ Up=ɚQiQIUy=I]u?iYi]?(>)]u?)a*F?2F:FBF_0JF*Ju4="Jup=G%Mf(> IG B) O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264745WFxw,A6̐?Y6?6l=96\=y6H`yxԿP ? G٣y_< > Nusing accuracyPremultiplier from config59 {?5YG i=&?:@@nEJ;BI;)5  AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 86.60 m.BjJj ProNav: ac range: 86.599998 m, nav range: 35.405575 m, bearing: 57.211822 deg, approach rate: -0.334324 m/s, LOS rate: -0.896116 deg/s, cmd heading: 99.726369 deg, new cmd heading: 98.570894 deg. 2jHeadingCmd: 1.720387 target range: 86.599998 and range: 86.60 m. j5?jjjihhhhBfffrfbf @ɛEBM<zKmBoIKm59KiKmWKm-K`nruvz y}JIy ȹ=ɚiIzz=I5?iii(>)5?)EEqA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514324*F5?2F1:F1BF1JF1"G==G==G nz(>Ga B O > I Lxw,4A.Will construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: 23:17:22.9477 LVL= 21792, 21393, 11906, 26675, AGC= 58, IDX= 431, 0.02,-0.756,-1.167, 0.860,-0.141, PHS=-0.527,-0.979, 0.998, RAW= 197.4, 5.7, CAL= 197.9, -2.5, ROT= 312.1, 2.5 RYgot valid direction response: 23:17:22.9477 LVL= 21792, 21393, 11906, 26675, AGC= 58, IDX= 431, 0.02,-0.756,-1.167, 0.860,-0.141, PHS=-0.527,-0.979, 0.998, RAW= 197.4, 5.7, CAL= 197.9, -2.5, ROT= 312.1, 2.5 VPDAT read: Bearing 312.1, 2.5 (Local) V~Local bearing/azimuth received: Bearing 312.1, 2.5 (Local) ^DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed 0.2 m/s b,DAT read: user:3158> fBDAT read: Tx time:23:17:24.0292 f$Ping request sent.f,,5:publishing transmit ping timed=Ӆ?Y=?=F=9=^ =y=Hbҿװ?B? oѿ~?ۨ@E??ɨ=Ӆ?=O;="CyMBMXIUFpublishing direction and range info,9.q4Ŀ64VU}[k=[пy,,,, ,),I,i,,,,, ,),I,i,,,.7?i?`?d?),I,i,,,,im=Imp= u=u=II?13٢< 6=9ۧQ > G٣SGy3 > 5Nusing accuracyPremultiplier from config)559-y{?55Y-@ i-v9=?=@-pE-:-T:-&5A f Ak.5??k.ាg k, k.5A:k.fBBk.EBZk.=".< ,9o)jT )`5.q4Ŀ64VU}[k=[пJk.`޿Rk.6T>*.swT@*O @(pH7.Mߤn֑?|v `6Ƹ?CWѿ"k.A*k.Bk.l?k.iFf 2k.X#Bk.;؎?k,k.d-Ak.Bk.> addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.778165 s, deltaX: -0.900002 m, approachRate: -0.238211 m/s, rangeRepo size: 4 U Added new target pos. range: 85.699997 m, bearing: 5.784470 deg, lat: 36.904847 deg, lon: -122.119872 deg, deltaT: 3.778165 s, deltaX: -0.900002 m, approachRate: -0.238211 m/s, posRepo size: 4 ZjQ]DNOT Ignoring new targets: 85.70 m.Bj]JjY ProNav: ac range: 85.699997 m, nav range: 65.826195 m, bearing: 26.620385 deg, approach rate: 0.000000 m/s, LOS rate: -0.896116 deg/s, cmd heading: 98.570893 deg, new cmd heading: 97.294897 deg. 2jHeadingCmd: 1.698116 target range: 85.699997 and range: 85.70 m. j[?jjjihhhhfffrf%lU@bf%?ɛmƒBm~< mu=mRIi u =ɚqiqIuz=H>I IIIBI =&I.I6I<:I+ FI[?ii>)[?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jy J} BAJ oJ mJ 0J J >:J &9J ـ3J J ~O;a J O;a J :a J :a G _)>G B O >Sxw,oOAf5?Yfs?fI0=9fQc=yfH3пᚥ? ?п@ì?@v@Hp??ɨf5?f;f!CypB5III#٢% -b=9-szQ 5>11 5G٣1y=(L => ENusing accuracyPremultiplier from configAM59Ecr{?M5YE3; iEQUh?U@ErEET ;E ;E5Y ]IAYZjDNOT Ignoring new targets: 85.70 m.Bj(Jj( ProNav: ac range: 85.699997 m, nav range: 65.812019 m, bearing: 26.420758 deg, approach rate: -0.041899 m/s, LOS rate: -0.590166 deg/s, cmd heading: 97.294897 deg, new cmd heading: 96.695912 deg. 2jʼHeadingCmd: 1.687662 target range: 85.699997 and range: 85.70 m. jO?jjjihhhhfffrfbf? $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛÃB$6; I9 =W=ɚ9i9IEIi{=IEO?iIiM >)MO?)I*F?2F:FBFo0JFG-">GBO>zK} jNK} }9Ky K} XK} xeZSMJLJIIFDBBC@A=96543423023321120.*#  RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.Yxw,CiAfV?YfJ?f =9fdU=yfHsϿ ?Y?0.Ͽ@? .?@?ɨfV?f2;f Cyz^BzIMb@Mb@Mb@ )YV-? ףp= ?~jty?Q=  A)AIyQAI IV2٢ @=9Q > G٣yB > Nusing accuracyPremultiplier from configy59}mi{?5Y}4 i}ӕ?:?@}tE}i#<} #<}5 AOEZj!-DNOT Ignoring new targets: 85.70 m.Bj--Jj--= ProNav: ac range: 85.699997 m, nav range: 65.795166 m, bearing: 26.182170 deg, approach rate: -0.037335 m/s, LOS rate: -0.528676 deg/s, cmd heading: 96.695910 deg, new cmd heading: 95.980001 deg. 2j=imHeadingCmd: 1.675167 target range: 85.699997 and range: 85.70 m. jmk?jijijiiihqhqhqhuNBfyfyfyrfybf} ć?ɛăBP[; 隍I =ɚiI:{=Ik?ii/p >)k?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF50JF1G=qA G=pAGu $>G ?G >H% >I!  I% II% BI! &I! .I! 6I% <:I% 5 FGQ BY O} >`xw, A6T?Y6?6=96JL=y6H:Ϳ ۤ?`r"? ̿,?`gѡ`u?`?ɨ6T?6];6!CyBEBBI)D DIJIJ㔳٢RX Ra=9REQ V>TT VG٣VSGyZJ Z> bNusing accuracyPremultiplier from config`f59bb{?f5YbM/ ibdf?f@bvEb:bX:b%5l nAnME}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 85.70 m.BjJj ProNav: ac range: 85.699997 m, nav range: 65.778976 m, bearing: 25.996519 deg, approach rate: -0.046222 m/s, LOS rate: -0.530168 deg/s, cmd heading: 95.980004 deg, new cmd heading: 95.422931 deg. 2j쵼HeadingCmd: 1.665444 target range: 85.699997 and range: 85.70 m. jH-?jjjihhhhfffrfbf^?ɛmŃBm@C imןI) =ɚiIX|=IH-?iim>)H-?)J;3K;3 K;/.K3K3"K3JpJhJJJA:JȆ9JJJT;JT;JԬ:Jլ:Eܝ= Ih5 Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FQ :FQ BFU q0JFY G >G B O >fxw,lAB?YB?Bq=9Bn@=yBH 'ʿaF`#?H?`Fkʿ ?A}??ɨB?BH;B CyR/BRI5Mb@Mb@Mb@111 1)1Y5S?!rh?{Gzy5?5l=5#1 5A)5rAI5 A1y5zAIM0IM(3٢]\ѽ ]?=9eQ e>aa eG٣iym/H m> uNusing accuracyPremultiplier from configq}59uZ{?}5Yuo) iu'[?:?@uxEun;u;u5 MAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 85.70 m.BjJj ProNav: ac range: 85.699997 m, nav range: 65.769424 m, bearing: 25.784912 deg, approach rate: -0.023205 m/s, LOS rate: -0.514134 deg/s, cmd heading: 95.422934 deg, new cmd heading: 94.788050 deg. 2jlHeadingCmd: 1.654364 target range: 85.699997 and range: 85.70 m. j/?jjjihhhh%Bfqfqfqrfqbf} Z$?ɛ %b I l=ɚiI|=I/?iia=)/?)zKMNKMs9KIKMYKMBKY:K]oAEW=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fe?2Fi:FiBFu4JFqG 2>G B I O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002671;mxw,U¶A24?Y2(R?2+<927=y2Hȿ`/g@У?`j?ǿ}?w$?p?ɨ24?2j;0y>B>IIFIFm?3٢Rv RW=9RQ R>TT VG٣TyZX Z> ^Nusing accuracyPremultiplier from config\b59^S{?b5Y^+$ i^O`bF?f@^zE^ ;^P ;^5h jAhZjx~DNOT Ignoring new targets: 85.70 m.BjvJj v ProNav: ac range: 85.699997 m, nav range: 65.757301 m, bearing: 25.596783 deg, approach rate: -0.032099 m/s, LOS rate: -0.498207 deg/s, cmd heading: 94.788047 deg, new cmd heading: 94.223576 deg. 2jHeadingCmd: 1.644512 target range: 85.699997 and range: 85.70 m. j[?jjjihhhhfffrfbf@g@ɛƃB+2 !%*I! %5˭=ɚ!i!I%O}=I-[?i)i-#=)5[?)YZHRH?AH>I IYIIBI&I.I6Iί<:IA FBIİCJIİCRIZI =bI =jIī5Ei=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256055*F)2F1:F1BF515JF1"G==G==G ->G pAG rAG B O >J mJ iJ J J \8:J ڈ9J J J D;J D;J i:J j:bsxw,pA6~?Y6r?6<96.=y6Hſ Y?@T?ſ`p?@J♿bإ??ɨ6~?6*;6#CyB BBIIJ IJb3٢f jG=9jQ j>hl nG٣nSGyrB v> zNusing accuracyPremultiplier from configt~59vdL{?~5 e$?IiYvl ivxim?m@v|Ev{xw, A2 ?Y2J?2<92B ,=y2H@ 'ÿ \?@?`ÿ@*? f~?`?ɨ2 ?2(;2 Cy>B>II1eMb@Mb@Mb@aaa a)aYe~jt?rh|? G٣y > Nusing accuracyPremultiplier from config59pC{?5Y i?:?@~EZ8;!E;Ŗ5 AZjDNOT Ignoring new targets: 85.70 m.Bj1 Jj1  ProNav: ac range: 85.699997 m, nav range: 65.724930 m, bearing: 25.147846 deg, approach rate: -0.030612 m/s, LOS rate: -0.486765 deg/s, cmd heading: 93.613091 deg, new cmd heading: 92.876495 deg. 2j HeadingCmd: 1.621001 target range: 85.699997 and range: 85.70 m. j|?jjjihhhhBf!f!f!rf!bf%@ɛQU0詻 Y]˳IY e=ɚaiaIeHA~=Im|?iiim }=)m|?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:17:26.5464 TRx dataTimestamp_ set to:1736378247.860668checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011747*F?2F:FBFP0JFGmw'=G)B1OUS>H>I I!II`BI&I.I6I<:Ix F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2626454xw, AB?YB?Bf<9B0(=yBH `{??௣Qv?!t? x?ɨB?Bw;B"CynBrIII[3٢} }O=9tQ >JoJeJ1JJ>:J9J3JJ~O;JO;J:J: G٣yK0 > Nusing accuracyPremultiplier from config59Z<{?5Y i˖?@E7:z:ǖ5  A ZjQ]DNOT Ignoring new targets: 85.70 m.Bj]Jj] ProNav: ac range: 85.699997 m, nav range: 65.708580 m, bearing: 24.944188 deg, approach rate: -0.036481 m/s, LOS rate: -0.454531 deg/s, cmd heading: 92.876496 deg, new cmd heading: 92.265394 deg. 2jHeadingCmd: 1.610335 target range: 85.699997 and range: 85.70 m. jt?jjjihhhhfffrfbf @ɛȃB ` xI ѥ= )I1ɚiAIE~=IMt?iIiM*=)Mt?)QEYEYWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 23:17:26.5464 LVL= 26352, 26929, 15698, 31507, AGC= 64, IDX= 433, 0.17,-0.331,-1.149, 0.991, 0.063, PHS=-0.306,-1.165, 0.925, RAW= 185.9, 6.1, CAL= 185.8, -2.8, ROT= 324.2, 2.8 *F?2F:FBFV0JFYgot valid direction response: 23:17:26.5464 LVL= 26352, 26929, 15698, 31507, AGC= 64, IDX= 433, 0.17,-0.331,-1.149, 0.991, 0.063, PHS=-0.306,-1.165, 0.925, RAW= 185.9, 6.1, CAL= 185.8, -2.8, ROT= 324.2, 2.8 PDAT read: Bearing 324.2, 2.8 (Local) ~Local bearing/azimuth received: Bearing 324.2, 2.8 (Local) EDAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.4 m/s m,DAT read: user:3159> uBDAT read: Tx time:23:17:27.6292 u$Ping request sent.uxw,$A2?Y2]?2<92+=y2HЋ`lN?@?Vv?⑿ o? ?ɨ2?2sp;0zKNKNs9KLKN[KNy~րB~wIA]Will construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%kt?Mb?V-y% >%>%%A %` A)%\AI% A!y%AY]@AIeIeF3٢V 7=9Q > G٣SGyB > %Nusing accuracyPremultiplier from configM596{?U5Y  iUZ>U:U?]@E<;ɖ5a e AeNEk-yڪ?k-'SH k) k-MA:k-fBBk-IBZk-b@"-]60`Tnwbz-<طȿ58(W25"zJk-;Rk-L+=*-VT@ UP/ * K!-Eݨ?ӼK}4:8""k-x*k-Bk-Vgٖ?k-_ 2k-_Bk-)iΓ?k-T k-Ak-ŚBk-ֆ> addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.528165 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, rangeRepo size: 4 % Added new target pos. range: 84.699997 m, bearing: 355.203123 deg, lat: 36.904982 deg, lon: -122.119955 deg, deltaT: 3.528165 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, posRepo size: 4 Zj)5DNOT Ignoring new targets: 84.70 m.Bj=Jjau ProNav: ac range: 84.699997 m, nav range: 77.386322 m, bearing: 15.089298 deg, approach rate: 0.000000 m/s, LOS rate: -0.454531 deg/s, cmd heading: 92.265392 deg, new cmd heading: 91.688936 deg. 2jq}HeadingCmd: 1.600274 target range: 84.699997 and range: 84.70 m. j}?jyjyjyiyhhhhтBfffrf,U@bf:?ɛQv G隝5tAIA !Y5tAyMB .=ɚ9i9IE]G=IM?iQiUj=)U?)Q -$?I-h*F2F:FBFU0JFG= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >xw,ro>A2N?Y2?2۱V<92 =y2H ︿*[?@X?)ɸB? ֊@O??ɨ2N?2;2CyBˀBBjIIJ IJ2٢ry vl=9vSQ v?xx zG٣xy~, E? MNusing accuracyPremultiplier from configIU59M1{?jHbH4=H>I III8BI&I.I6I<:IX F5YM iM?@MEM(- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9309258̕xw,DQXAyuπB}nIMb@Mb@Mb@ )YʡE?S㥛?~jty>$>EA )AI` AyAII3٢-b< 5*=95Q 5>99 =G٣9y= E> Nusing accuracyPremultiplier from configA59E+*{?5YE iE>:X?@EEEiJK= ?*FU?2FQ:FQBF]o0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.181000G5t=G=qAG=qAG) BI Oe >J mJ J J J \8:J J J a @a @a @a @4xw,+rA PITfG?Yf:?f<8;9f=yfH@,oǠ??(] O?f}? -=)u9?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431823*F%?2F!:F)BF-@5JF)H>I IIIBI&I.I6I¯<:I; FGMl=G! B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683396ܢxw,A2sK?Y2f?2o;92r=y2H@㩿@ á?f?`bƩv}?@vS??ɨ2sK?2UH;2 Cy>ҀB>rIIN&IN3٢V< VP=9VQ V>XX ZG٣Xy^(7 ^> bNusing accuracyPremultiplier from config`f59b {?f5Yby ib(hjN?j@bEb:b:b;Ж5l n(ApZj DNOT Ignoring new targets: 84.70 m.BjJj% ProNav: ac range: 84.699997 m, nav range: 77.463753 m, bearing: 14.568557 deg, approach rate: 0.041095 m/s, LOS rate: -0.335755 deg/s, cmd heading: 90.520586 deg, new cmd heading: 90.127141 deg. 2j-lf-HeadingCmd: 1.573015 target range: 84.699997 and range: 84.70 m. j-X?j1j1j1i1h1h1h9h9f9fAfArfAbfE?*J"J=ɛ 5 15I9 =:=ɚ9i9I==IEX?iEvxw,ܥAyzՀB~vIzKKh9KK]K=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.187605Mb@Mb@Mb@ )YS?x&?{Gzty>7 >ףA  A)AIAyAI#I%x3٢As< 7=9Q >    G٣ y > -Nusing accuracyPremultiplier from config!559%{?55Y% i%*=&>=:=|?=@%E%i~;%|;%1Җ5I M AQZjyDNOT Ignoring new targets: 84.70 m.BjsJjs ProNav: ac range: 84.699997 m, nav range: 77.484184 m, bearing: 14.420761 deg, approach rate: 0.042179 m/s, LOS rate: -0.305034 deg/s, cmd heading: 90.127140 deg, new cmd heading: 89.683878 deg. 2jWQHeadingCmd: 1.565279 target range: 84.699997 and range: 84.70 m. j[?jjjih!h)h)h-Bf1f1f1rf1bf5@ɛyJJbJ0JJJt9Jـ3J ༿I =ɚiIӀ=I[?i_0xw,ȵAB+P?YB?B|:9B'=yBH@`? q?@/㓿5\?O@s? %?ɨB+P?BÊ;B"CyJBJIPRAPRBAIVIV3٢^u= ^a=9^IQ b>`` bG٣bSGyf8 f> rNusing accuracyPremultiplier from configlr59n\{?r5Ynv iltv?v@nEn:n:nӖ5x zAxZj15DNOT Ignoring new targets: 84.70 m.BjE~ϻJjE~ϻHaIa IaIaIa&Ia.Ia6Ie<:IeT F} ProNav: ac range: 84.699997 m, nav range: 77.496025 m, bearing: 14.301253 deg, approach rate: 0.035953 m/s, LOS rate: -0.362812 deg/s, cmd heading: 89.683881 deg, new cmd heading: 89.325416 deg. 2j}xHeadingCmd: 1.559023 target range: 84.699997 and range: 84.70 m. j?jjjihhhhfffrfbf@a{@ɛF( I $=ɚiI =I?ii:=)?)*F-?2F):F)BF-[0JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.695150JJ?AGuq=GQ Ba q Iy O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:17:30.1446  TRx dataTimestamp_ set to:1736378251.389573 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945481exw,A?Y?ϩպ9;=yHv ?@U}??$w}V 9Z?:|?]?ɨ?H;騭 CyBIMb@Mb@Mb@ )YCl?x&?y&1|?y;>`;EA ` A)AIvAyAI#I%x3٢]&@= e=9e Q m>qy }G٣yyԼ > Nusing accuracyPremultiplier from config59<{?5YV i>:?@E;;֖5 0AOEUB*** querying acoustic contact ***jQjQZjyDNOT Ignoring new targets: 84.70 m.BjzJjz ProNav: ac range: 84.699997 m, nav range: 77.509361 m, bearing: 14.121373 deg, approach rate: 0.024438 m/s, LOS rate: -0.329559 deg/s, cmd heading: 89.325419 deg, new cmd heading: 88.785888 deg. 2j,bHeadingCmd: 1.549606 target range: 84.699997 and range: 84.70 m. j~Y?jjjihhhhȂBfffrfbfX @ɛeȃBe(W imܵIi m=ɚiiiIu&=I5~Y?i5'\JK?*FE ?2FA :FA BFE P0JFA G O=J J gJ J J J 9J J G B O5 > m $?Iq NZxw,A ?YG?Il9L=yHy?``z??@ x?)tr?Y~??ɨ ?.;騩y޽BIII٢= z=9Q ? G٣y  ? Nusing accuracyPremultiplier from config 59 {? 5Y i  P? @E;;~ז56B AREZj9EDNOT Ignoring new targets: 84.70 m.BjMqɻJjMqɻ] ProNav: ac range: 84.699997 m, nav range: 77.515923 m, bearing: 14.014809 deg, approach rate: 0.021689 m/s, LOS rate: -0.352232 deg/s, cmd heading: 88.785889 deg, new cmd heading: 88.466228 deg. 2j]qmHeadingCmd: 1.544027 target range: 84.699997 and range: 84.70 m. jm?jijijiiihqhqhqhqfyfyfyrfyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:17:30.1446 LVL= 32752, 32753, 18674, 32755, AGC= 67, IDX= 416,-0.26,-0.780,-1.651, 0.555,-0.524, PHS=-0.169,-1.080, 1.076, RAW= 185.1, 1.9, CAL= 185.2, -6.2, ROT= 324.8, 6.2 Ygot valid direction response: 23:17:30.1446 LVL= 32752, 32753, 18674, 32755, AGC= 67, IDX= 416,-0.26,-0.780,-1.651, 0.555,-0.524, PHS=-0.169,-1.080, 1.076, RAW= 185.1, 1.9, CAL= 185.2, -6.2, ROT= 324.8, 6.2 PDAT read: Bearing 324.8, 6.2 (Local) ~Local bearing/azimuth received: Bearing 324.8, 6.2 (Local) eDAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.3 m/s m,DAT read: user:3160> uBDAT read: Tx time:23:17:31.2292 u$Ping request sent.ue Will construct direction to contact in vehicle frame from tetrahedron phase data.e JDAT read: TxSync time:23:17:31.2285 :xw, A:?Y:?:"9:+W=y:H`6?@r??y?@y? ?f?ɨ:?:D^;:%Cy^B^Iib=Ibp< fp=f=InIn3٢v!> v\=9v# Q z>xx zG٣zSGy~2 ~> Nusing accuracyPremultiplier from config 59{? 5Yl i ?@E:n:ٖ5 Ak*%?k k k3A:k̦BBkBZk@"<2#&nÔT 2P+S exw,g'A%Will construct direction to contact in vehicle frame from tetrahedron phase data.y5(B=IzKXMKh9KK_KBKqA:KqA%Mb@Mb@Mb@!!! !)!Y%x?T㥛 ?Mb?y%K>%>%<%A % A)!I%A!y%AIEIEb٢mIL= m(=9uQ }> G٣y > Nusing accuracyPremultiplier from config59{?5Y* i>:>?@EU";;@ۖ5 rAJiJmdJiJiJiJm|9JiJiZjDNOT Ignoring new targets: 83.40 m.BjûJjû ProNav: ac range: 83.400002 m, nav range: 82.443100 m, bearing: 3.164204 deg, approach rate: 0.089255 m/s, LOS rate: -0.342517 deg/s, cmd heading: 88.068965 deg, new cmd heading: 87.568060 deg. 2jkHeadingCmd: 1.528351 target range: 83.400002 and range: 83.40 m. j?jjjihhh!h%Bf!f!f)rf)bf-@͐?ɛuǃBub| y}ΧIy I g=ɚiI4=I?iiِ7=)?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G ?G ??H= >I9  I= II= [BI9 &I9 .I9 6I= <:I=  FG!B)OE>Fxw,-ZEAy>BIII٢M= MM=9IQ M>QQ UG٣QyY ]> eNusing accuracyPremultiplier from configam59e${?m5Ye  ieԖiqu@eEe7:ez:eܖ5 AZjDNOT Ignoring new targets: 83.40 m.BjbĻJjbĻ ProNav: ac range: 83.400002 m, nav range: 82.478668 m, bearing: 3.029733 deg, approach rate: 0.090865 m/s, LOS rate: -0.343381 deg/s, cmd heading: 87.568059 deg, new cmd heading: 87.164827 deg. 2jkHeadingCmd: 1.521313 target range: 83.400002 and range: 83.40 m. jd?jjjihhh h f f f rfbf@\$?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛIUhҼ QUIQ ]Ԃ=ɚYiYI]=Ied?iaieO=)ed?)i*F?2F:FBFP5JFG/=GBO>> I Will construct direction to contact in vehicle frame from tetrahedron phase data. > =(sxw,1?_AZR>?YZE|?ZW9ZE8=yZH`GL?x? ? ?` uʕ?°??ɨZR>?ZB;Z"CybVBfI)d dhheMb@Mb@Mb@aaa a)aYeZd;O?T㥛 ?~jt?ye~ ?ae G٣SGy3 > Nusing accuracyPremultiplier from config59tz?5Y# iU?:g?@E3;1;ޖ5 AZjDNOT Ignoring new targets: 83.40 m.BjͻJjͻ ProNav: ac range: 83.400002 m, nav range: 82.510666 m, bearing: 2.870536 deg, approach rate: 0.072333 m/s, LOS rate: -0.359735 deg/s, cmd heading: 87.164825 deg, new cmd heading: 86.687432 deg. 2j vHeadingCmd: 1.512981 target range: 83.400002 and range: 83.40 m. j^?jjjihhh!h%ABf!f!fArfbf@9?ɛƃB6Z I E3=ɚAiAIE8=IM^?iIiU*%=)U^?)QEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JFzK̭KK9KK`K  ) uG|uAA Y|uAyhB I hG= c9=G B1 Om >Mxw, yA2?Y2T?2-ȼ92=y2H? FQ?Z??b? 蛱?%?ɨ2?2OE;2#Cy>kB>/IIJIJ(*2RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Vo= V]=9VZ Q Z>XX ZG٣Xy^Ǽ ^> bNusing accuracyPremultiplier from config`f59bXz?f5Yb ibhj;?j@bEb:b:bi5l nTAnPEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 83.40 m.Bj9Jj9黝% ProNav: ac range: 83.400002 m, nav range: 82.537666 m, bearing: 2.729502 deg, approach rate: 0.078097 m/s, LOS rate: -0.407801 deg/s, cmd heading: 86.687436 deg, new cmd heading: 86.264478 deg. 2j--HeadingCmd: 1.505599 target range: 83.400002 and range: 83.40 m. j-y?j1j1j1i9hAhIhahafafafirfibfm]@ɛEŃBE AEmIA MQ=ɚIiIIM=Iuy?iqi}$=)}y?)y*F ?2F :F BF P0JF Gs*=HIC I`IIBI&I.I6I<:I$ FGBOE>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.J nJ iJ 1J J |;:J ڈ9J 3J J J;a J J;a J i:a J j:a xw,PA I: ?Y:I?:U9: =y:H@? @Ա?`Z?? M$ ʼn?9? ?ɨ: ?:;:"CyV|BVDIIjIj٢z = zC=9zQ ~>|| ~G٣|y3 >  Nusing accuracyPremultiplier from config 59 z?5Y  i c-?@ E 0; g1; ?5) - A)ZjQ]DNOT Ignoring new targets: 83.40 m.Bj]0ڻJj]0ڻ  ProNav: ac range: 83.400002 m, nav range: 82.567001 m, bearing: 2.569461 deg, approach rate: 0.069955 m/s, LOS rate: -0.381511 deg/s, cmd heading: 86.264476 deg, new cmd heading: 85.784537 deg. 2j 邼HeadingCmd: 1.497223 target range: 83.400002 and range: 83.40 m. j?jjjihhhhfafafirfibfm@ɛăBp%M I j=ɚiI q=I-?i)i-%=)-?)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493834*FU?2FY:FYBFYJFaGU '=G1 B9 OU >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746135'% TFailed to parse incomplete device message.ӻxw,6A2"?Y2`?292=y2H?`?#?qu?sa`8?h?5?ɨ2"?2hW;0yRBVpIiZ>IX ^=^=Mb@Mb@Mb@ )YʡE?K7A?Zd;O?y? >j<A  A)IEAyII2٢&> <=9rQ > G٣SGy Ѕ  > Nusing accuracyPremultiplier from config%59z?-5Y i5-!?5:E?E@E;;%5I M AIZjDNOT Ignoring new targets: 83.40 m.BjJj IIIU ProNav: ac range: 83.400002 m, nav range: 82.593529 m, bearing: 2.381080 deg, approach rate: 0.057844 m/s, LOS rate: -0.410638 deg/s, cmd heading: 85.784540 deg, new cmd heading: 85.219596 deg. 2jU茼eHeadingCmd: 1.487363 target range: 83.400002 and range: 83.40 m. jea?jajajaiahihihqhuBfqfqfqrfybf}e@ɛÃBd I=Ia?iiT0=)a?)*FM?2FI:FQBFUR0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:17:33.7426 TRx dataTimestamp_ set to:1736378254.921939checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001206Gi GA BI Ou >H I C I II ЁBI &I .I 6I <:I i Fxw,)AyBII-I-٢Uu= ]U=9]Q ]>aa eG٣aye m> }Nusing accuracyPremultiplier from configq}59uz?5Yua iu @uEu\:u:u55B H ASEZjDNOT Ignoring new targets: 83.40 m.Bj)Jj) ProNav: ac range: 83.400002 m, nav range: 82.617737 m, bearing: 2.214521 deg, approach rate: 0.067194 m/s, LOS rate: -0.462176 deg/s, cmd heading: 85.219594 deg, new cmd heading: 84.720078 deg. 2jHeadingCmd: 1.478644 target range: 83.400002 and range: 83.40 m. j7D?jjjihhhhfffrfbf`B: @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250106ɛ-ƒB-q 15I1 5N%=ɚ1i9I=/=I=7D?iAiEpP=)E7D?)A*F?2F:FBF_0JFJEmJEbJE0JAJE\8:JEt9JEـ3JAJED;JED;JEU:JEV: AIAGm1=GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 23:17:33.7426 LVL= 32752, 32753, 24850, 32755, AGC= 64, IDX= 426,-0.02, 2.343, 1.476,-2.673, 2.537, PHS=-0.106,-1.014, 1.071, RAW= 184.3, 0.6, CAL= 184.4, -7.2, ROT= 325.6, 7.2 } Ygot valid direction response: 23:17:33.7426 LVL= 32752, 32753, 24850, 32755, AGC= 64, IDX= 426,-0.02, 2.343, 1.476,-2.673, 2.537, PHS=-0.106,-1.014, 1.071, RAW= 184.3, 0.6, CAL= 184.4, -7.2, ROT= 325.6, 7.2  PDAT read: Bearing 325.6, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 325.6, 7.2 (Local)  DAT read: Range 10 to 50 : 81.8 m (Round-trip 109.1 ms) speed 0.5 m/s  ,DAT read: user:3161> m BDAT read: Tx time:23:17:34.8293 u $Ping request sent.} y}+A }3 A)}` AI}Ayy}AII٢= (=9Q > G٣y > Nusing accuracyPremultiplier from config59 z?5Y i֕0?:-? @Ee;;5Q ] AYWill construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:23:17:34.8286 kW:?k܎_ k k)AA:kBBkBZk#P@"0%lWZTbi 'N P4 D='DJkuԿRk1+<*?T@^1j (I!7 x?.w¿\oY9. "ko@*kBk̃Ng?kϜt 2k`Bkk_ k_BkBk@ addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 3.533811 s, deltaX: -1.599998 m, approachRate: -0.452769 m/s, rangeRepo size: 4  Added new target pos. range: 81.800003 m, bearing: 351.497123 deg, lat: 36.905045 deg, lon: -122.120261 deg, deltaT: 3.533811 s, deltaX: -1.599998 m, approachRate: -0.452769 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 81.80 m.BjJj ProNav: ac range: 81.800003 m, nav range: 83.266945 m, bearing: 352.748332 deg, approach rate: 0.000000 m/s, LOS rate: -0.462176 deg/s, cmd heading: 84.720075 deg, new cmd heading: 83.977155 deg. 2jzKjIK9KKbKHeadingCmd: 1.465678 target range: 81.800003 and range: 81.80 m. jU?jj j i h h hhBfffrf@3sT@bf?ɛB: 隍ހI {=ɚiI=IU?ii,z=)U?)*Fe?2Fa:FaBFeU0JFa $?I h} Will construct direction to contact in vehicle frame from tetrahedron phase data.G 0P=G qAG qAGQ Ba O} >xw,|ARV?YRHž?Rw~K9RV=yRH?۰? v?/?q@!m?`?`s?ɨRV?Rv;R#Cy^ҁB^I)` ``bAIfIf@ ٢r= rh=9v5QQ v>tx zG٣zSGy~o ~? Nusing accuracyPremultiplier from config 59z? 5Ya i?@E\ ; ;|5  AQE=B*** querying acoustic contact ***j9j9ZjAMDNOT Ignoring new targets: 81.80 m.BjMJjUe ProNav: ac range: 81.800003 m, nav range: 83.323692 m, bearing: 352.589793 deg, approach rate: 0.187685 m/s, LOS rate: -0.523990 deg/s, cmd heading: 83.977155 deg, new cmd heading: 83.501874 deg. 2jeγuHeadingCmd: 1.457383 target range: 81.800003 and range: 81.80 m. ju?jqjqjqiqhqhqhyhyfyfyfrfbf?ɛ-B-D )-wI1 5}y=ɚ1i1I5=I=?i9i=. H=)=?)AHI III BI&I.I6Iï<:I; FEP=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FM?2FI:FIBFM_0JFIG% ghs=G B *J C="J 4=J J eJ /J J J 9J (N3J J J J :J :O- > I yw,BA2H?Y2?2q_92ޝ=y2H`T? ?`??@2?@? ?ɨ2H?2;2%CyRفBRIIZIZԲ٢f= fL=9jGQ j>hl nG٣lyn r> vNusing accuracyPremultiplier from configpv59rLz?z5Yr; irmxzY?z@rEr3:r:r;5  AZj)-DNOT Ignoring new targets: 81.80 m.Bj5QJj5QM ProNav: ac range: 81.800003 m, nav range: 83.389267 m, bearing: 352.407624 deg, approach rate: 0.164176 m/s, LOS rate: -0.455727 deg/s, cmd heading: 83.501877 deg, new cmd heading: 82.955817 deg. 2jMaUHeadingCmd: 1.447852 target range: 81.800003 and range: 81.80 m. jU8S?jQjYjYiYhYhahahafafifirfibfm@{?ɛBϻ 隝sI av=ɚiIm=I8S?ii:mk=)8S?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.950340EI_y=*Fu?2Fq:FyBF}V1JFyG{=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202012zK BoHK h9K K cK RK ?JK ? yw,"1A2ݡ?Y2?2ՠu92=y2H`׵??Z?3?尿d?@zQ??ɨ2ݡ?2q;2 CyNBNI aIaUMb@Mb@Mb@QQQ Q)QYU333333?x&?Mb?yU9?QU G٣y > Nusing accuracyPremultiplier from config59z?5YZ i+5  AZjDNOT Ignoring new targets: 81.80 m.Bjj Jjj  ProNav: ac range: 81.800003 m, nav range: 83.466515 m, bearing: 352.181315 deg, approach rate: 0.167766 m/s, LOS rate: -0.491041 deg/s, cmd heading: 82.955817 deg, new cmd heading: 82.277551 deg. 2j%HeadingCmd: 1.436014 target range: 81.800003 and range: 81.80 m. j%PϷ?j!j!j!i)hhhh˃Bfffrfbfy?ɛB : ?=隍nI Ir=ɚiI=IPϷ?iiaj=)PϷ?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454065E h=H >I  I . II ;BI =&I .I 6I <:I X FBIJIRIZIbIjIȿ4*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707351GRk=G ?G ?GBO?lyw,CRAJـ3K3 KS}.KK"KJlJcJ0JJ<5:Jx9Jـ3JJK?;JN?;J:J: ((N?YN3?Nh9N=yNH v?f ??@;k?@l ?@d/? ?ɨN?N#F;N"C XIXy]B]Iim=Im=IuIu3٢ = '=9ڶQ > G٣SGym > Nusing accuracyPremultiplier from config59z?5Y il?@E: :b5 f AZjDNOT Ignoring new targets: 81.80 m.Bj Jj  ProNav: ac range: 81.800003 m, nav range: 83.547462 m, bearing: 351.941208 deg, approach rate: 0.165295 m/s, LOS rate: -0.489819 deg/s, cmd heading: 82.277552 deg, new cmd heading: 81.557968 deg. 2j  HeadingCmd: 1.423455 target range: 81.800003 and range: 81.80 m. j 3?jjjihhhhfff!rf!bf%7?ɛMBUۺ QU0jIQ UJ/o=ɚQiYI]r~=Ie3?iaie =)e3?)iE]4|E=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959050*F2F:FBF0JFGryw,}>lAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213873y=BEIzKK+9KKdK!>C<72.*($!! BKpA:KMb@Mb@Mb@ )Y?p= ף?{Gzt?y@?>ף;rA  A) AIyAIM IM2٢]3; ]?=9]Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uz?}5Yuf iuB?:?@uEu;u;u@5 a AOEZjDNOT Ignoring new targets: 81.80 m.Bj Jj  ProNav: ac range: 81.800003 m, nav range: 83.618675 m, bearing: 351.724014 deg, approach rate: 0.166444 m/s, LOS rate: -0.507209 deg/s, cmd heading: 81.557971 deg, new cmd heading: 80.906972 deg. 2j HeadingCmd: 1.412093 target range: 81.800003 and range: 81.80 m. jw?jjjihhhhŃBfffrfbf]@ɛB wiI k=ɚiI3&~=I%w?i!i%=)-w?)) IhEu==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465934*F) 2F) :F) BF- m0JF) G1  G1 H I  I S II YBI &I .I 6I ԯ<:I F FG ),=G G G BO5>c"yw,6A2 ?Y2K?2Ĉ92i=y2H Lk?`N2:??4?@1䲿U?`?%?ɨ2 ?2;0yHNIIVIV(٢^X| ^F=9b="Q b>`` bG٣dyf f> 5Nusing accuracyPremultiplier from config1=595z?=5Y5 i5vAE9?E@5E53;5;55UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718303a mb AiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.80 m.Bj Jj - ProNav: ac range: 81.800003 m, nav range: 83.685852 m, bearing: 351.508274 deg, approach rate: 0.154326 m/s, LOS rate: -0.495222 deg/s, cmd heading: 80.906972 deg, new cmd heading: 80.260301 deg. 2j-5HeadingCmd: 1.400807 target range: 81.800003 and range: 81.80 m. j5M?j1j1j1i9h9h9h9h9fAfAfArfAbfMp@ɛBp$ )-+iI) -"h=ɚ)i)I-,}=I5M?i1i=s(=)=M?)9EaEa*Ei"Ei IJ}mJ}jJ}1JyJ}\8:J}9J}3JyJ}D;J}D;J}:J}:*F?2F:FBFp0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970622G =Gy B O >(yw,PAv3?Yv$[?v9v=yvH`G? q?Y??<@Q?`[?`?ɨv3?vq;tyB)  AMb@Mb@Mb@ )YGz?p= ף?Mbpyp=?\A  A) AIyAII3٢) 6=9Q > G٣SGy? > Nusing accuracyPremultiplier from config 59 `z?5Y Zx i EX@?:%?%@ E L; ; 5) -g A)ZjY]DNOT Ignoring new targets: 81.80 m.BjeJje ProNav: ac range: 81.800003 m, nav range: 83.753700 m, bearing: 351.289936 deg, approach rate: 0.159343 m/s, LOS rate: -0.512356 deg/s, cmd heading: 80.260303 deg, new cmd heading: 79.605849 deg. 2jЯHeadingCmd: 1.389384 target range: 81.800003 and range: 81.80 m. jWױ?jjjihhhhBfffrfbf` @ɛB`i 隭iI te=ɚiI]|=IWױ?ii)=)Wױ?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUBDAT read: Rx Time:23:17:37.3403 ]TRx dataTimestamp_ set to:1736378258.705684]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224061*F}?2F:FBF@5JFzK%AMK%9K!K%e]GqK%  !Yy,B IGe V=GA Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474144۲.yw,A6I?Y6?6)96&=y6H +?E??? z??A?ɨ6I?6t;6 Cy>ہBBIIJIJ(1٢R Rf=9RQ V>TT VG٣Ty^[ ^> Nusing accuracyPremultiplier from configl59n,z?5YnBq in?@nEn;n;n5! - A)ZjDNOT Ignoring new targets: 81.80 m.BjzJjzZHQRHU@AHYIY I]f II]iBIY&IY.IY6I]ۯ<:I]K F} ProNav: ac range: 81.800003 m, nav range: 83.809006 m, bearing: 351.109469 deg, approach rate: 0.132701 m/s, LOS rate: -0.432726 deg/s, cmd heading: 79.605848 deg, new cmd heading: 79.064823 deg. 2j}|HeadingCmd: 1.379941 target range: 81.800003 and range: 81.80 m. j조?jjjihhhhfffrfbfRF @ɛB? MgoII MX1b=ɚIiIIM@{=I]조?iYi]l=)]조?)a*F=?2FA:FABFEh4JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:17:37.3403 LVL= 26032, 24113, 14290, 29011, AGC= 64, IDX= 418,-0.05, 0.383,-0.455, 1.584, 0.548, PHS=-0.077,-0.956, 1.033, RAW= 183.8, 0.0, CAL= 184.1, -7.7, ROT= 325.9, 7.7 Ygot valid direction response: 23:17:37.3403 LVL= 26032, 24113, 14290, 29011, AGC= 64, IDX= 418,-0.05, 0.383,-0.455, 1.584, 0.548, PHS=-0.077,-0.956, 1.033, RAW= 183.8, 0.0, CAL= 184.1, -7.7, ROT= 325.9, 7.7 PDAT read: Bearing 325.9, 7.7 (Local) ~Local bearing/azimuth received: Bearing 325.9, 7.7 (Local) DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.4 m/s ,DAT read: user:3162> BDAT read: Tx time:23:17:38.4293 $Ping request sent.yy}k^8?xL$?)}x?I}i}a~ӿ}ʸ I G! B) OE >F5yw,+A6D?Y6ジ?61ҋ96 =y6HSw?`߭ dܭ?`?@¿?v? H?`/?ɨ6D?6cA;4yBׁBBIIJIJ(٢f֌ fH=9f;9Q f>hh jG٣hyj ~> Nusing accuracyPremultiplier from config 59z? 5Y/i i  ?@E:.:^5  AMEk0_a?k2ލ k kMA:k3BBk%BZkM@"ǷRJ SRմ94#LJka~ӿRkʸ<*&nuS@>A60`gtωZ0??ɿ&|c"k*k#BkHnj?kz\ 2k(eBkkϜt k`Bk?Bki@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:17:38.4286  addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.781978 s, deltaX: -1.700005 m, approachRate: -0.449501 m/s, rangeRepo size: 4 m Added new target pos. range: 80.099998 m, bearing: 348.267004 deg, lat: 36.905045 deg, lon: -122.120278 deg, deltaT: 3.781978 s, deltaX: -1.700005 m, approachRate: -0.449501 m/s, posRepo size: 4 ZjiuDNOT Ignoring new targets: 80.10 m.BjuJjy ProNav: ac range: 80.099998 m, nav range: 84.123627 m, bearing: 349.884139 deg, approach rate: 0.000000 m/s, LOS rate: -0.432726 deg/s, cmd heading: 79.064822 deg, new cmd heading: 78.531767 deg. 2jHeadingCmd: 1.370638 target range: 80.099998 and range: 80.10 m. jq?jjjihhhhfffrf`fT@bfWv?ɛmBml( qupIq u_=ɚqiqIu0z=I}q?iyi~=)q?)*Fe?2Fa:FiBFmP0JFiGE = Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) O9 @;yw,kA2M?Y2?2‹92s=y2Hk?`'qF??? ㇳ@t?@? ?ɨ2M?2䰉;0y<>IiB=IBC=zK^LK^9K\K^fK^ Mb@Mb@Mb@ )YzG?HzG?Mby 7?= >A zA)AIAyp A YI]hJmlJmcJm0JiJm<5:Jmx9Jmـ3Jiau@au@au@au@I5I5٢Hj 8=9=8Q >    G٣SGy%M -> MNusing accuracyPremultiplier from configA]59Ez?e5YE` iEǓeQ:?e:e?m@EEE0;EJ;EP5  AZjDNOT Ignoring new targets: 80.10 m.Bj^Jj^5 ProNav: ac range: 80.099998 m, nav range: 84.197250 m, bearing: 349.669613 deg, approach rate: 0.181826 m/s, LOS rate: -0.529343 deg/s, cmd heading: 78.531767 deg, new cmd heading: 77.888780 deg. 2j5=HeadingCmd: 1.359416 target range: 80.099998 and range: 80.10 m. j=U?j9j9j9i9h9h9hAhEkBfafifirfibfm?ɛB V QpI \=ɚiIEz=IU?iiq=)U?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FY:FYBF]Y0JFYHM >II  IM ` IIM dBII &II .II 6IM (<:IM FG} 6=GQ Ba O >[Byw,: AyˁBII-I-EWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Mx MW=9MQ M>QQ UG٣Qy] ]> mNusing accuracyPremultiplier from configiu59mqz?u5Ym}Y imyy}@mEm;mc;m5 Q AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.10 m.BjRJjR ProNav: ac range: 80.099998 m, nav range: 84.260262 m, bearing: 349.488953 deg, approach rate: 0.176162 m/s, LOS rate: -0.504697 deg/s, cmd heading: 77.888779 deg, new cmd heading: 77.347223 deg. 2j/HeadingCmd: 1.349964 target range: 80.099998 and range: 80.10 m. jˬ?jjjihhhhfffrfbf^{?ɛ uI! %IY=ɚ!i!I%ty=IEˬ?iIiUQ=)ˬ?) YIY*F?2F:FBF`0JFG-=GGnAGYBaO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Hyw,'%AE?YE?E 9EsX=yEHD2?``d?B??``. 2^?@??ɨE?E;;E!CyeBeI}Mb@Mb@Mb@yyy y)yY}HzG?`"?Zd;Oy}=*?}=}j}/A }A)}dAI}/Ayy}z AII٢|b 5=9I:Q > G٣yU > Nusing accuracyPremultiplier from config59z?5YfQ i"-?:?@E;;5  AZj9EDNOT Ignoring new targets: 80.10 m.BjUJj]m ProNav: ac range: 80.099998 m, nav range: 84.326073 m, bearing: 349.285063 deg, approach rate: 0.144384 m/s, LOS rate: -0.446965 deg/s, cmd heading: 77.347221 deg, new cmd heading: 76.736052 deg. 2ju_uHeadingCmd: 1.339297 target range: 80.099998 and range: 80.10 m. jun?jyjyjyiyhyhyhh4Bfffrfbf?ɛ5B54 9=m{I9 =yU=ɚ9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498474i9IUx=In?iiI=)n?)*F5?2F9:F9BF=g0JF9zKunLKqKqKugKu8e^ta?{J 1I9JumJubJqJqJu\8:Jut9JqJqG} =GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752304gOyw,>Av`6?YvRt?v&9v]=yvHiy?@ ^?? ?^β Ӱ?@ӥ? N?ɨv`6?v;v%Cy~B~I) A  AI IV2٢% -h=95;Q 5>99 =G٣=SGyE E> MNusing accuracyPremultiplier from configAU59EI IM IITBI&I.I6I<:Ia F*F%?2F!:F!BF-F4JF)G =GBOH>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002344 ! I! Jy J} @AUyw,XAB랖?YBܲ?By99B[=yBH x ?K~@q? Lu?~??`Q?A?ɨB랖?B_;B#CynBrIIzIzb1٢h M=9 G٣y% %> -Nusing accuracyPremultiplier from config)559- z?55Y- D i-e9=?=@-E-";-#;-75I MB AIZjDNOT Ignoring new targets: 80.10 m.Bj/Jj/ ProNav: ac range: 80.099998 m, nav range: 84.428688 m, bearing: 348.948144 deg, approach rate: 0.131406 m/s, LOS rate: -0.440951 deg/s, cmd heading: 76.264943 deg, new cmd heading: 75.725943 deg. 2jOHeadingCmd: 1.321667 target range: 80.099998 and range: 80.10 m. jc,?jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261628ɛB qI PAO=ɚiIGw=I c,?i i :=) c,?)q*FU?2FQ:FYBF]P5JFa"G=G=G N=G ?G >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506271G B O >\yw,rAB ?YB^?B`t9B72\=yBHŃ?Hmj?e?d?@ ߚ? Jv??ɨB ?BnD;B$CyJBJsIzKNOKN+9KLKNhKN=c(fM7$ U +4 POC4L'h xY K AE  X `IbhJAJEdJAJAJAJE|9JAJA}Mb@Mb@Mb@yyy y)yY}rh|?zG?S㥛y}?} =}/ݼ}A y)}AI}Ayy} AIIb٢:D A=9<;Q > G٣y > Nusing accuracyPremultiplier from config59Rz?5Y/= iXZ?:{?@E#;o;5  AZjyDNOT Ignoring new targets: 80.10 m.BjJj滝 ProNav: ac range: 80.099998 m, nav range: 84.475914 m, bearing: 348.774124 deg, approach rate: 0.109658 m/s, LOS rate: -0.403844 deg/s, cmd heading: 75.725945 deg, new cmd heading: 75.204195 deg. 2j5HeadingCmd: 1.312561 target range: 80.099998 and range: 80.10 m. j5?j1j1j1i1h9h9h9h=BfAfAfArfAbfE@N@ɛBٟ 隽I K=ɚiIv=I?iiE=)?)*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758728H>I I. II;BI&I.I6I<:I3 FBIJIRIZI =bI =jIʯ4G =G B O >Pbyw,A:̕?Y:ӯ?:Ki9:Z=y:H ?Z`c? JT? ?jW%?4? ?ɨ:̕?:';:"CyfBjlIiv8>Iv4< z=z=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010562I~I~0٢ J=9;Q > G٣SGyj > Nusing accuracyPremultiplier from config59z?5Y6 iL?@ÉEP::5  AB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 80.10 m.BjJj% ProNav: ac range: 80.099998 m, nav range: 84.518913 m, bearing: 348.607230 deg, approach rate: 0.110331 m/s, LOS rate: -0.428014 deg/s, cmd heading: 75.204194 deg, new cmd heading: 74.703778 deg. 2j%ߒ-HeadingCmd: 1.303827 target range: 80.099998 and range: 80.10 m. j-?j)j)j)i)h1h1h9h9f9f9f9rfAbfE1}@ɛ}B}4ۼ y}Iy {H=ɚiIёv=I?ii=)?) Ih*JUR="JUa=*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262940G>=G B O >)iyw,nA}?Y?!S9CR=yH? m2ԣ?-??`?t?`s G٣y (\  > Nusing accuracyPremultiplier from config59z?5Y0 iG?%:%?%@ʼnE#;;5) 5 A1ZjimDNOT Ignoring new targets: 80.10 m.BjuջJjuջ ProNav: ac range: 80.099998 m, nav range: 84.556999 m, bearing: 348.439563 deg, approach rate: 0.084642 m/s, LOS rate: -0.372452 deg/s, cmd heading: 74.703780 deg, new cmd heading: 74.201021 deg. 2jHeadingCmd: 1.295052 target range: 80.099998 and range: 80.10 m. jEĥ?jjjihhhh˂Bfffrfbf`5 @ɛB%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514221}ض 隅چI .D=ɚiIbv=IEĥ?iiz=)Eĥ?)*Fu?2Fq:FqBFqJFy IzKQKh9KKiKRHJ ~  `_ BQ~`I4$ KuK_/ ( `!m  ^#RK5?JK5>JYJYJYJYJYJYJYJYG =G G qAGq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766302^pyw,t@Avz?Yvk8?vJ9vtP=yvH"?@~? ?Q8?)sY? ? \?ɨvz?v ډ;v"CyuBuVIII٢y  d=9;Q > G٣y > Nusing accuracyPremultiplier from config59z?5Y* iCu?@ljE:n:[5 O AHEZjDNOT Ignoring new targets: 80.10 m.Bj׻Jj׻% ProNav: ac range: 80.099998 m, nav range: 84.585625 m, bearing: 348.305370 deg, approach rate: 0.080246 m/s, LOS rate: -0.376056 deg/s, cmd heading: 74.201024 deg, new cmd heading: 73.798588 deg. 2j% -HeadingCmd: 1.288028 target range: 80.099998 and range: 80.10 m. j-ޤ?j)j)j)i)h1h1h1h9f9f9f9rf9bfE`@ɛmBmS? mBd=mGIq u}A=ɚqiqIu{u=I}ޤ?iyi}5.=)}ޤ?)H>I I IIBI =&I.ICD6I<:I1 F*F?2F:FBF_0JFG}&=G9BAO]U>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018714 I =vyw,f.A>g?Y>?>L@9> O=y>H? R??@?#`???y?ɨ>g?>9;>!CyZBZQI)\ \`bAIdId٢n nW=9n;Q n>pt vG٣zSGyz z> Nusing accuracyPremultiplier from config|59~z? 5Y~-% i~@  ?@~ɉE~!;~!;~ 5 o AZjAEDNOT Ignoring new targets: 80.10 m.BjMoջJjMoջ] ProNav: ac range: 80.099998 m, nav range: 84.613884 m, bearing: 348.163008 deg, approach rate: 0.074106 m/s, LOS rate: -0.373197 deg/s, cmd heading: 73.798589 deg, new cmd heading: 73.371654 deg. 2j]eHeadingCmd: 1.280577 target range: 80.099998 and range: 80.10 m. je?jajqjqiqhqhyhyhyfyffrfbf`@ɛB. 隽ۈI $>=ɚiIu=I?iiYr=)?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270529*F?2F!:F!BF%o0JF!G=GBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522337) 5 GY y Y y "B{b|yw,A I$BӋ?YB?B69B-N=yBHML???'?ϊ@L?U? ?ɨBӋ?B;B CybBb\IzKPKKKjKy9m'lD B Ih+`-yiYE4'" yoBK%qA:K%nAmMb@Mb@Mb@iii i)iYmMb?/$?ym?m=m̼mI A mA)m7AIm` Aiym AIIF3٢= @=9%;Q > G٣y > Nusing accuracyPremultiplier from config59z?5Y i?t?:?@ʉE;; 5 , AZjimDNOT Ignoring new targets: 80.10 m.Bju伻Jj}伻 ProNav: ac range: 80.099998 m, nav range: 84.639381 m, bearing: 348.017407 deg, approach rate: 0.057856 m/s, LOS rate: -0.330282 deg/s, cmd heading: 73.371654 deg, new cmd heading: 72.934990 deg. 2jbHeadingCmd: 1.272956 target range: 80.099998 and range: 80.10 m. j7?jjjihhhhBfIfIfQrfQbfU`y@ɛB赸 -7I) 5#:=ɚ9i9I=_u=I 7?iIC IIIBI&I.I6Iѯ<:I? FG] ghs=Ge ?Ge %?G1 BA O] >Oyw,* AzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026392h?Y?v+9mBV=yHA?? ??`S5m?@,??ɨh?v;騽"CyBQIII(1٢$ D=9;Q > G٣yټ > Nusing accuracyPremultiplier from config 59 z?5Y  i >%?@ ̉E @: :  5! %q A)UB*** querying acoustic contact ***jQjQZjaDNOT Ignoring new targets: 80.10 m.Bj |ʻJj |ʻ ProNav: ac range: 80.099998 m, nav range: 84.662643 m, bearing: 347.874197 deg, approach rate: 0.057526 m/s, LOS rate: -0.354056 deg/s, cmd heading: 72.934993 deg, new cmd heading: 72.505490 deg. 2jr )I)EHeadingCmd: 1.265460 target range: 80.099998 and range: 80.10 m. jE?jAjIjIiIhIhIhQhQfQfQfQrfYbf]`Xy@ɛB< އI 6=ɚiI1u=I?iiX=)?)J5nJ5hJ51J1J5|;:J5Ȇ9J53J1J5J;aMJ5J;aMJ5Ԭ:aMJ5լ:aME%m C=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278951*F ?2F :F BF _0JF GՊyw,r-Ay%B%\Ii-+=ף MA)AI AyAI IV2٢` = %=9Q > G٣SGy% %> -Nusing accuracyPremultiplier from config)559-?z?55Y-[ i-;=>=:=ɸ?=@-ΉE-;-y;-5A E, AA aIehZjDNOT Ignoring new targets: 80.10 m.BjxJjx ProNav: ac range: 80.099998 m, nav range: 84.684204 m, bearing: 347.704930 deg, approach rate: 0.040650 m/s, LOS rate: -0.319052 deg/s, cmd heading: 72.505491 deg, new cmd heading: 71.997835 deg. 2jZHeadingCmd: 1.256599 target range: 80.099998 and range: 80.10 m. j?ؠ?jjjihhhhBfff!rf!bf%ь@zKYPKKKkKbYPE9. }yvvxrljgecdb_^^\ZZUSVSRK?JK>ɛB 隽I &2=ɚiIt=I?ؠ?iI  I II BI =&I FD.I 6I <:I a FG-@Z=G1G5rAG BO5?Dyw,&pOA2ʱ?Y2?2&92m=y2H@~J? ?@p? $?f?$??>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.035034ɨ2ʱ?2q;0y~B~`II5)I5W3٢=b< E!=9E{Ii mG٣qy}5 }> Nusing accuracyPremultiplier from config59z?5Yw  i:?@ЉE;;5  AFEZj)5DNOT Ignoring new targets: 80.10 m.Bj5 Jj= M ProNav: ac range: 80.099998 m, nav range: 84.699516 m, bearing: 347.552348 deg, approach rate: 0.031438 m/s, LOS rate: -0.313211 deg/s, cmd heading: 71.997837 deg, new cmd heading: 71.540182 deg. 2jMVUHeadingCmd: 1.248612 target range: 80.099998 and range: 80.10 m. jUҟ?jQjQjQiQhYhYhYhYfafa iIifqrfybf}@t@ɛBļ 隭I &7.=ɚiIEt=Iҟ?iB?ԙyw,9iA=_?Y=?=v9=y=y=H ?@w?@?q?.͡? Z? ?ɨ=_?=lg;= CyUBUyIMb@Mb@Mb@ )YQ?i|?5?:vy>q=T A A)II AyQAII?13٢= >=9;Q >!! %G٣!y%Ƽ -> 5Nusing accuracyPremultiplier from config1=595z?=5Y5e i54=>=:EN?E@5҉E5w;5;55I Mn AIZjyDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 84.708969 m, bearing: 347.420503 deg, approach rate: 0.022885 m/s, LOS rate: -0.319154 deg/s, cmd heading: 71.540180 deg, new cmd heading: 71.144696 deg. 2j[HeadingCmd: 1.241709 target range: 80.099998 and range: 80.10 m. jT?jjj!i!h!h!hIhMBfQfQfQrfQbfU Y.@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538433ɛBt¼ {I z*=ɚ!i!I%9xt=I-T?i-o= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790300-yw,DA3?Yq? 9=yH@|?zpw?Ov?T?@Ar!? ? 3?ɨ3?,;%Cy-B-I)1 19=AIE IEV2٢UJ= UX=9]zc;Q ]>Ya eG٣eSGye+Ƽ e> mNusing accuracyPremultiplier from configiu59msz?}5Ym im0y}#?}@mӉEm7 ;m ;m5  AZjDNOT Ignoring new targets: 80.10 m.Bj!Jj! ProNav: ac range: 80.099998 m, nav range: 84.716179 m, bearing: 347.302998 deg, approach rate: 0.019112 m/s, LOS rate: -0.311467 deg/s, cmd heading: 71.144698 deg, new cmd heading: 70.792220 deg. H>I IIIBI =&I.I6Iѯ<:I< F2jUUHeadingCmd: 1.235557 target range: 80.099998 and range: 80.10 m. jU&?jQjQjYiYhYhYhYhafafafarfabfm֬@ɛB2 隵tI '=ɚiIokt=I&?iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042308 QIQ*J] 4="J] =Jq Ju eJu 1Jq Jq Ju 9Ju 3Jq Jq Jq Ju :Ju :yw,2A6?Y65?6\96=y6H$?`Vb?L^?? #@j?ڰ??ɨ6?69;6!CyrBrIIz Iz2٢9= P=9 ^h;Q  >   G٣yȼ > %Nusing accuracyPremultiplier from config559Nz?=5Y7 i+9=?E@ԉE{;yg;U5I M AIeB*** querying acoustic contact ***jajaZjq}DNOT Ignoring new targets: 80.10 m.Bj}:Jj}: ProNav: ac range: 80.099998 m, nav range: 84.722321 m, bearing: 347.180924 deg, approach rate: 0.015504 m/s, LOS rate: -0.308140 deg/s, cmd heading: 70.792220 deg, new cmd heading: 70.426030 deg. 2jySHeadingCmd: 1.229166 target range: 80.099998 and range: 80.10 m. jQU?jjjihhhhfffrfbfm3@ɛByԼ qlI $=ɚiIWt=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294664IQU?iC Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546252 A IA yw,KɶA:Â?Y:?:29:ѕ=y:H?`=8k?F?z?r`xŸ?L-??ɨ:Â?:6;:"CyJρBJIzKUNK 9KKmK     LUiJ6pWs>u\K2RK%?JK%>EMb@Mb@Mb@AAA A)AYEʡE?Q?{GztyE->Eu=EףE A EA)E7AIE AAyE\AI] I]<2٢mv= mD=9u$;Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config59z?5Y i!>:6?@։E;;(5 1 AZjAEDNOT Ignoring new targets: 80.10 m.BjMzJjMze ProNav: ac range: 80.099998 m, nav range: 84.726891 m, bearing: 347.046404 deg, approach rate: 0.010603 m/s, LOS rate: -0.312074 deg/s, cmd heading: 70.426033 deg, new cmd heading: 70.022500 deg. 2je,VmHeadingCmd: 1.222123 target range: 80.099998 and range: 80.10 m. jmn?jijijiihhhhBfffrfbf!@ɛeB 隍`dI !=ɚiI.t=In?i"ZHRHAAH>I I IIBI&I.I6I2<:I FBIǯCJIǯCRIZI =bI =jI{@5yw,AA 2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051319>?Y>?>iR9>R=y>H)?c&ȫ?`I/??`z ?`d? c?ɨ>?>ճ;\\ ^G٣^SGyb b> fNusing accuracyPremultiplier from configdj59fz?j5Yfl ifhj?j@f׉Ef:f:f5}6B } ACE $?IZj%DNOT Ignoring new targets: 80.10 m.Bj-Jj-m ProNav: ac range: 80.099998 m, nav range: 84.729897 m, bearing: 346.924178 deg, approach rate: 0.007548 m/s, LOS rate: -0.306898 deg/s, cmd heading: 70.022498 deg, new cmd heading: 69.655837 deg. 2juRHeadingCmd: 1.215724 target range: 80.099998 and range: 80.10 m. j֜?jPExceeded connect timeout, disconnecting.jjihhhhfffrfbfM @ɛUBU QUYIY ]=ɚYiYI] t=Ie֜?ie#yw,Am+?YmԜ?m]9m!=ymHu?Q?``? ? 8`?ޱ?@z?ɨm+?mJ;m!Cy}B}IMb@Mb@Mb@ )Y ףp= ?T㥛 ?yQ>=3 A  A)AI AyAI5I5(*2٢E<= E3=9:Q > G٣y > Nusing accuracyPremultiplier from config59z?5Yn ig>: U? @ىE%; $;5  AAEZj9=DNOT Ignoring new targets: 80.10 m.BjE˻JjM˻] ProNav: ac range: 80.099998 m, nav range: 84.732918 m, bearing: 346.766730 deg, approach rate: 0.006839 m/s, LOS rate: -0.356414 deg/s, cmd heading: 69.655840 deg, new cmd heading: 69.183525 deg. 2j]tmWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.554713uHeadingCmd: 1.207480 target range: 80.099998 and range: 80.10 m. ju?jqjqjqiyhyhyhyhɂBfffrfbf`$!@ɛB앍 隽OI =ɚiITs=I?iis=)?) Ih*F?2F:FBF[0JFzKOKh9KKnKn]OC7&~yshcc_ZVPJIIC@?>@G\kopmg`][YVVQOLLBK:KqAG "=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808032 yw,[A^vj?Y^+?^N9^2=y^H@%?@ϭ? 6??ͪϝ?`??ɨ^vj?^V;^CyfBfIInIn ٢~,> ~b=9x6:Q >  G٣y %? =Nusing accuracyPremultiplier from config1M5958z?U5Y5 i5Y]s?]@5ۉE5˞;5A;5g5HI I. II;BI&I.I6I<:IN F  AZjDNOT Ignoring new targets: 80.10 m.Bj%Jj- ProNav: ac range: 80.099998 m, nav range: 84.734344 m, bearing: 346.652585 deg, approach rate: 0.003890 m/s, LOS rate: -0.311229 deg/s, cmd heading: 69.183526 deg, new cmd heading: 68.841101 deg. 2jUHeadingCmd: 1.201504 target range: 80.099998 and range: 80.10 m. jʙ?jjjihhhhfffrfbf!@ɛB`o ?I! %"=ɚ!i!I%qs=Iuʙ?iu4yw,8A6f}?Y6`?6o96b=y6H?` V?? U`?@調 ?i?C?ɨ6f}?6;6!Cy^'B^ IIfIfb1٢n|= nL=9r6:Q r>pp vG٣vSGyv v> ~Nusing accuracyPremultiplier from configx~59zz?5Yz  iz  q? @z܉EzK;z:K;z" 5 uA=B*** querying acoustic contact ***j9j9ZjAEDNOT Ignoring new targets: 80.10 m.BjMƻJjMƻ] ProNav: ac range: 80.099998 m, nav range: 84.734871 m, bearing: 346.521612 deg, approach rate: 0.001397 m/s, LOS rate: -0.347618 deg/s, cmd heading: 68.841101 deg, new cmd heading: 68.448191 deg. 2j]neHeadingCmd: 1.194646 target range: 80.099998 and range: 80.10 m. je+?jajijiiihihihqhqfqfyfyrfybf}`"@ɛBr 隵63I T=ɚiIƎs=I+?ii=)+?)Will construct direction to contact in vehicle frame from tetrahedron phase data.=<checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310827E*F?2F:FBF0JF"G=G=Gs=GBO >= c~Ge vAq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562415 iY vAy A I [yw,S8A:E{?Y:?:q9:=y:H?@}k? ??`&`C?@? ?ɨ:E{?:;:"Cy^9Bb, IJ3K;(3 K;(.K3K3"K3JmJdJ1JJ\8:J|9J3Ja@a@a@a@Mb@Mb@Mb@ )Y?V-?~jtx?yf?h=; A A)AIzAyAII(*٢_= ==zK5OK5+9K1K5oK5JGD>;7.)%"!    ZfO [TRKE ?JKE?9u9Q u>yy }G٣yy}v > Nusing accuracyPremultiplier from config59{?5Y iΒ?:"?@މEN;;"5 AZj DNOT Ignoring new targets: 80.10 m.Bj-ɻJj5ɻE ProNav: ac range: 80.099998 m, nav range: 84.735558 m, bearing: 346.358848 deg, approach rate: 0.001490 m/s, LOS rate: -0.353126 deg/s, cmd heading: 68.448188 deg, new cmd heading: 67.959912 deg. 2jEXrEHeadingCmd: 1.186124 target range: 80.099998 and range: 80.10 m. jMҗ?jIjIjIiQhQhQhYh]BfYfYfarfabfe#@ɛBxDû g(I! UY=ɚQiYI]d6s=I]җ?ieKIC If IIiBI&I.I6I¯<:I/ FGe =GY Ba O >yCyw,QA&Will construct direction to contact in vehicle frame from tetrahedron phase data.$i&A* ~X=9l:Q >   G٣ y   > Nusing accuracyPremultiplier from config qIy59r{?5Y! iS?@E <<#5 AYZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 84.735382 m, bearing: 346.231247 deg, approach rate: -0.000449 m/s, LOS rate: -0.326339 deg/s, cmd heading: 67.959911 deg, new cmd heading: 67.577115 deg. 2j_HeadingCmd: 1.179443 target range: 80.099998 and range: 80.10 m. j?jjjihhhhfffrfbf%X$@ɛBX2ϻ I )=ɚiIFr=I?iԆpyw,kAyMfBUc Ii]=I]=Mb@Mb@Mb@ )Y> ףp=?bX9ȶ?{Gz?y?E=#< A hA) AI AyIIF٢=  -=9 Q  > G٣SGy > %Nusing accuracyPremultiplier from config!-59%r {?55Y%$ i%5?=:=?=@%E%X;%V;%%5A E}AMWill construct direction to contact in vehicle frame from tetrahedron phase data.M Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:3163>  BDAT read: Tx time:23:17:49.3794  $Ping request sent. Iq Iu IIuBIu =&Iq.IuBD6Iu<:IuJ FII(*2٢#> _=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%`{?-5Y% i%11U@%E%;%F;%\'5Y ]A]?EZjDNOT Ignoring new targets: 80.10 m.BjJj컝- ProNav: ac range: 80.099998 m, nav range: 84.746590 m, bearing: 345.903081 deg, approach rate: 0.015117 m/s, LOS rate: -0.414052 deg/s, cmd heading: 67.025889 deg, new cmd heading: 66.592704 deg. 2j-5HeadingCmd: 1.162262 target range: 80.099998 and range: 80.10 m. j5Ŕ?j1j9j9i9h9h9hAhAfAfAfArfIbfM@S%@ɛuBu q}Iy }j=ɚyiyI}:r=IŔ?iiLS\=)Ŕ?)*F%?2F):F)BF-P0JF)GB1OMR>]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:17:49.3787 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250629 YIY*J- C="J- </yw,qA2\u?Y2?2b92ģ=y2H}l?t@Y?_?c8?@#\?p?w?ɨ2\u?2P;2!CyBBB II^I^٢f> f_=9fIQ j>hh jG٣hynN n> rNusing accuracyPremultiplier from configpz59r{?z5YrL irjxz?~@rEr0;r90;r(5 Am Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753594 I IM hyw,VAJs?YJb?J9J=yJH?@[hl? r?O?`G@?Vj?`Y?ɨJs?J-;J"CyVBV IJrpJriJpJpJrA:Jrڈ9JpJp]Mb@Mb@Mb@YYY Y)YY]Zd;O?EԸ?:v?y]j?]=]T<]I A ]A)YI] AYy]3AImIm<٢}J= }?=9һQ > G٣SGy > 5Nusing accuracyPremultiplier from config1=5951{?=5Y5; i5FEh?E:E?E@5E5;5#;5*5I UAAQzKkLNKh9KKqK ZjDNOT Ignoring new targets: 80.10 m.Bj8Jj8 ProNav: ac range: 80.099998 m, nav range: 84.749771 m, bearing: 345.574939 deg, approach rate: 0.003124 m/s, LOS rate: -0.432272 deg/s, cmd heading: 66.168871 deg, new cmd heading: 65.608325 deg. 2jU HeadingCmd: 1.145081 target range: 80.099998 and range: 80.10 m. j ?jjjihhhh{Bfff!rf!bf% '@ɛMzBm< qu̾Iq } =ɚyiIE>*FY2FY:FYBF]Y0JFYZHQRHQHYIY I] II]݂BIY&IY.I]CD6I] <:I]a FG 334=Gy B O >Yyw,=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258333F2r?YF?F9FF= n$?IlyFH@? a?l?`N???@ ?ɨF2r?F(a;DyȂB% II=I=m٢M> MM=9UQ U>QQ ]G٣Yy]4 ]> eNusing accuracyPremultiplier from configam59e{?u5YeD ie&quk?u@eEe;e_;e,5y }uAZjDNOT Ignoring new targets: 80.10 m.BjJj񻝊 ProNav: ac range: 80.099998 m, nav range: 84.751160 m, bearing: 345.417090 deg, approach rate: 0.003722 m/s, LOS rate: -0.423143 deg/s, cmd heading: 65.608325 deg, new cmd heading: 65.134799 deg. 2j3HeadingCmd: 1.136817 target range: 80.099998 and range: 80.10 m. j6?jjjihhhhfffrfbf`fO(@ɛxB; ޯI! % =ɚ!i!I%p=I6?iiyN=)6?)J@AJ*F2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.:?4?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510366GL5=G B O >yw,0.Aulp?Yu&?u59uF=yuH@?WJ c ?`T?`H?JŠ???ɨulp?u;u!CyւB I}Mb@Mb@Mb@yyy y)yY}/$?`"?Mb?y}1(?}=}<} A }@)yI}Ayy}=AIIF٢x= 5=9u:Q > G٣y > Nusing accuracyPremultiplier from config59"{?5Y i+?:?@Ew;;.5 AZj DNOT Ignoring new targets: 80.10 m.BjJj]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769922 ProNav: ac range: 80.099998 m, nav range: 84.759064 m, bearing: 345.214148 deg, approach rate: 0.017579 m/s, LOS rate: -0.451313 deg/s, cmd heading: 65.134801 deg, new cmd heading: 64.526056 deg. 2jݚ IHeadingCmd: 1.126192 target range: 80.099998 and range: 80.10 m. j'?jjji h hhAhEBfAfAfIrfIbfe DH)@ɛtBk< ?=9I  =ɚiIp=I'?iiV=) '?) *F?2F:FBF`0JFJmJfJJJ\8:J9JJzKLKs9KKrK  2ELLF=5,)19@>:4/+# BK oA:K oAG 0P= Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023913G B O >zw,:AJn?YJ}?JQ9J=yJH? 3@A?>??y?5?`?ɨJn?J ;HyVBV!I b=bp=InIn<٢v= vm=9v$:Q z?HI I;!IIBI&I.I6I%<:Iv FBICJICRIZI =bI =jI4!! %G٣-SGy-3 -> uNusing accuracyPremultiplier from config1595e'{?5Y5 i5ّª?@5E5;5;5 05 pA:EZj15DNOT Ignoring new targets: 80.10 m.Bj=Jj=񻝊M ProNav: ac range: 80.099998 m, nav range: 84.764374 m, bearing: 345.056191 deg, approach rate: 0.014198 m/s, LOS rate: -0.422317 deg/s, cmd heading: 64.526054 deg, new cmd heading: 64.052224 deg. 2jMꐼ}HeadingCmd: 1.117922 target range: 80.099998 and range: 80.10 m. j}?jyjyjyiyhhhhfffrfbf)@ɛqB ]< "I! %x =ɚ!i!I%qo=IM?iIiM5[=)U?)Q*F?2F:FBF2JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273592 IGE 8U=GM pAGI G B) OE >zw, A:A6m?Y:ْ?:S9:ܟ=y:H@&J?@?(??૪ɠ??@?ɨ:A6m?:;:#CyFBF!IININ1٢fX= fM=9f!Q j>|| ~G٣y >  Nusing accuracyPremultiplier from config 59 ,{?5Y ʧ i =?=@ E ; ); 15A EAAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.10 m.BjJj ProNav: ac range: 80.099998 m, nav range: 84.769394 m, bearing: 344.876729 deg, approach rate: 0.013112 m/s, LOS rate: -0.468720 deg/s, cmd heading: 64.052223 deg, new cmd heading: 63.513884 deg. 2j֠=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537853HeadingCmd: 1.108526 target range: 80.099998 and range: 80.10 m. j1?jjjihhhhfffrfbf*@ɛMnBME< IUbIQ U =ɚQiYI]n=I1?iiH d=)1?)*F]?2FY:FYBF]_5JFY I h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792679G YW=G B O > zw,l:A6Ϡk?Y6W?6]96Ξ=y6H@L? @l?`?@No?D毿 ? ѳ?`?ɨ6Ϡk?6⪉;6"CyR BR/!IMb@Mb@Mb@ )Yi|?5?X9v?Mb?y1?= A A)AI AyIIb1٢%= -6=9-HQ 5>19 =G٣9yEd E> MNusing accuracyPremultiplier from configIU59Mo3{?U5YMџ iM]4?]:]p?]@MEM ;M;M35e7B e\Ae7EZjDNOT Ignoring new targets: 80.10 m.Bj Jj  ProNav: ac range: 80.099998 m, nav range: 84.772804 m, bearing: 344.665389 deg, approach rate: 0.007824 m/s, LOS rate: -0.484813 deg/s, cmd heading: 63.513881 deg, new cmd heading: 62.879914 deg. 2j\HeadingCmd: 1.097462 target range: 80.099998 and range: 80.10 m. jy?zKMK+9KKsKRK?JK>jj)j1i1h9h9hQhUBfYfYfYrfYbf]+@ɛlB< @I ^u=ɚiIn=Iy?ii%v=)y?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:17:51.8806 mTRx dataTimestamp_ set to:1736378273.091482mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.046337jH<bHHI I!IIMBI&I.I6IT<:I FE5e=*F ?2F :F BF 0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293783G va=G ?G ?GBO>?zw,2ZAJqJdJJJD:J|9JJJJZ;aJLZ;a%J:a%J:a%y}B}@!I) II 2٢g= +=9Q > G٣SGy > Nusing accuracyPremultiplier from config59:{?5YG iX@E%;!;55 AZj DNOT Ignoring new targets: 80.10 m.Bj Jj  ProNav: ac range: 80.099998 m, nav range: 84.777740 m, bearing: 344.439114 deg, approach rate: 0.010366 m/s, LOS rate: -0.475148 deg/s, cmd heading: 62.879917 deg, new cmd heading: 62.201166 deg. 2j %HeadingCmd: 1.085615 target range: 80.099998 and range: 80.10 m. j%p?j)j)j)i)h)h)h1h1f1f1f1rf9bf=J,@ɛeiBm< quIq u=ɚqiqIuBm=I}p?iyi}쭏=)p?)EE&t@=*F%?2F!:F!BF-4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:17:51.8806 LVL= 24560, 25649, 16962, 32755, AGC= 64, IDX= 302,-0.21, 3.037, 2.027,-2.610, 3.039, PHS= 0.086,-0.965, 0.632, RAW= 169.6, 3.6, CAL= 170.1, -5.3, ROT= 339.9, 5.3 Ygot valid direction response: 23:17:51.8806 LVL= 24560, 25649, 16962, 32755, AGC= 64, IDX= 302,-0.21, 3.037, 2.027,-2.610, 3.039, PHS= 0.086,-0.965, 0.632, RAW= 169.6, 3.6, CAL= 170.1, -5.3, ROT= 339.9, 5.3 PDAT read: Bearing 339.9, 5.3 (Local) ~Local bearing/azimuth received: Bearing 339.9, 5.3 (Local) DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed 0.4 m/s ,DAT read: user:3164> %BDAT read: Tx time:23:17:52.9794 %$Ping request sent.%@)ڝqIڝֽ@iڝq=ڙڙ۝}.]?<9xW?6' Ὧ?)۝]?I۝~i۝߿۝`ۙۙGMr=:publishing transmit ping time!Fpublishing direction and range infoؙ9؝SſD05??yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙG BO=r>ڙڙ۝}.]?<9xW?6' Ὧ?)ۙIۙiۙۙۙۙ)  ~G- |uAbzw,|sA61h?Y6V?6 96=y6Hm?` r|? c?9?a䯿`?Pʲ? ?ɨ61h?6;4 B$?I@LyV&BbO!I j&Yj|uAyjB~Will construct direction to contact in vehicle frame from tetrahedron phase data.~Ai~AJDAT read: TxSync time:23:17:52.9787 5Mb@Mb@Mb@111 1)1Y5n?K7?y&1?y56?5I >5`e<1 5A)1I5A1y1IMIMV٢ f= :=9XQ > G٣y > Nusing accuracyPremultiplier from config59TA{?5Y i,f9?:?@Ew;;751 5A55Eke?kz4 k keA:kfBBkpBZk0@"(wQXn/@SſD05??Jk߿Rk`*Yg8EM@2iD3NBl$@ݧ?õ"-o#W0?"k'*k)jBkp?k | 2kBk̃Ng?kvk k`BkBk @  addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 14.385218 s, deltaX: -7.400002 m, approachRate: -0.514417 m/s, rangeRepo size: 4  Added new target pos. range: 72.699997 m, bearing: 324.419865 deg, lat: 36.905026 deg, lon: -122.120287 deg, deltaT: 14.385218 s, deltaX: -7.400002 m, approachRate: -0.514417 m/s, posRepo size: 4 Zj%DNOT Ignoring new targets: 72.70 m.BjEJjIU ProNav: ac range: 72.699997 m, nav range: 82.950287 m, bearing: 343.264444 deg, approach rate: 0.000000 m/s, LOS rate: -0.475148 deg/s, cmd heading: 62.201167 deg, new cmd heading: 61.541477 deg. 2jYHeadingCmd: 1.074101 target range: 72.699997 and range: 72.70 m. j(|?jjjihhhhԃBfffrf,R@bf ܝ?ɛEfBE< IMhII M`c=ɚIiIIMRl=IU(|?iQiU.=)U(|?)YEiEi*Ei"EizKKh9KKtK?}#FV2BKqA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.HQ IQ  IU !IIU vBIQ &IQ .IQ 6IU -<:IU z F*F 2F :F BF 0JF G'@s=GqAGqAGB IhO? %zw,!A6f?Y6^?68 96(o=y6H ´?`pݩ??i?,3?ದ?&?ɨ6f?6Ή;4y>0B>\!IFWill construct direction to contact in vehicle frame from tetrahedron phase data.ININ٢V1= V5=9V Q V>XX ZG٣Xy^0 ^> fNusing accuracyPremultiplier from config`f59bLH{?j5Yb ibhj?j@bEb;b:b95l n:ApZj DNOT Ignoring new targets: 72.70 m.Bj Jj  ProNav: ac range: 72.699997 m, nav range: 82.961517 m, bearing: 343.041811 deg, approach rate: 0.026387 m/s, LOS rate: -0.523016 deg/s, cmd heading: 61.541480 deg, new cmd heading: 60.873702 deg. 2jx%HeadingCmd: 1.062446 target range: 72.699997 and range: 72.70 m. j-??j)j)j)i)h)h)h1h1f1f1f9rf9bf=`a?ɛ cB k<  ͽI  =ɚiIwk=I=??iAiE.Ŗ=)E??)IJnJiJJJ|;:Jڈ9JJJJ;JJ;Ji:Jj:*F?2F:FBFP0JFGj~=GBOB>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=>=#@(+zw,ήAJ}e?YJ.?JS9J=yJH |#?`ְ@Z8??@;?@]ɢ?@??ɨJ}e?JM;J!CyR1BR]!II^I^%x٢z!; zG=9=tQ  >! %G٣%SGy5g 5> eNusing accuracyPremultiplier from configQu59U O{?5YU4 iUԐ?@UEUE2zw,A2c?Y22?292捘=y2H@Qb?`t?? )?':?@ ?F?ɨ2c?2T;2 Cy88HDID IF!IIFBID&ID.ID6IFD<:IF FMb@Mb@Mb@ )Yx?+?Mb?yK7?>< A A)AIAyAIId٢k: ==9]{Q > G٣y% > Nusing accuracyPremultiplier from config59cU{?5YOw i;?:?@E;;`=58B 6A2EZj!-DNOT Ignoring new targets: 72.70 m.Bj-$Jj-$E ProNav: ac range: 72.699997 m, nav range: 82.987938 m, bearing: 342.619446 deg, approach rate: 0.046041 m/s, LOS rate: -0.575740 deg/s, cmd heading: 60.245957 deg, new cmd heading: 59.606863 deg. 2jEżeHeadingCmd: 1.040336 target range: 72.699997 and range: 72.70 m. je)?jijijqiqhyhhhBfffrf!bf%@Q?ɛ^B< 隽I qf=ɚiI i=I)?iiӧ=))?)*F?2F:FBFP0JF IG]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746437GB!OEs>J qJ dJ J J D:J |9J J J JZ;J LZ;J :J :?8zw,̙A2ϫa?Y2?2L92=y2H??ఇ??ɰ](?H?@S?ɨ2ϫa?2ۊ;2CyZ6BZc!IIbIb٢jo< n[=9n:";Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configt~59v2[{?5YvWp ivj?@vEvC;v&;v?5  AZj9=DNOT Ignoring new targets: 72.70 m.BjEJjEU ProNav: ac range: 72.699997 m, nav range: 83.001579 m, bearing: 342.431010 deg, approach rate: 0.036383 m/s, LOS rate: -0.502491 deg/s, cmd heading: 59.606863 deg, new cmd heading: 59.041666 deg. 2jUm]HeadingCmd: 1.030471 target range: 72.699997 and range: 72.70 m. j]}?jYjYjYiahahahahafififirfqbfu;?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998278ɛE\BE_< AEIA EX.=ɚiIh=I}?ii=)}?)*F=?2F9:F9BF=^0JF9 $?IhGE h= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250460G9 BA Oe >f>zw,AdA: _?Y:u?: 9:B*=y:H']? eއ?h?@.,?lUo?~?`[?ɨ: _?:d;:%CyR0BR[!ImMb@Mb@Mb@iii i)iYm`"?n?Mb`ym7?mV>mm A mlA)mAImQAiymAIIb٢b ?=9%;Q > G٣SGy > Nusing accuracyPremultiplier from config59b{?5Yth ij8;?:y?@Ec;;@5 BA0EZjDNOT Ignoring new targets: 72.70 m.BjJj ProNav: ac range: 72.699997 m, nav range: 83.008659 m, bearing: 342.215712 deg, approach rate: 0.016551 m/s, LOS rate: -0.503245 deg/s, cmd heading: 59.041665 deg, new cmd heading: 58.395855 deg. 2jHeadingCmd: 1.019200 target range: 72.699997 and range: 72.70 m. j%u?j!j!j!i!h!h!h)h-Bf)f)f)rf1bf5 qa@ɛeZBm< i ȩI =ɚiI h=I%u?iiv=)%u?)!zK:IK9KKvK *-27;=<;:89411/''%!7`BKpA:K*F?2F:FBFd0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503114Gy=GyBH>I I!IIBI&I.I6I<:IX FOb> I hMEzw,`=ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754626j`n]?Yj?jM9jE=yjH`Q?G?I? ?篿 (?`??ɨj`n]?jȊ;j Cyv)BvT!IIuIu٢ K=92;Q > G٣yަ > Nusing accuracyPremultiplier from config59i{?5Y a iOm?@E:C:B5 uAZjDNOT Ignoring new targets: 72.70 m.BjXJjX ProNav: ac range: 72.699997 m, nav range: 83.013992 m, bearing: 342.012868 deg, approach rate: 0.013272 m/s, LOS rate: -0.504779 deg/s, cmd heading: 58.395857 deg, new cmd heading: 57.787388 deg. 2j 6 HeadingCmd: 1.008580 target range: 72.699997 and range: 72.70 m. j (?jjjihhhhfff!rf!bf%@ɛ]XB]m< Y]HIa eg=ɚaiaIec=g=Im(?iiims=)m(?)qEErAJmJJJJ\8:JJJJD;JD;JJ*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006693GX=G B O >7wKzw,/0A6t[?Y60?6,967=y6HC? *@R?^,??H ?W?9?ɨ6t[?6;6CyBBBA!IiV >IV=I^I^٢~7 S=9{l:Q >    G٣ y  > 5Nusing accuracyPremultiplier from config)e59-p{?m5Y-Y i-6quq?}@-E-:*<-.)<-UD59B A-E yIyZj9=DNOT Ignoring new targets: 72.70 m.BjEGJjEGu ProNav: ac range: 72.699997 m, nav range: 83.017952 m, bearing: 341.816564 deg, approach rate: 0.008863 m/s, LOS rate: -0.439372 deg/s, cmd heading: 57.787389 deg, new cmd heading: 57.198526 deg. 2juĖ}HeadingCmd: 0.998303 target range: 72.699997 and range: 72.70 m. j}Ð?jyjyjyihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑBDAT read: Rx Time:23:17:55.4781 TRx dataTimestamp_ set to:1736378276.869007checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259523fffrfbf`< @ɛVB< DI  )=ɚiIiVf=I5Ð?i9i=/´=)=Ð?)9*F?2F:FBF0JFG% ʯ=zKE NKE 9KA KE wKE m_ZROLE?=8641+*"&,5;;:61.,))&"G B O% >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510161$cRzw,OJAH,I, I,I,I,&I,.I,6I.ɯ<:I.1 FBIiJIiRIiZIibIijIm-4y5B56!IMb@Mb@Mb@ )Y(\?Mb?~jtxy.?>ĻA VA)IAyQAIIԲ٢- ,=9eQ m>ii mG٣mSGyu u> }Nusing accuracyPremultiplier from configy59}[y{?5Y}Q i}$1?:ҡ?@} E};};}nF5 9AB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 72.70 m.Bj%tJj-t5 ProNav: ac range: 72.699997 m, nav range: 83.022209 m, bearing: 341.587326 deg, approach rate: 0.009902 m/s, LOS rate: -0.533141 deg/s, cmd heading: 57.198528 deg, new cmd heading: 56.510885 deg. 2j=񶼝]HeadingCmd: 0.986301 target range: 72.699997 and range: 72.70 m. je9~|?jajajaiahahahihmBfififqrfqbfuഫ @ɛTBb< I ==ɚ9i9I=}e=IE9~|?iAiEi=)E9~|?)I aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:17:55.4781 LVL= 31760, 31025, 20658, 32755, AGC= 65, IDX= 419, 0.23, 1.562, 0.562, 2.106, 1.478, PHS= 0.172,-0.869, 0.626, RAW= 167.2, 1.1, CAL= 168.4, -7.4, ROT= 341.6, 7.4 UYgot valid direction response: 23:17:55.4781 LVL= 31760, 31025, 20658, 32755, AGC= 65, IDX= 419, 0.23, 1.562, 0.562, 2.106, 1.478, PHS= 0.172,-0.869, 0.626, RAW= 167.2, 1.1, CAL= 168.4, -7.4, ROT= 341.6, 7.4 ]PDAT read: Bearing 341.6, 7.4 (Local) ]~Local bearing/azimuth received: Bearing 341.6, 7.4 (Local) eDAT read: Range 10 to 50 : 70.8 m (Round-trip 94.4 ms) speed 0.5 m/s m,DAT read: user:3165> uBDAT read: Tx time:23:17:56.5795 u$Ping request sent.}٭v^٭A ?٭:@٭nF< ڭ<@)ڭ AIڭɾ@iڭ A>ککۭ ?-ۆL|??H[?)ۭS?Iۭᚼiۭٿۭ\c۩۩:publishing transmit ping timeqFpublishing direction and range infoة9ح{r+KH~?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ ?-ۆL|??H[?)۩I۩i۩۩۩۩J lJ bJ 1J J <5:J t9J 3J J K?;J M?;J T:J U:G Ҵ=GQ Ba Ou >Xzw,()dAyMBU+!IIe Ie(2٢GWill construct direction to contact in vehicle frame from tetrahedron phase data. c=9Q > G٣y) -> 5Nusing accuracyPremultiplier from config1=595{?E5Y5-K i5IIU@5 E5;5j;5H5i uA}+Ek&;ٍ?ksx k kWA:kBBkBZkd@"^W!QݽP=2@{r+KH~?JkٿRk\c*L@ɶmDe+@"\?S[)Kwnp8?"kl#*kt`Bkmm?k嘍 2kBkHnj?kz\ k(eBkBk= @ addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 3.781263 s, deltaX: -1.899994 m, approachRate: -0.502476 m/s, rangeRepo size: 4  Added new target pos. range: 70.800003 m, bearing: 323.942094 deg, lat: 36.905002 deg, lon: -122.120294 deg, deltaT: 3.781263 s, deltaX: -1.899994 m, approachRate: -0.502476 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 70.80 m.BjJj ProNav: ac range: 70.800003 m, nav range: 80.773384 m, bearing: 340.419165 deg, approach rate: 0.000000 m/s, LOS rate: -0.533141 deg/s, cmd heading: 56.510885 deg, new cmd heading: 55.883743 deg. 2jHeadingCmd: 0.975355 target range: 70.800003 and range: 70.80 m. jy?jjji!h!h!h!h)f)f)f)rf-@3Q@bf5?ɛRBjݴ< 隝hI <=ɚiId=Iy?ii6=)y?)*Fu?2Fq:FqBFu95JFqG}qA G}rAG}w=GG M$?IUhGBOM > Will construct direction to contact in vehicle frame from tetrahedron phase data.G^zw,p}A:T?Y:h?:9:c`=y:H?@B.???KX??`b?ɨ:T?:R;:"Cy^B^!I)` `}Mb@Mb@Mb@yyy y)yY}w/?S㥻? G٣y& > Nusing accuracyPremultiplier from config59E{?5YD i?)?:?@E;;I5 -AZjDNOT Ignoring new targets: 70.80 m.Bj Jj  ProNav: ac range: 70.800003 m, nav range: 80.770935 m, bearing: 340.237373 deg, approach rate: -0.006552 m/s, LOS rate: -0.486382 deg/s, cmd heading: 55.883744 deg, new cmd heading: 55.338369 deg. 2j榼HeadingCmd: 0.965837 target range: 70.800003 and range: 70.80 m. jAw?jjjihhhhOBfffrfbf`d;?ɛeQBm < 隭$;I  =ɚiI$d=IAw?ii;=)Aw?zKNK9KKxK   )Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFH)I) I-!II-BI)&I).I)6I-J<:I- FG =G B O > A IA :ezw,FϗA"Will construct direction to contact in vehicle frame from tetrahedron phase data. i 6R?Y6?696 h=y6H?`ڡ`Ġ?`?l ?ά `y??@?ɨ6R?6\;6#CynBn IIvIv̍٢ɢ %R=9%Q:Q %>)) -G٣-SGy-+Ǽ 5> =Nusing accuracyPremultiplier from config9E59={?E5Y=> i=AE?E@=E=:=:=kK5Q UAQZjy}DNOT Ignoring new targets: 70.80 m.Bjt Jjt  ProNav: ac range: 70.800003 m, nav range: 80.766899 m, bearing: 340.055741 deg, approach rate: -0.010991 m/s, LOS rate: -0.494677 deg/s, cmd heading: 55.338370 deg, new cmd heading: 54.793464 deg. 2jHeadingCmd: 0.956326 target range: 70.800003 and range: 70.80 m. jt?jjjihhhhfffrfbf?ɛOBb< WI `=ɚiIc=It?ii=)t?)*J4="Jp=*F?2F:FBF_0JFGŀ=GYBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.Tkzw,AN~GftAx %Y%tAy%Byޝ΂Bޥ I !I)IIk٢ 1=9Q >  5G٣1yE]Will construct direction to contact in vehicle frame from tetrahedron phase data. > Nusing accuracyPremultiplier from config59h{?5Y6 i@E+;;M5 [A(EZjDNOT Ignoring new targets: 70.80 m.BjJjM ProNav: ac range: 70.800003 m, nav range: 80.763016 m, bearing: 339.830284 deg, approach rate: -0.007939 m/s, LOS rate: -0.460954 deg/s, cmd heading: 54.793465 deg, new cmd heading: 54.117095 deg. 2jU,UHeadingCmd: 0.944521 target range: 70.800003 and range: 70.80 m. jU)q?jYjYjYiYhYhYhahfffrfbf`?ɛMMBMʈ< IMt~II U=ɚQiQIUub=I])q?iYi]=)])q?)JmJeJ0JJ\8:J9Jـ3Ja@a@a@a@*Fu?2Fq:FqBFuP0JFyzKE bLKE h9KA KE yKE  Will construct direction to contact in vehicle frame from tetrahedron phase data.G] s=Ge ?Ge ?H- >I)  I- !II- lBI) &I) .I) 6I- <:I- m FG B O >szw,A 44V^I?YV2?V\9Vg5=yVH?@???J7`ʜ?`?`?ɨV^I?V;V"Cy^B^ IMb@Mb@Mb@ )Y333333?l?V-y?= @)VAI$AyAII(1٢ S=9H, G٣yY > Nusing accuracyPremultiplier from config59Z{?5Yb1 i?:$?@E ;X ;!O5  A Zj15DNOT Ignoring new targets: 70.80 m.Bj=GJj=GM ProNav: ac range: 70.800003 m, nav range: 80.744446 m, bearing: 339.672779 deg, approach rate: -0.051584 m/s, LOS rate: -0.437622 deg/s, cmd heading: 54.117095 deg, new cmd heading: 53.644480 deg. 2jM+UHeadingCmd: 0.936273 target range: 70.800003 and range: 70.80 m. jUo?jQjQjQiQhYhYhYh]Bfafafarfibfmm?ɛLB%f*< !%SI! %F=ɚ!i!I-Vb=I-o?i1i5p=)5o?)1 I*F2F:FBF`0JFG҈=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOf>|%yzw,\A:"F?Y:Z?:=׼9: .=y:HY?@g??O?2? ??ɨ:"F?:Y;8yBBF IININ3٢Z Z`=9^ӥ;Q ^>\` bG٣`yb& b> jNusing accuracyPremultiplier from configdj59fl{?n5Yf$, if9=?=@fEf|k=ɚAiAIMEa=Ie(m?iaie=)e(m?)q*F%?2F!:F!BF%0JF) $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G- XY=G1 G5 rAGA BQ Om >JKm3 KS}-KK"KJ= nJ9 J9 J9 J= |;:J9 J9 J9 zw,`9A6C?Y6|?6ɼ96}+=y6H`?b Е??Bj IeMb@Mb@Mb@aaa a)aYe rh?Q?lye ?e\=ee$A e~@)e@IaayeAI}I}b2٢ ==9h|;Q > G٣SGy > Nusing accuracyPremultiplier from config59e{?5Y& i% ?:?@E&;z%;R5 A#EZjDNOT Ignoring new targets: 70.80 m.BjWJjW  ProNav: ac range: 70.800003 m, nav range: 80.685867 m, bearing: 339.349817 deg, approach rate: -0.095190 m/s, LOS rate: -0.416748 deg/s, cmd heading: 53.176383 deg, new cmd heading: 52.675265 deg. 2j HeadingCmd: 0.919357 target range: 70.800003 and range: 70.80 m. jZk?jjjihhhhÂBfffrfbf@ɛ5IB5 < 1=yI9 =i<ɚ9i9I=da=IEZk?iAiE\=)EZk?)IEqEqzK=KK=]9K9K=zK=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749152*F%?2F!:F!BF%:2JF!G) G)HU>IQ IUm!IIU>BIQ&IQ.IQ6IU-<:IUz FGq=GBOj> I h Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:17:59.0752 % TRx dataTimestamp_ set to:1736378280.400579- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0006097zw,AyB% II5 I5̍2٢ J=9Q > G٣y > Nusing accuracyPremultiplier from config59ǻ{?5Y! i%@E:z:cT5 sAZjAMDNOT Ignoring new targets: 70.80 m.BjMػJjMػ ProNav: ac range: 70.800003 m, nav range: 80.650597 m, bearing: 339.192558 deg, approach rate: -0.084991 m/s, LOS rate: -0.379110 deg/s, cmd heading: 52.675266 deg, new cmd heading: 52.203292 deg. 2jHeadingCmd: 0.911119 target range: 70.800003 and range: 70.80 m. j?i?jjjihhhhfffrfbf@@ɛGBt; ҺI <ɚiI`=I?i?iis=)?i?)*F?2F:FBFP5JFG}p=GYBq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}%=}%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253154O>azw,l3A 9IAymBu III?13٢eZ m==9Q > G٣SGy >Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:17:59.0752 LVL= 31920, 32241, 24306, 32755, AGC= 66, IDX= 406,-0.40, 3.130, 2.000,-2.768, 2.949, PHS= 0.268,-0.902, 0.563, RAW= 160.9, 1.1, CAL= 162.6, -7.6, ROT= 347.4, 7.6 eYgot valid direction response: 23:17:59.0752 LVL= 31920, 32241, 24306, 32755, AGC= 66, IDX= 406,-0.40, 3.130, 2.000,-2.768, 2.949, PHS= 0.268,-0.902, 0.563, RAW= 160.9, 1.1, CAL= 162.6, -7.6, ROT= 347.4, 7.6 mPDAT read: Bearing 347.4, 7.6 (Local) mNusing accuracyPremultiplier from configu59{?u5Y i9qq}@E6a= ;MV5 A~Local bearing/azimuth received: Bearing 347.4, 7.6 (Local) DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.5 m/s ,DAT read: user:3166> BDAT read: Tx time:23:18:00.1795  $Ping request sent. yf ?3@ >5@)IW@i>\"'?DŲ?"n&?)7?I5ixۿb}:publishing transmit ping time }Fpublishing direction and range infoDNOT Ignoring new targets: 70.80 m.BjJj ProNav: ac range: 70.800003 m, nav range: 80.613327 m, bearing: 339.023260 deg, approach rate: -0.073750 m/s, LOS rate: -0.335164 deg/s, cmd heading: 52.203293 deg, new cmd heading: 51.695178 deg. 2jf9LD BD?oj?y )Ii )Ii\"'?DŲ?"n&?)IiHeadingCmd: 0.902251 target range: 70.800003 and range: 70.80 m. jf?jjjihhhhfffrf,Q@bf`?JmJgJ1JJ\8:J9J3JɛDB; ľI <ɚiIr`=If?ii'=)f?)*Fq2Fy:FyBF}2JFyzK% a3JK! K! K% {K% RK5 ?JK5 !? Will construct direction to contact in vehicle frame from tetrahedron phase data.HA IA  IE ;!IIE BIA &IA .IE BD6IE <:IE T FG -=Gq By O >zw,mPAf9?Yf=r?f]9f'=yfH`?`:?F? ?h@P??v?ɨf9?f@ۉ;dyzB} IMb@Mb@Mb@ )YZd;? rh{Gzy>C#A Q@)~@IlAyzAIIb٢<Ӽ A=9^- G٣yC > Nusing accuracyPremultiplier from config59{?5Y iS>%:%]j?%@EV;;!X55;B =A= Ekɢ?kyǹ k k :A:kfBBk~BZkiR@"M"]y'*OY9@LD BD?oj?JkxۿRkb*W9G@MFaEHq6@}W? 忆yUCv?"kG5*k9Bk4|?k;G 2kBkp?k嘍 kBkQBkg@ $?I5 addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.532308 s, deltaX: -2.100006 m, approachRate: -0.594514 m/s, rangeRepo size: 4 E Added new target pos. range: 68.699997 m, bearing: 315.703181 deg, lat: 36.904838 deg, lon: -122.120449 deg, deltaT: 3.532308 s, deltaX: -2.100006 m, approachRate: -0.594514 m/s, posRepo size: 4 ZjAMDNOT Ignoring new targets: 68.70 m.BjMJjI] ProNav: ac range: 68.699997 m, nav range: 71.158691 m, bearing: 323.014654 deg, approach rate: 0.000000 m/s, LOS rate: -0.335164 deg/s, cmd heading: 51.695178 deg, new cmd heading: 51.319831 deg. 2jYHeadingCmd: 0.895700 target range: 68.699997 and range: 68.70 m. jLe?jjjihhhhpBfffrfbf=?ɛ BB0<: ǾI "f<ɚiIO3`=IELe?iAiEz=)ELe?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JF"G=G=GZ=GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.zw,`jA @N7?YNo?N9N*:=yNH?@H?y??@`5? O?@?ɨN7?N;N!CyVtBZu IiZp=IZ;IbIb㔳٢n nY=9rD:Q r>tt vG٣tyvv z> ~Nusing accuracyPremultiplier from configx~59zB{?5Yz izjg?@z Ez ;zh;zY5 5A5B*** querying acoustic contact ***j1j1Zj9=DNOT Ignoring new targets: 68.70 m.BjEJjE] ProNav: ac range: 68.699997 m, nav range: 71.155266 m, bearing: 322.865042 deg, approach rate: -0.010012 m/s, LOS rate: -0.437277 deg/s, cmd heading: 51.319832 deg, new cmd heading: 50.870985 deg. 2j] HeadingCmd: 0.887866 target range: 68.699997 and range: 68.70 m. j3Kc?jjjihhhhfffrfbf?ɛ%AB- )-^̾I) --<ɚ)i1I5_=I53Kc?i9i=`=)=3Kc?)9*F?2F:FBF[0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=GBO% >J rJ cJ 0J J G:J x9J ـ3J zw,A63?Y6e)l?6-B9669=y6H`Q?@0 ? ?@G?@u?{oBRo I5Mb@Mb@Mb@111 1)1Y5(\?~jt rhy5>55C 5A 5$@)5@I11y5(AIUIUb٢e eC=9m9:Q m>ii mG٣iyuj u> }Nusing accuracyPremultiplier from configy59}2{?5Y} i}>:-X?@}!E}D;};}[5 ]AEZjDNOT Ignoring new targets: 68.70 m.BjֻJjֻ ProNav: ac range: 68.699997 m, nav range: 71.140259 m, bearing: 322.708147 deg, approach rate: -0.035902 m/s, LOS rate: -0.375431 deg/s, cmd heading: 50.870986 deg, new cmd heading: 50.400213 deg. 2jӀHeadingCmd: 0.879650 target range: 68.699997 and range: 68.70 m. j0a?jjjihhhh[Bfffrfbf`?ɛ>Bu; ξI \<ɚiIί_=I0a?iin=)0a?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188243E1zK]BoHK]9KYK]|K]BKa:KepAH>I I !IIBI&I.I6I<:Im FBIJIRIZIbIjIP4*F?2F:FBF_0JFGό=GABIOeV> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4401692"zw,A6H60?Y6$h?696g7=y6H? ;&?z=?q? ~??@?ɨ6H60?6y;4yBtBBu IIJIJ@٢n< nS=9r;Q r>pp rG٣vSGyve v> zNusing accuracyPremultiplier from configx~59zr{?~5Yz{  izT?@z#Ez ;z ;zE]5  8A Zj9=DNOT Ignoring new targets: 68.70 m.BjEջJjEջU ProNav: ac range: 68.699997 m, nav range: 71.124435 m, bearing: 322.563355 deg, approach rate: -0.040860 m/s, LOS rate: -0.373976 deg/s, cmd heading: 50.400212 deg, new cmd heading: 49.965746 deg. 2jUT]HeadingCmd: 0.872067 target range: 68.699997 and range: 68.70 m. j]?_?jYjajaiahahahihifififirfqbfu?ɛ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692692 $?I $Nzw,dηAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.948327yB I) UMb@Mb@Mb@QQQ Q)QYU"~j?)\({GzyUS>UGaUףUA U;@)UQ@IUVAQyU @IeIe1٢}ld= }'=9}Q }> G٣y > Nusing accuracyPremultiplier from config59{?5Y` iK>:I?@%ERj<i<k_5I  I II ݂BI =&I .I 6I <:I J FzK K +9K K }K G I@=GQ BY O} >Gzw,AN(?YNlqa?NyO9ND=yNH_?`%R?? U?@2!?Y}? ?ɨN(?NB;N$CyVBV IIbIb2٢f< f=9j a5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704967wozw,A6%?Y6[^?6^;96)RN=y6H@?i yΟ?m??z@k? ǩ??ɨ6%?6o;6"Cy>B> IIFIF3٢= F=9% D;Q %>)) -G٣5SGy5_ 5> ENusing accuracyPremultiplier from config9E59=|?M5Y=t i=IMo??M@='E=:=":=b5U=B ]A]EuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 68.70 m.Bj,ͻJj,ͻ ProNav: ac range: 68.699997 m, nav range: 71.044304 m, bearing: 322.125929 deg, approach rate: -0.073266 m/s, LOS rate: -0.358754 deg/s, cmd heading: 49.095792 deg, new cmd heading: 48.652996 deg. 2j5vHeadingCmd: 0.849155 target range: 68.699997 and range: 68.70 m. j8bY?jjjihhhhfffrfbf@ɛ5BNG< I J<ɚiI-^=I8bY?iiQ"=)8bY?)) &= cCGvA*F2F:FBF/5JF YvAyB"G =G =G_= $?IGBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:18:02.6723 TRx dataTimestamp_ set to:1736378283.937481checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964737Uzw,[A @y~B~ IMb@Mb@Mb@ )Y{Gz?Mby&1|y>@` @)@Iy\@II0٢= A=9Q > G٣y > Nusing accuracyPremultiplier from config59>|?5Y iĐ">:C?@)E;;yd5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208063H5>I1 I1I1I1&I1.I16I5&<:I5s FzK}MKK}9KyK}~K}ZjDNOT Ignoring new targets: 68.70 m.Bj:Jj: ProNav: ac range: 68.699997 m, nav range: 71.017120 m, bearing: 321.974875 deg, approach rate: -0.057634 m/s, LOS rate: -0.320382 deg/s, cmd heading: 48.652995 deg, new cmd heading: 48.199671 deg. 2j[HeadingCmd: 0.841243 target range: 68.699997 and range: 68.70 m. j[W?jjjihhh9h=BfAfAfArfabfm@ @ɛ-2B-.B< 1=I9 e%<ɚaiaIeJ^=I}[W?i}E>*F?2F:FBF3JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A DAT read: 23:18:02.6723 LVL= 21488, 31505, 19282, 31715, AGC= 64, IDX= 408, 0.19, 0.412,-0.933, 0.555, 0.065, PHS= 0.435,-0.951, 0.487, RAW= 151.8, 0.4, CAL= 154.7, -8.4, ROT= 355.3, 8.4  Ygot valid direction response: 23:18:02.6723 LVL= 21488, 31505, 19282, 31715, AGC= 64, IDX= 408, 0.19, 0.412,-0.933, 0.555, 0.065, PHS= 0.435,-0.951, 0.487, RAW= 151.8, 0.4, CAL= 154.7, -8.4, ROT= 355.3, 8.4  PDAT read: Bearing 355.3, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 355.3, 8.4 (Local)  DAT read: Range 10 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.4 m/s  ,DAT read: user:3167>  BDAT read: Tx time:23:18:03.7795  $Ping request sent. ٥ ts٥ X>٥ )@٥ ; ڥ 3,@)ڥ Q Iڥ o@iڥ Q >ڡ ڡ ۥ $s0?ט?Wn}?)ۥ 4?Iۥ iۥ Uܿۥ GX ۡ ۡ - :publishing transmit ping time 5 Fpublishing direction and range infoء 9إ 4|m*<4Y7?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ $s0?ט?Wn}?)ۡ Iۡ iۡ ۡ ۡ ۡ Gu ɓ%=GQ BY Ou >nzw, !AJmJdJJJ\8:J|9JJJD;JD;J:J:yułBu III(*2٢m== m0=9qQ u>qq }G٣yyy }> Nusing accuracyPremultiplier from config59(|?5Y8 iȐ   @*E^<u<f5 Akշ?k ~ k k2A:k̄BBkBZk維@"e+ !r(٣L a Ia :zw,;A"Will construct direction to contact in vehicle frame from tetrahedron phase data.?Y\ V? 90r=yH=s? }?`?f?莧?GA?a?ɨ?s;!Cy B  IMb@Mb@Mb@ )YGz?I +~jtx?y>94;A )h@IlAyAIIͳ٢+ > D=9;Q > G٣SGy} > Nusing accuracyPremultiplier from config59=4|?5Yx i>:O?@,E; ;Rh5  A EZj)5DNOT Ignoring new targets: 66.40 m.Bj={Jj={󻝊U ProNav: ac range: 66.400002 m, nav range: 69.805611 m, bearing: 320.641296 deg, approach rate: -0.038071 m/s, LOS rate: -0.425738 deg/s, cmd heading: 47.762639 deg, new cmd heading: 47.280945 deg. 2jU]HeadingCmd: 0.825208 target range: 66.400002 and range: 66.40 m. j]@S?jYjYjaiahahihihmȂBfifqfqrfqbfuy?ɛ,B< AE,IA E<ɚIiIIM]=IM@S?iQiUs<)U@S?)Q*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jH bH HI I"!IIBI&I.I6I <:In FzKJK9KKKG= @A=G B! O= >Nzw,wUA2 ?Y2T?26[!92p=y2H7?@MǢ?`??駿`Q+???ɨ2 ?2ְ;0yJBJ"!IIVIV ٢^:> ^u=9blQ f?hl rG٣pyvG z? $?I %Nusing accuracyPremultiplier from config-59=|?-5Yd i15N?E@-ER;t;i5Q UAYZjQUDNOT Ignoring new targets: 66.40 m.Bj]0̻Jj]0̻m ProNav: ac range: 66.400002 m, nav range: 69.793533 m, bearing: 320.509028 deg, approach rate: -0.032595 m/s, LOS rate: -0.357034 deg/s, cmd heading: 47.280946 deg, new cmd heading: 46.884079 deg. 2jmuHeadingCmd: 0.818282 target range: 66.400002 and range: 66.40 m. jzQ?jjjihhhhfffrfbf`?ɛE*BE< AE젽II M=E<ɚIUWill construct direction to contact in vehicle frame from tetrahedron phase data.iIIQ5]=IzQ?iiZ=)zQ?)E *F?2F:FBFU0JFG]O'=JmnJmeJiJiJm|;:Jm9JiJiJmJ;JmJ;Jm:Jm:G} ?G}?GQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.Hzw,aToA2x?Y2S?2E392*?=y2H? ?s??b +u??-?ɨ2x?2;2 CyRBRA!IIZIZ&ѳ٢b= bJ=9b45Q f>dd fG٣dyjF% j> nNusing accuracyPremultiplier from configlr59nH|?r5Yn intvM?v@n/En:nv:nk5x zAxB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 66.40 m.Bj-Jj-뻝 ProNav: ac range: 66.400002 m, nav range: 69.779343 m, bearing: 320.356946 deg, approach rate: -0.038417 m/s, LOS rate: -0.411795 deg/s, cmd heading: 46.884078 deg, new cmd heading: 46.427752 deg. 2jNHeadingCmd: 0.810317 target range: 66.400002 and range: 66.40 m. jpO?jjjih!h!h!h!f)f)f)rf)bf-4?ɛ}'B}G< y隅ļI <ɚiIK\=IpO?iidG!=)pO?) Ih*Fm?2Fi:FiBFm`0JFimWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gm<GI BQ Ou >1zw,1A6#?Y6R?6V.96O=y6H}?ha?@1r?j? ɫօ? {?@h?ɨ6#?6t;6#Cy>>B>m!I=Mb@Mb@Mb@999 9)9Y=Mb?+?{Gz?y=?===ף<=A =@)9I=A9y=zAIUIUb٢mS'> m@=9m:::Q u>qq uG٣}SGy}X }> Nusing accuracyPremultiplier from config59T|?5Y` i?:Ce?@0E;߆;im5>B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751677H>I If!II9BI&I.I6I<:IM FZj  DNOT Ignoring new targets: 66.40 m.BjJj컝% ProNav: ac range: 66.400002 m, nav range: 69.783325 m, bearing: 320.177560 deg, approach rate: 0.009189 m/s, LOS rate: -0.413871 deg/s, cmd heading: 46.427753 deg, new cmd heading: 45.889640 deg. 2j%-HeadingCmd: 0.800925 target range: 66.400002 and range: 66.40 m. j-q M?j)j)j)i)h1h1h9h=4Bf9f9f9rfAbfE@~?zK.KK9KKK ɛ$B K=  XR=I) -L{<ɚ1i1I5p+\=I5q M?i9i=-=)=q M?)9*F?2F:FBFo0JFGe=GYBiOY> Im Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003530Zzw, A*JC="Ja=JJgJJJJ9JJJJJ>:J?:B?"?YBP?B9B)=yBH@?e=``?H?M? #؃?}?7?ɨB?"?BF;B&CyNXBR!IIZ IZV2٢vR> vS=9v$;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59^|? 5YO iQc?@2E.::o5 \@!ZjIMDNOT Ignoring new targets: 66.40 m.BjUJjU ProNav: ac range: 66.400002 m, nav range: 69.786041 m, bearing: 320.014263 deg, approach rate: 0.007153 m/s, LOS rate: -0.430040 deg/s, cmd heading: 45.889640 deg, new cmd heading: 45.399783 deg. 2j HeadingCmd: 0.792376 target range: 66.400002 and range: 66.40 m. j "J?j j j i h hhhfffrfbf%q@ɛm!Bm= im|=Ii u(<ɚyiIי[=I"J?ii=/=)"J?)*F-?2F1:F1BF51JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256927GmA"=GI BQ O > $?I Έzw,0AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510219BS?YN?H9<=yH? @? ?u?eÂ??`?ɨBS?;Cy-vB-!IMb@Mb@Mb@ )Ykt? ףp= ?~jt?y ?Q=<;A )IlAy(AIIԲ٢= .=9&:Q > G٣yu > Nusing accuracyPremultiplier from config 59{k|? 5Y i_ ?:{v?@4E;;(q5 @ZjQUDNOT Ignoring new targets: 66.40 m.BjUJj]m ProNav: ac range: 66.400002 m, nav range: 69.810577 m, bearing: 319.795478 deg, approach rate: 0.052089 m/s, LOS rate: -0.464301 deg/s, cmd heading: 45.399782 deg, new cmd heading: 44.743688 deg. 2jmRuHeadingCmd: 0.780925 target range: 66.400002 and range: 66.40 m. juG?jqjqjqiqhqhyhyh}bBfyff)rf1bf=?<@ɛBj= 隕 0>I l<ɚiIZ=IG?iiF?=)G?)*F5?2F1:F9BF=1JF9ZHRH@AH>IC I!IIBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759575I&I.I6I<:Ig FBIyJIyRIyZI} =bI} =jI}4zK% &(KK! K! K% K% G] /=G1 BA O} >Klzw,A 4I4^\ ?Y^7M?^/!9^ =y^H:?@n?T?$? ʐ`7?`'?I?ɨ^\ ?^rz;^"CyjBn!II~I~٢<> n=9_Q ?! %G٣%SGy%dp %? 5Nusing accuracyPremultiplier from config)559-t|?55Y-O i-F9=)u?=@-6E- ;-\ ;-r5E?B M@M EZjiuDNOT Ignoring new targets: 66.40 m.BjuJju ProNav: ac range: 66.400002 m, nav range: 69.828133 m, bearing: 319.635790 deg, approach rate: 0.051458 m/s, LOS rate: -0.467965 deg/s, cmd heading: 44.743688 deg, new cmd heading: 44.264755 deg. 2jHeadingCmd: 0.772566 target range: 66.400002 and range: 66.40 m. jE?jjjihhhhfffrfbf@@ɛ%B%@= )-u>I1 ]<ɚiI@Z=IE?ii+J=)E?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A=BDAT read: Rx Time:23:18:06.2699 ETRx dataTimestamp_ set to:1736378287.461139Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013148*F2F:FBF"5JFG GrAG<=GaBiOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263616Gzw,xA6<?Y62L?6*96=y6HX?!`? ?$B?,`P?`o?h?ɨ6<?6;6CynBn!ItvAIzIz ٢ =  K=9 쮺Q  > G٣yR > %Nusing accuracyPremultiplier from config!-59%'|?-5Y%d i%')-s?5@%8E%z:%:%jt59 =$@9UB*** querying acoustic contact ***jQjQZjiuDNOT Ignoring new targets: 66.40 m.BjuJju ProNav: ac range: 66.400002 m, nav range: 69.848221 m, bearing: 319.448474 deg, approach rate: 0.049740 m/s, LOS rate: -0.463677 deg/s, cmd heading: 44.264755 deg, new cmd heading: 43.702990 deg. 2j HeadingCmd: 0.762761 target range: 66.400002 and range: 66.40 m. j ODC?j j j i hhhQhQfYfYfYrfYbfe`4 @ɛBTD= ->I <ɚiIpY=IODC?ii Y=) ODC?)  ]$?IY*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:18:06.2700 LVL= 21856, 27441, 19378, 30611, AGC= 61, IDX= 414, 0.31, 2.323, 0.789, 2.298, 1.848, PHS= 0.563,-1.012, 0.448, RAW= 146.2, 0.0, CAL= 149.9, -9.0, ROT= 0.1, 9.0 Ygot valid direction response: 23:18:06.2700 LVL= 21856, 27441, 19378, 30611, AGC= 61, IDX= 414, 0.31, 2.323, 0.789, 2.298, 1.848, PHS= 0.563,-1.012, 0.448, RAW= 146.2, 0.0, CAL= 149.9, -9.0, ROT= 0.1, 9.0 PDAT read: Bearing 0.1, 9.0 (Local) ~Local bearing/azimuth received: Bearing 0.1, 9.0 (Local) DAT read: Range 10 to 50 : 64.6 m (Round-trip 86.2 ms) speed 0.5 m/s ,DAT read: user:3168> BDAT read: Tx time:23:18:07.3796 $Ping request sent.]N#@] ]p'@)]| I]:i]| >YY]UG}? 92M?x.?)]A>I]si]ܿ]%YY5:publishing transmit ping time5Fpublishing direction and range infoY9]U7b(9X:IH?yYYYY Y)YIYiYYYYY Y)YIYiYYY]UG}? 92M?x.?)YIYiYYYYG>=JU pJU iJQ JQ JU A:JU ڈ9JQ JQ a] @ae @ae @ae @Gq By O >{w,{ ARu?YRoJ?RP<9RGy=yRHu?QR??]? H?` ??ɨRu?Ra;R CyZÃB^"IHe>Ia Ie"IIẽBIe =&Ia.Ia6Ie0<:Iev FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:18:07.3789 zKKK+9KKK Mb@Mb@Mb@    ) Y -? < QA @) ~@I A y A@AIIԲ٢= $=9 Q > G٣y > -Nusing accuracyPremultiplier from config-59$|?-5YM i5"?5:5J?5@:EQ;8;v59 =@Ak~/?kL k kA:k3BBkXBZk:@"bvI7(h1.wC@U7b(9X:IH?JkܿRk%*KdA@@#PEC:T LA@i7EG?Í;ş#?"k:/*k BkA?knT 2kBk4|?kkBk>~Bkf@ addTargetRange:: Added new target pos. range: 64.599998 m, deltaT: 3.531294 s, deltaX: -1.800003 m, approachRate: -0.509729 m/s, rangeRepo size: 4  Added new target pos. range: 64.599998 m, bearing: 306.580474 deg, lat: 36.904744 deg, lon: -122.120452 deg, deltaT: 3.531294 s, deltaX: -1.800003 m, approachRate: -0.509729 m/s, posRepo size: 4 Zj AIA]DNOT Ignoring new targets: 64.60 m.Bj]JjY ProNav: ac range: 64.599998 m, nav range: 63.560684 m, bearing: 314.054661 deg, approach rate: 0.000000 m/s, LOS rate: -0.463677 deg/s, cmd heading: 43.702989 deg, new cmd heading: 42.932744 deg. 2jHeadingCmd: 0.749318 target range: 64.599998 and range: 64.60 m. jJ??jjjihhhhBfffrf`f&P@bfm?ɛB&G= /=隅P>I %<ɚiITX=IUJ??iQi]mv=)]J??)aU Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE ?2FA :FA BFE O5JFA "GM =GM =GeW=GBO?0c {w,q+A:3]?Y:H?:Nu{9:=y:HƤ???? R? Xn???ɨ:3]?:";:"CyFكBF,"I J=Ja=ININ٢Vw= VG=9ZiQ Z>\\ ^G٣^SGyb袼 b> fNusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.dU59fՙ|?U5Yf} ifҏY]9?]@fI  <<ɚiIqW=IWill construct direction to contact in vehicle frame from tetrahedron phase data.J nJ gJ 1J J |;:J 9J 3J E{w,&VEAyB8"IMb@Mb@Mb@ )Yw/?gfffff?{Gz?y&?33>ף< )VAIAyII%٢1= 9=9Q > G٣y > Nusing accuracyPremultiplier from config59i|?5Y i,?:?@?Ea;{;Qz5  @ZjDNOT Ignoring new targets: 64.60 m.BjF)JjF) ProNav: ac range: 64.599998 m, nav range: 63.705620 m, bearing: 313.570099 deg, approach rate: 0.190127 m/s, LOS rate: -0.591960 deg/s, cmd heading: 42.249573 deg, new cmd heading: 41.480806 deg. 2j ˼HeadingCmd: 0.723977 target range: 64.599998 and range: 64.60 m. jV9?jjjihhhhރBf f f rf9bf=?ɛB~k=jHbHH>I Is"IIBI =&I.I6I<:Ie F -\>I1 5<ɚ1i1I5tV=IEV9?iAiEd5=MWill construct direction to contact in vehicle frame from tetrahedron phase data.)EV9?)Q*F?2F:FBFP0JFzKJK9KKK $?IG ghs=G G oAG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.o{w,1_A6 ?Y6biF?6ߜ96*=y6H 4?k[n,? Jc??`ʱ?b?*?ɨ6 ?67;6 CyfBjN"IIrIr٢v= z[=9z&Q z>|| ~G٣|y|м > Nusing accuracyPremultiplier from config 59 B|?5Y  i k?%@ AE '; h; {5) -@-EZjQUDNOT Ignoring new targets: 64.60 m.Bj]-Jj]-m ProNav: ac range: 64.599998 m, nav range: 63.774281 m, bearing: 313.352175 deg, approach rate: 0.191899 m/s, LOS rate: -0.608414 deg/s, cmd heading: 41.480808 deg, new cmd heading: 40.827770 deg. 2jmмuHeadingCmd: 0.712579 target range: 64.599998 and range: 64.60 m. juk6?jqjqjqiqhyhyhyhyfffrfbf`u?ɛB= 隽g>I Y<ɚiIU=Ik6?iiQ=)k6?)E9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]?]Y?*F?2F:FBFJFG GpAGx=G B O > I q{w,kyARg ?YRzD?Rr9Ra=yRH`C?&9@T[?p@?@?S?}??ɨRg ?RL#;RCy^B^S"I)` ```IfIf٢nE< rK=9r:Q r>tt zG٣zSGyUk U> eNusing accuracyPremultiplier from configYe59]l|?m5Y] i]_iu?}@]CE]z;]{;]}5 v@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 64.60 m.Bj%Jj% ProNav: ac range: 64.599998 m, nav range: 63.850021 m, bearing: 313.110366 deg, approach rate: 0.181903 m/s, LOS rate: -0.580048 deg/s, cmd heading: 40.827770 deg, new cmd heading: 40.103245 deg. 2j ǼHeadingCmd: 0.699934 target range: 64.599998 and range: 64.60 m. j.3?jjjihhh h f f frfbf?ɛEBE8{= AE^>IA M<ɚIiIIMiT=Ie.3?iiim|=)}.3?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EM;=JrJhJ0JJG:JȆ9Jـ3J*F?2F:FBF_0JF H >I  I "II ABI &I .I 6I <:I J FG% N=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214239G B OE >zKU m$JKU ػ9KQ KU KU  &5Ngw~DX~vpk_SA+ ${w,ABK:KFt ?YFPLC?F&9F=yFH` ?`G??@ ?Űz?? ?ɨFt ?F0r;F$CyjBj]"I]Mb@Mb@Mb@YYY Y)YY]?(\?{Gzt?y],?]G>]ף;]A ]@)]~@IYYy]QAIuIu0٢}_= @=9\9Q > G٣y,v > Nusing accuracyPremultiplier from config59|?5Y iE3?:?@EE;;5 @ 5$?I1ZjDNOT Ignoring new targets: 64.60 m.Bj#Jj# ProNav: ac range: 64.599998 m, nav range: 63.933727 m, bearing: 312.861413 deg, approach rate: 0.192706 m/s, LOS rate: -0.572382 deg/s, cmd heading: 40.103244 deg, new cmd heading: 39.357406 deg. 2jiļHeadingCmd: 0.686916 target range: 64.599998 and range: 64.60 m. j/?jjjihhhhBfffrf bf  m@ɛU BU!= QU>IY ]G/<ɚYiYI]>S=I/?iiO=)/?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466260*F ?2F :F BF JF "G =G =G 6=G ?G ?m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719007G B O >l+{w,TtA6.I ?Y6 A?6Ø96pǏ=y6H 7B? 84?O? 9-?S? Z?@f?ɨ6.I ?6];6!CyBBBQ"IIJIJ ٢R1 R==9RQ V>TT ~G٣|y\ > Nusing accuracyPremultiplier from config%59|?%5Y  i(!%„?%@HE:e:5UAB U@UEZjDNOT Ignoring new targets: 64.60 m.Bj1Jj1 ProNav: ac range: 64.599998 m, nav range: 64.023178 m, bearing: 312.594393 deg, approach rate: 0.208760 m/s, LOS rate: -0.622298 deg/s, cmd heading: 39.357404 deg, new cmd heading: 38.557519 deg. 2jռHeadingCmd: 0.672956 target range: 64.599998 and range: 64.60 m. jF,?jjjihhh h f f frfbf@ɛ B*= 隕>I v<ɚiIaR=IF,?ii=)F,?) qIuh*FY2FY:FYBF]0JFaG5=GBO=P> Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:18:09.8672 TRx dataTimestamp_ set to:1736378290.989062checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971714JK3 K.-KK"KJ% sJ% kJ! J! J% K:J% 9J! J! Mo2{w,P6A2p?Y2??292M5=y2Hj?@?R?W?=?`??ɨ2p?2R;2 CyRBRI"IiVe>IV8> Zp=Zp==Mb@Mb@Mb@999 9)9Y=Q?Zd;O?I +y=\/?=j<>=94=;A =@)=h@I99y=\@IUIU1٢m m?=9m:Q u>qq uG٣uSGy}፼ }> Nusing accuracyPremultiplier from config59>|?5Yt i5?:?@JEQ;;S5 @ZjDNOT Ignoring new targets: 64.60 m.Bj1Jj1H>I I"II`BI =&I.I6I<:I? F ProNav: ac range: 64.599998 m, nav range: 64.102303 m, bearing: 312.340078 deg, approach rate: 0.193898 m/s, LOS rate: -0.622438 deg/s, cmd heading: 38.557518 deg, new cmd heading: 37.795562 deg. 2j ռ HeadingCmd: 0.659657 target range: 64.599998 and range: 64.60 m. j H(?jjuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222364jihhhh̓Bfffrfbf`A @ɛB= 9>I WK=ɚiIIQ=I%H(?i!i%=)%H(?)!zKQNK9KKKRK?JK?*F?2F:FBF2JF e$?IaG- ʯ=G1 G5 qAG - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476249BI Om >{8{w,ARL?YRZ=?R9R$}=yRH 8?ⱝ?? ?f֑? ִ? ?ɨRL?R;R$Cy^B^9"IIfIf٢ P=9|:Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595|?=5Y5? i5AE?E@5LE5@;5i@;5 5MBB U@UEZjy}DNOT Ignoring new targets: 64.60 m.Bj6.Jj6. ProNav: ac range: 64.599998 m, nav range: 64.176086 m, bearing: 312.099475 deg, approach rate: 0.187046 m/s, LOS rate: -0.609238 deg/s, cmd heading: 37.795562 deg, new cmd heading: 37.074623 deg. 2jѼHeadingCmd: 0.647074 target range: 64.599998 and range: 64.60 m. j%?jjjihhhhfffrfbf6 @ɛBj= 6>I =ɚiIqP=I%?ii\=)%?)*F2F:FBF4JFG GqAGe=G9BIOm5>}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:18:09.8672 LVL= 20080, 32369, 17346, 32755, AGC= 64, IDX= 418, 0.37, 0.909,-0.569, 0.708, 0.373, PHS= 0.624,-0.895, 0.332, RAW= 139.6, -0.9, CAL= 144.3, -10.0, ROT= 5.7, 10.0 Ygot valid direction response: 23:18:09.8672 LVL= 20080, 32369, 17346, 32755, AGC= 64, IDX= 418, 0.37, 0.909,-0.569, 0.708, 0.373, PHS= 0.624,-0.895, 0.332, RAW= 139.6, -0.9, CAL= 144.3, -10.0, ROT= 5.7, 10.0 PDAT read: Bearing 5.7, 10.0 (Local) ~Local bearing/azimuth received: Bearing 5.7, 10.0 (Local) DAT read: Range 10 to 50 : 62.5 m (Round-trip 83.4 ms) speed 0.6 m/s ,DAT read: user:3169> BDAT read: Tx time:23:18:10.9812 $Ping request sent.مI@م څE/!@)څ¸2Iڅ%=iڅ¸2>ځځۅ] $ !&? ]Nm?ah2)ۅӮ>Iۅ+}{w,gAF?YFܘ;?Fn9FPn=yFHU?du?Yg???ĭ? ?ɨF?F=;F%Cy^ڃB^-"IIfIf0nWill construct direction to contact in vehicle frame from tetrahedron phase data.vJDAT read: TxSync time:23:18:10.9804 ٢N %J=9-T7;Q 5>AI UG٣Qym੼ u> Nusing accuracyPremultiplier from config59l|?5Y i ~?@OE < <݆5 @kk?kb k kxA:kzBBkXxBZk5@"wq]kN|'FE@j陯WM?JkmܿRkVhE*69@ CffQeD@tc?CVKsW?"k*k&Ak;y?k3Q 2kpBkg:͈?k嘍 kBknBks@ addTargetRange:: Added new target pos. range: 62.500000 m, deltaT: 3.776584 s, deltaX: -2.099998 m, approachRate: -0.556058 m/s, rangeRepo size: 4  Added new target pos. range: 62.500000 m, bearing: 302.969859 deg, lat: 36.904681 deg, lon: -122.120449 deg, deltaT: 3.776584 s, deltaX: -2.099998 m, approachRate: -0.556058 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 62.50 m.BjJj- ProNav: ac range: 62.500000 m, nav range: 59.626789 m, bearing: 306.984578 deg, approach rate: 0.000000 m/s, LOS rate: -0.609238 deg/s, cmd heading: 37.074622 deg, new cmd heading: 36.221113 deg. 2j)=HeadingCmd: 0.632178 target range: 62.500000 and range: 62.50 m. j=f!?j9j9j9i9hAhAhahafififirfm@O@bfuØ?ɛB(n= >I P=ɚiI%7N=I-f!?i1i5P=)5f!?)9*F?2F:FBF@5JFH>IC III =&I.IAD6I <:IT FBIǭCJIǭCRIZI =bI =jIԒ5Will construct direction to contact in vehicle frame from tetrahedron phase data.G 4=zK= &KK9 K9 K= K=   G B O > 9 I9 E{w,7A2?Y2w9?2.92#3=y2H?*/!?4?C? E?R??ɨ2?2=m;2"Cy:ƃB:"I)@ @DDMb@Mb@Mb@ )Yv/?7A`?Zd;Oyx)?>jA @);@I~@yp@IIỳ٢ ?=9u:Q > G٣SGy > Nusing accuracyPremultiplier from config59K }?5Y i -?:q?@QE$;;5 @-B*** querying acoustic contact ***j)j)ZjIDNOT Ignoring new targets: 62.50 m.BjGJjG% ProNav: ac range: 62.500000 m, nav range: 59.710182 m, bearing: 306.727038 deg, approach rate: 0.226681 m/s, LOS rate: -0.699069 deg/s, cmd heading: 36.221115 deg, new cmd heading: 35.449624 deg. 2j%=UHeadingCmd: 0.618713 target range: 62.500000 and range: 62.50 m. jUc?jQjQjQiQhYhYhYh]Bfafafarfabfeơ?ɛBw= 隵j>I t=ɚiI(M=Ic?ii+=)c?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.)*F=?2FA:FABFEO0JFA*JR="Jp=J |J pJ J J ;g:J ^9J J J ֊;aJ ׊;aJ }:aJ ~:aG%7E=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9951891K{w,Z1AJ>YJZ6?Jk9J?~=yJH@r7?`ofn??V'?`lެw?rʯ?W?ɨJ>J%;HyRBR"II^I^m٢fy f\=9f;Q f>hh jG٣hynj n> vNusing accuracyPremultiplier from configpz59r}?z5Yre irxzn?z@rSEr1;r(;rK5CB @EZj)-DNOT Ignoring new targets: 62.50 m.Bj53Jj53E ProNav: ac range: 62.500000 m, nav range: 59.782948 m, bearing: 306.496117 deg, approach rate: 0.198496 m/s, LOS rate: -0.629160 deg/s, cmd heading: 35.449624 deg, new cmd heading: 34.757740 deg. 2jE׼MHeadingCmd: 0.606637 target range: 62.500000 and range: 62.50 m. jML?jIjIjIiQhQhQhQhYfYfYfarfabfe9?ɛ=B=Fts= 9=>IA E*=ɚAiAIEM=IML?iIiM=)ML?)y $?I*F ?2F :FBF_0JF"G=G4=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247988G=^=G BA O >TR{w,KA6N>Y6:#3?6R965e=y6H [z?@?w?6m? Q1 T?@0?@p?ɨ6N>6h;;4yBBB!IMb@Mb@Mb@ )Y%C?bX9ȶ? rhyZ$?E=C lA @)Ih@yz@I]I]۳٢m m@=H}>I}C I}"II}FBI} =&Iy.Iy6I}<:I}_ F9l;Q > G٣y` > Nusing accuracyPremultiplier from config59(}?5Y i!&&?:W?@UE;;+5 @ZjDNOT Ignoring new targets: 62.50 m.Bj-Jj-  ProNav: ac range: 62.500000 m, nav range: 59.839817 m, bearing: 306.234681 deg, approach rate: 0.132106 m/s, LOS rate: -0.606727 deg/s, cmd heading: 34.757740 deg, new cmd heading: 33.974231 deg. 2j2мHeadingCmd: 0.592962 target range: 62.500000 and range: 62.50 m. j_?jjjihhh!h%TBf!f!f)rf)bf-?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501683ɛB6a= IM(>II U=ɚQiQI]L=I]_?iaieG=)e_?)azKKK9KKK %5:::875/..*($#.A5'"! *F5?2F1:F1BF1JF1 IhGM m= Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752460G! B) OU >X{w,VeA:t3>Y:/?:*9:G=y:H`F?5@O?7?`m?`bdU???ɨ:t3>:;: CJ\J\JbwJbvJ`J`JbW:Jbϣ9J`J`Jbz;Jbz;Jb:Jb:ynBn!Iir)>IrV> v=v=IzIzb1٢M R=9;Q  >    G٣ SGyM( > %Nusing accuracyPremultiplier from config!-59%6}?55Y% i%315R?5@%WE%4;%4;%ۍ5A E@EEZjamDNOT Ignoring new targets: 62.50 m.Bjmv.Jjuv. ProNav: ac range: 62.500000 m, nav range: 59.887997 m, bearing: 305.999500 deg, approach rate: 0.125088 m/s, LOS rate: -0.610105 deg/s, cmd heading: 33.974232 deg, new cmd heading: 33.269292 deg. 2jZѼHeadingCmd: 0.580659 target range: 62.500000 and range: 62.50 m. j ?jjjihhhhfffrfbfF?ɛ}B}S\= 隅=>I 7=ɚiI5DK=I ?ii=) ?)*Fm?2Fi:FiBFmo0JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003344)I IH~G|uAA -Y5|uAy5EBo@B $?IG[=G B O >Z_{w,K;AjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258153y{B!II-I-<٢M MF=9]Q e>qy G٣y > Nusing accuracyPremultiplier from config59F}?5Y} iG@YEG <<5 @ZjDNOT Ignoring new targets: 62.50 m.BjJj ProNav: ac range: 62.500000 m, nav range: 59.941940 m, bearing: 305.742283 deg, approach rate: 0.113861 m/s, LOS rate: -0.542426 deg/s, cmd heading: 33.269291 deg, new cmd heading: 32.498384 deg. 2j!HeadingCmd: 0.567204 target range: 62.500000 and range: 62.50 m. jE4?jjjihhhhfffrfbf@ɛeBeI= im{>Ii m~=ɚiiiImYJ=IuE4?iqiu=)}E4?)yEEqA*F%?2F!:F!BF!JF!G) G-rAH}>Iy I}"II}BI} =&Iy.I}@D6I} <:I}] FmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507424G] I=G9 BI Oe >zKu rMKu s9Kq Ku Ku  I f{w,ZAvp>YvB'?v`!9v0"=yvH`?]|?~?IZ?\ &t?@?@?ɨvp>vt;v#Cy%oB%!IMb@Mb@Mb@ )YZd;?Mb?ly?=VA )$@I;@y@II̍٢KR <=9I G٣y%j %> -Nusing accuracyPremultiplier from config)559-V}?=5Y-ey i-c=]?=:=5?=@-[E-=;-Y<;-5EDB MH@ME}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 62.50 m.Bj7Jj7 ProNav: ac range: 62.500000 m, nav range: 59.964592 m, bearing: 305.499478 deg, approach rate: 0.059954 m/s, LOS rate: -0.642409 deg/s, cmd heading: 32.498385 deg, new cmd heading: 31.770287 deg. 2jpܼHeadingCmd: 0.554496 target range: 62.500000 and range: 62.50 m. ju ?jjjihhhhBfffrfbf`@ɛBL= f>I 3 =ɚiII=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759397Iu ?ii=)u ?)*F}?2F:FBF1JFG]=JxJyJJJZ:J9JJJ ;J ;J:J:GQBYOuy>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:18:13.4661 e TRx dataTimestamp_ set to:1736378294.768552e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0121965l{w,i5A6>>Y6$?6J*96-=y6H@?` y?`#??͞`YIe?@e9??ɨ6>>6;6!CyrVBr!ItvAIzIz<2٢J ]=9 ;Q  >    G٣SGy > %Nusing accuracyPremultiplier from config%59Ue}?-5Yu i}15E2?5@]EOF;F;+59 E@AZjamDNOT Ignoring new targets: 62.50 m.Bjm)&Jjm)& ProNav: ac range: 62.500000 m, nav range: 59.982090 m, bearing: 305.287323 deg, approach rate: 0.047940 m/s, LOS rate: -0.581076 deg/s, cmd heading: 31.770287 deg, new cmd heading: 31.134034 deg. 2jdǼHeadingCmd: 0.543391 target range: 62.500000 and range: 62.50 m. j ?jjjihhhhfffrfbf@@ɛBJ?= 6>I  =ɚiI{I=I ?ii=) ?) %$?I%h*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263330G=GB! O >Fs{w,A:I>Y: ?:ק9:@ =y:H ? ?b??|(4? ,G?`U?ɨ:I>:忊;:"CyJRBJ!IZH|RH~AAH>IC IA"IIBI =&I.I6I <:IM FMMb@Mb@Mb@III I)IYMV-?y&1Q롿yM ?M`eM\MQ@ M@)M@IM@IyM@I]I]Ʋ٢m mD=9u.;Q u>qy }G٣yy}] > Nusing accuracyPremultiplier from config59Qu}?5Y.r i ?:?@_E!I;G;5EB -@EZjDNOT Ignoring new targets: 62.50 m.BjJj ProNav: ac range: 62.500000 m, nav range: 59.979862 m, bearing: 305.067132 deg, approach rate: -0.005345 m/s, LOS rate: -0.528263 deg/s, cmd heading: 31.134034 deg, new cmd heading: 30.473468 deg. 2jEHeadingCmd: 0.531862 target range: 62.500000 and range: 62.50 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:18:13.4661 LVL= 21776, 32753, 21362, 29363, AGC= 65, IDX= 407,-0.40, 1.386,-0.129, 0.921, 0.841, PHS= 0.632,-0.923, 0.077, RAW= 129.4, 3.2, CAL= 135.9, -3.9, ROT= 14.1, 3.9 ]Ygot valid direction response: 23:18:13.4661 LVL= 21776, 32753, 21362, 29363, AGC= 65, IDX= 407,-0.40, 1.386,-0.129, 0.921, 0.841, PHS= 0.632,-0.923, 0.077, RAW= 129.4, 3.2, CAL= 135.9, -3.9, ROT= 14.1, 3.9 ]PDAT read: Bearing 14.1, 3.9 (Local) e~Local bearing/azimuth received: Bearing 14.1, 3.9 (Local) mDAT read: Range 10 to 50 : 60.5 m (Round-trip 80.7 ms) speed 0.6 m/s u,DAT read: user:3170> }BDAT read: Tx time:23:18:14.5796 }$Ping request sent.}i'g=?v.g? ڂmV?)H'>IbiOnq:publishing transmit ping timeyFpublishing direction and range info9r-ǿږ῟ecp?y )Ii )Ii?v.g? ڂmV?)Ii j!(?j jjihhhh%ÂBf!f!f!rf%@N@bf-i?ɛB̓8= 隕H0>I a =ɚiIkH=I!(?ii/j=)!(?) $?IzKM"LKMh9KIKMKM*Fu?2Fq:FqBFuC4JFq"G}=G}=GEX=GBO%n> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:18:14.5789 Ey{w,AJBzJBxJ@J@JB`:JB9J@J@JBo;JBq;JB&:JB':>x>Y>?>D;9>6U=y>H H,?Ef??i? -)?H@Gc扠?`?ɨ>x>>8;x| G٣y% %> 5Nusing accuracyPremultiplier from config)}59-}?5Y-n i-?@-aE-2<-4<-5 $AEkM $.?kMHH  kI kMmA:kMrBBkMcpBZkMß@"MWVg &Ԛu@v]=8uH@Mr-ǿږ῟ecp?JkMORkMnq*MCQgf&@7A*G@Md`׾?w;.qF*K?"kME *kM73AkMČm4?kMF"{ 2kMBkMA?kMnT kMBkM`BkM@ addTargetRange:: Added new target pos. range: 60.500000 m, deltaT: 3.528405 s, deltaX: -2.000000 m, approachRate: -0.566828 m/s, rangeRepo size: 4  Added new target pos. range: 60.500000 m, bearing: 287.596292 deg, lat: 36.904639 deg, lon: -122.120431 deg, deltaT: 3.528405 s, deltaX: -2.000000 m, approachRate: -0.566828 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 60.50 m.BjJj= ProNav: ac range: 60.500000 m, nav range: 56.025932 m, bearing: 301.876978 deg, approach rate: 0.000000 m/s, LOS rate: -0.528263 deg/s, cmd heading: 30.473466 deg, new cmd heading: 29.784764 deg. 2j9=HeadingCmd: 0.519842 target range: 60.500000 and range: 60.50 m. jEa?jAjAjAiAhAhAhihififqfqrfqbfu?ɛBZ2= >I  =ɚiIG=Ia?iiw=)a?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.-4=-<*F?2F:FBFP0JF IG S=G B O >\0{w,A:>Y:$?:$k;>Will construct direction to contact in vehicle frame from tetrahedron phase data.9:YM:ʤ;:#CyN5BNb!IiRC=IR< R=R=IVIV٢^@h bL=9b}<;Q b>dd fG٣jSGyro r> Nusing accuracyPremultiplier from config 59}? 5Yk i׏  A? @bE::s5FB AEZjAEDNOT Ignoring new targets: 60.50 m.BjM5JjM5m ProNav: ac range: 60.500000 m, nav range: 56.030525 m, bearing: 301.651532 deg, approach rate: 0.012903 m/s, LOS rate: -0.633306 deg/s, cmd heading: 29.784764 deg, new cmd heading: 29.108514 deg. 2juPټHeadingCmd: 0.508039 target range: 60.500000 and range: 60.50 m. j5?j9j9j9i9hAhqhhfffrf)bf5@?ɛB-= (=I vA =ɚiI#YG=I?iic\=)?)*F?2F:FBF[0JFH>I I "IIBI =&I.I6I <:IK F-Will construct direction to contact in vehicle frame from tetrahedron phase data.G !=G B O > I zK KK 9K K K BK qA:K nAV{w,A2d#>Y2?2Š;92J"2;2"Cy:/B>[!IUMb@Mb@Mb@QQQ Q)QYU(\?y&1yU?ULU`U$@ U@)U$@IU@QyU\@II٢Ǽ ==9;Q > G٣y& > Nusing accuracyPremultiplier from config59}?5Yi ix?:/>@dE=;̳;Q5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 60.50 m.Bj@Jj@ ProNav: ac range: 60.500000 m, nav range: 56.016933 m, bearing: 301.419384 deg, approach rate: -0.030347 m/s, LOS rate: -0.518445 deg/s, cmd heading: 29.108514 deg, new cmd heading: 28.411938 deg. 2j汼5HeadingCmd: 0.495882 target range: 60.500000 and range: 60.50 m. j5:>j1j1j1i1h9h9h9h=BfAfAfArfAbfM@F?Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛB[+= =I  =ɚiI@F=I:>i i =) :>)*F2F:FBF^0JFG GnAG =G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499727{w,q4A6Գ>Y6Cf?6<96Ke6;6 Cy>%BBN!IIJIJ٢Vj_ V[=9Z;Q Z>XX ZG٣\y^h ^> fNusing accuracyPremultiplier from config`f59bس}?f5Ybf ib hj>j@bfEb:b:b5l r ArEZj DNOT Ignoring new targets: 60.50 m.Bj \$Jj \$ $?I ProNav: ac range: 60.500000 m, nav range: 56.003456 m, bearing: 301.217231 deg, approach rate: -0.038311 m/s, LOS rate: -0.574779 deg/s, cmd heading: 28.411937 deg, new cmd heading: 27.805358 deg. 2j;żHeadingCmd: 0.485295 target range: 60.500000 and range: 60.50 m. jx>jjjihhhhfffrfbf?ɛBU(= Q]=IY ]c =ɚYiYI]}F=Iex>iaie=)ex>)i*F5?2F9:F9BFE0JFIGe%=G9BIOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751811J yJ yJ J J ]:J 9J J a @a @a @a @j{w,TNA2>Y2?28/<92 2y=;2CHR>IP IR!IIRBIP&IP.IR?D6IR$<:IR] FBIeCJIeCRIaZIe =bIe =jIet5yb*BbT!IhjAMb@Mb@Mb@ )Y}?5^I? rh{GzyM?Cף;@ @)Iy@II1٢ < 8=9;Q > G٣SGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004545y̼ > Nusing accuracyPremultiplier from config 59 h}?5Y d i %?:r>@ hE ; +; 䝗5) -A)ZjQUDNOT Ignoring new targets: 60.50 m.Bj]Jj]m ProNav: ac range: 60.500000 m, nav range: 55.977341 m, bearing: 300.984247 deg, approach rate: -0.058425 m/s, LOS rate: -0.521466 deg/s, cmd heading: 27.805357 deg, new cmd heading: 27.106115 deg. 2jm𲼝HeadingCmd: 0.473091 target range: 60.500000 and range: 60.50 m. j8>jjjihhhhBfffrfbf^@ɛB%S)= )-=I) -M =ɚ)i)I-iF=I58>i9i=<=)=8>)9 }$?IyzKBoHK9KKKRK?JK?*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255782G! G B OM >{w,&hA: >Y: ?:Ud<9:J:5;: CyDFU!IIVIV ٢fQ; f_=9fhl rG٣pyv~ܼ v> ~Nusing accuracyPremultiplier from configx59z}? 5Yzb iz: >@ziEzH[;z}K;z5%GB %A%EZjDNOT Ignoring new targets: 60.50 m.Bj Jj  ProNav: ac range: 60.500000 m, nav range: 55.954731 m, bearing: 300.792524 deg, approach rate: -0.058466 m/s, LOS rate: -0.495975 deg/s, cmd heading: 27.106115 deg, new cmd heading: 26.530733 deg. 2j 1HeadingCmd: 0.463049 target range: 60.500000 and range: 60.50 m. j>jjjihhhhf!f!f!rf!bf-f@ɛB-b..= 15H=I1 5ʣ =ɚ1i1I=E=I=>iAiEB`=)E>)AEQEUrA*F?2F:FBFS5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508952"G=G= YIYGG B O >z{w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2Ai2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759839>̣>Y>Db ?>M<9>XH@n?q5g? w?n?g0`??ɨ>̣>>=;dd fG٣dyfѼ j> nNusing accuracyPremultiplier from confighr59j}?r5Yj_ ijTpvZ>v@jkEj;j;j?5x zAxZj%DNOT Ignoring new targets: 60.50 m.Bj-sJj-s ProNav: ac range: 60.500000 m, nav range: 55.928799 m, bearing: 300.584055 deg, approach rate: -0.068028 m/s, LOS rate: -0.547124 deg/s, cmd heading: 26.530733 deg, new cmd heading: 25.905061 deg. 2jHeadingCmd: 0.452129 target range: 60.500000 and range: 60.50 m. jg}>j!j!j)i)hYhahihifffrfbfU@JxJsJ1JJZ:J9J3Jɛ B ,= \=I  =ɚiIURE=Ig}>iimn=)%g}>)!*F2F!:F!BF%P5JF!H>I I!IIBI =&I.I6I%<:IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:18:17.0614 TRx dataTimestamp_ set to:1736378298.296619%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012753G M $?II G B O >zKQ KU h9KQ KU KU {w,ABK:KrAF\>YF*?F#x<9F7 =yFH ?`ء? ??@?n+@Ӳ?n?ɨF\>Flߎ;F%CyN4BNa!I Vp=Va=-%only read 2 of 4 data items for bottom velocity. Device response is::BS, -75, -9,A  %@% %@% %@%  %@% I)I)٢=1= =A=9=;Q E>AA EG٣ESGyM M> ]bBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ]59U}?e5YU] iUpe+:ae:e>e@UmEU&;U#>U5uPExceeded connect timeout, disconnecting.}HB }A}EZjDNOT Ignoring new targets: 60.50 m.BjJj ProNav: ac range: 60.500000 m, nav range: 55.899609 m, bearing: 300.364541 deg, approach rate: -0.068355 m/s, LOS rate: -0.514309 deg/s, cmd heading: 25.905062 deg, new cmd heading: 25.246206 deg. 2j{HeadingCmd: 0.440629 target range: 60.500000 and range: 60.50 m. j.>jjjihhhhfffrfbf @ɛ]B]\6=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263833 隅 >I € =ɚiIE=I.>ii=).>)*F%?2F!:F)BF-P0JF)G !=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 23:18:17.0614 LVL= 21344, 32753, 25154, 32755, AGC= 63, IDX= 407, 0.28,-0.651,-2.226,-1.281,-1.143, PHS= 0.580,-1.036,-0.141, RAW= 123.6, 8.5, CAL= 131.4, 3.9, ROT= 18.6, -3.9 ] Ygot valid direction response: 23:18:17.0614 LVL= 21344, 32753, 25154, 32755, AGC= 63, IDX= 407, 0.28,-0.651,-2.226,-1.281,-1.143, PHS= 0.580,-1.036,-0.141, RAW= 123.6, 8.5, CAL= 131.4, 3.9, ROT= 18.6, -3.9 e PDAT read: Bearing 18.6, -3.9 (Local) e ~Local bearing/azimuth received: Bearing 18.6, -3.9 (Local) u DAT read: Range 10 to 50 : 58.2 m (Round-trip 77.6 ms) speed 0.5 m/s } ,DAT read: user:3171> } BDAT read: Tx time:23:18:18.1796  $Ping request sent.  t@) 'g=I 6>i 'g   *!?^\i?y]*B ?) 'M~=I /i t    :publishing transmit ping time؁  Fpublishing direction and range info 9 CMGҿRUBݿQ?y     ) I i      ) I i    *!?^\i?y]*B ?) I i    O > NGsϬ{w,ANvAX pIp vYvvAyvB 8r>Y ? <9 JH=y H?m߿??D|??atݖ?@_?ɨ 8r> Ѝ; "CyU>B]m!III̍٢]&= ]-=9];Q e>aa eG٣ayI > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59 ~?5YH[ i ::>@oEB;h? 5 JAk]*&~?k]}G kY k]?A:k]hBBk]?gBZk]]'@"]tğ0*5p:dJ 6H@]CMGҿRUBݿQ?Jk]tRk]*]$7b?S?F@:H@]P7Sy?:XbV}?"k]*k]C>k]]&~?k]x^ 2k]*Bk];y?k]3Q k]pBk]?Bk]ȕ@ addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.528430 s, deltaX: -2.299999 m, approachRate: -0.651848 m/s, rangeRepo size: 4  Added new target pos. range: 58.200001 m, bearing: 270.639775 deg, lat: 36.904591 deg, lon: -122.120360 deg, deltaT: 3.528430 s, deltaX: -2.299999 m, approachRate: -0.651848 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 58.20 m.RjPowering the camera and arming the capture device at range: 58.20 m."jBjJj- ProNav: ac range: 58.200001 m, nav range: 47.752975 m, bearing: 298.269442 deg, approach rate: 0.000000 m/s, LOS rate: -0.514309 deg/s, cmd heading: 25.246206 deg, new cmd heading: 24.477252 deg. 2j)5HeadingCmd: 0.427209 target range: 58.200001 and range: 58.20 m. j5>j1j9j9i9"j9h9h9hAhAfIfIfIrfMM@bfU@w-?ɛB78= <&>I %'=ɚ!i!I%D=I->i)i-as=)->)1#=&Changing to mode: 2#EArmed mode.EE]>EE%>}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:18:18.1790 #52Commanding negative:54389*F?2F:FBF?4JF G  G rAJ yJ uJ J J ]:J 9J J H >I  I I I =&I .I 6I <:I 7 FG %=G B O >{w,lAWill construct direction to contact in vehicle frame from tetrahedron phase data.NP'>YN?Nve<9Nc =yNH?޿@???E l@~?@?ɨNP'>NU;NCy UB!I -$?I) m m mm mu  u u uMb@Mb@Mb@qqq q)qYuGz?A`"yup>uYuu~@ u@)qIu@qyuQ@IIW٢U-= U3=9U(;Q ]> G٣y > Nusing accuracyPremultiplier from config59~?5YY iT:>:>@pEs;;5 -@޵E%B*** querying acoustic contact ***j!j!Zj1zK]JKYKYK]K] H1]0mfC/ 5DNOT Ignoring new targets: 58.20 m.RjimPowering the camera and arming the capture device at range: 58.20 m."jiBju@.Jju@. ProNav: ac range: 58.200001 m, nav range: 47.731068 m, bearing: 298.000498 deg, approach rate: -0.049615 m/s, LOS rate: -0.609365 deg/s, cmd heading: 24.477252 deg, new cmd heading: 23.670106 deg. 2jѼHeadingCmd: 0.413121 target range: 58.200001 and range: 58.20 m. j>jjji"jhhhhBfffrfbf` ?ɛMBM{I= quX>Iq uP=ɚqiqIu3ND=I}>iyiy)>) nManaging dock network, ignoring radio surface power off*F5=2F1:F9BF=P0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O >{w,AB->YB`%>B) <9B"=yBHF?ݿs?@B?B^;B#Cy^\B^!I)` `ddIj{IjZ4٢r#= r~=9r:Q v ?tt vG٣vSGyz 2 z? ~Nusing accuracyPremultiplier from config|59~%~?5Y~|W i~  > @~rE~;~\:~y5 @ZjAMDNOT Ignoring new targets: 58.20 m.RjIMPowering the camera and arming the capture device at range: 58.20 m."jIBjU-JjU-e ProNav: ac range: 58.200001 m, nav range: 47.714401 m, bearing: 297.814355 deg, approach rate: -0.054430 m/s, LOS rate: -0.608124 deg/s, cmd heading: 23.670106 deg, new cmd heading: 23.111501 deg. 2jmмmHeadingCmd: 0.403372 target range: 58.200001 and range: 58.20 m. jm>jqjqjqiq"jqhqhqhyhyfffrfbf@2V?ɛB4\= 9=i>I9 =p=ɚAiAIES D=IM>iIiMg߹=)M>)I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996123*F-;2F):F)BF-_0JF) -$?I)G=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246903{w,AJwJtJ0JJW:J9Jـ3Jy>Y:>W<9'=yH`?@Ɩܿ?`M?N? rM Irm?`?ɨy>;騽 CyeB!ImMb@Mb@Mb@iii i)iYmT㥛 ?I +MbPym?m9mmh@ m@)mQ@Im@iym@ICI3٢ = %=9;Q > G٣y7 > Nusing accuracyPremultiplier from config598~?5YT i%?:y>@tE;`;5IB E@۵EH>I I!IIBI&I.I6I%<:I] FZjDNOT Ignoring new targets: 58.20 m.RjPowering the camera and arming the capture device at range: 58.20 m."jBj%Jj% ProNav: ac range: 58.200001 m, nav range: 47.698917 m, bearing: 297.514723 deg, approach rate: -0.029828 m/s, LOS rate: -0.577394 deg/s, cmd heading: 23.111501 deg, new cmd heading: 22.212391 deg. 2j!ƼHeadingCmd: 0.387679 target range: 58.200001 and range: 58.20 m. j}>jjji"jhhh h ƂBf f f1rf1bf5@ә?ɛB}N= 隥>I =ɚiIC=MWill construct direction to contact in vehicle frame from tetrahedron phase data.U>U`?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499229I]}>iYi]=)e}>)aE Ih*F}82Fy:FyBFP0JF"G=G=zK NK 9K K K G =G G pAG B O >q{w,h#A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750979>=m>Y>>><9>=y>H`?iۿ@D?@_? ?`Do`3R{?B?ɨ>=m>>{;>"CyZuBZ!II5I5y4٢ET= E]=9E;Q M>II UG٣QyUZ U> mNusing accuracyPremultiplier from configa59ewG~?5YeR ieŐK>@euEeM;eY;eB5 8@ZjDNOT Ignoring new targets: 58.20 m.RjPowering the camera and arming the capture device at range: 58.20 m."jBj%1Jj%1U ProNav: ac range: 58.200001 m, nav range: 47.685921 m, bearing: 297.290405 deg, approach rate: -0.035997 m/s, LOS rate: -0.621465 deg/s, cmd heading: 22.212390 deg, new cmd heading: 21.539284 deg. 2jU@ռ]HeadingCmd: 0.375931 target range: 58.200001 and range: 58.20 m. j]z>jYjYjYiY"jYhhhhfffrfbf ?ɛB6e= 隽>I ]p=ɚYiYI]QC=Iez>iaieÊ=)ez>)i*FM62F:FBFb0JFG=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002814 I {w,+=A2C^>Y2Xq>2[=92%=y2H _?ۿ eŧ?&?@D?@Sĕ@꠿@? P?ɨ2C^>2%;2 CyRBR!I V=V=IZIZ1h4٢~%= P=9;Q  >    G٣ SGy > %Nusing accuracyPremultiplier from config%59V~?%5YP iԐ)-&>-@wE:n:55JB =s@=صEZjYeDNOT Ignoring new targets: 58.20 m.RjaePowering the camera and arming the capture device at range: 58.20 m."jaBjm3Jjm3} ProNav: ac range: 58.200001 m, nav range: 47.670162 m, bearing: 297.052406 deg, approach rate: -0.041553 m/s, LOS rate: -0.627779 deg/s, cmd heading: 21.539285 deg, new cmd heading: 20.825093 deg. 2j}k׼HeadingCmd: 0.363466 target range: 58.200001 and range: 58.20 m. jF>jjji"jhhhhfffrfbf|@ɛBt= ڡ>I R=ɚiI}C=IF>ii=)F>)*Fm/42Fi:FiBFu35JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259926JU{JUxJU1JQJUd:JU9JU3JQGʯ=GBO>jHM <bHM <HQ IQ  IU !IIU BIQ &IQ .IQ 6IU B<:IU q F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510950|{w,.WA &$?I$VcR>YV)>V`=9V"=yVH?Yڿ? o?J"?@`+ˡX??ɨVcR>VB;V$CyB!IMb@Mb@Mb@ )YMb?Mbp?MbP?y?;: p@)~@I@y@IIk4٢= >=9;Q >)1 5G٣1y= => ENusing accuracyPremultiplier from configAM59E-h~?M5YERN iEM?M:M>U@EyEE;EO;E讗5Y ]@]ֵEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 58.20 m.RjPowering the camera and arming the capture device at range: 58.20 m."jBjA/JjA/ ProNav: ac range: 58.200001 m, nav range: 47.662048 m, bearing: 296.781279 deg, approach rate: -0.018338 m/s, LOS rate: -0.612880 deg/s, cmd heading: 20.825093 deg, new cmd heading: 20.011631 deg. 2jNҼHeadingCmd: 0.349269 target range: 58.200001 and range: 58.20 m. j^Ӳ>jjji"jhhhhBfffrfbf2@ɛނByo= ¬>I  =ɚi I eB=I^Ӳ>ii]=)^Ӳ>)zK=JK=9K9K=K=*F12F:FBF 5JFGpA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762941G̈=G?G0?Gi By O >9{w,YpA>D>Y>t>>M=9>.(=y>HTJ?ٿ`N[?@?M?t } ??ɨ>D>>;;>#CyNBN!IIVIV_v4٢^= ^^=9bq;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nCv~?r5YnYL inpvi>v@nzEn;nC:ny5zKB z&@zӵEZjDNOT Ignoring new targets: 58.20 m.Rj%Powering the camera and arming the capture device at range: 58.20 m."j!Bj%z0Jj-z05 ProNav: ac range: 58.200001 m, nav range: 47.653851 m, bearing: 296.561348 deg, approach rate: -0.023000 m/s, LOS rate: -0.617160 deg/s, cmd heading: 20.011631 deg, new cmd heading: 19.351754 deg. 2j=ӼEHeadingCmd: 0.337752 target range: 58.200001 and range: 58.20 m. jE>jAjAjIiI"jIhIhIhQhQfQfQfYrfabfex@ɛ݂B= 隍>I Ý=ɚiI[B=I>ii>l=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:18:20.6590 TRx dataTimestamp_ set to:1736378301.828622checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015896 =$?I9*F=/2FA:FABFEO0JFAGUޯ=G1B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266889{w,TȊA9>Yx>M=93=yH m?ؿ@G?@ ?`Mp?@F 3\?@?ɨ9>;騅"CyޝBޝ!I) AmMb@Mb@Mb@iii i)iYm#~j?l?MbP?ym?m=imVA m@)iIm@iym@IvI&Q4٢= 0=9;Q > G٣SGyk > Nusing accuracyPremultiplier from config59~?5YlI i9?:>@|Ej;;5 @H>I I"IIƒBI =&I.I6I5<:Ig FBIJIªCRIZI =bI =jI·4Zj%DNOT Ignoring new targets: 58.20 m.Rj!%Powering the camera and arming the capture device at range: 58.20 m."j)Bj52Jj52E ProNav: ac range: 58.200001 m, nav range: 47.656704 m, bearing: 296.267954 deg, approach rate: 0.006057 m/s, LOS rate: -0.622773 deg/s, cmd heading: 19.351755 deg, new cmd heading: 18.471700 deg. 2jEռMHeadingCmd: 0.322392 target range: 58.200001 and range: 58.20 m. jM>jIjIjIiI"jQhQhQhQhU BfYfYfarfbfE @ɛڂBy= >I /=ɚi Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521392I= A=IM>iQi=)>) I*F+2F:FBF4JFzK BoHK 9K K K BK pA:K pAG F=G% pAG!  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:18:20.6590 LVL= 17504, 30945, 24178, 32755, AGC= 56, IDX= 414, 0.12,-2.015, 2.736,-2.767,-2.531, PHS= 0.604,-0.969,-0.239, RAW= 117.6, 8.9, CAL= 126.5, 5.2, ROT= 23.5, -5.2  Ygot valid direction response: 23:18:20.6590 LVL= 17504, 30945, 24178, 32755, AGC= 56, IDX= 414, 0.12,-2.015, 2.736,-2.767,-2.531, PHS= 0.604,-0.969,-0.239, RAW= 117.6, 8.9, CAL= 126.5, 5.2, ROT= 23.5, -5.2 G B O5 >+{w,tAPDAT read: Bearing 23.5, -5.2 (Local) ~Local bearing/azimuth received: Bearing 23.5, -5.2 (Local) &DAT read: Range 10 to 50 : 56.3 m (Round-trip 75.1 ms) speed 0.4 m/s e,DAT read: user:3172> mBDAT read: Tx time:23:18:21.7797 c.>Y=> =9W:=yH?Dؿ@ت?`a??;uD??ɨc.>;騍!C$Ping request sent. > FM @) ޹=I ~>i ޹ Gv9a?ze's?) )I Di  C :publishing transmit ping timeرFpublishing direction and range info 9 *3lҿRJֿm?y  ) I i ) I i AA MG٣IyM@ȼ M> UNusing accuracyPremultiplier from configQ]59U|~?e5 Gv9a?ze's?) I i YUF iUW>@U~EU;U[;U|5 @еEk 0}?k Ri. k  k 'kA:k 3aBBk _BZk @" G)40(ZR!4"]?EI@ *3lҿRJֿm?Jk Rk C* s6ub(:F7'9H@ ^jjji"jhQhYhYhYfYfafarfe`f&L@bfe?ɛ؂B= >I =ɚiI*A=I>ii {߽=) >) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F:FBFP0JF -$?I)G =G B O >$Q{w,TTAJL#>YJ>Jj=9JD=yJH?v׿???`~2,??ɨJL#>JЉ;J"CybBb!IhhInoInD4٢v vh=9vкQ v>xx zG٣xy~ ~? Nusing accuracyPremultiplier from config559'~?55YD i9=>=@E1;c;5A E@AZjDNOT Ignoring new targets: 56.30 m.RjPowering the camera and arming the capture device at range: 56.30 m."jBjmJjm ProNav: ac range: 56.299999 m, nav range: 37.731220 m, bearing: 281.838304 deg, approach rate: 0.134953 m/s, LOS rate: -0.830936 deg/s, cmd heading: 17.572523 deg, new cmd heading: 16.776192 deg. 2jHeadingCmd: 0.292800 target range: 56.299999 and range: 56.30 m. j>jjji"jhhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf ?ɛuׂBu*= qu>Iq }p=ɚyiyI}9A=I>ii=)>)*FU/'2FQ:FBF]0JFG}4=GYBOc>ZHRHHI I."II܃BI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. I v{w,\A $&@Z߯>YZO>Z=9Z5LX=yZH?@=ֿ1??-? {o??ɨZ߯>Z;Z!CyfBf"I]Mb@Mb@Mb@YYY Y)YY]p= ף?:v?Mb`y]?]T=]]@ Y)YIYYy]G@ImZIm4٢= A=9dQ > G٣SGyO > Nusing accuracyPremultiplier from config59ɸ~?5YA i+?:g>@E^;!;ַ5LB ]@͵EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 56.30 m.RjPowering the camera and arming the capture device at range: 56.30 m."jBj^Jj^  ProNav: ac range: 56.299999 m, nav range: 37.788883 m, bearing: 281.514339 deg, approach rate: 0.138960 m/s, LOS rate: -0.779516 deg/s, cmd heading: 16.776191 deg, new cmd heading: 15.805878 deg. 2j HeadingCmd: 0.275865 target range: 56.299999 and range: 56.30 m. j >>jjji"jhhhh1Bfffrfbf?zK K  9K K K ɛ]ՂB]׉= ae=>Ia ez=ɚaiaIe@=I >>ii.=) >>)*F $2F :FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.J%{J%yJ!J!J%d:J%9J!J!J%";J%$;J%:J%:G =G ?G )i i G 5tA A = WmY= 5tAy= hbBB{w,A6 >Y6…>6`=96 O=y6H ?@C2ֿ@i? R?`U?ڡ m??ɨ6 >6;6#CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.188421y>BF"IINOIN 4٢V< VZ=9Z琺Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b~?f5Yb? ib9hj>j@bEbj:b;bz5 E$?IA @ZjAEDNOT Ignoring new targets: 56.30 m.RjAEPowering the camera and arming the capture device at range: 56.30 m."jIBjMEJjME} ProNav: ac range: 56.299999 m, nav range: 37.838879 m, bearing: 281.227075 deg, approach rate: 0.120468 m/s, LOS rate: -0.691269 deg/s, cmd heading: 15.805877 deg, new cmd heading: 14.945291 deg. 2j4HeadingCmd: 0.260845 target range: 56.299999 and range: 56.30 m. jj>jjji"jhhhhfffrfbf`?ɛӂB9l= J>I  =ɚiI/V@=I-j>i)i-=)-j>)I*F}!2Fy:FyBF}w0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440559G =Gq B O >/ |w,MAH>I  IG"IIBI &I .I 6I(<:I\ F^3>Y^=>^Q=9^dO=y^H?տҪ???`롿`)?@?ɨ^3>^;\yjBj "IeMb@Mb@Mb@aaa a)aYe?T㥛 ? G٣y > Nusing accuracyPremultiplier from config59h~?5Y< iRb?:$>@E;);5MB @ʵEZjDNOT Ignoring new targets: 56.30 m.RjPowering the camera and arming the capture device at range: 56.30 m."jeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.692444BjoJjo ProNav: ac range: 56.299999 m, nav range: 37.906517 m, bearing: 280.863437 deg, approach rate: 0.156333 m/s, LOS rate: -0.838975 deg/s, cmd heading: 14.945291 deg, new cmd heading: 13.856462 deg. 2jHeadingCmd: 0.241841 target range: 56.299999 and range: 56.30 m. j#w>jjji"jhhhhCBfffrfbf? $?Iɛ]҂Ber(= ae>Ia e=ɚaiaImj?=Im#w>iqiu=)u#w>)*F2F:FBF*2JFzKK+9KKKBKnA:KoAGU b= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945112G) B9 Ou >A |w,6+A>SO=Y>>>`=9> M=y>H`Y-?rտ+H?l%?.?:ꣿ?@t?ɨ>SO=>W;>!CJ^|J^zJ\J\J^;g:J^9J\J\J^Պ;J^׊;J^P:J^Q:yrBv"II%I%4٢EI3 MP=9v;Q > G٣SGy1ż > Nusing accuracyPremultiplier from config59~?5Y3: ih>@EH::R5 @Zj!%DNOT Ignoring new targets: 56.30 m.Rj)-Powering the camera and arming the capture device at range: 56.30 m."j)Bj5[Jj5[E ProNav: ac range: 56.299999 m, nav range: 37.964016 m, bearing: 280.550144 deg, approach rate: 0.140782 m/s, LOS rate: -0.765909 deg/s, cmd heading: 13.856462 deg, new cmd heading: 12.918096 deg. 2jEhMHeadingCmd: 0.225463 target range: 56.299999 and range: 56.30 m. jMf>jIjIjIiI"jQhQhQhQhYfYfYfYrfYbfeQ@ɛЂBl = 隕>I h=ɚiIz?=If>iiR=)f>)*F%2F!:F!BF-4JF-GL=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198909GBOE> I''|w,DA2=Y2>2"=92F=y2H D? {Կ")?@?@F?A`^Ө? ?ɨ2=2҉;0yBBB"IIJIJ(٢fԵ fS=9f:Q f>hh jG٣hyjsļ n>nWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.448465 ~Nusing accuracyPremultiplier from configx59z~?5Yz7 iz|>@zEzfjjjihhhhf!f!f!rf!bf%|@ɛMςBU1= QU>IQ ] =ɚYiYI]+?=Ie$|W>iaieq=)e$|W>)a*F2F:FBFP0JFjH-<bH-<H5>I5C I5T"II5BI5 =&I1.I16I5.<:I5_ FG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700548GBO> IkQ|w,^AyrBr!I}Mb@Mb@Mb@yyy y)yY}J +?p= ף?Mby}?}=}}A }@)yI}@yy}@II٢ ==9Q > G٣y > Nusing accuracyPremultiplier from config59. ?5YL5 i ?:>@Ekn;m;5 @B*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 56.30 m.Rj BjhJjh% ProNav: ac range: 56.299999 m, nav range: 38.078621 m, bearing: 279.928366 deg, approach rate: 0.152576 m/s, LOS rate: -0.814485 deg/s, cmd heading: 12.057009 deg, new cmd heading: 11.055766 deg. 2j% -HeadingCmd: 0.192960 target range: 56.299999 and range: 56.30 m. j-.E>j)j)j1zK1K59K1K5K5   RKE ?JKE?i1hIhIhIhM?BfQfQfQrfYbf]`@ɛ΂BPA= >I -"=ɚ i I 6>=I5.E>i1i5 >)5.E>)1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:18:24.2571 TRx dataTimestamp_ set to:1736378305.612685-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958675*F2F:FBFJFG=GBJ}J|JJJ[j:J@9JJJ;J;Jz:J|:Oi> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204546 $?I 7{|w,rxA2;=Y2zƟ>2'=92(v>=y2Hm?ӿ@J??? p?@7`uǧ?F?ɨ2;=2;2 CybBf!II I @٢w J=9b;Q > G٣SGy%) %> Nusing accuracyPremultiplier from configy59}?5Y}2 i}>@}E}:}:}—5NB @ĵEZj1=DNOT Ignoring new targets: 56.30 m.Rj9BjEWJjEWu ProNav: ac range: 56.299999 m, nav range: 38.138760 m, bearing: 279.594254 deg, approach rate: 0.136055 m/s, LOS rate: -0.754683 deg/s, cmd heading: 11.055766 deg, new cmd heading: 10.055120 deg. 2ju{}HeadingCmd: 0.175495 target range: 56.299999 and range: 56.30 m. j}3>jyjyjyiyhhhhfffrfbfZ @ɛ̂B%ލ= !%>I! mz#=ɚiiiIm>>=Iu3>iqiu 5 >)u3>)yE?E>*F]2FY:FYBF]O0JFaGa GerAWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 23:18:24.2571 LVL= 15312, 23217, 19346, 28883, AGC= 60, IDX= 424, 0.07,-0.974,-2.592,-1.753,-1.486, PHS= 0.599,-1.059,-0.271, RAW= 118.4, 10.2, CAL= 126.8, 6.5, ROT= 23.2, -6.5 eYgot valid direction response: 23:18:24.2571 LVL= 15312, 23217, 19346, 28883, AGC= 60, IDX= 424, 0.07,-0.974,-2.592,-1.753,-1.486, PHS= 0.599,-1.059,-0.271, RAW= 118.4, 10.2, CAL= 126.8, 6.5, ROT= 23.2, -6.5 mPDAT read: Bearing 23.2, -6.5 (Local) m~Local bearing/azimuth received: Bearing 23.2, -6.5 (Local) DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed 0.4 m/s ,DAT read: user:3173> BDAT read: Tx time:23:18:25.3797 $Ping request sent.  @)V=I4Q>iVEZ5A{?usÜu?) II6iʈ:publishing transmit ping time؉Fpublishing direction and range info9_ E8ӿh+q׿vH ?y )Ii )IiEZ5A{?usÜu?)IiG =G B O >H! I!  I! I! I! &I! .I! 6I% B<:I% l Fc$|w,fA6c=Y6>6+=96c8=y6H`?Sӿ\?!?u?@0w` ?|?ɨ6c=6;6"Cy~B~!I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]=eJDAT read: TxSync time:23:18:25.3790 yIyMb@Mb@Mb@ )YMbX?~jt?Qy ?D=uVA @)AIy3@IIm٢-} -4=9m[;Q u>qq uG٣qy}I }> Nusing accuracyPremultiplier from config59D/?5YX0 iّY ?:v>@Et;;ė5 A@k-g^Ǣ|?k-س k) k-Q0A:k-[BBk-!ZBZk-{e@"-#1*$4`$H@-_ E8ӿh+q׿vH ?Jk-Rk-ʈ*-hK1.O9BG@-:,,¿Ul@ ޿νed?"k-&*k-qk-c|?k-= 2k-[Bk-]&~?k-x^ k-[Bk-Bk-Փ@} addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.527659 s, deltaX: -1.399998 m, approachRate: -0.396863 m/s, rangeRepo size: 4  Added new target pos. range: 54.900002 m, bearing: 253.169287 deg, lat: 36.904390 deg, lon: -122.120250 deg, deltaT: 3.527659 s, deltaX: -1.399998 m, approachRate: -0.396863 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 54.90 m.RjBjJj ProNav: ac range: 54.900002 m, nav range: 34.004131 m, bearing: 264.695753 deg, approach rate: 0.000000 m/s, LOS rate: -0.754683 deg/s, cmd heading: 10.055120 deg, new cmd heading: 9.047646 deg. 2jHeadingCmd: 0.157911 target range: 54.900002 and range: 54.90 m. jz!>jjjihhhhCBfffarfe@3sK@bfe`?ɛ˂Br= >I G%=ɚiI==Iz!>ii|>)z!>)*F2F:FBFP0JFzKUKLKU+9KQKUKU '5CP\bhlggjuG>GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.*|w,)AAB=YBڥ>Be*=9B.=yBH?Eoҿ!?V? ?Hf`v[Υ?m?ɨB=Blk;B C*JNC="JLyfBf!IIrIrk٢%R -r=9-'Q -?)1 5G٣1y= E? ]Nusing accuracyPremultiplier from configQm59Ua=?m5YU. iUiu>u@UEUU;UE;UƗ5OB @EZj DNOT Ignoring new targets: 54.90 m.Rj Bj nJj n% ProNav: ac range: 54.900002 m, nav range: 34.087330 m, bearing: 264.425996 deg, approach rate: 0.257375 m/s, LOS rate: -0.832455 deg/s, cmd heading: 9.047646 deg, new cmd heading: 8.240406 deg. 2j%-HeadingCmd: 0.143822 target range: 54.900002 and range: 54.90 m. j-"F>j)j)j)i)h1hhhfffrfbfe?ɛ%ʂB-<= 隵x>I e&=ɚiI==I"F>iiZ->)"F>) u$?Iuh}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG R>G B O >t1|w,?A6d=Y6>6*=96V=y6HN?uҿ? x?`.?@]W`P? ?ɨ6d=6Y;6"CyRBV!II^I^٢f fQ=9jKQ j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.pp vG٣tyv v> zNusing accuracyPremultiplier from configx59zN?5Yz, iz>@zEzE;z;zǗ5 @Zj1=DNOT Ignoring new targets: 54.90 m.Rj9BjE0oJjE0o] ProNav: ac range: 54.900002 m, nav range: 34.184933 m, bearing: 264.108563 deg, approach rate: 0.257928 m/s, LOS rate: -0.836458 deg/s, cmd heading: 8.240406 deg, new cmd heading: 7.290918 deg. 2jeeHeadingCmd: 0.127251 target range: 54.900002 and range: 54.90 m. jeM>jijijiiihihihqhqfqfqfyrfybf}?ɛK= 隭>I '=ɚiI2%==IM>ii>)M>)*F52F1:F1BF5P5JF1JJ~J1JJp:Jf9J3Ja@a@a@a@G >G qAG mAGB9O}7>ZHRH?AH~>I IG"IIBI =&I.I6Iz<:I FBIũCJIũCRIZI =bI =jIM5 U$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.'7|w,Ay~B~!IMb@Mb@Mb@ )Y!rh? G٣SGy > Nusing accuracyPremultiplier from config593`?5Yc* i3?:>@EU;;ɗ5 @EB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 54.90 m.Rj)Bj-aJj-azK&NK9KKK}ytrndTD91-+)'%&# !#!   ProNav: ac range: 54.900002 m, nav range: 34.287411 m, bearing: 263.764408 deg, approach rate: 0.235881 m/s, LOS rate: -0.789793 deg/s, cmd heading: 7.290919 deg, new cmd heading: 6.261657 deg. 2jHeadingCmd: 0.109287 target range: 54.900002 and range: 54.90 m. j=jjjihhh h.Bfffrfbf?ɛɂB<= 隝>I )=ɚiI<=I=ii,>)=)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*Fe2Fa:FiBFmT5JFiJJG >Ga Bi O > A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749495=|w,A6gE=Y6>6+0=96eb=y6Hr?@Dп"?@??@@ކ? ?ɨ6gE=67;6 CyJBJ!IIbIb<٢r7< rZ=9ve;Q z>|| ~G٣y C  > %Nusing accuracyPremultiplier from config-59"p?55Y( iT1=;>=@Eq;q;U˗5MPB U1@UEZj!%DNOT Ignoring new targets: 54.90 m.Rj!Bj-TJj-T} ProNav: ac range: 54.900002 m, nav range: 34.374554 m, bearing: 263.463177 deg, approach rate: 0.215959 m/s, LOS rate: -0.744620 deg/s, cmd heading: 6.261657 deg, new cmd heading: 5.360333 deg. 2j}HeadingCmd: 0.093555 target range: 54.900002 and range: 54.90 m. j=jjjihhhhfffrfbf?ɛȂBLd= %>I R*=ɚiIp<=I=ii`(>)=)*Fa2Fa:FaBFe05JFaG=+s>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001806GB!OEs>J J |J 0J J J @9J ـ3J H }>I  I 5"II BI &I .I >D6I <:I N F|D|w,dAF=YF.>Fw8=9FZ=yFH`? п?3?K?@J ?(?ɨF=F;;F"CynBn!ImMb@Mb@Mb@iii i)iYmJ +?{Gz?/$ym?m# G٣y > $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253508 mNusing accuracyPremultiplier from configi59mo?5Ym& im|?:v>@mEm IQ U̴+=ɚQiQI]0<=I]mw=iaie{/>)emw=)aEupAEq*F2F:FBF2JFzKANK+9KKK 6CD@AFD?>;64/,*+($#! G h6,> Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507212G B O5 >eJ|w,5-A2 2[==92D=y2H@?әοϪ?@J? S?@N?@`d fG٣fSGyf> f> rNusing accuracyPremultiplier from configlr59n’?v5Yn% vtIintv>v@nEnr;nr;nΗ5~QB ~@~EZj!%DNOT Ignoring new targets: 54.90 m.Rj!Bj-zJj-z= ProNav: ac range: 54.900002 m, nav range: 34.536758 m, bearing: 262.807427 deg, approach rate: 0.215035 m/s, LOS rate: -0.876935 deg/s, cmd heading: 4.265472 deg, new cmd heading: 3.397986 deg. 2j=uEHeadingCmd: 0.059306 target range: 54.900002 and range: 54.90 m. jEr=jAjAjAiAhIhIhIhIfQffrfbfH@ɛY]Ύ= Y]ù>Ia e1,=ɚaiaIe>;=Imr=iqiu90>)ur=)%H~G=|uAmA l5Y|uAy-B $?I*F92F9:F9BF=P0JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758922G kx->GY By O >Q|w,bGA6j ;Y6Oi>6%GC=96^xBB!IIJIJ٢R$ RL=9R-m;Q R>TT VG٣TyV9 Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:23:18:27.8548 fTRx dataTimestamp_ set to:1736378309.140729fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010667 ENusing accuracyPremultiplier from config9E59=פ?M5Y=5$ i=ŒIM}>M@=E=X:=:=З5 @Zj!%DNOT Ignoring new targets: 54.90 m.Rj!Bj-G_Jj-G_ ProNav: ac range: 54.900002 m, nav range: 34.618073 m, bearing: 262.466318 deg, approach rate: 0.186573 m/s, LOS rate: -0.780820 deg/s, cmd heading: 3.397986 deg, new cmd heading: 2.377177 deg. 2jHeadingCmd: 0.041490 target range: 54.900002 and range: 54.90 m. j)=jjjihhhhfffrfbf@JJJ1JJJy9J3JɛƂBI= >I .=ɚiI;=I)=ii e2>) )=)jH<bHH|>*F2F:FBFJFI I""IIуBI&I.I6I\<:I~ F IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261574G% QG/>G B O >W|w,MaA]@Y]TY>]G=9]۽?`ʿEު? S?G?`dW憎@??ɨ]@]2;YyutBu!IeMb@Mb@Mb@aaa a)aYeJ +? rhZd;OyaeCeja e@)eVAIe@aye@I}I}٢灼 .=9;Q > G٣y > Nusing accuracyPremultiplier from config59ָ?5Y# i?:9>@E ;;җ5RB @EzKMKh9KKK B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 54.90 m.RjBjwJjw- ProNav: ac range: 54.900002 m, nav range: 34.693069 m, bearing: 262.087228 deg, approach rate: 0.171916 m/s, LOS rate: -0.867107 deg/s, cmd heading: 2.377177 deg, new cmd heading: 1.242522 deg. 2j55HeadingCmd: 0.021686 target range: 54.900002 and range: 54.90 m. j5<j9j9j9i9h9h9hAhEBfQfQfQrfYbf]# @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:18:27.8548 LVL= 17072, 29777, 25938, 32755, AGC= 61, IDX= 419,-0.16, 3.020, 1.218, 2.027, 2.304, PHS= 0.804,-1.039,-0.280, RAW= 114.2, 6.5, CAL= 124.1, 3.1, ROT= 25.9, -3.1 Ygot valid direction response: 23:18:27.8548 LVL= 17072, 29777, 25938, 32755, AGC= 61, IDX= 419,-0.16, 3.020, 1.218, 2.027, 2.304, PHS= 0.804,-1.039,-0.280, RAW= 114.2, 6.5, CAL= 124.1, 3.1, ROT= 25.9, -3.1 -PDAT read: Bearing 25.9, -3.1 (Local) -~Local bearing/azimuth received: Bearing 25.9, -3.1 (Local) EDAT read: Range 10 to 50 : 53.1 m (Round-trip 70.9 ms) speed 0.4 m/s M,DAT read: user:3174> UBDAT read: Tx time:23:18:28.9797 U$Ping request sent.Uik]O?Lùk}e޼?)RϽI7qi:publishing transmit ping timeQFpublishing direction and range info9ϰ៯ο?ӿa|?y )Ii )Iiɛ ~= >I /=ɚi I [;=I )<)O?Lùk}e޼?)Ii*F2F:FBFT0JF"G=G= $?I G u0>G G rA} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:18:28.9790 G B O >^|w,{A2D@Y2@H>2L=92   G٣SGyT? > %Nusing accuracyPremultiplier from config%59_?-5Y@" i)-(>-@E:a:(ԗ51 =@k .֓}?k k k4iA:kfTBBkRBZk$͋@"< u)d90@wH@ϰ៯ο?ӿa|?JkRk*׼Gŋ-2.1H@vatA+[<ֿnm?"k͖*kk}?kW 2kBk}?kڪ k*BkAk\@% addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.531525 s, deltaX: -1.800003 m, approachRate: -0.509696 m/s, rangeRepo size: 4 U Added new target pos. range: 53.099998 m, bearing: 250.313328 deg, lat: 36.904374 deg, lon: -122.120173 deg, deltaT: 3.531525 s, deltaX: -1.800003 m, approachRate: -0.509696 m/s, posRepo size: 4 ZjQ]DNOT Ignoring new targets: 53.10 m.RjYBj]JjYm ProNav: ac range: 53.099998 m, nav range: 28.352631 m, bearing: 256.238870 deg, approach rate: 0.000000 m/s, LOS rate: -0.867107 deg/s, cmd heading: 1.242522 deg, new cmd heading: 0.276987 deg. 2jiHeadingCmd: 0.004834 target range: 53.099998 and range: 53.10 m. jai;jjjihhhhfffrf̌J@bf y?ɛ5łB5= 1==>I9 =(0=ɚ9i9I=&;=IE`i;iAiE5>)Eai;)I*F2F:FBF 0JF G?;4>GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAJ J |J 0J J J @9J ـ3J H} {>Iy  I} "II} BI}  =&Iy .Iy 6I} ư<:I} Fe|w,A^ @Y^57>^LN=9^<-Will construct direction to contact in vehicle frame from tetrahedron phase data.i mG٣iyub u> }Nusing accuracyPremultiplier from configy59}a?5Y}^! i}A& ?:>@}E};}s;}֗5 @EZjDNOT Ignoring new targets: 53.10 m.RjBj }Jj } ProNav: ac range: 53.099998 m, nav range: 28.442520 m, bearing: 255.790376 deg, approach rate: 0.208815 m/s, LOS rate: -1.038557 deg/s, cmd heading: 0.276987 deg, new cmd heading: 358.936014 deg. 2j02%HeadingCmd: 6.264615 target range: 53.099998 and range: 53.10 m. jUw@jQjQjQiQhYhahhBfffrfbf@?ɛ~= >I  =1=ɚ i I 6:=IJ ii`;>)w@)*F2F:FBF0JFzK% LK% +9K! K% K%   BK= qA:K= pA Will construct direction to contact in vehicle frame from tetrahedron phase data.G% q4>G B O= > )k|w,OϮAF~7@YF&>FSP=9F&x| ~G٣|y^7 > %Nusing accuracyPremultiplier from config=59^?M5Y  icQU(=U@E;;ח5a el@aZjDNOT Ignoring new targets: 53.10 m.RjBjhJjh ProNav: ac range: 53.099998 m, nav range: 28.512695 m, bearing: 255.432437 deg, approach rate: 0.195757 m/s, LOS rate: -0.996025 deg/s, cmd heading: 358.936003 deg, new cmd heading: 357.864960 deg. 2j*HeadingCmd: 6.245922 target range: 53.099998 and range: 53.10 m. j@jjjihhhhfffrfbf qO?ɛ= p>I $2=ɚiI:=Iii=>)@)*F2F:FBF4JF =$?I9Gm~a9>G!B1EWill construct direction to contact in vehicle frame from tetrahedron phase data.O]3>r|w,ɪA:Ι@Y:->:T=9:O?`?5z`HI? ?ɨ:Ι@:;: CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yViBV!IIbIbV8٢fP jL=9j;Q j>ll rG٣vSGy~C >  Nusing accuracyPremultiplier from config 59 Y?5Y &  i !%=%@ E >; ]?; qٗ5-SB -@-EZjQUDNOT Ignoring new targets: 53.10 m.RjYBjeiJjeiu ProNav: ac range: 53.099998 m, nav range: 28.588871 m, bearing: 255.029968 deg, approach rate: 0.191680 m/s, LOS rate: -1.010022 deg/s, cmd heading: 357.864948 deg, new cmd heading: 356.660946 deg. 2juJ-}HeadingCmd: 6.224908 target range: 53.099998 and range: 53.10 m. j}r2@jyjjihhhhfffrfbf`?ɛ= >I 03=ɚiI:=IGniiR?>)r2@)*F2F:FBFP0JFZHRHAAH1I1 I5!II5BI1&I1.I16I5;<:I5e F %$?I!GuN;>G1BAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Om>w;x|w,YAy_B!IMb@Mb@Mb@ )YE?Zd;O rhy?jC @)Iy@IIM٢0 <=9Q > G٣y > =Nusing accuracyPremultiplier from config9E59=?E5Y= i=M?M:M0=M@=E= ;=a;=`ۗ5UTB ]E@]E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 53.10 m.RjBjnJjn ProNav: ac range: 53.099998 m, nav range: 28.672018 m, bearing: 254.595484 deg, approach rate: 0.187169 m/s, LOS rate: -0.975201 deg/s, cmd heading: 356.660949 deg, new cmd heading: 355.361513 deg. 2jQ'HeadingCmd: 6.202229 target range: 53.099998 and range: 53.10 m. jx@jjjihhhhBfffrfbf`I?ɛ4= Q>I H4=ɚiI g:=I̥i iS>)x@)zK5LK559K1K5K5 Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.RK>JK?*F2F:FBFJFJJJJJJ9JJJ;aJ;aJg;aJh;aG=>G B O > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250193e~|w,c`Ab@Yb@&=bh=9bE    G٣ y   > Nusing accuracyPremultiplier from config59"?%5YO i֓!%L6=%@E~ ; ;ܗ5) 5@1ZjQ]DNOT Ignoring new targets: 53.10 m.RjYBjeގJjeގu ProNav: ac range: 53.099998 m, nav range: 28.731821 m, bearing: 254.231041 deg, approach rate: 0.164312 m/s, LOS rate: -0.999238 deg/s, cmd heading: 355.361519 deg, new cmd heading: 354.270603 deg. 2jq+HeadingCmd: 6.183188 target range: 53.099998 and range: 53.10 m. j@jjjihhh h f f f rfbf8@ɛy}I= y隅ן>I YD5=ɚiIG:=I4̽iiB?.>)@)EqAE*F2F:FBFJFGD>GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502094H% |>I!  I% !II% BI! &I! .I! 6I% 5<:I% a FBIJIRIZI =bI =jIa4[|w,zA F$?IDy޽\B޽!I Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756058}Mb@Mb@Mb@yyy y)yY}RQ? rhI +y}?}C}94}@ };@)}lAI}@yy}z@II㔳٢5 .=9Q > G٣SGy > Nusing accuracyPremultiplier from config 59 56?%5Y  i %?%:%`=%@ E ; ;  ߗ5a e@mEZj15DNOT Ignoring new targets: 53.10 m.Rj9Bj=Jj=u ProNav: ac range: 53.099998 m, nav range: 28.810495 m, bearing: 253.779489 deg, approach rate: 0.157025 m/s, LOS rate: -0.898775 deg/s, cmd heading: 354.270601 deg, new cmd heading: 352.919910 deg. 2ju4}HeadingCmd: 6.159615 target range: 53.099998 and range: 53.10 m. j}@jyjyjyiyhyhhh Bfffrfbf@ɛ7= і>I %u6=ɚ!i)I--:=I-i1i5I>)=@)9*F2F:FBFJFzK >BKK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:18:31.4528  TRx dataTimestamp_ set to:1736378312.669620 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008587G Q>G B O >fw|w,0A*J "J"4=J&J&~J$J$J&v:J&f9J$J$J&U;J&V;J&:J&:y=aB=!IIMIM%x٢e!< mg=9qQ u>y G٣y > Nusing accuracyPremultiplier from config59YE?5Y i@EY;'[;5 6@ZjDNOT Ignoring new targets: 53.10 m.RjBjJj ProNav: ac range: 53.099998 m, nav range: 28.870659 m, bearing: 253.442517 deg, approach rate: 0.184798 m/s, LOS rate: -1.032878 deg/s, cmd heading: 352.919918 deg, new cmd heading: 351.911218 deg. 2j61 HeadingCmd: 6.142009 target range: 53.099998 and range: 53.10 m. j W@j j j i h hhhfffrfbfi @ɛAM|= IMl>II M;7=ɚIiQIU4:=I]iYi]4W>)]W@)Y $?I*F2F:FBF0JFGQ>-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259504GBOA>a|w,3IABWill construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 23:18:31.4528 LVL= 14480, 25585, 19426, 30003, AGC= 56, IDX= 413, 0.13,-1.497, 2.808,-2.970,-2.482, PHS= 1.072,-0.947,-0.491, RAW= 102.4, 4.0, CAL= 112.9, 1.9, ROT= 37.1, -1.9 ^Ygot valid direction response: 23:18:31.4528 LVL= 14480, 25585, 19426, 30003, AGC= 56, IDX= 413, 0.13,-1.497, 2.808,-2.970,-2.482, PHS= 1.072,-0.947,-0.491, RAW= 102.4, 4.0, CAL= 112.9, 1.9, ROT= 37.1, -1.9 bPDAT read: Bearing 37.1, -1.9 (Local) f~Local bearing/azimuth received: Bearing 37.1, -1.9 (Local) jDAT read: Range 10 to 50 : 51.6 m (Round-trip 68.8 ms) speed 0.3 m/s n,DAT read: user:3175> rBDAT read: Tx time:23:18:32.5298 r$Ping request sent.r G٣y > Nusing accuracyPremultiplier from config59@X?5Ya i>@E; ;5UB h@EkB m~?kBO, k@ kBKA:kBfNBBkBMBZkB@"B["DzC:I@B5%ǿ𻛥 Ѵ?'K?JkB 'RkB*B$3yMOsi"FJkI@B>HFЙ%aY?"kBK*kBɻkBi~?kBV 2kB Bk@kB= kBBkB%AkBM@= addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.528506 s, deltaX: -1.500000 m, approachRate: -0.425109 m/s, rangeRepo size: 4  Added new target pos. range: 51.599998 m, bearing: 228.371077 deg, lat: 36.904374 deg, lon: -122.120159 deg, deltaT: 3.528506 s, deltaX: -1.500000 m, approachRate: -0.425109 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 51.60 m.RjjH<bH4<HI I!IIBI =&I.I6I<:I FBjJj ProNav: ac range: 51.599998 m, nav range: 27.768133 m, bearing: 252.279777 deg, approach rate: 0.000000 m/s, LOS rate: -1.032878 deg/s, cmd heading: 351.911208 deg, new cmd heading: 350.423417 deg. 2jHeadingCmd: 6.116043 target range: 51.599998 and range: 51.60 m. j@j!j!j)i)h)hYhihi IfffrfI@bf%C?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:18:32.5291 ɛMƂBM~= QUz>IQ U8=ɚQiQIUS9=I]v'+iYiezl>)e@)a*F% 2F! :F! BF% P0JF! G5 qA G5 qAGI>G G qAGBO>Bݙ|w,_iAzWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-BHK-@9K)K-K-m#@Ymę<m=9m,;ymH?@ג?.?x?XOs@Px? ?ɨm#@m;m$Cy}VB}!IMb@Mb@Mb@ )YZd;?MbPt~@ )AIyII٢ #=99   G٣ SGy5 => ENusing accuracyPremultiplier from config9E59=vm?M5Y=D i=hM>M:M#<M@=E=f;=;=5y @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 51.60 m.RjJK KKK"KJ}J|J1JJ[j:J@9J3JJ;J;Jz:J|:BjɒJjɒ% ProNav: ac range: 51.599998 m, nav range: 27.849808 m, bearing: 251.789169 deg, approach rate: 0.171416 m/s, LOS rate: -1.026638 deg/s, cmd heading: 350.423429 deg, new cmd heading: 348.956260 deg. 2j%$0-HeadingCmd: 6.090436 target range: 51.599998 and range: 51.60 m. jU@jQjQjQiQhYhYhYh]Bfafafarfibfm?) UNGqA Yy-Bɛ = >I L9=ɚiIE9=I*`Ei!i-~B>)-@)1 $?I*F2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.յ=յa=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GP>G B O >-|w,A:e @Y:`::F=9: cI E:=ɚiI9=IpViiukF>)uU\@)y*F 2F :F BF P5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000631Ge>GBOA>H)I) I-!II-BI)&I).I)6I-P<:I-v F  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251357|w,\A6k_@Y6n@6չ=96HX;D h@)AIy@II6٢> >=9b:Q > G٣yG > Nusing accuracyPremultiplier from config59?5YT i>: 4@E;: 5 AZj15DNOT Ignoring new targets: 51.60 m.Rj1Bj=<Jj=I =;=ɚiIX9=Irlii F>)@)E*F52F1:F1BF505JF9"G==G==MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508383zKuKu9KqKuKu %/7?A@;98742054232/&! Gm pj>Gu?Gu,?Gi B O >J J J J J J 9J J J J J g;J h;n |w,AFй@YFL@Fl =9F < Z$?IXyFH@?? İ?-\?,ް٪?`?ɨFй@Fk;F#CyzNBz!II=I=b٢MU MS=9U;Q U>QQ UG٣]SGy]RU e> mNusing accuracyPremultiplier from configam59e`?u5Ye{ ie˔quFu@eEe:eH:e5y >AEZjDNOT Ignoring new targets: 51.60 m.RjBj:Jj: ProNav: ac range: 51.599998 m, nav range: 28.021076 m, bearing: 250.702515 deg, approach rate: 0.143335 m/s, LOS rate: -0.938818 deg/s, cmd heading: 346.793703 deg, new cmd heading: 345.703399 deg. 2j!HeadingCmd: 6.033662 target range: 51.599998 and range: 51.60 m. j@jjjihhhhfffrfbf?ɛȂBKF= ]>I <=ɚiI%9=I%i)i-D>)-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755456*F2F:FBFO0JFGf>GaBqO:>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007443|w,8A2@Y2V-@2I=925&;y2HG?@ud?H?i X?R}?`=?ɨ2@2C;0yRBBRr!IIZIZn٢? O=9*    G٣ yE > Nusing accuracyPremultiplier from config%59S?%5Y i)-dN-@EH::w51 5A1ZjYeDNOT Ignoring new targets: 51.60 m.RjiBjuQJjuQ ProNav: ac range: 51.599998 m, nav range: 28.075207 m, bearing: 250.331505 deg, approach rate: 0.137330 m/s, LOS rate: -0.939439 deg/s, cmd heading: 345.703386 deg, new cmd heading: 344.592649 deg. 2j.!HeadingCmd: 6.014277 target range: 51.599998 and range: 51.60 m. jt@jjjihhhhfffrfbf 5@ZHRHH}>I I!IIBI =&I.I?D6IC<:In FɛɂBR= 1B=r>I <=ɚiIS9=Imi i VE>) t@)  $?I*F52F9:F9BFEP0JFAG%I>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260729GB)OER>H"|w,4AN@YNj@Nq=9ND;@ ~@)AIy @IIq٢ 1=9z;Q > G٣y] > Nusing accuracyPremultiplier from config59?5Y  i->:@E;;{5WB AEZjDNOT Ignoring new targets: 51.60 m.Rj!Bj%=Jj%=5 ProNav: ac range: 51.599998 m, nav range: 28.132982 m, bearing: 249.916844 deg, approach rate: 0.125230 m/s, LOS rate: -0.896935 deg/s, cmd heading: 344.592661 deg, new cmd heading: 343.351439 deg. 2j==HeadingCmd: 5.992613 target range: 51.599998 and range: 51.60 m. j=}ÿ@jAjAjAiAhAhAhQhUBfYfafarfibfu@ɛ=ʂB=Vv= 9=]>I9 e²==ɚaiaIeP#:=ImŔiiimגH>)m}ÿ@)qEE I*F2F:FBFJFGpA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763381G5 F>G= pAG= rAG B O= >|w,!A6@Y6@@6rf=96zI :>=ɚiII:=IȜiiaG>)ZC@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!-BDAT read: Rx Time:23:18:35.0014 5TRx dataTimestamp_ set to:1736378316.2010695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016894*F=2F9:F9BF=^0JF9GUG>GBOH>J5{J5xJ50J1J5d:J59J5ـ3J1a=@a=@a=@a=@H>I I!IIBI&I.I6If<:I F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267443"|w,A2ƀ@Y2B@2[=92kļtA h@)$AIyIIq٢RI 7=9;Q > G٣y >  Nusing accuracyPremultiplier from config u59 Qۀ?u5Y P  i pu>u:u&u@ E i< i< 5XB qAEZjDNOT Ignoring new targets: 51.60 m.RjBj-xJj-x  ProNav: ac range: 51.599998 m, nav range: 28.211653 m, bearing: 249.223962 deg, approach rate: 0.085060 m/s, LOS rate: -0.867894 deg/s, cmd heading: 342.455248 deg, new cmd heading: 341.275939 deg. 2j UHeadingCmd: 5.956389 target range: 51.599998 and range: 51.60 m. jU@jQjQjQiYhYhYhYh]Bfafafarfabfm}@ @ɛ̂Bcp= @;>I  >=ɚiIJ:=IQiaimwK>)m@)iEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:18:35.0014 LVL= 14976, 23921, 19426, 26403, AGC= 55, IDX= 431,-0.12, 1.373,-0.690,-0.540, 0.197, PHS= 1.263,-0.841,-0.740, RAW= 92.4, 3.1, CAL= 100.4, 1.1, ROT= 49.6, -1.1 Ygot valid direction response: 23:18:35.0014 LVL= 14976, 23921, 19426, 26403, AGC= 55, IDX= 431,-0.12, 1.373,-0.690,-0.540, 0.197, PHS= 1.263,-0.841,-0.740, RAW= 92.4, 3.1, CAL= 100.4, 1.1, ROT= 49.6, -1.1 PDAT read: Bearing 49.6, -1.1 (Local) ~Local bearing/azimuth received: Bearing 49.6, -1.1 (Local) zK &MK h9K K K   %DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed 0.1 m/s 5,DAT read: user:3176> EBDAT read: Tx time:23:18:36.0798 E$Ping request sent.Enݿsù ?)MIIM_iMCp-@M} IIu:publishing transmit ping timeA}Fpublishing direction and range infoI9Mͩqr7¿H+#?˃?yIIII I)IIIiIIIII I)IIIiIIIE[=MхS?>nݿsù ?)IIIiIIII*F 2F :F BF P0JF "G- >G- = $?I GMH>GQGU?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:18:36.0791 G)B9Om?T|w,a>AyE BEH!I)I MAIUIU٢ "=9Q > G٣y > Nusing accuracyPremultiplier from config59퀜?5YE! i@EC;D;5  A kUWv?kUF kQ kU/-A:kUJBBkUHBZkU@"U_N @UH@Uͩqr7¿H+#?˃?JkUCp-@RkU} *U[0R fm@N%I@U_ڰ㙯? ϱ?"kU{G@*kUTkU#?kUg6' 2kUBkQkUW kUBkUԫAkU>@e addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.533644 s, deltaX: -1.099998 m, approachRate: -0.311293 m/s, rangeRepo size: 4 } Added new target pos. range: 50.500000 m, bearing: 136.849006 deg, lat: 36.904374 deg, lon: -122.120075 deg, deltaT: 3.533644 s, deltaX: -1.099998 m, approachRate: -0.311293 m/s, posRepo size: 4 ZjyDNOT Ignoring new targets: 50.50 m.RjBjJj ProNav: ac range: 50.500000 m, nav range: 21.478943 m, bearing: 241.564400 deg, approach rate: 0.000000 m/s, LOS rate: -0.867894 deg/s, cmd heading: 341.275948 deg, new cmd heading: 339.993982 deg. 2jHeadingCmd: 5.934014 target range: 50.500000 and range: 50.50 m. jr@jjjihhhhfffrf@I@bf@?ɛ͂BI9j= l%>I ?=ɚiI:=IƲii3`>)r@)E==*FM2FI:FIBFM^0JFIG%K>GBOk>%Will construct direction to contact in vehicle frame from tetrahedron phase data.J zJ zJ 1J J `:J 9J 3J H I  I !II lBI =&I .I 6I K<:I v FBIqJIqRIqZIu =bIu =jIuxG50|w,XA I Z q@YZ@Zc=9Z= G٣SGy > Nusing accuracyPremultiplier from config59?5Y<" i֕uH@E::5 2AEZjyDNOT Ignoring new targets: 50.50 m.RjBjFJjF ProNav: ac range: 50.500000 m, nav range: 21.535608 m, bearing: 241.084447 deg, approach rate: 0.129388 m/s, LOS rate: -1.093009 deg/s, cmd heading: 339.993976 deg, new cmd heading: 338.558224 deg. 2j;HeadingCmd: 5.908956 target range: 50.500000 and range: 50.50 m. j*@jjjihhhhfffrfbfi?ɛςBc=  >I  {@=ɚ i I $>;=IiiU>)*@)E B=E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF% P0JF! zK] Y_LK] s9KY K] K] RKe >JKe ?GEc L>G]qAG]pA $?IGB)OE?|w, &zAns@Yn@n=9ng>Ga/ݼ Q@)AIp@y\@IIͳWill construct direction to contact in vehicle frame from tetrahedron phase data.٢K =9ݮ;Q > G٣yz > Nusing accuracyPremultiplier from config59?5Y# i>:d@E;;$5i uAqZjDNOT Ignoring new targets: 50.50 m.RjBj8Jj8 ProNav: ac range: 50.500000 m, nav range: 21.583761 m, bearing: 240.495971 deg, approach rate: 0.094769 m/s, LOS rate: -1.155559 deg/s, cmd heading: 338.558216 deg, new cmd heading: 336.797313 deg. 2jCFHeadingCmd: 5.878222 target range: 50.500000 and range: 50.50 m. j%e@j!j!j)i)h)h)h1h5Bf1f1f1rf9bf=O?ɛЂBٹZ= 隭=I Xr@=ɚiI|;=IYWϾii/ W>)e@)EE*E"E*F! 2F! :F! BF! JF! e Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O- >|w,9AJ{J{J0JJd:J-9Jـ3JHF>IFC IF!IIFMBID&ID.ID6IFk<:IF FR@YR@R=9RQII MG٣IyM] U> eNusing accuracyPremultiplier from configam59e?m5Ye^% ieNim.u@eEe:e:e5}YB }$A}EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 50.50 m.RjBjJj ProNav: ac range: 50.500000 m, nav range: 21.619993 m, bearing: 240.044927 deg, approach rate: 0.098534 m/s, LOS rate: -1.224562 deg/s, cmd heading: 336.797311 deg, new cmd heading: 335.446710 deg. 2jRHeadingCmd: 5.854650 target range: 50.500000 and range: 50.50 m. jJY@jjjihhhhfffrfbf {?ɛ5тB5\U= 150=I9 =@=ɚ9i9I=$<=IEi۾iAiE`>)EJY@)I } $?Iy*F2F:FBF|0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.?;?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GLT>G B O >|w,?ɭA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986488B&@YB@B =9Bn-^--A -~@)-QAI-@)y-AIMIM٢]3L ]I=9]f;Q e>aa eG٣eSGymY m> uNusing accuracyPremultiplier from configq}59u,?}5YuE' iu>:;@uEu;u2;u5 xAzKBoIK}9KKKBKpA:KZjAEDNOT Ignoring new targets: 50.50 m.RjIBjMyJjMy} ProNav: ac range: 50.500000 m, nav range: 21.643097 m, bearing: 239.559714 deg, approach rate: 0.054501 m/s, LOS rate: -1.143360 deg/s, cmd heading: 335.446709 deg, new cmd heading: 333.992952 deg. 2j}+DHeadingCmd: 5.829277 target range: 50.500000 and range: 50.50 m. jo@jjjihhhhBfffrfbf`@*J1"J5)o@) qIq*F2F:FBF0JFGe\>GB!O=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238424|w,A2Z @Y2@2v=92sX\ ^G٣\y~( ~>  Nusing accuracyPremultiplier from config 599?5Y*) i–վ=@E;L;Q5UZB UAUEZjDNOT Ignoring new targets: 50.50 m.RjBj 1Jj 1 ProNav: ac range: 50.500000 m, nav range: 21.663923 m, bearing: 239.093654 deg, approach rate: 0.052618 m/s, LOS rate: -1.176360 deg/s, cmd heading: 333.992945 deg, new cmd heading: 332.596401 deg. 2jI=HeadingCmd: 5.804902 target range: 50.500000 and range: 50.50 m. j=@j9jAjAiAUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491549hIhhhfffrfbfRX@ɛՂBSJ=JEwJExJAJAJEW:JE9JAJAZHyRHyH>I IZ!II/BI =&I.I6IQ<:I~ F h=隽 =I L@=ɚiIeP==IiiPo>)@) U $?IY*F]2FY:FYBF]o0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744717Gu _>Gi By O >|w,l$Ay݂B  IMb@Mb@Mb@ )Y/$?Pny&1y&>`A @)hAI@yIIV٢C )=9Q > G٣y > Nusing accuracyPremultiplier from config59J?5Y+ i q>:@ŠE%;u;c5 AZj!-DNOT Ignoring new targets: 50.50 m.Rj)Bj52Jj52M ProNav: ac range: 50.500000 m, nav range: 21.677341 m, bearing: 238.488527 deg, approach rate: 0.029827 m/s, LOS rate: -1.344260 deg/s, cmd heading: 332.596389 deg, new cmd heading: 330.782773 deg. 2jMfUHeadingCmd: 5.773249 target range: 50.500000 and range: 50.50 m. jUt@jQjQjQiYhYhYhYhe݂Bfafafarfibfm`j@ɛuւBuaD= q}L)t@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:18:38.5506 MTRx dataTimestamp_ set to:1736378319.737195Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000205*Fy2Fy:FyBF}P5JFyG] d>zKk3IK9KKKGIBQOmx>J J BA  I h|w,A2Wȹ@Y2@2]=92h79A EG٣ESGyE-ҽ E> MNusing accuracyPremultiplier from configIU59MKX?U5YMp. iMCY]]@MĊEM ;M ;M5a eAmEZjDNOT Ignoring new targets: 50.50 m.RjBjJj ProNav: ac range: 50.500000 m, nav range: 21.682613 m, bearing: 237.999298 deg, approach rate: 0.013762 m/s, LOS rate: -1.276788 deg/s, cmd heading: 330.782783 deg, new cmd heading: 329.315790 deg. 2j[HeadingCmd: 5.747645 target range: 50.500000 and range: 50.50 m. j@jjjihhhhfffrfbf f @ɛ؂BUA=  ;I 1@=ɚiI h>=I =i i ps>) @)*Fu2Fq:FqBFuO0JFyGm>GpAGoAeWill construct direction to contact in vehicle frame from tetrahedron phase data.G DAT read: 23:18:38.5506 LVL= 10448, 25361, 17058, 28019, AGC= 54, IDX= 439,-0.09,-1.940, 2.779, 2.385,-2.812, PHS= 0.960,-0.646,-1.089, RAW= 78.1, 8.4, CAL= 82.3, 11.3, ROT= 67.7, -11.3  Ygot valid direction response: 23:18:38.5506 LVL= 10448, 25361, 17058, 28019, AGC= 54, IDX= 439,-0.09,-1.940, 2.779, 2.385,-2.812, PHS= 0.960,-0.646,-1.089, RAW= 78.1, 8.4, CAL= 82.3, 11.3, ROT= 67.7, -11.3 % PDAT read: Bearing 67.7, -11.3 (Local) % ~Local bearing/azimuth received: Bearing 67.7, -11.3 (Local) 5 DAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.0 m/s 5 ,DAT read: user:3177> = BDAT read: Tx time:23:18:39.6298 = $Ping request sent.= m ^direction in FSK: [-0.219809,0.310149,0.924928]m :publishing transmit ping time9 m Fpublishing direction and range infoa9e"̿v5{?V?yeGBae(ec eB)esmIe6ieu?eB`%eZde!z?eQ > e'ܷ?)eI>IeE>?ieIaae#2=?-[I D|F?)e;Ie11ie @e%aa :publishing transmit ping time9  Fpublishing direction and range infoa9e"̿v5{?V?yaaaa a)aIaiaaaaa a)aIaiaaae#2=?-[I D|F?)aIaiaaaaHU >IQ  IU 4!IIU BIU =&IQ .IQ 6IU <:IU H FJ5 yJ5 sJ5 1J1 J5 ]:J5 9J5 3J1 J5 ;aE J5 ;aE J5 <:aE J5 =:aE }w,A `I`y~͂B II5I5T٢E ` EI=9MQ M>IQ }G٣yy > Nusing accuracyPremultiplier from config59/g?5Y#1 i@ŊE ==5 iAEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:18:39.6291 kꈀ?km k kA:kGBBkDFBZkV?"5C%nd.@cG@"̿v5{?V?Jk @Rk%*N$-)> la/@FHߟG@Φ>Q)@)E A=*F 2F :F BF 0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY zK BoHK 9K K K G]p>  $?IGBO-? }w,b9ABk@YBz@Bӷ=9Buc#sm@^??ɨBk@B ;B CyNӂBN IMb@Mb@Mb@ )Y^I +?ʡEÿZd;OyX>jA )AIZ@yzAII-٢Y< =9N;Q > G٣SGy > Nusing accuracyPremultiplier from config59y?5Y,5 iї?:@NJEf;|;85 [B AAE]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 49.90 m.RjiBjuBJjuBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 49.900002 m, nav range: 10.930739 m, bearing: 211.662820 deg, approach rate: 0.220059 m/s, LOS rate: -2.722230 deg/s, cmd heading: 327.443285 deg, new cmd heading: 323.581270 deg. 2j齝 HeadingCmd: 5.647559 target range: 49.900002 and range: 49.90 m. j ͸@j j jihhhh=ɂBf9f9fArfAbfE@S?ɛۂB<= 隍yI @=ɚiI2?=I̟"ii)͸@)EXh=*FM2FI:FIBFM@5JFIG%2Fx>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978212}w,hSA6@Y6}ɾ@6=96?ɨ6@6D;6"CyBЂBB IININ٢np n\=9r8Q r>pp vG٣tyvn v> zNusing accuracyPremultiplier from configx~59z?~5Yz8 iz1!@zɊEz ;z ;z5  XA jH!bH%<H->I-C I-!II-BI- =&I).I-@D6I-K<:I-~ FZjquDNOT Ignoring new targets: 49.90 m.RjqBj}v.Jj}v. ProNav: ac range: 49.900002 m, nav range: 11.003467 m, bearing: 210.755158 deg, approach rate: 0.196849 m/s, LOS rate: -2.440412 deg/s, cmd heading: 323.581277 deg, new cmd heading: 320.878410 deg. 2jZѽHeadingCmd: 5.600385 target range: 49.900002 and range: 49.90 m. jZ6@jjjihhhhfffrfbf%?ɛ܂B9= I }@=ɚiI@=I,+ii)Z6@)EE*E"E  $?IhEWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233466*F]2FY:FYBF]4JFY"GaGe>G} F>G ?G :?GY Ba O} >k}w,mAy%ՂB% I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482347)9 =A5Mb@Mb@Mb@111 1)1Y5Mb?{GzĿ/$y5?5#55A 5~@)5~AI5C@1y1IMIM ٢]< e2=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}䖁?5Y}; i}I?:!@}ˊE}p;};}5\B 2AEZjDNOT Ignoring new targets: 49.90 m.RjBj2Jj2 ProNav: ac range: 49.900002 m, nav range: 11.099631 m, bearing: 209.614750 deg, approach rate: 0.212810 m/s, LOS rate: -2.501662 deg/s, cmd heading: 320.878408 deg, new cmd heading: 317.490999 deg. zK%m$JK%9K!K%K%  !   8MK@52jeֽ}HeadingCmd: 5.541263 target range: 49.900002 and range: 49.90 m. j}R@jyjyjyiyhhhh˂Bfffrfbf 5t?ɛ ݂B <=  `nI  ϴ@=ɚiISA=I=iJ%{J%oJ%0J!J%d:J%K9J%ـ3J!a5@a5@a5@a5@i)=R@)A I*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734305G= A>G B O= >!}w,obABq@YB@BG=9B?ֿF?@lZ???ɨBq@B˝;B$CyN߂BN IIVIVb٢b W= bj=9b%;Q f>dd fG٣fSGyj j> rNusing accuracyPremultiplier from configlr59n?v5Yn> in}tv+v@n̊En*;n:na 5x zA|Zj)5DNOT Ignoring new targets: 49.90 m.Rj1Bj=m/JjEm/M ProNav: ac range: 49.900002 m, nav range: 11.168983 m, bearing: 208.746292 deg, approach rate: 0.197190 m/s, LOS rate: -2.453910 deg/s, cmd heading: 317.490989 deg, new cmd heading: 314.903651 deg. 2jUҽUHeadingCmd: 5.496106 target range: 49.900002 and range: 49.90 m. jU@jYjYjYiYhYhahahafafifirfibfm?ɛނBFpA= 隝;I X@=ɚiIA=IGii)@)*F2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.987048H>I I!IIBI =&I.I6IG<:I| FBIƪCJIƪCRIZI =bI =jI5G5F> IG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241854a'}w,DA2@Y2'Ѽ@2 7=92B> IMb@Mb@Mb@ )Y'1Z?Sÿ{Gzy?#A VA) AI@yAII<٢< ;=9;Q > G٣yhI > Nusing accuracyPremultiplier from config594?5YB in?:+ @ΊE;;J 5 %A-EZj%DNOT Ignoring new targets: 49.90 m.Rj!BjM$JjM$] ProNav: ac range: 49.900002 m, nav range: 11.260649 m, bearing: 207.659962 deg, approach rate: 0.196088 m/s, LOS rate: -2.304770 deg/s, cmd heading: 314.903659 deg, new cmd heading: 311.674814 deg. 2j]ŽeHeadingCmd: 5.439752 target range: 49.900002 and range: 49.90 m. jer@jajajaiahhhhBfffrfbf(@ɛ=߂BeA= imk;Ii m @=ɚqiqIuƪB=I}GWiyi)r@)EAEA*F2F:FBF\0JFGqA G]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.490942zKe FMKe s9Ka Ke Ke ,$ JM uJM pJI JI JM [Q:JM ^9JI JI G= A> $?I G B! OM >^.}w, A2@Y2@2=92B>!IiB=IB<IFIF٢Zʯ= Z^=9b`;Q b>`d fG٣dyf f> nNusing accuracyPremultiplier from confighn59jپ?n5YjE ijpr1r@jЊEj ;j ;j 5t z[AxZjDNOT Ignoring new targets: 49.90 m.RjBj]@Jj5]@M ProNav: ac range: 49.900002 m, nav range: 11.336896 m, bearing: 206.747837 deg, approach rate: 0.226467 m/s, LOS rate: -2.690831 deg/s, cmd heading: 311.674810 deg, new cmd heading: 308.958990 deg. 2jM潝]HeadingCmd: 5.392352 target range: 49.900002 and range: 49.90 m. je%@jajijiiihqhqhyhyfyffrfbf%`;@Will construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742985ɛB| K= UP=IQ Ug@=ɚYiYI]=C=I]s_iaia)e%@)a*F-2F):F)BF-0JF)GG B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:18:42.1002 u TRx dataTimestamp_ set to:1736378323.264690} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995365U4}w,AZH\RH\Hb>I` Ib!IIbBI`&I`.I`6Ib<:IbY FyrBr!II5I5٢Mg; UB=9UQ U>YY eG٣aye e> mNusing accuracyPremultiplier from configiu59m=́?}5YmI imy@mъEm3;mZ4;m5 NAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.RjBj+Jj+ ProNav: ac range: 49.900002 m, nav range: 11.427129 m, bearing: 205.724740 deg, approach rate: 0.213658 m/s, LOS rate: -2.403290 deg/s, cmd heading: 308.958990 deg, new cmd heading: 305.916958 deg. 2j+νHeadingCmd: 5.339258 target range: 49.900002 and range: 49.90 m. j4۪@jjjihhhhfffrfbf`y) @ɛ%B-rJ= )- =I) -@=ɚ)i1I56C=I=0li9i9)=4۪@)A $?I*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250485GK>GqByO>j;}w,AZ @YZ@ZaV=9Z -MX#Rx 1: Read range message, but no direction.9y=fFB9UT****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.) hC1 m@"YiymBzK GLK@9KKK +-.*+'%#!Mb@Mb@Mb@ )YT㥛 ?&1y?нA lAJ-sJ-nJ-1J)J-K:J-99J-3J))7 AI@y AIeIeͳ٢mx< u!=9uˎ;Q u>yy }G٣}SGy > Nusing accuracyPremultiplier from config59ށ?5YM iV?:.'@ԊE';;5]B AEU addTargetRange:: Added new target pos. range: 49.599998 m, deltaT: 3.525625 s, deltaX: -0.300003 m, approachRate: -0.085092 m/s, rangeRepo size: 4 ZjQ aIa}DNOT Ignoring new targets: 49.90 m.RjyBjJj ProNav: ac range: 49.900002 m, nav range: 11.548451 m, bearing: 204.559468 deg, approach rate: 0.232711 m/s, LOS rate: -2.211498 deg/s, cmd heading: 305.916960 deg, new cmd heading: 302.462299 deg. 2jHeadingCmd: 5.278963 target range: 49.900002 and range: 49.60 m. jD@jjjihh h1h5BBf9f9f9rf=H@bf=?ɛB}$L= 隍 8=I !A=ɚiID=IYii)D@)ER>E>*F)2F):F)BF-0JF)"G5>G5=Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu ?Gu ?GI BQ Om >8B}w, ANͲ@YNݹ@NG=9NI I(!IIBI&I.I6I8<:Ir F 1I9GF>Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. 4= %= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504277H}w,$AyQQMb@Mb@Mb@ )YK?sh|?Mby^>;A A)M AI@yAIIỳ95Q 5>99 =G٣=SGyE E> UNusing accuracyPremultiplier from configQ]59U[?e5YU T iUm>m:m$m@U׊EU`;Uu;US5}^B }AEZjDNOT Ignoring new targets: 49.90 m.RjBj!Jj! ProNav: ac range: 49.900002 m, nav range: 11.731435 m, bearing: 202.907123 deg, approach rate: 0.241778 m/s, LOS rate: -2.058126 deg/s, cmd heading: 300.322707 deg, new cmd heading: 297.548340 deg. 2jHeadingCmd: 5.193198 target range: 49.900002 and range: 49.60 m. j.@jj j i h hhhcBfff!rfbf?ɛBR= t=I pA=ɚiI`F=Iii).@)*F2F:FBFO0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753623zK]LK9KKK  JK(3 K(.KK"KJ) J- kJ- 0J) J) J- 9J- ـ3J) % $?I! G! G B OM >1N}w,}>AN@YN@NM=9N   G٣ y z<  > Nusing accuracyPremultiplier from config59?%5YW iۙ!%5%@؊E::5) -bA1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004512ZjDNOT Ignoring new targets: 49.90 m.RjBjJj- ProNav: ac range: 49.900002 m, nav range: 11.811882 m, bearing: 202.130272 deg, approach rate: 0.215159 m/s, LOS rate: -2.063498 deg/s, cmd heading: 297.548339 deg, new cmd heading: 295.234990 deg. 2j-UHeadingCmd: 5.152822 target range: 49.900002 and range: 49.60 m. jU@jQjQjYiYhYhYhYhafafafrfbf@?ɛBoZ= 隽=I A=ɚiIAF=I cȎi i ) @)*F2F:FBFJFGA>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257438G B O >jH bH <H >I  I A!II BI  =&I .I 6I <:I 8 F*JE R="JE a=U}w, JXA  dIfhyB:!III ٢%K< -H=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=?M5Y=Z i=QQ]@=ڊE=j;=k;=5e_B eSAeEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.RjBjAJjA ProNav: ac range: 49.900002 m, nav range: 11.904945 m, bearing: 201.269039 deg, approach rate: 0.236533 m/s, LOS rate: -2.171751 deg/s, cmd heading: 295.234982 deg, new cmd heading: 292.673283 deg. 2jNHeadingCmd: 5.108112 target range: 49.900002 and range: 49.60 m. ju@jjjihhhhfffrfbfp?ɛBZ= =I + B=ɚiI#HG=I "i i ) u@)*F2F:FBF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513971GF>GBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7605755[}w,@rA6d@Y6s@6*=96QHףA A)d AI@yzAIIq9`;Q > G٣y > 5Nusing accuracyPremultiplier from config)559-?55Y-] i->=V>=:=Z0=@-ۊE-f;-;-5I IIZjquDNOT Ignoring new targets: 49.90 m.RjqBj}.Jj}. ProNav: ac range: 49.900002 m, nav range: 12.003478 m, bearing: 200.440270 deg, approach rate: 0.226686 m/s, LOS rate: -1.890963 deg/s, cmd heading: 292.673278 deg, new cmd heading: 290.208987 deg. 2j8HeadingCmd: 5.065102 target range: 49.900002 and range: 49.60 m. jQ@jjjihhhhBfffrfbf`p@ɛB X= =I UB=ɚiI H=I%꛿ii)Q@)zKŵLK9KKK&/379<>@><<>?967310+)$"" $?I*F}2Fy:FyBF}`0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012566GK>G B O >b}w,A:U@Y:ȵ@:v=9:dd fG٣fSGyjdm j> nNusing accuracyPremultiplier from configlr59n(?r5Yn` ingpr5v@n݊En ;n ;n*5x zAxZj!-DNOT Ignoring new targets: 49.90 m.Rj)Bj-Jj-= ProNav: ac range: 49.900002 m, nav range: 12.083392 m, bearing: 199.760957 deg, approach rate: 0.222142 m/s, LOS rate: -1.875791 deg/s, cmd heading: 290.208973 deg, new cmd heading: 288.185401 deg. 2jE꠽EHeadingCmd: 5.029784 target range: 49.900002 and range: 49.60 m. jM@jIjIjIiIhIhIhQhQfQfQfYrfYbf]`@ɛB:I^= 隍=I uB=ɚiIH=Iҟii)@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266146*F 2F :F BF0JF"G>G=HI IT!II*BI&I.I6I<:I_ FJJJ1JJJJ3JJe;aJe;aJ:aJ:a IGUA>G) BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520137i}w,bۥAyrBrC A A)zAIyGAIIM٢õ :=9Q > G٣y >  Nusing accuracyPremultiplier from config594?5Yc i>:.@ފE};z;5) 5IA5|EZjy}DNOT Ignoring new targets: 49.90 m.RjyBjJj5 ProNav: ac range: 49.900002 m, nav range: 12.184613 m, bearing: 198.985871 deg, approach rate: 0.226166 m/s, LOS rate: -1.717395 deg/s, cmd heading: 288.185407 deg, new cmd heading: 285.880780 deg. 2j=T=HeadingCmd: 4.989561 target range: 49.900002 and range: 49.60 m. jE|@jAjAjAiAhAhAhIhmBfifqfqrfqbf}i~@ɛB W= =I B=ɚiIӌI=I{ii!)%|@)!*F2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:18:45.6504 -TRx dataTimestamp_ set to:1736378326.7927175checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045 $?I zK MK @9K K K    [9BK :K qAG P>G B O% >N0o}w,A6f@Y6v@6=96k& G٣y   > Nusing accuracyPremultiplier from config59>?%5Yf iŚ!-8-@ߊEq|;ƒ;5A EyAAZjq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020806DNOT Ignoring new targets: 49.90 m.RjBjtJjt ProNav: ac range: 49.900002 m, nav range: 12.265826 m, bearing: 198.326888 deg, approach rate: 0.219061 m/s, LOS rate: -1.765707 deg/s, cmd heading: 285.880792 deg, new cmd heading: 283.917742 deg. 2jyHeadingCmd: 4.955299 target range: 49.900002 and range: 49.60 m. jБ@jjjihhhhfffrfbfE @ɛBRV= 8~=I LC=ɚiIu3J=I*ii)Б@)*FQ2FY:FYBFe4JFaGF>GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272696ZH RH H >I C I Z!II /BI &I .I 6I W<:I FBIM˫CJIM˫CRIIZIM =bIM =jIM˦5J! J% iJ% 0J! J! J% ڈ9J% ـ3J! J! J! J% h:J% i:v}w,uA If:ì@Yfҳ@f=9fb    G٣SGynI > %Nusing accuracyPremultiplier from config%59I?-5Yi i)-=-@E;!; 5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.RjBjJj  ProNav: ac range: 49.900002 m, nav range: 12.353034 m, bearing: 197.611083 deg, approach rate: 0.209886 m/s, LOS rate: -1.710545 deg/s, cmd heading: 283.917741 deg, new cmd heading: 281.786525 deg. 2j  HeadingCmd: 4.918103 target range: 49.900002 and range: 49.60 m. ja@jjj9i9h9h9hAhAfAfAfArfIbfM @ɛBL= 隽=I 0C=ɚiISK=Iii)a@)*FQ2FY:FYBF]O0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 49.8 m (Round-trip 66.4 ms) speed -0.2 m/s ,DAT read: user:3179> BDAT read: Tx time:23:18:46.7299 $Ping request sent.= Will construct direction to contact in vehicle frame from tetrahedron phase data.B|}w,'lA6@Y6H@6BZ=96BB!IiF=IDMb@Mb@Mb@ )Y"~?~jtQy>uA )AI@ypAIIb٢s <=9_Q > G٣yEO  > Nusing accuracyPremultiplier from config %59 U?%5Y m i ,%T>%;%';%@ E F; CE; f"55`B 5+A=yEe addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 3.782049 s, deltaX: 0.200001 m, approachRate: 0.052882 m/s, rangeRepo size: 4 ZjimDNOT Ignoring new targets: 49.90 m.RjiBjuJju ProNav: ac range: 49.900002 m, nav range: 12.444504 m, bearing: 196.903570 deg, approach rate: 0.216516 m/s, LOS rate: -1.662389 deg/s, cmd heading: 281.786530 deg, new cmd heading: 279.680596 deg. 2jHeadingCmd: 4.881347 target range: 49.900002 and range: 49.80 m. j3@jjjihhhhBfffrf`fH@bf?ɛBHhF= "9=`8{*}w,gG A2+V@Y2e@2)=92v=y2H'?@?ۦ?`e5?@?v?P?ɨ2+V@2r܋;2"CyzB~ II%I%W٢E EW=9M@~Q U>QQ ]G٣Yymp m> }Nusing accuracyPremultiplier from configq59u^?5Yuo iu\@@uEui%;uo;u$5 AZjVStarting intercept timer at range: 49.80 m.DNOT Ignoring new targets: 49.90 m.RjBjwJjw缝 ProNav: ac range: 49.900002 m, nav range: 12.523871 m, bearing: 196.278890 deg, approach rate: 0.207004 m/s, LOS rate: -1.618912 deg/s, cmd heading: 279.680592 deg, new cmd heading: 277.819120 deg. 2jኽHeadingCmd: 4.848858 target range: 49.900002 and range: 49.80 m. j)@jjjihhhhfffrfbf6?ɛB7= 隍I C=ɚiIL=Iii))@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFH5>I1 I5T!II5*BI5 =&I1.I5AD6I5"<:I5e FJJJrJkJ1JJG:J9J3JJ_;J_;J:J: $?I GA>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.T}w,"'A:Ō@Y:A@:Ҟ=9:J?z? d?`F?&d-8??ɨ:Ō@:,;8yF؂BF IMMb@Mb@Mb@III I)IYM|?5^?X9v/$yM>MMM A MA)MAIM;@IyMfAIuIu%٢T E=96(Q > G٣SGyt > ]Nusing accuracyPremultiplier from configQe59Uh?e5YU"s iUe>m;m&Om@UEU7;U5;U%5 >A{EZjTStopped intercept timer at range: 49.80 m.DNOT Ignoring new targets: 49.90 m.RjBj߼Jj߼% ProNav: ac range: 49.900002 m, nav range: 12.603978 m, bearing: 195.583270 deg, approach rate: 0.181374 m/s, LOS rate: -1.564944 deg/s, cmd heading: 277.819119 deg, new cmd heading: 275.746476 deg. 2j%@-HeadingCmd: 4.812684 target range: 49.900002 and range: 49.80 m. j-@j)j)j)iIhQhQhQhUBfYfYfarfabfe?ɛB1= I #B=ɚiI M=IJҺii)m@)i*F2F:FBFJF"G G >-Will construct direction to contact in vehicle frame from tetrahedron phase data.tA) ] Y]tAy]B IzK RIK 9K K K G! G- ?G- ?G B O% ><<}w,@A2@Y2#@2Y=92t G٣y=u[ => ENusing accuracyPremultiplier from configAM59E)q?M5YEu iEʛQUTU@EEEv:E:E'5]aB ]AexE}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjVStarting intercept timer at range: 49.80 m.DNOT Ignoring new targets: 49.90 m.RjBj?Jj?缝 ProNav: ac range: 49.900002 m, nav range: 12.671053 m, bearing: 194.990312 deg, approach rate: 0.183933 m/s, LOS rate: -1.617378 deg/s, cmd heading: 275.746485 deg, new cmd heading: 273.977624 deg. 2jHeadingCmd: 4.781812 target range: 49.900002 and range: 49.80 m. j@jjjihhh!h!f!f!f)rf)bf- ?ɛB!= 隥T޽I \B=ɚiIN=I`翿ii)@)E58k=*F2F:FBFJF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.H5 >I1  I5 .!II5 BI5  =&I1 .I1 6I5 <:I5 F I *J C="J J J jJ 0J J J 9J ـ3J J J J :J :G F>G B O >O9}w,L^ABG6@YBE@Bf=9BA`` fG٣dyf A f> nNusing accuracyPremultiplier from confighn59jz?r5Yj~y ijprYr@jEj:j:j)5x zAxB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 49.90 m.Rj!Bj-UJj-U漝= ProNav: ac range: 49.900002 m, nav range: 12.750156 m, bearing: 194.278130 deg, approach rate: 0.180056 m/s, LOS rate: -1.610974 deg/s, cmd heading: 273.977630 deg, new cmd heading: 271.855363 deg. 2j=3EHeadingCmd: 4.744771 target range: 49.900002 and range: 49.80 m. jE*՗@jAjAjAiAhAhIhIhQfQfQfQrfYbf] Zy?ɛBM= 隍F!I 9A=ɚiIO=I¿ii)*՗@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E<-==PExceeded connect timeout, disconnecting.*FE2FA:FABFE`0JFAGy GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258562\}w,$ xA r$?IrhyvBv IMb@Mb@Mb@ )Y㥛 ?i|?5X9vy>q~A A)AIy3AII٢ɽ <=9Q > G٣SGy > Nusing accuracyPremultiplier from config59A?5YD} iN6>:Vj@E;;l+5 GAZj--TStopped intercept timer at range: 49.80 m.5DNOT Ignoring new targets: 49.90 m.Rj1Bj5Jj=񼝊E ProNav: ac range: 49.900002 m, nav range: 12.822628 m, bearing: 193.536436 deg, approach rate: 0.166074 m/s, LOS rate: -1.689994 deg/s, cmd heading: 271.855353 deg, new cmd heading: 269.644009 deg. 2jMMHeadingCmd: 4.706176 target range: 49.900002 and range: 49.80 m.zKUBHKU9KQKUKURK]?JK]? jM@jajajaiahihihihmdBfqfqfqrfqbf}?@ɛB= 隥RI @A=ɚiIP=IMȿiQiQ)U@)QEYEY*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510525*F2F:FBF^0JFG GqAG G pAG G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:18:49.2015  TRx dataTimestamp_ set to:1736378330.327829 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766846B O >}w,F\A y zB | IiuC>Iu%=H>I I II݂BI =&I.I6I3<:Iv FII )I1٢= =-=99Q =>AA EG٣AyI M> UNusing accuracyPremultiplier from configQ]59UV?]5YU^ iUYae@UEU;U';U}-5i m2AqZjVStarting intercept timer at range: 49.80 m.DNOT Ignoring new targets: 49.90 m.RjBjJj= ProNav: ac range: 49.900002 m, nav range: 12.903752 m, bearing: 192.740386 deg, approach rate: 0.171795 m/s, LOS rate: -1.675124 deg/s, cmd heading: 269.644011 deg, new cmd heading: 267.272306 deg. 2jHeadingCmd: 4.664782 target range: 49.900002 and range: 49.80 m. jE@jjjihhhhfffrfbff@ɛB<  I  6@=ɚ i I ~+R=I'Ͽii)E@)*F2F:FBF=1JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018088 nManaging dock network, ignoring radio surface power offGG B O= >8}w,A6.@Y6<>@6}=96\BBW I Mb@Mb@Mb@    ) Y w/?KˡEy > ^ '  A ) AI  y I-I-V٢=" ^=9^6;Q > G٣y) > Nusing accuracyPremultiplier from config59?5YJ i>:򄿑@E;M;)/5 (AuEZjTStopped intercept timer at range: 49.80 m.DNOT Ignoring new targets: 49.90 m.RjBj Jj % ProNav: ac range: 49.900002 m, nav range: 12.957509 m, bearing: 192.012213 deg, approach rate: 0.140734 m/s, LOS rate: -1.898376 deg/s, cmd heading: 267.272296 deg, new cmd heading: 265.097944 deg. 2j-ڢ-HeadingCmd: 4.626832 target range: 49.900002 and range: 49.80 m. j-@j1j1j1i1h9h9h9h=)BfAfAfArfAbfE  @ɛmBuR< u&=u}Iq }c+?=ɚyiyI}hSS=I!ѿii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.<<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266796*F2F:FBF?5JF 9I9JoJdJ1JJ>:J|9J3Ja@a@a@a@zKK}9KKKBKQ:KQGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed -0.2 m/s  ,DAT read: user:3180>  BDAT read: Tx time:23:18:50.2799  $Ping request sent. ii mG٣mSGyu$Y > Nusing accuracyPremultiplier from config591?5Ys i3@EP::05 A% addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.530544 s, deltaX: 0.700001 m, approachRate: 0.198270 m/s, rangeRepo size: 4 Zj%-VStarting intercept timer at range: 50.50 m.-DNOT Ignoring new targets: 49.90 m.Rj)BjUJjUe ProNav: ac range: 49.900002 m, nav range: 13.012418 m, bearing: 191.250949 deg, approach rate: 0.134497 m/s, LOS rate: -1.856768 deg/s, cmd heading: 265.097947 deg, new cmd heading: 262.825052 deg. 2jeImHeadingCmd: 4.587162 target range: 49.900002 and range: 50.50 m. jm ʒ@jijijiihhhhfffrf@I@bf?ɛ B4< imžIi uc==ɚqiqIuIT=I}i+ؿiyiy)} ʒ@)y*F2F:FBF#5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHIC I IIBI&I.I6I<:I_ F $?IG G B O >zK}w,A6cå@Y6Ҭ@60=96TT VG٣TyZL| Z> ^Nusing accuracyPremultiplier from config\b59^㣂?b5Y^e i^{dff@^E^$;^P:^25h j AhzB*** querying acoustic contact ***jxjxEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.ZjDNOT Ignoring new targets: 49.90 m.RjBjJj ProNav: ac range: 49.900002 m, nav range: 13.062147 m, bearing: 190.539114 deg, approach rate: 0.129548 m/s, LOS rate: -1.847264 deg/s, cmd heading: 262.825051 deg, new cmd heading: 260.698705 deg. 2jxHeadingCmd: 4.550051 target range: 49.900002 and range: 50.50 m. j@jjjihh!h)hfffrfbf%/?ɛ B| < I A<=ɚiIV=I- Fۿi)i1)5@)9*F2F:FBF\2JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752164Ga  I hG9 BA Oe >J nJ iJ J J |;:J ڈ9J J v}w,AB@YB~ @Bb=9B=yBH`?@?@O?Y @"?`Q@ g?c?ɨB@BZ*;B CyJBJIzKnRIKn@9KlKnKnRKr ?JKr>=Mb@Mb@Mb@999 9)9Y=X9v?Mby=>==@=~A =QA)=AI=h@9y9IUIU ٢eý e?=9eQ e>ii mG٣iyuDf u> Nusing accuracyPremultiplier from config59?5YȒ i۝?:̓@E;8;}45  f A5wEZju}TStopped intercept timer at range: 50.50 m.}DNOT Ignoring new targets: 49.90 m.RjyBj\Jj\ ProNav: ac range: 49.900002 m, nav range: 13.115403 m, bearing: 189.588456 deg, approach rate: 0.122247 m/s, LOS rate: -2.173228 deg/s, cmd heading: 260.698704 deg, new cmd heading: 257.860766 deg. 2jnHeadingCmd: 4.500519 target range: 49.900002 and range: 50.50 m. jA@jjjihhhhBfffrf!bf- ?ɛB4-8< 隽I :=ɚiIQW=I#i i )A@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005635Em=*F 2F :F BF @5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256053H >I  I f II iBI &I .I 6I U<:I FBI]ͬCJI]ͬCRIYZI] =bI] =jI]`5 I G)G!B1OM?}w,A62@Y60B@6Cx=96lM=y6Hy??c?i ? $໿/? I?ɨ62@6;6"Cy>BBIIJIJ³٢Rǽ R+=9VQ V>TT ZG٣ZSGy^T ^> bNusing accuracyPremultiplier from config`f59b?f5Ybp ib>hUU@bEb; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760018}w, ~6AN@YN@N=9N= G٣yH > Nusing accuracyPremultiplier from config59ڹ?5Y i ? : $ @E;w;q85  AZjMMTStopped intercept timer at range: 50.50 m.MDNOT Ignoring new targets: 49.90 m.RjIBjU1JjU1e ProNav: ac range: 49.900002 m, nav range: 13.216904 m, bearing: 187.545386 deg, approach rate: 0.113146 m/s, LOS rate: -2.486560 deg/s, cmd heading: 254.920309 deg, new cmd heading: 251.761207 deg. 2jePսmHeadingCmd: 4.394062 target range: 49.900002 and range: 50.50 m. jm(@jijqjqiqhqhyhyh}ɂBfyffrfbf?JoJhJ0JJ>:JȆ9Jـ3JɛB; I 6=ɚiI9Z=Iii)(@)EE*E"EzKeKeK9KaKeKe Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015469*FA2FA:FIBFMO0JFIG A>G B O >'}w,SA6[@Y6!@6Y=96lp rG٣pyr>ڽ v> zNusing accuracyPremultiplier from configtz59v?~5Yv iv죿 @vEvI I II,BI =&I.I6IG<:I F I *F]2FY:FYBF]_0JFYGF>GyBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516065}w,_DmAy~BIMb@Mb@Mb@ )Y5^I ?gfffffƿ&1y?33 )AI@yII(*٢ڽ ==9Q > G٣SGy > Nusing accuracyPremultiplier from config59ł?5Y< ip?:@E ;{;*<5  A%B*** querying acoustic contact ***j!j!Zj-5TStopped intercept timer at range: 50.50 m.5DNOT Ignoring new targets: 49.90 m.Rj1Bj=H8Jj=H8M ProNav: ac range: 49.900002 m, nav range: 13.303355 m, bearing: 185.419459 deg, approach rate: 0.109086 m/s, LOS rate: -2.577804 deg/s, cmd heading: 248.750599 deg, new cmd heading: 245.411215 deg. 2jM$ݽUHeadingCmd: 4.283234 target range: 49.900002 and range: 50.50 m. jU@@jQjQjYiYhYhYhaheBfafafarfibfmq@ɛB@i 隥*I O22=ɚiIi/]=Ikii)@@) )G|uA E YE|uAyErBuWill construct direction to contact in vehicle frame from tetrahedron phase data.ul>q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768954 $?I *F2F:FBF[0JFJEnJEeJAJAJE|;:JE9JAJAGe <>zK 5LK 9K K K   G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:18:52.7528 - TRx dataTimestamp_ set to:1736378334.105029= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022500c}w,*AJ,@YJ@J2w=9Jll nG٣lyri r> vNusing accuracyPremultiplier from configtz59vIʂ?z5Yv ivɟx~~@vEv\ ;v ;v=5 9 AvEZj--VStarting intercept timer at range: 50.50 m.-DNOT Ignoring new targets: 49.90 m.Rj)Bj59Jj9 ProNav: ac range: 49.900002 m, nav range: 13.337736 m, bearing: 184.451671 deg, approach rate: 0.092596 m/s, LOS rate: -2.599649 deg/s, cmd heading: 245.411210 deg, new cmd heading: 242.517931 deg. 2j߽ HeadingCmd: 4.232737 target range: 49.900002 and range: 50.50 m. j r@j j j i h1h1hAhAfIfIfIrfibfu@#@ɛB튻 F/I /=ɚiI^=Iцii ) r@)*F%2F!:F!BF%o0JF!uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272242 I hH >I  I II BI &I .I 6I \<:I FG A>JA JA Gi B O >]}w,A6tܟ@Y6@6A =96vtt vG٣tyz?a z> Nusing accuracyPremultiplier from config|59~΂? 5Y~p i~)  x @~E~;~u:~?5 U AZjAMDNOT Ignoring new targets: 49.90 m.RjIBjM8JjM8] ProNav: ac range: 49.900002 m, nav range: 13.374014 m, bearing: 183.400878 deg, approach rate: 0.089138 m/s, LOS rate: -2.574756 deg/s, cmd heading: 242.517942 deg, new cmd heading: 239.377437 deg. 2jeܽeHeadingCmd: 4.177925 target range: 49.900002 and range: 50.50 m. jm@jijijiiihihihqhqfqfqfyrfybf} @ɛB 隭1I R-=ɚiIW_=Iii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 51.5 m (Round-trip 68.7 ms) speed -0.4 m/s ,DAT read: user:3181> BDAT read: Tx time:23:18:53.8299 $Ping request sent.%GQBaO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:18:53.8291  I }w,HܺA6@Y6]%@6=96Op G٣SGyj > Nusing accuracyPremultiplier from config59ӂ?5Y i(?:G@E;;lA5cB  AsE addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 3.528687 s, deltaX: 1.000000 m, approachRate: 0.283392 m/s, rangeRepo size: 4 ZjTStopped intercept timer at range: 51.50 m.DNOT Ignoring new targets: 49.90 m.RjBjBJjB ProNav: ac range: 49.900002 m, nav range: 13.417765 m, bearing: 182.241353 deg, approach rate: 0.103194 m/s, LOS rate: -2.725837 deg/s, cmd heading: 239.377449 deg, new cmd heading: 235.914676 deg. 2j齝 HeadingCmd: 4.117488 target range: 49.900002 and range: 51.50 m. j vƒ@j j jihhhhBfffrfI@bfK?ɛeBg 隍N5I  +=ɚiI3a=Im ii)vƒ@))zKeMKe9KaKeKeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFN3JFG! G B O% >}w,̳A2vF@Y2U@2~=92tt vG٣tyv5 z> Nusing accuracyPremultiplier from config|59~aׂ? 5Y~ i~   @~E~:~ :~C5  A=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjMMVStarting intercept timer at range: 51.50 m.MDNOT Ignoring new targets: 49.90 m.RjQBjUAJjUAe ProNav: ac range: 49.900002 m, nav range: 13.455790 m, bearing: 181.195415 deg, approach rate: 0.098829 m/s, LOS rate: -2.710634 deg/s, cmd heading: 235.914679 deg, new cmd heading: 232.789010 deg. 2jm轝mHeadingCmd: 4.062935 target range: 49.900002 and range: 51.50 m. jm@jqjqjqiqhqhqhyhyfffrfbfdr?ɛB(I 隽6I )=ɚiIb=I ii)@) IH>I IIIځBI =&I.IBD6I2<:I| F*F12F1:F1BF5O0JF1*J "J p=JmJkJ1JJ\8:J9J3JJD;a%JD;a%J:a-J:a-GqGQBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data._}w,(AyBIMb@Mb@Mb@ )Y!rh?/$ſˡEyl'?,'7 A )AI@yAII#٢ζ< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59N܂?5Yy iE--? : @ @E;3;E5 c A=B*** querying acoustic contact ***j9j9ZjEMTStopped intercept timer at range: 51.50 m.MDNOT Ignoring new targets: 49.90 m.RjIBjUjFJjUjFe ProNav: ac range: 49.900002 m, nav range: 13.511306 m, bearing: 179.978008 deg, approach rate: 0.127099 m/s, LOS rate: -2.775482 deg/s, cmd heading: 232.789021 deg, new cmd heading: 229.156953 deg. 2jmuHeadingCmd: 3.999543 target range: 49.900002 and range: 51.50 m. ju@jqjqjqiqhqhyhyh}Bfffrfbf`8?ɛ B~ڻ 隵4I ]&=ɚiIH8d=Iii)@)EMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.*Fe2Fa:FaBFiJFi"GqGu= IGA>Ga Bq O >zK 2QKK 9K K K DtlP7"  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504925~w,]pA%ǜ@Y% ף@%Kt=9%aa eG٣eSGye m> uNusing accuracyPremultiplier from configi}59m߂?}5Ym0 imy}2}@mEm ;m ;mF5 S AvEZjVStarting intercept timer at range: 51.50 m.DNOT Ignoring new targets: 49.90 m.RjBjGJjG ProNav: ac range: 49.900002 m, nav range: 13.553660 m, bearing: 178.900859 deg, approach rate: 0.110129 m/s, LOS rate: -2.791861 deg/s, cmd heading: 229.156958 deg, new cmd heading: 225.939188 deg. 2j}HeadingCmd: 3.943383 target range: 49.900002 and range: 51.50 m. jb`|@jjqjqiqhqhyhyhyfyffrfbf*?ɛ"Bh !%4I! %%$=ɚ!i!I%e=IMpiQiQ)Ub`|@)Q*F2F:FBFP0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755478 yI}hH>IC IIIˁBI&I.I6Iq<:I FG F>G B O >J3K3 K/.KK"KJ- nJ- gJ- 0J) J- |;:J- 9J- ـ3J) J- J;J- J;J- >:J- ?:,~w,I"A6I@Y6%@6ö=962    G٣ y a  > Nusing accuracyPremultiplier from config%59ₜ?%5Y  i)-﷿-@E;;hH51 5 A9ZjYeDNOT Ignoring new targets: 49.90 m.RjaBjeEJjmE} ProNav: ac range: 49.900002 m, nav range: 13.596109 m, bearing: 177.808097 deg, approach rate: 0.107866 m/s, LOS rate: -2.767950 deg/s, cmd heading: 225.939188 deg, new cmd heading: 222.674869 deg. 2j}sHeadingCmd: 3.886410 target range: 49.900002 and range: 51.50 m. jx@jjjihhhhfffrfbf`|?ɛ#B+0 .I ""=ɚiIf=Iw[ii)x@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007669*F=2FA:FABFM_0JFYGqGIBYOu>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258909 a Ia ]~w,}AIMb@Mb@Mb@ )YS㥛?'1ZĿ rhy$?"C  A)3AIlAyI-I-̍٢=,:; =F=9EQ E>AA MG٣IyM] U> ]Nusing accuracyPremultiplier from configQe59Ub傜?e5YU( iU;e *?m:mm@U EU$;Ua#;U7J5y } AyZj%-TStopped intercept timer at range: 51.50 m.-DNOT Ignoring new targets: 49.90 m.Rj)Bj5:Jj5:E ProNav: ac range: 49.900002 m, nav range: 13.641935 m, bearing: 176.679104 deg, approach rate: 0.106412 m/s, LOS rate: -2.612638 deg/s, cmd heading: 222.674863 deg, new cmd heading: 219.303378 deg. 2jE ཝmHeadingCmd: 3.827566 target range: 49.900002 and range: 51.50 m. jmt@jijijiiihihqhyh}˂Bfffrfbf`Y@ɛ$B8HԻ %/I! -ǥ=ɚ)i)I-h=I5Ii1i1)5t@)9zKMK9KKK)+*)'#"$   BK:KpA*F2F:FBFJFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511120G9 G B1 O] >=~w,UA6@Y6@6]=96TT VG٣VTGyZao Z> Nusing accuracyPremultiplier from config\%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763044-59^x炜?-5Y^ i^)-k-@^ E^Dy<^Dy<^K59 = A9ZjemVStarting intercept timer at range: 51.50 m.mDNOT Ignoring new targets: 49.90 m.RjiBjuCJjuC ProNav: ac range: 49.900002 m, nav range: 13.683352 m, bearing: 175.641143 deg, approach rate: 0.109506 m/s, LOS rate: -2.735948 deg/s, cmd heading: 219.303372 deg, new cmd heading: 216.202115 deg. 2j꽝HeadingCmd: 3.773439 target range: 49.900002 and range: 51.50 m. jq@jjjihhhhfffrfbftL@ɛ&B F3 {,I 5=ɚiIFi=I ii)q@) $?IH->I) I-II-ЁBI- =&I).I)6I-Z<:I- FBICJICRIZI =bI =jIa5*Fu2Fq:FqBFu1JFqJJfJJJJ9JJJJJ:J:GA>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:23:18:56.3047 TRx dataTimestamp_ set to:1736378337.632979checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016383O>ln~w,NoAFh@YF@F=9Fayy }G٣yjY > Nusing accuracyPremultiplier from config59邜?5Y i̢ ?:[@ E;;M5 P AB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 51.50 m.DNOT Ignoring new targets: 49.90 m.RjBj8<Jj8< ProNav: ac range: 49.900002 m, nav range: 13.730947 m, bearing: 174.530248 deg, approach rate: 0.113203 m/s, LOS rate: -2.632895 deg/s, cmd heading: 216.202111 deg, new cmd heading: 212.884900 deg. 2jὝHeadingCmd: 3.715542 target range: 49.900002 and range: 51.50 m. jrm@jjjih h h h Bfffrfbf` @ɛ'BX 'I fM=ɚiIj=Iv#ii)rm@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268285*Fe2Fa:FaBFe{2JFa IGeK>G9 BA Om >zKM z1MKM ŷ9KI KM KM RK] ?JK] ? Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 52.9 m (Round-trip 70.6 ms) speed -0.6 m/s  ,DAT read: user:3182>  BDAT read: Tx time:23:18:57.3800  $Ping request sent.  G٣yX > Nusing accuracyPremultiplier from config59난? 5Y i  % @E;n;O5  AxE addTargetRange:: Added new target pos. range: 52.900002 m, deltaT: 3.526604 s, deltaX: 1.400002 m, approachRate: 0.396983 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 49.90 m.RjBj94Jj94 ProNav: ac range: 49.900002 m, nav range: 13.776020 m, bearing: 173.464587 deg, approach rate: 0.106986 m/s, LOS rate: -2.521015 deg/s, cmd heading: 212.884893 deg, new cmd heading: 209.701831 deg. 2jDؽ5HeadingCmd: 3.659987 target range: 49.900002 and range: 52.90 m. j=<=j@j9j9j9i9h9hAhAhAfAfIfIrfm@3sJ@bfm V?ɛ(B 隽!I  =ɚiIk=I'ii)<=j@)*F2F:FBFO5JF"GG>EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:23:18:57.3792 IH>I IIIBI&I.I6Ip<:I FG A>J mJ eJ J J \8:J 9J J J D;J D;J :J :G B O >4{(~w,A2`v@Y2݅@2=92Tdd fG٣fTGyfr f> nNusing accuracyPremultiplier from confighr59j난?r5Yj ijKpr-ÿr@jEj;jI;j2Q5t z AxZjDNOT Ignoring new targets: 49.90 m.RjBj.Jj. ProNav: ac range: 49.900002 m, nav range: 13.814266 m, bearing: 172.529057 deg, approach rate: 0.100273 m/s, LOS rate: -2.445862 deg/s, cmd heading: 209.701834 deg, new cmd heading: 206.905362 deg. 2jѽHeadingCmd: 3.611180 target range: 49.900002 and range: 52.90 m. jg@jjjihhhhfffrfbf@?ɛ-)B- )-lI) 5 K=ɚ1i1I5l=I=)i9i9)=g@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFGGGtAB  Y tAy BO >E Will construct direction to contact in vehicle frame from tetrahedron phase data. I hʣ.~w,^gA:@Y:@:HR=9:QQ UG٣QyUr ]> mNusing accuracyPremultiplier from configau59eu삜?u5YeH ieu?u:uƿ}@eEeH@;e';e S5 U AZjDNOT Ignoring new targets: 49.90 m.RjBjg6Jjg6 ProNav: ac range: 49.900002 m, nav range: 13.855134 m, bearing: 171.501711 deg, approach rate: 0.101805 m/s, LOS rate: -2.551513 deg/s, cmd heading: 206.905363 deg, new cmd heading: 203.835520 deg. 2jڽHeadingCmd: 3.557601 target range: 49.900002 and range: 52.90 m. jc@jjjihhhh+Bfffrfbf^?ɛ*B(ݒ 隝I @=ɚiIm=I#.ii)c@)*Fm2Fi:FiBFmO0JFizK%KK%9K!K%K%  BK=qA:K=qAWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >5~w,)BA:@Y:@:˒=9:8AXX ZG٣Xy^x ^> fNusing accuracyPremultiplier from configdj59fx삜?j5YfR ifhjȿj@fEfa:fL:fT5p r ApWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 49.90 m.RjBj`-Jj`-- ProNav: ac range: 49.900002 m, nav range: 13.891001 m, bearing: 170.566425 deg, approach rate: 0.093248 m/s, LOS rate: -2.425214 deg/s, cmd heading: 203.835521 deg, new cmd heading: 201.039255 deg. 2j- н5HeadingCmd: 3.508797 target range: 49.900002 and range: 52.90 m. j5!`@j1j9j9i9h9h9hAhAfIfIfIrfQbfU]S? aIehɛ+B 隍I =ɚiIn=Iu0ii)!`@)ZHRHAAHI IIIBI&I.I6IB<:I F*F52F1:F1BF5\0JF1G9 G=mAGQG1B9O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.;~w,JAf @@YfO@f=9f G٣TGyQ5 > Nusing accuracyPremultiplier from config59'삜?5Y; i?:ʿ@Ef;;V5  AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.Rj Bj !Jj ! ProNav: ac range: 49.900002 m, nav range: 13.932693 m, bearing: 169.500042 deg, approach rate: 0.088641 m/s, LOS rate: -2.260316 deg/s, cmd heading: 201.039255 deg, new cmd heading: 197.853152 deg. 2jHeadingCmd: 3.453189 target range: 49.900002 and range: 52.90 m. j ]@jjjihhhhbBfffrfbf-?Will construct direction to contact in vehicle frame from tetrahedron phase data.Y?Z?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9I9ɛU,B]n Y]IY ]{==ɚaiaIeh2p=Ie5iiii)m ]@)*F52F1:F1BF5P0JF1JnJJJJ|;:JJJa@a@a@a@GM F>G! B1 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013063zK LK 9K K K  #*158>AB~w,Y A2 @Y2@2+(=92=y2HG?`%v? @x_@? ?@E`@x?v?ɨ2 @2Y;2CyB IiU>IUC> ep=eR=ImImb٢= ]=9O:Q > G٣y5^ > Nusing accuracyPremultiplier from config59난?5Y i)vͿ@E6;;eX5 I AzEZjDNOT Ignoring new targets: 49.90 m.RjBjs!Jjs!- ProNav: ac range: 49.900002 m, nav range: 13.964828 m, bearing: 168.661899 deg, approach rate: 0.086791 m/s, LOS rate: -2.258397 deg/s, cmd heading: 197.853150 deg, new cmd heading: 195.346196 deg. 2j-uHeadingCmd: 3.409434 target range: 49.900002 and range: 52.90 m. ju,4Z@jqjqjyiyhyhyhyhfffrfbf@ɛ%-B%] !% I! -h=ɚ)i)I-'q=Ie:7iai),4Z@)*F%2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265089 9IAH>I I II!BI&I.I6I<:Ig FG G J J B O >cH~w,k$A:@Y:y@:z=9:H=y:H`? ?Vߔ}S?@cJ Ԡ? D?ɨ:@:݋;:CyFBF IININF٢VR V]=9VjQ V>XX ZG٣Xy^#m ^> bNusing accuracyPremultiplier from config`f59bꂜ?f5Yb ibZhj0пj@bEb:bX:bZ5l nl ApZjDNOT Ignoring new targets: 49.90 m.RjBj@ Jj@ - ProNav: ac range: 49.900002 m, nav range: 13.995479 m, bearing: 167.827857 deg, approach rate: 0.082565 m/s, LOS rate: -2.241649 deg/s, cmd heading: 195.346197 deg, new cmd heading: 192.851220 deg. 2j-M5HeadingCmd: 3.365889 target range: 49.900002 and range: 52.90 m. j5jW@j1j9j9i9h9h9hAhAfAfAfIrfIbfM@i@ɛ-.B-᧻ QU7 IY ] =ɚYiaIe"r=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518799IĈ:ii)jW@)*FM2FI:FIBFM0JFQ"GG>GG B O > ) I) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770657N~w,S>A6L=@Y6L@6q=96kh=y6H`]??麕`ƣ?1G>o`??ɨ6L=@6;6 CyBBB IJhJjqJhJhJhJjq9JhJh]Mb@Mb@Mb@YYY Y)YY] r?Pn~jty]?]]] A ]~A)]AI]AYyYIuIu(٢ : ==9Q > G٣TGyJ > Nusing accuracyPremultiplier from config59肜?5Y  i?:ֿ@E; ;[5 i AZjDNOT Ignoring new targets: 49.90 m.RjBjJj ProNav: ac range: 49.900002 m, nav range: 14.021623 m, bearing: 166.903165 deg, approach rate: 0.060540 m/s, LOS rate: -2.137150 deg/s, cmd heading: 192.851224 deg, new cmd heading: 190.084592 deg. 2j V HeadingCmd: 3.317602 target range: 49.900002 and range: 52.90 m. j ST@jjjihhhhmBff!f!rf!bf% O@ɛ/B_J  I F =ɚiI:s=IG B O- >U~w,‰XA6,@Y6@6;K=96u=y6H ?`t?ї`l?@kس@jp? ?ɨ6,@6>;6!CyN BR I)T TXX `IdrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273039HaIa Ie( IIe6BIa&Ia.Ia6Ie <:Iec FIUIU٢Q= F=9$ Q > G٣yd > Nusing accuracyPremultiplier from config599悜?5Y% iŤٿ@E;y;]5  AZj)-DNOT Ignoring new targets: 49.90 m.Rj)Bj=Jj=M ProNav: ac range: 49.900002 m, nav range: 14.045052 m, bearing: 166.019622 deg, approach rate: 0.056876 m/s, LOS rate: -2.141207 deg/s, cmd heading: 190.084588 deg, new cmd heading: 187.440365 deg. 2jMHeadingCmd: 3.271451 target range: 49.900002 and range: 52.90 m. jv_Q@jjjihhhhfffrfbf @*J"J%=ɛ]0B]E Y]IY e =ɚaiaIeZt=I?@ii)v_Q@)*F92F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed -0.6 m/s ,DAT read: user:3183> BDAT read: Tx time:23:19:00.9800 $Ping request sent.\~w,%urA]ϒ@Y]ߙ@]ܗ=9]jim/ݼmA m A)iIiiym AII<٢rj >=9Q > G٣yM > Nusing accuracyPremultiplier from config59O゜?5Yi+ i"?:lݿ@ E;<;_5 w AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.528552 s, deltaX: 2.000000 m, approachRate: 0.566805 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 49.90 m.RjBjJj  ProNav: ac range: 49.900002 m, nav range: 14.065256 m, bearing: 165.133309 deg, approach rate: 0.046908 m/s, LOS rate: -2.054695 deg/s, cmd heading: 187.440362 deg, new cmd heading: 184.787246 deg. 2jC-HeadingCmd: 3.225146 target range: 49.900002 and range: 54.90 m. j-hN@j)j)j)i)h1h1h1h5uBf9f9f9rf=@3sK@bf=3m?ɛm2Bm imIi u \=ɚqiqIuYu=I}Biyiy)}hN@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:00.9792 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F 2F:FBF0JFG) G-rAJoJcJJJ>:Jx9JJGE F>G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498655zK- ΉNK- 9K) K- K- .-+)++'&#!    *$ Eb~w,xBABN@YB@B`=9BIY I]: II]EBIY&IY.IY6I]L<:I] FBI%ǮCJI%ǮCRI!ZI% =bI% =jI%nj4GM A>G! B) OI i~w,A63;@Y6J@6ӊ=96 =y6HFۧ?@?`@"?)j ?:?ɨ63;@6 ;4yNBRIiVa=IV= V=V=IZIZ#٢fxl fI=9j˻Q j>hl nG٣ly5t 5> ENusing accuracyPremultiplier from config9E59=܂?E5Y=c5 i=gIM㿑M@=#E=q:=I;=b5Y ] Ae|EZjDNOT Ignoring new targets: 49.90 m.RjBjJj ProNav: ac range: 49.900002 m, nav range: 14.094818 m, bearing: 163.567175 deg, approach rate: 0.037289 m/s, LOS rate: -2.121827 deg/s, cmd heading: 182.648425 deg, new cmd heading: 180.096607 deg. 2jHeadingCmd: 3.143279 target range: 49.900002 and range: 54.90 m. j{+I@jjjihhhhfffrfbf?ɛ=4BEQ AEzII MJ=ɚIiIIMZw=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003683Ius?Hii){+I@)*F2F:FBFJFG<> I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254743@o~w,A:z@Y:@:=9:HO=y:HӶ??鞿`~?] α???ɨ:z@:";: CJR{JRdJR1JPJRd:JR|9JR3JPy^B^IMMb@Mb@Mb@III I)IYMZd;?L7A`y&1yM>M+M`MA M A)M`AIMAIyM AIeIeK!٢u% u@=9uQ }>yy G٣y_h > Nusing accuracyPremultiplier from config59؂?5Y: i?:翑@$E;$;d5  AZjquDNOT Ignoring new targets: 49.90 m.RjqBj}Jj} ProNav: ac range: 49.900002 m, nav range: 14.105888 m, bearing: 162.723623 deg, approach rate: 0.026797 m/s, LOS rate: -2.040223 deg/s, cmd heading: 180.096611 deg, new cmd heading: 177.569674 deg. 2jHeadingCmd: 3.099175 target range: 49.900002 and range: 54.90 m. jXF@jjjihhhhBfffrfbf?ɛ]6B] YeIa eR=ɚaiaIe@yx=I-XF@i9i9)EXF@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515576zK$SMK9KKKBK pA:K pA*F-2F):F)BF-X0JF)"G1G5>G B>G B O >'v~w,A I:\ʏ@Y:ٖ@:=9:U\\ ^G٣^TGybh b> fNusing accuracyPremultiplier from configdj59fԂ?j5Yf? ifҥhj꿑n@f&EfL:f:f]f5p rd ApWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766764ZH RH HI III&I.I6Iu<:I FZj9EDNOT Ignoring new targets: 49.90 m.RjABjEUJjMUU ProNav: ac range: 49.900002 m, nav range: 14.114609 m, bearing: 161.951778 deg, approach rate: 0.022667 m/s, LOS rate: -2.004972 deg/s, cmd heading: 177.569673 deg, new cmd heading: 175.256896 deg. 2jHeadingCmd: 3.058810 target range: 49.900002 and range: 54.90 m. jC@jjjihhhhfffrfbf?ɛe8Beg ae Ia m=ɚiiiIm'|y=IuD@ii)C@)*F-2F):F)BF-0JF1Gm<>GyG}pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019320GI By O >6V|~w,A)\ \EG]|uAy jY|uAyByލBލI I%Mb@Mb@Mb@!!! !)!Y%V-?n%V%t%A !)!I%QA!y% AI=I=b2٢M(׼ U&=9UQ U>YY ]G٣Yy] ]> mNusing accuracyPremultiplier from configiu59m΂?u5YmE im}?}:}뿑@m(EWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271058mkS;m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522710zK- vKK- 9K) K- K- "-0210.)''%!U0Gi By O >a~w,Z,AVo@YV=@Vꡏ=9V)=yVH`滤?u @}奿 5x@??ɨVo@V;V"Cy BII}I} ٢ S=9[;Q > G٣yw߽ > Nusing accuracyPremultiplier from config59ɂ?5YJ iY@)EL:n:4j5  AZjDNOT Ignoring new targets: 49.90 m.RjBj^Jj^ ProNav: ac range: 49.900002 m, nav range: 14.133775 m, bearing: 160.122299 deg, approach rate: 0.015257 m/s, LOS rate: -2.229273 deg/s, cmd heading: 172.196719 deg, new cmd heading: 169.776954 deg. 2j%=5HeadingCmd: 2.963167 target range: 49.900002 and range: 54.90 m. j==@jAjAjAiIhIhIhQhQfYfYfrfbf@'@ɛ@ii)=@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775772H>I I( II6BI&I.I6I<:In F*FM2FI:FIBFM0JFQJy J} ?AG G B O >4~w,(AV@YV*˔@Vҏ=9VS!! %G٣%TGy-]t -> =Nusing accuracyPremultiplier from config9E59=Ă?M5Y=O i=QUU@=+E=z_;=g;=k5a em AaZjDNOT Ignoring new targets: 49.90 m.RjBjJj ProNav: ac range: 49.900002 m, nav range: 14.137470 m, bearing: 159.353311 deg, approach rate: 0.009957 m/s, LOS rate: -2.071237 deg/s, cmd heading: 169.776960 deg, new cmd heading: 167.471911 deg. 2jHeadingCmd: 2.922936 target range: 49.900002 and range: 54.90 m. jc;@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:19:03.4604 TRx dataTimestamp_ set to:1736378344.696728checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027837fIfIfQrfQbfU Ub@ɛ=BF˼ 0=~4I и<ɚiI'|=I%<@i)i))-c;@))*F2F:FBF$5JFy IIMh Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279228G :>G ?G ?G B O >~w,BA2@Y2@2Ɏ=92aǁB>I Mb@Mb@Mb@    ) Y "~j?M¿/$y S? n , zA ) AI ;A y ( AI)I)٢?w B=96Q > G٣yg > Nusing accuracyPremultiplier from config59?5Y#U iئ?:@-Ef;;m5  AEZj DNOT Ignoring new targets: 49.90 m.Rj!BjE+JjE+ ProNav: ac range: 49.900002 m, nav range: 14.139720 m, bearing: 158.455303 deg, approach rate: 0.005369 m/s, LOS rate: -2.142583 deg/s, cmd heading: 167.471908 deg, new cmd heading: 164.780406 deg. 2jͷHeadingCmd: 2.875961 target range: 49.900002 and range: 54.90 m. j8@jjjihhhQhU3BfYfYfYrfYbfe@ @ɛ?BD MG >G e $?Ia G1 B9 jHU <bHU <HY IY  I]  II] BI] =&IY .IY 6I] V<:I] FO} >eؖ~w,\AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782797yMBMII}I}(٢K I=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YiZ i@.E;t;ko5 W AZj DNOT Ignoring new targets: 49.90 m.Rj BjYJjY% ProNav: ac range: 49.900002 m, nav range: 14.145180 m, bearing: 157.589647 deg, approach rate: 0.013358 m/s, LOS rate: -2.117086 deg/s, cmd heading: 164.780404 deg, new cmd heading: 162.186311 deg. 2j%-HeadingCmd: 2.830685 target range: 49.900002 and range: 54.90 m. j-)5@j)j)j)i)h1h1h1h1f9f9fArfAbfE`@JJcJ0JJJx9Jـ3JJaJaJ:aJ:aɛmABmټ imDIq u;<ɚqiqIuz=I}I5@iyiy)})5@)*F!2F):F)BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034916Ga G B) OE >~w,vAvz@Yvz@v<=9v=99 =G٣=TGy=j E> MNusing accuracyPremultiplier from configAU59EB?U5YEU` iEdU?U:U]@E0EE;E;EGq5a e AaZjDNOT Ignoring new targets: 49.90 m.RjBj1&Jj1& ProNav: ac range: 49.900002 m, nav range: 14.151324 m, bearing: 156.611951 deg, approach rate: 0.014617 m/s, LOS rate: -2.324727 deg/s, cmd heading: 162.186312 deg, new cmd heading: 159.257192 deg. 2jnǽHeadingCmd: 2.779562 target range: 49.900002 and range: 54.90 m. jZ1@jjjihhhhBfffrfbf @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286654ɛuCBuW2 q}OIy }k<ɚyiyI}e=IF2@ii)Z1@)E=*Fa 2Fa :Fa BFe 4JFa Gi  Gm qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538795zK- MK- }9K) K- K-  Gm 2>G rAG qAGiBO>9~w,bA6@Y6@6dȋ=96т=y6H`ƿs?@^ 4he=ǿp\u?@?ɨ6@6ϋ;6 Cy>BB]I)D DIJIJV٢R R>=9RغQ V>TT VG٣XyZ ^> jNusing accuracyPremultiplier from configdv59fŧ?v5YfAf iftvv@f2Ef;fp;f+s5~aB ~A~EB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 49.90 m.Rj)Bj-#Jj-#= ProNav: ac range: 49.900002 m, nav range: 14.150182 m, bearing: 155.614991 deg, approach rate: -0.002621 m/s, LOS rate: -2.287334 deg/s, cmd heading: 159.257199 deg, new cmd heading: 156.268942 deg. 2j=8ĽMHeadingCmd: 2.727407 target range: 49.900002 and range: 54.90 m. jM؍.@jQjQjYiYhYhYhahafffrfbfn@ɛ5EB5m 15YI1 =5<ɚ9i9I== qIqI0/@ii)؍.@)HI IIIBI =&I.I6I+<:I| FE=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792494*F-2F1:F1BF5O0JF1JrJeJJJG:J9JJJ_;J_;J:J:Gu :>GQ Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0429238~w,VA6H,@Y6;@66=96=y6H/ʿ L?ͧ`AOVʿk@BS?@?ɨ6H,@6K:;6"Cy^B^RIIjIj(٢r/ rH=9rQ v>tt vG٣tyzzv z> ~Nusing accuracyPremultiplier from config|59~]?5Y~k i~   @~4E~:~z:~t5 AZjDNOT Ignoring new targets: 49.90 m.RjBjcJjc  ProNav: ac range: 49.900002 m, nav range: 14.147336 m, bearing: 154.678783 deg, approach rate: -0.006649 m/s, LOS rate: -2.187602 deg/s, cmd heading: 156.268936 deg, new cmd heading: 153.462119 deg. 2j HeadingCmd: 2.678419 target range: 49.900002 and range: 54.90 m. j9k+@jjjih!h!h)h)f)f1f9rfAbfM@ɛuFBuHf qu%_Iq }0<ɚyiyI}܁=I+@ii!)%9k+@)) iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294716E x=*F 2F :F BF 4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547056G G ?G  ?GB)OE?~w,)AzK.qKK.@9K,K.K.:b@Y:Fr@:=9:+ =y:H`Ϳ`?@iͿA6? ?ɨ:b@:%E;:CyBqBB6IMMb@Mb@Mb@III I)IYMQ?HzGZd;OyM(?M= Mjy G٣TGy6 > Nusing accuracyPremultiplier from config59쒂?5Ys iY_ ?:@7E%;;[w5bB AEZjDNOT Ignoring new targets: 49.90 m.RjBjY8JjY85 ProNav: ac range: 49.900002 m, nav range: 14.149902 m, bearing: 153.294395 deg, approach rate: 0.004782 m/s, LOS rate: -2.578720 deg/s, cmd heading: 153.462125 deg, new cmd heading: 149.317364 deg. 2j=8ݽHeadingCmd: 2.606080 target range: 49.900002 and range: 54.90 m. j&@jjjihhhhBfffrfbf_@ɛUHB]@ aekI <ɚiI$=I@)@ii)&@)EE*E"E }$?I}hZHRH?AHI IIIՁBI =&I.I6I%<:Ix FBIaJIaRIaZIabIe =jIeA4Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798749Jـ3K3 K.KK"KJmJfJ1JJ\8:J9J3JJD;JD;J:J:*F 2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050655G GBO>Y~w,ęA6r@Y6癩@6=962=y6Hп?` ]ZCп@:߰@D? ?ɨ6r@6ߎ;6 Cy>[BBIIJIJ2٢R> R0=9VQ V>TT VG٣XyZ] Z> bNusing accuracyPremultiplier from config\b59^臂?f5Y^z i^dff@^9E^:^:^cy5jaB j/AnEZj DNOT Ignoring new targets: 49.90 m.Rj Bj X6Jj X6 ProNav: ac range: 49.900002 m, nav range: 14.151280 m, bearing: 152.128903 deg, approach rate: 0.003016 m/s, LOS rate: -2.550713 deg/s, cmd heading: 149.317361 deg, new cmd heading: 145.825794 deg. 2jڽHeadingCmd: 2.545140 target range: 49.900002 and range: 54.90 m. j"@jjjihhhhfffrfbf @ɛJB%Z quYwIy I `<ɚiIu=II$@ii)"@)*Fy2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304364G GY Bi O >~w,z Ay~UB~IMb@Mb@Mb@ )Yy&1?X9vZd;Oy`%?A  A)`AIQAy AII ٢̼ :=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554782 Nusing accuracyPremultiplier from config59}?5Y i(?:i@E>*FY2FY:FYBF]P0JFY IH >I  I II BI =&I .I 6I ϰ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806732Gy G9 BQ O >J= oJ= jJ= 0J9 J= >:J= 9J= ـ3J9 J= }O;J= O;J= :J= :~w,Q$A2@Y2t@2)H=92=y2He"ӿ ~? w`Iӿ5Fʓ?` ?ɨ2@2;;2Cy:?B>I@@IFIFb٢N N^=9RqлQ R>TT VG٣V TGyZx Z> =Nusing accuracyPremultiplier from config\E59^Ft?E5Y^ i^GAMM@^=E^j;^+;^|5Q UAQuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 49.90 m.RjBj]BJj]B ProNav: ac range: 49.900002 m, nav range: 14.175955 m, bearing: 150.000480 deg, approach rate: 0.020094 m/s, LOS rate: -2.718798 deg/s, cmd heading: 142.343451 deg, new cmd heading: 139.453427 deg. 2j<齝HeadingCmd: 2.433921 target range: 49.900002 and range: 54.90 m. j^@jjjihhhhfffrfbf@ɛLBsf t=LI p<ɚiI=I/@ii)^@) *F2F:FBFj0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058758G2> 9 u {Yy y} l BG B O} > $?I ~w,2:>AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310556yU.BUI-only read 0 of 1 data item for BIT error. Device response is::TS,25010815201416,35.0, +11.0, 0.0,14  @ @ @  @ II(*٢y :=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59 i?5Y i+::@@E@;>w~5`B AEZjDNOT Ignoring new targets: 49.90 m.RjBj!<Jj!< ProNav: ac range: 49.900002 m, nav range: 14.189765 m, bearing: 148.847193 deg, approach rate: 0.031546 m/s, LOS rate: -2.631639 deg/s, cmd heading: 139.453420 deg, new cmd heading: 136.001342 deg. 2jὝHeadingCmd: 2.373671 target range: 49.900002 and range: 54.90 m. j;@jjjihhhhf)f)f1rf1bf5(@ɛ}MB}C 隅I #<ɚiIS=IZo@ii);@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562714zK JK 9K K K G% :>G B O >#~w,"XA2l@Y2|@2Wx=92'=y2H`KֿZ?©^`Bֿ`|? ?ɨ2l@2XI;2 Cy:&B:IIBIBV٢JF5 J]=9NQ N>LP RG٣PyR[ R> ZbBottom track data is 0.8 s old, using for 20.0 s. ZNusing accuracyPremultiplier from configT^59V^?^5YV3 iVܩb :`bS:bb@VBEV9;VeK?V5d !I! fA-EZjquDNOT Ignoring new targets: 49.90 m.RjqBj}8<Jj}8< ProNav: ac range: 49.900002 m, nav range: 14.194022 m, bearing: 147.873517 deg, approach rate: 0.011516 m/s, LOS rate: -2.632848 deg/s, cmd heading: 136.001347 deg, new cmd heading: 133.083858 deg. 2jὝHeadingCmd: 2.322752 target range: 49.900002 and range: 54.90 m. j@jjjihhhhfffrfbf @ɛ}NB}aj y}Iy <jHbH4<HI ISIIBI =&I.I6I<:I Fɚi)I5u=I5@i1i9)=@)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814723EQ*F2F:FBF1JF"G>G>G G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066622(~w,PqAZ@YZ@Zxq=9Z=yZH`׿ײ?t5 ׿`* 0??ɨZ@Z;Z"CyfBjIin%=In= n=lIrIr2٢z zE=9~Q ~> G٣ TGy ]v  > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 R?5Y @ i &%9!%+:%V%@ DE 7; њ? }5) -A1ZjYeDNOT Ignoring new targets: 49.90 m.RjaBjeyCJjeyCu ProNav: ac range: 49.900002 m, nav range: 14.196944 m, bearing: 146.780307 deg, approach rate: 0.007311 m/s, LOS rate: -2.734367 deg/s, cmd heading: 133.083859 deg, new cmd heading: 129.808676 deg. 2j}꽝}HeadingCmd: 2.265589 target range: 49.900002 and range: 54.90 m. jh@jjjihhhhfffrfbf&U @ɛMOBMvo Qu*Iq u ,<ɚqiyI}R/=I}#@ii)h@) 5$?I=hmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321408E*Fq2Fy:FyBF}x0JFyJ lJ eJ 1J J <5:J 9J 3J a% @a- @a- @a- @GU 2>G1 B9 OU >M~w,ۍAFЂ@YF߉@F`j=9F^T=yFHٿc?:z`@=ٿ2`GC?t?ɨFЂ@F;DyNBNIfWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.575126 m u uu uu  u u uMb@Mb@Mb@qqq q)qYu^I +?333333~jtyuX9?uuDuA u A)qIuAqyup AII٢[ 2=9wQ > G٣yb > Nusing accuracyPremultiplier from config59D?5Y i|T::?:@GE<<5_B pAEzKJQJKŷ9KKKIH 9 \_ 1 K Z!<RK>JK>ZjDNOT Ignoring new targets: 49.90 m.RjBj%AJj%AU ProNav: ac range: 49.900002 m, nav range: 14.225533 m, bearing: 145.443619 deg, approach rate: 0.057883 m/s, LOS rate: -2.700721 deg/s, cmd heading: 129.808674 deg, new cmd heading: 125.813520 deg. 2jU罝]HeadingCmd: 2.195860 target range: 49.900002 and range: 54.90 m. j] @jYjYjYiahahhhBfffrfbfQV!@ɛPB\O I ݜ<ɚiIe=I @i i )  @) IH>I I'IIfBI =&I.I6IS<:I FuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824915E+W=*Fy 2Fy :Fy BF} _0JFy GGYBiO?~w,OuA>+@Y> ;@>Z=9>)HܿL?3ag7ܿ͂ V? R?ɨ>+@>;> CJWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.075021yN BNII%I%٢5 ȼ 5%=9=Q =>99 EG٣AyMԽ M> UNusing accuracyPremultiplier from configQ]59U 5?]5YU iUתY]*]@UIEU:U:U5i uAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.RjBj^Jj^ ProNav: ac range: 49.900002 m, nav range: 14.246610 m, bearing: 144.004184 deg, approach rate: 0.045732 m/s, LOS rate: -3.118236 deg/s, cmd heading: 125.813519 deg, new cmd heading: 121.510165 deg. 2j HeadingCmd: 2.120753 target range: 49.900002 and range: 54.90 m. j i@j j jihhh!h!f)f1f1rf9bf=D"@ɛ8_ PI <ɚiI*=I%QL@i!i!)%i@))E1E1*E1"E1 Ih=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.326602*FI2FI:FIBFMo0JFIJ J bJ 0J J J t9J ـ3J G *>G B O- >f~w,QA2O@Y2v_@2P=92l=y2HȠݿ P?`˪QQݿǞʕ??ɨ2O@2;2$Cy?M94MQ8MA I)MAIMhAIyII]I](*٢mO. u:=9u3Q }> G٣ TGy1y > Nusing accuracyPremultiplier from config59&?5YN i">?: @LEf;;5 EZjDNOT Ignoring new targets: 49.90 m.RjBjTJjT ProNav: ac range: 49.900002 m, nav range: 14.279235 m, bearing: 142.700852 deg, approach rate: 0.074416 m/s, LOS rate: -2.965780 deg/s, cmd heading: 121.510172 deg, new cmd heading: 117.615455 deg. 2jlHeadingCmd: 2.052777 target range: 49.900002 and range: 54.90 m. j`@jj j i h h hhBfffrfbf#@ɛMQBM { IMII UP<ɚQiQIUǮ=I]"=@iYiY)]`@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.578876*F2F:FBF 5JFzKuPKu@9KqKuKuRmF }wsmkifb`ZVTOLJFBA>:5354122/.149<<BK}qA:KyG M$?IIGBO >ZH RH @AH I C I II QBI =&I ED.I 6I <:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832032Ɖ~w,A2#~@Y2@2lG=92 =y2H`߿@?81&7߿`n 먿;? ?ɨ2#~@2cu;2 CyBBBIIJIJ٢RԼ RZ=9RĻQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Zj?b5YZw iZb`bf@ZNEZ;Z[;Z75h jAhZjDNOT Ignoring new targets: 49.90 m.RjBjIJjI ProNav: ac range: 49.900002 m, nav range: 14.305546 m, bearing: 141.595096 deg, approach rate: 0.067219 m/s, LOS rate: -2.819613 deg/s, cmd heading: 117.615461 deg, new cmd heading: 114.308180 deg. 2j񽝊HeadingCmd: 1.995054 target range: 49.900002 and range: 54.90 m. j]?jjjihhhhfffrfbf@>#@ɛeRBeO aeIa mA<ɚiiIm=Ij@ii)]?)*Fe2Fi:FiBFmO0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. a Ii ~w,RAF+=}@YF@F;=9F|=yFHrK}?Q@\ )X`Kb|@Y??ɨF+=}@FX;F$CyLLiR=IR4<5Will construct direction to contact in vehicle frame from tetrahedron phase data.=?]]94Y Y)]`AI]~AYy] AIuIu 2٢: <=9eӻQ > G٣y{ > Nusing accuracyPremultiplier from config59 ?5Y i>?:P @QE;;5^B AEZjDNOT Ignoring new targets: 49.90 m.RjBjZJjZ ProNav: ac range: 49.900002 m, nav range: 14.339834 m, bearing: 140.314822 deg, approach rate: 0.082189 m/s, LOS rate: -3.061212 deg/s, cmd heading: 114.308181 deg, new cmd heading: 110.482556 deg. 2jNHeadingCmd: 1.928284 target range: 49.900002 and range: 54.90 m. j?jjjih h hhBfffrfbf$@ɛk )-I) - Wy<ɚ)i)I-/=I5?i1i9)=?)9J5mJ5fJ1J1J5\8:J59J1J1*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK NK K K K @EGGC@<:7530.0-,'#  RK >JK >w,׊A2ˆ{@Y2҄@2Zm2=92 =y2H`6 ?@t`  Z\K}8??ɨ2ˆ{@2wZ;2 Cy: B:IIF IF2٢Jq< N[=9N4̻Q N>PP RG٣R TGyV V> ZNusing accuracyPremultiplier from configT^59Vu?^5YV iV\b b@VSEV;V;V5d fAdZjxzDNOT Ignoring new targets: 49.90 m.RjxBj~RJj~R  ProNav: ac range: 49.900002 m, nav range: 14.367721 m, bearing: 139.214498 deg, approach rate: 0.074824 m/s, LOS rate: -2.946448 deg/s, cmd heading: 110.482558 deg, new cmd heading: 107.191819 deg. 2j HeadingCmd: 1.870850 target range: 49.900002 and range: 54.90 m. jx?jjjihhhh!f!f)f)rf1bf%@ $?IɛՌ I k<ɚiI݋=I%{?i!i))-x?))HAIA IEIIEGBIA&IEFD.IA6IE6<:IE FBIJIRIZI =bIjIݱ4*F2F:FBFR0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Response Not Received ]*response not receivede,DAT read: user:3185> -m Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:23:19:11.9301  $Ping request sent.  G٣y7s > Nusing accuracyPremultiplier from config59?5Yy i& @VEX::5]B dAEB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 49.90 m.RjYBjeCJJjeCJ ProNav: ac range: 49.900002 m, nav range: 14.398487 m, bearing: 137.937177 deg, approach rate: 0.068300 m/s, LOS rate: -2.829294 deg/s, cmd heading: 107.191821 deg, new cmd heading: 103.374022 deg. 2j򽝊HeadingCmd: 1.804217 target range: 49.900002 and range: 54.90 m. j?jjjihhhhfffrfbfHh&@ɛSB\z 隕sI Z<ɚiII=Iս?ii)?)E !I!*F2F:FBFU0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813G :>JI JM dJM 1JI JI JM |9JM 3JI G B O >w,u;KA6x@Y6@6:]=96r=y6H`u?@ m~^) vj??ɨ6x@6X;6#CyBBBI)D DDDMb@Mb@Mb@ )Y}?5^I?~jtxlyMB?Ļ 7 A)AI AyI5I5٢E@ = EN=9EQ E>II MG٣IyU֐ U> ]Nusing accuracyPremultiplier from configYe59]߁?e5Y] i]\eB?m:mR u@]XE]:;]f9;]^5 -AEZjAEDNOT Ignoring new targets: 49.90 m.RjABjMbRJjMbR} ProNav: ac range: 49.900002 m, nav range: 14.435138 m, bearing: 136.756294 deg, approach rate: 0.091577 m/s, LOS rate: -2.942906 deg/s, cmd heading: 103.374025 deg, new cmd heading: 99.845091 deg. 2jvHeadingCmd: 1.742626 target range: 49.900002 and range: 54.90 m. j[?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503566hhBfffrfbf@&4'@ɛ9={ 9=I9 EUL<ɚAiAIEK=IMm?iIi))-[?))*F2F:FBF_0JFzKMK9KKK -$?I-hH= >I9  I= II= BBI9 &I= ED.I9 6I= <:I= ` FG! m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756625G BQ O >Ow,eA>v@Y>P@>>3=9>y"=y>H@?y!@ g"|8sn%@O?f?ɨ>v@>忌;>Cy^$BbIInInm٢vx= vP=9v.ϻQ v>xx zG٣z TGyz! ~>*J~a="J~a=  Nusing accuracyPremultiplier from config59Ё?5Y& i @ZEq::5! %A!ZjQUDNOT Ignoring new targets: 49.90 m.RjQBj]q`Jj]q`m ProNav: ac range: 49.900002 m, nav range: 14.470462 m, bearing: 135.583910 deg, approach rate: 0.094833 m/s, LOS rate: -3.139546 deg/s, cmd heading: 99.845092 deg, new cmd heading: 96.341146 deg. 2jmuHeadingCmd: 1.681470 target range: 49.900002 and range: 54.90 m. juj:?jqjqjyiyhhhhfffrfbf@Z'@ɛHD 隽I \?<ɚiI=IZz?ii)j:?)Q*F 2F :F BF X1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007527) GE2>qtA =YtAy"AE !@E BGI BQ Ou > I IQ w,Abt@Ybu@b}=9b5c =ybH@h?@hd"?,D/?`?ɨbt@bU_;b"Cyj5BnIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259504uMb@Mb@Mb@qqq q)qYu\(\?~jth?~jtyu:?uD;uļuA uM A)uIAIu~Aqyu AII)٢= ?=9Q > G٣y~ > Nusing accuracyPremultiplier from config59?5Y i:?:@]E;R2;5 ?AEZjDNOT Ignoring new targets: 49.90 m.RjBj KJj K ProNav: ac range: 49.900002 m, nav range: 14.509230 m, bearing: 134.359532 deg, approach rate: 0.090533 m/s, LOS rate: -2.851391 deg/s, cmd heading: 96.341143 deg, new cmd heading: 92.683079 deg. 2jHeadingCmd: 1.617625 target range: 49.900002 and range: 54.90 m. jU?jjjihhhhقBff!f!rfAbfM(@ɛam 隕I i}/<ɚiIɖ=I?ii)U?)EEqA*F2F:FBF1JF"GG>Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512534G :>G B O >A%w,AzK*:IK*ŷ9K(K*K*y@BIi>IN>I%I%b٢]Z= ]N=9eQ e>aa eG٣iym m> uNusing accuracyPremultiplier from configq}59u?}5Yu iuެ@u_Eu":u :u5 AZjDNOT Ignoring new targets: 49.90 m.RjBj KJj K $?I ProNav: ac range: 49.900002 m, nav range: 14.550858 m, bearing: 133.235773 deg, approach rate: 0.105527 m/s, LOS rate: -2.840341 deg/s, cmd heading: 92.683078 deg, new cmd heading: 89.325512 deg. 2j󽝊HeadingCmd: 1.559024 target range: 49.900002 and range: 54.90 m. j?jjjihhhhfffrfbf`“)@ɛam· im̄Ii m@)#<ɚqiqIu+=I}l?iyiy)}?)yH>I IIIVBI&IFD.ICD6I <:Ix F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764675*F2F:FBF05JFJJAAJJpJ0JJJ^9Jـ3JJD;a-JD;a-J}:a5J~:a5G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015517,w,맲ABkq@YB@B<9B1=yBH@@?H=?Y ??ɨBkq@B0ێ;B$CyJKBJIIvIv٢%j= %O=9-#Q ->)) -G٣-TGy5 5> ]Nusing accuracyPremultiplier from configYe59]?e5Y]m i]im?m@]aE]z:]X:]m5\B AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.90 m.RjBjxFJjxF  ProNav: ac range: 49.900002 m, nav range: 14.583368 m, bearing: 132.096900 deg, approach rate: 0.079432 m/s, LOS rate: -2.776268 deg/s, cmd heading: 89.325514 deg, new cmd heading: 85.920749 deg. 2j *HeadingCmd: 1.499600 target range: 49.900002 and range: 54.90 m. j?jjjihhhhf!f!f!rf!bf%d*@ɛw ځI TW<ɚiIKǏ=I ?ii)?)*F2F:FBFP0JF  $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267408G) G B O5 >2w,Ay\BIMb@Mb@Mb@ )Y|?5^?{Gz:vy2?#T3A  A)I AyfAII(*٢n= >=9Q > G٣y > Nusing accuracyPremultiplier from config59ؐ? 5Y< i 2? : u @dE;I;H5 AZjAEDNOT Ignoring new targets: 49.90 m.RjABjMFJjMFe ProNav: ac range: 49.900002 m, nav range: 14.616817 m, bearing: 130.939700 deg, approach rate: 0.080482 m/s, LOS rate: -2.777853 deg/s, cmd heading: 85.920747 deg, new cmd heading: 82.461537 deg. 2jeMmHeadingCmd: 1.439225 target range: 49.900002 and range: 54.90 m. jm8?jijijiiihihqhyh}Bfyfyfyrfbf@9+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519622ɛRBKu 隽zI T<ɚiI]=I8?ii)8?)*FA2FA:FABFEO0JFIGI GMrAzKBoHK}9KKK IH>I I4IIpBI&IED.I6IM<:I FG G pAG rAM Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:19:14.4198 U TRx dataTimestamp_ set to:1736378355.533043U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772946Ga Bi O >%9w,\A>m@Y>|@>)<9>uH_ `?`cD_? l W??ɨ>m@>oÎ;>CyRiBR,I)T TI^I^Բ٢f= f^=9jQ j>hl nG٣lJrlJrjJpJpJr<5:Jr9JpJpJrK?;JrM?;Jr:Jr:y~ ~> Nusing accuracyPremultiplier from config 59U? 5Y i8 @fEX::虘5[B AEZjIMDNOT Ignoring new targets: 49.90 m.RjIBjUjBJjUjBm ProNav: ac range: 49.900002 m, nav range: 14.636720 m, bearing: 129.925925 deg, approach rate: 0.053467 m/s, LOS rate: -2.719527 deg/s, cmd heading: 82.461536 deg, new cmd heading: 79.427344 deg. 2jmL齝}HeadingCmd: 1.386269 target range: 49.900002 and range: 54.90 m. j}@q?jyjyjihhhhfffrfbf`+@ɛaeWu imtIi uu;ɚiI,=I?ii)@q?)*FI2FI:FIBFMZ0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023752G1G B O5 > I h@w,ZAzWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275585~:l@Y~Yz@~<9~ G٣TGyq > =Nusing accuracyPremultiplier from config1595n?5Y5W i5MY+?:@5hE5<5<5ٛ5! %A-EZjiuDNOT Ignoring new targets: 49.90 m.RjqBju>.Jju>. ProNav: ac range: 49.900002 m, nav range: 14.652719 m, bearing: 128.764256 deg, approach rate: 0.033607 m/s, LOS rate: -2.437387 deg/s, cmd heading: 79.427341 deg, new cmd heading: 75.950652 deg. 2jѽHeadingCmd: 1.325589 target range: 49.900002 and range: 54.90 m. j欩?jjjihhhh8Bf!f!f!rf!bf%,@ɛiudV qukI ;ɚiI=I%eY?i!i!)%欩?))*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 64.1 m (Round-trip 85.5 ms) speed -0.5 m/s ,DAT read: user:3186> BDAT read: Tx time:23:19:15.5301 $Ping request sent.8Fw, AVpsj@YVjx@Vj<9Vg<zKbJKb9K`KbKbRKn ?JKn>yVH@ s? |?rӘ?@R?ɨVpsj@V;V"CyB\II%I%٢E = EU=9UQ U> e $?Iaii mG٣iym u> }Nusing accuracyPremultiplier from configy59}^?5Y} i}^q@}jE}&:}:}5 SA addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 14.623466 s, deltaX: 9.199997 m, approachRate: 0.629126 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 49.90 m.RjZTarget missed at range: 64.10 m. Rolling out."jNTransitioning guidance mode to: ROLLOUT*j@ jjjji"jhQhQhYhYfYfYfYrfe`fP@bfe`E?H}>Iy I}fII}BI} =&Iy.Iy6I}<:I}x Fɛ-QB-j< MM{`IQ UP<;ɚQiU JmJcJJJ\8:Jx9JJJD;JD;J:J:G! G- ?G- B?G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.aLw,93A 44Rh@YRv@RV<9R=yRHd% ?`DQ&ۅ?jZ?Q?ɨRh@R5;PyZBZhIi^=I^<IfIf٢z ;= zP=9~]Q ~> G٣y S  >Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 21.81 mm. Nusing accuracyPremultiplier from config%59M?%5Y io!-(-@lE;:655ZB 5A5ELM MAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseLM]Entering Midcourse tracking update period 60.000000 s sec at 64.099998 m (mode 5.000000 count ).L]1MeeB*** querying acoustic contact ***jajauDNOT Ignoring new targets: 49.90 m. jqjyjyjyi"jhhhh:uAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1; v@Uninitialize Buoyancy Component.ffrfbf b?]V< ae7OIe<9 eɚeGienSw,eNA2?'g@Y29Fu@2<928=y2H˨`XY?Xb? ?`c?ɨ2?'g@2݇;2#CyNBNzI5Mb@Mb@Mb@111 1)1Y5"~j?Q{Gzty5S#?5u5ף5A 5M A)53AI5 A1y5fAIM`IM(*4٢]= ]@=9]Q e>ee eG٣aym(n m> }Nusing accuracyPremultiplier from configq}59u:?5Yu iu $?:"@uoEu;u3;u5  A2lN@1MqMDNOT Ignoring new targets: 49.90 m. jjjji"jhhhh[Bffrfbfp?] $?] $?]@]Lo@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004385< 隭YI9 ɚIԴi?I1 I5II5BI5 =&I1.I16I5H<:I5 FBI ȯCJI ȯCRI ZI bI jI E5GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259407Yw,?hAJBnJ@JB1J@JB|;:J@JB3J@JBJ;JBJ;J@J@Ue@YUs@Ut<9U5=yUH!`?uB?(?@?ɨUe@Ueu;U"Cy}B}IIhIV84٢= F=9<ջQ > G٣y h > Nusing accuracyPremultiplier from config59'?5Y  iS$@qE ';);࢘5YB  AE:lqMMDNOT Ignoring new targets: 49.90 m. jjjji"jhhh!h!f!f!rf)bf-?]]]]gm@t< OI9 ɚ i@`w,nAZ2d@YZ}Qr@Za\<9ZH=yZH s^0?@ʓ (:jٟ?`? j?ɨZ2d@Z̑;Xy~āB~I) Mb@Mb@Mb@ )Y}?5^I?MbX) UG٣QyuJ u> Nusing accuracyPremultiplier from configy59}?5Y}  i}I$?:)@}sE}>;}f=;}⤘5  ABlMtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 49.90 m. jjjji"jhhhhBff!rf!bf%`?]I$?]I$?]@]th@a\< GaIm9 ɚk]iII?ii))E=*F}3(2Fy:FyBF}4JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012362G B O >  $?I !gw,%AzKNKK9KKKgG $k>*kZH4uwytcTD7.'! RKJK ?>b@Y>p@>YT<9>`=y>H`?¥ u |?]??ɨ>b@>Җ;11 5G٣9y=x E> MNusing accuracyPremultiplier from configAM59Es?U5YEV iEQU+U@EuEE:E:Ey5Y e AeEDNOT Ignoring new targets: 49.90 m. jjjji"jhhhhffrfbf@] ] ] ] . g@-YT< )-_I-_9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264379 1ɚ iII8?ii))D9Euu<*F b+2F :F BF 5JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516381 E !YI yU BG 2>B O >mw,kABRa@YBqo@B]<9B͝=yBHi?x٧Fa ???ɨBRa@By;@yŃBNIIVIV_v4٢^j< ^E=9^C:Q b>hl nG٣pyz^ ~> Nusing accuracyPremultiplier from config| 59~뀜? 5Y~g i~ɭ,@~wE~] ;~ ;~O5XB Y AE]DNOT Ignoring new targets: 49.90 m. jYjajajaia"jahahahihifqfqrfqbfu@@]]]]e@]< 隭\I9 ɚYiII?ii)) $?ID-9EEoAEEoAE%] ;E56?E5?Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769461*F^-2F:FBFO0JF"GG>J3K3 K3K3K3"K3JJJ0JJJJـ3Ja@a@a @a @G B O >tw,)A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:23:19:18.0228 6TRx dataTimestamp_ set to:1736378359.312655:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021413B_@YBm@Bs<9B[n=yBH`?-r N?&v^)?@s?ɨB_@B;B#Cy}ЁB}Ii8>IEMb@Mb@Mb@AAA A)AYE333333?rh|~jtyE?EEEA E7 A)EAIEM AAyE AI]I]@4٢m< m2=9uY>;Q > G٣yK > Nusing accuracyPremultiplier from config59Հ?5Y$ i?:0@yED;;S5 ; ADNOT Ignoring new targets: 49.90 m. jjjji"jhhh!h%Bf!f!rf)bf- @]U?]U?]Uq@]U42a@es< aecIm9 iɚmĵiiIiIu欩?iqiq)y)y IhzKnOK 9KKKH!I! I%II%BI!&I!.I!6I%?<:I% FD9Will construct direction to contact in vehicle frame from tetrahedron phase data.<<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272543*J C="J R=E q*Fu p12Fq :Fq BFu /5JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed -0.4 m/s ,DAT read: user:3187> BDAT read: Tx time:23:19:19.1302 $Ping request sent.BO?r}w,hA]@Y!k@p<95=yHwt?<R~@?M 5??ɨ]@rɍ; Cy-ӁBMII}I})4٢ < =9 G٣y^ > Nusing accuracyPremultiplier from config59?5Y  i3@|E2:G:5WB " AE M$?IIu addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.529073 s, deltaX: 2.200005 m, approachRate: 0.623394 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 49.90 m. jyjyjyjyiy"jyhhhhffrf@3P@bf:w?]]]]f^@%p< !%bI%9 !ɚ%i)I)I)i1i1)1)1BDe=:De>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:19.1294 D9EE*E"EJlJdJ1JJ<5:J|9J3JE *FM 42FI :FI BFM a1JFI GU pA GU qAe Will construct direction to contact in vehicle frame from tetrahedron phase data.G2>BO=?Lw,]kA6"[@Y6i@6$<96=y6H`?Y;߿`. L?`_@gF? 3?ɨ6"[@6;4yJŁBJI)L LuMb@Mb@Mb@qqq q)qYubX9?QX9vyuE?uuuA u A)uAIud AqyuAISI4٢;I =9I G٣y + > Nusing accuracyPremultiplier from config59ԡ?5Y i^?:4@E];;5VB  AEDNOT Ignoring new targets: 49.90 m. jjjji"jhhh h Bffrfbf1=?]5?]5?]5@]5&]@E$< AM3sIM9 IɚMGiQIQIYiYia)a)azKmm$JKmŷ9KiKmKmHI IIIBI&I.I6IK<:I FDe9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F62F:FBFP0JF JJG :>B) OE > PExceeded connect timeout, disconnecting.`qw,n04A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:KDZ@Y:Ech@:4=9:=y:H 9@? D#޿@$`;d? `/? i?ɨ:KDZ@:;;:"CyBBFIINYIN4٢VE V\=9VLX\ ^G٣`yb6b b> fNusing accuracyPremultiplier from configdj59f䏀?j5YfK iflnE6n@fEfN;f;f5p r AvõEDNOT Ignoring new targets: 49.90 m. jjjji"jhhhhf!f!rf!bf% ?]I]I]I]Mr[@4= wIz9 ɚUiII i i ) )D9 ]$?Ia*F82F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>J nJ J 0J J |;:J J ـ3J 'Yw,( NA>#X@Y>g@>V<=9>=y>H@e`v?^Lܿ q?Z??ɨ>#X@>!;aa eG٣ayeD m> uNusing accuracyPremultiplier from configi}59m|?}5Ym: im׮}'?}:}5@mEm%;m;m5  ADNOT Ignoring new targets: 49.90 m. jjjji"jhhhhBffrfbf a?]'?]'?]t@]$d\@V<= 隭QxI9 ɚ#iIIii))2DpA*DmAUWill construct direction to contact in vehicle frame from tetrahedron phase data.D`9EpAEqA }$?Iy*FP<2F:FBFJF"GG>jH<bH<H>I III BI =&IFD.I6I<:IR FzKJ3KK9KKK<2;R+  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 2>BA Oe > w,+jAJW@YJe@Jd6g=9J=yJHJ?eۿ`@B?⬿ ?t?ɨJW@J;Hy^B^Iij!>IjV>I I {4٢})߼ }8=9 G٣y0 > Nusing accuracyPremultiplier from config59,g?5Y! i%6@E ; ;u5UB @ AƵEDNOT Ignoring new targets: 49.90 m. jjjji"jhhhhffrfbfY}?]]]]'[@-d6g= )-k{I-29 )ɚ-4i1I1I1i9i9)9)9 enManaging dock network, ignoring radio surface power offMWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiMAD9*FU>2FQ:FQBFQJFY Q IQ G :>B  Will construct direction to contact in vehicle frame from tetrahedron phase data.OE >Nqw, Ay޽BnIMb@Mb@Mb@JmJcJJJ\8:Jx9JJ )YtV?i|?5&1y?qPrA A)AI AyII]4٢i *=9Q > G٣y > Nusing accuracyPremultiplier from config59Q?5Y# i} ?:42@ET&;#;5   A =DNOT Ignoring new targets: 49.90 m. j9j9j9j9i9"j9h9hAhAhEBfAfIrfIbfM@]u ?]u ?]uP@]ui_@ 隅QxIt9 ɚ9EiIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fu ?2Fq :Fq BFu O0JFu  M $?II H >I  I II BI &I ED.I 6I <:I u FBIJIRIZI =bI =jIJ5Gu *>zK} NK} ۵9Ky K} K} /54/,)'%&" B O >Gw,VA2T@Y2>b@23=92E:=y2Hn?woؿI{?@9U d?`?ɨ2T@2;2#Cy:B:TIIB9IB3٢J JZ=9N]=Q N>LL RG٣PyR V> ZNusing accuracyPremultiplier from configTZ59Vk@?^5YVO% iVѯ\^5^@VEVz:V:V05bTB fYAfɵEzDNOT Ignoring new targets: 49.90 m. jxjxjxj|i|h|h|eWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf?@]!]!]!]%5N\@53= 15I5^9 1ɚ=i9I9Iaiaia)a)iBDu=:Du;D9E?E?*FU?2FQ:FQBFYJFYGa Ga Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:19:21.6253 % TRx dataTimestamp_ set to:1736378362.841380G 2>B O >w,A I :R@Y:`@:=9:=y:H}Bu?`=׿ ݷ=?7쵾?s?ɨ:R@:L͎;:CyFqBF6I)` ```If.If3٢rM޽ r?=9rtt vG٣xyz< z> ~Nusing accuracyPremultiplier from config|59~,?5Y~' i~7  7 @~E~P:~A;~5 A̵EDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf u @]A]A]A]E| [@u= y}I}:9 yɚyiyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF0JFJ%nJ%dJ!J!J%|;:J%|9J!J!G :>B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 68.2 m (Round-trip 91.0 ms) speed -0.3 m/s  ,DAT read: user:3188>  BDAT read: Tx time:23:19:22.7302  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config59?5Y) i3?:E1@E|;;75 bAu addTargetRange:: Added new target pos. range: 68.199997 m, deltaT: 3.526975 s, deltaX: 1.899994 m, approachRate: 0.538704 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 49.90 m. jqjjjihhhh|Bffrf Q@bf8?ZHRHAAH>I IIIBI&I.I6IJ<:I F]3?]3?]c;]`@E= AEIMi9 IɚMCiIIIIQiQiQ)Q)YzK&MKж9KKK%560*("BKpA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:19:22.7294 Dm a9*F ?2F :F BF W0JF "G! G% !>) rCWill construct direction to contact in vehicle frame from tetrahedron phase data.GB>YBiO?Qw,A0@ Z;YXyZ3B^؂P@Y^ҡ^@^I=9^=y^H@? ÿտ !Ѓ?`t`o`??ɨ^؂P@^9;^ CyjRBjIIrIr(٢½ ==9 G٣yD- > Nusing accuracyPremultiplier from config59?5Y, i&t2@E:;:&5SB AϵEDNOT Ignoring new targets: 49.90 m. jjjjihh hhffrfbf ?]9]9]9]=B_@MI= QU_IUŏ9 QɚU6iQIQIYiYiY)Y)a2DqA*DrA $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF_0JFG :>B O >_w,AAyFBIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yq= ףp?Mb?Zd;y ?=yA A)AIAyI<I3٢FV 3=9Q >    G٣ y > Nusing accuracyPremultiplier from config%59>?%5Y. i%X ?-:-+5@EdE;B;59 =fA9eDNOT Ignoring new targets: 49.90 m. jajjjih h h h [Bffrfbf?]UX ?]UX ?]Ug=]U7g@ 隍I9 ɚgYiIIii)) $?IH>IC ISIIBI =&I.I6I8<:I FDۺ9zK LK 9K K K   E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF J1 J1 JE lJA JA JA JE <5:JA JA JA JE K?;aU JE N?;aU JE :a] JE :a] GB O->Aw,s0A:6N@Y:U\@:fq>9:>y:HBl?/ſҿWy-?-`m?`Tk?ɨ:6N@:;:"CyF>BFIIN INV2٢V  VB=9V$=Q Z>XX ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f?j5Yf]1 iflnB-n@fEf-;fO;f5rRB rArԵEDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf˨?]]]]d@fq> 8I9 ɚpiIIi i ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data. I!DѸ9*FE?2FA:FIBFMo0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 2>BY O} >w,KA2M@Y24[@2$>92>y2Hbۊ?ƿ@ѿà`?¿@]? _?ɨ2M@238;2 Cy>4B>IMb@Mb@Mb@ )Y/$?q= ףp?y&1y1?=`epA ) AIAyfAI6Im3٢5& 9=9a G٣y# > Nusing accuracyPremultiplier from config59?5Yk4 ik ?:?(@E;;Ø5QB A׵E=DNOT Ignoring new targets: 49.90 m. j9jAjAjAiAhAhIhIhMhBfIfQrfQbfUY|?]u ?]u ?]uY>]ui@$> 隍̌I9 ɚiIIii))BD4<:Dp;Dz9*F?2F:FBF?5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG] J>Ba O} >jH <bH H >I  I II VBI =&I .I DD6I <:I a FWw,dAzKNLKN#9KLKNKNWill construct direction to contact in vehicle frame from tetrahedron phase data.%[?%=y-&B-II=.I=3٢m mP=9mQ u>qq uG٣qy > Nusing accuracyPremultiplier from config596?5Y!7 iʲ@E ;y;Ř5 YADNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf?@]I]I]I]Iy y}YI}9 yɚ}ٵiIIii))JkJJJJ2:JJJJ9;J9;JJDK9*F?2F:F!BF%4JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O > I w,~A6]J@Y6WX@6v)>960 >y6HCB?dȿο`J?"ſVI? C?ɨ6]J@6];6"Cy>$B>IInInT3٢v vS=9v6=Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59̯? 5Y9 i/ y*@E :P:@ǘ5 bA%ڵEEDNOT Ignoring new targets: 49.90 m. jIjIjIjQiQhQhQhYhYfafarfabfexr@]]]]Jg@v)> ͐In9 ɚiIIii))D9=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBF]O0JFYGR>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,;A6I@Y6W@6^0>96w >y6H?2/ɿ`̿@ [>?rſ!H?@Q:?ɨ6I@6;4yBBBIiF>IF4<Mb@Mb@Mb@ )YGz?t>LA hA)$AI$AyAII3٢=. ==9j G٣y& > Nusing accuracyPremultiplier from config59?5Y< i?:'@E;;#ɘ5 A%DNOT Ignoring new targets: 49.90 m. j!j!j!j!i!h)h)h)h-|Bf1f9rf9bf=@]]?]]?]]>]]k@m^0> imQIu9 }$?I}h ɚiIIii))2D *D Hu>IuC IuIIu#BIu =&Iq.Iq6Iu<:Iuk FzK}BIK}9KyK}K}Dʰ9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:19:25.2272 ]TRx dataTimestamp_ set to:1736378366.624279*F?2F:FBFJFJ- lJ- bJ- 1J) J- <5:J- t9J- 3J) J- L?;J- N?;J- U:J- V:G 2>B O >Yw,ʳARxG@YRU@R<>9R >yRH[`?#,ʿzȿAQ? uǿ ?@ +?ɨRxG@R&G;R!Cy^B^IIf,If3٢r rN=9vwxx zG٣xyz| ~> Nusing accuracyPremultiplier from config|59~? 5Y~ ? i~  A)@~E~;~;~ʘ5 AEDNOT Ignoring new targets: 49.90 m. jAjAjAjAiAhIhIhIhQfQfQrfQbfU @]y]y]y]}-h@<> 隝ŘI9 ɚ$iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. IDMw9*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 69.6 m (Round-trip 92.8 ms) speed -0.3 m/s  ,DAT read: user:3189> U BDAT read: Tx time:23:19:26.3302 ] $Ping request sent.] B O >w?w,kA-ZF@Y-yT@-A>9-q >y-HT }&>} 0}A }9A)}7'AI}SAyy}AI3Iʴ3٢ = 0=9' G٣y > Nusing accuracyPremultiplier from config%59$?%5YB i_-?-:-'-@E;;̘55PB 5tA=ݵE addTargetRange:: Added new target pos. range: 69.599998 m, deltaT: 3.786628 s, deltaX: 1.400002 m, approachRate: 0.369722 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 49.90 m. jjjjihhhhBffrf`ffQ@bf?]E?]E?]E>]EZj@UA> Y]Ie9 aɚe ;iaIaIiiiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data. $?ID69EZH RH @AH >I  I II BI &I .I 6I <:I e FBIɰCJIɰCRIZI =bI =jI 5*F 2F :F BF O0JF zK- K- #9K) K- K-  Will construct direction to contact in vehicle frame from tetrahedron phase data.G%B>BQOu>qxw,AjLE@YjkS@jD>9j%>yjHyZ?`7ʿ?Ŀ r?jȿ+?&?ɨjLE@jL-;jCyzBzI)  I%I%3٢] ]?=9e;Q e>ai mG٣iymU m> }Nusing accuracyPremultiplier from configq}59up?}5YuD iu(@uEu;u;uΘ5 AJmJaJJJ\8:Jp9JJJD;JD;J:J:UDNOT Ignoring new targets: 49.90 m. jQjYjYjYiYhyhyhhffrfbfm?]]]]Tvi@D> I9 ɚOiIIi i ) )QBD%=:D Will construct direction to contact in vehicle frame from tetrahedron phase data. i D]9 I*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G2>BIO>w, A ;D@Y ZR@ 9G>9 ;P >y H9$? #ʿ +¿@` ?@ȿ??ɨ ;D@ x; !Cy'BIMb@Mb@Mb@ )Yx&1?ףp= ?ktyA>> ))AI$AypAII2٢ =  =9;Q > G٣yz %> -Nusing accuracyPremultiplier from config!-59%H_?55Y%G i%25>5:5(=@%E%N;%L;% ј5EOB M?AMEuDNOT Ignoring new targets: 49.90 m. jqjqjqjqiqhyhyhyhBffrfbf&?]>]>]M%>]QJi@=9G> AEIE9 AɚMfiIIIIqiqiq)q)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Dը9 $?I*Fi 2Fq :Fq BFu P0JFq H >I  I II BI =&I .I 6I <:I FG :>zK jIK 9K K K s{V7 RK ?JK ?B O > w,(A&Will construct direction to contact in vehicle frame from tetrahedron phase data.fC@Yf1Q@fJ>9fM>yfH`Q)?ʿϿ`?@*ɿ??ɨfC@fi;f Cyv0BvII IV2٢= %A=9%;Q ->)1 5G٣1y=~. => MNusing accuracyPremultiplier from configAU59EP?U5YE(J iEY])]@EEEW;EWH;EҘ5a mAiDNOT Ignoring new targets: 49.90 m. jjjjihhhihififirfqbfu`?]]]]'h@J> I9 ɚ|iIIii)) -vA=ZADU9 ejYevAyeAEmqAEmpAMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F BF O0JF "G G  I hGA BQ Ou >..w,oDA 6A@Y6P@6M>96>y6H$+_?#˿uגR?@3ɿ`*??ɨ6A@67a;6Cy>=B>IIJ*IJ3٢Rx= RA=9R;Q R>TT VG٣TyZ( Z> ^Nusing accuracyPremultiplier from config\b59^tB?b5Y^qL i^`b+f@^E^C:^:^Ԙ5jNB jAnEDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]g@M> I,9 ɚ=iII i i))2D*DpAJnJcJJJ|;:Jx9JJa@a@a@a@Dt9= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= A*Fu ?2Fq :Fq BFq JFq $?I H->I) I)I)I)&I).I)6I-<:I-| FGB>BO>7w,4cAyGBIMb@Mb@Mb@ )YS? rh?~jty>C >#A  A),AISAy\AI0I(3٢= =9Q > G٣y > Nusing accuracyPremultiplier from config591?5YN iYD>:3-@E';$;ט5 ;ADNOT Ignoring new targets: 49.90 m. jjjjihhhhBfzKMK9KKKfrfbf`D;@%Will construct direction to contact in vehicle frame from tetrahedron phase data.]MD>]MD>]Mߝ>]Md@ 隭zIU9 ɚiIIii))*Jq"Jup=DE9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ G :>B O >A w, AyzXBzII8I3٢mۖ= u7=9qQ u>yy }G٣yyy > Nusing accuracyPremultiplier from config59&"?5Y#Q i@E1;1;ؘ5 AEDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf @] ] ] ]  !%GI%t9 !ɚ%⠶i!I!I)i)i1)1)9D$9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:19:28.8287 TRx dataTimestamp_ set to:1736378370.173539*FY2Fa:FaBFm_0JFiJ3K;(3 K;(.K3K3"K3JtJ`J0JJ;N:Jbl9Jـ3JG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.j&w,A:j>@Y:҉L@:R>9:k>y:HVH?ʿ6N?MʿW??ɨ:j>@:-;: CyRdBR&I YIYuMb@Mb@Mb@qqq q)qYu|?5^?A`"? ףp= yu>u=uQ8u"#A u A)u-AIu$AqyuAI0I(3٢m= G=9U- G٣y %> -Nusing accuracyPremultiplier from config!U59%?U5Y%R i%]>]:]3]@%E%3;%/;%ژ5a eNAaDNOT Ignoring new targets: 49.90 m. jjjjihhhhJBffrfbf+ @]M>]M>]M>]M?t^@eR> 隅Is9 ɚ3iIIii))H>I IIIBI&I.IED6I#<:I FBD<:DDҟ9*Fu?2Fq:FqBFqJFqzKmRIKm9KiKmKmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 70.6 m (Round-trip 94.2 ms) speed -0.3 m/s ,DAT read: user:3190> BDAT read: Tx time:23:19:29.9303 $Ping request sent._,w,pAB =@YBK@BfQ>9Bn>yBH PNy?zʿ; ? ʿ ?>?ɨB =@B;@yVsBZ8IIb-Ib3٢j9= jY=9jfɺQ n>ll nG٣pyr& r> vNusing accuracyPremultiplier from configtz59v?z5YvS ivh4@vEvI;v`J;vfܘ5 MB A E addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.542201 s, deltaX: 1.000000 m, approachRate: 0.282310 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 49.90 m. jjjjihhhhffrf`fQ@bf`E?] ] ] ] ]@%fQ> !%I%c9 )ɚ-i)I)I1i1i1)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:29.9295 D9 U$?IY*F%?2F!:F!BF%1JF)GM R>BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,AN#<@YNJ@NN>9N>yNH`Ul,@ɿԝ༩%?ƭɿ Ɔ?b?ɨN#<@N;N"CyZBZGIJjlJjaJhJhJj<5:Jjp9JhJh]Mb@Mb@Mb@YYY Y)YY]S㥛?+?A`"y]$>]=]YY ]| A)YI]AYy]QAIu,Iu3٢b= >=9ǻQ > G٣yڼ > Nusing accuracyPremultiplier from config59~~?5YT iз>;8@E5;;Fޘ5 rADNOT Ignoring new targets: 49.90 m. jjjjihhhhoBffrfbf ?]>]>]K>]`Y@N> (Icn9 1ɚ5xĶi1I1Iyiyi)) Will construct direction to contact in vehicle frame from tetrahedron phase data. -$?I)Db9E*FU ?2FQ :FQ BFU o0JFQ ZH RH AAH >I  I II BI &I .I 6I <:I u F Will construct direction to contact in vehicle frame from tetrahedron phase data.G :>B zK K 9K K K 2mJ/ O>x:w,BAR<@YR/J@R6L>9R>yRH][ʉ Z{ɿ``k`?pɿ ??ɨR<@R;R!CybBbZIif=Ifl>IjIj٢r= r:=9v$Q v>tt vG٣xyzx z> ~Nusing accuracyPremultiplier from config|59~~?5Y~U i~9  9 @~E~.:~P:~35LB  AEEDNOT Ignoring new targets: 49.90 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfU?]y]y]y]}X@6L> 隵5Il9 ɚ>жiIIii))2DrA*DqAD]9]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF QIQGQ Ba O} >Aw,qrA6k;@Y6I@6 K>96?v>y6H`4_ɿ :~`,VK?7ɿ?`?ɨ6k;@6ފ;4y>B>dIIFIF̍٢n = nH=9n"Q n>pp rG٣pyv>ʼ v> zNusing accuracyPremultiplier from configx~59z~?~5YzV iz(:@zEz\:z:z5   A =DNOT Ignoring new targets: 49.90 m. j9j9jAjAiAhAhAhIhIfIfIrfQbfU`?]q]q]q]u:W@ K> 隅OIl9 ɚ۶iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JkJdJJJ2:J|9JJD9*F)2F):F)BF-P5JF1= Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! GQ Ba O >5Gw,; Ay~B~tIH>IC III8BI =&I.I6I<:I FBIECJIECRIAZIE =bIE =jIE@4Mb@Mb@Mb@ )Y r?/$?v/y>,=xi$A  A)`/AIAyAI&I3٢^t= :=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ~?5Y W i  >%;%?%@ E aB; ?; 5) -E A)]DNOT Ignoring new targets: 49.90 m. jYjYjYjaiahahahahmBfifirfibfm?]>]>]E=]dKR@ 隭¿I-g9 1ɚ5i1I1I9i9i9)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMK9KKKD9EEqAJJBA*Fi 2Fq :Fq BFq JFq U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Nw,<A .$?I,Z:@YZ#H@Z%I>9Z+>yZH a`jbȿ?@U??ȿ1?9?ɨZ:@ZZ;Z"CybBbIIn Inb3٢r= vE=9vQ v>xx zG٣xy~AX ~> Nusing accuracyPremultiplier from config 59~? 5YX ir  ;A @E ;m ;5 % A%EUDNOT Ignoring new targets: 49.90 m. jQjQjQjQiYhYhYhYhYfafarfabfeg@]]]]hP@%I> 隥¾Ice9 ɚiIIii))D9*F?2F!:F!BF%P0JF!eWill construct direction to contact in vehicle frame from tetrahedron phase data.G BaO5 >oUw,VAJo9@YJԎG@JF>9J>yJH`c謹Eǿ? ?ȿ@? *?ɨJo9@JH;HyޝBޝIWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQuMb@Mb@Mb@qqq q)qYuRQ?Mb?Mbyu>u G٣yȍ > Nusing accuracyPremultiplier from config59ö~?5YEX ix> ; F@E!;;5  ADNOT Ignoring new targets: 49.90 m. jjjjih h hhBffrfbf% @]x>]x>]i\,=]L@F> GIz9 ɚiIIii))jH-<bH-4=H5>I1 I5II5VBI1&I1.I16I5<:I5c FD% ,9E5 R>E5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:23:19:32.4301 m TRx dataTimestamp_ set to:1736378373.696879zK yJK ۵9K K K  *F ?2F :F BF P5JF *J "J a=J nJ bJ J J |;:J t9J J J J;a J J;a J U:a J V:a )5= 5wCG Yy:AGYBO ?*]w,*yA2Y8@Y2SF@2D>92s>y2H@{d 2vǿ8?4?NrȿR]?@ ?ɨ2Y8@2;2 Cy>B>IIRIR 3٢b = bB=9bQ f>dd fG٣dyj_Ѽ n> rNusing accuracyPremultiplier from configlr59n~?v5YnkX inttvFv@nEn:n:n5~KB ~H A~E-DNOT Ignoring new targets: 49.90 m. j)j)j)j)i)h)h1h1h1f9f9rf9bf=, @Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I]]]]>hK@D> aIg9 ɚiIIi i ) ))Du9*F 2F :F BF @5JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.3 m/s u ,DAT read: user:3191> } BDAT read: Tx time:23:19:33.5303  $Ping request sent. βdw,Af7@YfޡE@f?>9f>yfHd`k괿Pyƿ?'?ǿ fs?`?ɨf7@ff;f"CynÁBrIiv;>Iv4UU\U%A U A)QIQQyQIm)ImW3٢; /=9$Q > G٣y) > Nusing accuracyPremultiplier from config59~?5YQX iM> ; G@ @E8<48<5Q U> AQ addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.535237 s, deltaX: 1.099998 m, approachRate: 0.311153 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 49.90 m. jj j j i h h hhȄBffrfQ@bf`#?]]M>]]M>]]/3]]4G@?> 隕GIo9 ɚPiIIiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:33.5295 Ii))2D!*D%rAH>I I:IIuBI&I.I6I<:Iq FDm ;9*F 2F :F BF P5JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.} <} <zK RKK k9K K K  "& JlJ^J1JJ<5:Jd9J3JJL?;JN?;J:J:GBO->"Llw,:A>6@Y>E@>;>9>b>y>Heg]ſ9?6@>͊;>!CyvƁBvII~I~Ʋ٢ X<  8=9Q >!! %G٣)y- 5> ENusing accuracyPremultiplier from configAM59EŎ~?M5YE/X iEsQUF@U@EEE;E0;E5]JB ]! A]EDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf?]]]]F@;> Ia9 ɚuiIIii)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.De9*F?2F:FBF4JFG% B>B1 OU >9J>yJH`e (ſ@?|?`ƿ? ?ɨJ.6@J%;HyޥɁBޥII-I-٢Q< 2=9Q > G٣yFڼ > Nusing accuracyPremultiplier from config59 ~?5YW i5F@@E;;5  A-DNOT Ignoring new targets: 49.90 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=@?]a]a]a]e5F@}=:8> y}ǿI}-l9 yɚ}iyIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D[9*Fe ?2Fa :Fi BFm 4JFi ZH RH H >I  I SII BI &I .I 6I 3<:I FGm :>B O >Uzw,dAJk5@YJdC@JH4>9J >yJH`d@BlĿJ*?@o@w?ZkƿR_?!?ɨJk5@J*;J$CyVāBVI=Mb@Mb@Mb@999 9)9Y=Zd;O?Mbp~jty=j>===f&A = A)=,AI=A9y9I]I](٢mʼ mG=9mQ u>qq uG٣qy}ļ }>Will construct direction to contact in vehicle frame from tetrahedron phase data. %Nusing accuracyPremultiplier from config!-59%t~?-5Y%W i%k-g>5 ;5E@5@%E%H;%;%59 ]2 AYzK}A}LK}9KyK}K}DNOT Ignoring new targets: 49.90 m. jjjjihhhhɄBffrfbf?]g>]g>]ж@]1E@-H4> )-GI--f9 )ɚ5Q!i1I1Iyiyiy)y)yBD<:D;JoJ`JJJ>:Jbl9JJJ~O;JO;J*:J,:Du9E}rAE}rA A IA } Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF "G G >GB!OE>w,EAy BII%&I%3٢5P 52=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configI]59Mg~?]5YMW iMYae@MEMsQ;M 2;M5mIB mD AuEDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf?]]]] 隝¿If9 ɚ'iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D%x9*F?2F:FBFO0JF = $?I9  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >6Pw,]"A>[4@Y>zB@>1>9>w3">y>H Yr`}ÿ?W@S?!ƿ?`?ɨ>[4@>;>"CyFBJIH\I\ I^fII^BI\&I\.I\6I^8<:I^ FEMb@Mb@Mb@AAA A)AYE/$?ˡEyE&>EE什E%A A)E)AIAAyEAI](I]̍3٢m珼 mA=9u簻Q u>qy }G٣yy}5 }> Nusing accuracyPremultiplier from config59\~?5YEW ia>;E@@E;;z5 c AMDNOT Ignoring new targets: 49.90 m. jIjIjIjQiQhQhQhYh]Bfafarfabf Q@]>]>]/3]E@1> INi9 ɚ -i I Iii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.zK:IK9KKK   DMڄ9J@AJAAJkJbJ0JJ2:Jt9Jـ3JJ9;J9;JU:JV:*F2F:FBFJF I G B O >ڎw,M>AWill construct direction to contact in vehicle frame from tetrahedron phase data.V3@YVA@V0>9V#>yVH`*U^~`{=ÿN?`MȔ?7ſ? ?ɨV3@V;V CybBbI f=fp=Ij+Ijn3٢rV rG=9r׍Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config 59P~? 5YW iֽ{D@@E:;);G5  AEDNOT Ignoring new targets: 49.90 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf]{y@]y]y]y]}3{D@0> 隕YI]9 ɚ3iIIii))D9*F=?2F9:F9BF=n0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:19:36.0315 TRx dataTimestamp_ set to:1736378377.233823GeB>BiO>ϼw,XA2hT3@Y2bsA@2`.>92ZT#>y2H |P(j¿ e¿`? D`"?ſ`" ?#?ɨ2hT3@2\|;2$CyNBNIUMb@Mb@Mb@QQQ Q)QYUV-?I +?{GzyU>U9Q > G٣y% > Nusing accuracyPremultiplier from config59BE~?5YV iH>;HH@@E;;5  AEDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf @]>]>]=]7HH@-`.> 15pI5d9 1ɚ59i9I9I9iAiA)A)A $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<H >I  I I I  =&I .I 6I )<:I  FBIŲCJIŲCRIZI =bI =jIū4D-9*F2F:FBF]0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed -0.2 m/s 5 ,DAT read: user:3192> 5 BDAT read: Tx time:23:19:37.1303 = $Ping request sent.= 5囀w,qAzK/LK-9KKK*JnR="Jlm2@Ymz@@mX,>9m&#>ymH LIÿo¿ ÿ? ;?qſ?`J%?ɨm2@mL;m#CyBjII9I3٢F ;=9Q > G٣y > -Nusing accuracyPremultiplier from config5599~?55YV i9=G@=@E;;5A Ej AA addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.530777 s, deltaX: 1.000000 m, approachRate: 0.283224 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 49.90 m. jjjjihhhhffrf,R@bf Dk?]]]]1G@]X,> Y]Iej9 ɚa@iIIii)) I]Will construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:19:37.1295 D ~9*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO=>m?w,БAJmJdJ1JJ\8:J|9J3JaE@aE@aM@aM@yUBucI)y y-Mb@Mb@Mb@))) )))Y-uV?v/?{Gzy-r>-xi=)-%A ))-(AI-A)y-AIEIEF٢Uð U=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59u;+~?}5YuKW iuC˯>;]˯>]/>]N@  µI :w9 ɚ Fi I Iii))BD%<:D%= IWill construct direction to contact in vehicle frame from tetrahedron phase data.D] |9EaH! I!  I% YII% BI! &I! .I% FD6I% <:I% s F*F ?2F :F BF JF "G G 5Will construct direction to contact in vehicle frame from tetrahedron phase data.G=B>ByO>;w,sAyBPII%I%[3٢5 5H=99Q =>99 EG٣AyA E>zKMBoIKM9KIKMKM  ]Nusing accuracyPremultiplier from configYe59]D ~?e5Y]W i]iim@]E]B;];]5q uAyDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf).?JAAJBA]]]] IBO->nw,j4A21@Y29?@2{#>92&>y2H@58ƿdX?~?@F`Ŀoe?-?ɨ21@2;2 Cy>|B>CIIFIFF٢NY NV=9RQ R>PP RG٣TyV) V> ZNusing accuracyPremultiplier from configX^59Z~?^5YZW iZ `bEb@ZEZ;Z1;Z5d fbAd~DNOT Ignoring new targets: 49.90 m. jjjjihhh h f f rfbf@H?])])])]-=M@E{#> AECIEZ9 IɚMaRiIIIIQiQiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFC5JFJJbJJJJt9JJGBO=> Q IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,9 AZHB?ARHB?AHDID IF@IIFzBID&ID.IFED6IF<:IFg Fr0@Yr>@r#>9rA'>yrH,{ǿ}Iw? ?@ZfĿQ?`+?ɨr0@r? ;r#CyzyBz@Ii~=I~=Mb@Mb@Mb@ )Y)\(?RQ?333333yG>="#A )f&AIy=AILI4٢= :=99Q > G٣y > Nusing accuracyPremultiplier from configU59@ ~?]5YuX ik]Ƭ>];]=]@‹E<<5eGB mqAmEDNOT Ignoring new targets: 49.90 m. jjjjihhhh'Bffrfbf ?]Ƭ>]Ƭ>]>]CT@#> 隥I~9 ɚLXiIIii))EEqA*F?2F:FBFA5JFGrA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KKK G B O > 9 IA 0þw,A2`/@Y2Z>@2$>92Y&>y2H`ȿ+c??`bĿ11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E}?M5YEX iEIUh>U@EËEE:E:Ed5Y ]AYDNOT Ignoring new targets: 49.90 m. jjjjihhhhffrfbf >@]]]]pS@$> I]]9 ɚq]iIIii))*FU?2FQ:FQBFUO0JFQGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.J nJ gJ 0J J |;:J 9J ـ3J ?ŀw,Arv/@Yr=@r %>9rX&>yrH`/ɿ?@? W? NĿvt?(+?ɨrv/@r;pybB$IMb@Mb@Mb@ )Y/$?x&?L7A`尿y>7 >+$A 9A)7'AIyAI6Im3٢p >=9DO:Q > G٣y > Nusing accuracyPremultiplier from config59}?5YY iW>;7@ċE;;A5 (A =DNOT Ignoring new targets: 49.90 m. j9j9j9j9i9h9h9hAhE BfAfIrfIbfM`[@]mW>]mW>]meT>]m tZ@} %> y}\ISp9 ɚ$ciI $?II)i)i))))12D5*D5BD=:D=-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF!HyIy I}'II}fBI} =&Iy.Iy6I}<:I}D FGA BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.=ˀw,S1A:*.@Y:$=@:%>9:*&>y:H -ʿ @? +? Ŀx?3*?ɨ:*.@:;: CyFZBFI)H HLNAIRFIR%3٢VW7 Z_=9Z:Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from config`j59b}?j5YbZ ibWhj28n@bŋEby;b;b5p veAvEDNOT Ignoring new targets: 49.90 m. jjjjihhhh!f!f!rf!bf% ę@]I]I]I]MY@zKRIK9KKK%> vIe9 ɚhiIIi i ) ))*F2F:FBFV0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:19:39.6325 ETRx dataTimestamp_ set to:1736378381.013488G2>BO>Ҁw,zKA:)t.@Y:"<@:%>9: '>y:H]˿^翿}?FW?Ŀ@?p)?ɨ:)t.@:{;8yBSBBIIN/IN3٢VA  VK=9V:Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b}?j5Yb[ ibhj8j@bƋEb.;b.;b 5p rAp DNOT Ignoring new targets: 49.90 m. j j j j i hhhhffrfbf% @]9]9]9]=sY@U%> QU6I]b9 Yɚ]#niYIYIaiaii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFJ3K3 K/.KK"KJ lJ aJ 1J J <5:J p9J 3J GU:>ByO> IE Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 23:19:39.6326 LVL= 16864, 12945, 11890, 22003, AGC= 58, IDX= 439, 0.26,-0.802, 1.099, 1.765, 0.851, PHS=-1.565, 0.295, 0.911, RAW= 256.2, 3.3, CAL= 260.9, 4.7, ROT= 249.1, -4.7  Ygot valid direction response: 23:19:39.6326 LVL= 16864, 12945, 11890, 22003, AGC= 58, IDX= 439, 0.26,-0.802, 1.099, 1.765, 0.851, PHS=-1.565, 0.295, 0.911, RAW= 256.2, 3.3, CAL= 260.9, 4.7, ROT= 249.1, -4.7  PDAT read: Bearing 249.1, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 249.1, -4.7 (Local)  DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.0 ms) speed -0.1 m/s  ,DAT read: user:3193>  BDAT read: Tx time:23:19:40.7304  $Ping request sent. M L7i?M @M k= M ̶@)M =IM @iM I I M ,` yO\?4U?)M 2@IM hiM a8ɿM n?I I  :publishing transmit ping time  Fpublishing direction and range infoI 9M E!eF;sdտX(yI I I I I )I II iI I I I I I )I II iI I I M ,` yO\?4U?)I II iI I I I ؀w,VeAjH<bH<HI IIILBI =&I.I6I<:Io FZ!-@YZ<@Z&>9Z'>yZH@ @̿v?`Z@?Ŀ`?`C'?ɨZ!-@Z;Z#Cytt%Mb@Mb@Mb@!!! !)!Y%7A`?ˡE?V-y%>%'>%m%#A %hA)%f&AI%A!y%AI]&I]3٢m0N m%=9u*:Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config59}?5Y] i>;3@NjE=;; 5 Ak}~q?k}w#P ky k}aA:k}BBk} BZk}!?"}5$"m8gaQQ}E!eF;sdտX(Jk}a8ɿRk}n?*}4@,@zIۍ$@I$3Q} p?bRz?ڄ>"k}n$A*k}bAk}sy?k}O]N 2k}gk}#?kykyk}$Ak}0? addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.777135 s, deltaX: 0.800003 m, approachRate: 0.211802 m/s, rangeRepo size: 4  Added new target pos. range: 73.500000 m, bearing: 36.035504 deg, lat: 36.904436 deg, lon: -122.119935 deg, deltaT: 61.273553 s, deltaX: 23.599998 m, approachRate: 0.385158 m/s, posRepo size: 4 DNOT Ignoring new targets: 73.50 m. jjjjihhhhBffrf`R@bfW?]5>]5>]5B?]5 ^@m&> imIm9 qɚuBI Oe > $?I ߀w,1AN-@YN;@N#&>9N'>yNH@aͿ~2U? ?`(Ŀ?@&(?ɨN-@N;;N CyZNBZ Ii^=I^= b=b=IfIfF3٢j n=9nҽQ n ?pp rG٣pyv= v ? zNusing accuracyPremultiplier from configtz59v}?~5Will construct direction to contact in vehicle frame from tetrahedron phase data.Yv^ iv$ 3 @vȋEv[;v[;v+ 5FB AE=DNOT Ignoring new targets: 73.50 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfU`r?]]]]:^@5#&> 9=I=HQ9 9ɚ=xi9I9IAiAiA)I)I*F?2F:FBF3JFG:>B9O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,uAy޵MBޱ 1I1]Mb@Mb@Mb@YYY Y)YY]Cl?NbX9?y]ߏ>]E>]L]Q"A ]A)]%AIYYy]AI}I}(*2٢ & 1=9Q > G٣y > Nusing accuracyPremultiplier from config59}?5Y_ i_g>;j.@ɋE94;F1;.5 ADNOT Ignoring new targets: 73.50 m. jjjjihhhh̓Bffrfbf`J2?]%g>]%g>]%?]%~c@1 9=I=9 9ɚ=~i9I9IAiIiI)I)I Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFH>I III8BI&I.I6I<:I FBIJIRIZI =bI =jI Will construct direction to contact in vehicle frame from tetrahedron phase data.7#w,A6x,@Y6q:@6d&>96%>y6HS~Ͽ@??`o?.ĿE?K+?ɨ6x,@6X;6"CyRUBRIIZIZ(*٢bD>= bm=9b<:Q b?dd fG٣dyj>8 j? MNusing accuracyPremultiplier from configI]59M}?]5YM` iMYeg/e@MʋEMz@;M@;M5i mAiJJJJJJJJJL?;aJO?;aJ:aJ:aDNOT Ignoring new targets: 73.50 m. jjjjihhhhffrfbf9i?]]]] b@d&>  I rr9 ɚ ki I Iii))E!E%nAzKBHK9KKKRK>JK>*F2F:FBFO0JF"G!>G]> -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.GB>B)OE> w,CA6g+@Y6`:@6rC(>96v'>y6H& r_п@w@=m?R@?;Ŀ#?%?ɨ6g+@6+;4y^XB^I)` `ddIjFIj%3٢rz< rH=9r;Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~}?5Y~Hb i~0@~ˋE~:~:~y5EB dA EDNOT Ignoring new targets: 73.50 m. jjjjihhhhffrfbf?]9]9]9]=b@MrC(> IU&IU|9 QɚUiQIYuWill construct direction to contact in vehicle frame from tetrahedron phase data.Iyiyi))*F 2F:FBFP0JF IG-:>B9O]>% Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH @ARH @AH! I!  I% II% .BI! &I! .I! 6I% K<:I% F5w,gAydB&I5Mb@Mb@Mb@111 1)1Y5Cl?(\?kty15G>5 01 5hA)1I11y5AI?IT3٢]7= $=9Q > G٣y > Nusing accuracyPremultiplier from config59j}?5Yc i>;0@̋E;;51 5 A1uDNOT Ignoring new targets: 73.50 m. jqjyjyjyiyhyhyhhBffrfbfU@]>]>]M?]b@ I9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JnJcJJJ|;:Jx9JJJJ;JJ;J:J:) uc~GvAZA*F?2F:FBF 5JFzK}\KK-9KKK  FY vAy A  I G B O >Rw,ZA>Will construct direction to contact in vehicle frame from tetrahedron phase data.b *@Yb8@b,>9bS*>ybH@`djѿ ^Xd?X?hſs?g?ɨb *@b{;b!CynjBn.IIv/Iv3٢~= ~z=9~: Izd9 ɚiIIii))*F]?2FY:FYBF]P0JFY%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>2zw,*Az-e*@Yz&8@z->9z*>yzH@}nѿ_ h ?`F?ߢſ?@?ɨz-e*@z~;z#Cy yB ?Ii=I< ]$?IYMb@Mb@Mb@ )YMbX?K7?~jty>I> A)$AIyAI*I3٢= ==9ވ;Q > G٣y > Nusing accuracyPremultiplier from config59}?5Y}f iN>;K0@΋E6;Z4;5 DB ]AE=DNOT Ignoring new targets: 73.50 m. j9j9j9j9i9hAhAhAhEBfIfrfbf`q@] >] >] k ?] a@-> I%9 !ɚ%i!IAIIiIiI)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉBDAT read: Rx Time:23:19:43.2333 TRx dataTimestamp_ set to:1736378384.541127*F?2F:FBF_0JFHm>Ii IiIiIi&Ii.Ii6Im<:Ims FGA BI Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.7 w,4A6 )@Y68@6/>96L#+>y6HoDҿI`ǂ?s7+? ſ`?+?ɨ6 )@6;%;6"Cy^B^LIIf.If3٢rV= r[=9v:;Q v>tt zG٣xyzɋ z> Nusing accuracyPremultiplier from config 59}? 5Yg it 0@ϋE::5J@AJ@AJ%qJ%fJ%0J!J%D:J%9J%ـ3J!J%KZ;J%NZ;J%:J%:9 = A9}DNOT Ignoring new targets: 73.50 m. jyjyjjizKk3IKk9KKKRK ?JK?hhhhf frfbf%`O @]]]]na@/> 8I9 ɚ3iIIii))  IIQ*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:19:43.2333 LVL= 18720, 13761, 13250, 23283, AGC= 57, IDX= 431, 0.11,-1.010, 0.696, 1.605, 0.525, PHS=-1.448, 0.218, 1.077, RAW= 250.5, 1.4, CAL= 254.3, 2.4, ROT= 255.7, -2.4 Ygot valid direction response: 23:19:43.2333 LVL= 18720, 13761, 13250, 23283, AGC= 57, IDX= 431, 0.11,-1.010, 0.696, 1.605, 0.525, PHS=-1.448, 0.218, 1.077, RAW= 250.5, 1.4, CAL= 254.3, 2.4, ROT= 255.7, -2.4 PDAT read: Bearing 255.7, -2.4 (Local) ~Local bearing/azimuth received: Bearing 255.7, -2.4 (Local)  DAT read: Range 10 to 50 : 74.0 m (Round-trip 98.7 ms) speed -0.2 m/s ,DAT read: user:3194> BDAT read: Tx time:23:19:44.3304 $Ping request sent.ٝ#ۉ?ٝ@ٝ+< ڝ%@)ڝ+=IڝPώ@iڝ+ڙڙ۝8嵌W?e8?)۝,@I۝>Ǽi۝۝x?ۙۙE:publishing transmit ping timeEFpublishing direction and range infoؙ9؝N x?/:ۿU$yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝8嵌W?e8?)ۙIۙiۙۙۙۙG 2>B O >Nw,NA:X)@Y:Q7@:e0>9:_+>y:H]@ҿH_?y%`R\?`ſ[?@?ɨ:X)@: ;:$Cy^BbeIIf,If3٢nw= rK=9r;Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx59zVu}?5Yzh iz%1@zыEz;z;zX5 k AkiȂ?k] k k}BA:kBBkBZk6P?"êK?B'&{?%N7PN x?/:ۿU$JkRkx?*n(Y.@R߬V0@:P, Q"앹?kQB?ᇟ|"kA*k4wAkN?k 2kkpl?k kMBkAke?m addTargetRange:: Added new target pos. range: 74.000000 m, deltaT: 3.527995 s, deltaX: 0.500000 m, approachRate: 0.141724 m/s, rangeRepo size: 4 } Added new target pos. range: 74.000000 m, bearing: 46.600490 deg, lat: 36.904455 deg, lon: -122.119928 deg, deltaT: 3.527995 s, deltaX: 0.500000 m, approachRate: 0.141724 m/s, posRepo size: 4 DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfR@bf?]]]]`@e0> +IJp9 ɚ]iIIii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:44.3296 *FY2FY:FaBFe:2JFa 9I9GM:>BaO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.jH] <bH] =Hi Ii  Im IIm =BIm =&Ii .Ii 6Im U<:Im F#w,֪hAy%B%kI)) )Mb@Mb@Mb@ )Y(\?K?+y>^:>!A )%AI$AyzAI9I3٢A< :=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 #;2@ ҋE ; (; C5) -9 A-E]DNOT Ignoring new targets: 74.00 m. jYjYjYjYiYhahahaheBfifirfibfm`u?]Uͥ>]Uͥ>]U?]Ual_@ 隥pIH9 ɚiIIii))1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JF*J9"J=4=JEmJEdJE2JAJE\8:JE|9JEc3JAJED;JED;JE:JE:zK K K K K BK qA:K pA - $?I) G1 B9 OU > w,AB(@YB7@B1>9Bd+>yBHCFlUӿN`?+ ?ƿ 5 ??ɨB(@B䓊;B!CyJBJIIV$IV<3٢^> ^`=9^";Q b>`` bG٣dyj߼ j>vWill construct direction to contact in vehicle frame from tetrahedron phase data. ~Nusing accuracyPremultiplier from configx59z`}? 5YzKk  tIizU3@zӋEz`a;zqa;z5 X A!EDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhIhIhQhQfQfQrfYbf]@,?]9]9]9]= ^@M1> IMpIMc9 QɚUiQIQIYiYiY)Y)a2DmqA*DmrADBw9*FU?2FQ:FQBFU1JFQGY G]qAWill construct direction to contact in vehicle frame from tetrahedron phase data.G B ) I1 Oe >K'w,tAy%ɁB-IMb@Mb@Mb@ )YPn?jt?~jty> >Q"A )$AISAyQAII(*2٢= +=9Q > G٣y > Nusing accuracyPremultiplier from config 59sU}? 5YXl i- ٛ> .; 6@ԋE3;W1; 5  AUDNOT Ignoring new targets: 74.00 m. jQWill construct direction to contact in vehicle frame from tetrahedron phase data.jYjjihhhh9Bffrfbf`?]]ٛ>]]ٛ>]]K ?]]f[@q qu(I49 ɚiIIii))H>I III[BI&I.I6IJ<:I FDmu9*FU ?2FQ :FQ BFU c1JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ ?Օ I?G B) OE >-w,9^,>y^H0ӿ`K??Bƿ+??ɨ^Q(@^Ϊ;^"CyjہBjIin >Int> rp=ra=Iv)IvW3٢~= ~J=9[;Q > G٣ y >zK5K59K1K5K5 MNusing accuracyPremultiplier from configIU59MvK}?U5YM IV9 ɚew iiIiIiiqiq)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.D*Fa2Fa:FaBFeP5JFaG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >5w, Ar'@Yr5@r5>9rj$.>yrH eYԿ@n -?vtV?ƿiR? ?ɨr'@r!;py~B~II /I 3٢= B=9[;Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595cA}?=5Y5n i5AE8E@5֋E5Q;5aB;5$5Q U AQDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf*@]]]] Z@m5> quI}>9 ɚiIIii)) IhD%qt9Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHI IMIIBI&I.I6Ie<:I FBIaJIaRIaZIe =bIe =jIeȏ5*F?2F:FBF 5JFG 2>B O >|;w,.A>,+'@Y>%J5@>z6>9> %/>y>H`7 xտLiu&?`?ƿ@p?C?ɨ>,+'@>r;>#CyF BJI%Mb@Mb@Mb@!!! !)!Y%X9v?Mb?kty%}>%>% 0% A !)%%AI!!y%AIEHIE<3٢U= U>=9Uv:Q U>YY ]G٣YyeM e> mNusing accuracyPremultiplier from configau59e7}?u5Yen ie}>};;}f<}@e׋Ee&;e%;el&5  ADNOT Ignoring new targets: 74.00 m. jjjjihhhhqBffrfmWill construct direction to contact in vehicle frame from tetrahedron phase data.bf "@]>]>]>]͸U@z6> I΋9 ɚ i I I ii))zKk3IK-9KKK IDMIu9*F?2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:19:46.8342 % TRx dataTimestamp_ set to:1736378388.084679G :>B O >Bw, A2&@Y24@2K6>92/>y2H@D@jZտ`$`z? `:?@ƿ?`?ɨ2&@2J5;2$Cy>!B> I)@ @DDIJ9IJ3٢R= RI=9R:Q R>TT VG٣TyZv^ Z> bNusing accuracyPremultiplier from config\b59^`.}?f5Y^Do i^hj<j@^؋E^5;^N3;^3(5nBB n AnEDNOT Ignoring new targets: 74.00 m. jj j j i h hhhffrfbfc @]9]9]9]="_U@UK6> QUI]F9 YɚYiYIYIaiaia)a)AD%u9*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JqJqJqJqJqJqJqJqa}@a}@a}@a}@G A IA B O >tHw,T%AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.7 ms) speed -0.2 m/s ",DAT read: user:3195> "BDAT read: Tx time:23:19:47.9304 &$Ping request sent.&9eD/>yeH@Xտ ? X1?ƿ ?P?ɨe$u&@e;e Cyu9Bޝ, IMb@Mb@Mb@ )YZd;?zG?~jty~> =D!A )IAyI)IW3٢ɹ= =9:Q > G٣y2 > %Nusing accuracyPremultiplier from configM59#}?}5Yo iG>A;A@ًEY<Y<p*5 IA addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.544009 s, deltaX: 0.699997 m, approachRate: 0.197516 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 74.00 m. j j j j i hhhhBffrf̬R@bf`-?]>]>]Q>]_xP@7> 隕I9 ɚ׳iIIii))DyEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:19:47.9296 *F?2F:FBFJF% ~G5 |uAM A Y |uAy %BJ AAJ BAG B O% > E $?IA zKE BoHKA KA KE KE /<<85.,*++,,**$%%&%# !!!RKU ?JKU ?POw,2?A>.&@Y>M4@>"7>9>ղ.>y>H`տ@ͯ@E?C?`ƿ@b?O?ɨ>.&@>;>"CyVNBZF IIbIb1٢f5> j=9jȺQ j?ll nG٣lyrk r? vNusing accuracyPremultiplier from configtz59vg}?z5Yvo ivtxzAz@tv:v:v+5 A-DNOT Ignoring new targets: 74.00 m. j)j)j)j1i1h1h1h1h9f9f9rf9bfE`M,?]Y]Y]Y]]/P@u"7> qu3Ius9 qɚuiyIyIyii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.DIu9*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >XUw,YAJ&pJ&gJ$J$J&A:J&9J$J$V2)&@YV+H4@V>6>9V2p1>yVHUfտ:`&? _ ?ƿi??ɨV2)&@V;TybTBbM IIj+Ijn3٢< G=9 W Q  >   G٣yT > %Nusing accuracyPremultiplier from config-59K}?-5Y;p i)-A-@ڋE ::-51 =rA=EeDNOT Ignoring new targets: 74.00 m. jajijijiiqhhhhffrfbf 7|? I])])])]-+P@>6> 隝ْI9 ɚ&iIIii))*F2F:FBF71JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbHp<H>I IIIBI&I.I6I6<:I FG B O >#\w,rAyrkBvj I}Mb@Mb@Mb@yyy y)yY}X9v?L7A`?y&1y}}>}+=}`ey }A)}$AI}SAyy}AII#Will construct direction to contact in vehicle frame from tetrahedron phase data.٢= @=9Q > G٣y > Nusing accuracyPremultiplier from config59l }?5Y-p i|>J;G@@ۋE:;8;e/5AB AE DNOT Ignoring new targets: 74.00 m. j j j j i hhhhDŽBffrfbf m?]E|>]E|>]E+>]EG@Y ae IeG9 aɚeiaIaIiiii))))1E=qAE9*F?2F:FBF?5JF"G>G> IzK]+MKYKYK]K]    GB>BO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. cw,ŒA6G%@Y6A4@6z4>960>y6H,ֿ7ѻU? ?~ƿv?` ?ɨ6G%@6.=;4y>tB>u IIFIF(1٢N|K= N]=9RhQ R>PT VG٣TyV/ V> ^Nusing accuracyPremultiplier from config\b59^}?b5Y^p i^?dfG@f@^܋E^%;^:^15h jgAhDNOT Ignoring new targets: 74.00 m. jjjjihh h h f frfbfW?]1]1]1]5pG@z4> IF9 ɚ Fi I IAiIiI)I)Y*F-?2F):F)BF-O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.J}nJ}iJ}0JyJ}|;:J}ڈ9J}ـ3JyGu:>B $?IO% >] Will construct direction to contact in vehicle frame from tetrahedron phase data.;Fiw,?AH@I@ IB IIBBIB =&I@.I@6IB9<:IB FyrBr IxxMb@Mb@Mb@ )Yv? ףp= ?p= ףyx>Q8= A)%AIAyAI%I)3٢ =  4=9 Q >!! %G٣!y- -> =Nusing accuracyPremultiplier from config9E59=|?E5Y=o i=MՂ>MO;M6C@M@=݋E=';=;=35Q ]A]EDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf`D@]Ղ>]Ղ>]j;>]6C@ QI 9 ɚiIIii))*FM?2FI:FIBFMP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.GmB>ByO> I zKU [LKU k9KQ KU KU 52pw,A J6K%@YJ/j3@J4>9Jã5>yJH dֿ@ĺ`? Ub?`[|ƿhh jG٣lynؼ n> rNusing accuracyPremultiplier from configpv59r||?v5Yro irxzB@z@pr` ;r ;r45| ~}A|%DNOT Ignoring new targets: 74.00 m. j!j)j)j)i)h)h)h1h1f1f9rf9bf= @]Y]Y]Y]]yB@m4> imIm~9 qɚuaiqIqIyiyiy)y)2D*DBD:DEMV>EM>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JFGqA GrAG2>BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data.[vw,;AJ*mJ*pJ*1J(J*\8:J*^9J*3J(F%@YF/3@Fl3>9F25>yFHֿbO?`?Y@|?@Sƿ@/?@r?ɨF%@F%։;F"CyRBR II /I 3٢5 K= 5D=9=DQ =>9A EG٣AyET E> UNusing accuracyPremultiplier from configI]59M9|?]5YM_o iM6Y]oB@]@MދEM&:MC:Mj65a m"AmEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf$@ iIq]i]i]i]mToB@l3> QI9 ɚtiIIii))*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:19:50.4352  TRx dataTimestamp_ set to:1736378391.613838ZHqRHqH>I I: IIEBI =&I.I6I8<:I FG :>B O% >؀|w,PqA6$@Y62@6;2>96I3>y6H@\@Y4׿@Jmd?Pa?*ƿ ??ɨ6$@6߉;6 CyRBR IiV>IV< V=V=]Will construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5e;O?S㥛?㥛 y5t>5/<55Q"A 5$A)5#AI11y53AI*I3٢< B=9YFQ > G٣y, > Nusing accuracyPremultiplier from config59D|?5Yn i>S;>@@ߋE;;A85 A=PExceeded connect timeout, disconnecting.=DNOT Ignoring new targets: 74.00 m. j9j9jAjAiAhAhAhIhMBfIfIrfIbfUdt @]m>]m>]mc=]m>@;2> 隅3I9 ɚiIIii))*FM?2FI:FIBFMo0JFI m$?IizK}m$JK}89KyK}K}G2>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 75.4 m (Round-trip 100.6 ms) speed -0.1 m/s % ,DAT read: user:3196> -% Z#Rx 10: Read range message, but no direction. y ̖B rjw,SA2[$@Y2T2@20>92hj0>y2Hc׿ ᰹`?`J@ ? 1ƿ??ɨ2[$@2;2#CyNBN IIV5IV3٢^ b]=9b_^Q b>`d fG٣dyfB# f> nNusing accuracyPremultiplier from confighn59jK|?r5Yjn ijpr=@r@jEj;j>;j95t zAx% addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.527988 s, deltaX: 0.700005 m, approachRate: 0.198415 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 74.00 m. j)j)j)j)i)h1h1h9h9f9fArfER@bfE Z?]a]a]a]eV=@u0> y}I}T9 ɚkiIIii))*F?2F:FBF2JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Tx time:23:19:51.5305 u$Ping request sent.uBO> QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data.w, ((AHIC I` IIdBI =&I.I6I1<:I FBIqJIqRIqZIqbIqjIu%(4>B$@Y7a2@"/>9/>yH@ɒT׿M`?@>`?`ſ*? ?ɨ>B$@C ;y=BE I5Mb@Mb@Mb@111 1)1Y5Q?y&1?sh|?y5u>5`<55 A 1)1I5A1y5AIEIE1٢U|< ]3=9]S~Q ]>aa mG٣iym m> }Nusing accuracyPremultiplier from configq59u|?5Yun iuRς>O;6>@@qu];u;u;5 ADNOT Ignoring new targets: 74.00 m. jjjjihhhh߄BffrfbfVO?]ς>]ς>]=]6>@"/>  I 79 ɚHiIIii))*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ=Յ= =nManaging dock network, ignoring radio surface power offG B J3K 3 KL.KK"KJ5 nJ5 gJ1 J1 J5 |;:J5 9J1 J1 J1 aE J1 aM J5 ?:aM J5 @:aM O] > A IA zw,BA60$@Y6N2@6@,>961>y6H`#׿@ ?@9?`(hſ ?@?ɨ60$@6";6"Cy>BB I)D DDFAIJIJ[3٢R; Rk=9V Q V?TT ZG٣XyZQ Z?zK^K^9K\K^K^ fNusing accuracyPremultiplier from config\j59^|?j5Y^m i^ln)>@]@^E^[<^W<^c=5e@B eAe EDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfb?]!]!]!]%)>@=@,> 9=ǍI=ˉ9 AɚEiAIAIYiYia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.Dy9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,bK]AB#@YB2@B(>9BH2>yBH`׿v/#(?@31 =?!ſ\??ɨB#@B;@yrBr II~I~2٢  :=96Q > G٣y > 1I1 =Nusing accuracyPremultiplier from config!]59%|?e5Y%Gm i% =@@%E%1<%0<%O?5 A5DNOT Ignoring new targets: 74.00 m. jYjYjYjYiahahahahafifirfibfmB?]]]]=@(> ǏI9 ɚZ(iIIii))D5Will construct direction to contact in vehicle frame from tetrahedron phase data.jHqbHu<H>I I II}BI =&I.I6I<:Iq F*F2F:FBF@5JFG 2>B O >tw,.wA)$ (RWill construct direction to contact in vehicle frame from tetrahedron phase data.bGntAvZA 5}-Y5tAy]%B#@Y1@&>9:2>yH@ ׿􇶿R?**`?hĿ`??ɨ#@o;騅#CyޕBޕ IJ]oJ]lJ]0JYJ]>:J]9J]ـ3JYJ]~O;J]O;J]):J]*:Mb@Mb@Mb@ )Ye;O?Mb?ʡEyt>@=-A SA)"#AIyAI!Ii3٢D< %.=9%Q %>)) -G٣)y5H 5> =Nusing accuracyPremultiplier from config9E59=|?E5Y=m i={Em>EM;EC@M@=E=;=#;=\A5Q UAQDNOT Ignoring new targets: 74.00 m. jjjjihhhḧ́Bffrfbf?]m>]m>]F>]XC@&> =I9 ɚ9iIIii)) 5$?I5hD*F?2F:F!BF%O0JF!zK9K=9K9K=K=7PY\[VROLGDD?<<:51.,%  ]Will construct direction to contact in vehicle frame from tetrahedron phase data.GE :>BQ O >dw,bِA6k#@Y6y1@6b&>962>y6HxQؿ ?@Y@ ?`Ŀ??ɨ6k#@6u;6Cy>B> I F=FR=IJ7IJ3٢Rx R~=9RQ R ?TT VG٣TyVΞ Z ? ^Nusing accuracyPremultiplier from configXb59Zf|?b5YZl iZdfB@f@XZ<;Z<;ZB5h j1AlDNOT Ignoring new targets: 74.00 m. jjjjih h h h ffrfbf@du@]1]1]1]5PB@Eb&> IMIM܃9 QɚUIiQIQIYii))Dy9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JF !I!GBO= >e Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I II BI =&I .I 6I c<:I F0w,Aj"#@YjA1@j*$>9j O2>yjH.mAؿࠆ? ?@Ŀ??ɨj"#@j/;j"CyvBv IMb@Mb@Mb@ )YGz?x&?I +yp>7=9AA A) AIAy(AI?IT3٢Ӽ ;=9H,Q > G٣yq% > Nusing accuracyPremultiplier from config59|?5Yl i+U>UL;UG@U@E<<D5]?B ]ZAe#EDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf*@]>]>]3>]G@*$> uI39 ɚZiIIi!i)))))Dmy9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JFJqJuAAJ}mJ}kJ}1JyJ}\8:J}9J}3JyJ}D;J}D;J}:J}: I GY Bi O >iw, AzK.MK.9K,K.K.  >"@Y>0@>">9>2>y>HFcؿ>۴`6??$DĿ`? ?ɨ>"@> ڈ;> CyJBJ IIRCIR3٢Z< Z[=9Z欻Q Z>\\ ^G٣\ybL7 b> fNusing accuracyPremultiplier from configdj59f`|?j5Yfl ifhjG@U@fEf& )zI9 ɚiiIIii))Dy9*FY2Fa:FaBFe_0JFaGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:19:54.0360  TRx dataTimestamp_ set to:1736378395.392676XAw,DnAB?"@YB80@B 3!>9B2>yBH@U ٿi#?@(?Ŀ??ɨB?"@BÈ;B!C PIPyVBV II^9I^3٢f.T fI=9j}Q j>hh jG٣hynO n> vNusing accuracyPremultiplier from configpz59rQ|?z5Yrl ir|~FG@~@rEr)K;r4;rH5 ADNOT Ignoring new targets: 74.00 m. jjjjihhh h f1fArfAbfM`H @]]]]FG@% 3!> IMIM+9 IɚMziIIIIQiQiQ)Y)Y-Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH1RH5AAHAIA IE IIE}BIA&IA.IA6IEG<:IE FDey9Ei*F2F:FBF^0JFG B O% >qw,bA>Will construct direction to contact in vehicle frame from tetrahedron phase data.@B=VDAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.0 m/s Z,DAT read: user:3197> bBDAT read: Tx time:23:19:55.1304 f$Ping request sent.f9l3>yH`K Iٿ\?k?`ÿy ?w!?ɨG"@g; CyEyBEz IJ5pJ5gJ50J1J5A:J59J5ـ3J1J5T;J5T;J5?:J5@: IMb@Mb@Mb@ )Yy&1?zG?sh|?y`e> = A)SAIyI-;I-&3٢] ]=9eQ e>aa mG٣iy > Nusing accuracyPremultiplier from config59|?5Ym iF>K;.A@E;;dJ5 3A- addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.781955 s, deltaX: 0.599998 m, approachRate: 0.158648 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 74.00 m. j)j)j)j1i1h1h9h9h=dBfAfArfES@bfE ?]>]>]m>]P@ > uI9 ɚiIIii))zKKKKKK)dwuofbXQNKIG@=;:841+ D |9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:19:55.1297 *F2F:FBF_0JFG B O >Hāw,A2:!@Y230@2>92|G4>y2H~<mٿ2`2? 0?ÿ '?"?ɨ2:!@2;2!Cy>nB>n IIFIF(٢n n=9nnƻQ n?pp rG٣tyz z? ~Nusing accuracyPremultiplier from configx~59za|?5YzIm izA@xz:z:zK5>B A&E=DNOT Ignoring new targets: 74.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM ?]q]q]q]uP@> 隍zI19 ɚriIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IhDS|9*Fe?2Fa:FiBFm0JFi} Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By H >I  I Z II ^BI =&I .I 6I &<:I FO >ʁw,-A6!@Y6/@6>96L$>y6H p4ٿ|&{W?1?@Y)ÿ`|C?1;?ɨ6!@6;6#CyNkBNj ImMb@Mb@Mb@iii i)iYm5^I ?(\?mz>mtmA mA)mAImVAiymAI9I3٢kp @=9Q > G٣y > Nusing accuracyPremultiplier from config59|?5Yn i*>G;n8@E;;M5 ADNOT Ignoring new targets: 74.00 m. jjjjihhhh$Bffrf bf *?]-*>]-*>]-S"?]-Y@=> 9E)\IE9 AɚEiAIAIIiIiI)I)Q2DeqA*DeqAWill construct direction to contact in vehicle frame from tetrahedron phase data.DL~9EEpA*F?2F:FBF 2JF"G>G> IzKU iMKU 9KQ KU KU G 2>B O >iҁw,_~HA2L!@Y2k/@27>92n%>y2H# ڿ`)e?A?¿\? ) G٣ykc > Nusing accuracyPremultiplier from config59y|?5Yn i 8@EF;F;nO5 ADNOT Ignoring new targets: 74.00 m. jjjjihhh h f frfbf?]1]1]1]5KNY@E7> AE\IE9 IɚMiIIIIQiQiQ)Q)aD-~9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFJ% nJ% hJ% 1J! J% |;:J% Ȇ9J% 3J! a- @a- @a- @a- @  I G B O >L؁w,)cAyޅmBޅl IjHbH4= Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YCl?I +?Zd;yO>94>yA @)AI~@yp AHI IM IITBI&I.I6I<:Ic FBI±CJI±CRIZI =bI =jI5I]@I]3٢u< u=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config59n|?5Yp iM>@;2@E;;Q5 A+EDNOT Ignoring new targets: 74.00 m. j1j1j1j1i1h9h9h9h=BfAfArfAbfE_?]>]>]6?]_@ =JIo9 ɚiIIii))BDO?:DS?Du F9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F) 2F) :F) BF- 0JF) G5 pA G5 qA M $?II GMB>BaO ?w,‡A6}@Y6v-@6b>96 +>y6H`gvۿԮE*?k?|`¿`?@6:?ɨ6}@6;6$Cy>iBBg IIJNIJ@ 4٢V^ VD=9Z4Q Z>XX ^G٣\y^w ^> bNusing accuracyPremultiplier from config`f59be|?f5Ybp ibhj34j@bEb!;bd;bS5l nAlzKv>`JKvk9KtKvKvDNOT Ignoring new targets: 74.00 m. jjjjihhh!h!f1f1rf9bf=@]Y]Y]Y]]J]@Will construct direction to contact in vehicle frame from tetrahedron phase data.%b> !%KI%9 )ɚ-i1I1I9iiii)q)qDX9*F=?2F9:F9BFE3JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.JU oJU kJQ JQ JU >:JU 9JQ JQ I Ge :>Bq O >vw, A6,@Y6K-@6h>96*->y6H<ۿ٠?@K'?%=¿a?"8?ɨ6,@6/;6Cy^hB^f IIf,If3٢~ @=9(Q >   G٣ y   > Nusing accuracyPremultiplier from config%59\|?%5Yq i!%4-@E:;fU5Q UAQDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf`p@]!]!]!]%g]@}h> 隅LI9 ɚKiIIiqiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I III&I.IDD6I<:Ij FDy9*F= ?2F9 :F9 BF= 1JF9 m G |uA 0Y |uAy F)BU Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:19:57.6368 ] TRx dataTimestamp_ set to:1736378398.920552GaBqO>G)w,BA I :7@Y:0,@:_H>9:+'/>y:H קqGܿ@az?2 O? w¿?X7?ɨ:7@:ƌ;:"CyFoBFo IUMb@Mb@Mb@QQQ Q)QYURQ?|?5^?MbyUB>UR>U@UrA U~@)QIQQyU AiiIu1Iu3٢4< %=9Q > G٣yY > Nusing accuracyPremultiplier from config59Q|?5YWs i|>:; /@E`+;);W5 sADNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbfH @]|>]|>]WfS?]wc@5_H> 15BI59 1ɚ=i9I9I9iAiA)A)I2DMpA*DMrAzKBoHK9KKKuWill construct direction to contact in vehicle frame from tetrahedron phase data.Dmg9*F%?2F!:F)BF-P5JF)"GE>GE>Ge B>Bq O >+w,ANWill construct direction to contact in vehicle frame from tetrahedron phase data.VDAT read: Range 10 to 50 : 76.5 m (Round-trip 102.1 ms) speed -0.1 m/s V,DAT read: user:3198> ZBDAT read: Tx time:23:19:58.7305 Z$Ping request sent.Z9FK!0>yFH ܿꩿ\?  d??|7?ɨF]@F% ;F Cyv}Bv Ii~0>I~< ~=~=I>I3٢u|= %>=9%:DQ %>)JUpJUhJQJQJUA:JUȆ9JQJQ) G٣y_ > $?I Nusing accuracyPremultiplier from config59H|?5Yt i%q/-@E%,<B,<Y55=B 5A5.E addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.526170 s, deltaX: 0.500000 m, approachRate: 0.141797 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrf= S@bfE?]]]]٭b@> ;I9 ɚi I I9i9iA)A)AZHRH@AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:19:58.7297 H>I IS IIYBI&I.I6I<:Iy FD *F ?2F :F BF 2JF G]:>BiO?w,kA>Will construct direction to contact in vehicle frame from tetrahedron phase data.6I@Y6B,@6>961>y6H@R~@lܿx`?`KV|?[@?<7?ɨ6I@6C;6"CynBn IeMb@Mb@Mb@aaa a)aYex?> ףp=?~jtyeK7>eQ>ee\A eh@)eAIeh@aye AI} I}<2٢6= '=9Q > G٣y] > Nusing accuracyPremultiplier from config59>|?5Yv i>A;.@E;;:;[5 A IDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf?]->]->]-o^Z?]-Ac@]> Y]0I]m9 aɚe¶iaIaIiiiii)i)qD}9*F5?2F1:F1BF5O0JF1zKk3IK89KKK -Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >w,{/AyB II3Iʴ3٢= E=9Q > G٣y > Nusing accuracyPremultiplier from config 59]5|? 5Y4w i.   @E: :c]5 AMDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhQhQhYhYfYfYrfYbfe?]y]y]y]y U'IU9 QɚUǶiQIQIaWill construct direction to contact in vehicle frame from tetrahedron phase data.ii))DJIJMiJM0JIJIJMڈ9JMـ3JI I*F]?2FY:FYBF]P0JFaG B M Will construct direction to contact in vehicle frame from tetrahedron phase data.Om >H} >Iy  I} y II} xBI} =&Iy .Iy 6I} "<:I} Fh w, .ABg@YBۆ+@By >9B #>yBH c_ݿ(;?`C? Wa`0?L?ɨBg@B{;B#Cy޽B޽ I) UMb@Mb@Mb@QQQ Q)QYUw/??X9vyU&>UL>UUA U;@)UAIU;@QyU AImImF٢}= }A=9}Q }> G٣yK > Nusing accuracyPremultiplier from config59-|?5Ykx i@ >L;3-@Ej;O;;_5] >]c?]!d@y > G!I 9 ɚ Ͷi IIii))D*Fy2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data. u$?IyGa Bq O >aw,>GA6@Y6 +@6s >96%>y6HMݿ@)b@? ?@T2 r? K?ɨ6@6xX;6!CyJBJ IIV?IVT3٢^?= ^l=9^ˆQ b?`` bG٣`yfے f? jNusing accuracyPremultiplier from confighn59j&|?n5Yjgy ijNlr-r@hj ;jK ;j`5t v2AtMDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhIhQhQhQfQfYrfYbfe?]]]]d@s > 隝I<9 ɚrѶiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.izKvLK9KKK iwlc\RNX^YPHD>53.)#"D}9*F2F:FBFJF! Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B! OE >w,gaAFo@YF؎*@F0 >9Fw(>yFH@1-@7޿Ū`?Rn?+k?G?ɨFo@F;F Cy ЂB II=>I=3٢M= MC=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configau59e|?}5Yez ie_y}4.}@eEeB;e*C;eb5 dADNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfD@]]]]c@0 > I-9 ɚi!I!Iii!)A)QjHybH}<H>IC I IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Pw,w~A:Z@Y:y)@:t >9:/>y:Hx)߿ @ ?k@??a!m???ɨ:Z@:!;:"C HIHJZqJXJXJXJZD:JXJXJXJZJZ;abJZMZ;afJZi:afJZj:afy B !IMb@Mb@Mb@ )Y~jt?bX9?S㥛y>E6>/ݼEA $@)AI$@y AI3Iʴ3٢= *=92Q >  G٣ y   > Nusing accuracyPremultiplier from config59|?5Y{ ioFq>a;0@Ej<Fj<d5 ADNOT Ignoring new targets: 74.00 m. jjjjihhhh Bffrfbf`A:@]-Fq>]-Fq>]-0]?]-Ma@et > aeIe9 aɚm$iiIiIiiqiq)q)qDUȄ9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK-9KKK     G5 2>B9 O] >s%w,ˆA@Y)@>961>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:20:01.2373 TRx dataTimestamp_ set to:1736378402.448547yH$y߿@Ҡ_^?Ra?v@*?@=?ɨ@%;騕!Cy-B-!I III٢Y= 2=9,Q > G٣y.L > Nusing accuracyPremultiplier from config59n |?5Y| i21@Ey;;f5;B A4E%DNOT Ignoring new targets: 74.00 m. j!j!j!j!i!hhhhffrfbf@]]]]`@-> IM IM"9 IɚM iIIIIQiQiQ)Y)YD9*F?2F:FBF|0JFHu >Iq  Iu IIu ΂BIu =&Iq .Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data.6Iu ٯ<:Iu H FBIiJImɰCRIiZIm =bIm =jIma5G B O% >,w,hA6:@Y64(@6^C>962$2>y6H߿[d? C:@r{?@?@=?ɨ6:@6;6"CyFBF9!I-Mb@Mb@Mb@))) )))Y-333333?On?y&1y->->-`-/A -@))I-@)y-p AIE1IE3٢M*> U|=9U1Q U ?YY ]G٣Yye e ? mNusing accuracyPremultiplier from configau59e|?u5Ye:} ieudZ>x;p6@eEe]dZ>]4H?]®[@=^C> AE= Im9 iɚmiqIqIqiyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 76.9 m (Round-trip 102.6 ms) speed -0.1 m/s ,DAT read: user:3199> %BDAT read: Tx time:23:20:02.3305 %$Ping request sent.-BA Oe >s3w,xAVG@YVf(@V>9Vhw2>yVHI :(?$?`%?=?ɨVG@V< ;VCyb%BbN!IhhIn3Inʴ3٢v= v@=9vbQ z>xx zG٣xy~5O ~> Nusing accuracyPremultiplier from configM59{?M5Y} iIM6M@%<%<i5Y ]AY addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.527915 s, deltaX: 0.400002 m, approachRate: 0.113382 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 74.00 m. j!j!j!j!i!h)h)h)h)f1f1rf59S@bf5@%?]q]q]q]uU[@> I9 ɚiIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9 aIi*F?2F:FBF`1JFG J>B O >^E:w,^AZHRHAAH^>I\ I^(!II^BI\&I^FD.I\6I^8<:I^ F%Will construct direction to contact in vehicle frame from tetrahedron phase data. @Y)(@>9j>0>yH@,]3?*?l`4?:B?ɨ @8; Cy >B m!IMb@Mb@Mb@ )Y7A`?T㥛 ?L7A`堿y>>+A @)vAIyAI#I%x3٢-/= -=9-kQ ->11 5G٣1y=d => ENusing accuracyPremultiplier from configAM59ED{?M5YEz~ iEUI>U;U;U@EEE;E;E]I>]h5?] W@ >  I9 Qɚ]iYIYIaiaia)a)a2DmrA*DmqA)9 =CDu 9sAA *YsAy!B*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.  I JK3KK3 KK/.KCKC"KCJ qJ mJ 0J J D:J &9J ـ3J J JZ;J MZ;J :J :G B>B O >\Aw, A2T@Y2N'@2/>929|1>y2H Go?t?A??`A?ɨ2T@2;2!CyBZBB!IININ٢R(> Vu=9Vc>Q V?XX ZG٣Xy^ގ ^? bNusing accuracyPremultiplier from config`f59b{?f5Yb~ ibdjw;j@bEb ;b;bm5l n@l DNOT Ignoring new targets: 74.00 m. j jjjihhhhffrfbf%T?]9]9]9]=gV@/> IS9 ɚiIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.zK=}\KK=9K9K=K=  D--9EIEI*F?2F:FBF"5JF"G>G>u Will construct direction to contact in vehicle frame from tetrahedron phase data.G :>B O >Gw,Ot A $I$V}g@YVv'@VIt>9V #3>yVHmzfbSc?4\?bA?@?ɨV}g@Vk;VCyffBf!IijR=Ij= np=na=IrIrF2٢zh= ~F=9GQ >   G٣ y P$  > Nusing accuracyPremultiplier from config59Q{?%5YF i!%;%@ ; ;o5) -C@57E]DNOT Ignoring new targets: 74.00 m. jYjYjYjYiYhahahahafifirfibfm`Q_?]]]]bV@It> 隥ܾI9 ɚiIIii)1)9H=>I9 I=m!II=>BI9&I9D9Will construct direction to contact in vehicle frame from tetrahedron phase data..I96I=ѯ<:I=? F*F?2F:FBF3JFGQ Ba O} >¿Mw,9 Ay-B5!IMb@Mb@Mb@ )Yףp= ?Mb?{Gzy>=#A @)`AIyQA Will construct direction to contact in vehicle frame from tetrahedron phase data.I,I3٢%= %6=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E{?M5YEf iEU>>U;UBEU@EEE;E_;Euq5Y ]@YDNOT Ignoring new targets: 74.00 m. jjjjihhhhpBffrfbf^F@]>>]>>] ?]L@ Iƶ9 ɚiIIii)) $?IJJ@AJrJkJ1JJG:J9J3JJ_;J_;J:J:Dm)9*F?2F:F BF O0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK }KK -9K K K RK ?JK ?G 2>B O- >:Uw,QU A2@Y2&@2A>922>y2HHqHY6?yX? \ B ?@GA?ɨ2@2;2 Cy>BB!IIJEIJ3٢RL= RV=9RQ R>TT VG٣TyZ/ Z> ^Nusing accuracyPremultiplier from config\f59^{?f5Y^| i^6hn Fn@^E^b;^;^ s5x z@xDNOT Ignoring new targets: 74.00 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5b\@]Q]Q]Q]UL@eA> amIm9 ɚiIIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9Dm;9*F?2F:FBFJF GpA GjH bH <H >I  I !II qBI =&I .I 6I <:I m FG :> Will construct direction to contact in vehicle frame from tetrahedron phase data.B1 O >j[w,o A 44RI@YRh&@R_>9R`1>yRH2`=h`[?2?N? |C?ɨRI@RJx;PybBf!I)h h]Mb@Mb@Mb@YYY Y)YY]w/?Dl?y]&>]O=]L]A ]@)]AI]@Yy](AIu&Iu3٢u= 8=9Q > G٣y5E > Nusing accuracyPremultiplier from config591{?5YN ijW<>;wC@@#;;u5 @EDNOT Ignoring new targets: 74.00 m. jAjAjIjIiIhihihqhuBfqfqrfybf} @]W<>]W<>]>]wC@_> I9 ɚ5qiIIii))DI9*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG B O >,Pbw, A6@Y6 "&@6y>960>y6H !Z y?`?6b?E?ɨ6@6;4yVBV"IIbDIb3٢j > jW=9jQ n>lp rG٣pyr7 r> vNusing accuracyPremultiplier from configtz59v{?z5Yv% iv|~-C@~@vEvK;v;vv5 0@ =DNOT Ignoring new targets: 74.00 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM` @]i]i]i]ms-C@y> 隅оI9 ɚiIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:20:04.8378 eTRx dataTimestamp_ set to:1736378406.228935Dn9zKK89KKKBKpA:K*Fm?2Fi:FiBFmv1JFiG2>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I J tJ qJ J J ;N:J q9J J a @a @a @a @|hw, A6@Y6%@68>962>y6H@ @Iώ@d?|E+? ^?bD?ɨ6@6ъ;4yB"II;I&3٢%]$= %6=9-|Q ->)1 5G٣1y5 C 5> =Nusing accuracyPremultiplier from config9E59= {?E5Y=~ i=IMB@M@9=;=;=x5e:B e@e:EEDNOT Ignoring new targets: 74.00 m. jAjijijiiihqhqhyhyfyfrfH->I) I-!II-BI)&I).I)6I-T<:I- Fbf`j @]y]y]y]}B@%8> )5ǾuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.2 ms) speed -0.1 m/s ,DAT read: user:3200> BDAT read: Tx time:23:20:05.9305 $Ping request sent.GU > Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >pw, A IɮjCnxwAnĻinsFlin CnvA)nD rNlFIp r@C)r;uAɯrPrpFpvCɰvlwAiv`IvwFtIuCiuwA qu)wF)q}C yyyɱy&CI)i) CIdA鲉ɲ )µCIµ?uAl'F ¹½َCOuAiNFiCwA) I &C) xA#CuAi"[IarFICi KtF)3C  {FLC)I)))i)1yEǃBE"Ii=I4<Mb@Mb@Mb@ )YʡE? rh?V-y-2>C=m`A )AI@y3AI*I3٢M< %=9Q > G٣y > Nusing accuracyPremultiplier from config59Z{?5Y~ iENH>E;EuA@M@E#8<7<z5Q U4@Q addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.783233 s, deltaX: 0.500000 m, approachRate: 0.132162 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfYS@bfr0?]NH>]NH>]m>]uA@) 15̾I59 Yɚ]_iYIYIiii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai5AzKĂKK9KKK[Z|iac1~gj_#R"P1BOY`dkozD |9*Fq 2Fq :Fq BFq JFy Will construct direction to contact in vehicle frame from tetrahedron phase data. e$?IaGe:>ByO?ww,d A:r@Y:l$@:q=9:<6>y:H@ux?e8@gU?w}?`B?ɨ:r@:;:#CJoJlJJJ>:J9JJy ڃB -"II%AI%k3٢E= M0=9MQ M>QY ]G٣Yye e> uNusing accuracyPremultiplier from configiu59m?{?}5Ym\~ imOy}@@}@mEmC:m:m|5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf`?]]]]@@q=  2I ۼ9 ɚ ڠi I Iii))ZHRH@AH>IC I "IIBI&I.I6Id<:I FBImŰCJIiRIiZIm =bIm =jIm5%Will construct direction to contact in vehicle frame from tetrahedron phase data.Dx9*FA 2FA :FA BFE ^0JFA G- 2>B9 O] >%~w, AeWill construct direction to contact in vehicle frame from tetrahedron phase data. IyB5"I}Mb@Mb@Mb@yyy y)yY}S?L7A`?)\(y}/>}+=}Gay }@)}@Iyyy}@IIb٢M< 5=9Q > G٣y > Nusing accuracyPremultiplier from config59u{?5Y~ iC>; @@@E;;~5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhǂBffrfbfŠ?]mC>]mC>]m=>]m @@y 隅 ?I9 ɚp%iIIii))Dm9EqEurA*F2F:FBF0JFG qA G qA% Will construct direction to contact in vehicle frame from tetrahedron phase data.zK PK K K K <9tcWX=  9 + @Xn:1NG- B>BI Ou >\w,R} AVz<@YVt[$@VP_=9Vql2>yVH`\r@?=?^5?^yP?J?ɨVz<@V;TynBn;"I)p pIz5Iz3٢_< l=9Q ?    G٣ y c ? Nusing accuracyPremultiplier from config%59C{?%5Y} i!%?@-@E;;\51 5J@1]DNOT Ignoring new targets: 74.00 m. jYjYjYjaiahahahahififirfibfm̚?]]]]Q?@P_= 隥3?I9 ɚiIIii))D9*FM?2FI:FQBFU54JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. IJqJjJJJD:J9JJG]:>BaO>H I  I ("II փBI &I .I 6I A<:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.Pw,{k0 AS@YL$@/=90>yH `o\?@E d?S?_M?ɨS@ԉ;騽"CyB<"IMb@Mb@Mb@ )YK7?Dl?p= ףyI>O=A Z@)AI@yAI/I3٢]]; 0=9Q > G٣y > Nusing accuracyPremultiplier from config59_{?5Y]} i_>r;f=@@E ;r;c59B 2@=E5DNOT Ignoring new targets: 74.00 m. j1j1j1j9i9h9h9hAhEBfAfIrfIbfM @]m_>]m_>]mE~>]m f=@}/= y}I}'9 ɚQiIIii))D|uA! U,YU|uAyU%B*FQ2FQ:FQBFUt4JFQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.J J G (>B O >Dnw,1J A:8@Y:1#@:G=9:92>y:H wW`̃?@į?`&.?@K?ɨ:8@:yΉ;: CyFBFC"IIR+IRn3٢V= Zt=9Z~Q Z?\\ ^G٣\ybe b? fNusing accuracyPremultiplier from config`f59b{?j5Yb} ib0hj =@j@`b:b:bك5p r@tDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf @]]]] =@ G= I`9 1ɚ=@i9I9I9iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.zKPK 9KKK](zfK,: r |gIQ-3l@g{cxM7-*('$RK ?JK?D]ˍ9*F2F:FBF3JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,d AJ>rJ>oJ<J<J>G:J>K9J<JyNHo,pU?? F@?z;?@jJ?ɨNLH@NS;N$CyZBZH"IIj%Ij)3٢r< rG=9v Q v>tt vG٣tyz8 z> ~Nusing accuracyPremultiplier from config|59~{?5Y~| i~o  <@ @~E~T:~:~5 @=DNOT Ignoring new targets: 74.00 m. jAjAjAjAiAhAhIhQhQfQfYrfYbf]`@]]]]<@ _=  ̏I 9 ɚiII9i9i9)9)AjHM<bHM<HQIQ IU;"IIUBIU =&IQ.IQ6IU)<:IU| F Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:20:08.4388 5TRx dataTimestamp_ set to:1736378409.764693Dݍ9*F2F:FBFO0JFG F>B O > w,s A6K@Y6D"@6̕=96g-6>y6H@R2J%r??3 ?w`? H?ɨ6K@6k;6!C J$?IHyRBRJ"IjWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=> ףp=?+?L7A`尿y=Q>===+=A =p@)9I=@9y=AIU)IUW3٢e< e:=9źQ  >    G٣ yf > Nusing accuracyPremultiplier from config-59w{?-5Y&| i5j>5g;5=@5@EDX;V;59 =u@9DNOT Ignoring new targets: 74.00 m. jjjjihhhhmBffrfbf` @]j>]j>*J4="J]E&>]=@̕= 隅uIe9 ɚiIIii))BDA?:D?Dَ9*FM?2FI:FIBFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.0 m/s ,DAT read: user:3201> BDAT read: Tx time:23:20:09.5306 $Ping request sent.B BK :K O >N饂w,C˘ AZß@YZ"@Z=9ZE5>yZH>B Iow? ?@?{q0d?vJ?ɨZß@ZL;Z$CyhjK"IIvAIvk3٢~; ~R=9~ZQ > G٣y )  > Nusing accuracyPremultiplier from config59ڍ{?5Y{ i!%=@%@ ;: ;A5-8B -b@-@E] addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.528738 s, deltaX: 0.599998 m, approachRate: 0.170032 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 74.00 m. jajajajaiahahihihififqrfuS@bfuU?]]]]=@= 隵tI9 ɚ´iIIiQiQ)Q)Y IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:20:09.5298 D=9EAJ}pJ}jJ}2JyJ}A:J}9J}c3Jy*F2F:FBFW0JFG GH >I  I G"II BI &I .I 6I ɯ<:I 5 F Will construct direction to contact in vehicle frame from tetrahedron phase data.GM A>B O >[w,ҳ A-\@Y-{"@-=9-]4>y-H0@b~?? b{?vH?MM?ɨ-\@-9A;-!CyEBME"IMb@Mb@Mb@ )YPn?:v?ˡEy>=' A K@)߫@I@y@IIb٢ 3=9 tQ  >   G٣y[ > Nusing accuracyPremultiplier from config%59|{?%5Y| i-.>-;-A-@E;;?51 5@9DNOT Ignoring new targets: 74.00 m. jjjjih h h h Bffrfbfʯ?]U.>]U.>]U-?]Up`P@= 隍.?I{9 ɚDiIIii)) ImWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m;?D9*F ?2F :F BF P0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.G=<>BAOe>Hw, A67@Y60!@6=96->y6H @:9{?;?`~?lTT ZG٣Xy5 5> =Nusing accuracyPremultiplier from config9M59=O{?M5Y=6| i=1QUHBU@9=C;=\C;=.5Y ]@YDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf@?]]]]O@= {-?I9 ɚiIIii))zK-:nMK)K)K-K-RK5?JK5?D 9*F?2F:FBF0JF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> pw,e AZ@YZ!@Z=9Z/>yZHF9&? X?`i?@绿 м?zW?ɨZ@ZL;Z CZHpRHpHtIt ItItIt&It.It6Iv<:IvP FyeBeA"IIuIu ٢ ==9ƻQ > G٣ym$ > Nusing accuracyPremultiplier from config59{{?5Ye| iPB@Er>;@;5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf ?]Q]Q]Q]U&O@e= im,?Im9 iɚm4iqIqIqiyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm 9*F!2F!:F!BF% 4JF!GA BY O} > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.VVw,ܛ AJ"sJ"lJ"1J J"K:J"9J"3J J"e;a*J"e;a*J"(:a*J"*:a*yi%J>I%i>Mb@Mb@Mb@ )YZd;O??y&1yj<>>`eA @)Q AIb@yAI ,I 3٢%; -@=9-Q ->)1 5G٣1y= => ENusing accuracyPremultiplier from config9E59=s{?M5Y=s| i=~Mj>Mg;MGM@=E=;=;=ِ5Y ]@YDNOT Ignoring new targets: 74.00 m. jjjjihhhh'Bffrfbf@?]j>]j>]W?]J@ I]9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DU>9zKmezKKm#9KiKmKm *,00.-+)'#$!  *F2F:FBF0JF I G- 7>B9 OU >Ȃw,}! A"Will construct direction to contact in vehicle frame from tetrahedron phase data."2?"R=Zǿ@YZ @Z=9Zr4>yZH$?S?a"`:?绿@MN?Q?ɨZǿ@Z;Z#CyfBfH"IIE7IE3٢U< UG=9U7Q U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configa59ek{?5Yez| ienH@eEe;e;e5 z@CE DNOT Ignoring new targets: 74.00 m. j j j j ihhhhffrfbfu@]]]] I@= ܽI49 ɚ_3iIIii))H>I III&I.I6I<:IT FBIůCJIůCRIZI =bI =jIb4D,9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI 2FI :FQ BFU 0JFQ G <>B O >f΂w,jL> AB\@YB{ @BiW=9BP5>yBH'O?ܻ@tp?O?ɨB\@B;B"CyNBND"I xI|eMb@Mb@Mb@aaa a)aYe{Gz?@5^I ?J +ye#>eb>eHeA e@)e AIe-@ayeAI0I(3٢m 3=9Q > G٣yX > Nusing accuracyPremultiplier from config59c{?5Y| i`>r;IA@;#;5Will construct direction to contact in vehicle frame from tetrahedron phase data.a e@aDNOT Ignoring new targets: 74.00 m. jjjjihhhhBff rf bf x@]M`>]M`>]M8?]MmP@}iW= y}\I9 ɚ-3iIIii))JrJmJJJG:J&9JJJ_;J_;J:J:DM9Ea>E>*F-?2F1:F1BF5#5JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:20:12.0394  TRx dataTimestamp_ set to:1736378413.289232Gu A>B O >Ղw,X A2@Y2 < @23=92@4>y2HU?w??B'?  T?Q?ɨ2@2v;0zKRYMKR-9KPKRKR yxx)| |I 9I 39aQ >! %G٣!y%|$ %> 5Nusing accuracyPremultiplier from config)559-\{?55Y- } i-9=A=@-E- ;- ;-R5A IIuDNOT Ignoring new targets: 74.00 m. jqjqjyjyiyhyhyhhffrfbfJ @]]]]P@3= I9 ɚ{3iIIii))D I*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O% >H I  I A"II BI &I .I CD6I m<:I Fvۂw,q A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: Range 10 to 50 : 78.4 m (Round-trip 104.6 ms) speed 0.0 m/s >,DAT read: user:3202> BBDAT read: Tx time:23:20:13.1306 B$Ping request sent.Bk@By}HW@I?;?`?ߐ'?S?ɨ}d@};yy޵B޽@"IMb@Mb@Mb@ )YV-?'1Z?I +yh>">94 @) AIC@yAI2I?3٢=|ۻ =<9E4Q E>AA MG٣IyM& M> }Nusing accuracyPremultiplier from configq}59uQ{?5Yu} iu^>s;$;@uEun;u;u5 @ addTargetRange:: Added new target pos. range: 78.400002 m, deltaT: 3.529112 s, deltaX: 0.400002 m, approachRate: 0.113343 m/s, rangeRepo size: 4  Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:20:13.1298 DNOT Ignoring new targets: 74.00 m. jjjj!i!h!h!h)hMBfIfIrfUS@bfUA?]^>]^>]KW?]JV@= 隭LI79 ɚC:3iIIii))D m9E J- qJ- lJ) J) J- D:J- 9J) J) J- JZ;J- LZ;J- (:J- *:*F] ?2FY :FY BF] O5JFY "Ge >Ge >G<>BWill construct direction to contact in vehicle frame from tetrahedron phase data.O?w,' A^@Y^=@^=9^3>y^H!C`V?? X? ?H2? T?ɨ^@^{;\yln?"IIv Iv2٢~t ~=9~gQ ?  G٣ y `  ? Nusing accuracyPremultiplier from config59XL{?5Y*~ i+!%l;%@E ; ;V5-7B 5@5FE]DNOT Ignoring new targets: 74.00 m. jajajajaiahihihihifqfqrfqbfu?]]]]òV@= 隭QI9 ɚz 3iIIii))DzKKK#9KKK*FU?2FQ:FQBFUO0JFQ M$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.G=A>BaO>w,7ì A:`@Y:Y@:n=9:6>y:H 2mɚ?o?J? 庿?`,R?ɨ:`@:;8yFBJD"IIR/IR3٢Z< ^P=Hf>Id IfG"IIfBId&Id.Id6If=<:If F9^r}Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configtz59vLE{?~5Yv~ ivCy};}@tvB Will construct direction to contact in vehicle frame from tetrahedron phase data. w, AJK3KK23 KKS}-KCKC"KCJBsJ@J@J@JBK:J@J@J@JBe;JBe;J@J@(@Y!@a%=9 6>yH S* {?|?:@?x@?`S?ɨ(@焉; CyBK"IeMb@Mb@Mb@aaa a)aYei|?5?(\?{Gzye=e.>e#eM A a)e AIe@aye(AI I̍2٢< !=9YQ > G٣yx > Nusing accuracyPremultiplier from config 59 <{?5Y  i ZW>{;^4@ E j; M ; H5I UN@Q%DNOT Ignoring new targets: 74.00 m. j)j)j)j1i1h1h1h9h=ރBf9f9rf9bfe?]W>]W>]v?]]@a%= #=I9 ɚ 3iIIii))BDI?:Du?%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EEmA*F2F:FBFP0JFG GmAzK :IK `9K K K  0>A?8742.+)*,-+)%"(-.,* A IA G} F>B O >w,/ AFW@YFv@F?=9F5>yFH`rZ?Q?i? ?bS?ɨFW@F;F!CyRBVU"II^<I^3٢fP= f=9f:Q f ?hh jG٣hyn1 n ? rNusing accuracyPremultiplier from configlv59n7{?z5Yn ing|~4~@n En;n;n5 @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5;?5}?UDNOT Ignoring new targets: 74.00 m. jQjYjYjYiYhYhYhhffrf bfU?]]]]T]@?= xe=I9 ɚ#A3iIIi i ) ) D9*F2F:FBF`0JFHu>Iq IqIqIq&Iq.Iq6Iu<:Iuq FWill construct direction to contact in vehicle frame from tetrahedron phase data.GU <>B O >w,, AF@YF @FM=9FM4>yFHC D?@?H`>? ݺ@L_?S?ɨF@F;F"CyXZT"I``-ronly read 0 of 1 data item for BIT error. Device response is::TS,232768,-32768,-32768,-32768,V  r@r r@r r@r  r@r ItIt٢~ ~I=9V!;Q >   G٣ y ́  > %bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config-590{?55Y iz5+:15L;5255@я;>5A E@AmDNOT Ignoring new targets: 74.00 m. jijijqjqiqhqhqhyhyfyfyrfbf3g@M= 隽@b=IX9 ɚw3iIIii)) $?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.*J]C="J]R=D}9*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 A>BA Oe >"w,S AB́@YBƠ@BR=9B4>yBH<ҝ? ?`&?@6 CS?S?ɨB́@B;B#CyzBzU"II :I 3٢;; G=9%v:Q %>!! %G٣!y-= -> =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595){?E5Y5l i5E :AE%;E5M@5 E5y);5R?5B5U6B U@UIEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf(@R= g=I?9 ɚ@3iIIii))2DqA*DrAzKEYMKE9KAKEKE% /yIpcM1ysng`\ZWTQMIEBBKMoA:KMqA yIyD UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF"G >G >Je qJe kJa Ja Je D:Je 9Ja Ja am @am @am @am @G 7>B O >m w,΍. AH>I IZ"IIBI&I.I6I'<:Iv FJ/@YJN@J'=9J3>yJHi \e?k? ? ;?T?ɨJ/@J;HyZ BZg"IIb2Ib?3٢j= jP=9n=cQ r>tt vG٣tyvP v> }bBottom track data is 1.2 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configx59z-#{?5Yz iz9;5@z Eze <Gm <>By O >{w,iH AJ+@YJ$@J=9JE~4>yJH^i ?`q@?;@?Q?S?ɨJ+@JΉ;J"CyVBV~"IiZ>IZ< ^=^p= M M MM MM  U U UMb@Mb@Mb@QQQ Q)QYUsh|?? ףp= ?yU=UQ8>U̼U A UK@)UhAIU@QyU@Im.Im3٢uN= }@=98Q > G٣yRo > Nusing accuracyPremultiplier from config59{?5Y  iT:L>;2,@$; ;5 @B*** querying acoustic contact ***jjDNOT Ignoring new targets: 74.00 m. jjjjihhhqhuσBfqfyrfybf}Z @]L>]L>]C‘?]e@= >I09 ɚu 4iIIii)) D *F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 78.7 m (Round-trip 105.0 ms) speed -0.1 m/s -Z#Rx 17: Read range message, but no direction.yfBT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gi By O >zK -OK -9K K K C@=8441,)*)#""  5LF3#  a Ia z+w,JDb A:r@Y:@:=9:4>y:HoX?`a?@?`w@[?`S?ɨ:r@:r;: CyF"BJ"IIR IRb3٢= W=9 Q  >   G٣ya >%Will construct direction to contact in vehicle frame from tetrahedron phase data.%,DAT read: user:3203> -BDAT read: Tx time:23:20:16.7806 -$Ping request sent.-;=-;=5y }?@ addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.527033 s, deltaX: 0.299995 m, approachRate: 0.085056 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrf̬S@bf J?]]]]e@= h&>ID9 ɚJ34iII!i!i!)!)!J=xJ=qJ9J9J=Z:J=q9J9J9D}9*F ?2F :F BF P0JF jH5<bH5<HE>IEC IEs"IIEBIA&IA.IA6IE<:IEn FBIJIRIZIbIjIŴs4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:20:16.7798 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252636G A>B O {Ww,N'| A:S"@Y:LA@:=9:d5>y:H`}V@W@؟??``?P׺[e?`S?ɨ:S"@:D;:"Cy^*B^"IMMb@Mb@Mb@III I)IYMkt?/$?/$yM =M,>MMM A I)MAIM@IyM@IeIe(*٢un = u?=9}ݺQ }> G٣y? > I Nusing accuracyPremultiplier from config59{?5Y itB>;%/%@ EY;3;5) -@)DNOT Ignoring new targets: 74.00 m. jjjjihhhhBff rfbf ?]MtB>]MtB>]Mu?]Mb@e= ae^>Ie!9 aɚmsY4iiIiIqiqiq)y)y-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504204D!9*F) 2F) :F) BF- O0JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759G 2>B O= >#%w, A2 @Y2@2=924>y2HA@?j? ,W?Q V?5V?ɨ2 @2Ȉ;2 CyB\\ ^G٣\y^) b> fNusing accuracyPremultiplier from config`j59b {?j5Yb i`hj/j@`b;b;bV5l r@rLEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf?]]]]I9 !ɚ%4i!I!I)i)i))))1zKMK9KKK !5[=*  $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007467D09*Fe?2Fa:FaBFeP0JFaJrJpJJJG:J^9JJH= >I9  I= "II= 2BI= =&I9 .I9 6I= R<:I= FG :>B O >%,w,Ʋ A6ߦ @Y6@6i=96Î4>y6H 0@=x? ?`2b? 7V?AW?ɨ6ߦ @6;6"CyBKBB"IININ٢R|= VC=9V>Q V>XX ZG٣Xy^r ^> bNusing accuracyPremultiplier from config\f59^n{?f5Y^P i\df0j@^E^;^>;^+5l n@l-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf``k?]]]] b@5i= 1=P>I=T9 9ɚ=)4i9I9Iqiyiy))2D*DlA~GtA ],Y]tAye%BD}T9*FM?2FI:FIBFU\0JFQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767Gq B O >2w, AyUB"I-Monly read 0 of 1 data item for BIT error. Device response is::TS,25010815210, +11.0, 0.0,1493.5, 0  M@M M@M M@M  M@M I]I][3٢mO;= m?=9uQ u>qq }G٣yy} }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59z?5Y  i+:b;@EH;G>5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfq?  d>Iu9 ɚ4iIIii!)!)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763096Dmb9*F?2F!:F!BF%o0JF!zKgMKKKK WwjT<+  I GE 2>BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015659%9w,^ AJ @YC@SN=9s44>yH r L*Cw? ?7XK?M`0K?W?ɨJ @j; CymB%"Ii-)>I-> -a=-a=I5=I5=3٢E= EM=9M Q M>II MG٣IyUqݼ U> ebBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configYu59]-z?u5Y]݇ iY} :y7;0@Y];]T?]Ү5 @JuJoJJJ[Q:JK9JJDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf@SN= )U}>IU9 aɚeiiIiIii))Hu>Iq Iu"IIuUBIu =&Iq.Iq6IuS<:Iu FDt9*F92F9:F9BF=0JF9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883G% B>BQ O > @w,5 A I> @Y>@>3z=9>h4>y>H JX?j?95M?` kU? DW?ɨ> @>壈;>$CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941*JR="Ja=yB"I        Mb@Mb@Mb@ )YCl?S?y;=>̼ A &@);AI@yG@II(*3٢ށ= =99Q > G٣y > }Nusing accuracyPremultiplier from config59z?5Y} iT:i@>;\:@E<<?55B c@OEDNOT Ignoring new targets: 74.00 m. jjjjihhh h Bf f rfbfP@]Ui@>]Ui@>]Ur?]UW@3z= 隅>I9 ɚ3iIIii))e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843D 9*F 2F :F BF P0JF zK-#,MK)K)K-K-BKMpA:KI iIiGyBO?Hw,X9% A :Will construct direction to contact in vehicle frame from tetrahedron phase data.>BDAT read: Rx Time:23:20:19.2905 >TRx dataTimestamp_ set to:1736378420.596700>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023976F @YF5@F=9F4>yFHZyR? G?` @1?ݱd?`W?ɨF @F;F"CɮLN|wALiLLiPP)R PIP T)V/uAɯV(\VpFTXɰXiXIXXIXi\ \\)\\ \\`ɱ```I`)`i`)dIhhɲh h)lIruAr9rF p|~tA~ҍi~GFi) IBPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).?uAiISrFIixA ) %GAI!))i)hy=B= #II]?I]T3٢= .=9-Q > %G٣!y% %> -Nusing accuracyPremultiplier from config)559- z?55Y- i-9=:=@-E-y;-;-_5I Mm@IDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfY @]Q]Q]Q]U;W@= 隽>Ih9 ɚv 4iIH>I I"IIyBI&I.IBD6IR<:I FIQiQiQ)Y)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai!-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034D= 9*F ?2F :F BF JF $?I G:>B!OE>=Qw,34E A> @Y>@>l=9>RF5>y>H஑1U? a?`^"?ຂm?W?ɨ> @>;<JWill construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: Range 10 to 50 : 79.2 m (Round-trip 105.6 ms) speed -0.2 m/s -RX#Rx 1: Read range message, but no direction.HyJfBHymBm%#I)q qyyJtJrJJJ;N:J9JJJ|j;aJ~j;aJ:aJ:aMb@Mb@Mb@ )Yrh|?K7?Qy=I > @)AIx@y\@I,I3٢-}= -=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAU59EQz?U5YEO iEU?>U;UtAU@AE4;E2;E5 @ addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.779855 s, deltaX: 0.500000 m, approachRate: 0.132280 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 74.00 m. jjjj!i!h!h!h)h-Bf)f)rf-S@bf55??]u?>]u?>]uOV?]uP@l= 隥ף>I9 ɚ|4iIIii))D9*FE?2FI:FIBFM_0JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >fWw, _ A6 @Y6@6 =96 5>y6HO>?@w?j?-1`Pw?pX?ɨ6 @6;4 \I\zKvKv89KtKvKvRK~ ?JK~ ?yMBM8#IIaIa٢uֵ= uk=9ukQ u?yy }G٣yyR& ? Nusing accuracyPremultiplier from config59z?5Y iA@E[<Q;5  @=DNOT Ignoring new targets: 74.00 m. j9j9j9j9i9h9hAhAhAfIfIrfIbfMr?]i]i]i]moP@} = y}>I 9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*FQ2FQ:FYBF]0JFYH->I-C I-"#II-BI- =&I).I)6I-<:I-] FG B>B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data. ]w,x Ayޝ„BޥJ#II3Iʴ3٢}= ;=9Q > G٣y > Nusing accuracyPremultiplier from config%59z?%5Y i!!%@E <,<51 50@9eDNOT Ignoring new targets: 74.00 m. jajajajaiahahihihifqfqrfqbfu? I]I]I]I]Ia ae >I 9 ɚS4iIIii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFJwJyJ0JJW:J9Jـ3JJz;Jz;J:J:G} :>B O >rdw,m A2 @Y2=@2n=9265>y2H@]@ʩ?@?๽?_ n?`Z?ɨ2 @2k;2 CyRȄBRR#IiVm$>m\mhA m@)mAIiiym@I8I3٢ = Z=9ڻQ > G٣y > Nusing accuracyPremultiplier from config59Mz?5Y i>>;vD@";Y!;54B @REDNOT Ignoring new targets: 74.00 m. jjjjihhh h  Bf f rf bf:$?Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai]=>>]=>>]=L?]=ۨM@Mn=  q>IW9 ɚ5iIIii))!D-ҟ9*F?2F:FBF05JF IzK1K5u9K1K5K5LY=XB,+BKA:KA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >jw, Ay]Bev#IIu=Iu=3٢> L=9Q > G٣y > Nusing accuracyPremultiplier from config59z?5Y i@E":C:b5 @H>I IT#IIʄBI&I.I6IH<:I FBICJICRIZI =bI =jI-o5DNOT Ignoring new targets: 74.00 m. jjjjihhh!h!f!f!rf!bf-?]A]A]A]AY ae>>IeZ9 iɚmiiIiIqiqiq)q)yDU9*F?2F:FBFO0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 2>Bq $?I  PExceeded connect timeout, disconnecting.O >>qw,` A:B @Y:;@: =9:g4>BWill construct direction to contact in vehicle frame from tetrahedron phase data.y:H7_1?`?@_w?@8`c?@-]?ɨ:B @:މ;:%CybBby#IUMb@Mb@Mb@QQQ Q)QYU@5^I ??~jtyUb>U>UQ Q)UAIQQyUp@Im#Im%x3٢ T< B=9Q > G٣y%Ɉ %> -Nusing accuracyPremultiplier from config!559%Mz?55Y% i%!=D>E;EH@E@!%z;%;y;%:5I M@Q}DNOT Ignoring new targets: 74.00 m. jyjyjjihhhh%Bffrfbf @J{J{JJJd:J-9JJJ#;J%;J:J:]D>]D>]9?]:H@ = 隕>I9 ɚ~3iIIii))D95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 05JF I zK POK k9K K K )f5g7 $$mBpU@&|m\J.}G B O>xw,z ABe @YB̄@B.=9B15>yBH m @B?n?ul?@}?\?ɨBe @B;B"CyNBN#I)T TXZAAIZ;IZ&3٢b= bD=9fQ f>dd jG٣hyj& j> nNusing accuracyPremultiplier from configlr59nz?v5Yn in9tvH@v@nEn(;nZ;n 5x z@|%DNOT Ignoring new targets: 74.00 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5@]a]a]a]eSH@.= 隍>I}9 ɚP4iIIii)Will construct direction to contact in vehicle frame from tetrahedron phase data.)YH->I) I-#II-BI)&I).I)6I-4<:I-s FDL9*Fu?2Fq:FqBFu$4JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.)9 9 iG |uA Y |uAy /BG B>B O >J w,Z/A 0I0 RnManaging dock network, ignoring radio surface power off5 @YT@K=95>yH@? }? \q`ON?`"a@X?x]?ɨ5 @x;y5B5#IMb@Mb@Mb@ )Y'1Z?`"?kty">= 0A @)lAIK@y@I-I3٢_= (=90Q >!! -G٣)y-HŻ -> =Nusing accuracyPremultiplier from config1=595_z?E5Y5ˉ i5]EHQ>E;EC@E@5E5;5(;5.™5I U@QDNOT Ignoring new targets: 74.00 m. jjjji!h!h)hQh]&BfYfarfabfm @Will construct direction to contact in vehicle frame from tetrahedron phase data.]HQ>]HQ>]&?]rC@K= H>I9 ɚe4iIIii))!J}J|J2JJ[j:J@9Jc3JJ;J;J{:J}:DU9EYE]!>*F ?2F :F BF 5JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO=>q'w,A:L @Y:E@:=9:!6>y:HcHĮ?=/? C@?@׶ T?`^?ɨ:L @:{G;: CyFBF#IIVIVm?3٢^&= ^B=9^BQ b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jCz?n5Yj ij{lrXC@r@hj:jz:ję5v3B v8@vUE qIyDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf v @]]]]|XC@E= AE>IEJ9 AɚE4iiIiIii))zKPK9KKKxutsokfd`_]YUQMKKGDBBB>=::76512/,,,*))((&%%'%# Will construct direction to contact in vehicle frame from tetrahedron phase data.%=D-H9*F?2F:FBF3JFH >I C I #II BI  =&I .I AD6I R<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >/w,ke9AyB#IiAA EG٣AyM U> ]Nusing accuracyPremultiplier from configYe59]z?e5Y]b i]aae@]E]:]:]ř5q uh@qDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfm@]]]] >I9 ɚG5iIIii))! $?IDM39*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je BAG :>B O- >w,Z)SA67' @Y60F@6=96ʟ5>y6H t?`__??@K ?`?ɨ67' @6d;6"CyB'BB#IMb@Mb@Mb@ )YV-?Zd;?lyh>=A @)@I=@yG@Ie)IeW3٢uJ= uG=9}?Q }>y G٣yՠ > Nusing accuracyPremultiplier from config59;JF@@E;5;Ǚ5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhh"Bffrfbf w @] iC>] iC>] {5?] JF@%= !%?I%9 !ɚ%35i!I)I)i)i1)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.Di*F2F:FBF _0JF  IzKiENK-9KK K  %1333/+/0/--,,-,((((&'&$!  RK?JK?GBO5 >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,mAJ~JJ1JJ{m:J9J3Ja@a@a@a@ J@YJ @Ju=9J5>yJHYi?`&t?ʪ?u?a?ɨJ@J3و;J!CyZ6B^#IIfIfT3٢j.= nU=9n2Q n>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~59z z?~5Yz5 iz|~F@@xz ;z\ ;zmə5  @ 5DNOT Ignoring new targets: 74.00 m. j1j1j1j1i9h9h9hAhAfAfArfAbfM@]qjHbH<H>IC I#II+BI =&I.I6If<:I F]q]q]uF@-u= )- ?I-9 1ɚ5V5i1I1I9i9i9)9)AD59*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GB>B OM > y I >w,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.=y >B #I) Mb@Mb@Mb@ )YQ?V-?=t r@)h@IyQ@I'I@3٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config59lz?5Y i=>;D@@E;;S˙5 R@DNOT Ignoring new targets: 74.00 m. jjjjihhhh*Bff rf bf*n@]5=>]5=>]5!1?]5PD@A AE= ?IM9 IɚM{5iIIIIQiQiQ)Q)YDS9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F) 2F) :F) BF- _0JF) GU :>Ba q Iy O >iw,oIA6(n@Y6!@6I=9695>y6H uo??`l}?` ?=b?ɨ6(n@6 ;6"Cy^BBb#IIjIj[3٢r8< rE=9vtQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~z?5Y~ i~  rD@ @~E~:~:~#͙5 @XE'=TFailed to parse incomplete device message.UDNOT Ignoring new targets: 74.00 m. jQjQjQjQiQhQhQhhffrfbf @]!]!]!]%rD@UI= Y]= ?I]W9 Yɚ]W5iYIYIaiaia)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.JcKk 3 KkL.KcKc"KcJ J J J J }:J 9J J D]t9H>I I#IIIBI&I.I6I\<:I F*F2F:FBFp0JFBK :K pA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B! OE >w,+A>o0@Y>hO@> ȫ=9>.6>y>H;` Ow??`*]j? r ?`Xb?ɨ>o0@>u;>#CyNZBN$IIV.IV3٢b= bN=9fQ f>dd jG٣hyj% n> rNusing accuracyPremultiplier from configlr59nz?v5YnȈ in tv3D@v@ln:nn:nΙ5z&B ~@|MDNOT Ignoring new targets: 74.00 m. jIjQjQjQiQhQhQhYhYfYfYrfabfe`8@]]]][3D@ ȫ= 隕$?I9 ɚiIIii)) $?ID9*F92F9:F9BF=05JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >Xnw,A2@Y2@2=92w6>y2H F`o ر??`( ^?@P ?`b?ɨ2@2֪;2!CyBfBB$IiF%=IF=MMb@Mb@Mb@III]Will construct direction to contact in vehicle frame from tetrahedron phase data. I)IYM㥛 ?S㥻?Q롿yM>M/=M\MA M@)M$@IM&@IyM @Im'Im@3٢}Uh= ?=9CQ > G٣y) > Nusing accuracyPremultiplier from config59^}z?5Y i#b=>;l@@@E;';Й5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhh=BffrfbfH@]b=>]b=>]o #?]Cl@@5= 15{?I5>9 1ɚ=4i9I9I9iAiA)A)A ID9zKKKk9KK K6GPPMJE@94-*%# *F-?2F):F)BF5P5JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JA JA JE :JE 9JA JA GU 2>Ba O} >w,oAZH(RH(H.>I, I.$II.cBI,&I,.I.@D6I.j<:I. FBI%CJI%CRI%CZI% =bI% =jI%6z@Yz@z%ܨ=9z6>yzHe3"@(?`?`bvA?e`n?b?ɨz@z;z$Cy nB $III[3٢U= UM=9UQ ]>YY ]G٣Yye e> Nusing accuracyPremultiplier from configi59m:wz?5Ym< im93@@@im};m3;mҙ5 ~@ DNOT Ignoring new targets: 74.00 m. j j j jihhhhffrfbf%@]Y]Y]Y]]3@@u%ܨ= qub?Iu9 qɚu64iyIyIyii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F?2F I:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G% :>B1 OM >Ãw, AypB  $IMb@Mb@Mb@ )YM?? rhyn>=C  \@)@Iy@I#I%x3٢; 4=9Q > G٣y > Nusing accuracyPremultiplier from config59pz?5Y iS 6>;>@@E5;;xԙ5 a@DNOT Ignoring new targets: 74.00 m. j!j!j!j!i!h!h)h1h58Bf1f9rf9bf= ٱ@]] 6>]] 6>]]9?]].>@q qu)?Iu9 qɚuD4iyIyIyii))!D*Fu?2Fq:FqBF}O0JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I :8Ƀw,&AzKN;rMKN9KLKN KNRKZ?JKZ?v;4@Yv4S@vnܥ=9v`6>yvH `??k=?F?c?ɨv;4@v怉;vCy xB *$I) I%.I%3٢52&= 5T=9=xQ =>AA EG٣IyM+ M>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59jz? 5Y ij  >@-@E;4;?֙5=%B E@EZEDNOT Ignoring new targets: 74.00 m. j j j j i h hhhffrfbf%`l@]a]a]a]eN>@nܥ= 隝) ?I9 ɚ 5iIIii))JJJJJ]:J9JJD9EHm>ImC Im/$IIm|BIm =&Ii.Ii6ImX<:Im~ F*F=?2F9:FABFEP0JFA"G]>G]>] c~Ge Will construct direction to contact in vehicle frame from tetrahedron phase data. O Y y BGE 2>BQ Om >KЃw,z@AF@YF @FI=9F6>yFHC+.?R)?`R?@ %? c?ɨF@Fr܉;F"Cyb~Bb2$IIj+Ijn3٢v< zO=9ܺQ > 5G٣1yE/ M> mNusing accuracyPremultiplier from configa Im59eez?u5YeC ie=@@ae)=e ?=eי5 s@]DNOT Ignoring new targets: 74.00 m. jYjajajaiahahahihiffrfbf @]]]]G=@I=  C#?I9 ɚJ5iIIii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.D%Ƨ9*F2F:FBF^0JFG B O >Gփw,WZAWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:o=9:B6>y:H);We?}8?@C`g?@Hߦ? d?ɨ:@:;:#CyFBJ4$ImMb@Mb@Mb@iii i)iYm~jt?MbX?m=mtmA m/@)m@Im@iym(@IIm?3٢< @=9>Q > G٣yλ > Nusing accuracyPremultiplier from config59^z?5Yن i_=>;;@@Ee"; #;ٙ5 W@DNOT Ignoring new targets: 74.00 m. jjjjihhh h )Bf f rf bf @]5_=>]5_=>]5?]5;@Eo= AE+?IE: IɚM!s5iIIIIii))Dը9 $?I*Fe?2Fa:FaBFe0JFazKuBoIKu#9KqKu KufS7MY:fW#yph]VH. 36752251/Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >J J J J J :J 9J J jHa bHa Hu >Iq  Iu B$IIu BIq &Iq .Iq 6Iu <:Iu Fs܃w,9tAV@YV@V'=9V_7>yVH`9Pѳ? KO?+? ?!d?ɨV@V;TyjBj>$Iin=In%= r=r=IvIv?13٢~.= ~U=9~Q ~> G٣y b+  > Nusing accuracyPremultiplier from config 59 Yz?5Y t i Y;@@  < < iۙ5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf!@]]]].Y;@'= /?I9 ɚ5iII!i!i!)!)!-Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9 I*F]?2FY:FYBFeo0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu :>By O >Fw,>A6[@Y6z@6 s=966>y6H[@p? \?[ ?Rɳ`?e?ɨ6[@6`Ή;6"CyNBR4$I5Mb@Mb@Mb@111 1)1Y5~jt?S㥻?Q롿y15/=5\1 5@)5@I11y5@IMIMm?3٢e% e@=9eV8Q e>ii uG٣qyuC u> }Nusing accuracyPremultiplier from configy59}wRz?5Y} i}EB>;=@@}E};}S;}Fݙ5 ]@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbfna"@]EB>]EB>]?%?]=@ s= 隵R8?I9 ɚħ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F?2F:FBF0JF I G J>B O >0w,scAzKKOK9KKK//.**))('&%!!       RK?JK?:Will construct direction to contact in vehicle frame from tetrahedron phase data.Z@YZ7@ZhϜ=9Z4G6>yZH@]Jq@?? s?P bs?@`%? f?ɨZ@Z#;Z!CyfzBj,$IInInF3٢vݼ zC=9zQ z>|| ~G٣|y~5 >  Nusing accuracyPremultiplier from config 59 Kz?5Y  i R=@@  E P:  : ߙ5! %@%]EMDNOT Ignoring new targets: 74.00 m. jIjQjQjQiQhQhQhYhYfYfYrfYbfeD7#@] ] ] ] [R=@EhϜ= IMl5?IM9 IɚM&5iIIIIQiQiY)Y)aD9H~>IC IN$IIBI&I.I?D6I8<:Ic F*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G:>B O% >xw,YA yH`ؑ`#@FZ?ȃ?V 4?nE1r?ri?ɨ@;y=wBE)$I%Mb@Mb@Mb@!!! !)!Y%n?`"?~jty%V>%=%%lA !)!I%@!y%@I=I=M3٢MrH U+=9Ug&Q ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mtDz?u5Ym imu@>};}|C@}@im;m;m35 @Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf`-$@]@>]@>]]7?]|C@P= @?I9 ɚ5iIIii))!JJ~J0JJ:Jf9Jـ3JJ;aJ;aJ:aJ:aD 9E N>E >*F ?2F :F BF 0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA G BO5>/w,A HIHy vB '$II0I(3٢- 5?=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configIU59M=z?U5YMP iMYY]@M!EM0;M1;M5 @DNOT Ignoring new targets: 74.00 m. jjjjihhh!h!f)f)rf)bf-%@]I]I]I]Ia aef??Im: iɚm[5iiIiIqiqiq)q)yzKMKu9KKK  !"  Will construct direction to contact in vehicle frame from tetrahedron phase data.BK:KqAHz>I IH$IIBI&I.I6I*<:IV FDE(9*F2F:F BF 1JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.GE B>Ba O >w,DkAV?@YV^@Vl=9VX5>yVH@S Sj??*?s`}?j?ɨV?@V;V$CybkBb$IIj3Ijʴ3٢rB r<=9vQ v>tt zG٣xyzļ z> Nusing accuracyPremultiplier from config 596z? 5Y i'B@@"E::5 @EDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhIhQhYhafifqrfybf}%@]]]]B@l= 隽:?I: ɚ;6iIIii)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DeH9JJJ1JJJ9J3JJJJ;J;*F2F:FBFQ5JFG= :>BQ Om >;Nw,rA6@Y6@6.ё=96&6>y6Hu:@?`?H?46w?Nj?ɨ6@6u;6!CyFfBF$I N=N= Will construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeX9v?M?lye=en>eeVA e@)ep@Ie@aye\@I})I}W3٢8 ?=9Q > G٣y! > Nusing accuracyPremultiplier from config59*0z?5Y7 i8;B>;E@g;;5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhƒBffrfbf @>&@]%;B>]%;B>]%sr`?]%lL@=.ё= 9=Q?I=: 9ɚE6iAIAIYiYiY)Y)! IDAzKLKk9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.RK>JK?*F?2F:FBF@5JFH x>I C I ;$II BI =&I .I 6I <:I FBI}˩CJI}˩CRI}˓CZI} =bI} =jI}J5G J>B O > w,5A2@Y2@2 =92X5>y2H` )_8??)@?)ݱ?dk?ɨ2@2@;2 CyJ\BJ$IIR-IR3٢^N ^K=9f7]Q j>ll nG٣lyr r> ~Nusing accuracyPremultiplier from configx 59z)z?5YzQ izHE%@z#Ezӹ;z;z5-$B -@5`E]DNOT Ignoring new targets: 74.00 m. jYjYjYjYiYhYhahahafifqrfqbfu Q'@]]]]:L@ = 隽L?I: ɚ6iIIii))DeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG:> I!BO- > Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,OAJbJbJ`J`Jbݒ:Jbm9J`J`Jb;Jb;Jb;Jb;y=WB=$IMb@Mb@Mb@ )Ykt?oʡ?L7A`堿y =->+Q@ )Z@Ir@yp@II#3٢ K  8=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%"z?-5Y% i%P5E>5;5785@%$E%H!;% ;%59 E@AmDNOT Ignoring new targets: 74.00 m. jqjqjjihhhhBffrfbf{(@]EE>]EE>]E3ό?]EY@ 隕Ha?I: ɚ.6iIIii))DV9*F92F9:F9BFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge B>Bq O > ! I) w,uiAJ@@YJ_@J=9J4>yJH`@?t? eD5? ^4m? n?ɨJ@@JĈ;HWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKKKKK Hu>I I)$IIwBI =&I.I>D6I*<:IP FyލPBޕ#I) I;I&3٢Qɼ =9qQ > G٣y0 > Nusing accuracyPremultiplier from config59z?5Y iY8@ ;. ;5 >@DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf)@]]]]_Y@-= )5]?IU: QɚU?6iQIQIYiYia)a)a)F= M~Ga YyB Will construct direction to contact in vehicle frame from tetrahedron phase data.D A9E E qA*FQ 2FY :FY BF] 05JFY "Ga Ge > !I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBaO?`#w,V+A*Ja="JJ%J%J%0J!J%:J%:J%ـ3J!J%9;J%;;J%@;J%@;ɮimtwAiiiiiquvA)q qIq y)}7uAɯ}/]}pFyyɰiIIiwA 鰉)鱉 ɱI)i)I鲡ɲ )©I­|uA tF ±µ̎CµGuAµi±±iùù)ù ùIù 9)AAAAAM;uAiM$IIIIIiMxA IQ)QQ U`wAQQQYYIY)aiaayIB#IMb@Mb@Mb@ )YZd;O?x&1?yj<=A>̼;@ @)@Iy@I#I%x3٢ռ =9Q > G٣y > Nusing accuracyPremultiplier from config597z?5Y iSH>;*@%Ec;;S5 @MDNOT Ignoring new targets: 74.00 m. jIjIjQjQiQhQhQhYh]gBfYfYrfYbfe*@]H>]H>]?]Og@ p?I: ɚQ6iII)i)i1)1)1mWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9 $?I *F! 2F) :F) BF- 0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMLKM9KIKMKM20&!1689<6' G-:>B1OU?O ,w,UAH>s>I>C I>$II>hBI<&I>GD.I<6I>|<:I> F6:@Y6Y@6A=96ː4>y6H`T ?cj?T?@尿g?`co?ɨ6:@6;6#CyII٢: 7=9Q > G٣yP > Nusing accuracyPremultiplier from config 59 z? 5Y iN+@&EE;O;E5-#B 5@5cEmDNOT Ignoring new targets: 74.00 m. jijijijiiihqhqhqhqfyfyrfybf}+@]]]]f@A= 隵p?I: ɚ`6iIIii))D9*F12F1:F1BF51JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O > I 2w,\YAFw@YFo@F6F=9F+4>yFHo q?` ?^?Űp?@o?ɨFw@F\;F"CjWill construct direction to contact in vehicle frame from tetrahedron phase data.y~HB~#IMb@Mb@Mb@ )YMbP?5^I ?Qy:X>u@ z@)@I\@y@I4IV3٢ N=9XQ > G٣y^o > uNusing accuracyPremultiplier from configq}59uz?}5Yuh iu;X>z;\@u'Eu;uo;u5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhWBffrfbfa,@]X>]X>]t?]t@6F= 隵Rx?I: ɚq6iIIii))BDG?:D)?D9*F2F:FBFP0JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >9w,A6z@Y6@6y6HJ`<3]?`??y? o?ɨ6z@6;6!C PIPyQB#II-)I-W3٢= := =S=9EQ E>AI MG٣IyMFy M> ]Nusing accuracyPremultiplier from configYe59]z?e5Y] i]*imm@Y]:]:]5q u&@yDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf`N-@]]]]bt@I I$IIcBI =&I.I=D6Io<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ ??w,A6@Y6.@6`ք=965>y6He!l??@6? ї@Px?Jo?ɨ6@6;6Cy^ZBb$I)d fAddIjIjm?3٢r?= rP=9vp%Q v>tt zG٣xyzG z> ]Nusing accuracyPremultiplier from configYe59]2y?e5Y] i]im'm@](E]:].:]w5q u@qDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf-@]]]]Zs@`ք= €?IE : ɚ6iIIii)) ID=9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG B O >'Fw,A6@Y6@6=96<4>y6H``@<θ?@$? s XY? r^? p?ɨ6@6d;6#CyRfBR$I5Mb@Mb@Mb@111 1)1Y5/$1Zd?~jtxy55"[>5Ļ1 1)5@I5/@1y5G@IE(IE̍3٢U]= UC=9]eQ ]>aa eG٣aym3N m> uNusing accuracyPremultiplier from configq59uy?5Yu iuF\>v; @u)Eu]F\>]$?]Iz@M= ImG?Iu: qɚ}6iyIyIii)) IDU9*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zKm JKi Ki Km Km RKu ?JKu ?J J J J J :J 9J J H l>I  I "$II rBI &I .I 6I <:I FG-J>B9OU>QMw,7A6F@Y6e@6›=96 4>y6H@K<3?? ?G>?`pW?q?ɨ6F@62;6 CyBqBF!$IIf6Ifm3٢~Z9= ~3=9~WQ > G٣y {  > 5Nusing accuracyPremultiplier from config1=595y?=5Y5m i5AE|E@15:5:5B5i u!@uhEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf/@]a]a]a]ey@›= ?I* : ɚu6iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.Dر9*F?2F:FBF_0JF u$?IqG :>B1 O > Will construct direction to contact in vehicle frame from tetrahedron phase data.4Tw,8QAyrBrJ$Iiv ףp=?~jth?y}}Q>}D;}@ }M@)}@I}@yy}\@I-I3٢`> @=9Q > G٣y > Nusing accuracyPremultiplier from config59y?5Y iTT>;6@*E/;^;5  @ DNOT Ignoring new targets: 74.00 m. j j j j i h h h!h%nBf!f!rf)bf-?0@]TT>]TT>]E?]i|@ ?Ik : ɚ%i!I!I!i)i))))QD)*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > i Im h_Zw,kA6}@Y6@6P$=96!3>y6Hy(ڑ?F? @?A I?@r?ɨ6}@6(;6"CyBBFc$IIN"INq3٢V8= V\=9V Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`j59by?j5Yb| ibhjn@b+EbB;b;C;b5p r@pUDNOT Ignoring new targets: 74.00 m. jyjyjyjyiyhyhhhffrfbf U0@]]]Will construct direction to contact in vehicle frame from tetrahedron phase data.]"|@P$= ?I~ : ɚ i I IQiYiY)Y)YDM 9zKBoHK9KKKJKw3 K.-KK"KJJxJJJJ9JJBK :K pAH]h>I]C I]N$II]BI] =&IY.IY6I]u<:I]} FBIçCJIçCRIZI =bI =jI:N5*F?2F:FBFP5JFG% 2>B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.Eaw,*WA2/@Y2N@2I&=923>y2He:>F? &_??@N?[r?ɨ2/@28;2 CyB…BB$IIJ#IJ%x3٢R+> RK=9RfQ V>TX ZG٣XyZB ^> bNusing accuracyPremultiplier from config`f59by?f5Yb ibzdfGf@`bn:b:b{5l n@l IDNOT Ignoring new targets: 74.00 m. jjjjihhh!h!f!f!rf)bf-@m1@]I]I]I]M{@I&= ?I: ɚiI!I)i)i))))1D%9*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<G B O5 >ogw,1A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:?Y: @:~=9: 4>y:H;$\`n? ,?ࡱ@?`ү4k?@Hq?ɨ:?:&x;:"CyF݅BJ$I)L LPRAMb@Mb@Mb@ )Y{Gzgfffff?y&1|?y#33>`;@ 7@)@I/@yf@I$I<3٢= :=9aQ > G٣yp > Nusing accuracyPremultiplier from config59y?5YI iW3>;@,E;;f5 ]@=DNOT Ignoring new targets: 74.00 m. jAjAjAjAiAhAhAhIhMBfIfIrfQbfUv1@]u3>]u3>]uG^?]uuHu@~= 隍͌?IG : ɚiIIii)) IDU+9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P5JF zK BoJK u9K K K J J {J 0J J J -9J ـ3J RK ?JK ?HM b>IM C IM $IIM ͅBII &II .IM Bnw,ϻA .Y,y.B%?Y% @%z=9%w4>y%Hq@\? O?˔H?`UTf?q?ɨ%?%f;%Cy=B=$IIU IUb3٢eb> e;=9eQ m>ii mG٣qy}- > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.E59y?E5Y i5AEE@-E)<<Q5Q UT@QDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf:1@]]]]&u@-z= )-?I-1 : 1ɚ1i1I9I9iAiA)A)A ID'9*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >uw,A2T?Y2mI @2ov=92)4>y2Hs |@h?t?@Gv>p? qk?\r?ɨ2T?2]x;2%CyBBB$IMMb@Mb@Mb@III I)IYM~jt?333333?y&1|?yM=M>II M @)Mx@IM@IyMp@IeIe 3٢u> u3=9u%Q }>yy }G٣yyg. > Nusing accuracyPremultiplier from config59zy?5Y4 i>;W1@;;M5 D@DNOT Ignoring new targets: 74.00 m. jjjjih h hh܃Bffrfbf [2@]5>]5>]5M?]5`@ov= ?I : ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DK9*F}?2Fy:FyBF}P0JFy IGy B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 =1 |w,3Ayr?Br%Iiv=Iv; z=z=zK~:IK|K|K~K~IIT3HU]>IQ IU$IIUBIU =&IQ.IQ6IU7<:IUH F٢ > J=9Q > G٣y > Nusing accuracyPremultiplier from config59y?5Yʘ i@.E ; ;5"B /@kEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf2@]!]!]!]!1 9=ʘ?I=: 9ɚ9i9I9IAiAiA)I)ID1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO> $?I Pw,X AWill construct direction to contact in vehicle frame from tetrahedron phase data.yލ_BލF%IMMb@Mb@Mb@III I)IYMZd;O?"~j?~jth?yMj=MS=MD;M@ M7@)Mb@IIIyIImImm?3٢u> }/=9yQ }> G٣y > Nusing accuracyPremultiplier from config59y?5Y i>;zD@@<;Y; 5 /@DNOT Ignoring new targets: 74.00 m. jjjj*JC="JJJJJJ\:Jy9JJJl;aJm;aJ::aJ;:aih h h h Bffrfbf:3@]5>]5>]5`?]5?zD@A IM?IM : IɚIiIIIIQiYia)a)aDl9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF% O0JF! I GBO>{jw,+A6]G?Y6B @6+X=96te5>y6HM @?@F?A?F`F? t?ɨ6]G?6&;6 CyBzBBh%IIJ"IJq3٢R$ > RP=9V*Q V>TX ZG٣Xy^& ^> bNusing accuracyPremultiplier from config`f59bHy?f5Yb ibhj|C@j@b/EbC:be:b 5l ny@lDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf3@]]]]r|C@+X= }?I: ɚ9i9IAIAiAiI)I)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.HZ>I IN%IIfBI =&I.I6IL<:IV FzKBoHKk9KKKD29*F}?2Fy:FyBFP0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >{nw,!FA2?Y2 @27P=925>y2H ~"@y?@ ?`M?` ?t?ɨ2?2;2#CyBBB%I)D FADDIJIJV83٢R > RG= XIX9^QQ ^>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fUy?j5Yfe iflnDC@n@df;f;f 5t vh@tDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf}4@])])])]-DC@M7P= IM?IM: QɚQiQIQIYiYiY)Y)aD9*F=?2FA:FABFE_0eWill construct direction to contact in vehicle frame from tetrahedron phase data.JFIJAJE@AJMJMvJM1JIJM:JMϣ9JM3JIJM;JM ;JM:JM:G B>B O% >w,_A:Ñ?Y: @:D=9:5>y:Hrw?@2?@2?k`? u?ɨ:Ñ?:щ;:"CyFBF%IbWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-~jt? ףp= ?Mby->-Q=--@ - @)-K@I-/@)y-z@IE1IE3٢M= UA=9UӻQ ]>aa eG٣aye m> uNusing accuracyPremultiplier from configiu59my?}5Ym ii}5>};}.@}@m0Em;m;m{5 r@DNOT Ignoring new targets: 74.00 m. jjj1j1i1h9h9h9h=YBfAfArfAbfE.x4@]m5>]m5>]m+?]m.@D= 隅{?I : ɚ 4iIIii))2D*DqAD I*F ?2F :F BF 0JF uWill construct direction to contact in vehicle frame from tetrahedron phase data.G- 2>B9 O] >jH bH <H U>I C I %II BI  =&I .I ;D6I n<:I k FzK K 9K K K  BK :K Cw,yA2KI?Y2 @29=92' 6>y2H Sd`s?w%? )/?8? v?ɨ2KI?2É;2!Cy>B>%IIFIF[3٢NE= NV=9C޻Q %>!! %G٣!y-ᶻ -> 5Nusing accuracyPremultiplier from config1E5955y?E5Y5Ԗ i5IM-@U@15;5Ք;575y @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf>4@]a]a]a]eI-@9= 隥?Ih: ɚ5iIIii))Dv9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFEg1JFI IGm B>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,rA6:?Y6 @6,-=965>y6H@X@"?.?`J[?Y7?w?ɨ6:?64;6"CyBΆBB%IJMJMzJIJIJM:JM9JIJIJMk;JMl;JMP:JMQ:eMb@Mb@Mb@aaa a)aYe+?l?/$yev>>e=eep@ e @)e=@Ie@aye@IuIu(*3٢ = <=9Q > G٣y > Nusing accuracyPremultiplier from config59=y?5Y iN>;$@@1E; #; 5 :@nEDNOT Ignoring new targets: 74.00 m. jjjjihhhhrBffrfbfD5@]%N>]%N>]%>]%ֱ$@5,-= 1= ?I=: 9ɚ=i9I9IAiAiA)A)ID9E%i>E%>*F?2F:FBF@5JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO> $?I ͪw,MA2h?Y2 @2s!=925>y2H_M@g!`?8?jG?4= 7?x?ɨ2h?2{;2$CyB҆BB%IILIL٢Vg< VZ=9VQ V>XX ZG٣XyZݜ ^> bNusing accuracyPremultiplier from config`f59by?f5Yb ibdj$@j@b2Eb:b:b5l n@l DNOT Ignoring new targets: 74.00 m. j j j j ihhhhff!rf!bf%5@]A]A]A]E$@Us!= QU?I]: Yɚ]$4iYIYIaiaia)a)iD59uWill construct direction to contact in vehicle frame from tetrahedron phase data.uI1 I5%II5BI5 =&I1.I16I59<:I5A FBIåCJIåCRIZIbIjI5zK=& LK=9K9K=K=G J>BO5>% Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,!A IBI?YBc @B=9B(5>yBH>@h ڿ?`[C??@ͼl?y?ɨBI?B[;B!CyN؆BR%IIZ%IZ)3٢b< bI=9fQ f>dd jG٣hyj n> rNusing accuracyPremultiplier from configpv59ry?v5Yrf irxzl$@z@pre:r:rw5| ~@-DNOT Ignoring new targets: 74.00 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=9 6@]Y]Y]Y]]l$@m= qu}?Iu: qɚu5iqIyIyii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9JeJeJaJaJe<:Je9JaJaau@a}@a}@a}@*F?2F:FBF05JFGU B>Ba O} >w,VA6]O?Y6F @6ù =96+5>y6H L3,?NL?@X?c6?`z?ɨ6]O?6;6#CyBцBB%IZWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YzG?l?Mby W>@ )@I/@yII#3٢' :=9e޻Q > G٣y僻 > Nusing accuracyPremultiplier from config59Py?5Y i Wf>k;="@@3E!; ;a5 @ DNOT Ignoring new targets: 74.00 m. j j j j i hhhhtBff!rf!bf%}6@]Wf>]Wf>]uv> I]="@ù =  ?IE+ : IɚMi5iIIIIQiQiQ)Q)YD9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 5JF ZH RH H P>I  I &II BI =&I .I 6I <:I ~ FzK K 9K K K ) M NGa y X Y y BG A>B O%>w,A2?Y2v @2ͼ<92ʉ5>y2H`# `mc?` X?H?@Q`?{?ɨ2?2G߈;2 Cy>҆B>%IIFIFM3٢Nղ; R>=9RӻQ R>PT VG٣TyV V> bNusing accuracyPremultiplier from config\f59^y?M5Y^z i^!QU"@U@^4E^%<^!<^B5Y ]@YDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfK6@]]]]~"@Will construct direction to contact in vehicle frame from tetrahedron phase data.ͼ< W?Iu : ɚ [5i I Iii))2D!*D!D%9 I h*F?2F:FBFP0JFGZ >B! Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.hńw,AV̳?YV @V<9V5>yVH :@?@yc?@g?@@T?A|?ɨV̳?V ӈ;V%CyjdžBj%IMb@Mb@Mb@ )Y~jt?K?^=tZ@ @)Iy@IIF3٢: 7=9zQ > G٣y- >  Nusing accuracyPremultiplier from config 59y? 5YC i8\>v;(@@;;@:;35%!B %@%oEMDNOT Ignoring new targets: 74.00 m. jQjQjQjQiQhQhYhYh]WBfYfarfabfe]7@]\>]\>]5>]s(@< 隥)?I: ɚ5iIIii))D9EErA Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFE]0JFAGI GI IG- <>B9 Oa ̄w,2A2Will construct direction to contact in vehicle frame from tetrahedron phase data.Bf?YBt @B<9BA5>yBH@@>?`n?$Sž?w? O}?ɨBf?BGш;B!Cy^B^%IIf#If%x3٢r r]=9rջQ r>tt vG٣tyzϻ z> Nusing accuracyPremultiplier from config| 59~·y? 5Y~? i~J  (@ @~5E~;~;~5 @EDNOT Ignoring new targets: 74.00 m. jAjAjIjIiIhIhIhQhQfQfQrfQbf]@C7@]y]y]y]}(@< 隕ܗ?I: ɚ{5iIIii))HN>IC III =&I.I:D6I<:I FJEJEJE2JAJE\:JE9JEc3JAJEk;aUJEm;a]JE ;a]JE ;a]D 9zKk3IKk9KKK*Fm?2Fi:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.iGUA>BaO}> $?I d҄w,LA6u?Y63 @6Q<96N5>y6H `%-?@G{?`׏B?) $?E}?ɨ6u?6Ԉ;6#CyBBB%IIJ*IJ3٢rI rJ=9rhQ r>tt vG٣tyzfֻ z> ~Nusing accuracyPremultiplier from config|59~vy?5Y~" i~^ _(@ @~6E~;~;~5 Q@=DNOT Ignoring new targets: 74.00 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfUX#8@]q]q]q]u_(@Q< 隍O?In: ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJQD9*FQ2FQ:FQBF]_0JFY% Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >8لw,ŭfA 0I0>?Y>k @><9>q~5>y>Hq 5`-? ? y˽?  ?}?ɨ>?>;5=55-@ 5@)5@I5@1y5Q@I]I]F3٢m ?=9fQ >  G٣ y5Y => ENusing accuracyPremultiplier from configAu59Eozy?u5YE iEpueE>u;u7@}@E7EE`;E;E 5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf+8@]=eE>]=eE>]=_0?]=7@u< qu?Iu: yɚ}iyIyIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHHL>I I%IIBI&I.I6Ip<:Ic FJ5J5}J51J1J5̝:J5S9J53J1J5;J5;J5:J5:D+9zK K 89K K K *F= ?2F9 :F9 BF9 JFA "GM >GM > Will construct direction to contact in vehicle frame from tetrahedron phase data.GEF>BYBe'JO}>9w,#ABK?YBD @Bˤ<9B5>yBHw> 7L?=?Rl@>?!?@~?ɨBK?Bܣ;B!CyZB^v%I)t tI&I3 I٢5{ 50=9=dQ =>99 =G٣AyEꬻ E> uNusing accuracyPremultiplier from configq}59upsy?}5Yu iuy7@@qu;u;u"5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf 9@]!]!]!]%y7@ˤ< 隕x?I1: ɚΪ4iIIii))Dm=9*F?2F:FBF1JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O- >_w,1AygB%Q%IMb@Mb@Mb@ )YMbX9?S?X9vyʡ=> @)@I@y\@II3٢  ==9Q >  G٣y- -> =Nusing accuracyPremultiplier from config1=595>my?E5Y5$ i5E^1>E;EAE@58E5p3;53;5b$5M B U@UrE}DNOT Ignoring new targets: 74.00 m. jyjyjyjyihhhhÃBffrfbf }w9@Will construct direction to contact in vehicle frame from tetrahedron phase data.]^1>]^1>]]?]eP@ ?I: ɚiIIii)) ID1*F?2F:FBFP5JFG B O- >M Will construct direction to contact in vehicle frame from tetrahedron phase data.H K>I  I %II ˆBI &I .I 6I ?<:I ? FJ! J% yJ% 0J! J! J% 9J% ـ3J! J! J! J% :J% :Fw,θAbx-?Yb @bJ<9b 4>ybH`d@/? ?@4u|?`y?\?ɨbx-?b;b$Cyn\BnC%IIv%Iv)3٢~Kg [=9Q >    G٣ yM¼ > %Nusing accuracyPremultiplier from config-59gy?-5YS i)-,B-@::%59 =@@9eDNOT Ignoring new targets: 74.00 m. jajajajaiihihihihifqfqrfqbf}9@]]]]HO@-J< )-B?I52:zK1K59K1K5K5RK=>JK= ? QɚU4iQIQIYiYiY)a)aDM]9*F?2F:FBF!4JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data. I GBO>uw,մAVwo?YVV @V <9Vh*5>yVH4g|f??@ @M?]a-?~?ɨVwo?V8;V!CWill construct direction to contact in vehicle frame from tetrahedron phase data.y-KB5.%Ii]=I]<IIF2٢@ >=9@Q > G٣yXO > Nusing accuracyPremultiplier from config59@ay?5Y iB@9E;-;'5 P@eDNOT Ignoring new targets: 74.00 m. jajijijiiihihihqhqfyfyrfybfzN:@]]]]1O@ < ?I: ɚ)5iIIi i ) ) D-59Will construct direction to contact in vehicle frame from tetrahedron phase data.թթ $?I *F ?2F :F BF =5JF G!B1OM>3w,AN1:?YN@NZ<9NK4>yNH@%&@@o??]?@K? ?ɨN1:?N;N#C Will construct direction to contact in vehicle frame from tetrahedron phase data.H-I>I-C I-%II-BI- =&I).I)6I-$<:I-+ FBI£CJI£CRIZI =bI =jI¼J6JJJ1JJ:J9J3JJ;J ;Jg;Jh;y7B%IzK BHK 9K K K BKqA:KqAMb@Mb@Mb@ )YI +?-?{Gzy94<?5>ף@ @)r@I@y@II2٢ { <9% Q > G٣y | > -Nusing accuracyPremultiplier from config!-59%.Yy?55Y% i%56>5;5(5@%:E%;%;%*59 E@AmDNOT Ignoring new targets: 74.00 m. jijijijiiihqhqhqhujBfyfyrfybf} :@]6>]6>] ?]GM>}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO?w,AF?YFa@F*<9F4>yFHG ? ?e ڻ? y?G?ɨF?Fu;F"CɮLLLiLLiPRvA)P PIP T)V3uAɯVZTTXɰXiXI\\I\ibwA ``)`d dddɱddfxwAIh)hih)hIhhɲh l)lIln neF prَCpv1iv@Ftitt)t tIx x)zxAxxx|~?uAi~I~DrF|Ii xA )       I)iy*B%%IMb@Mb@Mb@ )YI +Fx?{Gzy94K>#@ l@)\@I@y@I#I%x3٢e 5=9:Q > G٣yfG > Nusing accuracyPremultiplier from config59nSy?5Y iiP>;V@;EQ;j;,5 c@ DNOT Ignoring new targets: 74.00 m. j j j j i hh1h1h=IBf9fArfAbfM@c;@]P>]P>]R?]z@*< R?I: ɚ5iIIii))D9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2F:FBF0JF )I)G F>B O >J w,#2A6Y?Y6@60<964>y6H @?@i0?׻?`?~?ɨ6Y?6dG;6Cy}"B}$I) IIT3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ P=9A:Q > G٣ybP > Nusing accuracyPremultiplier from config59Ny?5Y iU@ ; ;_.5 @wEDNOT Ignoring new targets: 74.00 m. jjjjihhhhf!f!rf!bf%@;@]I]I]I]M`uz@e0< ae^?IeO: iɚme5iiIiHF>I I[%IIpBI =&I.I9D6Ir<:Ia FIqi)i1)1)1Dic~GZA z Y y BzKBoHKKK KLJuiVG<2+&".L ="N$*!| h{_J9*RK5>JK5?*F?2F:FBFT5JFM Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 IE hGm A>B O >zw, KA6#?Y6ְ@6<965>y6H@ ?"I? YOݻ? ” I? ~?ɨ6#?6N;6 Cy5B=$IIM$IM<3٢ ==95;Q > G٣y&[ > Nusing accuracyPremultiplier from config59Iy?5Y i> @B!OM>w,iAFr?YFCX@Fxm<9F4>yFH@@m?_?@3h? A핿@~?~?ɨFr?F;F$Cyv$Bv$I}Mb@Mb@Mb@yyy y)yY}I +1Zd?~jth?y}9}"[>}D;}x@ }?@)}@I}z@yy}@II2٢)< 8=9';Q > G٣yG > Nusing accuracyPremultiplier from config59Dy?5YҔ il>e; @=E%;;325 @5DNOT Ignoring new targets: 74.00 m. j1j1j1j1i9h9h9h9hEBfAfArfAbfE`<@]l>]l>]?]W@xm< ?I: ɚ,'6iII ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<HE>I IB%II\BI =&I.I6I?<:I; FD59*F?2F:FBF02JFzK} PK} -9Ky K} !K} G K>B O5 >Z!w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA |I| |?Y @ <9 5>y H`qq }G٣yy+Ӽ > Nusing accuracyPremultiplier from config59?y?5Y֖ i @A;3A; 45 @]DNOT Ignoring new targets: 74.00 m. jYjYjajaiahhhhffrfbf=@]]]]'@-< 156?I5: 1ɚ5@6i1I9I9i9iA)A)aD=9*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J 9J 3J G F>B O% >'w,qtAJ L?YJD@J@<9J5>yJH`+K`??q߿ @?@?|?ɨJ L?JV;J$CyV-BV %ImMb@Mb@Mb@iii i)iYmMbXA`"?y&1?ymʽmY>m`e G٣y{o > Nusing accuracyPremultiplier from config599;y?5Yۘ ip>b; @>E7;6;55 *@DNOT Ignoring new targets: 74.00 m. jjjjihhh h Bf frfbf u=@]5p>]5p>]5}@]57@E@< IM?IM]: IɚMX6iIIIIYiYiY)Y)aUWill construct direction to contact in vehicle frame from tetrahedron phase data.D]9 $?I*F2F:FBFP0JFG A>B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.H D>I  I I I  =&I .I 6I <:I  F0-w,vPA6?Y6L@6<96t5>y6H߿^??1߿`wU? 8:?|?ɨ6?6;6 CyRBBR"%IInIn(*3٢v= zV=9z P;Q z>x| G٣y%< %> -Nusing accuracyPremultiplier from config)559-6y?55Y-Ě i-15P 5@-?E-;-.;-75a m@iDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf=@]!]!]!]%g@e< aeE?Ie: aɚeiiIiIiii))zKBHKKK"KRK?JK>]Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9*FQ2FQ:FYBFYJFYG1 BA Oe >4w,HSA6?Y6z@6|<965>y6H߿jq?? M޿@2?` h?{?ɨ6?6:u;6!CyBSBB8%I)D FAHJAiQx?IV)IVW3٢^-= ^L=9^Y;Q b>`` bG٣`yfD f> jNusing accuracyPremultiplier from confighn59j2y?n5Yj ijolr r@j@Ej:j:j<95t v@tDNOT Ignoring new targets: 74.00 m. jjjjihhh)h)f)f1rf1bf5=>@]Q]Q]Q]U>@e|< ae?Im: iɚm4iiIiIqiqiy)yWill construct direction to contact in vehicle frame from tetrahedron phase data.)!JJJ0JJ,:J9Jـ3JD9*F}?2Fy:FyBFyJFy] Will construct direction to contact in vehicle frame from tetrahedron phase data. 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B1 OM >XdBw,[ ABF&?YB2@B<9B6>yBHN@߿F?? z޿M?\`?`N{?ɨBF&?B`;B CyRBRn%IIZIZT3٢b= bC=9b:Q f>dd fG٣dy% -> 5Nusing accuracyPremultiplier from config)=59-)y?=5Y- i- 9= =@-AE-n:-n:-=5Y ]@aDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf?@]]]][@<  ?I : ɚiIIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.D19JMJMJIJI*Fu?2Fq:FqBF}^0JFyJMl:JM=9JIJIG B O >Hw,#-%A6?Y6v@6<96?`6>y6H@ ߿` ?6?@ E޿?i?z?ɨ6?6UV;6"CyBBB%IiF@ )@Id@yQ@II٢= 4=9Բ:Q > G٣y| > Nusing accuracyPremultiplier from config59$y?5Y̡ i4>;n@BE;;>5 /@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf`n?@]54>]54>]5?]5v@e< ae?ImC: iɚiiiIiIqiqiq)q)yDy*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HM A>II  IM %IIM BIM  =&II .II 6II :IM m FBI ɢCJI ɢCRI ZI  =bI jI 6G B O >6Ow,g>A6![?Y6@6U<96v%6>y6Hb޿Ȩe?@S? ޿ ?) O?@{?ɨ6![?6z;6 Cy^B^%IIf!Ifi3٢r3> rY=9r9Q v>tt vG٣tyz޻ z> UNusing accuracyPremultiplier from configQe59U y?e5YU iUaee@QU*;U*;U@5q u@qDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf?@]]]]͆v@U< ?I: ɚizKBoIK9KK$KRK?JK ?II i i ) )DM 9 1I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFGA>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.^Uw,XAr?Yr@rR<9rN6>yrHC޿FM? ?ݿ`?Iu?y?ɨr?rA;pyEچBM%IJ=J=J=1J9J=<:J=9J=3J9EMb@Mb@Mb@AAA A)AYE~jt?On?Etqq uG٣qy}ػ }> Nusing accuracyPremultiplier from config59y?5Y i->;.@CEF;;B5 H@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf@f5@@]->],>]ƾ?]/c@5R< 15?I5: 9ɚ9i9I9IAiAiA)A)I $?I!]Will construct direction to contact in vehicle frame from tetrahedron phase data.D@9*Fe ?2Fa :Fa BFe 0JFa GBO>C]w,QwA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*=*=:?Y:|@:<9:6>y:H޿`@j??`ݿ@Ai? ՞ ?@Zz?ɨ:?:9;:"CjHHbHHHLIL IN%IINBIN =&IL.IL6IL:INk FyZB^%I)` bAIfIf3٢n= nM=9nQ r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~59zy?~5Yz; izf|/@xz7:z:zxD5  u@)y y~GA 5hY1y5B}DNOT Ignoring new targets: 74.00 m. jyjyjyjyiyhhhhffrfbf n@@]]->]][c@5< 15?I5: 1ɚ1i1I9IYiaia)a)azK BHK 9K K %K Ax> ID9 Will construct direction to contact in vehicle frame from tetrahedron phase data.mPExceeded connect timeout, disconnecting.*Fq 2Fy :Fy BF} 0JF G 7>B O >odw,zA>o?Y>V@>ҟ<9>":7>y>HO޿`.???ݿG?Rx?@y?ɨ>o?>o;> CyNBN&IIV"IVq3٢^= ^6=9b`Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jy?n5Yj ij=pr,/r@jDEjX:j:jmF5t v@tDNOT Ignoring new targets: 74.00 m. jjjjih!h!h!h!f)f)rf)bf5;@@]I]I]I]M b@]ҟ< aeR?Ie: aɚaiaIaIiiiiq)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.D`9*J"J%=*FE?2FA:FIBFMN1JFIGBO> ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. kw,UMAy]B]3&IMb@Mb@Mb@ )YV-?Mb?I +?yh=>94<x@ )@Id@y\@II?13٢= 7=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)59- y?5Y-ڤ i-!N>;7G@@)-8<-<-`H5B @}EDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf_@@]%N>]%N>]%I-C I-<&II-'BI)&I).I)6I-<:I- FJJJJJ:J:JJJ;aJ;aJ@;aJ@;aD9*Fm ?2Fi :Fi BFm S5JFi zK LK -9K K &K   I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power offG5 <>BQ Ou >rw,ƇARQ?YR-@R\<9RW)7>yRH@\޿c?'?qݿi?Z?6z?ɨRQ?R2;R!Cy^:B^T&Ii`Ib%=If IfV2٢z> zK=9~Q > G٣y c˻  > Nusing accuracyPremultiplier from config59y?5YΤ i!%G@%@EEX:7:%J5) -D@)UDNOT Ignoring new targets: 74.00 m. jYjYjYjYiYhYhYhahafafarfibfm#A@]]]]G@\< ?I: ɚiII9i9i9)9)AD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF05JFJJ?AG A>B O >xw,kA2?Y2@2m<92^L7>y2HK޿@D d}?`,?`ݿy? ,7?Dz?ɨ2?2;2"Cy>NBBl&I xIxEMb@Mb@Mb@AAA A)AYEMb?v/?Mb`?yE>Ex=E;Eb@ A)E@IEM@AyE@Will construct direction to contact in vehicle frame from tetrahedron phase data.I I̍2٢= 4=9~&Q > G٣yV( > Nusing accuracyPremultiplier from config 59y? 5Y i/>;1@@8v;t;"L5! -@)uDNOT Ignoring new targets: 74.00 m. jqjqjqjyiyhyhyhh BffrfbfIA@]u/>]u/>]uD:?]uj1@m< 隽?I: ɚo4iIIii))D9] Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHy RHy H ?>I  I &II dBI  =&I .I 6I N<:I @ F*F ?2F :F BF 15JF J J J J J :J :J J J ;J ;J A;J A;G R>B O >w,*A>ڽ?Y>@>0<9>Wl7>y>HZ3޿@? 3?3}ݿH?@?@z?ɨ>ڽ?>;> Cy^cBb&IIjIj٢r9= rB=9r-Q r>tt vG٣xy~ ~> Nusing accuracyPremultiplier from config 59x?5Yj i1@@FE #;a#;M5 @!MDNOT Ignoring new targets: 74.00 m. jIjIjIjQiQhQhQhQhYfYfYrfYbf]@<~A@]]]]01@0< 隥?I: ɚW5iIIii))zKBoHKk9KK'K $  iIqEWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F!:F!BF%P0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data.GM B>By O >w,bAE?YEU@E"<9Eh6>yEH6޿`?3?ݿ;? @?`{?ɨE?EA;E"CyegBe&I)i iqq%Mb@Mb@Mb@!!! !)!Y%ʡE?)\(?{Gzty%>%G=%ף%K@ %@)!I%d@!y%f@IEIE2٢UÀ< U-=9U瑻Q ]>YY eG٣ayeO9 e> mNusing accuracyPremultiplier from configiu59mZx?u5Ym] im}A>};}h+@}@mGEm$;imP5 t@DNOT Ignoring new targets: 74.00 m. jjjjihhhh4BffrfbfA@]A>]A>]?]h+@"< ?I: ɚ5iII i i ) )D $?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G Z >B O >;w,7A6?Y6@6f<96 7>y6H$޿@c`? 8?xݿ@ҹ?,?@{?ɨ6?6i<;6 CyBvBB&IININF2٢Z= Zk=9ZQ ^?\H>>I I&IIBI =&I.I6I <:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.\ -G٣)y5c 5> =Nusing accuracyPremultiplier from config9E59=3x?E5Y= i=IMT+@M@9=;=;=Q5Q U@YDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfA@]]]]T+@f< ?I: ɚ5iIIii))JJJJJl:J9JJJ;J;J<;J<;D9*F?2F:FBF`0JFzKuMKu89KqKu(Ku  RK ?JK> IGUJ>BYO>Will construct direction to contact in vehicle frame from tetrahedron phase data.2$w,^QA>v?Y>3@><9>۹6>y>H a޿?n:?xݿ`eW?3T?|?ɨ>v?>mg;>#CyZoB^&IIfIf 3٢r rG=9rʙQ r>tt vG٣tyz z> Nusing accuracyPremultiplier from configx59zx?5Yz iz O+@@zHEz\b;zb;zUS5y }@}EDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf B@]1]1]1]5O+@}< 隅?I: ɚ6iIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF\0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai G :>B O >w,VlA65d?Y6@6]<96U 7>y6H` ޿LZ$???iݿ`? w?m|?ɨ65d?6Lo;6$CyJzBN&IiR}=}94y y)}@I} @yy}@I,I3٢dC= 5=9{vQ > G٣yk; > Nusing accuracyPremultiplier from config59xx?5Y| iFY>z;)@@3;12;MU5 5@DNOT Ignoring new targets: 74.00 m. j j j j i hhhh3Bffrfbf:UB@]=FY>]=FY>]=2?]=)@U]< Q]?I]]: Yɚ] 6iYIYIaiai)) jHQbHU<H]<>I]C I]&II]BI] =&IY.I]8D6I]]<:I]H FBI=ơCJI=ơCRI9ZI= =bI= =jI=/5Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9JUJUJU0JQJU:JU:JUـ3JQJU;JU;JUC;JUC;*F?2F:FBF_0JF I G 2>B! O= >Xw,XXAzKhLK9KK)KBK:KpAVd?YVv@Ve<9V6>yVH ޿\s6???@Rpݿ pq?u?U}?ɨVd?V3;V"CyfuBf&IInIn 3٢z zG=9z䣻Q z>|| ~G٣|y~kq8 > Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59x?5Yg i)@%@IE\ ;%;W5) -@)UDNOT Ignoring new targets: 74.00 m. jQjYjYjYiYhYhYhahafafirfibfm ʉB@]]]])@e< 隥?I: ɚb;6iIIii))D}9*F?2F:FBFQ5JFG:>B!OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,)ABP?YBO@BwH<9B6>yBH`޿@@ X?@JB?kݿ@ ??C}?ɨBP?B׉;@yRkBR&ImMb@Mb@Mb@iii i)iYmMbX9?T㥛 ?Qym!>m>mum=@ m@)m@Im7@iymz@II(*3٢= B=9yQ > G٣y > Nusing accuracyPremultiplier from config59ex?5Y iO>;/@@JE;;X5 "@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBf f rf bf ȿB@]-O>]-O>]-V,?]-/@EwH< AM{?IM: IɚMV6iQ $?IIQIii))D95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFG B O >H I  I &II BI  =&I .I 6I `<:I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,5A(4@ ZYXy^5B#?Y@<.<96>yHݿc@r?@G? u\ݿ`?`lՅH?}}?ɨ#?;!Cy!%&I)) )quAI}I}V83٢} J=9IQ > G٣y] > Nusing accuracyPremultiplier from config59 x?5Y i.@@KEh;;Z5 /@DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfzB@]!]!]!]%.@=<.< 9=G?I=,: AɚEq6iAIAIIiIiI)I)QD9*F?2F:FBF2JF IzKJKKK*K  RK?JK?5Will construct direction to contact in vehicle frame from tetrahedron phase data.G% B>B1 OM >W0w,vAy~YB~z&III<2٢%I %Q=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=x?E5Y=ԛ i=IIM@9=:=P:=h\5]B ];@]EDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf'C@]Y]Y]Y]Yy 隅?I: Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚ!6iIIii))JmJmJm1JiJml:Jm:Jm3Jiau@au@au@au@D9*Fm?2Fi:FiBFm05JFi IE Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >=w,A6?Y6Z@6;96x6>y6H`ݿ P?AR?r=ݿٶ?? ~?ɨ6?6;6"CyFLBFj&IMb@Mb@Mb@ )Yi|?5?K7?y=I>@ η@)@I @y@I5I5[3٢Eu MA=9MQ M>QQ UG٣QyUzһ ]> eNusing accuracyPremultiplier from configam59ex?m5Ye ieu%k>ug;uD@u@eLEe8;e6;eB^5  @-DNOT Ignoring new targets: 74.00 m. j)j)j)j)i)h1h1h1h5BfYfYrfYbfe>^C@]%k>]%k>]?]D@; R?I : ɚ+6iIIii))ZHRHH;>I I&IIBI&I.I6I[<:ID F-Will construct direction to contact in vehicle frame from tetrahedron phase data.DU#9*F 2F :F BF 25JF ) I) zK] :LK] -9KY K] +K]  Will construct direction to contact in vehicle frame from tetrahedron phase data.G J>B O>UÅw,~ Av?Yv=w@v;9v~6>yvHaݿ?bU?`6ݿx?@Xyɰ?~?ɨv?v;v!Cy:B T&Ii11 =G٣9y= => ENusing accuracyPremultiplier from configAM59E&x?M5YE~ iEnQUD@U@EMEE:E:E@`5Y ]1@aDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf`ݕC@]9]9]9]=@D@M; QU?IU: QɚU>6iQIQIYiYia)a)aDG9Will construct direction to contact in vehicle frame from tetrahedron phase data.JKO3 K(.KK"KJuJuJu0JqJu :Ju 9Juـ3Jq*FU?2F:FBFO0JF a Ii G= :>BI Om >! ʅw,|(*AJZ?YJZL@JE;9J6>yJH@iݿ?`[_?ݿC@ @)d@I@y@II2٢b 0=9˺Q > G٣yF > Nusing accuracyPremultiplier from config59Nx?5Y ic 3> ; F @;;Gb5 q@EDNOT Ignoring new targets: 74.00 m. jAjAjAjAiIhIhIhIhMBfQfQrfQbfU`HC@]3>]3>]gU?]~K@E; ?I: ɚ-6iIIAiqiq)y)yH:>I I&IIBI =&I.I6I$<:I FDC9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF =4JF "G >G >G B O >хw, GA $?I>8?Y>9;@>Č;9>Jz6>y>H`Cݿ@7?Zc?`ݿ@?q``?2~?ɨ>8?>\^;dd fG٣dyj_" j> nNusing accuracyPremultiplier from confighr59jx?r5Yj ijXprFr@jNEj;j:jd5zB zS@zEMDNOT Ignoring new targets: 74.00 m. jIjIjQjQiQhQhQhYhYfYfYrfYbfe D@zKKKK,K)(! -Will construct direction to contact in vehicle frame from tetrahedron phase data.]i]i]i]mnK@}Č; y}M?I}: ɚ6iIIii))DMU9*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. < 4=J J J J J :J 9J J G- B>Bi O >؅w,AdA5$?Y5 @5pV;95*6>y5HCݿ` ?`Wu?1ܿ2s?jj?`~?ɨ5$?5;5$C IWill construct direction to contact in vehicle frame from tetrahedron phase data.yB/&I) A}Mb@Mb@Mb@yyy y)yY}}94}@ }@)}7@I} @yy}@II(*3٢ <9:ϺQ > G٣yN > 5Nusing accuracyPremultiplier from config1=595ݣx?=5Y5˜ i5@E'>E;E;.E@5OE5(;5c;5f5I U@QDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbfr[D@]'>]'>]j?]c@pV; ?I: ɚ6iIIii))H 9>I C I &II xBI  =&I .I 6I B<:I / F Will construct direction to contact in vehicle frame from tetrahedron phase data.D g9*F?2F:FBF0JF I GR>BO?2w,(AWill construct direction to contact in vehicle frame from tetrahedron phase data.zK&LK&k9K$K&-K&   BK.pA:K,B-K?YB@B;;9Bo6>yBHݿ ?~?pܿ I? xg@?@M~?ɨB-K?B;@ɮlnxwApippiprvA)t tIt t)v7uAɯvSzpFxxɰxixIxxI|i~wA ||)| ɱ  I ) i )Iɲ )IxuA1WF %̎C%KuA%i!!i)))) )I) 1)111115GuAi=I99I9i=xA 99)AA E\wAAAIIIII)IiIIy]B]&IImIm 3٢}ﱽ }4=9DoQ > G٣y. > Nusing accuracyPremultiplier from config59[x?5Y i0c.@ ;y;h5 F@DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfD@]]]]c@;; ?I: ɚ6iIIii))D?9*Fu?2Fq:FyBF}4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.*J 4="J J J J 1J J J =9J 3J G 2>B O >{w,ڥABq?YB0@BEM;9B6>yBHݿW ??@ܿ L?šib? ~?ɨBq?B崈;B#C I y޽B޽&IMb@Mb@Mb@ )Yl-?{Gzty?5>ף@ @)M@I@y@II2٢ 5=9 *:Q  > G٣y{ > %Nusing accuracyPremultiplier from config%59 x?-5Y i-<9>-;-5@PE;;j59 =@9UWill construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 74.00 m. jqjqjqjqiqhqhyhhiBffrfbfD@]<9>]<9>]mp?]|t@EM; f?I!: ɚ6iIIii))Dd9*F]?2FY:FYBF]O0JFYG- :>H5 :>I1  I5 z&II5 ZBI5  =&I1 .I1 6I5 o<:I5 P FBIɠCJIɠCRIZI =bI =jIi5BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,嶿A>??Y>@>R;9>6>y>Hܿ s?S? {ܿ G?0Wj"? ~?ɨ>??>Z;G>uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKWLKKK.K $067;DHHHMQRX[_bbaadhhlknoihgiknlhlnsxxyxxskdffa^\G 2>B O >Zw,,A>?Y>|@>nZk;9>`6>y>H@ܿ?Ў?aܿ E?IkmE?\~?ɨ>?>@;>$Cy=B=&IIMIMm?3٢]r eF=9eDo:Q e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy59}-x?5Y} i}@y}:}:}.n5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 74.00 m. jQjQjQjQiYhYhYhYhYfafarfabfe s0E@]]]]aPt@nZk; ?I": ɚ7iIIii) ) JJAA ID9*FA 2FA :FA BFE O0JFA m Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm :>By O >Jw,A: ?Y:~f@:y:Hܿ@!c?ؓ?#MܿJ?cIny?`}?ɨ: ?:;: CyFBF &IeMb@Mb@Mb@aaa a)aYeʡEK7A`?MbP?yee+>e:e@ et@)e @Ie@aye@I}%I})3٢< 6=9v9Q > G٣yvF > Nusing accuracyPremultiplier from config59x?5YϢ tIiP<>;)@RE*;G);%p5 @EDNOT Ignoring new targets: 74.00 m. jjjjihhhhPBffrfbf@gE@]EP<>]EP<>]EF.@]ES{@mI Ia&IIEBI =&I.I6I<:Id FE?IMk#:Will construct direction to contact in vehicle frame from tetrahedron phase data.NG Yɚ 7iI FYyBIii)) J]J]JYJYJ]:J]9JYJYJ];amJ];auJ]';auJ]';auD%9 $?I*F 2F :F BF P0JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.zK NK K K /K VTRQQQSRRRTUUWVWXWWUVWUSTSPRPPRQONMJLLIIECC;(G B O >&w,AR ?YR`$@R;9R7>yRH@ΐܿ 0m ??ܿ@K?`qK?@X}?ɨR ?R~H;R%Cy^B^&IIfIf3٢n:< n:=9r:Q r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~59zŇx?~5Yzs izl@xz:z:zr5  x@DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf` E@]A]A]A]EY@]; Y]?I]!: Yɚ7iIIii))2D*DD}9Ea>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG GG% J>BY O > I w,GU-A"Will construct direction to contact in vehicle frame from tetrahedron phase data.f?YfF@f;9f9]7>yfHdܿ h;(??ۿT?sF?|?ɨf?f;f!CyrBv!&I}Mb@Mb@Mb@yyy y)yY}ʡEoʡ?y&1|?y}-}->}`;y }^@)}@Iyyy}@II?13٢Lo= ?=9;:Q > G٣AyMۻ M> UNusing accuracyPremultiplier from configQ]59Ux?]5YU; iU]B>e;e e@USEUU;U^;Ut5i m@qDNOT Ignoring new targets: 74.00 m. jjjjihhhhSBffrfbf`5E@]B>]B>]@]{@; \?I&%: ɚ|7iIIii))D9*F2F:FBFn0JFH8>I III&I.I7D6I<:Ir FWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J J J 2J J :J H9J c3J J ;J ;J Q;J Q;;w,}!GA6{z?Y66@6܋;966>y6H$Pܿ@A??Sۿ6?`vs@?}?ɨ6{z?6;6#C PITy^B^)&IIf*If3٢r'= rX=9rQ r>tt vG٣tyz| z> ~Nusing accuracyPremultiplier from config|59~Ux?5Y~ i~x    @~TE~] ;~] ;~u5 H@=DNOT Ignoring new targets: 74.00 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfUF@]q]q]q]u@܋; 隍?I~*: ɚ$7iIIii))D9UWill construct direction to contact in vehicle frame from tetrahedron phase data.zKEMNKEu9KAKE0KERKU>JKU?*F?2F:FBF3JFG2>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,`A6z?Y65@6a\;96,7>y6H&ܿJ)?ʼ?`@ۿ&8?kuG?,}?ɨ6z?6;6CyF%BF:&I J=JR=ININ(*3٢V= VN=9Zm:Q Z>XX ^G٣\y^ b> fNusing accuracyPremultiplier from configdj59f|x?j5Yf= ifZhj n@dfv:f;fRw5p rh@pDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfI  I z&II ZBI  =&I .I 6I <:I F%Will construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO> w,NA6?Y6t@6EO;966>y6H ܿ@`P $??`*ۿa?t?`}?ɨ6?6Ő;6%CyB6BBO&IJ~J|J~1J|J~:J|J~3J|J~;J~;J|J|Mb@Mb@Mb@ )YˡE7A`?I +?y什>94<@ ) @IyII٢N= =9Q > G٣y{4 > Nusing accuracyPremultiplier from config59xx?5Y i2,>; @UE[;;y5 R@5DNOT Ignoring new targets: 74.00 m. j1j1j1j1i1h9h9h9h=yBfAfArfAbfEK}F@]e,>]e,>]e@]e_@EO; \?I!: ɚ(57iIIaiiii)i)i I Will construct direction to contact in vehicle frame from tetrahedron phase data.D9zK%BoHK%89K!K%1K%BK5qA:K5qA*F] ?2Fa :Fa BFe `0JFa G) BI O >&w,A>%?Y> s@> ;9>PQ7>y>HۿHWc:?`?6rۿ ?7t`?|?ɨ>%?>R;>$CyJJBJg&IIV"IVq3٢Zi= ^H=9^ǸQ b>dd fG٣dyfx j> nNusing accuracyPremultiplier from confighr59j]ux?r5Yj ijpr r@hj;j;jg{5x z@x~Will construct direction to contact in vehicle frame from tetrahedron phase data.%DNOT Ignoring new targets: 74.00 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf=`F@]Y]Y]Y]]1@m ; qu6?Iu(: qɚ}<7iyIyIyii))Du-9*F?2F:FBF05JF IG B>B!OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,A62i?Y6S@6);9697>y6HXۿ^`>? ? VۿK? 6%t@?}?ɨ62i?64;4yBgBB&IMMb@Mb@Mb@III I)IYM&1T㥛 ?~jt?yMPM>MD }?=9}Q }> G٣y9 > Nusing accuracyPremultiplier from config594rx?5Y i >;@VE;;E}5 N@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbfEF@]  >]  >] J?] &@%); !%?I%#: )ɚ-i)I)H6>I I&IIxBI =&I.I6IC<:I- FIii))!2DQ*DQWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ,:J9Jـ3JJ;J;J;%;J;%;D9EEqA I*FM ?2FI :FI BFM 0JFI GU qA GU rA Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K u9K K 2K  RK ?JK ?G} J>B O >>4w,0A2J?Y2[D@2e;92j7>y2Hۿ `O?`?Jۿ@Nƴ? q@?|?ɨ2J?2Ɉ;2"Cy>sB>&IIJIJ(*2٢Rp= RC=9RQ R>TT VG٣TyZ3 Z> ^Nusing accuracyPremultiplier from config\b59^ox?b5Y^ɮ i^`ff@\^;^5;^5jB jz@jE~DNOT Ignoring new targets: 74.00 m. j|j|jjihhh h f f rfbfG@]1]1]1]5@e; ?IV%: ɚ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM<9*F?2F:FBFP5JF I G B O >w:w,AyzBz&IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMbpq= ףp?I +?y=94<@ )Iyz@II 3٢3= ;=9Q > G٣y > Nusing accuracyPremultiplier from config]59{kx?]5Ya i]=];]*e@WE <<5i m@iDNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbfXG@]%=]%=]%&?]%h@9 9={?I=!: AɚEiAIAIIiqiq)q)qZHyRHyH5>I I&IIBI&I.I6IU<:I9 FBIEǟCJIEǟCRIAZIE =bIE =jIE3h5D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF $?I G :>BO=>cBw, AB# ?YB#@B5;9B7>yBH ۿ g `? ?1ۿ`RO?`\f T?c}?ɨB# ?B*\;B CyRBR&IIZIZ(*3٢f= f;=9feQ j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rgx?v5Yr irxz3*z@pr;r;r邚5| ~f@|%DNOT Ignoring new targets: 74.00 m. j!j)j)j)i1h1h1h9h9fAfArfAbfE`G@]a]a]a]eg@}5; y}?I}:&: yɚ@4iIIii))BDM?:Da?mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK^ LKKK3KDM89E]N>E]>*F?2F:FBF 5JF"GG Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J 4=J J J 1J J |:J 9J 3J a @a @a @a @GI BQ O} >uHw,Z$A2?Y2@2:92I6>y2H/ۿjXj??$ۿ@ ?Λ^?`}?ɨ2?2;2#CyzB~&II%I%(1٢Uo= ]@=9}> Q > G٣yY" > Nusing accuracyPremultiplier from config596dx?5Y i  A*@XEi<<Ԅ5 AII @EuDNOT Ignoring new targets: 74.00 m. jqjqjqjqiqhqhhhffrfbfG@]]]]3g@: U?IQ": ɚ5iII!i!i!)!))UWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fu ?2Fq :Fy BF} O5JFy M c~GY Hy Iy  I} 'II} އBI} =&Iy .Iy 6I} ,<:I}  F $Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.GB>BO>Pw,CAF0?YF@FK9F7>yFH`ۿGk@?@? ۿl?sI??r}?ɨF0?Fv;F"CyR·BR 'I5Mb@Mb@Mb@111 1)1Y5~jt?y&1?I +?y5D=5`=11 1)1I5@1y5@IMIM٢]@= ]'=9eQ e>ii mG٣iyu̺ u> }Nusing accuracyPremultiplier from configy59}u_x?5Y} i}d=;DG@y}c;};}醚5 ϴ@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf H@]=]=]\BI Om >ץWw,`AWill construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:@:9:6>y:Hۿ@i T?`?(ۿ?`Tb??}?ɨ:?:b;:$CyFއBF'IHJALLIR IR2٢Z= ^C=9^nQ ^>`` bG٣`ybJ: f> jNusing accuracyPremultiplier from confighn59jJ[x?n5Yj ijJln;Gn@hj:jz:j5t vȳ@tDNOT Ignoring new targets: 74.00 m. jjjjihhhhf!f!rf!bf--8H@JJ@AJJJ0JJܫ:J9Jـ3J]]]]J@= 9=L?I=$: 9ɚE6iE?B Oe >u]w,lyA:]?Y:@:%v9:p7>y:H ۿ #i ?N?)ۿ@?n??Y}?ɨ:]?:p;:"CyFBJ2'I-Mb@Mb@Mb@))) )))Y-MbX?zG?~jtx?y-=- =-;-r@ ))-@I-@)y-@IEIE2٢U˗= UB=9UxcQ U>aa eG٣aye m> uNusing accuracyPremultiplier from configiu5jH}<bH}<HI Ib'IIBI! =&IHD.I6If<:ID F9m}Vx?5Ym% im4>;[4@@mYEm;m;m5 Ȳ@DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf@ rH@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]U>]U>]UӖP?]U[4@e%v im ?Im#: ɚU$6iB=ew,"4AVV?YV# @VM.9V*6>yVH"ۿ@g ??C1ۿ)[?`Ev?`b?}?ɨVV?V;V$CybBb@'IIjIj(1٢~N= 6=9 $tQ > %G٣!y-9 -> =Nusing accuracyPremultiplier from config1=595ZQx?E5Y5 i5AEc4@E@15;5F;55I U@UEDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf H@]]]]c4@M. ?I&: ɚ#D6i{B O >"kw,/AyUBUJ'Ii]99 =G٣9y= E> MNusing accuracyPremultiplier from configAU59EKx?U5YE iE] >];]/@]@EZEE;EY;E5eB e{@mEDNOT Ignoring new targets: 74.00 m. jjjjihhhh&Bffrfbf ] >]lj=?]v/@  ?Il#: ɚ%e6i_BIm =&Ii.Ii6Im<:Im FD-c9]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJF y Iy G :>B O >Jsw,vAB[?YB&@BC%9B7>yBHۿMd`k? t?=ۿ@ĝ?$?o?@ }?ɨB[?B)͋;B!CyVBVY'II^I^F2٢fYu= fX=9j1Q j>hl nG٣lyn): n> rNusing accuracyPremultiplier from configpv59rPGx?v5YrK irxz/@z@prF;r;r05| °@5DNOT Ignoring new targets: 74.00 m. j1j1j1j1i9h9h9h9h9fAfArfAbfEI@]a]a]a]e/@}C% y}?I}): yɚ܁6iDyw,A6q?Y6@66t2966>y6H`uۿ@C``??QۿL&?iN?"?@z}?ɨ6q?6u;6&CyF BFX'IININ٢w F=9ΡQ > G٣y%; %> 5Nusing accuracyPremultiplier from config1E595UBx?E5Y5 i5IM/@M@5[E5;5;55 $?I ΰ@DNOT Ignoring new targets: 74.00 m. jjjjihhhhf frfbf%II@] ] ] ] /@%6t2 !%?I%!: IɚM@6iMBO>mw,rAJ?YJ@J4L9J6>yJH7ۿw`@0?F?@Oۿ ɰ???@}?ɨJ?Jd>;J!CyV BVR'I\^A=Mb@Mb@Mb@999 9)9Y=S㥛?X9v?~jth?y=$>===D;=E@ =1@)9I=@9y=3@IUIU٢mi m$=9u2RQ u>qy }G٣yy}Y }> Nusing accuracyPremultiplier from config59;x?5Y¬ i@5>;/@@\ED;;*5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhh"Bffrfbf@I@ I]@5>]@5>]M Will construct direction to contact in vehicle frame from tetrahedron phase data.BQ O >4w,nk"AB?YB@BӶj9Bi6>yBHۿ^@??h?/[ۿZ?V??\}?ɨB?BXS;B#CyRBRN'IIZ IZV2٢bK bA=9fyQ f>dd jG٣hyjē: j> nNusing accuracyPremultiplier from configlr59n5x?r5Yn intv/@v@ln ;n~ ;n5x zN@|*JC="Jp=%DNOT Ignoring new targets: 74.00 m. jjjjihhhh f frfbfI@]]]]/@Ӷj ?I$: ɚ=H6i=I9IAiIiI)I)Q ID%9*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiaG5 :>BA O] >Vw,!<A6C?Y6@6G967>y6H ʛۿ^`d?@l?Uۿ`?@>??~|?ɨ6C?6:;4yFBFK'IHb4>IbC Ib'IIbgBIb" =&I`.I`6Ib:<:Ib" FBIJIRIZI =bI! =jI5-5EMb@Mb@Mb@AAA A)AYEL7A`?/$?Mb`?yE+>E1>E;Er@ A)E@IAAyE@I]I] 2٢mD mA=9uGnQ u>qy }G٣yy}D }> Nusing accuracyPremultiplier from config59/x?5YP i?>;3@@]E(;';ܗ55B 5m@=E}DNOT Ignoring new targets: 74.00 m. jjjjihhhh!Bffrfbf@I@Will construct direction to contact in vehicle frame from tetrahedron phase data.]?>]?>]+J?]3@5G IUR?IU<': QɚU6iU[IYIqiqiq)q)yDM9EQJJJ1JJ:J9J3JJ;aJ;aJ';aJ';a*F?2F:FBFV5JF IG B>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.q>w,UA6?Y6_@6D96i6>y6Hۿ(_ r?@\?rUۿE? ԑ? L? |?ɨ6?6;6!CyVBVB'I Z=Z=I^I^٢f  fU=9j Q j>hh nG٣lyrZ r> zNusing accuracyPremultiplier from configtz59v)x?~5Yv iv3@@tv*;v*;v5 B ۱@ zKK9KK8KMDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhIhQhQhQfYfarfibfu7%J@]]]]3@D 隽?I*: ɚ6iIIii))D9*Fe?2Fa:FiBFmO0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G:>BO> I Vlw,oAj?Yj@j9j=7>yjHۿ``?S?@Kۿ3?=?`t?{?ɨj?jM;j#CMWill construct direction to contact in vehicle frame from tetrahedron phase data.yvB}2'I Mb@Mb@Mb@    ) Y A`"?l?~jth?y = > D; E@ @) @I @ y @I%I%0٢5Nq 55=9=HQ =>9A EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U;#x?]5YUK iUc]p:>e;eQ=@e@U^EU;U';U5i u@qDNOT Ignoring new targets: 74.00 m. jjjjihhh!h%Bf1f1rf1bf5r`J@]p:>]p:>]Ws?]Q=@ @I?%: ɚ;6iIIii))D9) E~Gay*F?2F:FBF3JFH5>I I'IIbBI# =&I.I6IR<:I2 F Yy1B @B Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J 9J ـ3J J Q;J R;J {;J {;G J>B O >3Pw,ݳA $?I:?Y:T@:9:7>y:H8}ۿc?@?@Cۿ?塔?`-?{?ɨ:?:O;:"CyFBJ%'IIRIR3٢Zff Zg=9^{Q ^>`` bG٣`yf j> Nusing accuracyPremultiplier from config 59x? 5Y iL  G=@ @_E::5 X@MDNOT Ignoring new targets: 74.00 m. jIjIjIjQiQhQhQhhffrfbfJ@]a]a]a]eG=@ 隝s?I,: ɚm6iIIii))D9EErAuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%P0JF!G) G-qAzKUKKU89KQKU9KUGM :>By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,AnL?Ynd@nQ:9n6>ynHlSۿ@l11 5G٣1y5ۻ => ENusing accuracyPremultiplier from configAM59Ex?M5YE iE1QU=@U@AE :EP:Eរ5Y ]8@aDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf 5J@]A]A]A]E=@}Q: y}?I}(: yɚ7iIIii)) !I!D 9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2FA:FABFAJFAGu 2>B H I  I 'II NBI & =&I .I 6I ]<:I 9 FO >hw,@߾A6?Y6@6ػ96N6>y6H |8ۿ q?? ۿ;?@z? w?{?ɨ6?64;6"CyBŇBB&IMb@Mb@Mb@ )Yl?ˡE?{Gzt?y='>ף; @)V@Iy@I1I1٢M M==9MkQ U>QQ UG٣Qy]k ]> Nusing accuracyPremultiplier from config59x?5Y iO8>;RH@`E<;3;ՠ5 E@%Will construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 74.00 m. jqjqjqjqiqhqhqhhBffrfbf J@] O8>] O8>] Β?] Ba O >q{w,40A24?Y2@292k6>y2H`tۿx?`?Fڿ ?#??@{?ɨ24?2;2 CyB&III?13٢ٓ $=9GQ >    G٣y݈ > -Nusing accuracyPremultiplier from config)=59- x?=5Y- i-IMrHM@)-h;-;-5UB U@UE}DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf 8K@]]]]I@Will construct direction to contact in vehicle frame from tetrahedron phase data.E AEX@IE&: IɚM7iIIIIQiQiQ)Q)Q ID)9*F ?2F :F BF JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>νw,KAZH)RH-AAH=4>I9 I='II=/BI=' =&I9.I=6D6I=S<:I=1 F)©I©+HF ©µَCµCuAµ1iµ8F±iñõwA)ñ ùIù Ĺ)ĹùCuAiI6rFIi ) `wAI)iyB&I}Mb@Mb@Mb@yyy y)yY}l?x?~jtx?y}=}K7>};y }@)}?@I}@yyyII(*٢ =9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59x?5Y? iE;>;:@aE;;G5 @DNOT Ignoring new targets: 74.00 m. jjjjihhhhBffrfbf`K@]%E;>]%E;>]%?]% X@J}J}J}0JyJ}:J}9J}ـ3JyJ};J};J};J}; 隽@I!: ɚ7iIIii))BD:DQ? IDu ;9u Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF @5JF zKILK-9KK;KBK:KqAGIBYOu?_Gdžw,AR'?YR2@Rż9R7>yRH ڿ 9?A ?lڿ{?`崘?? {?ɨR'?R;R"Cɮ```i``idd)d dId h)j;uAɯjVjxpFhlɰlilIllIpirwA pp)px x||ɱ|twAI ) i )Iɲ yޕBޕ&IWill construct direction to contact in vehicle frame from tetrahedron phase data.II(*2٢X =9Q > G٣y4! > %Nusing accuracyPremultiplier from config!-59%w?-5Y%̪ i%)-f:5@%bE%\:%\:%59 =c@9DNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfK@]1]1]1]5ĸW@Eż IM=?IMZ#: IɚM%7iIIIIQiQiQ)Y)yD]q9 $?I*F?2F:FBFP0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ BY O >7k͆w,VH8A6?Y6@6\ɼ96.6>y6Hڿha?@?ڿ@?6?л?`<{?ɨ6?6f;4y]B]&I)a a%Mb@Mb@Mb@!!! !)!Y%Cl?%t<%@ !)%(@I%@!y%\@I=I=٢MUL MU=9UBQ > G٣ya > Nusing accuracyPremultiplier from config593w?5Y iy;>;!-@cE;;>5 @ DNOT Ignoring new targets: 74.00 m. j j j j i HIC IU'II BI( =&I.I6Iu<:IJ Fh)h1h1h5eBf1f9rf9bf=@IK@]e;>]e;>]e?]eBd@u\ɼ quz@I}L/: yɚ}-7iyIyIii))DM89EQWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFR0JFJ5J5J1J1J5m:J59J1J1J5;J5;J5E;J5F; IG B O >SԆw,1#RA2?Y2?2ȼ927>y2H@kڿ %``?@t?bڿ:?P?? {?ɨ2?2a ;2 CWill construct direction to contact in vehicle frame from tetrahedron phase data.y}}B}&II IV2٢l T=99Q > G٣y > Nusing accuracyPremultiplier from config59w?5YR iYQ-@&:G:⪚5 @5B*** querying acoustic contact ***j1j1EDNOT Ignoring new targets: 74.00 m. jIjIjIjIiIhIhIhQhQfYfYrfYbf][!L@]y]y]y]}@d@ȼ 隍@I.: ɚ57iIIii))zK%k3IK%u9K!K%<K%RK-?JK-?D\9*Fu?2Fq:FyBF}P0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. I G B>B O >چw,mA27?Y2u?2Ǽ92z6>y2H9aڿ`?%?j8ڿO?z?`?@W{?ɨ27?2;2"CyBuBB&IININ 2٢Rp. VT=9V9Q V>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`v59bw?u5Yb ib8qu-u@bdEb BDAT read: Tx time:23:21:17.0313 $Ping request sent.7iIIii))jHbH<HI I)'IIBI&I.I6I&<:I FBI]ȞCJI]ȞCRIYZI]' =bI]' =jI]6D] j9*F ?2F :F BF JF "G >G >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:23:21:17.0305 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245856 I G}:>BO?wMw,#ڍAf?Yf?fͼ9f6>yfH %7ڿ ?c.?@,ڿ??A?@{?ɨf?fo=;dynB&Ii)I-4<Mb@Mb@Mb@ )Y{GzbX9?Mb?y#E6><@ @)V@Il@y @II ٢ȼ  =9%WQ %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1M595w?M5Y5Ů i5 M:>U;U8U@15a|;5z;5'5Y ]@YmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496981DNOT Ignoring new targets: 74.00 m. jjjjihhhhEBffrfbf@@L@]:>]:>] [?]r@ͼ @I': ɚH7iIIii))D*Fu?2Fq:FqBFu_0JFyzKBHKk9KK=K ,O2[G B>B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749897uw,A*J@"JBR=JJJJJJ1JHJJ:JJ9JJ3JHaV@aV@aV@aV@ AIA'?Y?^6Լ9W>yH )ڿV m'?(1? 3ڿ )?` ?j?`?ɨ'?Wl;騝$CyfB&IIII<٢E3& EZ=9E Q E>II MG٣IyU8 U> ]Nusing accuracyPremultiplier from configYe59]8w?e5Y]ٯ i]amkm@]eE];];]ʰ5q u%@qDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbf`L@]]]]Ar@^6Լ %@I/: ɚP7iIIii))Dx9*Fa2Fi:FiBFm0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000919G J>% NGB! M 5tAa Om > Y 5tAy BHe 3>Ia  Ie 'IIe χBIa &Ia .Ia 6Ie <<:Ie F\w,A2?Y2?2NԼ92Q{>y2H@("ڿF U?`2?ڿp??ל? &?ɨ2?2;2!Cy^cB^&IMMb@Mb@Mb@III I)IYMQS?~jt?yMuM/>MD G٣y > Nusing accuracyPremultiplier from config59#w?5Y i9>;@fE;;r5 J@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252950DNOT Ignoring new targets: 74.00 m. jjjjihhhh0Bffrfbf@L@]9>]9>]A?],Tz@NԼ f@I/: ɚX7iIIii)) 5$?I1DU9*F?2F:FBF`0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505251G 2>B O= >w,JA6v?zKFZNKF9KDKF>KF|r)ypkcYSQKEBA=844520.*')))$!"!0cY6?6ռ96>y6H`ڿ?8?`ZٿP???ౣ?ɨ6v?6L;6%CyZfBZ&I)\ \IbIb2٢jz9< jE=9n([Q n>ll rG٣pyr r> zNusing accuracyPremultiplier from configtz59vw?~5Yvn iv|~~@tv:v:v?5 $@ 5DNOT Ignoring new targets: 74.00 m. j1j1j1j1i1h1h9h9h9f9fArfAbfE 3M@]a]e9>]a]e;z@uռ qu@I}/: yɚ}`7iyIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.??Q?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756994JJJJJ:J[9JJD9 AIA*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012158G J>B9 OU >'w,-A68?Y6(Q?6\Ҽ96Q>y6H@ٿ?@B?@ٿ`?MP?.?ྠ?ɨ68?6ߡ;6 CyBjBB&IMb@Mb@Mb@ )YʡES㥛?Q?y$>u< @)IV@y@IIm?3٢6< :=94:Q > G٣y > Nusing accuracyPremultiplier from config 59w? 5Y id7>;@gE+;U;+5 %@!DNOT Ignoring new targets: 74.00 m. jjjjihhhh]Ed7>]E@]E@}\Ҽ y}@I}): yɚ}i7iIIii))H%2>I! I%&II%BI!&I!.I!6I%)<:I% FD*FE?2FI:FIBFMO5JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261302  I G B>B O5 >~w,A6%?Y6?6 ϼ96=>y6Hٿ``8?M? $ٿ? m? _?@?ɨ6%?6.;6"CyFnBF&IIN INV2٢Vx< Vc=9Vi:Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`j59bw?j5YbD ibzhnn@`brB;bB;b5rB v@vEDNOT Ignoring new targets: 74.00 m. jjjjihhhhf!f!rf!bf%@M@]]]]y@ ϼ U@I&3: ɚq7iII!i!i!)!))}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512914D9E!*F?2F:FBFP0JF"G>GzK/NKu9KK?K "--}tia`^ZVRQOKJHFFEA>>=<7036621,&G:>BO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764837J J J 0J J J 9J ـ3J ! I- h2 w,X*Av_?YvOZ?v˼9v >yvH@jٿ`o?`[?VٿN? 3t?k?`|?ɨv_?v9;tyzB&Ii =I < = =II 2٢-5g= 5B=95I:Q =>99 =G٣9yE:$ E> MNusing accuracyPremultiplier from configIU59Mw?U5YM iMYQ]\]@MhEM~ ;M ;M5a eϹ@aDNOT Ignoring new targets: 74.00 m. jjjjihhhhffrfbfM@]]]]a@U˼ Y]@I].: Yɚ]z7iYIYIaiaia)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:21:19.5503 TRx dataTimestamp_ set to:1736378480.852981checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024113D9*F?2F:FBF4JFH! I!  I% &II% ćBI! &I! .I! 6I% Q<:I% / FG R>B O > ^w,0EA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268827y-B-&IMb@Mb@Mb@ ) )I)Yl񲿏(\?~jt?yz><@ ׫@)Il@y@IU IU2٢eT< e1=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}Fw?5Y}C i}4'>;{@y}WL;}I;}5 _@DNOT Ignoring new targets: 74.00 m. jjjjihhhhIBffrfbf N@]'>]'>]\@]R@  @Ia,: ɚӁ7iII!i!i!)!)!BD-W?:D-M?D9Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:21:19.5503 LVL= 29520, 27889, 13730, 32755, AGC= 59, IDX= 6,-0.41, 0.487, 0.659, 2.573, 1.458, PHS=-0.883,-0.752, 1.112, RAW= 213.4, 5.5, CAL= 215.5, -0.2, ROT= 294.5, 0.2 UYgot valid direction response: 23:21:19.5503 LVL= 29520, 27889, 13730, 32755, AGC= 59, IDX= 6,-0.41, 0.487, 0.659, 2.573, 1.458, PHS=-0.883,-0.752, 1.112, RAW= 213.4, 5.5, CAL= 215.5, -0.2, ROT= 294.5, 0.2 ePDAT read: Bearing 294.5, 0.2 (Local) m~Local bearing/azimuth received: Bearing 294.5, 0.2 (Local) }DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.126838,-0.857148,-0.499209]Fpublishing direction and range info9Cv.8B) OM >/w,aAB[?YBK?B¼9B:<*>yBH ؿ?Y{?Jؿ@ѥ?z]?`,?Ō?ɨB[?B%;@yZBZ&IIbIbb1٢j= jT=9nM5;Q n>ll rG٣pyrhѼ r> vNusing accuracyPremultiplier from configtz59v w?~5Yv iv|~ ~@viEv ;v ;vG5 @ kE ijŌ?kEc kA kEVA:kE3BBkEBZkE>"Ejtj%:sRTݭ}EECv.8AMw,i{A>4?Y>r?>o9> l/>y>H`eؿ`6=H?g?flؿ)?c?`??ɨ>4?>;>!CyNBN&I)P P5Mb@Mb@Mb@111 1)1Y5QX9v?Mb?y5u5=5<5@ 1)5@I11y5p@IM IM̍2٢]E/= ]>=9]:Q ]>aa eG٣ayeA m> uNusing accuracyPremultiplier from configq}59uw?}5Yu iu}r >;@quU;u;u'5 b@DNOT Ignoring new targets: 86.10 m. jjjjihH 1>I  I 'II هBI ' =&I .I 6I 3<:I  Fhhh_Bffrfbf`{f?]r >]r >]Ok@]@-o )-R@I-3*: 1ɚ55i1I1I9i9i9)9)A5Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9*FY 2FY :FY BFY JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >%w,AyUBU&IIaIa٢uX= u5=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config59w?5Yֻ i@jE ; :5 "@DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf?] ] ] ]  !% @I%,: !ɚ%̎5i!I!I1i1i1)1)9D 9zK}LK}9KyK}AK}/   BK:KpA*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge#> IBO>,w,dA:K?Y:?:=X9:[5>y:HؿL ??׿(?`{ʗ??}?ɨ:K?:;: CyRчBR 'IIZIZb٢b>> bW=9bӷ9Q f>dd fG٣dyje j> nNusing accuracyPremultiplier from configlr59nEw?r5YnԼ intvv@lnm ;n ;nš5 l@mWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 86.10 m. jjjjihhh!h!f!f)rf)bf-૝?]i]i]i]m@=X 隅>@Im+: ɚiIIii))H0>I IB'IIBI( =&I.I6I,<:I FBIƝCJIƝCRIZI( =bI( =jIÁ4D 9Ea>E>*Fm ?2Fi :Fi BFm _0JFi "G} >G} > Will construct direction to contact in vehicle frame from tetrahedron phase data. I J J J 1J J <:J O9J 3J J ;a J ;a J e,;a J e,;a G F>B O >~3w,qAR?YR1?RǼ9RF6>yRH`׿%=??׿??9?B{?ɨR?RG;R#CybBb0'Iij G٣y< > Nusing accuracyPremultiplier from config59w?5Y i|=;@kE;;Ě5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf?]E|=]E|=]Et?]E.s@UǼ QU@IU(: YɚYiYIYIaiaia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.iDT9zK} qOLK} k9Ky K} BK} *F ?2F :F BF [0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I JI JM BAG<>B)OE>4:w,ZAbi?YbY'?bm?м9b6>ybH׿#&`I?d? ׿@)?5??`{?ɨbi?b;b CynBn='IIvIv1٢9= 6=9 Q  >    G٣ y&6 > Nusing accuracyPremultiplier from config%59,w?%5Y ik!)-@::ƚ51 5@1]DNOT Ignoring new targets: 86.10 m. jYjajajaiahahahihififqrfqbfu:@]]]]/s@m?м 隭B @If,: ɚX 5iIIii))D,9*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.)F= Cc~G|uAGF> %rY%|uAy%%BB)OM>ZHA RHA HI II  IM 'IIM /BII &II .II 6IM <:IM FAw,%A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>y?Y>i?>Xּ9>P7>y>H׿c(`??׿ǥ?Ԛ??Pz?ɨ>y?>%;>"Cy^B^^'I IMb@Mb@Mb@ )Yy&1?V-?V-?y`e<<@ @)Ʒ@Id@yp@IIb1٢= >=9Q > G٣y" > Nusing accuracyPremultiplier from config59Sw?5Y i?=;8@;w;Ț5J3K3 K3K3K3"K3JJJ2JJ̝:Ju9Jc3JJ;J;J/;J/; =L@9mDNOT Ignoring new targets: 86.10 m. jijijijiiihihhh ЃBf f)rf1bf5 f@]=]=]!?]Z@Xּ 隵R@Iq': ɚiIIii))D>9Will construct direction to contact in vehicle frame from tetrahedron phase data.E!*F ?2F :F BF _0JF G  G G A>zK :IK K K CK  B O%>Hw,$A2??Y2/?2P92 7>y2H@4׿(i?`B?`a׿ ?+)??`Yz?ɨ2??2;0y>.B>'I)@ @IJIJ2٢Rk> RA=9RKIQ V>TT VG٣TyZ/ Z> ^Nusing accuracyPremultiplier from config\b59^w?b5Y^2 i^df7f@^lE^ ;^ ;^ʚ5h j@jE~DNOT Ignoring new targets: 86.10 m. j|jajajaiahahahihififirfqbfu8( @Will construct direction to contact in vehicle frame from tetrahedron phase data.]I]I]I]M&Z@P 隍 @I+: I ɚiIIii ) )1D_9] Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq 2Fq :Fy BF} `0JFy G} F>H />I  I 'II gBI &I .I 6I 4<:I  FB O>NPw,7BANN?YN>?N"9NҐ7>yNH`׿'?o?`e׿? R?C?`y?ɨNN?Nە;Ly^>Bb'IUMb@Mb@Mb@QQQ Q)QYUi|?5?MbX?S㥛?yUq=U=U/ G٣y > Nusing accuracyPremultiplier from config59$w?5Y ij=;=@@';},;̚5 @eDNOT Ignoring new targets: 86.10 m. jajajijiiihihihqhu Bfqfqrfqbf"@]j=]j=]D?]=@" f@I:&:Will construct direction to contact in vehicle frame from tetrahedron phase data. 9ɚ=&5i9I9IAiAiA)I)I2Dq*Dq ID5M9JJJ1JJ:J:J3JJj;Jl;J@;J@;*F?2F:FBF93JF=PExceeded connect timeout, disconnecting.G A>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.hVw,[A>?Y>?>}-9>C7>y>H׿8%U??׿ԣ?t$? ?my?ɨ>?>;> CyJ[BJ'IIj Ij<2٢r> rV=9v؈Q v>tx zG٣xyz.: z> Nusing accuracyPremultiplier from config 59w? 5Yþ i=@@mE:e:_Κ5 @MDNOT Ignoring new targets: 86.10 m. jQjQjQjQiQhQhQhYhYfYfarfabfe&@]]]]}=@}- 隕 @I71: ɚiIIii))D9EEzKe>KKe9KaKeDKe *F?2F:FBFp4JF"G>G>%Will construct direction to contact in vehicle frame from tetrahedron phase data. IGU<>BaO}>\w,0uAF?YF}#?Fּ9Fi7>yFH׿" ?G?׿1?v?? x?ɨF?FҌ;F$CyZeB^'IidIfp< j=hInIn(٢vA= vJ=9vDQ v>xx zG٣xy~H: ~>  Nusing accuracyPremultiplier from config 59w?5Y i>@@Will construct direction to contact in vehicle frame from tetrahedron phase data.:<$К5 @UDNOT Ignoring new targets: 86.10 m. jQjQjYjYiYhYhYhahafafarfabfmd@]]]]>@ּ 3 @I': ɚ y5i I Iii))HI I (IIBI&I.I6I_<:I5 FDm95 Will construct direction to contact in vehicle frame from tetrahedron phase data. I *Fe ?2Fa :Fa BFe Y1JFa J J J 0J J :J 9J ـ3J J ;J ;J Z5;J Z5; U nManaging dock network, ignoring radio surface power offGMA>BYOu>dw,g A6?Y6 :?6 96<7>y6H׿E`??`B׿`J?`(b??x?ɨ6?6Ќ;6!CyBsBB'IMb@Mb@Mb@ )Y1Zd?J +?Q?y"==<@ )@Il@y½@IIԲ٢t]= $=9lQ > G٣y: > Nusing accuracyPremultiplier from config59ћw?5Y ii>;*@@T;:;QҚ5 A@DNOT Ignoring new targets: 86.10 m. jjjjihhhh%5Bf!f!rf)bf-I @]M>]M>]M=?]M*@e mWill construct direction to contact in vehicle frame from tetrahedron phase data. am@Iub*: qɚu5iqIqIyiyiy)y)BDE?:DL?D%9*F?2F:FBFS5JFzKoKK-9KKEK Will construct direction to contact in vehicle frame from tetrahedron phase data. I G F>B O >nMkw,gA2?Y2X?292`7>y2H`ؿ+`?[?4ؿ?@\??w?ɨ2?2e:;2 Cy>zB>'IIFIF٢N= RP=9RQ R>TT VG٣TyV; V> ^Nusing accuracyPremultiplier from configXb59Zw?f5YZ iZ@dj*@j@ZnEZׂ;Z ;ZԚ5t vʩ@iDNOT Ignoring new targets: 86.10 m. j jjji!hihihihifqfqrfqbfu@]]]]*@ 隽@I): ɚ 5iIIii ) )DAEeR>Ee>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGY GYHI I<(IIȈBI&I.I6Ib<:I7 FGu A>B O >I1rw,32AWill construct direction to contact in vehicle frame from tetrahedron phase data.=< PIPZj-?YZZk?Zlm9Z7>yZH ؿ``.??@ؿ`?L?"? v?ɨZj-?Z;Z"CyjBj'I)p pMb@Mb@Mb@ )YDl?:v?V-?yO >=<@ )@I@y@IIԲ٢T= ;=9rQ > G٣yU: U> ]Nusing accuracyPremultiplier from configYe59]Hw?e5Y] i]ml3>m;$@@]oE];];]֚5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhXBff!rf!bf%@)@]l3>]l3>]3T%?]$@lm @I*(: !ɚ%6i1I1I9iAiI)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FE ?2FA :FA BFE :5JFA GaByO>zKBHKKKFKoxn<uhHocXMGD>72*#"""|RK?JK>Cyw,,A6P?Y6@?6*,96Iy7>y6HB3ؿ??Fؿ?ƀ??u?ɨ6P?6i;6!CyBzBF'IIVIV ٢bS b4=jWill construct direction to contact in vehicle frame from tetrahedron phase data.9jQ n>lp rG٣pyvν; v> ~Nusing accuracyPremultiplier from config|59~w?5Y~ i~%@@|~;~;~ך5 5$?I1=B =Ʃ@EEDNOT Ignoring new targets: 86.10 m. jjjjihhh!h!fAfArfAbfE2d@]a]a]a]e%@u*, y}B@I}(:JJJ1JJݒ:J:J3Ja@a@a@a@ yɚ36iIIii))De9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF 4JF ZHY RH] @AHa Ia  Ie b(IIe BIa &Ia .Ia 6Ie <:Ie  FBI)JI)RI)ZI)bI)jI-̝K4Gy B O >w,A6?Y6?63(596(7>y6H@Iؿ``z.?? cؿ@>?"?@-?@lu?ɨ6?6M;6"CyPT=Mb@Mb@Mb@999 9)9Y=ףp= ?V-?S㥛?y=>===/<=@ 9)=@I=@9y=½@IUIUԲ9eQ e>aa mG٣iymP; m> uNusing accuracyPremultiplier from configq59u܆w?5Yu iu*H>;9%@@upEulK;uJ;uٚ5 DNOT Ignoring new targets: 86.10 m. jjjjihhhh]*H>]x$?]9%@Will construct direction to contact in vehicle frame from tetrahedron phase data.3(5 隭@I(: ɚX6iIIii) I)D9E*FU?2FQ:FQBFUP0JFQ"GYG] >Gy B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,pA2K?Y2;?2<92n7>y2HPؿL?@Z?oؿw?9?`M?@\t?ɨ2K?2Z;2#CyFtBF'IiJ=IJ<IRIR٢V|S Z<9Z]Q Z>\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj59fw?j5Yf ifhjF%@n@df)hNkw,H8ABZ?YBJ?BBD9BO87>yBHIZؿ j\??~ؿ͘?`??@s?ɨBZ?B8q;B"CyRfBR'IIZIZԲ٢b fI=9fQ f>hh jG٣hyv: v> Will construct direction to contact in vehicle frame from tetrahedron phase data. 5Nusing accuracyPremultiplier from config)M59-,|w?U5Y- i-TYeW%@e@-qE-;-;-qݚ5NGZA 5 Y1y5B9 =@9DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf`C@]]]]W%@BD :@I"': ɚ̎6iI!I!iIiI)I)IHI Ih(IIBI) =&I.I6I*<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fa 2Fi :Fi BFm P0JFi Gq  Gq G-F>B9OU>Tw,[VA Will construct direction to contact in vehicle frame from tetrahedron phase data.y=[B='I)I I-only read 2 of 4 data items for bottom velocity. Device response is::BS, 156, +18,A  @ @  @    @  II<٢%\ %<9%Q %>)) -G٣1y5 5> =bBottom track data is 0.6 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E59=sw?M5Y= i= M+:IM[;QU@=rE=:b;=#?=ߚ5Y e@aDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf]m @ 隕@IF : ɚ֢6iIIii))zK] rMK] k9KY K] HK] %NveXMB6-(   &AJ;*  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J D 9*F ?2F :F BF 05JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO?ƞw,^}Aɮ鮽twAףii) I )3uAɯZipFɰpwAiIICiwA )wF)C uAsFɶYCwAI)sFi)CIA`ɷ )ItuA:F ̎CiiCwA) ÅFI C)GuAeF sC 5vAi I F jH<bH<H1>I IO(II׈BI&I.I6I@<:I FI5sCi=uA ==hF)9=C =;uAEFEsFAECAIE)AiAIy]9B]'I        Mb@Mb@Mb@ )YL7A`?S㥻?Q?y+>/=u<@ ׫@)@I@y@I%I%٢5b ==99Q =>AA EG٣AyI M> UNusing accuracyPremultiplier from configQ]59Ulw?]5YUд iU]T:]Q/>e;e(@e@UsEU8;UR6;U5B @EDNOT Ignoring new targets: 86.10 m. jjjjihhhh Bffrfbf@!@]EQ/>]EQ/>]E/?]E>(@Q QU@I]!: aɚeiaIaIyii)) $?I EWill construct direction to contact in vehicle frame from tetrahedron phase data.Dq*F?2F:FBF4JFG B O= >Tw,^A6B ?Y61K?6\]967>y6HpؿS@i?2?`4ؿ???`p?ɨ6B ?6hx;6 CyMBUd'IIeIe٢XWill construct direction to contact in vehicle frame from tetrahedron phase data. =9Q  ? G٣yW;  ? Nusing accuracyPremultiplier from config59hw?5Y$ i(@@q:q:5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhff!rf!bf-,"@]I]I]I]M(@]\] Y]u@I]k2: aɚaiaIaIiiiii)q)qD9Ea>E>*FU?2FQ:FQBF]Z0JFY"GaGa  I he Will construct direction to contact in vehicle frame from tetrahedron phase data.G F>B zK MK #9K K IK O >J J J 2J J M:J 9J c3J kūw,1_A29!?Y2(_?2;b92Vv7>y2Hyؿ`W?˃?ؿ ?C??p?ɨ29!?2#;2"CyrBvP'IixIza=I~I~٢ w  V=9 LQ > G٣y: > %Nusing accuracyPremultiplier from config!-59%Cdw?-5Y%U i%)5(@5@%tE%:%:%,59 =@9DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf`Z"@]]]]p(@;b ?Ih): ɚn4iIIii))D*FI2FI:FIBFM`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAH9I9 I=(II=BI=( =&I9.I96I=A<:I= FGmA>BO>  I w,%=AWill construct direction to contact in vehicle frame from tetrahedron phase data.:2?Y:!;?:2d9:7>y:Hhؿ ? ?Uؿ@? !~??`o?ɨ:2?:Ĉ;:!CyMBM+'I*JR="Ja=Mb@Mb@Mb@ )Y#~j?p= ף?:v?y=>T< )I@yf@II٢ 1 ;=9gQ > G٣y%$ %> -Nusing accuracyPremultiplier from config)559-^w?55Y-  i-=h>=;=A>@=@)-U";- ;-5A EŲ@AmDNOT Ignoring new targets: 86.10 m. jijjjihhhhBffrf!bf%#@]]h>]]h>]]?]]A>@2d 隽f@I': ɚiIIii))BD:?:D?Will construct direction to contact in vehicle frame from tetrahedron phase data.D-09E9*F ?2F :F BF P0JF G  G G F>B O>Hw,jAB?YB/?B4f9B}T7>yBHBcؿ? ? ؿM? ?? Xp?ɨB?B;B#CyVȇBV'IIbIb3 pIp٢v zA=9~^Q ~> G٣y YuWill construct direction to contact in vehicle frame from tetrahedron phase data. >zKKKu9KKJK   Nusing accuracyPremultiplier from config59YYw?5Y iZ>>@@uEo;o; 5 ۴@DNOT Ignoring new targets: 86.10 m. jjj!j!i!h!h!hIhIfIfIrfQbfUR$@]]]]>>@4f 9@I&: ɚiIIii))DB9% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF Q0JF Hu 0>Iq  Iu 'IIu vBIu ) =&Iq .Iq 6Iu o<:Iu A FGA>BO->w,ytA>Z?Y>I?>"e9>r7>y>H8Eؿ`;`?>?AؿV??9? o?ɨ>Z?>G;>!CyJBJ&I)L LmMb@Mb@Mb@iii i)iYmV-?(\?~jt?ymmD G٣y > Nusing accuracyPremultiplier from config59Sw?5Y i5>;5<@. ;i ;5 K@ IDNOT Ignoring new targets: 86.10 m. jjjj i h h hhsBffrfbfA%@]E>]E>]E˯?]EFU@]"e Y]@I] (: Yɚ]j5iYIaIaiiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DP9JaJe@AJuJuJu1JqJu:Ju9Ju3JqJuj;aJul;aJu<;aJu<;a*F?2F:FBF0JFG F>B O% >] Will construct direction to contact in vehicle frame from tetrahedron phase data.XLJw,r7 A=9?Y=(?=Je9=[<7>y=H4ؿ`}? ?rؿ?V?.?p?ɨ=9?=׈;=CymBu&II I<2٢ K=97Q > G٣y2 > Nusing accuracyPremultiplier from config 59!Ow? 5Yf i G<@vE<;;5! %@%EUDNOT Ignoring new targets: 86.10 m. jQjQjQjYiYhYhYhYhafafarfabfequ&@]]]] U@Je 隝@I]): ɚiIIii))D I*Fe?2Fa:FaBFe`1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLLKKKKKBKqA:KqAGM A>BQ Ou >͇w,`:AWill construct direction to contact in vehicle frame from tetrahedron phase data.y]mB]&III#3٢); J=9Q > G٣y > Nusing accuracyPremultiplier from config59^Jw?5Y i@;`;5 z@DNOT Ignoring new targets: 86.10 m. j jjjihhIhQhYfafrfbfX'@])])])])HIII IM'IIM/BIM( =&II.II6IMa<:IM8 FBIJIRIZI) =bI) =jI4q quu?IuL#: yɚyiyIyIii)) $?ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.=*F] ?2FY :Fa BFe `0JFa J J J J J :J :J J J ;J ;J nN;J oN;GK>BO>Շw,XAB?YBL?BNa9BHb7>yBH@׿?ٝ?6ؿ? &?#?p?ɨB?B";B"CyN]BN&IiR5T<5@ 1)5@I11y5̼@IMIMb1٢U↽ ],=9]:Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configi}59mDw?}5Ym im}p1>};}!}@mwEmj<;mC;m5 z@DNOT Ignoring new targets: 86.10 m. jjjji%Will construct direction to contact in vehicle frame from tetrahedron phase data.hahahaheBfifirfibfm;(@]p1>]p1>]9?]^p@Na  @IL+: ɚX5iIIii))Dy iImh*F5 ?2F1 :F9 BF= n0JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K LK @w1RK JK ?G} A>B O >N܇w,CuABZ?YBI ?B]9B7>yBH`^׿@@?@i?`ؿZ???@p?ɨBZ?B^;@yN:BNT&IIVIV3٢^" ^?=9b:Q b>`` fG٣dyf f> -Nusing accuracyPremultiplier from config)559-?w?55Y- i-9=!=@)-m ;- ;-5A E@A}DNOT Ignoring new targets: 86.10 m. jyjjjihhhhffrfbf)@]]]]9p@] @@I;): ɚiIIii)))q qGWill construct direction to contact in vehicle frame from tetrahedron phase data.A EYAyEBjH<bHH/>I I)'IIBI) =&I.I6In<:IA FD-9*F?2F:FBF0JF  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G J J J 0J J :J :J ـ3J J j;J l;J J;J J;B O- >Uw,81A6?Y6?6Y96`7>y6H׿ ŭ? ǫ?M׿c?;4??Oq?ɨ6?6q);6 CyB1BBH&IMb@Mb@Mb@ )YMb ףp= ?t<@ @)IyII3٢# .=9;Q > G٣y > Nusing accuracyPremultiplier from config59:w?5Y i~P>;J@xE;;5  @@EDNOT Ignoring new targets: 86.10 m. jAjAjAjAiAhAhAhIhMBfQfQrfQbfU)@]P>]P>]U@]d@%Y !- @I-': 1ɚ5<5i1I1I9i9i9)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF JF  I G F> Will construct direction to contact in vehicle frame from tetrahedron phase data. < <B O >w,eAF?YF%?FO9F7>yFHis׿O/`s?`?`׿?ݩ?&?5r?ɨF?F8;DybBb2&I)d ddfAIjIj2٢v v?=9z;Q z>x| ~G٣|y~3 >  Nusing accuracyPremultiplier from config 59^6w?5Y iW@yE::p5zK]LK]u9KYK]MK] c@DNOT Ignoring new targets: 86.10 m. jj j j i h h hhf1f1rf9bf=.*@]]]]տ@O 隭S@I(: ɚ5iIIii))D9*Fe?2Fa:FaBFe05JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.G A>B H% 2>I!  I% &II% BI% ( =&I! .I! 6I% K<:I% + FOm >5w,p%AF?YF?FI9F~7>yFH`W׿`5`+??T׿p? 79?^? s?ɨF?Fɚ;F"CyRBR"&I )I)Mb@Mb@Mb@ )YS㥛V-?:v?y$|?><@ ׫@)ݸ@Iy½@II3٢%_l -:=9-E;;Q ->11 5G٣1y=2 => ENusing accuracyPremultiplier from config9M59=1w?M5Y=ӻ i=(MOk>Mg;M!M@=zE=;=;=\5Y ]3@YDNOT Ignoring new targets: 86.10 m. jjjjihhhhԂBffrfbf@+@]Ok>]Ok>] @]@I @I,: ɚ5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DEJK KKK"KJJJJJ-:J9JJJ;J;J$7;J%7;*F?2F:FBFP0JF"GGG <>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w, A: T?Y:?:*C9:8>y:H /׿=G?y?@ Y׿g? t?? r?ɨ: T?:۩;8yRBR&IIZIZ<2٢fL fc=9f;Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rd.w?v5Yr irxzPz@prL:rL:r5~B ~@~E-DNOT Ignoring new targets: 86.10 m. j)j)j)j)i)h)h1h1h1f1f9rfAbfEp,@]a]a]a]e@u*C y}@I}/: yɚ 6iIIii)) ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FYBF]O0JFYzKBoIK9KKNKG! B1 OU >Ew,AF%?YFO?F'>9F7>yFH׿8Eg??6׿@K?@§? "?s?ɨF%?Fk;F CyfBf%&Ii%=I; = I I2٢-c= -D=9-(V;Q ->11 5G٣1y=ɠ => ENusing accuracyPremultiplier from configAM59E7*w?M5YE iEIMwU@E{EE:E:E5]Will construct direction to contact in vehicle frame from tetrahedron phase data.a e@aDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfjF-@]]]]Ԅ@'> @I+: ɚ.6iIIii))H3>IC I&IIBI% =&I.I6IJ<:I- FD9 I*Fm?2Fq:FqBFuP0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.J J AAJ J J 2J J :J 9J c3J J ;J ;J <;J <;G ->B O >`w,* A6ݺ?Y6?67967>y6H` ֿQMa?`H?+ ׿@X?@? 7?@s?ɨ6ݺ?6E;6"CyBBB"&IMb@Mb@Mb@ )Y~jtÿ|?5^?~jt?yM>=@ @)Id@y̼@IuIu0٢GB ?=9g;Q > G٣yUǻ > Nusing accuracyPremultiplier from config59%w?5Y  i{>P;@|Ej;;5 (@EDNOT Ignoring new targets: 86.10 m. jAjAjAjAiAhAhIhihmłBfqfqrfqbfu ).@]{>]{>] @]@7   @I &*: ɚ S6i I Iii))BD%3?:D%Z? Will construct direction to contact in vehicle frame from tetrahedron phase data.Dy*F?2F:FBF_0JFG! G! $?I G <>B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.8 w,90 A> k?Y>?>19>[7>y>H@.ֿ UkK?? ֿ@/?;? ?t?ɨ> k?>&܆;`` bG٣`yfӻ f> jNusing accuracyPremultiplier from confighn59j!w?n5Yj= ijeprr@j}EjX;jn;jI5x ~@|%DNOT Ignoring new targets: 86.10 m. j!j!j!j!i)h)h)h)h)f1f1rf1bf5@.@zK=K9K9K=OK=]a]a]a]e@u1 1= @I=q2: 9ɚ=1u6i9I9IAiAiA)A)ID9*FE?2FA:FABFEo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAG- 2>Hm 2>Ii  Im &IIm xBIi &Ii B .Ii 6Im <:Im Z FO5 > Y Ia w,J A>2?Y>p?>,9>A7>y>H!ֿ([=A?P?@bֿ?`??`,u?ɨ>2?>8;>!CyJ,BJB&I)L LPP @ @ @  @ I%!I%i3٢M= U@=9U>;Q U>YY ]G٣Yy]ᄻ ]> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau59egw?u5Ye ie+}+:y}(;}?}@aeY@;e>e5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf/@MWill construct direction to contact in vehicle frame from tetrahedron phase data., 隕 @IT,: ɚ:6iIIii))D*F=?2F9:F9BF=0JF9G B9 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Pd A6?Y6p0?6(96&98>y6H vֿ@``A?Y?@ֿ??u?u?ɨ6?6;6$CyBABB\&IIJIJ(1٢R= VW=9ZH;Q Z>XX ZG٣\y^ b> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from configdj59fhw?j5Yf ifn :ln;=b=@f~EftJKu>G j>B O >w,+~ A>?Y>+?>>%9>7>y>Htֿa@k3?`?ֿX???u?ɨ>?>w;>"CyV[BZ|&IbWill construct direction to contact in vehicle frame from tetrahedron phase data.IjIj#3٢v= vF=9vf:Q z>xx zG٣xy~w ~>  bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59w?5Y i9:g%@Em;v?5) -@)DNOT Ignoring new targets: 86.10 m. jjjjihh!h)h)fQfQrfYbf]`0@>%jHbH<H1>I I&IIBI&I.I6I6<:I FBIžCJIRIZI% =bI& =jI5 隵@I:0: ɚiIIii)) IuWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F% ?2F! :F! BF% 0JF) GMR>BYOu>N&w,z A6?Y6?6k!96>p8>y6Huֿ e6?!? ʼnֿ@l9?1??4u?ɨ6?6_ʆ;6#CyBxBB&IiDIF= J=Jp=        Mb@Mb@Mb@ )Y&1K?A`"?yн^:>Y=@ ׫@)Iz@y@Will construct direction to contact in vehicle frame from tetrahedron phase data.IIF2٢e= !=9x;Q > G٣y. > Nusing accuracyPremultiplier from config-59w?55Y+ ik5T:5m\>5v;55@E;; 5EB E@EEDNOT Ignoring new targets: 86.10 m. jjjjihhhh?Bffrfbf(/1@]Mm\>]Mm\>]M@9@]Mˁ@k! 隝 @I$: ɚiIIii)) IDE9e Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ 2FQ :FY BF] o0JFY J J J J J ݒ:J :J J zK غKK 9K K QK ! BK :K pAGEJ>BIOm>.w, AyB&II]yI]b  YyB٢~'> -=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 w?5Y# i@b;;5 %@@!MDNOT Ignoring new targets: 86.10 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]@u1@Will construct direction to contact in vehicle frame from tetrahedron phase data.]!]!]!]!a ae @Ie^): aɚaiiIiIiiqiq)q)qBDe?:Dl?DyEH0>IC I&IIBI' =&I.I6II<:I) F*F5?2F9:F9BF=P5JFA I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] =] <G Z >B O >4w,\q A:*?Y:2?:u 9:%88>y:Hֿa@+?? JֿT?Q ??u?ɨ:*?:;:"CyFBF&IUMb@Mb@Mb@QQQ Q)QYU ףp= ʡE?T㥛 ?yUQ8U-2>U=U@ U@)QIU@QyU@ImIm٢}> }S=9j=:Q > G٣yq; > Nusing accuracyPremultiplier from config59w?5Y- iC>;@EpJ;H;5 o@EDNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf2@]C>]C>]t?]s@5u 15@I5-: 9ɚ9i9I9IAiAiA)A)ADS9*F%?2F!:F!BF%O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G R>B O= > I 6 ;w,M A2?Y2Q?2!928>y2Hֿ^@(??\ֿ@֯?`!??u?ɨ2?2]%;2#CyB؇BB'IJAHIJIJ(1٢V{> VY=9VѹQ V>XX ZG٣Xy^(; ^> fNusing accuracyPremultiplier from config`f59bw?j5Yb1 ibhj j@bEbG:bi:bu 5l r@p DNOT Ignoring new targets: 86.10 m. j jjjihh%Will construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbfl2@]]]]s@! < @I*-: ɚiIIii))!JJJ1JJm:J:J3JzKLK9KKRK      RK>JK ?D}e9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H 1>I  I B'II BI &I .I 6I <:I  FG= :>Bi O >q;Bw,\ !A J$?IHZJ?YZ?Zmz#9Zc8>yZHֿaY6??`ֿ? m? ?`!u?ɨZJ?Zks;XyjBj5'IMb@Mb@Mb@ )YQ?Pn?Zd;?y<>y=&@ @)@I@yQ@I IV2٢E= 2=9˧Q > G٣y+o; > Nusing accuracyPremultiplier from config59v?5Yd i>P>;H@@e;;v 5 "@%DNOT Ignoring new targets: 86.10 m. j!j!j!j!i)h)h)h)h5݃Bf1f1rf1bf52@]]P>]]P>]]zЫ?]]Q@mmz# qu@Iu&: qɚqiqIqIyii))2D*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.D]t9*F ?2F :F BF v4JF "G% >G% >M Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O- > Hw,$!A:ݍ?Y:?:׈'9:[8>y:HֿR|??@? uֿ@m?@?`?t?ɨ:ݍ?:ˆ;: CyFBFk'IININƲ٢VF]> vN=9~3 Q ~>|| G٣y; >  Nusing accuracyPremultiplier from config 59 v?5Y  i @@  : P: ;5! %e@!UDNOT Ignoring new targets: 86.10 m. jQjYjYjYiYhYhahyhyffrfbfF3@]]]]R@׈'  @Ij+: ɚiIIii)) ID9*Fu?2Fy:FyBF}^0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJG=b>BIOe>zKMKKKSKNw,ϻ>!A2?Y2o?2<,92L8>y2H@cֿJP? ?q׿Iq???-t?ɨ2?2Ƈ;2$CyB-BB'IiF=IF= Np=N=IVIV٢b= bI=9f=Q f>ll nG٣lyr; r> vNusing accuracyPremultiplier from configpv59rv?z5Yr irxz?~@rEr;rJ;r5 e@MWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 86.10 m. j j j j i h h1h1h1f1f9rf9bf=V3@]y]y]y]}8R@<, 隵 @I+: ɚ5iIIii))H%/>I! I%'II%HBI%& =&I!.I!6I%m<:I%A F ID9*FM?2FI:FIBFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.*J} C="J} %=Gm B>B O >GVw,/Y!A623?Y6"q?6196f8>y6H!׿BSY?@?=׿?5?b?s?ɨ623?6;6!CyBHBB'I}Mb@Mb@Mb@yyy y)yY}|?5^?EԸ?S㥫?y}=}=}/]=y }(@)} @Iyyy}G@IIM٢= 9=94GQ > G٣yD; > Nusing accuracyPremultiplier from config59v?5Y ip>;)@@;f;5 @ DNOT Ignoring new targets: 86.10 m. j j j j i h hhhCBffrfbf%4@]=>]=>]=_bA?]=)@M1 QU@IU (: QɚUiQIQIYiYia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D! III*F2F:FBF\0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >\w,t!Ay[B'II-I-Բ٢=m= =E=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59Uv?]5YUY iU1aae@UEU:U:U5mB uz@uEDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfv4@zK.KK9KKTKX]]]]  @I y(: ɚ 5i I Iii))DEZ:*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<H .>I  I 'II BI ' =&I .I 6I L<:I ' FGE (>Bq O > I icw,M!A2?Y2?2 H92ψ8>y2H׿I??u׿١??.?q?ɨ2?2҇;2 CyRhBR'I)T TXZA5Mb@Mb@Mb@111 1)1Y5ˡE?㥛 ?:v?y5'>5=5T=5S@ 1)57@I5@1y5@IIb٢~= E=9WQ > G٣y < >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59v?5Y i`?>;@@+;w;5B @E-DNOT Ignoring new targets: 86.10 m. j1j1j1j1i1h1h9h9h=}Bf9fArfAbfE@4@]e`?>]e`?>]ek>]eg@} H y}?I}&: yɚ}܃5iyIIii))JQJU@AJ]J]J]0JYJ]M:J]K:J]ـ3JYJ];amJ];amJ]c;amJ]c;amDy*F?2F:FBFW5JFG- :>B9 OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.iw,]4!A AIAy5sB5'IIMIM(*٢];B= ]1=9]Q ]>ai mG٣iym u> }Nusing accuracyPremultiplier from configq}59uv?5Yup iu@uEu$;u%;u5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf f5@]]]]  ?I $$: ɚ 5i I Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKmMKmk9KiKmUKm`sq[L@4*!vDuc:BKy:Ky*F% ?2F! :F! BF- o0JF) } Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IC(II͈BI&I.I6I<:I FBI͝CJIRIZI' =bI' =jI5GmB>BO>)qw,!Am[?YmJ?mqY9m58>ymHkIؿ?Ž?`l}ؿ@d?*?u?o?ɨm[?mPχ;m$Cɳ@C鳭|wAiWF Ii CwA) FnFI  C)xwAɴ9EvFAUCɵUxwAiQIYYIe@CievA aeeF)amC muAiiɶiufCuwAIq)qiq)}CIyyɷy yyy5yB5'Ii=D=,=j@ ) @I@y3@I}I}F٢\<  =9Q > G٣ydm< > Nusing accuracyPremultiplier from config59Yv?5Y ifY>y; @@E;M;5 @DNOT Ignoring new targets: 86.10 m. jjjjihhJ J J 1J J J :J 3J J J J DG;J DG;h!h%Bf!f!rf)bf- 5@]MY>]MY>]Mm>]M @]qY Y]?IeQ: aɚe4 6iaIaIiiiii)i)qD : Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F:FBFP0JF 5$?I1G=R>BAOe?Tzw,!AFb5?YFQs?FL b9F8>yFHۂؿu(??`<ؿ'?\@?`?n?ɨFb5?F㣇;F"C)zCIzwAzztF x~C~wA~Di||i̎C3uA) }FI ) KuA   eF  C iIICi ) ?uA!!I%D)!i!!y5rB5'IIEIE0٢]8 ]==9]렻Q ]>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}59u:v?}5Yu iu0y}C @@qu:u:u5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfAbfMeo6@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]C @L b 隥?I#: ɚ2+6iIIii))D:*F12F9:F9BF=o0JF9zK-pNK-9K)K-VK-]5'RK= ?JK=>)q q m YqyuBG:>B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH />I  I b(II BI ( =&I .I 6I ><:I  Fw,5b"A>?Y> ?>k9>8>y>Hؿ3@@?`r? jٿnӑ?w? ?m?ɨ>?>F;>$C IydB'III(٢i &=9]Q >!! %G٣!y < > Nusing accuracyPremultiplier from config59Iv?5Y i @@E[;;:5 @DNOT Ignoring new targets: 86.10 m. jjj!j!i!h!h!h)h)f)f)rf1bf56@]Q]Q]Q]U{ @Will construct direction to contact in vehicle frame from tetrahedron phase data. k  f?I 4 : ɚ^M6iIIiQiY)Y)yBDX?:D-?J!J%J!J!J!J% 9J!J!J!J!J%O>;J%O>;D z:E Y>E >*F= ?2F9 :F9 BF= P0JF9 "GE >GE >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GR>BO5?މw,d)"Ab?Yb%?b~n~9bH8>ybHGٿ J,?T?`ےٿ~?ȯ??k?ɨb?b.Ɇ;b!C tIxyeJBe'I)i i-Mb@Mb@Mb@))) )))Y-zG?+?Mb?y- W>-=-=) -?@))I-/@)y-@IEIE٢Uqؽ U-=9]Q ]>aa eG٣aye< e> uNusing accuracyPremultiplier from configi}59mv?}5Ym| im}(]>}u;}@@mEm!;m;m4 5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhnBffrfbf@b7@](]>](]>]z<>]@~n~   ?I c": ɚ i I Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D=:zKLKKKWKBKpA:KqA*F?2F:FBFX0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7>B1 OM >@w,AE"A2O]?Y2>?H:.>I8 I:\(II:BI:' =&I8.I86I:L<:I:& F2E%929>y2H|ٿM? H?ٿ?a??&j?ɨ2O]?2G;2#Cyb/Bb'IIz Iz2٢  P=9 oQ  >    G٣ y< > Nusing accuracyPremultiplier from config%59Mv?-5Y i)-@5@E;;:;!5=B =*@EEDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrf bf 7@ I]Y]Y]Y]]@E% =?I : ɚiII)i)i))1)QWill construct direction to contact in vehicle frame from tetrahedron phase data.De :JuJuJqJqJu<:Ju:JqJqJu;Ju;JuL;JuL;*F- ?2F1 :F1 BF5 R0JF1 G s>BO%>@Qw,b"A.Will construct direction to contact in vehicle frame from tetrahedron phase data.R?YR!?R/9R8>yRHٿ`SZ?`9? zڿN?? `? i?ɨR?R͆;PyrBr_'IuMb@Mb@Mb@qqq q)qYuRQ?S㥫??yuB>u/]=u G٣y < > Nusing accuracyPremultiplier from config59lv?5Y ihK>;S@@;+;$5 @DNOT Ignoring new targets: 86.10 m. jjjjihhihihmABfqfqrfqbfu@E8@]K>]K>]ƍ>]`S@e/ im{?Im": iɚiiiIqIyii))2D*DqA )I) Will construct direction to contact in vehicle frame from tetrahedron phase data.DAEI*F ?2F :F BF \0JF G  G zKM BHKM 89KI KM XKM G ->B O=>U0w,ʀ"AR[?YR?Rԟ9RO8>yRH@ٿ`Nx?,?`HڿU?P??`Kh?ɨR[?R|;R Cy^B^%'Iib=Ib4<IjIj ٢rS r8=9rwQ r>tt vG٣tyvZ< z> 5Nusing accuracyPremultiplier from config1=595v?=5Y5 i5=AE@E@5E5:5:5%5I Mڲ@I}Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf`&8@]]]]-@ԟ ?I: ɚiIIii))HI I*(IIBI( =&I.I6I><:I F 1IIDu:*F)2F):F)BF-_0JF)% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BAGU R>Ba O} >Now,L"ANX?YNG?Nb9N9>yNH ڿq`v?!?@xڿ ?¨? '?^g?ɨNX?N!;N"Cy]ćB]&IMb@Mb@Mb@ )Y(\?(\µ?Zd;O?yz>=j< )IE@y@I I 1٢% %5=9-DQ ->)) -G٣1y5B; 5> =Nusing accuracyPremultiplier from config959=v?5Y=̽ i=->;$ @@=E=e<=*<='5 @%DNOT Ignoring new targets: 86.10 m. j!j!j!j!i!h!h)h)h-Bf)f1rf1bf5`,9@]U->]U->]U;?]U$ @eb am3?Im)!: iɚiiiIiIqiqiq)q)y]Will construct direction to contact in vehicle frame from tetrahedron phase data.D: I*F} ?2Fy :Fy BFy JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data.GE j>BQ JK KKK"KJ J J 0J J ̝:J :J ـ3J a @a @a @a @O >vQw,Qܷ"A2(?Y2~f?2돽92 9>y2HKڿහ`ʚ?m?@Ϊڿ䳆? ?? f?ɨ2(?2{;2 CyBBB&IININ٢V|] VK=9VYIQ Z>X\ ^G٣\y^< ^> bNusing accuracyPremultiplier from config`f59bv?f5Ybż ibhj\ @j@`b ;b;b)5l n@pDNOT Ignoring new targets: 86.10 m. jjjjihhh!h!f!f!rf)bf-@9@]]]]\ @돽  ?I- ": 1ɚ1i1I1I9i9i9)9)ABDmK?:Dmb?zKK9KKYK.+COWvR 5afYH'uW@,fN6$D%:E)E)*F?2F:FBFR5JF"G>G >Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I'IIqBI&I.I6Im<:I? FGBO > $?I 5w, "A2W?Y2?2929>y2H `ڿ@~?`G? >ڿ?2?D?`e?ɨ2W?2C;0yBmBB&I)D DJAJAMb@Mb@Mb@ )Yx&?V-?~jt?y7==<@ )7@IyI1I1٢EH EA=9EQ E>II MG٣IyM_; U>]Will construct direction to contact in vehicle frame from tetrahedron phase data. eNusing accuracyPremultiplier from configau59ev?u5Ye ie} >};}B@}@eEe\;eZ;e+5 T@-DNOT Ignoring new targets: 86.10 m. j)j1j1j1i1h1h1h9h=Bf9f9rfAbfEF9@] >] >]?]B@ 3?I#: ɚiIIi!i!)!)!D4:*FY2Fa:FaBFeA5JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.G- B>BA Om >V`w,{"A I F?YF?F9F8>yFHڿ@[vP?@-?ڿɅ?.O?`k?@$f?ɨF?F;F!CyRABR\&IIZIZ 2٢bb bR=9j[Q j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configpv59rѲv?z5Yr irxzB@z@pr. ;rq ;r<-5 @-DNOT Ignoring new targets: 86.10 m. j)j)j)j1i1h1h1h9h9f9f9rfAbfE`Y^:@]i]i]i]muB@ 隥3?IN%: ɚiIIii))Dq*F?2F:F BF P0JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J!J!J%:J%:J!J!G BO=>zK% ۍOK% 9K! K% ZK% |ukdccgkg_\ZXXVTRQNLJHHC?:632310/..--,*++(')RK5 ?JK5 ? Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,W#ABs?YB1@BVⒽ9BN9>yBHڿ r?\?ڿ,?`CX?Y?e?ɨBs?B;@yJBN3&IIVIV(1٢ZT' ^K=H`I` Ibb'IIbBIb' =&I`.I`6IbM<:Ib) FBIJIRIZI( =bI( =jIX49EQ M>Ya eG٣aye: e> uNusing accuracyPremultiplier from configiu59mNv?}5Ym_ imzB@@mEm/;m/;m/5B #@EDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf%:@]]]]B@VⒽ ?IJ: ɚiIIii))2D*D AIID:}Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFu5JFqGy G}rAG {>B O >Ljw,M #ARW?YR#@R9Rl9>yRH`Rڿq?y? gڿ? *-?M?e?ɨRW?Rɽ;R#Cy^B^&Iib=Iba=Mb@Mb@Mb@ )Yy&1ˡE?Zd;O?y`e'>j<@ ) @I/@y(@IIV٢c 4=9:Q > G٣y[: > Nusing accuracyPremultiplier from config59\v?5YM iM/*>;e&@z;;05 S@DNOT Ignoring new targets: 86.10 m. jjjjih!h!h!h%%Bf)f)rf1bf5M9;@MWill construct direction to contact in vehicle frame from tetrahedron phase data.]]/*>]]/*>]][?]]k@  ?I >%: ɚ i I Iii))! IDM:*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J G R>B O >‹Έw,=#ARc~G\h ~ YyB5?Y5@5[95fB9>y5Hڿrȡ? ?ڿt?? _?If?ɨ5?5LJ;5"CyMʆBM%IIeIe3zKm[NKm9KiKm[Km'%$$## # "!BKq:Kq٢[ 4=9(:Q > G٣y& > Nusing accuracyPremultiplier from config 59(v? 5YG i  j&@E ; ;25 o@MDNOT Ignoring new targets: 86.10 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf];@]y]y]y]}k@[ 隍O?I?: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H/>I I&IIBI&I.I6I<:Im FD%K: iIi*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G J>B O >Ոw,hX#A2?Y2@2 929>y2H`ڿ!s@?@?Yڿ]؉? ݱ??`Gf?ɨ2?2;0yBBB%I%Mb@Mb@Mb@!!! !)!Y%I +B`"?Q?y%9%N>% G٣yה > Nusing accuracyPremultiplier from config59Sv?5Y ic>n; @;;45 @DNOT Ignoring new targets: 86.10 m. jjjjihhhh ނBf f rf bf<@]-c>]-c>]-?]-@= AE{?IM$: IɚIiIIIIQiQiQ)Q)YBDe;?:DeH?UWill construct direction to contact in vehicle frame from tetrahedron phase data.D!*F?2F:FBFJF"G>G> I G s>B O >7܈w,%?s#A6?Y6?696,u9>y6H@iڿhx@l? ?`Pڿay?l?Z?g?ɨ6?6;4yNBN%I)X XIbIbV83٢n" rN=9vE;Q v>|| ~G٣y @T  >=Will construct direction to contact in vehicle frame from tetrahedron phase data.EB O >%w,#A%?Y%~?%؊9%<9>y%H@ڿ@:z`}?' ?`ڿۼ?`W??g?ɨ%?%;!yuB}m%IIIF2٢a 0=9:Q > G٣y% -> Nusing accuracyPremultiplier from config59Gv?5Y i,@E:2:85 )@DNOT Ignoring new targets: 86.10 m. jjjjihhhhf f rf bf <@])])])]-uy@E؊ AE!?IET: AɚE}4iIIIIIiQiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F 2F :F BF JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O >X?Y>ؖ?>K9>Y9>y>H icڿ@;yu?@t?ڿ??@W?@h?ɨ>X?>ׇ;u 0=u@ q)u @IuE@qyqI I<2٢ 7=9U;Q > G٣y > Nusing accuracyPremultiplier from config59v?5Y i= >;;@E;;}:5 @DNOT Ignoring new targets: 86.10 m. j j j j i h h hhBffrfbff=@]E >]E >]E@]E@UK QU{?I]#: Yɚ]iYIaIaiiii)i)i2Dq*DurAD]:EaEerA*F?2F:FBFy0JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >zK :KK u9K K ]K   OG)A?1nM)Y"}teYRLF?<?LUw,$#A6Will construct direction to contact in vehicle frame from tetrahedron phase data.H0>I I&IIBI( =&I.I6I<:I_ F- y-HVڿkZ?? ڿ<@? ?|? Pi?ɨ- qq uG٣qyu > Nusing accuracyPremultiplier from config59Dv?5Y i   @E::F<5B @EeDNOT Ignoring new targets: 86.10 m. jajijijiiihhhhffrfbf h=@]]]]@H\ !%?I%d#: !ɚ%Q4i!I!I)iIiQ)Q)Q ID1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<*J "J J J J 1J J |:J :J 3J J ;a J ;a J S;a J S;a G :>B! OE >w,t#AyMb@Mb@Mb@ )DYClǿZd;?A`"?yd;~>Y=@ )M@I\@y@II29Q > G٣y > Nusing accuracyPremultiplier from configm59v?m5Y im>m);mu@E"<<>5 DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf :>@]>]>] @]Ƈ@   ?I %: ɚnx5iIIii))!uWill construct direction to contact in vehicle frame from tetrahedron phase data.Du:*Fe?2Fa:FaBFeQ5JFi IG B>B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.w,{N#A6?Y6$?696+$9>y6H@1ڿ ;? ?vyڿ@ב?N??j?ɨ6?6Y;4yBjBBT%IIJIJ3٢V3< V<9Z7;Q Z>XX ^G٣\y~ >  Nusing accuracyPremultiplier from config 59Ov?5Y iw@Ei:i:?59 Ee@ADNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf >@]!]!]!]%@U Q]x?I]': aɚe5iaIaIiiiii)i)BDIC I%IIۆBI# =&IGD.I7D6I*<:I FEMl>EM>*F?2F:FBF1JF"G>G> q Iq GU R>B O >Cw,$A6?:Will construct direction to contact in vehicle frame from tetrahedron phase data.Y6 ?6(}96u9>y6H8ڿٔ{8?&?@aڿ@휒? ??j?ɨ6?6o-;6$CyJqBJ]%I)L NA%Mb@Mb@Mb@!!! !)%AY%xƿi|?5?Dl?y%K7%q>%O=%@ %V@)!I%r@!y%@IEIE2٢U< U.=9U ;Q U>aa eG٣aym F  > Nusing accuracyPremultiplier from config 59 :}v?5Y  i >.;=@ E ; ; A5JUJUJU0JQJU:JU:JUـ3JQJU;JU;JUZ;JUZ;i u@uEDNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf?@]->]->]-@]-p@m(} im?Im: qɚu5iqIqIyiyiy)y)%Will construct direction to contact in vehicle frame from tetrahedron phase data.De:*F ?2F :F BF 0JF I G%J>B1OM>j w,4$A6?Y6?6>@z96*9>y6HڿV'?O)?mSڿ@n? C? ? ek?ɨ6?6 ;6"CyBBBv%IININ٢Vɻ= V7=9Z:Q Z>XX ZG٣Xy^b ^> fNusing accuracyPremultiplier from config`j59bxv?j5Yb iblnPn@bEb5L;bI;bC5p r@pDNOT Ignoring new targets: 86.10 m. jjjjihhhhff!rf!bf%?@]A]A]A]Eg@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑՕ@z T?I =%: ɚ 6i I Iii))D*Fu?2Fq:FqBF}j1JFyzKNKk9KK_KTRTUTURPPPMMNPQPOLJGILKMIF;752/2210/0.-0..-/.-.-+-..,*(&&&'%BKqA:KG2>BO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.H 3>I C I %II ֆBI  =&I .I 6I %<:I  FBIaJIeɞCRIaZIe& =bIe% =jIej6 I Iw,M$AVP?YV??Vx9V9>yVH@ڿ@ <,?A,?Fڿv?? ?k?ɨVP?V';V!CyUBU%IIeIe٢u= }?=9}x:Q }> G٣y > Nusing accuracyPremultiplier from config59:tv?5Y ig^@E!;;E5 ]@uDNOT Ignoring new targets: 86.10 m. jyjyjjihhhhffrfbf?@])])])]-`@=x 9={?I= : AɚE>6iAIAIQiQiQ)Q)Y2Da*DeqAWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ|:J9:JJJ;J;JY`;JY`;Dm:Ey*F ?2F :F BF g4JF G  G rAe Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie AGmR>BO>w,nl$A :$?I8R׏?YR?Rox9R4M9>yRHX ڿ %?*?@Lڿg^? ?@?kk?ɨR׏?R͋;R"CybBb%IidIf%=uMb@Mb@Mb@qqq q)qYu/$5^I ?ʡE?yu1uX>u=u@ q)uz@Iqqyu @II٢Y= )=9+/Q > G٣yYp: > Nusing accuracyPremultiplier from config59Wov?5YZ i>K;6@E;B;G5 @EDNOT Ignoring new targets: 86.10 m. jjjj i h h hh Bffrfbf~4@@]>]>]@]@ox =?I : ɚiII!i!i!)!)!mWill construct direction to contact in vehicle frame from tetrahedron phase data.D:)I UwC~G M YI yM B*FQ 2FQ :FQ BFU U5JFY zK fONK u9K K `K ##'&$ !"!##! ! !!!!B@*x q>[xXC2'"! 'RK >JK > Will construct direction to contact in vehicle frame from tetrahedron phase data.He 1>Ie C Ie &IIe BIe % =&Ie HD.Ie 6D6Ie u<:Ie L FG J>B O >M"w,ʨ$Aj ?Yj?jKz9jX8>yjH@ڿ@?@&?^ڿ@Ւ?$W?? k?ɨj ?jɑ;hy نB %III 2٢-*> -9=9-Q 5>11 5G٣1y=#; E> eNusing accuracyPremultiplier from configQm59Ujv?m5YU iUqu#u@QU9n;UY;UI5 h@ IhDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf@+v@@]]]](@Kz 隵?Ie: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:J:JJJ;J;JDG;JDG;DU &:*F ?2F :F BF 1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Gb>BO>)w,$AvZ?YvH%?v~9v8>yvH1ڿ`-?!?)xڿL?ԯ?@?1k?ɨvZ?vz;tyB&IMb@Mb@Mb@ )YX9vx?/$?y}K7>=@ @)@I@y@II0٢> =9]Q ]>Ya eG٣ayeA; e> uNusing accuracyPremultiplier from configi}59mev?}5Ym im(2T>;@mEmKG;mE;mK5 Q@DNOT Ignoring new targets: 86.10 m. jjjjihhhh{BffrfbfȰ@@]2T>]2T>]?]~@ ~ ?I: ɚiIIi!i!)!)!EWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*Fu ?2Fq :Fq BF} 2JFy G B O >n1w,$AzKZ`NK9KKaK|kK=0# 1 ( DqZ4!  : ?Y:^?:9:-8>y:H"Kڿ85??8ڿ@_?@7=? u? j?ɨ: ?:JΆ;: CyFBF(&I)H JAIRIR(1٢Z}> ZF=9ZAPQ Z>\\ ^G٣\yb"; b>-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)HQIUC IUO&IIU6BIU& =&IQ.IQ6IU<:IU] F Nusing accuracyPremultiplier from config59Wav?5Y iǻ@E"::M5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf@@@]]]]-~@ ?I(: ɚiIIii)) IDe/:*F ?2F :F BF 2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G j>B O= >*J 4="J p=7w,$AB'h?YB?BE9B8>yBH`jڿ΁NJ?@?QڿU??'?j?ɨB'h?B*;B"CyN+BNB&I-Mb@Mb@Mb@))) )))Y-I +?K7?(\µ?y-9<-I >-=-@ -Ʒ@)-@I-@)y-@II٢= <=9oqQ > G٣yc; > Nusing accuracyPremultiplier from config59g]v?5Yf il&>;5@8S;Q;O5 E@DNOT Ignoring new targets: 86.10 m. jjjjihh!h!h%ʃBf!f)rf)bf-YA@]M&>]M&>]Mb?]Mh\@mE imR?Im: iɚm04iqIqIyiyiy)y)DU:UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF IG R>B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,Z$A:@?Y:.?:9:8>y:Hڿ`z@b? ?ڿKX??? i?ɨ:@?:҇;:!CJaJeJaJaJaJe :JaJaam@am@am@am@yNBm&III<٢> 5=9vQ >   G٣ y=E~; E> MNusing accuracyPremultiplier from configAU59EXv?U5YE iEQ]5]@EEE;E;EQ5a e@aDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfVA@]]]]Þ\@ ?I: ɚi I I ii))DzK]ImOK]9KYK]bK]*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.HAIA IE&IIE}BIA&IA.IA6IE<<:IE F Q IQ G= B>BI Oe >7Dw,'k%AR?YR@R9R8>yRH@TڿtpJz??`Bۿx?`?K?h?ɨR?R;R"CɳXXZףi\\i^C`)` `Id h)hɴllpvCɵxizףIx|ILCi   )! !))ɶ)EsCAIA)IiI)]CIYeĻɷa aiyޕcBޝ&Ii G٣y%; > Nusing accuracyPremultiplier from config59 Tv?5YT i75@;+;S5 ĺ@eDNOT Ignoring new targets: 86.10 m. jajajajaiahihihihifqfqrfqbf}A@]]]]H\@ R?I: ɚ\5iII!i!i!)!))e Will construct direction to contact in vehicle frame from tetrahedron phase data. Y Ia Du =:*F ?2F :F BF P5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO]?Mw,'9%AZz?YZ4b@Z9Zq8>yZHڿ ~^ ? {?`LNۿB:?ջ??qe?ɨZz?ZK;XJJJJJ\:J:JJyuvBu&IMb@Mb@Mb@ )Y:v?K?ˡE?y=^==5@ ݸ@)@I&@y@15BAI5I5٢E= E=9MQ M>II UG٣QyU< ]> eNusing accuracyPremultiplier from configYe59]9Ov?m5Y] i]"m$>m;m*@m@]E];];]V5}B }@}öEDNOT Ignoring new targets: 86.10 m. jjjjihhhh/BffrfbfA@]$>]$>]?8?]*@ ?I: ɚ{5iIIii))zKBoHKu9KKcKBKpA:KHIII IM&IIMBII&II.II6IM?<:IM" FmWill construct direction to contact in vehicle frame from tetrahedron phase data. M $?IQ D :*Fm ?2Fi :Fq BFu 0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data. =nManaging dock network, ignoring radio surface power offGA>BO ?Vw,fI]%A2|?Y2@2ؚ92[8>y2HۿU??#sۿӁ?`YV?N?c?ɨ2|?2Ӊ;2C)dIjwAjDh hhhhilliln/uA)n$ n}FIl p)prpptU9vAiQIQQIYi]uA YY)YY ae@erFaeCaIm)iiiiy}B}&I Mb@Mb@Mb@    ) Y S?x&?㥛 ?y /> 7= = x@  @) @I @ y Q@I%I%̍٢5I= 5)=95Q 5>99 =G٣9y=; E> MNusing accuracyPremultiplier from configIU59MpJv?U5YM iMùU`J>U;Uo@]@IM';M;M%X5q }Ƹ@yMDNOT Ignoring new targets: 86.10 m. jIjIjIjIiIhQhQhQhUnBfYfyrfybfB@]`J>]`J>] 2>][o@ؚ ?I_: ɚF5iII!i!i!)!))D1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF IG J>B O= >]w,"v%A]Will construct direction to contact in vehicle frame from tetrahedron phase data.yޕBޕ&III ٢"= T=9Q > G٣y > Nusing accuracyPremultiplier from config59Fv?5Y iw@E ;\ ;Y5 @DNOT Ignoring new targets: 86.10 m. jjjj!i!h!h!h!h)f)f)rf)bf-JB@]I]I]I]Ia ae?Ie6: aɚe5iaIiIqiyiy)y)yJـ3Km3 KS}-KK"KJ=J=J9J9J=:J=:J9J9D :EEqA*F?2F:FBFP0JFzK&KK9KKdKjHbH<HIC I<'IIBI% =&I.I6I<:I FBIJIRIZIbI& =jIȄ5 Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG {>B O > I dw,%A6"?Y6m@6=96~9>y6H+ۿHd+??Yۿu?=??_?ɨ6"?6@.;6"CyB&II- I-̍2٢=Wb =R=9= HQ =>AA EG٣AyM; M> UNusing accuracyPremultiplier from configI]59MBv?]5YM_ iM)Y]@]@IM%;M6;M[5i m@iDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf@%|B@]]]]u@= ?I: iɚuC 6iqIqIii))!}Will construct direction to contact in vehicle frame from tetrahedron phase data.DM] :*F ?2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. I G%b>B1OM>B.kw,.%Ay5B5&IMb@Mb@Mb@ )Y(\?~jt?T㥛 ?yG>D== )IyIIƲ٢%ͻ %$=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from config9M59=>v?M5Y=T i=ѸMW>U|;U @U@=E=";= ;=]5Y ]@YDNOT Ignoring new targets: 86.10 m. jjjjihhhhpBffrfbfB@]W>]W>]%w>] @ ?I: ɚ='6iIIii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.J]J]JYJYJ]:J]:JYJYD :NG1 YyB*F% ?2F! :F! BF% 4JF! H I  I U'II BI &I .I 6I =<:I F- Will construct direction to contact in vehicle frame from tetrahedron phase data.GE s>zKM BoHKM C9KI KM eKM Ba O >rw,%AFq?YF@Fd9FH9>yFHlKۿ@;?@? ۿ`0?%??[?ɨFq?F;DybqBn&I |IIvIv 2٢% -E=9-WwQ ->11 5G٣1y=^; => ENusing accuracyPremultiplier from config9E59=:v?M5Y= i=IU @}@=E=H;=;=_5 @DNOT Ignoring new targets: 86.10 m. jjjjih h h h f1f1rf1bf5@-B@]q]q]q]u/ @d 隍R?IN: ɚ@6iIIii))D :ER>E>*F=?2F9:FABFEP0JFA"GIGM>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge <>Bq O >xw,V%A6)p?Y6 @696r9>y6HIۿ: ?@?NۿUR6??nZ?ɨ6)p?6L;6$CyB^BB&IMb@Mb@Mb@ )YzG?Mb?V-?y W>@=m=@ M@)@I@y=@I-I-٢E EI=9M#}Q M>II UG٣QyUָ U> Nusing accuracyPremultiplier from config595v?5Y i>9d>n; @@b;F;_a5  @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙDNOT Ignoring new targets: 86.10 m. jjjjihhhhhBffrfbfL)C@]M9d>]M9d>]M*wa>]M0 @e aep?Ie: aɚmLY6iiIiIii)) IhDc :*F ?2F :F BF JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.J5 J5 J1 J1 J5 \:J5 :J1 J1 G ->B O >ҏw,:[&ARW?YR@R;9R9>yRH`%>ۿ<??ۿHb ߶?u?>Y?ɨRW?Rsz;Py^=B^X&IIfIf٢n) n:=9rT>Q r>pp vG٣tyvܺ v> ~Nusing accuracyPremultiplier from configx~59z1v?5Yz iz @@zEz:z*:z9c5  @EDNOT Ignoring new targets: 86.10 m. jAjAjAjAiAhAhIhIhIfQfYrfYbf]A]C@]y]y]y]} @; 隍J?II: ɚiIIii))H2>I IH'IIBI&I.I6Id<:I= F%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKKKfKRK ?JK ? IDU~ :*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 2>B O >w,BZ&ARO?YR@R+9R9>yRH@9ۿ`<^? ?ۿl`.?{? X?ɨRO?Rb;R Cy^.B^E&IUMb@Mb@Mb@QQQ Q)QYURQ?v/?J +?yUB>Uxi=UH=U@ Q)U@IU@QyU@IeIeb٢}Y }9=93Q > G٣y_ > Nusing accuracyPremultiplier from config59 -v?5Y, i;Q>%;%@%@EJ< <'e5-B -@-ƶEDNOT Ignoring new targets: 86.10 m. jjjjihhhh=BffrfbfƘC@];Q>];Q>]9>]@@+ )-)?I-%: )ɚ-!4i)I1I1i9i9)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data. $?ID :E*Fu ?2Fq :Fq BFq JFq Gy  G} qAG B O >w,2:&A2a'?Y2@2A492Z9>y2H@ 'ۿ@?`h?ۿ#r`1^?i?'X?ɨ2a'?2;2"CyBBB &IJWill construct direction to contact in vehicle frame from tetrahedron phase data.IRIRb1٢O ;=9ۺQ > G٣!y%8 %> -Nusing accuracyPremultiplier from config)559-(v?55Y-} i-m9=@=@-E-:-:-g5A E@ADNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf'C@]]]][@A4 ϰ?I: ɚiI!IAiIiI)I)ID :HI I'IIهBI&I.I6IP<:I/ F*FE?2FA:FABFE_0JFAMWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K #9K K gK  qf X b  SBK) :K) a Ia G- (>BI Om >gҔw,u9T&A2m?Y2@2ڂ92S9>y2HXۿ D@{?@?gۿTvׇ?@?X?ɨ2m?2載;2#Cy:ۆB>%IININ2٢Z< ZO=9^ӺQ b>`d fG٣dyf+ f> nNusing accuracyPremultiplier from confighn59j$v?r5Yj ij0pr@r@hj ;jX:jh5t v0@zĶEDNOT Ignoring new targets: 86.10 m. jjj!j!i!h)h1hAhAfQfYrfabfm`D@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]].@ڂ 隝?I: ɚiIIii)) BD??:DB?JeJeJe1JaJe,:Je:Je3JaJe;auJe;auJeL;a}JeL;a}D*Fu?2Fq:FqBFu`0JFq] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge R>By O > 9 I9 uw, n&A^`?Y^'w@^\ڼ9^W9>y^Hڿ KMd?o?Iۿx໒??W?ɨ^`?^k;^$CyjBj%ImMb@Mb@Mb@iii i)iYmK7?#~j? ףp= ?ymI >m=mQ8=m@ i)m/@Im@iym@II 3٢ ==9ʹQ > G٣yEŻ > Nusing accuracyPremultiplier from config59- v?5Y i\)>;x @@E%;$;j5 M@DNOT Ignoring new targets: 86.10 m. jjjjihhhh݃Bffrfbf:D@]=\)>]=\)>]=7?]=7x @u\ڼ qu ?Iu: qɚyiyIyIyii))De2 :EqEq*F?2F:FBF#2JF"G G >Will construct direction to contact in vehicle frame from tetrahedron phase data.G% J>B1 OU >`塉w,&A2l^?Y2-N@2dɼ928>y2H`ڿ` WE??nۿq{ ??@X?ɨ2l^?2v;2"CyBBB{%IIbIb(1٢j { nW=9n8Q n>pp rG٣pyvT׻ v> zNusing accuracyPremultiplier from configx59zVv?5Yz iz  R @ @xz:b;zmb;zWl5 J@H9I9 I=&II=BI9&I9.I96I=5<:I= FeDNOT Ignoring new targets: 86.10 m. jajajajaiahihihihififqrfqbf}@hD@]]]]R @dɼ 隵?I/: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKUPKŷ9KKhKL] %  ^ )}n*\%k\O<0"{vtsoD5 :*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Jq Ju BAJ J J J J |:J :J J J ;J ;J .Y;J /Y;G B>B O >o w,¡&A6?Y6@696g8>y6H`ڿa I??IBۿtu|@z? ?X?ɨ6?6da;4yBgBBP%IMMb@Mb@Mb@III I)IYMi|?5?!rh?ˡE?yMq=Ml=M'=I I)IIM@IyM(@IeIe2٢}% }A=9}M:Q }> G٣y > Nusing accuracyPremultiplier from config59-v?5Y i >;VF@@y;;0n5 z@DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbfD@]  >]  >] ;x?] $VF@% !%µ?I%: )ɚ)i)I)I1i1i1)1)9-Will construct direction to contact in vehicle frame from tetrahedron phase data. ID :*F2F:FBFR5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ->B O >獮w, &A6G|?Y65?6h968>y6H@Afڿo ?@H?ۿ`}J?B?Y?ɨ6G|?6 ω;6 CyB;BB%IIRIRb2٢ZvX ZL=9Z":Q Z>\\ ^G٣\yb  b> -Nusing accuracyPremultiplier from config`559b=v?55Yb ibK15F@5@bEbP:b:bo59 E0@ADNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfCD@]]]]F@eh ae?Ie: aɚiiiIiIiiqiq)q)qHI IO&II6BI& =&I.I6I4<:IBI]ƞCJIYRIYZI]% =bI]% =jI]ƿ&4D%7 :E-p>E->Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK}gxPK}9KyK}iK}lihd^\XROMJKLIFEDC@@@>?A><<::;:75420...-.+,,*))%# !*F?2F:FBF@5JFG GG :>B O% >+ߵw,&A2?Y24?2󤸽92z8>y2H`@*ڿ`~ ? ?ڿdq} ??Z?ɨ2?2;2$Cy B $IWill construct direction to contact in vehicle frame from tetrahedron phase data.<I]I]2٢ %=9:Q > G٣y   > 5Nusing accuracyPremultiplier from config!=59%>v?=5Y% i%AEE@E@!% i;%O;%)r5I M@UƶEuDNOT Ignoring new targets: 86.10 m. jyjyjyjyiyhyhyhhffrfbf`E@JJJ0JJ\:Jb9Jـ3JJj;Jk;J/.;J0.;]I]I]I]ME@}󤸽 隅B?I : ɚiIIii))D@ : Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I) *F ?2F :F BF P5JF GeA>BqO>Z&w,'&A>X=?Y>F{?>Ե9>8>y>H`ٿ Մ?`b#?ssڿ6|?`?W[?ɨ>X=?> ߉;>!CyJBJ$I%Mb@Mb@Mb@!!! !)!Y%%#=! %d@)%E@I!!y%z@I=I=0٢MET M==9UEQ;Q U>QQ ]G٣Yye[ e> mNusing accuracyPremultiplier from configiu59mk v?u5Ym imѵ}G>};}"}@mEm ;mnZ;ms5 l@}DNOT Ignoring new targets: 86.10 m. jyjjjihhhhBffrfbf@nLE@Will construct direction to contact in vehicle frame from tetrahedron phase data.]%G>]%G>]%?]%4eo@=Ե AE{?IE: AɚAiAIA)i uCIiii)G )Y eWYaymB*F-?2F):F)BF-P0JF)ZHy RH} @AH 3>I  I %II цBI % =&I .I 6I <:I  FGu J> Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I B '} TFailed to parse incomplete device message.O >(ĉw,q'ARȤ?YR?R祳9R8>yRHޑٿۣc?@h3?`V,ڿ}@^m??`\?ɨRȤ?R;R$Cy^ȅB^$IIfIfb٢n nN=9n`0;Q n>pp rG٣pyv@ v> zNusing accuracyPremultiplier from configt~59vv?~5Yvt iv|~#@tvwo;vڍ;vu51 =\@9}DNOT Ignoring new targets: 86.10 m. jyjyjyjyihhhhffrfbfp|E@]]]]o@}祳 y}?I}: yɚiIIii))E*F?2F:FBF_0JF"G>G!>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJJ6;J7;J:;J:;G<>BO>Oʉw,?+'A:j?Y:X?:ɫ9:W&8>y:H8ٿQ? G?@tٿ}v?`I?]?ɨ:j?:;:"CyJBJd$IWill construct direction to contact in vehicle frame from tetrahedron phase data. AIAMb@Mb@Mb@ )Y+?{Gz?y̽>@ z@)I@yI I<2٢ ==9\;Q > G٣yKc > Nusing accuracyPremultiplier from config59pv?5Y7 ikB>;@E+ ;;w5 m@ɶEDNOT Ignoring new targets: 86.10 m. jj!j!j!i!h!h!h)h-ՂBf)f)rfbf`$E@] B>] B>] x @] @%ɫ !%{?I%e: !ɚ!i)I)IQiQiQ)Q)Q*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% A>B1 OM >@6щw,HE'A6?Y6E?69967>y6Hؿ3?^?jٿ0|`? 8?o_?ɨ6?6_;6 CyRBVF$II^I^V83٢f f[=9jؓ;Q j>hl nG٣lyr r> vNusing accuracyPremultiplier from configtz59v{v?z5Yv iv>xzz@tv:vz:v>y5a e@aDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfE@]!]!]!]%K@]9 Y]{?Ie: aɚaiaIaIiiiii)i)HI IU%IIkBI& =&I.I6I1<:I F 1I1=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM0JFIzK MKC9KKkKGMF>BYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.b׉w,^'Ae$?Yeb?e9efX8>yeH@8׿@ _?@q? ؿV%z`ʰ? ?>a?ɨe$?e M;e!CyޝyBޝ+$I-Mb@Mb@Mb@))) )))Y-OnÿbX9?&1?y--E6>-P=-@ ))-\@I-@)y-@IEIE 3٢]e ]3=9]aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uu?}5Yu3 iu}_s>}_;K@uEu;u;u;{5 J@DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbfF@]_s>]_s>]"@]@  \?I : ɚC4iIIii))2D*DBD:D*F}?2F:FBF0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O >5݉w,~x'AyUdBU$IIeIe(*3٢ؽ Q=9Q > G٣y > Nusing accuracyPremultiplier from config-59u?55YS iŴ115@E;(;|59 =@A}DNOT Ignoring new targets: 86.10 m. jyjyjyjyiyhhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf OF@]]]] ?I8: ɚiIIii))JMJMJIJIJM̝:JM9JIJIa]@a]@a]@a]@*Fe?2Fa:FaBFeO5JFaGA>BO>jH<bHHI I$IIBI% =&I.I6IA<:I) F  I = Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- KK- 89K) K- lK- RK= ?JK= >rw,e'A24?Y2zr?292l08>y2H@׿`0%?`?ۛ׿zֳ?? c?ɨ24?2;2#Cyr\Br$IIzIz 3٢ 0 [=9    G٣ y& > Nusing accuracyPremultiplier from config%59u?%5YT i!-P-@E::~51 5!@1]DNOT Ignoring new targets: 86.10 m. jYjajajaiahahahihififirfibfu1~F@]]]]pg@ ?IC: ɚ4iIIii))*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,V'A6;U?Y6*?6ƛ96<7>y6HxֿF??2׿J3|??*e?ɨ6;U?6Ǐ;6"C PIRhyVWBV$I%Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y ףp= ǿZd;O?v/?yQ8j<>xi=C@ @)r@Iy @IEIEb٢M U7=9U~";Q U>YY eG٣ayey e> mNusing accuracyPremultiplier from configiu59m u?}5Ym imK}>}I;}}@im;m-;m5 n@MDNOT Ignoring new targets: 86.10 m. jQjQjQjQiQhQhQhYh]Bfafarfabfm )F@]>]>]@]9@ƛ =?I+: ɚ@.5iII ii))E%R>E%>*F?2F:FBFO0JF"G >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O- >Jm Jm Jm 1Ji Jm :Jm 9Jm 3Ji jw, ]'A6U=?Y6D{?6^96h7>y6H,ֿ ``]?? >ֿЀ|I'??e?ɨ6U=?6&;4yR\BR$IIZIZ<2٢f%< fg=9fh;Q f>hh jG٣hyjƼ n> rNusing accuracyPremultiplier from configpv59r5u?v5YrG irtvz@rEr:r:r5| ~@-DNOT Ignoring new targets: 86.10 m. j)j)j)j)i)h)h)h1h1f9f9rfAbfEF@]a]a]a]e|c@u^ qu?I[: ɚ.|5iII!i!i!)!))HI I$IIBI&IGD.I6I)<:I F I*F?2F:FBFV0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.zK=RIK=9K9K=mK=BKMqA:KIGF>B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,K'Ay-aB-$IMb@Mb@Mb@ )YZd;OǿʡE?Mb?yj<-2>=@ @)@I@y@II2٢t< ,=9Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y3 idz>K;  @E;;"5 B @̶EEDNOT Ignoring new targets: 86.10 m. jAjAjIjIiIhIhIhQhUǂBfQfQrfQbf]@x!G@]5>]5>]5m@]5&ҋ@q q}f?I},: ɚ5iIIii)) yIy5Will construct direction to contact in vehicle frame from tetrahedron phase data.D} X :E *F ?2F :F BF% +5JF! G rA G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?Qw,T(AV*?YVh?Vi9VL8>yVH4տ ? O? տPy? K? ^f?ɨV*?J^J^J^0J\J^:J^9J^ـ3J\V0;TynhBn$IIvIvb٢~< ~4=9g;Q > G٣ y   > Nusing accuracyPremultiplier from config%59u?%5Y i|!--@E::51 5O@1eDNOT Ignoring new targets: 86.10 m. jajajajaiahahihihifqfqrfqbfu[G@]]]]J@i 隵&?I: ɚ5iIIii))*F]?2Fa:FaBFeR0JFaZH9RH=AAHAIA IE$IIE҅BIA&IA.IA6IE<<:IE& FBIJIRIZIbIjIĬ4 IWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge7>BqO>zK :IK 9K K nK uw,P(ABT(?YBBf?B9B7>yBHԿ `x? /? :տs??@2g?ɨBT(?BU5;B!CyN|BN/$IIZIZ٢"= I=9%:Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595vu?E5Y5x i59AEE@5E5;5;5凛5I U@Q}DNOT Ignoring new targets: 86.10 m. jyjyjyjyiyhhhhffrfbf@G@]]]]R@  ?I: ɚ@6iIIii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF_0JFJJ@AGu<>BO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. w,k4(A:^=?Y:L{?:~Ɠ9:%8>y:HLԿ ? B?Կ?t? ?f?ɨ:^=?:6d;: CyFBFI$I%Mb@Mb@Mb@!!! !)!Y%+ÿS?l?y%%>%=%Z@ %@)%@I%@!y%@I=I=٢Mo= MG=9MQ U>QQ UG٣Qy]8 e> mNusing accuracyPremultiplier from configiu59mu?u5Ym im}j>}g;}j}@mEm;m|;m5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf6G@]ej>]ej>]e@]e@@~Ɠ 隝?IY: ɚiIIii))*FM?2FI:FIBFMo0JFI-c~GMWill construct direction to contact in vehicle frame from tetrahedron phase data.UvAmZA ʿYvAyAJ3K;(3 K;(.K3K3"K3JJJ1JJ:J9J3JGM7>BYO}>H- 4>I)  I- $II- BI) &I) .I) 6I- o<:I- L F I }w,N(ARWill construct direction to contact in vehicle frame from tetrahedron phase data.e'?Yee?eB9eWb8>yeHӿ@ R? {X?`MLԿ#Ld?K?f?ɨe'?e;azK-BHK-C9K)K-oK-,Xhg;l6zjyޭBޭl$Ii=I<II(*2٢= (=9D:Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y i@6; :ϋ5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf@H@])])])]-@EB AE3?IEK: IɚIiIIIIQiQiQ)Q)Q*F2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]0w, h(ABoP?YB]?B 9BAo8>yBHNbӿ@? h?`ӿ勿??@}=}@ }@)}@I}K@yy}@II٢= `=9Q > Ih G٣yI > Nusing accuracyPremultiplier from config 59 )u?5Y n i J:>;j@ E ; ; t5) -@YDNOT Ignoring new targets: 86.10 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hh_BffrfbfC4H@]:>]:>]˯ @]څ@% IMR?IM`: QɚQiQIQIYiYiY)Y)a2D*DBD:D*Fy2Fy:FyBF}0JFGE <>BY O} >e Will construct direction to contact in vehicle frame from tetrahedron phase data.O w,~(A6_?Y6?696:8>y6HJҿWG?`Zz? ~zӿ@Q??ne?ɨ6_?6o;6 CyڅB$II%I%(1٢]> e^=9m߫Q > G٣yP > Nusing accuracyPremultiplier from config59u?5Y i@t;;5 5@ DNOT Ignoring new targets: 86.10 m. j j j jihhhhffrfbf%`aH@]I]I]I]Mš@} 隍?I: ɚiIIii))*F=?2F9:F9BF=05JFAjH<bHp<HI I$II BI$ =&I.I6I<:I_ F IWill construct direction to contact in vehicle frame from tetrahedron phase data.GEA>BQOm>zKe OKe ȱ9Ka Ke pKe q'wo.m1kF! s`TB2#zwrkf^WR &w,`(A6?Y6?6&K968>y6H@0ҿ@= ;?C?&ӿ8&@??e?ɨ6?6<;6"CWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJJb9Jـ3JJ;aJ;aJ/.;a J0.;ay޽B޽$I) A}Mb@Mb@Mb@yyy y)yY} G٣y6$ e> uNusing accuracyPremultiplier from configi}59mu?}5Ym im>;$@mEmw;m'v;m5 ,@DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf༬H@] >] >] ?] Wm@%&K !%͌?I%: !ɚ%N4i)I)I1i1i1)1)1 I*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7>B O >h-w,(A6?Y6?6496l8>y6H`5ҿ+ `? ?ҿh@1R?3?c?ɨ6?6;6$C)>CI>wA>< @B&CBwA@i@@iDF\uA)Fq DID H)JtuAJmHHLLiLILLIPiRuA PP)PX Z\uAZbZrFX\\I\)\i\\yb Bf$IIUIU٢~h> =9䃻Q ? G٣yA ? Nusing accuracyPremultiplier from config59u?5Y iJ%@ ; ;ϒ5  @DNOT Ignoring new targets: 86.10 m. jjjji!h!h!h)h)f1f1rf9bf= H@]Y]Y]Y]]J m@4 Z?I: ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}O0JFyGA>BO>H% 5>I!  I% #%II% BBI! &I! .I! 6I% W<:I% ; F I = Will construct direction to contact in vehicle frame from tetrahedron phase data.O4w,k(A6,?Y6i?6 96l8>y6H`ѿ``l?q?}ҿ _?? Mc?ɨ6,?6h_;6#CyB%$II5I5٢m}< uP=9uQ u>yy }G٣yy,` > Nusing accuracyPremultiplier from config59*u?5Ye iT%@O;P;5 @zKOK9KKqKNHEFC@?=8420/-,+)'%$$%&# !   DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfI@]]]]bl@- )-?I-: 1ɚ54i9I9I9iAiA)A)AEQ*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G<>B JQJUJU1JQJQJU:JU3JQJQJQJUA;JUA;O% >_:w,N(A6?Y6|?6y96Z 9> @I@y6HՎѿ #?*?2ҿz/?`?`a?ɨ6?6;6 Cy5'B=%IiE G٣y{A > Nusing accuracyPremultiplier from config59u?5Y  i}>;C5@@EG;!E;s5 _@DNOT Ignoring new targets: 86.10 m. jjjjihhh!h%Bf!f)rf)bf- :I@]M}>]M}>]MSĀ?]MC5@]y ae?Ie: aɚe5iaIaIii))*Fy2Fy:FyBFJFGE A>BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.GAw,!)A6B?Y60-?6968>y6H`Gѿ-? ų?ѿ@)͜E??`?ɨ6B?6;6$CyB4BB%IIJIJ(*٢n= rk=9rɻQ r?tt vG٣tyvQ v? ~Nusing accuracyPremultiplier from configx59zu?5Yz iz?5@@xz;zB;z5  B @϶EEDNOT Ignoring new targets: 86.10 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfUfI@]q]q]q]uo5@ 隍υ?I : ɚN5iIIii))ZHRHHI In%IIBI&I.I6It<:IO F qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.D]j :*F?2F:FBFJFzK5VMK59K1K5rK5 RG B! O= >Gw,5 )A>Will construct direction to contact in vehicle frame from tetrahedron phase data.><yJHѿ 6e?@?? [ѿN???`R_?ɨJ]?Jhb;J"CyV:BV%II^I^<٢f7= fM=9fQ f>hh jG٣hynL7 n> rNusing accuracyPremultiplier from configpv59ru?v5Yrp irtv4@z@prm ;r;r5| ~@|J-J-J-0J)J-:J-:J-ـ3J)J-i;J-j;J-DG;J-DG;DNOT Ignoring new targets: 86.10 m. j j jjihhQhhffrfbfPI@]]]]4@]/ y}i?I: ɚJ5iIIii))ErAErA yIy*F2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G] F>Ba O >kMw,ǜ:)Ay~9B~%I)   Mb@Mb@Mb@ )YX9v?~jt?kt?y== =3@ @)=@I@y@IIb٢M̻ :=9Q > G٣y > Nusing accuracyPremultiplier from config 59u? 5Yf i~ $7> ; L@ @EV;N;5 4@uDNOT Ignoring new targets: 86.10 m. jqjqjqjqiqhyhyhyh}MBffrfbf I@]$7>]$7>](?]L@ 隽u?I : ɚ:5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFm31JFiGA>BO>H6>I I%IIBI&IHD.I7D6Iz<:IT FBIJIRIZI$ =bIjIՠ4 i Ii = Will construct direction to contact in vehicle frame from tetrahedron phase data.= Ai= AgTw,.tT)AJrW?YJ`?Jв9J?8>yJHп`G@ ?`?Dѿq R??`\?ɨJrW?J*;Hyb;Bb%IIjIjF٢r< r\=9v:Q v>tx zG٣xyz z> Nusing accuracyPremultiplier from config|59~ku? 5Y~ i~)  @ @|~C:~:~A5 @MDNOT Ignoring new targets: 86.10 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf]@~J@]y]y]y]}@в 隕v?Io : ɚ5iIIii))zK]=MKYKYK]sK]*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu<>BO>*J=C="J=a=JYJ]J]1JYJYJ] :J]3JYJYJYJ]S;J]S; e $?Ia [w,urn)A.?Y. ?.%9.8>y.HFCпN?v?9 ѿ 磿'˶? '?Z?ɨ.?.K;.$CyV2BV%I}Mb@Mb@Mb@yyy y)yY}333333?ʡE?333333?y}>}-=}=}`@ }@)}j@I}Z@yy}@II?1٢& <=9ʊQ > G٣yo >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59u?5Y) iͮvA>;7@@E;ɪ;'5 @=DNOT Ignoring new targets: 86.10 m. j9j9j9j9i9hAhAhAhMjBfIfIrfIbfUn9J@]MvA>]MvA>]M?]M7@]% aec?Ie: aɚe5iaIaIiiiii)i)q*F?2F:FBFJF) wC5NGAY vYyAG9 BI Oe >m @m ^B Will construct direction to contact in vehicle frame from tetrahedron phase data.aw,()A6v?Y6?6ͺ968>y6H@п Ty??;п=<pQ?T?Y?ɨ6v?6E;6"CyB'BB%IiFXX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bLu?f5Yb ibdf@f@`b:ba:b5l nM@l DNOT Ignoring new targets: 86.10 m. jjjjihhhh!f!f!rf!bf%hJ@]]]]@ͺ ^?I: ɚ6iIIii))2D*DBD:DjH<bH<H7>I I%IIBI&IGD.I6I<:Ie F Ih*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK jIK 89K K tK ?Q{|iXD dM6mbYSLIDD>:8521.,(&%hw,- )A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6?Y6M?63k968>y6HbϿZ@n*?`tx zG٣xyzW ~> Nusing accuracyPremultiplier from config|59~u? 5Y~ i~*  @ @~E~:~:~5 %@!mDNOT Ignoring new targets: 86.10 m. jijijijiiihqhqhhfJJ?AfqrfybfkJ@]]]]@=3k AEVQ?Ie: iɚmiiIiIqiyiy)y) I*F]?2FY:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O >Enw,ݻ)A6?Y6|?696{y8>y6HXhϿ`@)??`п@05? ?OW?ɨ6?6;4yVBV$ImMb@Mb@Mb@iii i)iYmgfffff?bX9ȶ?L7A`?ym33>mE=m+=i m@)m@Imp@iymf@I}I}b٢dڽ @=9 Q > G٣yڻ > Nusing accuracyPremultiplier from config59u?5Y! iխT>;@@.;F-;h5 j@DNOT Ignoring new targets: 86.10 m. jjjjihhhhBBffrfbf `J@]T>]T>]>]@ Y?I: ɚiIIii)) E9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFJ J J J J :J :J J a@a@a@a@H8>I I%IIBI&I.I6I/<:I F IG A>B O5 >% Will construct direction to contact in vehicle frame from tetrahedron phase data./uw,)A2Y?Y2З?2Ľ92 `8>y2HϿe -?`?kп@a?`?@UV?ɨ2Y?25;2CyVBV$I)\ \IfIf(1٢j7ؽ V=9%uQ %>!) -G٣)y-c -> =Nusing accuracyPremultiplier from config1=595ΰu?E5Y5 i5AE@E@5E50;5X:55I M@Q}DNOT Ignoring new targets: 86.10 m. jyjjjihhhhffrfbf@K@]]]]a@Ľ MO?I: ɚiIIii))zKMOKC9KKuK"#   *F2F:FBFo0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G<>B*J"JO=> I 1X{w,)A^?Y^?^EȽ9^C8>y^H Eο`rX.?*?@ п^! ?? U?ɨ^?^;^"CyrBv$IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YQ?MbX?S㥫?y\>=/]=@ @)I@y@I I b٢ 7=9%Q %>!! -G٣)y-q -> =Nusing accuracyPremultiplier from config1=595u?=5Y5m i5E;EW@E@15#;5 ;55I M@UѶE}DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbf@]8>]?]bW@EȽ \O?I: ɚiIIii))*FE?2FA:FABFAJFAGi Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >J% J% J% 0J! J% :J% :J% ـ3J! Sw,7 *AB?YByyBHdͿz/? ? 6ϿĘ`?\?T?ɨB?Bj;B!CyRBRU$II^ I^̍2٢b@ b`=9f Q f>dh jG٣hyjx; n> rNusing accuracyPremultiplier from configlr59nu?v5Ynb intv@v@nEn:n@:n5| ~@|-DNOT Ignoring new targets: 86.10 m. j)j)j)j)i)h)h1h9h9f9f9rf9bfEkK@]Y]Y]Y]]@"ɽ =?I: ɚiIIii))ZHRHHIC Iz%I 1I1IBI# =&I.I6Iİ<:I F*F?2F:FBFL1JF"G>GWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO >zK= dMK= 9K9 K= vK= yw,#*AWill construct direction to contact in vehicle frame from tetrahedron phase data.Z6?YZ$?Z8ɽ9ZA_8>yZH3ZͿ`m@(?`?a6Ͽ)-??~T?ɨZ6?Z!x;XyfBf3$Iij=Ij=IzIz0٢ *  G=9fAQ >! %G٣!y% %> -Nusing accuracyPremultiplier from config)559-u?55Y-4 i-9=@=@)- ;- ;-j5A M@IuDNOT Ignoring new targets: 86.10 m. jqjqjqjqiqhqhyhyhyffrfbfQK@]]]]@8ɽ 0?IL9 ɚiII i1i9)9)I )I)*Fa2Fa:FaBFe_5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O >w,#h=*A2 ?Y2H?2ɽ928>y2Ht̿ 9 $,?`?XοK?9?`$T?ɨ2 ?2;2 CyBQBB#I=Mb@Mb@Mb@999 9)9Y={Gz??/$?y=ף====,==QA =@)=@I=@9y=@IUIU(1٢eg] eE=9mN:Q m>qq uG٣qy}& }> Nusing accuracyPremultiplier from config599u?5Y i} >;,@@E;;:5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhǃBffrfbfK@] >] >]ce?]X,@ɽ E?I: !ɚ!i!I!I)i)i)))))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-!4JF)JJJJJ|:J&:JJ IG%7>H)I) I-)%II-GBI)&I).I)6I-T<:I-; FBIOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,BW*A6?Y6w?64\Ƚ96k8>y6H 4X̿@#?r ?4οM??T?ɨ6?6;6$CyB2BB#IIJ IJ2٢Rc# RW=9Vu:Q V>TT ZG٣XyZ) Z> bNusing accuracyPremultiplier from config\b59^u?b5Y^  i^Ihj+@j@\^0;^90;^⮛5l n@p~B*** querying acoustic contact ***jyjyDNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfL@]]]]&+@54\Ƚ 9=5?I=!9 9ɚ9i9I9IAiAiI)I)IzK5]JK59K1K5wK5MWill construct direction to contact in vehicle frame from tetrahedron phase data. M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF4JFG G  $?I G A>B9 O] >fw,d$q*Ay~ B~#I) Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Aiՙ,DAT read: user:3205> BDAT read: Tx time:23:22:17.0319 $Ping request sent. G٣y %> -Nusing accuracyPremultiplier from config!559%Nu?55Y%O i%===;=>=@!%@;%=;%ڰ5A E @IuDNOT Ignoring new targets: 86.10 m. jqjqjqjqiqhqhyhyh}Bfyfrfbf?L@]=]=]q?]S@ 隽B?I: ɚiIIii))*Fe?2Fi:FiBFmP0JFiG7>BO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:23:22:17.0311 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252740J J J J J :J :J J w,L*A>~l?Y>l?>Ľ9>8>y>H@C˿@?G?Ϳ#?? U?ɨ>~l?>Fމ;>#CyRBRq#II^I^n٢f.b fa=9f=;Q f>hh jG٣hyjż n> rNusing accuracyPremultiplier from configpv59rnu?v5Yrs irxz4?z@rEr.:r:ro5| ~@|5DNOT Ignoring new targets: 86.10 m. j1j1j1j1i9h9h9hAhAfAfArfIbfM:nL@]i]i]i]mR@}Ľ y}.?I}9 ɚiIIii) I)jH<bH<H9>I I$IIBI&I.I6Iu<:IT FBICJICRIZI# =bI# =jII4*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503551GA>BO>zK K 89K K xK Vm!&:JiR<76/] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754496"Ψw,*A2?Y2?2ý92B>y2H ʿ3?@,%?@̿@ p??8G?ɨ2?2Ɗ;2"CyFÄBFL#III̍٢-l -C=95:Q =>AA EG٣Iy]( ]> eNusing accuracyPremultiplier from configam59eu?u5Ye iequv?}@aemG;euE;eF5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbfL@]]]]R@ý %?I%9 !ɚ!i!I!Iii))E I*F?2F:FBFJF"G% >G%>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626G F>B O >w,}*AJGRtA^A vYztAyzAEv?YE´?E/½9EA@>yEHUUʿZ?(+?@ 3̿`|ܪ`?Mb@Mb@Mb@ )YMbJ +?L7A`?y=+= @)@I@y@I I W٢r ==9%+:Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=595mu?E5Y5 i5E=E;E#E@15;5;5'5I U@QDNOT Ignoring new targets: 86.10 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258629h)h-Bf1f1rf1bf5L@]u=]u=]ux @]u@/½ 隍E?I: ɚiIIii))*F?2F:FBFo0JF IHI IB$IIBI&I.I6I<:Ig FG% 7>B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510783tڵw,*A>v?Y>d?>9>H=>y>Hɿ Je?u5?z˿Nت Iȷ?l?`Q?ɨ>v?>?;dd fG٣dyf[u f> nNusing accuracyPremultiplier from confighn59j+u?r5Yjb ijyprr@jEjy;j;j5v B z@zԶEDNOT Ignoring new targets: 86.10 m. jjjj!i!h!h!h!h)f)f)rf)bf5M@]Q]Q]Q]U@ k8?I: ɚiIIi!i!)!)!zK=OK9KKyK'#  BK:KpA*F?2F:FBF^5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762565JJJ/JJ\:J:J(N3JJj;aJk;aJnN;aJoN;aGA>BOE> I w,e*AynB"I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610Mb@Mb@Mb@ )YMbA`"?~jt?y== )@I@y@IIF3٢ 9=9Q > G٣y > uNusing accuracyPremultiplier from configq}59uu?}5Yu/ iuO.>;@qu;u;u5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhBf f rf bf5EM@]m.>]m.>]m@]m{@ 隅q=?I%9 ɚiIIii))BDa=:D=DmO :EyE}pA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267395*F ?2F :F BF _0JF G qA G q Iy ZH RH H :>I  I #II 5BI &I .I 6I d<:I J FGM<>BYOu>Êw,8+A~?Y~F?~fմ9~]:>y~Hǿ`@z?@N?ܭɿt/(??PY?ɨ~?~@;|yU]BU"I)Y YaaImIm3٢}ݏ }1=9( G٣y > Nusing accuracyPremultiplier from config59߉u?5Y i&@E;!;5 @DNOT Ignoring new targets: 86.10 m. jjjjihhhhffrfbf|M@]Q]Q]Q]U@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519130fմ 隍$5?IR9 ɚ>4iIIii))D*F5?2F1:F1BF5X5JF1zKwLK9KKzKG] B>Ba O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772144J J JK3 KA.KK"KJ J J 1J J ,:J :J 3J J ;J ;J C;J C;_ ʊw,1y*+AuyuH@3ǿ ?@KY?`)ȿ@{ީZ?R?E[?ɨu G٣yh > 5Nusing accuracyPremultiplier from config5595u?55Y i9=i=@Ei::5A E@AuDNOT Ignoring new targets: 86.10 m. jqjyjyjyiyhyhyhhffrfbf@M@]]]]Z@˰ 隽,?I9 ɚ;4iIIii))D7 :Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:22:19.5603 TRx dataTimestamp_ set to:1736378540.845330checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024725*F}?2Fy:FyBF}P5JFGA BQ Om >ъw,6WD+A6??Y6-?696.9>y6Hƿ@q?9b?V)ȿ`P箵?`?\?ɨ6??6k;6!CyB?BB"InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2746905Mb@Mb@Mb@111 1)1Y5/$ƿy&1? ףp= ?y5&15`=5Q8=5 A 5&@)5@I5@1y5(@IMIM2٢e e]=9e;Q e>ii mG٣iymr u> }Nusing accuracyPremultiplier from configy59}u?5Y}{ i}٪X>{;@y}{;};}+5 @1DNOT Ignoring new targets: 86.10 m. jjjjihhhhBffrfbfM@]X>]X>]J$@]΋@5 9=+?I=9 9ɚ=5i9I9IAiAiA)I)i2DurA*DurA I%hHaIa Ie#IIeBIa&Ia.Ia6Ie<:Ieu FDu :Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:22:19.5603 LVL= 17216, 13585, 9650, 18867, AGC= 59, IDX= 5, 0.08,-0.335,-0.586, 1.393, 0.333, PHS=-0.580,-0.872, 1.057, RAW= 201.9, 4.4, CAL= 202.5, -3.2, ROT= 307.5, 3.2 Ygot valid direction response: 23:22:19.5603 LVL= 17216, 13585, 9650, 18867, AGC= 59, IDX= 5, 0.08,-0.335,-0.586, 1.393, 0.333, PHS=-0.580,-0.872, 1.057, RAW= 201.9, 4.4, CAL= 202.5, -3.2, ROT= 307.5, 3.2 PDAT read: Bearing 307.5, 3.2 (Local) ~Local bearing/azimuth received: Bearing 307.5, 3.2 (Local) DAT read: Range 10 to 50 : 93.2 m (Round-trip 124.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.131028,-0.935892,-0.327012]*F 2F :F BF _5JF "G G > Fpublishing direction and range infoؑ9ؕ0ZV:1#WԿyؕfBؑؕ@Cؕ5 ٕ%)ٕIIّiٕzٕd;_ٕK?ٕCa@ٕnF= ڕ1b@)ڕdIڕ@iڕd=ڑڑە²Jr?W/.?X ˳?)ە9?Iەˀiەڿە^>ۑۑG5 J>B9 O] >0׊w,i`+AN?YN?N&9NX9>yNH ſd`?k?aǿ@Ei >?@?]?ɨN?N&;N$CyZCBZ"IzKbKb9K`Kb{KbIb$Ib<3٢r;< rA=9vI;Q v>tt zG٣xyz>h z> ~Nusing accuracyPremultiplier from config|59~u?5Y~  tIi~   @~E~;~S;~5 {@k&[׏?k] k kOV+A:kfBBkBZkL="Z&ll(NiU]@z>0ZV:1#WԿJkڿRk^>*O#T@^ƅ@Ec)HG`*?Cz?\o.߿"k@*kBk0:?k\ 2kAkN?kRa kk.BkT>m addTargetRange:: Added new target pos. range: 93.199997 m, deltaT: 59.996357 s, deltaX: 7.099998 m, approachRate: 0.118340 m/s, rangeRepo size: 4 } Added new target pos. range: 93.199997 m, bearing: 3.874771 deg, lat: 36.904510 deg, lon: -122.119959 deg, deltaT: 59.996357 s, deltaX: 7.099998 m, approachRate: 0.118340 m/s, posRepo size: 4 }DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfLW@bfM?]]]]@& -?I9 ɚW35iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J}JyJyJ}:J}:JyJyJ};J};J}yE;J}zE;D] : !I)*F2F:FBF 5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G% F>B) O] >݊w,CWz+A6)+?Y6i?696kW9>y6H@-ſU`n?>s?ƿ T@??*_?ɨ6)+?6Q|;6!CyF>BF"I=Mb@Mb@Mb@999 9)9Y=bX9ƿy&1?v/?y=E69=xi== A 9)=@I99y=@IUIUT3٢mļ mA=9u6;Q u> G٣ys2 > Nusing accuracyPremultiplier from config 59u? 5Y iv_>s;}@E+;!*;›5! %@!MDNOT Ignoring new targets: 93.20 m. jIjIjIjIiQhQhQhYh]BfYfYrfabfm@?]_>]_>]7%@]h0@ 隥#?I9 ɚC^5iIIii))Du:*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G2>BO >  I jH! bH% p<H- ;>I)  I- Z#II- τBI) &I) .I) 6I- v<:I- X Fw,4+AB)?YB?B29B9>yBH̗Ŀ o?`Lz?@d(ƿ!?@-?M_?ɨB)?B;B#CybCBb"IIjIj2٢ri< rS=9vR;Q v>tt vG٣xyzN z> ~Nusing accuracyPremultiplier from config|59~}u?5Y~ i~G   @|~:~:~ě5 z@׶EEWill construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 93.20 m. jYjYjYjYiYhahahahafafirfibfm 6?l}JTimed out from 2025-01-08T23:12:22.2Zq6}l}fCompleted lineCaptureHoming:MicromodemComms:CheckIn16} lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemComms]]]] @2 隭q&?I9 ɚW5iIIii))BD=:D4<D:EzKUBoHKUC9KQKU|KU K~wqme_ZUPHFB@=73/-)&&$#*F-?2F1:F1BF5P0JF1G=rA G9Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J 9J ـ3J J ;J ;J $7;J %7;G} :>B  I OM >\zw,_$+AM ?YMK?M(b9M9>yMH`Ŀ[? ?@ſ{f? ? J`?ɨM ?M,;I]Will construct direction to contact in vehicle frame from tetrahedron phase data.yޭKBޭ"IAEMb@Mb@Mb@AAA A)AYEl¿T㥛 ?Et=EA E=@)E5@IE@AyE@I] I](2٢m< m=9ms:Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59yu?5YQ i@T>;.@E;;ƛ5 @9DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf]a?5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6]@T>]@T>]@]@ (b )?I(9 ɚ5i9I9IAiAiA)A)ID : Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu ?2Fq :Fq BFu 5JFq $?I H)I) I-N#II-ńBI)&I).I)6I-<:I-a FBIJIRIZIbIjI 4GBWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLNK9KK}K   <OQONJJEBA>?AB=98970 O}U?Cw,q+A6V$?Y6Eb?6*96t9>y6H`0ÿ @:?"?Ŀw0?_?a?ɨ6V$?6Cj;6$Cɳ<>xwABi@@iDD)D DID H)JtwAɴHHHLɵLiNףILLILiRvA PP)PT TTTɶTTVwAIX)XiX)XIXXɷX \\ybZBf"IInInF2rWill construct direction to contact in vehicle frame from tetrahedron phase data.٢z= z<9z;Q ~w>|| ~G٣y !  w> Nusing accuracyPremultiplier from config59tu?%5Y is)55@E;;ʛ5I M@Q*Jy"JyDNOT Ignoring new targets: 93.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE ^@JUJUJU1JQJUl:JU9JU3JQJU;JU;JU3;JU3;]]]]w@* C#?I|9 ɚ\5iII1i1i9)9)i2D*D IDl:EErA*F}?2Fy:FyBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >w,/+A) Fc~GVvAZZA YvAy AE:Ϳ?YE) ?E򙞽9Ex 9>yEH ¿T1?@΍?L]Ŀ),γ??`tb?ɨE:Ϳ?E^;E"C Will construct direction to contact in vehicle frame from tetrahedron phase data.y=uB="IiE%=IE<Mb@Mb@Mb@ )Yq= ףpL7A`?ˡE?y뽙+>=7A j@)K@I3@yQ@IIƲ٢= =9:Q > G٣y/ >  Nusing accuracyPremultiplier from config 59 ppu?5Y { i  E>;A @ E ; ; ơ5) -`@)]DNOT Ignoring new targets: 93.20 m. jYjYjYjYiYhYhahihm`Bfifirfibfu@]5E>]5E>]5f@]5 o@M򙞽 IM= ?IMx9 IɚMo5iIIQIQiYiY)Y) IZHRH?AH<>I IZ#IIτBI$ =&I.I6I<:Iz FD : Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF5 P0JF1 GB)OM?tw,Gw#,A'vTFailed to parse incomplete device message.)AIIII IIIQiQQiQU+uA)Ub U}FIY Y)]luA]]eFYae1vAiaIaaIiii ii)ii uluAuqqqu΁AIq)yiyy%Will construct direction to contact in vehicle frame from tetrahedron phase data.y-B-"II]I](1٢mQ2= m)=9uQ u>qq }G٣yy} }> Nusing accuracyPremultiplier from config59lu?5Y? i@::Λ5 B @ڶEDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf @] ] ] ] q qu?Iu9 yɚ}5iyIyIii)) ID: Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF G2>BO>w,B,A6M3?Y6y6H C¿@/ ,?n?ÿ_?@?b?ɨ6M3?6`;6!Cy5B5#IMb@Mb@Mb@ )YMbQ?kt?y\> =dA @)@II@y3@IIb1٢bS= +=9h;Q >  G٣ y @!  > Nusing accuracyPremultiplier from config59hu?5Y] iG%4>%;%%@EJ;;Л5) -@1eDNOT Ignoring new targets: 93.20 m. jajijijiiihihihqhuBfqfqrfybf}B9@Will construct direction to contact in vehicle frame from tetrahedron phase data.]%4>]%4>]% ?]%_t@5$ 15g>I59 1ɚ=%5i9I9IAiAiA)A)IJJJJJ:J9JJa%@a%@a-@a-@D5:E=i>E9*F?2F:FBF_0JF QIQH}=>Iy I}z#II}BI}# =&Iy.Iy6I}F<:I}7 FG B>B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Ƣ\,A6C?Y6?6"96<9>y6H@S¿@=(??ÿ@wG\?@i?Ac?ɨ6C?6 ;6$CyB#I)  I I<2٢M= MX=9U9Q U>YY ]G٣Yyeq: e> mNusing accuracyPremultiplier from configiu59mdu?u5YmA imq@imI9 ɚQ5iIIii))zKLK89KKKF[k{}}vpmkkmjegdaddcba_^`^`decb``Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F?2F:FBF`0JF i Ii G 2>B! O= >mw,Qv,A>`4?Y>Or?>f9>x9>y>H@#E¿@6`0+??໺ÿ%B(?+?ec?ɨ>`4?>;> CyJBJ$#IWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y55E=5MA 5@)5@I5QA1y5@IUIU0٢eg< eJ=9eK;Q e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}D`u?5Y} i}1>;D7@}ŒE}S;};}ԛ5 u@DNOT Ignoring new targets: 93.20 m. jjjjihhhhփBffrfbfY@]1>]1>] ?]Z@-f )->I-^9 )ɚ5=6i1I1I1i9i9)9)9D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F} ?2Fy :F BF JF Je Je Ja Ja Je :Je :Ja Ja y Iy jH <bH <H ?>I  I #II BI &I .I 6I [<:I H FGe :>By O >d{$w,̒,A6y6H_¿9`?H?ÿ`V˧f??d?ɨ6;4yBBB.#IININԲ٢V= VB=9Zm:Q Z>XX ^G٣\y^: ^> bNusing accuracyPremultiplier from config`f59b[u?f5Yb  ib6hj@7j@`b ;b ;b՛5l n@lUDNOT Ignoring new targets: 93.20 m. jQjQjQjQiQhYhYhYhYfafarfbf @]]]]vZ@G >I9 ɚ 6i I I ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dt9E*F?2F:FBF0JF"G>G>zK INK 9K K K a^][WSMMKIJIGC@@>?;:;8464543-/--+,,/,,.,,+))+)()('(&$#$'&#%(BK :K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >*w,,A6Ef?Y64?6969>y6H`v¿)?? Aÿ,h??`d?ɨ6Ef?6;6!CyBBB9#IiF=IF=IJIJ1٢R;= RL=9V8/;Q V>TT VG٣XyZ: Z> ^Nusing accuracyPremultiplier from config\b59^Wu?b5Y^j i^٦dfB7f@^ÌE^h;^;^כ5h j_@h%DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=@]Y]Y]Y]]Z@m im5>Im9 qɚu6iqIq $?IIi!i!))))Will construct direction to contact in vehicle frame from tetrahedron phase data.iAD39*F5?2F1:F1BF51JF1GU J>Ba O} >1w,г,A 6ȕ?Y6?696i8>y6H¿@& ? В? Ŀʍ? v?e?ɨ6ȕ?6m;6CyBBB8#I5Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmy&1?Q?/$?ym`m=m A m@)m@ImAiym@II 2٢2j :=9::Q > G٣yW; > Nusing accuracyPremultiplier from config59Ru?5Yd iv)>; H@@f;o;ٛ5 k@DNOT Ignoring new targets: 93.20 m. jjjjihhhhBf f rf bf`uK@]=)>]=)>]=˯?]=h H@ JJJ0JJJ:Jـ3J>IE9 AɚM6iIIIIQiQiQ)Q)QBD];:D]; IHA>IC I#II!BI$ =&I.I6I0<:I) FD9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >[7w,z,A2u̿?Y2d ?292e9>y2Ht¿) ??`X9Ŀ@=ݥXX ZG٣XyZ ; ^> bNusing accuracyPremultiplier from config`f59b Ou?f5Yb_ ib#dfH@f@bČEbU:b3:b2ۛ5j B n@rPExceeded connect timeout, disconnecting.nܶEDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf @]]]]GH@   4>I 9 ɚ6iII9i9i9)9)AzK;NKC9KKK+)&%&'" !    MWill construct direction to contact in vehicle frame from tetrahedron phase data.D]9EaEa I*F?2F:FBF3JFG! G! Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Ba O} >r=w,,AFO?YF>=?F5h9FЙ9>yFH`ÿ@0!? a?@cĿF? I?`f?ɨFO?F/@;F"CyRBR?#I)T T=Mb@Mb@Mb@999 9)9Y=:v?p= ף?~jt?y=T==>==9 =@)=@I99y9I I2٢P: 7=9:;Q > G٣yc; > Nusing accuracyPremultiplier from config59Ju?5Y  iƥ"#>;:@@; ;&ݛ5 @-DNOT Ignoring new targets: 93.20 m. j1j1j9jAiAhIhQhYh]Bfafarfabfeŕ@]"#>]"#>]l[?]֞:@5h 隝>I29 ɚ!6iIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F ?2F :F BF P0JF J J J J J :J :J J a Ia H D>I  I #II 0BI % =&I .I 6I ,<:I & FBIJIRIZI$ =bI$ =jIuk5G 7>B O >CEw,-A6K?Y6?6p969>y6HZÿ @$? S?Ŀ{?@ ?f?ɨ6K?6c;6!CyBBB1#IIJIJ٢Re RQ=9Vus;Q V>TX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config\b59^Fu?f5Y^ i^udf:@f@\^0;^8;^ޛ5p r@pWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf`>@]q]q]q]u:@p 隭g>I9 ɚ&6iIIii))D9*F?2F:FBF_0JF nManaging dock network, ignoring radio surface power offzK} MK} 9Ky K} K}    Will construct direction to contact in vehicle frame from tetrahedron phase data.G B>B O >gKw,g/-A $I$y%B%,#IIEIE ٢f ==9Q > G٣y > Nusing accuracyPremultiplier from config59>Bu?5Yt i@ŌE;[;5 @MDNOT Ignoring new targets: 93.20 m. jQjYjYjaiahihqhhffrfbf@]]]]9 9=3>I=9 AɚE2+6iAIAIIiIiI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.DeB9EmN>Em>*F?2F:FBFJF"GG>%~G9Q tYyAG :>B O >)PRw,I-A"Will construct direction to contact in vehicle frame from tetrahedron phase data.B?YB?B9Bq9>yBH ÿ``??ſ١⚰? ?h?ɨB?B;B"CyRBR!#IidId]Mb@Mb@Mb@YYY Y)YY]Mb?q= ףp?L7A`?y]=]=]+=] A ]5@)]-@I]hAYy]G@IuIu(*٢. K=9' G٣y6< > Nusing accuracyPremultiplier from config59>u?5Y iѤ>;1@@<<5Y ]@YDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf@]>]>]?]=1@ 9I9- QU>IU9 Qɚ]A/6iYIYIYiaia)a)aHF>I III&I.I8D6II<:I= FDU9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG J>B! O= >Xw,${e-A:l?Y:?:)v9:t9>y:H zĿ ?h?ſPծ?@?@ck?ɨ:l?:;: CyFBF#IININ2٢Zo ZI=9Z:\\ ^G٣\yb.< b> fNusing accuracyPremultiplier from configdj59f:u?j5Yf ifln1@n@fƌEf:f.:fH5p rV@pDNOT Ignoring new targets: 93.20 m. jjjjihhh!h!f)f)rf1bf5 @]I]I]I]M1@e)v aeq>Ien9 ɚ26iIIii)) zKEcLKE9KAKEKERKU ?JKU?mWill construct direction to contact in vehicle frame from tetrahedron phase data.J]J]JYJYJ]:J]:JYJYJ];a}J];a}J]yE;aJ]zE;a 9I9D-9*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O >1`w,tЀ-A6^?Y6M?6j96q:>y6H@4Ŀ?m?ſ蚿6P??k?ɨ6^?6-‰;6#CyBBB"I Mb@Mb@Mb@    ) Y :v?|?5^?y&1?y T= = `e=  K@) Z@I A y @IeIe2٢u u5=9} ;Q }>yy }G٣yރ; > Nusing accuracyPremultiplier from config597u?5Y. i@T>;4@@;;A5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbfu!@]%T>]%T>]% 8?]%(4@5j 9=u>I=J9 9ɚ=76i9I9IAiAiA)I)ID |9E*F?2F:FBFQ5JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyH-H>I) I-#II-BI-# =&I).I)6I-S<:I-G FG<>BO>Xfw,-AWill construct direction to contact in vehicle frame from tetrahedron phase data.Z?YZ+?Z_9Zq9>yZHcĿ ?@߄?ſ*X?`)?`om?ɨZ?ZnЉ;Z!CyrmBr"I)| |II[3٢5Ƚ 5O=9=;Q =>AA EG٣AyE[; M> UNusing accuracyPremultiplier from configI]59M3u?]5YM iMY]4@]@IMB;Md;M5i m@iUDNOT Ignoring new targets: 93.20 m. jQjQjQjQiQhYhYhYhYfafarfabfexJ"@]]]]T4@_ (N>Ic9 ɚj:6iII)i)i))))1D;9*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=zKMBoIKMC9KIKMKMG Z >J J @AJ J J J J ܫ:J J J J ;J ;J J B O > } $?I тlw,y-AJ?YJQ?JP9Jg:>yJH!ſ@N?@ʄ? ſk?V$?`+n?ɨJ?Jɡ;J Cyr[Bv"II= I=2٢uά }F=9  G٣y5; > Nusing accuracyPremultiplier from config59W0u?5Y| i4@@njE =~=5 @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=DNOT Ignoring new targets: 93.20 m. j9j9j9jAiAhAhAhAhififirfibfu*#@]]]]4@P *>II9 ɚ2=6iIIii))D 9*F=?2F9:F9BF=4JF9G] :>Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.isw,O-A6x;?Y6gy?6fB96l:>y6HIſ `??`_ ƿ STN?(? p?ɨ6x;?6S;6$CyNHBR"I !I!eMb@Mb@Mb@aaa a)aYe rh?MbX?J +?yeC =e=eH=e3 A e5@)e@IeQAaye@IIF2٢J H=9  G٣yE; > Nusing accuracyPremultiplier from config5HK>I I#IIBI% =&I.I6I<:I F9=-u?5YR i=;R>@@;0;5  @߶EDNOT Ignoring new targets: 93.20 m. jjjjihhh!h%܃Bf!f)rf)bf-#@]M=]M=]M?]M6R>@efB ae W>Ie'9 aɚee@6iiIiIiii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EE*FM ?2FI :FI BFM @5JFI "GU >GQ G- <>BA Oe >O zw,x-ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Za?YZޟ?Z429ZV:>yZHpſ ?`X?kƿq`W?*?p?ɨZa?Zx;Z!Cyj4Bj"Iin=IlIv!Ivi3٢~ ~B=9~ G٣y 7;  > Nusing accuracyPremultiplier from configzKBoHKu9KKK-59)u?-5Y% iO)59>@5@";;f59 =E@9mDNOT Ignoring new targets: 93.20 m. jijijijiiihqhqhhffrfbf$@]]]]F9>@=42 9=/>IE9 AɚE:C6iAIAIIiIiI)IJ3K3 K/.KK"KJ]J]J]1JYJ]l:J]:J]3JYJ];J];J]DG;J]DG;)q I *F-?2F):F)BF-\0JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.GuA>BO>w,.A65}?Y6#?6D"96v:>y6H~ſ} ??4ƿ@%@?G?A)? =r?ɨ65}?6f;6#CyB#BB"I5Mb@Mb@Mb@111 1)1Y5I +?K?kt?y594<5^=5 0=1 5b@)5@I5A1y5(@ImIm#3٢}* }D=9} G٣y; > Nusing accuracyPremultiplier from config59'u?5Y4 iZ=<D@5<<75 \@ DNOT Ignoring new targets: 93.20 m. j j j j ihhhh̃Bff!rf!bf%%@]Z=]Z=]?]"M@D" .>Iq9 ɚF6iIIii ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF !I!ZHRH@AHO>IC IT#IIʄBI&I.I6I<:I FG B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.!w,}.Ay B l"III(*3٢-~۽ -P=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIM59M\$u?U5YMA iMQQU@MȌEM:MT ;M5a e@aDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf([&@]]]]   >I 9 ɚ iIIii))*F2F:FBF0JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoIK9KKKGF>BO%>JJJJJ:J:JJJ;J;JA;JA;  I Ow,97.AWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAy-B-X"I)1 1Mb@Mb@Mb@ )Yii mG٣qyq u> }Nusing accuracyPremultiplier from configy59} u?5Y} i}=;40@y};}:;}5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf L'@]=]=]?]^a@   .>I 9 ɚ>3iIIi!i!)!)!*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O > I 74w,Q.AH6R>I4 I6#II6BI6& =&I4.I69D6I62<:I65 FBI-CJI-CRI)ZI-% =bI-% =jI-5R?YR?Rۼ9R_:>yRH@ſ@hg??2ƿ*t?~u?(? u?ɨR?R ;R"Cy^BbD"IIj)IjW3٢r rr=9r"=Q r ?tt vG٣tyz< ~ ? Nusing accuracyPremultiplier from config 59u? 5Y i  0 @::n5 @EDNOT Ignoring new targets: 93.20 m. jAjAjIjIiIhIhIhQhQfQfQrfQbf]'@]]]]a@ۼ 隕>Iu9 qɚ}73iyIyIii))2D*DBD:D*F?2F:FBF`5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.GF>BO>_w,k.A6?Y6?6ʃ96=:>y6Hſ`6G? ?`ƿE:?P?%?v?ɨ6?6Ӟ;6$C>Will construct direction to contact in vehicle frame from tetrahedron phase data.yr݃Bv1"II~I~T3٢ N  G=9I G٣y_ %> -Nusing accuracyPremultiplier from config!-59%u?55Y%` i%X1505@%ɌE% ;%;%85A E@AuDNOT Ignoring new targets: 93.20 m.zKuV$KKu89KqKuKu jjjjihhhhffrfbf0(@]]]]kca@ʃ  =I f9 ɚ [3i I Iii)) I*F?2F:FBFC4JF"G >G>GA>BO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.) = rC1 Q i uY y AEw,V.Ay~΃B~"Ii=I4<Mb@Mb@Mb@ )YI +A`"?I +?y94=94= A b@)@IAyf@II2٢%W %:=9-Q ->)) 5G٣1y= => ENusing accuracyPremultiplier from configAM59EJu?M5YE iE U=U;U!U@AEC*;E';E$5a e@aDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf@9)@]]=]]=]]rl?]]G@p@Will construct direction to contact in vehicle frame from tetrahedron phase data. =I9 ɚ4iIIii))JmJmJm0JiJm:Jm 9Jmـ3Jiau@au@au@au@ I*F?2F:FBFX4JFHmU>ImC Im"IIm`BIm$ =&Ii.Ii6Im<:Im+ FG <>B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,n2.A>b ?Y>PH?>Y9>x:>y>Hnƿ?`(?] ƿ?>??x?ɨ>b ?>$;>#CyNăBN"IIZIZF3٢^l bd=9bdd fG٣dyf; j> nNusing accuracyPremultiplier from confighr59ju?r5Yj ijpr"r@hjq ;j` ;j5x zR@x%DNOT Ignoring new targets: 93.20 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5#[*@]Q]Q]Q]Ur p@mY imh=Im39 iɚuI4iqIqIii))!*F?2F:FBFW0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO>zKRIK9KKK(p\@& qIqXw,.Aq?Y_T?.9!9>yH'ƿ ?? =ƿ@_ږ?@ł?`? y?ɨq?f;ymBu "IWill construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYMDlʡE?J +?yMOM=MH=MI A Mx@)M3@IMv@IyM@I]I]T3٢oL #=9z G٣y@: > Nusing accuracyPremultiplier from config59u?5Y i>;@ʌE};;5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhBff!rf!bf%0[+@]E>]E>]E @]ERy@U. Y]H=I]9 Yɚ]94iYIaIaiiii)i)iEyE}sA*F2F:F!BF%U0JF!GA GEqA Will construct direction to contact in vehicle frame from tetrahedron phase data.խ <խ <G B O- > e $?Ia J J J J J \:J :J J H] Z>I] C I] "II] 2BI]  =&IY .I] :D6I] ߯<:I]  F~w,5).A6Z ?Y6HK?6X96 4:>y6H@ƿu ?? ſ%? t?%?x?ɨ6Z ?6;6$CyBBB"I)D DJAJAININ3٢O }=9%:XB O > w,;T.AyB!I 9I9I%I%3٢M U>=*Jq"Jup=zK9MK9KKKRK ?JK9UQ > G٣y > Nusing accuracyPremultiplier from config59 u?5Y iA@ˌE" ; ;95 A@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf,@]!]!]!]!9 9==IE9 AɚEf4iAIAIIiIiI)I)QD|9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM[0JFIGu A>B O >}‹w,d/A6'?Y6e?6 ;969*:>y6H8ƿ.Ⱦ?@?ſ`*?8a$?x?ɨ6'?6;6#CyBBB!I-Mb@Mb@Mb@))) )))Y-lX9v?&1?y--=-P=- A -@)-`@I))y-@IE IEb3٢ϻ ==9 G٣y1: > Nusing accuracyPremultiplier from config59yu?5Y i > ; u @3;1;5 W@!UDNOT Ignoring new targets: 93.20 m. jQjQjQjQiQhQhYhYh]BfYeWill construct direction to contact in vehicle frame from tetrahedron phase data.firfibfm`-@]>]>]"@]4z@ ; 隭u=Ix9 ɚv4iIIii)) IJMJMJM1JIJM̶:JM:JM3JIH]>IC Is"IIBI =&I.I;D6IF<:IT FD%89*F?2F:FBF_0JF"GG> Will construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O% >ȋw,>^$/A:r(?Y:`f?:St;9:9>y:Hv9ƿW?v? ſ ?@u?@y?ɨ:r(?:Ҋ;: CyB!IiYY ]G٣Yym)%8 m> }Nusing accuracyPremultiplier from configq}59uu?5Yu iu@ǔEuS;u;u+5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfѰ.@]]]]z@ St;  Z=I 9 ɚ4ivӼIIii)Will construct direction to contact in vehicle frame from tetrahedron phase data.)2DrA*DrAD}49 I*F2F:FBFo0JFzK-BoHK-C9K)K-K- !(8Qalvyrjhb]__^YVUWUPLFFA;6.'#G] <>B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.(΋w,>/A%8?Yv? <9+9>yHHƿ``?@? Qſ@E?oA?{y?ɨ%8?h';"Cɳ)-|wA1i11i11)1 9I9 9)9ɴ=ף99AɵAiAIAAIIiI II)IQ QQQɶYYYIY)YiY)aIaaɷi iy))Mb@Mb@Mb@ )Ysh|?/$?y&1?y1>`e=A @)@IyzAI Ib39M;Q U>QQ UG٣Qy]): ]> eNusing accuracyPremultiplier from configam59eu?u5Ye iezux*>};}}@ae4;eN3;e5 DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf/@]x*>]x*>]<@]z@ < I C I Z"II BI  =&I .I 6I \<:I i FGu A>B O >Ջw,EHX/Af yfH`Lƿ?I? ſ6?+?6y?ɨf  G٣y?9 > =Nusing accuracyPremultiplier from config9E59=t?E5Y= i=>AEE@9=:=&:=5Q U@qWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 93.20 m. jjjjihhhhff rf bf P!0@]I]I]I]Miz@=Y)< 9=@܋w,Wv/AVc?YV ?Vc<9VV:>yVH@rƿu`?@;?Gſ$?@Fvq)? w?ɨVc?V;V%C Will construct direction to contact in vehicle frame from tetrahedron phase data.y%B%"I)) -A5A5AMb@Mb@Mb@ )YDlK7A?y&1?yO >A @)hAIyAII 2٢3= =9;Q > G٣y; > Nusing accuracyPremultiplier from config59t?5Y& iޟ > ;  @͌E;; 5 @=DNOT Ignoring new targets: 93.20 m. jAjAjAjAiAhAhAhIhMăBfQfQrfYbf]`H0@]}>]}>]}b@]}Pv@c<  УI9 ɚ94i"IIii))!D J9 Will construct direction to contact in vehicle frame from tetrahedron phase data. I *Fe ?2Fa :Fa BFe Z0JFa jH<bHH e>I C I T"II BI  =&I FD.I ?Y>?>t<9>%):>y>H`ƿ`r?~?Lſ]?`灎#?x?ɨ>?>;>"C)DIHJDH HLNwALiLLiPRduA)R PIP P)V|uAV}TTTV9vAiXIXXI\i\ \\)\` `b7 brF``dId)diddyjȃBj"IIvIv2٢~f= D=9i;Q >    G٣ y; > Nusing accuracyPremultiplier from config%59Qt?%5Y i!%%@:*: 51 5@1]DNOT Ignoring new targets: 93.20 m. jYjYjajaiahahahihififirfqbfu1@]]]]iv@t< 隵 B O= >ՙw,ڴ/A2?Y2?2߀<92&:>y2HWƿ `l?`}?ſV0?`F#?x?ɨ2?2#;2#CzKF>KKF9KDKFKFBKNrA:KNqAyEŃBE"IIUIUF3٢ew eF=9m4;Q m>iq uG٣qyuL: u> }Nusing accuracyPremultiplier from configy59}t?5Y}  i}X@}ΌE} ;}2 ;} 5 -@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf1@]]]]jv@ ߀<  .;I 9 ɚ4idWill construct direction to contact in vehicle frame from tetrahedron phase data.Qi ܼYyAGA>BO >bxw,&/A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:?:'<9:9>y:H@ƿ `W?M|?ƿx?Ĥ4?`x?ɨ:?:E;:$C !I!y}ӃB}%"Ii G٣yI: > Nusing accuracyPremultiplier from config59Ot?5Y i@::5B B@E DNOT Ignoring new targets: 93.20 m. j j j j ihhhhffrfbf% 1@]A]A]A]E{v@]'< Y]IC IZ"IIBI =&I.I=D6I5<:IV F*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G1B9O]>w,?s/A:?Y:?:<9:9>y:H`/ƿT?`z?3(ƿ?ސ?`x?ɨ:?:;8yRڃBR-"IIb IbV2٢n= nX=9r:Q r>tt vG٣tyz>; z>  Nusing accuracyPremultiplier from config59t?5Y i؞s@όE5k;U;35) -@1}DNOT Ignoring new targets: 93.20 m. jyjyjjihhhhffrfbf@U2@]y]y]y]}v@< 隭2=I9 ɚ_4i- Will construct direction to contact in vehicle frame from tetrahedron phase data./w,+P0A^?Y^ ?^Փ<9^W9>y^HƿjU?Uz?@4ƿ@o?`MRZ?x?ɨ^?^ܭ;^!CyjރBj2"I @ @ @  @ I I2٢< :=9Q > G٣y#: >  bBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from config }59 \t?}5Y   i +:;j@  O< > 5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf2@Փ< T=I9 ɚ74iI Im"IIBI =&I.I6I<:IC FG<>BO >w,x*0A28?Y2&-?2x<92H9>y2H ƿ`Toe?y?SDƿ?`?fx?ɨ28?2 +;2#Cy^B^6"I)` bAIfIfM3٢%< %X=9-> Q ->)) 5G٣1y5): 5> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=&t?M5Y=  i=TM :IM`;U[U@=ЌE=(;=iQ?=5Y ][@YDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf5%3@Will construct direction to contact in vehicle frame from tetrahedron phase data.x< (n=I9 ɚb4iIIii))2D*DBD:D*Fe?2Fi:FiBFm_0JFiGMA>BYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. I JY JY Je Je Ja Ja Je :Je :Ja Ja Je ;Je ;Je A;Je A; w,50A6@?Y6.+?6fm<969>y6H`ƿJBh? z?[Fƿç? `?x?ɨ6@?6;6"CyBBBA"IIJ)IJW3٢R5= RS=9VQ V>TT ZG٣XyZ" Z> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^t?f5Y^  i^f9dj6;jWj@\^%);^9?^5l n@pDNOT Ignoring new targets: 93.20 m. jjjjihhhhf!f!rf!bf%13@zK=MK=9K9K=K= "#"    BKEqA:KAfm< D=I9 ɚ%4iIIii))*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G7>BO>w,O0A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:?Y: L?:]<9:I#:>y:HǿE s?x?2kƿ k?|#?Jx? @I@ɨ:?:* ;8yJBJ="IIIT3٢%d %C=9%9Q %>)) -G٣)y-}; 5> ]bBottom track data is 1.6 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe59UFt?e5YU  iUѝe9ae;e=m@UьEU:;Up?U5q u@qH=d>I=C I="II=BI= =&I9.I=<:I=X FeDNOT Ignoring new targets: 93.20 m. jajajajaiahahahihififqrfybf}`3@]< D=I 9 ɚ 4i I Iii))E!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >Cw,̷i0AJ?YJR?JQ<9J<:>yJH !ǿ v?px? vƿ?@70"?jx?ɨJ?J;J$CynBrA"Iiv G٣yQ: > -bBottom track data is 2.0 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%t?55Y%  i%=99=:=4=@!%i;%@%"5A E@IuDNOT Ignoring new targets: 93.20 m. jqjqjqjqiyhyhyhhffrfbfZ4@Q< =I9 ɚ 4i II!i)i)))UWill construct direction to contact in vehicle frame from tetrahedron phase data. yIy*Fe?2Fa:FaBFm 2JFiJEJEJE0JAJE:JE=9JEـ3JAJE;JE;JE*;JE*;zKLMKKKK GMA>BYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,Q0ARO?YR?R%;<9R14:>yRH@[ǿ@@~?u?ƿ`Ó?~Y%?gx?ɨRO?R!;R CybBbN"I }       Mb@Mb@Mb@ )Y+=A @)~AIAyfAII2٢F= ?=9LQ > G٣y܉; > Nusing accuracyPremultiplier from config59xt?5Y  i`T: >;G@ ; ;5 "@DNOT Ignoring new targets: 93.20 m. jjjj!i!h!h!h!h-(Bf)f)rf1bf54@]M >]M >]Mis?]MOK@e%;< ae̽Ie9 aɚeŭ4iaIiIqiqiq)q)y*F?2F:FBFQ5JF YIYeWill construct direction to contact in vehicle frame from tetrahedron phase data.jHM<bHM<HUj>IQ IU"IIU-BIU =&IUGD.IQ6IU<:IU) FGBO >'w,e0A2{x?Y2i?2:.'<929>y2Hكǿ {?$t?ƿ@?儿`? x?ɨ2{x?2+;2!CyBBBA"IIJIJV83٢RZo R^=9V-bQ V>TT VG٣TyZJ^; Z> ^Nusing accuracyPremultiplier from config\b59^t?b5Y^  i^6dfFf@^ҌE^P ;^` ;^5h j@hDNOT Ignoring new targets: 93.20 m. jj j j i h h hhffrfbfl%5@]1]1]1]5j6K@M:.'< IMIM9 QɚUŞ4iQIQWill construct direction to contact in vehicle frame from tetrahedron phase data.Iii))*F?2F:FBFP0JFG GGqBO> Q IQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.J,-w,h@0A:B?Y:0?: <9:9>y:H@ǿ@{}?p?3ǿ@Vm?S ? Dy?ɨ:B?:! ;:%CyRBRE"I)T TIZ IZ̍2٢b#< bH=9fQ j>hh jG٣lyn; n> vNusing accuracyPremultiplier from configpv59rft?z5Yr  irxzFz@pr ;r<;rd5 @E-DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfE`5@zK]KK]9KYK]K] ]q]q]q]ueK@ < 隍4I9 ɚ4iIIii))*F5?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO]v> A IA 4w,u0AWill construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:7?: ;9:r5:>y:Hȿ `$?[n?sǿ ?`g}%?@x?ɨ:?:;8yFBF;"IMb@Mb@Mb@ )Yy&1?Zd;?S㥛?y`e<=/< )AIQAyAIIb2٢/ ==9TQ > G٣y; > Nusing accuracyPremultiplier from config59,t?5Y  Hg>IC I"II7BI =&IFD.I=D6Iү<:I FBICJ3KO3 K(.KK"KJJJ1JJ\:Jb9J3JJ<J<J1.;J1.;JICRICZI =bI =jI,6iܜ%>%;%D%@ӌEC<"C<H5) 5 @9DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf`6@]U>]U>]Uo?]U3M@m ; i隕ԣI(9 ɚ4iIIii))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O >A:w,)0A>K?Y>|?>A;9>9>y>H@nSȿ :E?@j?Yǿ1?`u? wy?ɨ>K?>A;>!CyNBN9"IIVIV?13٢^; bZ=9bעQ b>dd fG٣dyfC; j> nNusing accuracyPremultiplier from configlr59nt?r5Yn  intvDv@lnz:n:n5x z0@|-DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h1h1hhffrfbfma6@]]]]iM@5A; 9=I=;9 9ɚ=t4i9I9IAiAiA)A)I $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF JF "G>GzK-LK-C9K)K-K- 1Y#kT)  Will construct direction to contact in vehicle frame from tetrahedron phase data.} NG G= 7>B ۸Y y AO >CrAw,1A-?Y-t?-q;9-O:>y-H`ȿ˜?`4g?ȿ?9n"? y?ɨ-?-h;-CyEBE6"IiM=IM=-}only read 0 of 1 data item for BIT error. Device response is::TS,2501081523493+10.9, 0.0,1493.3, 0  }@} }@} }@}  }@ II[3٢8 6=9$pQ > G٣yş; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59#t?5Y  i+:;D@8;>5 Z@DNOT Ignoring new targets: 93.20 m. j j j j i h h hhffrfbf6@Eq; IMIM`9 IɚM\4iIIIIiiqiy))D9 1I1*F5?2F1:F1BF5_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.HEY>IEC IAIAIE =&IEGD.IE:D6IE<:IE FJJJ0JJL:J:Jـ3JJQ;JR;JL;JL;GU A>Ba O} >;Gw,1A>?Y>$?>:9>b9>y>H`ȿ@Ƞ? 6c?`nyȿԢ?~[ ?Xy?ɨ>?>);>#CyJكBJ,"IIRIRb2٢Z' Z\=9^DQ ^>`` bG٣`yb; b> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdr59ft?v5Yf ifev :tv;vODv@fԌEfŊ;fXS?f 5x ~@|%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 93.20 m. j1j1j1j1i1h9hAhAhAfAfIrfIbfMU07@: 隅<ֽI9 ɚB4iIIii))DU}9*F?2F:FBF0JFGB 9I9OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.VMw,91A6^-?Y6Lk?64ָ96#:>y6H 1ɿj?@_?hȿ@t*??@#?`y?ɨ6^-?6;6"CyBӃBB%"IIJ!IJi3٢R VK=9VQ V>TX ZG٣Xy^/;  > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59~t?%5Y i<%9!-`;- D-@7;]?!51 54@1zK]T OK]89KYK]K]vI_;w]I=* sgYQQOMJCA@?=:;7432DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf M7@4ָ pI9 ɚT$4iSDC9E-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFy1JFGQ GQG B O > ! I% h Will construct direction to contact in vehicle frame from tetrahedron phase data.TTw,kS1A6^?Y6?6U96:>y6H `ɿ@? ]]?2ɿSu?t]?!? y?ɨ6^?6=;6!Cy^΃B^"I)d dddHS>IC I"II-BI =&I.I9D6IA<:IF FJ}J}J}1JyJ}\:J}9J}3JyJ}j;J}l;J}:;J}:; U e ee ee  e e eMb@Mb@Mb@aaa a)aYeMbp? rh?et G٣yP; > Nusing accuracyPremultiplier from config59t?5Y] iT: >;6>@,<d,<#5  @ DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf 88@]- >]- >]-^L?]-lS@mU imImW9 qɚu3iu^Zw,Gm1A2C?Y21?2֡t929>y2Hɿ@?Y?EPɿe? 6n?@?Iy?ɨ2C?2);2$CyBBB "IIJIJ[3٢R Vo=9V5Q V?XX ZG٣XyZp; ^? bNusing accuracyPremultiplier from config`f59bذt?f5Yb ibdf>f@bՌEb:b:b%5l nw@l DNOT Ignoring new targets: 93.20 m. j j j j i hhhhffrfbf%0e8@]A]A]A]EUT@ I֡t R"I%h9 !ɚ%ٶ3i%BO>zKZOK-9KKK31/.,,,*)&$$"! RK?JK>M Will construct direction to contact in vehicle frame from tetrahedron phase data.]aw,21AF?YF?FY9F:>yFHjɿ@n?/X?@uɿ?4u? #?x?ɨF?F;F CyVBZ"IMb@Mb@Mb@ )YMbpK7? rh?yI >C<A @)hAIyAII2٢ļ :=9YWQ > G٣y ; > MNusing accuracyPremultiplier from configU59t?U5Y iћUl >];] :]@F;7;&5mB m@mEDNOT Ignoring new targets: 93.20 m. jjjjihhhhރBffrfbf`8@]l >]l >]P?]X@Y \I9 ɚx3iWill construct direction to contact in vehicle frame from tetrahedron phase data.HP>I I"II#BI =&I.I6I<:I" FJ}J}J}0JyJ}̝:J}:J}ـ3JyJ};J};J}@;J}@;GA>BO>[gw,1A6?Y6@?6A96:>y6H 9ʿ?`T?ݼɿȞ?@W|?@!? x?ɨ6?6;6"CyvBv!IixIz4=Will construct direction to contact in vehicle frame from tetrahedron phase data.I %I )3٢P U=9%Q %>!! %G٣)y-֤; -> 5Nusing accuracyPremultiplier from config1E595t?M5Y5; i5IM9M@5֌E5a;5`;5(5Q Ub@YDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf 89@]]]]=X@A \I9 ɚ[H3iiWill construct direction to contact in vehicle frame from tetrahedron phase data.J J nw,׺1A6?Y6Q?6<96Չ:>y6HʿD?S? ɿ? \^?0?1x?ɨ6?6;6#CyVBZ!IIbIbm?3٢jۼ jO=9j32Q n>ll nG٣pyr: r> vNusing accuracyPremultiplier from configtz59vt?z5Yv ivx~9~@tv3BO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.tw,1AH^Q>I\ I^m"II^BI^! =&I\.I\6I^%<:I^/ Fz[?Yz?zs'9z?:>yzH Yʿ1? P?%ʿe ?`?`&?rx?ɨz[?zƇ;z"Cy%B%!IJJJ1JJ:J9J3JJ8;J9;J:;J:;Mb@Mb@Mb@ )YI +V-?t<A @)IyAII2٢ /=9ќQ > G٣y; > Nusing accuracyPremultiplier from config59t?5Y, ifJ>;[1@׌E;8;a,51 5@5EDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf:@]J>]J>]?]`@Ms' IMIU9 QɚUiUz7B9 O] >/{w,1A Iy%B%!I)) )15AIEIEM3٢U֕ Ue=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59ut?}5Yu iuF@qu:u:u-5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf p:@uWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]] I9 ɚ66i;II)i)i))))1*F?2F:FBF0JFzKm/LKm9KiKmKmG% F>B1 OM >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw,y2AbZg?YbH?bԶ79b?9>ybH@/dʿ@?uO?s6ʿ 0???x?ɨbZg?bJ;`ynBn!IMb@Mb@Mb@ )YX9v rh? rh?yC >C<A @)IAyAII3٢` A=9Q > G٣yX: > Nusing accuracyPremultiplier from config59nt?5YI i#>;,@،E;;/5 W@DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf`O:@]5>]5>]5?]5xe@eԶ7 imuIm9 iɚmkuim.:IiIqiqiy)y)y I *F?2F :F BF K1JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHS>I IZ"IIBI" =&I.I6I<:I FBIeƢCJIeƢCRIeƔCZIe =bIe =jIeM|6G A>B O- >E,w,G"2A6IY?Y67?6996X9>y6HiVʿH?+P?`*ʿ{Ě?=2?@h ?y?ɨ6IY?6e;6!CyBBB!IIJIJF3٢V; Va=9VQ V>XX ZG٣Xy^Ӛ ^> bNusing accuracyPremultiplier from config`f59bt?f5Yb ibhj,j@`b:b2:b`15rWill construct direction to contact in vehicle frame from tetrahedron phase data.p vD@tDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf >;@]]]]qe@U9 Y] lI]9 Yɚ]i]XIYIaiaii)i)iE*F-?2F):F1BF505JF1"G= >G=> IGIBaO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.Jm Jm Jm 2Ji Jm ̝:Jm 9Jm c3Ji au @au @au @au @Yw,0<2A2W4?Y2Er?2/92 9>y2HL2ʿ?`R? ʿ`B??? x?ɨ2W4?2ȇ;2"CyBBB!IiF%=IF4<IN%IN)3٢Rh  VJ=9V:Q V>XX ZG٣\y^[6 ^> bNusing accuracyPremultiplier from config`f59bt?f5Ybs ibhj,j@`b;b-;b$35nB n@rE DNOT Ignoring new targets: 93.20 m. jjjjihhhhf!f!rf!bf%;@]I]I]I]M]e@]/ Y]I] 9 aɚeie]IaIiiiii)i)qzK-&~JK-9K)K-K-*F?2F:FBFP0JFc~G1 edYaye1AWill construct direction to contact in vehicle frame from tetrahedron phase data.GBAO]v> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.>w, U2AH&Y>I&C I&G"II&BI& =&I$.I&:D6I&<:I& Ff!?Yf_?f9f-9>yfHc ʿ`?%S?ɿ1=?`??y?ɨf!?f;dy%B%!IMb@Mb@Mb@ )Y/$Pn?Mb?y,><A @)AI~AyIIT3٢ї 8=9~#;Q > G٣yǥ > Nusing accuracyPremultiplier from config59Yt? 5Y; i  > ; & @ٌE ; ;55q }@yDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf@<@]= >]= >]=Y?]=Kk@ 隕uI%9 ɚ[ܳihyIIii))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O >rhw,y6H@ ʿn?LT?ɿ??)?}x?ɨ6 ?6Ƈ;4 @I@yJBJ!IIR"IRq3٢Z]= Z`=9ZS;Q Z>\\ bG٣`yf ܺ f> jNusing accuracyPremultiplier from confighE59jt?E5Yj ijIM&M@hj*  Will construct direction to contact in vehicle frame from tetrahedron phase data.G= A>Bi O >刢w,2A Iy=B=!I)I IMb@Mb@Mb@ )YA`"X9v?Mb?yY= @)hAIy=AIIF3٢ * =9Q > G٣y   > Nusing accuracyPremultiplier from config59Ft?5Y ize>;@ڌE;#; 95 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf<@]e>]e>]ű?]"r@) )-PI-9 1ɚ5i5üI1I9i9i9)9)9H[>I I;"IIBI =&I.I6I<:I# F*F?2F:FBFP0JFG 2>B O5 >ꧨw,8N2A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>#?Y>a?>fK9>#r9>y>HF"ʿ%?`WS?ɿ-v?gs? ?y?ɨ>#?>;<ɳDJwAJףiHHiHH)N LIL L)LɴRPPPɵPiRITTITiX XX)X^C ^uA\`ɶ``bwAI`)`i`)dIfAfĻɷd ddynBn!IIzIzm?3٢= =9 $Ba O >J J J 0J J J 9J ـ3J %Ӯw,-2A6W?Y6EM?6F5969>y6HpʿY@ ? pT?`Lɿ j?f? ?@y?ɨ6W?6;6 Cy~B~!III3٢E; EF=9M(;Q M>IQ UG٣QyUĺ U> eNusing accuracyPremultiplier from configam59eO|t?m5YeW ieEim m@aeC:e":e<5y }@yDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf 8=@]]]] r@F5 PID9 ɚ05i~޼IIii) ) zKufOKu9KqKuKu 6j}Ee>E>uWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FQ:FQBFU0JFQ"GGGB IO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.H ]>I C I ."II ܃BI &I .I 6I &<:I ; Fûw,= 2A2q#?Y2_a?2'92{9>y2H#"ʿ`@?pS?"ɿ@H? DR?`?y?ɨ2q#?2-;2$Cy=B=!IiE   G٣y: > Nusing accuracyPremultiplier from config%59txt?5Yg i!~>;@یE<u<B>5 @%DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h)h)h1h5Bf1f1rf9bf= 2>@]]~>]]~>]]r@]]Gw@m' im\Im9 qɚuIiuhIqIyiyiy))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF~0JFG <>B1 OM > I 仌w,i2A6?Y6@?6:96(:>y6HxʿN@??@#U?ɿ _?RU$?x?ɨ6?6Ǖ;6"C)@]A]A]A]Ek/w@: 隝(I9 ɚiIIii))2D*DBD:D*J4="J4=JJJ1JJ:JO9J3J*F?2F:FBFP5JFzKNK89KKKvqlgb\TOLLA60.,))&$#!!"     RK?JK?G) B1 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.Œw,h 3Av?Yv?v2Y;9v9>yvH4ɿ~?V?+^ɿQ?P&k$?Iy?ɨv?v6r;vCy޵B޵!I qIqMb@Mb@Mb@ )Yv/EԸ? G٣y > Nusing accuracyPremultiplier from config59rt?5Y iX=;@܌E;y;A5 C@DNOT Ignoring new targets: 93.20 m. j!j!j!j!i!h!h)h)h-ՃBf)f1rf1bf=@>@]]X=]]X=]]P@]]qzy@2Y; \I{9 ɚiѼIIii))E)Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I5"IIBI =&I.I6I^<:Ic F*F2F:FBF 5JFG GG A>B O >Ȍw,_%3A"Will construct direction to contact in vehicle frame from tetrahedron phase data.>%?Y>?>޳;9>)=:>y>Hɿ ׉?`X?@9ɿZ?{v &?x?ɨ>%?>g;>"Cy B  "I) I-I-F3٢=4= =g=9E;Q E>AA MG٣IyMg M> UNusing accuracyPremultiplier from configQ]59Upt?e5YU iUЙaee@QU,;U^;U'C5i us@qDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf@L?@]]]]dy@%޳; )-6I-9 )ɚ-Fi5I1Iii))*F?2F:FBFP0JF iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>BO>J J BA$όw,8?3AZ'?YZ?Z;9Z 9>yZHɿs? G٣y  c  > eNusing accuracyPremultiplier from configm59nt?m5Ym iimu@Z<g;D5 @EDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf?@]]]]By@; I9 ɚ Ei I Iii))zKMK9KKKz"JM4b#O_dP`A#BK):K)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGA>BO> YIa Will construct direction to contact in vehicle frame from tetrahedron phase data.H} Z>I} C I} G"II} BIy &Iy .Iy 6I} <:I} ) FBIEˣCJIEˣCRIE˓CZIE =bIE =jIE25֌w,3OY3AJBJBJB2J@JB :JB9JBc3J@JBR;aJJBT;aJJB;%;aJJB;%;aJy%҃B%#"IMb@Mb@Mb@ )YJ +ʡE?~jt?yH-=<A )AIyfAIIM3٢Lq= ;=9Q > G٣y  > Nusing accuracyPremultiplier from config 59 lkt?5Y ) i )=<@ ݌E ; ; F5) -.@)UDNOT Ignoring new targets: 93.20 m. jQjQjQjQiYhYhahihmBfifirfqbfu:@@])=])=][@]7x@ 隥̽I9 ɚJivwIIii))EE*Fm?2Fq:FqBFqJFq"G}>Gy]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> A IA 3܌w,-s3A>[l?Y>I?>C<9>X9>y>H`Xnɿ9Y?\?pȿE? l?@x?ɨ>[l?>;>"CyRBR8"IiVll nG٣pyrn r> vNusing accuracyPremultiplier from configtz59v;it?z5Yv ivzx~~@tv2;v2;vdH5  @ 5DNOT Ignoring new targets: 93.20 m. j1j9j9j9i9hAhAhIhIfIfIrfQbfU@3?@@]q]q]q]ut x@C< 隅IL9 ɚiqIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F1:F1BF50JF1) ]NGyGyB ܿYysAO>zKE \QPKE 89KA KE KE {nbXI5,$xtnlgdc_^][XVY`efjlmlonpqpsuxwwrc\m Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii \w,v3A YIYyBD"IEWill construct direction to contact in vehicle frame from tetrahedron phase data. ]@] ]@] ]@]  ]@] IeIe 2٢uP= u=9}Q }>yy G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59ft?5Y iSHX>I If"II BI =&I.I6IL<:IT F+:;@<G ?MJ5 @DNOT Ignoring new targets: 93.20 m. jjjjihh h h f frfbfЄ@@ (CI9 ɚAiIIJK 3 Kg.KK"KJJJ1JJJ9J3JJS;JJp#;Jq#;iAiA)A)A*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 2>BA O] >w, 3A2G?Y2?2<92:>y2HoIɿ@@J? ]?ڄȿ?@!?x?ɨ2G?2];2!CyFBFW"IIVIV(*3٢b0= b=9mEBO>jw,3A63?Y6~q?6~<96 9>y6H06ɿs XX ZG٣Xy^κ ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bat?j5Yb ib"j9hj;jJj@`b&;b՜?bL5t v@tDNOT Ignoring new targets: 93.20 m. jjjjihh!h!h!f!f)rf)bf- @@~< e Will construct direction to contact in vehicle frame from tetrahedron phase data.H W>I C I "II (BI  =&I .I 6I <:I + FJE JE JA JA JE ݒ:JE 9JA JA JE ;JE ;JE Z5;JE [5;w,r3AyBy"I        Mb@Mb@Mb@ )YMb`(\µ?I +?y=9<A ) AIQAyAI!Ii3٢u= 6=9Q > G٣y >  Nusing accuracyPremultiplier from config 59^t?5Y  iT:ܳ=<F;@A;;N5! %@!UDNOT Ignoring new targets: 93.20 m. jQjQjQjQiYhYhYhYh]@BfafarfabfeA@]ܳ=]ܳ=]?]V@ 隽ԣI9 ɚ+iBYOq - $?I) Uw,hw3A: ?Y:G?:ϻ<9::>y:H= ɿ`&1?@`?2ȿʫ?`%`A?@w?ɨ: ?: ;:CyF#BJ"IIRIRM3٢ZR}= Zc=9^;Q ^>`` bG٣`ybk f> jNusing accuracyPremultiplier from configdj59f\t?n5Yf2 iflrn;r@ddfs;fO5t v@tDNOT Ignoring new targets: 93.20 m. jjjjihhh!h!f)f)rf)bf-@4CA@EWill construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]]V@mϻ< implIu9 qɚuiuBIOew>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK aNK 9K K K     Ъw,a4A xIx5X?Y5F&?5$<95u/:>y5Hȿ_1?`la?} ȿI? ,D#?9w?ɨ5X?5;5"CyM*BM"IiQIQ ]=]=Mb@Mb@Mb@ )Yy&1?/$? rh?y`<=C<A )~AI@y!%AAI5 I5<2٢E< E3=9E@%;Q E>I G٣y > Nusing accuracyPremultiplier from config59KYt?5Y  iƘ=<y?@@ߌE;;Q5 @]DNOT Ignoring new targets: 93.20 m. jYjYjajaiahahhhSBffrfbf$A@]=]=]?]y?@MWill construct direction to contact in vehicle frame from tetrahedron phase data.HeV>IeC Ie"IIeFBIe =&Ia.Ia6Ie6<:IeD F$< ԣI#9 ɚS`iIIii))JJJJJ:J9JJJ;J;J!;J!;*F2F:FBFP0JFG 7>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,/)4AV8?YV&)?VL<9VG9>yVH ȿ ?2a? _ ȿ@t}?&ɕ@<?w?ɨV8?VO;V#Cyf-Bf"IIvIv1٢ x<  a=9:Q >y G٣y~9 > Nusing accuracyPremultiplier from config59Vt?5Y i@;;:S5 t@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfA@] ] ] ] ry?@%L< !%pI%9 !ɚ%i)I)I)i1i1)1)1*F2F:FBF_0JF ImWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO>J J @A9w,C4AylpIvIv29-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9M59=St?M5Y= i=QQU@9=6-;=y-;=T5Y YaDNOT Ignoring new targets: 93.20 m. jjjjihhh h f f rfbf`A@]1]1]1]1A AAIM9 IɚMiIIQIYiYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.zKme^LKm89KiKmKm! *F?2F:FBFp0JF IG1BQO>HM \>II  IM "IIM `BIM  =&II .IM ;D6IM <:IM 4 Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,\4A:?Y:&?:6<9:9>y:Hȿv?:a?@ȿ@w٬? *?w?ɨ:?:;:!Cy^8Bb"I)d deMb@Mb@Mb@aaa a)aYeA`"? ףp= ?I +?yeY=eQ=e94 G٣yl > ]Nusing accuracyPremultiplier from configYe59]qPt?e5Y]` i]e=e;e2@m@]E];];]V5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhkBffrfbf B@]U=]U=]Ui?]U2@e6< ae̽Ie9 aɚmiiIiIii))EN>E*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O > I w,v4A2?Y25?24N<92%:>y2HGȿ`L )?|`?@ȿoѬ? SI"? w?ɨ2?2 ;2$CyB5BF"IININ(*3٢Vۚ V\=9ZQ Z>XX ZG٣Xy ':  >Will construct direction to contact in vehicle frame from tetrahedron phase data. %Nusing accuracyPremultiplier from config-59Mt?-5Y ik)5'2@5@::uX5=B =@EEmDNOT Ignoring new targets: 93.20 m. jijijijiiihihqhqhqfyfyrfybf}GB@]]]]'2@4N< 隽0۽Ik9 ɚ)iIIii))*JR="Ja=JJJJJ}:J9JJa@a@a@a@*Fm?2Fi:FiBFmP5JFqGA>BO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK ALK `9K K K RK ?JK >#w,4A DIH}?Y}/?}r@<9}9>y}H.ȿ `#?`? ȿ? t?{w?ɨ}?}׆;} Cyޕ3Bޕ"IMb@Mb@Mb@ )Y~jt?Cl?~jtx?yD=;=;/A )I`@yI5I53٢] ]2=9eQ m>qq }G٣yyݹ > Nusing accuracyPremultiplier from config59-It?-5Y iU-:=-;-+:@-@2<=<qZ51 5@9DNOT Ignoring new targets: 93.20 m. jjjjihhhhfBfHa>IC I"IIoBI =&IFD.IB! OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,v4APExceeded connect timeout, disconnecting.vx ?YvfH?v]M<9vi9>yvH z ɿ@!"?`_?-ȿAI?H) ?w?ɨvx ?v;v#Cy 0B "IiIIIV83٢- -`=95Q 5>11 5G٣9y=; E> MNusing accuracyPremultiplier from configAU59EEt?U5YEu iECY]::@]@EEELC;EC;E\5a mF@iDNOT Ignoring new targets: 93.20 m. jjj1j1i1h1h9h9h9f9fArfAbfEྱB@]]]]::@]M< 隽ٽI99 ɚGiIIii)) I*Fm?2Fi:FiBFmP0JFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.G7>BO>JJJJJJJ̈́:J9JJ G 0Y y lAo1w,P4AFU?YFC??F<9F9>yFH@ɿ@-;!?Q`?(ȿ@?d?@:x?ɨFU?F;F!CyR$BR"II^I^#3٢fq fQ=9jQ j>hh jG٣lyn: r> vNusing accuracyPremultiplier from configpv59rAt?z5Yr. ir/xz8:@z@pr:r:r]5| @-DNOT Ignoring new targets: 93.20 m. j)j)j1j1i1h1h9h9h9fAfArfAbfEEB@]a]a]a]eZ8:@u< q}hI}9 yɚ}fiyIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX0JFzKBoHK-9KKKBKrA:K IG}A>BO>H _>I C I "II tBI  =&I GD.I 6I 1<:I J FE Will construct direction to contact in vehicle frame from tetrahedron phase data..37w,24A6?Y6M?6 <969>y6H$ɿ@#?@_?N>ȿ@b?c@?`y?ɨ6?6 φ;6"CyBBB{"IEMb@Mb@Mb@AAA A)AYE/$??Mb`yE,=E>EEA A)E AIE@AyEAI] I]2٢m@@ mA=9m1Q m>qq uG٣qy}}: }> Nusing accuracyPremultiplier from config59^=t?5Y i >;@@@F;2E;_5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhh=BffrfbfC@] >] >]'?]@@ < \IL9 ɚyiII!i!i)))))EE*F2F:FBFW0JF"G >GWill construct direction to contact in vehicle frame from tetrahedron phase data. %nManaging dock network, ignoring radio surface power offGBO> I [=w,4A2 ?Y2xG?2,[<92K9>y2H@ ɿ`@$?8`?|<ȿ@? #@2?x?ɨ2 ?2";2#CyR BRh"I)T TIZIZ#3٢b bV=9f Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59n39t?v5Yn intv~@@v@nEn!;n1;n@a5Will construct direction to contact in vehicle frame from tetrahedron phase data. @DNOT Ignoring new targets: 93.20 m. jjjjihhhhff1rf9bf=@LC@]y]y]y]}~@@JJJJJ:J9JJ,[< ͽIc9 ɚiII i i ) )1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.յAiյAG <>B1 OM >zK jIK 9K K K RK >JK ?FDw,F5A $?I ?YF?ъ<9T9>yH< ɿ?`G-?l`?fBȿg?@Y@d ? y?ɨ?!;騥!CyB]"IMb@Mb@Mb@ )YMb?l?{Gzty<>ףA @) AIyfAII2٢h .=9!Q > G٣ym1O m> }Nusing accuracyPremultiplier from configq}59u#3t?5Yu iu>;Hd>IC I"IIjBI =&I.I6I <:I/ FC@quC)]>]G?]SN@ъ< ̽I9 ɚiIIii))*F}?2Fy:FyBFyJFyG A>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.nJw,+5AR.?YRX?R<9R9>yRH`yɿ~@?`_?Zȿϩ?\⏿@'?x?ɨR.?Ru|;R$CybBbE"IIjIj3٢r ro=9vHQ v?tx zG٣xyz=: z ? Nusing accuracyPremultiplier from config|59~%/t? 5Y~ i~  C @~E~:~L:~d5B ^@EMDNOT Ignoring new targets: 93.20 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]C@]y]y]y]}N@< 隕hI9 ɚiIIii)) 1I1*FE?2FA:FABFEH3JFAGI GIWill construct direction to contact in vehicle frame from tetrahedron phase data.GqByO~>JJJJJJ"9JJ|UQw,JE5A6 ?Y6H?6j<96D9>y6Hɿ$@C?``?sSȿ #?X"?y?ɨ6 ?6;6!CyFBF6"IiLIN<IjIj2٢ru rJ=9vIQ v>tx zG٣xyz z> Nusing accuracyPremultiplier from config 59%*t? 5Y7 iٗ C@: ;f5! %$@!MDNOT Ignoring new targets: 93.20 m. jIjQjQjQiQhQhQhYhYfYfYrfabfeOC@]]]]N@j< 隕4'Is9 ɚ )iIIii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUJ5JFQzKK9KKK 1I1GyBO>H c>I  I "II PBI  =&I .I 6I S<:I e F% Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,Ot_5A2o?Y2]D?2GBR<92lS9>y2H\ ɿ-2G?a?WȿP^?H ? y?ɨ2o?2v;2"CyRӃBR%"I5Mb@Mb@Mb@111 1)1Y5/$7A`?~jty55>5D5A 5@)5AI5v@1y5AIIb1٢| ==9bQ > G٣y > Nusing accuracyPremultiplier from config59%t?5Y i˗>;q3@E<;f;sh5 @%DNOT Ignoring new targets: 93.20 m. j!j!j)j)i)h)h)h1h5݃Bf1f1rf9bf=`D@]]>]]>]]9?]]^@mGBR< imУImv9 iɚu>iqIqIyii))*F 2F :F BF 4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>BO%> 1 I1 ]w,Xy5A6 ?Y6?6xAA<96^,9>y6H ȿ="K?`Vc?t2ȿԷ?@ (?y?ɨ6 ?6;4yFƃBF"IIN%IN)3٢V3 V]=9Z@8Q Z>\\ ^G٣`ybt b> fNusing accuracyPremultiplier from configdnWill construct direction to contact in vehicle frame from tetrahedron phase data.v59f t?v5Yf@ iftv3v@df;f;fj5| ~@|UDNOT Ignoring new targets: 93.20 m. jQjQjYjYiYhYhahahafafirfibfmKD@]]]]^@exAA< ae=Im9 iɚmIniiIiIii))*Fe?2Fa:FiBFmP0JFi"GqGu >Will construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO>zK} RIK} 9Ky K} K} a~TA0!  !   9 IA 7dw,=5AymBm"I)q qMb@Mb@Mb@ )YX9vjt?{Gzy} >#` A )hAI3@y(AH=f>I=C I="II=-BI= =&I9.I96I=I<:I=] FII2٢}* }%=9}Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.QQ UG٣QyU ]> }Nusing accuracyPremultiplier from configq}59ust?5Yu iu'->;r$@uEu;uu ;u\l5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf D@]'->]'->]4?]Ǭm@ #=I9 ɚ @i I Iii)JJJJJ}:J9JJJ;aJ;aJ;aJ;a)*F%?2F):F)BF- 5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.GM <>BY Ou >jw,`5AyB!II%I%3٢5 5u=99Q =?99 EG٣AyA E? MNusing accuracyPremultiplier from configIU59Mt?U5YM= iMYY]@IM;:M\:Mm5a e[@aDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf`D@]]]]  \BO>JJAAqw,%5Ay]B]!II}I}m?3٢r D=9Q > G٣y > Nusing accuracyPremultiplier from config59t?5Y=  i@E;;o5 $@DNOT Ignoring new targets: 93.20 m. jj j j i h h hhffrfbf}D@=Will construct direction to contact in vehicle frame from tetrahedron phase data.]A]A]A]AY Y] 7I]9 aɚeC@iaIaIiiiiq)q)qzK% MK%u9K!K%K%*F92F9:F9BF=`0JF9GA GA IG5A>BiO>H i>I C I m"II BI  =&I FD.I 6I D<:I _ FBIȦCJIȦCRIȓCZI =bI =jI6 Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9J J J ;J ;J ;%;J <%;ww,A 5A:?Y:?:&;9:#8>y:Hǿ q?o?`X^ǿ@>R?z?z?ɨ:?:n;: CyޕBޕ!IiI%==Mb@Mb@Mb@999 9)9Y=RQ'1Z?~jtxy=½=">=Ļ9 =@)=QAI99y=\@I]I]3٢mǼ u0=9ug@Q u>yy }G٣yy}# }> Nusing accuracyPremultiplier from config59 t?5Y! iy=>;X@E;;q5 v@EDNOT Ignoring new targets: 93.20 m. jjjjihhhhwBffrfbf%E@]u=>]u=>]u@]uw@%&; )-\=I-9 )ɚ-߲i)I)I1i1i1=Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y)Y I*Fm ?2Fi :Fi BFm T0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM <>BY Ou >v~w,H5A2?Y2{?2y;92kO9>y2HǿJ?`r?!ǿ@գ?@w ?z?ɨ2?2=;2$Cɳ<@Bi@@i@BwA)Fף DID H)HɴHHHLɵLiLILLILiNvA PP)PRC PPPɶTxzwAIx)xix)|I~A|ɷ| *J)"J-R=ymBm!III 3٢; U=9Q > G٣y > Nusing accuracyPremultiplier from config59t?5Y" igx@;I;;s5) -`@))Q Qc~G! MYQyUADNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf]E@]]]]fw@y; =I=9 9ɚ=i9I9IAiAiA)A)I*F?2F:FBFh0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu jIKu 9Kq Ku Ku RK ?JK ?G B O= > Y IY w,6AZH?ARH?AHg>I IG"IIBI =&IGD.I6I5<:IP Fy BWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm`"~jt?ymm>mm3 A i)m@Iiiym@IIT3٢% 0=9Q > G٣y > Nusing accuracyPremultiplier from config59.t?5Y$ iLF>;@E;M;>u5 j@DNOT Ignoring new targets: 93.20 m. jjjjihhhhdBff rf bf @hE@]-F>]-F>]-_@]-p:@9 9=H=JMJMJIJIJM-:JM9JIJIJM;JM;JM' ;JM' ;I]9 Yɚs2iIIii))*Fu?2Fq:FqBFu0JFy"GG>U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >=w,06A:?Y:L?:o;9::9>y:HTǿ ? Ky?[ƿ G٣y' >  Nusing accuracyPremultiplier from config 59s? 5Y]& i5@::w5 @!MDNOT Ignoring new targets: 93.20 m. jIjIjQjQiQhQhYhYhYfafarfabfeE@]]]]@o; 隝H=IX9 ɚKP3iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՕA*F-?2F):F)BF-0JF)GI BY O >w,J6AF'?YF?Fq;9FQ.9>yFH ƿ? l}?@Mƿ 3? 8n?`[z?ɨF'?F?;F"C)LINwALL PPRwATiTTiXZpuA)^Ga \I\ `)buAbxi``df5vAidIddIdid hh)hh jtuAjjrFhlnЁAIp)pippyvBv!IWill construct direction to contact in vehicle frame from tetrahedron phase data.I 'I @3٢ = =9Q %?!! %G٣!y-E -? ENusing accuracyPremultiplier from configAM59E}s?M5YE' iE#IMM@EEEC:E:Elx5Y ]@YDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfyE@]]]]V@q; @ >IY9 ɚ3iIIii))zKyJK9KKK   $$  e.Nh{}wogZKBKqA:K I*F2F:FBF4JFHe>I I;"IIBI =&I.I6IP<:Ic FWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO% >J3K3 K;S}-K3K3"K3Ji Jm Jm 0Ji Ji Jm [9Jm ـ3Ji Ji Jm ;Jm ;Jm ; w,6d6A6j?Y6p?6!E;969>y6H`zƿ` ?@? ƿG?aha?@y?ɨ6j?6=';6$CyB "IMb@Mb@Mb@ )YMbK7?{Gzt?yI >ף; A x@)v@I@y@IIF3٢s= @=9$κQ > G٣y > Nusing accuracyPremultiplier from config59s?5Y:) i @>; @E;/;Fz5 T@-DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h)h)h1h5vBf9f9rfAbfE%F@]M@>]M@>]M@]M @e!E; im\>Im9 ɚ3iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeP0JFaGi Gi IG <>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.4㞍w,Xq~6A2 ?Y2J?26$;929>y2Hƿ1 ?`?ſ)2?`ed?`y?ɨ2 ?2M;0y~B~"Ii%=I< = p=II2٢eȒ< eP=9m Q m>qq }G٣yy} }> Nusing accuracyPremultiplier from config59s?5Y* i! @:;{5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf XF@]]]]@6$; >I9 ɚK4iII!i!i!)!))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm4JFq $?I zK (NK k9K K K 7&wi`VI@8/+&  RK ?JK ?G B O >,w,q6AHBa>IBC IBA"IIBBIB =&I@.IB;D6IB9<:IBN F LN@5?Y5 ?5:95Q9>y5H ſw? Շ? rſ@V?] ?@3z?ɨ5?5[;5!CyM׃BM)"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y"~j/$?I +?yS㽙1>94<I A b@)`@I3@yp@I%I%[3٢W= *=9ȺQ > G٣y%+ -> 5Nusing accuracyPremultiplier from config)559-s?=5Y-q, i-Ζ=1>=;==@-E-3;-<;-~5}B @E]DNOT Ignoring new targets: 93.20 m. jajajajiiihihihqhuBfqfqrfqbf}ڙF@]1>]1>] @]À@ :   >I 9 ɚ C4iIIii))De 9m Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF @5JF I GBO>jw,[{6A6vy?Y6d?6(Y:969>y6H ſ+@µ?@ ? U+ſ",?$ U@? y?ɨ6vy?6N;6 CyFBFE"IININ٢V= VC=9ZǙQ Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from configdj59fs?j5Yf- ifhnn@dfn:f:f5p rH@p DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrf!bf%F@]9]9]9]=챀@](Y: Y]1>I]9 YɚeiaIaIiiiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ2JJ̈́:J59Jc3Ja@a@a@a@D9*F?2F:FBFQ0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ ձ G A>B ) I) O5 >w,*6AzK> NK>9K<K>K>y=B=m"I)A AIIIUIUm?3٢e> e@=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}s?5Y}V/ i}@}E}:}:}ā5 8@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf6G@]]]] 隝s>I9H_>IC If"II BI =&I.I6IJ<:IV F AɚiiiIqIii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GJ>BO> w,ڍ6A Iyj Bj"IMb@Mb@Mb@ )Y+V-?Q?y=u< A K@)@Iyz@II2٢= #=9Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y0 im>;(@a;;5 @E=DNOT Ignoring new targets: 93.20 m. j9j9j9j9i9hAhAhAhE΃BfIfIrfIbfMBG@]m>]m>]mj @]m[z@ 隅#>I9 ɚN23iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9E-Y>E->J]J]JYJYJ] :J]9JYJY*F?2F:FBFP0JFG :>B O >*OÍw,C 7AWill construct direction to contact in vehicle frame from tetrahedron phase data.:O?Y:=/?:a|9:'9>y:Hſ ?@?@Ŀ@J?O?`?rz?ɨ:O?:;:"CyFFBF"IININb2٢VO=> VP=9^Q ^>\\ ^G٣\yb, b> fNusing accuracyPremultiplier from configdj59fs?j5Yf1 ifQlnen@fEf;f;f5p r@pDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfvG@]]]]?z@5a| 1=@n>I=9 9ɚEiEIC I"IIBi O >wɍw,'7A6?Y6o?6غ96F9>y6HĿ\?@i? Ŀ@d?[??Cz?ɨ6?6;.;4yB[BB"IiF!! -G٣)yM9 M> ]Nusing accuracyPremultiplier from configQ]59U s?]5YU2 iU2e9=e;er-e@QU;U;U5i um@qDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbfG@]59=]59=]5?]5yd@MWill construct direction to contact in vehicle frame from tetrahedron phase data.eغ im.>Im9 iɚm|73im4 Y |uAy AB O >}$эw,D7Ay]{Be"IIuIu(*3٢> ;=9Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y2 i@Ee::5 m@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf}EG@]]]] n>I9 ɚiI  I "II yBI  =&I GD.I 6I <:I A F Will construct direction to contact in vehicle frame from tetrahedron phase data.G :>B O ؍w,Ja7A:ō?Y:?:9:J9>y:HĿ ? ?fĿ:?ްp?`?`0z?ɨ:ō?:a;:#CyBBF#IUMb@Mb@Mb@QQQ Q)QYUMb?B`"۹?Q?yU G٣y~ > Nusing accuracyPremultiplier from config59s?5Y2 i=<I@@W;;5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhMBffrfbf_H@]=]=]?]I@% !-\>I-(9 )ɚ)i-BQ Ou >Oލw,|7A2-x?Y2?2929>y2HJĿ? ?TĿ>?,s?@?@y?ɨ2-x?2Wt;2 Cy>B>7#IIJIJ2٢R}> RW=9V4Q V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config\b59^s?f5Y^2 i^ܕdfH@f@\^ ;^ ;^05l n@lDNOT Ignoring new targets: 93.20 m. jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.jihhhhffrfbf@`RH@]]]]H@ *J>I9 AɚAiE B O >w,B%7AzK/K2r?Y2v?2oK9KKKRK> ?JK>>92R9>y2H Ŀl??`UĿ˗?w? ?z?ɨ2r?2;2!CyVBVF#IIIII٢]*Z= ]7=9evQ e>ii mG٣iy}Yɹ }> Nusing accuracyPremultiplier from config59 s?5Y2 iH@@E<D<)5B %@ EHmu>ImC ImA#IImBIm =&ImFD.Im>D6Im1<:ImV FDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfޑH@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]H@-o Q]b>I]:9 Yɚ]}3ieBY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ٰ7AZBh?YZ0?Zջ9Z9>yZH@Ŀ :@??OĿ?@z?x?y?ɨZBh?Zu;Z$CyfۄBfi#I $?IuMb@Mb@Mb@qqq q)qYuX9v? ףp= ?~jt?yu}=uQ=uD G=9"Q > G٣y@I > Nusing accuracyPremultiplier from config=59s?=5Y2 i=+=E;E+@E@|<@<5I Mh@IDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf IM|9 IɚMiMB O > ?w,7A6^?Y6ܜ?6ۭ96w9>y6HJvĿ\a? m?@:KĿ>?}??y?ɨ6^?6;6!CyB܄BBj#I J=J=LNBAIN!INi3٢V; VC=9ZCQ z>x| ~G٣|y~. ~> Nusing accuracyPremultiplier from config 59`s?Will construct direction to contact in vehicle frame from tetrahedron phase data.5Y1 i+@@`;`;̒5) -X@)DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfH@])])])]-Ė+@=ۭ 9E>IE9 AɚE3iEOB O= >w,kf7AZ}?YZt?ZU9Z!9>yZHrĿ ?#? nĿg?@ ?`Y?y?ɨZ}?Z^;Z#CynBn#I}Mb@Mb@Mb@yyy y)yY}K?K?y&1|?y}^=}^=}`;}I A }5@)}3@Iyyy}(@II<2٢?= /=9 Q > G٣y; > Nusing accuracyPremultiplier from config59us?5Y0 iv>;7 @@E;;˔5 @DNOT Ignoring new targets: 93.20 m. jjjj i h h h hBffrfbf.I@]>]>]I?]7 @U  .>I 9 ɚ ɭ3i B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.`w, 8Ay B #III2٢e&= mP=9mQ m>qq uG٣qyu }> Nusing accuracyPremultiplier from configy59}s?5Y}/ i}c@y}7:}:}5 y@EDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf>I9 ɚ4iɃ;IIi!i!)!)!D59*F?2F:FBFP0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data. IGBO>zK K 89K K K w,=8AHI I#II+BI&I.I6I<:I$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.E?YE?E!9Em9>yEHĿ@+ ? ?Ŀ?)=??sy?ɨE?Eˇ;Ay]B]#I)a a=Mb@Mb@Mb@999 9)9Y=A`"? ףp= ?Mb`y===Q===3 A 9)=@I=v@9y9I]I]F2JuJuJu1JqJus:Ju59Ju3JqJu;aJu;aJu;aJu;a٢< +=9UQ > G٣yh; > Nusing accuracyPremultiplier from config59Ҽs?5Y. iTg>;@@E;;5 6@-DNOT Ignoring new targets: 93.20 m. j)j)j1j9i9hIhQhaheBfafarfibfm`I@]g>]g>]54?]Z@! =.>I=O9 AɚE64iEIAIIiIiI)I)I2DUqA*DUrAe Will construct direction to contact in vehicle frame from tetrahedron phase data.D d9E I *F ?2F :F BF Q5JF G% qA G% qAG=7>BIO}?w,h=8AB?YB?B[+9B`9>yBH,Ŀ 1?@?Ŀ?Gk??x?ɨB?B‡;B"CyNBN#IIVIV٢^i< ^F=9bQ f>lp vG٣tyz: z> Nusing accuracyPremultiplier from config|59~,s? 5Y~- i~G  @ @|~:~:~m5 @EDNOT Ignoring new targets: 93.20 m. jAjIjIjIiIhIhIhQhQfQfQrfYbf]`I@]]]]R@[+ 隕4>Will construct direction to contact in vehicle frame from tetrahedron phase data.I9 ɚb4i6IIii))JQJU@AD]9*F?2F:FBF4JFM Will construct direction to contact in vehicle frame from tetrahedron phase data. I IQ G ->B O >ڋw,JCW8Ay~B~#II I (٢E EB=9MQ M>zK]JQJK]u9KYK]K]BKepA:Kaii mG٣iyu u> Nusing accuracyPremultiplier from configy59}us?5Y}, i}:@}E}:}":}C5 @DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbf` J@]]]]  >I 9 ɚ 4i QI Ht>I I#IIDBI =&IGD.I6I<:I FBI}¨CJI}§CRI}“CZI} =bI} =jI}:6Iii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFJeJeJaJaJev:Je9JaJaJeU;JeV;Je2;Je2;Gm <>B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.|w,U1q8AN?YNN?N+M9Nņ9>yNHv%ſ `?Ȏ?'ſZ ???Hy?ɨN?NL ;N!CybBb#I lIlMb@Mb@Mb@ )Y+η?J +?I +yv==94 K@)@I3@y@I I(2٢p >=9Q >    G٣ y7; > Nusing accuracyPremultiplier from config%59os?%5Y+ i3% >5;5?#@=@;G~;5A E @AmDNOT Ignoring new targets: 93.20 m. jijijqjqiqhqhqhyh}Bfyfyrfybf1@J@]m >]m >]mO?]m?#@}+M y}B>I}9 ɚ4iIIii))BDL?:Dt?D9EErA*F5?2F1:F1BF5_0JF1"GE>GE>Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y YNG ZA M YQ yU IB ? AG9 BI Om >`"w, 8A:-?Y:k?:S9:9>y:H@Bſ?@?@4ſBԑ?`t? ?`y?ɨ:-?:;:"CyNBNo#IIVIVm?3٢^O ^a=9bQ b>`` fG٣dyfC ; f> nNusing accuracyPremultiplier from confighn59js?r5Yj-+ ij-prN#@r@jEjz:jz:j5vB z@zE-DNOT Ignoring new targets: 93.20 m. j)j)j)j)i)h)h1h1h1f9f9rf9bf=nJ@]]]]N#@MS IM >IMW9 QɚUձ4iU"ҼIQIYiYiY)Y)a Will construct direction to contact in vehicle frame from tetrahedron phase data.iA ID9zKKKKK>z ;M_nyvW;&saUKBRK ?JK?*F)2F):F)BF1JF1Hs>I I#IINBI =&IFD.I6I(<:IN F Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm F>J} }J} J} 0Jy J} [j:J} 9J} ـ3Jy J} ;J} ;J} \ ;J} ] ;B O ><(w,8AF!?YF_?F~S9Fv9>yFH`P6ſh?`?@<)ſa?`}? ?`Uy?ɨF!?F@܇;F!Cyf̈́BfX#IMb@Mb@Mb@ )YX9v?A`"?11 5G٣1y=M => MNusing accuracyPremultiplier from configIU59Mss?]5YM* iM+].=];e?2@e@IMJ;M:;M5y };@yDNOT Ignoring new targets: 93.20 m. jjjjihhhhWBffrfbfJ@]u.=]u.=]uQ?]u?2@~S 隍k>IO9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. U$?IQD9*Fe ?2Fa :Fa BFa JFa GE <>BQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.Ou >3v0w,8AyzBz@#II I(2٢⸽ I=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-|s?55Y-/* i-)99=@)-.:-:-5A Eh@I}DNOT Ignoring new targets: 93.20 m. jyjyjyjyiyhhhhffrfbfJ@]]]] E>IW9 ɚ14iIIii))2D*DqAD9EE>*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GrA GrA !I)G A>B O- >86w,R8A6&?Y6d?6W96T}9>y6H@:ſ@?ύ?2/ſ>?? ?Dy?ɨ6&?6;4zKB6OKB89K@KBKB;4/*# &/37:=Iczwrnga]WPIEB<741-,(&)&!BKFqA:KFqAyNBN0#IIV IVb3HdId If#IIf:BIf =&Id.Id6If<:IfF F٢n nR=9rVQ r>pp vG٣tyv}9 v> zNusing accuracyPremultiplier from configx~59zs?~5Yz) iz'B2@@zEz);z};z75  B@DNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfAbf]lK@%Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]FB2@UW QU*>IU9 Yɚ]5iYIYIaiaia)a)JJJ1JJp:J9J3JJ;J;J8;J8;DM 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A*F ?2F :F BF _0JF ) I) G F>BO5>y.>w,N{8Ay-B-#I =p==p=Mb@Mb@Mb@ )Y{Gz?Zd;?I +y#<=9 A 5@)@Iy@II?13٢5 5=9=Q =>99 =G٣AyE E> MNusing accuracyPremultiplier from configIU59Ms?]5YM) iI]=e;eCe@IMJ;MGH;M5i m@qDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbf`UK@]=]=]?]N@ u>I9 ɚ`5iIIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D]9*F?2F:FBFM1JFG B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 (Ew,49A6?Y6Z?66S96K9>y6H1ſ?;?$ſ?Vr??`y?ɨ6?6";6#CyFyBF"IIN%IN)3٢V:0 Vh=9Z@:Q Z>XX ^G٣\yY > Nusing accuracyPremultiplier from config%59.s?%5Y) i&!-C-@E;:+51 5u@1mDNOT Ignoring new targets: 93.20 m. jijijijiiihihqhqhqfqfyrfybf} K@]]]]IN@6S 隭7>I9 ɚiIIii))Hr>I I#IIBI =&I.I6I!<:IK FzK ,GNK k9K K K        RK?JK?D%9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO1JFG B O >8Kw,f/9Ay~hB~"IMb@Mb@Mb@ )Y&1 rh?Zd;OyPC >jzA @)@I@y@Will construct direction to contact in vehicle frame from tetrahedron phase data.IIm?3٢ I 9=9Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y* i%>; ' @;7;5 @EDNOT Ignoring new targets: 93.20 m. jAjAjIjIiIhIhIhQhUBfQfQrfYbf] QK@]}>]}>]} ?]}bj@ 隍>IP9 ɚ13iIIii))Dq*F ?2F :F BF 2JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.JKw3 K.KK"KJ! J% {J% 0J! J! J% -9J% ـ3J! a5 @a5 @a5 @a= @G1 B9 O] >Rw, K9A6?Y6|:?6F96c9>y6H ſ@ ??,ſV?È? ?y?ɨ6?6gU;6"CyޝWBޥ"I) AII?13٢ .=9{:Q > G٣y > Nusing accuracyPremultiplier from config59}s?5Y+ i$'@E;s;5 @E-DNOT Ignoring new targets: 93.20 m. j)j1j1j1i1h1h1h9h9fAfArfIbfMLK@]a]a]a]e-Rj@}F y}>I}9 ɚ04iIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D9Hq>I Iz#IIBI =&I.I6I<:I F*F} ?2Fy :Fy BF} _5JFy zK} .MK} 9Ky K} K} BK :K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ܛYw,fMh9A2w?Y2e$?21B929>y2H Ŀ` P?? LĿ@x?` F?@&? cy?ɨ2w?29';2#Cɳ<<tA @)@I@yp@II3٢a 4=9 :Q > G٣y%Ͻ %> -Nusing accuracyPremultiplier from config)559-:s?55Y-d- i-5C>5;5d=@)-;-f;-#5a eV@iB*** querying acoustic contact ***jjDNOT Ignoring new targets: 93.20 m. jjjjihhhhBffrfbfa4L@]MC>]MC>]M @]M{@1B 隝>I9 ɚ84iIIii)) !I)]Will construct direction to contact in vehicle frame from tetrahedron phase data. ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.D= 9*F ?2F :F BF 31JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3206>  BDAT read: Tx time:23:23:17.2825  $Ping request sent. B!O=>aw,D9A^(?Y^?^ ,9^k9>y^HĿ@ Z?#?ĿS?? ? y?ɨ^(?^;^!Cyu7Bu"Ii} G٣y > Nusing accuracyPremultiplier from config59Qs?5YA/ i@E;;H<;j5 @%DNOT Ignoring new targets: 93.20 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5tuL@]Q]Q]Q]U{@m , im\>Iu#9 qɚu4iqIqIyii)) E$?IAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:23:17.2817 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251235D9*F5 ?2F1 :F9 BF= 0JF9 He p>Ia  Ie A#IIe BIe =&Ia .Ia 6Ie V<:Ie q FBI!JI%ʨCRI!ZI% =bI% =jI%ʯ5zKM KKM -9KI KM KM RK] >JK] ?5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505356G]F>BiO>9iw,u9Ab?Yb-?bE9b,0>ybHſ`?0?IĿ@~??? Å?ɨb?b;b"C)1I119 99AAiEFAiIM;uA)M+ Mv}FIQ Y)]OuAeeeFaim9vAiiIiiIqiq qq)yy }GuAʅAʁʁˁˉIˉ)ˉiˉyޝ,Bޥ"IMb@Mb@Mb@ )Y{GzĿK7A`?{Gzy#+>#A )@I@y@IUIUF٢; .=9oWQ > G٣y; > Nusing accuracyPremultiplier from config59}s?5Y1 i m>e;k @E& ;;v5 9@ EMDNOT Ignoring new targets: 93.20 m. jIjIjIjIiIhQhQhQhUdBfYfYrfYbf}@L@] m>] m>]7m@]CZ@E >I#9 ɚ#4iIIii)) IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754232D &9*Fu ?2Fq :Fq BFu o0JFq "G} >G} > G tA AWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006331 =Y=tAy=AG9BIOm?֫qw,y9AJJJJJ}:JJJN?YN ?N|3@9Nd3>yNH@zĿ 9`L??@Ŀ?`K? %[? ?ɨN?Nw;Ly+B"II%I%٢5 =<=9=.F:Q =>AA EG٣AyE" M> UNusing accuracyPremultiplier from configQ]59Uxs?]5YU3 iUYey e@UEU*:U :UV5q uI@qDNOT Ignoring new targets: 93.20 m. jjjjihhhhffrfbfuL@]]]]R@|3@ >I9 ɚ5iIIii))D*F}?2Fy:FyBF}4JFy IhMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258203G}<>BO>H I  I #II BI =&I .I =D6I <:I FzK- :IK- 9K) K- K- ww,9Ay},By) Will construct direction to contact in vehicle frame from tetrahedron phase data.7?[?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514299I I q٢M: M;=9]Q e>qy }G٣y > Nusing accuracyPremultiplier from config59ss?5Y5 i@E;;I5 B@DNOT Ignoring new targets: 93.20 m. jjjjih!h!hIhIfIfQrfYbf] 'M@]]]]) )->I59 1ɚ505i1I1Iaiaia)i)i Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762926D F9*FQ 2FQ :FQ BFU 0JFQ GABQOm?Aw,:Ay:B"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016072Mb@Mb@Mb@ )Y-ƿS?y?5/>dA @)@Ip@y@II٢^= =9Q > G٣y > Nusing accuracyPremultiplier from config 59ms? 5Y8 iŔ |> W;   @E;;5B M@ EJMJMJIJIJMp:JM9JIJIeDNOT Ignoring new targets: 93.20 m. jjjjihhh h ^Bf f rfbffM@]U|>]U|>]UX@]U@ 隍)>I9 ɚO5iIIii)) Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266360D} X9*F ?2F :F BF o0JF ZH@ARHAAH o>I C I "II ~BI  =&I .I 6I p<:I  FG=A>BAOe?w,)Z!:AzK:k3IK:u9K8K:K:B ?YBK?BMŻ9B8>yBH)ÿ@??p¿j?x??z?ɨB ?BEl;B#CyKB"III?13٢-h= 56=9=WPQQ ]G٣Yye m> Nusing accuracyPremultiplier from config59_hs?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5211775Y: i @E[<[<5  G@%DNOT Ignoring new targets: 93.20 m. j!j!j!j!i)h)h)h1h1f1fyrfbfM@]A]A]A]EVM@}MŻ 隅>Ii9 ɚq5iIIii))2D*DDU9*FE?2FA:FABFE0JFA I] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770159G B O >hw,Xp<:A6߿?Y6?6l96j8>y6H ¿@ ?`Q?¿f?'u?? z?ɨ6߿?6*7;6"CyB^BB"IiFa>IF< F=DMb@Mb@Mb@ )YʡEƿjt?y&1?y-2 >`e<A @)p@Iy@I- I-̍2٢= 9=9:Q > G٣yU > Nusing accuracyPremultiplier from config59cs?5Y1= iip>b;@L ;#;l5  @DNOT Ignoring new targets: 93.20 m. jjjjih!h!h!h%mBf)f)rf1bf5bM@]Mip>]Mip>]M@]M@el ae>Ie9 iɚm5iqIqIqiyiy)y)yDg9%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:23:23:19.8204 5TRx dataTimestamp_ set to:1736378601.081256=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024265*F%?2F!:F!BF%4JF!JJBAG F>B O= > % $?I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274275Lw,9V:A^ſ?Y^?^9^8>y^H¿ !"? F?]¿Z?נs??z?ɨ^ſ?^܇;\yrvBr"II~I~2٢ =  W=9 ؤ:Q > G٣y > %Nusing accuracyPremultiplier from config!-59%_s?-5Y%&? i%e)55@%E%:%:%59 =@9uDNOT Ignoring new targets: 93.20 m. jqjqjqjqiyhyhyhhffrfbf2N@]]]]F@5 9=8?I=9 9ɚ=i9I9IAiAiA)I)IDE9H1I1 I5#II5BI5 =&I1.I16I5<:I5 F*F?2F:FBFP0JFzK9K=89K9K=K=,lncdjsy|}|{zzwxurqnlkBKMpA:KMpA=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:23:19.8204 LVL= 26096, 18929, 11250, 25907, AGC= 60, IDX= 21, 0.01,-0.504,-0.663, 1.280, 0.295, PHS=-0.712,-0.912, 0.982, RAW= 204.5, 7.2, CAL= 206.2, -0.4, ROT= 303.8, 0.4 Ygot valid direction response: 23:23:19.8204 LVL= 26096, 18929, 11250, 25907, AGC= 60, IDX= 21, 0.01,-0.504,-0.663, 1.280, 0.295, PHS=-0.712,-0.912, 0.982, RAW= 204.5, 7.2, CAL= 206.2, -0.4, ROT= 303.8, 0.4 PDAT read: Bearing 303.8, 0.4 (Local) ~Local bearing/azimuth received: Bearing 303.8, 0.4 (Local) DAT read: Range 10 to 50 : 100.2 m (Round-trip 133.6 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages.J~JJJJ{m:Jľ9JJJ;;a5 J<;a5 J;aE J;aE Gy B -bdirection in FSK: [-0.176331,-0.912986,-0.367919] Fpublishing direction and range info99=ƿ-7~G׿y=fB9=e=I =+)=3eI=<i=E6=xi=Zd{?=md@=> =Sf@)=I=@i=;99=Rh?A[Ղ.?-?)=?I=Hi={Έ=>99O >ww,ip:A:ۮ?Y:?:ٕ9:8>y:Hk¿"??¿@Bp?6r??`z?ɨ:ۮ?:;:#CyZBZ #IMb@Mb@Mb@ )Y rh/$?Zd;O?yC >j<7A )Z@Iy@IIM3 I٢= >=9:Q > G٣yԺ > Nusing accuracyPremultiplier from config59S[s?5Y@ i:R>;@E;:;5 @kmK(?km# ki km]e:A:kmfBBkm BZkm/@"mJ@wt1K҉V &@nBmƿ-7~G׿Jkm{Rkm>*mr"HAU@!/bJm1C`'?TnFc"kmޟ*kmBkmX?kmv 2kmXAkm}ꌜ?kmO]N kikmןBkm_t>] addTargetRange:: Added new target pos. range: 100.199997 m, deltaT: 60.235229 s, deltaX: 7.000000 m, approachRate: 0.116211 m/s, rangeRepo size: 4 m Added new target pos. range: 100.199997 m, bearing: 356.637548 deg, lat: 36.904794 deg, lon: -122.119991 deg, deltaT: 60.235229 s, deltaX: 7.000000 m, approachRate: 0.116211 m/s, posRepo size: 4 mFNOT Ignoring new targets: 100.20 m. jqjqjqjqiqhqhyhyh}Bfyfrf Y@bf`?Will construct direction to contact in vehicle frame from tetrahedron phase data.]ER>]ER>]E< @]E:@ٕ 隝>ID9 ɚiIIii))BD2?:D)?D9*F ?2F :F BF !5JF G qA G qA Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O>@w,:A6?Y6 ?6$996R9>y6H¿L!??`¿ U?s? ?z?ɨ6?6#;6"CyBBB2#I)D DININ<2٢R> VA=9VQ V>XX ZG٣Xy^j: ^> bNusing accuracyPremultiplier from config`f59bVs?f5YbB ibhjj@`b+;bq+;bœ5l n@p FNOT Ignoring new targets: 100.20 m. j j j j ihhhhffrfbfJ?]]]]t?@$9  ?I\9 ɚiIIii) )  I%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9jHAbHE<HMp>II IM(#IIMBIM =&II.II6IM<:IMA F*Fe?2Fa:FaBFeP0JFazK %NK -9K K K ida[VOJFEFE@;;762.+)%#! !)./*$  Will construct direction to contact in vehicle frame from tetrahedron phase data. %= %=G JE }JE JA JA JE [j:JE 9JA JA JE ;JE ;JE ;JE ;B O >Nw,?;:A4ȿ?Y"?59xI9>yHx¿` ? (?¿ϕ? &v?? $z?ɨ4ȿ?A; Cy˄BV#IMb@Mb@Mb@ )YˡEL7A`?:v?y什+><A )@Iy@II٢U/= U#=9]ɒQ ]>YY ]G٣aye+: e> mNusing accuracyPremultiplier from configi59mRs?5YmD imۓV!>;^@mEmW;mS;mŜ5 =@FNOT Ignoring new targets: 100.20 m. jjjjih h hIhUBfQfQrfQbf] 5?]V!>]V!>]Q@]w@5 >I9 ɚiIIii)) ImWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FE ?2FA :FA BFE ?5JFA "GQ GU > Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO>Vw,N:A>]?Y>K=?>3ֻ9>I>9>y>Hÿ`??b¿+?@Vz?a?`&z?ɨ>]?>;>!CyNBN#IIZIZb2٢b> b9=9b-Q b>dd jG٣hyj7; j> nNusing accuracyPremultiplier from configlr59nMs?r5Yn%E intv=v@nEn ;n: ;nƜ5zB z@~E%FNOT Ignoring new targets: 100.20 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf=?]Y]Y]Y]]w@m3ֻ qu?Iu9 qɚqiqIqIyiyiy)) ID95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFH9 I9  I= m#II= ߄BI9 &I9 .I9 6I= 2<:I= T FBI%ʧCJI%ʧCRI!ZI% =bI% =jI%Ҵ5G B O >yw,v:A6@2?Y6.p?6o960q9>y6H@Mÿ"??}*ÿ?c?@ ?@y?ɨ6@2?63׆;6$CyBBB#IiJ=IJ=zKbMKb9K`KbKb(>=61*%&" za=za=I~I~2٢ >>  F=9 SQ > G٣yw; > %Nusing accuracyPremultiplier from config!-59%#Js?-5Y%;F i%155@!%a:%:%Ȝ59 =k@9FNOT Ignoring new targets: 100.20 m. jjjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.hffrfbf=4@]]]]x@o ?IZ9 ɚiIIii)) JJJ0JJp:J9Jـ3JJ;J;J;J;Dm9*FE?2FA:FABFE_0JFA IU Will construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O >w,Zh:Ayr Br#IMb@Mb@Mb@ )YMbq= ףp?~jt?y=<A @)C@I@y3@II(1٢= @=9Q > G٣y > Nusing accuracyPremultiplier from config59_Fs?5YF ia=;5@(;;ʜ5 @FNOT Ignoring new targets: 100.20 m. jjjjihh!h!h%9Bf!f)rf)bf-@ё@]M=]M=]M?]MK\@y 隅g>IM9 ɚiIIii))DQ)e&= i]ێG}|uAWill construct direction to contact in vehicle frame from tetrahedron phase data. |)Y|uAy"B*F?2F:F BF `0JF G) B9 OU > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.ՏŎw,S;A65?Y6#?6^596L}9>y6H`ÿ`=?d?/ÿ b?@-?`?xy?ɨ65?6;6#Cy^@B^#IIjIj ٢r)> rX=9rT Q v>tt vG٣tyz;< ~> Nusing accuracyPremultiplier from config|59~Cs? 5Y~F i~?  x5 @~E~7:~z:~?̜5 @EFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhQhQhQhYfYfYrfYbf]`@]y]y]y]}\@^5 隕4?I9 ɚiIIii))D9ZHRH=AHI I#II&BI =&IGD.I6IP<:Ii F*F%?2F!:F!BF%0JF!zK]_)MK]89KYK]K]  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B9O>J- J- J- 1J) J- s:J- 9J- 3J) J- ;J- ;J- ' ;J- ' ;ˎw,5)1;ANZ(?YNHf?NX9N9>yNH @Ŀ P? ?8ĿV? ??y?ɨNZ(?N;N$Cy~MB~#I) A 9I9Mb@Mb@Mb@ )Ykt?MbX? rh?y 0==C<7A @)-@Ip@yG@II(٢q= ;=9EQ > G٣y; > Nusing accuracyPremultiplier from config 59W?s?5YF i=;8@@;5;(Μ5 %@!MFNOT Ignoring new targets: 100.20 m. jIjQjQjQiQhQhQhYh]HBfYfYrfabfe. @]=]=]蜔?]8@ Will construct direction to contact in vehicle frame from tetrahedron phase data.5X 9=?I=9 9ɚ= 4i9I9IAiAii)i)iD9*FE ?2FA :FA BFE _0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.J @AJ ?AG B O >rӎw,sN;A:?Y:=?:@9: 9>y:Hzſ+}? ގ??#ſ6ω????y?ɨ:?:;:!CyFbBF$IIRIR#3٢V= ZC=9Z*Q Z>\\ ^G٣\y^G< b> fNusing accuracyPremultiplier from config`j59b;s?j5YbTF ibhj8@j@bEbm ;b:bϜ5p r@pFNOT Ignoring new targets: 100.20 m. jjjjihhh!h!f!f!rfbfO @]!]!]!]%8@5@ 9=\ ?I=29 9ɚ=i9IaIaiiii)i)i $?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9HIII IM$IIMmBIM =&II.II6IM]<:IMq F*F= ?2F9 :F9 BF= `0JF9 zK غKK k9K K K     - Will construct direction to contact in vehicle frame from tetrahedron phase data.G% K>BY O >HTڎw,Rk;A=w?Y+?9䢼9-H9>yHىſbx ? ? {ſ@?@/\??@x?ɨ=w? ;騑yqB"$I}Mb@Mb@Mb@yyy y)yY} ףp= ?kt? G٣ym; > Nusing accuracyPremultiplier from config597s?5YRE i=;3@@9;;;Ҝ5 @ FNOT Ignoring new targets: 100.20 m. j j j j i hhhhBffrfbfQ@]=]=]>C?]L3@9䢼 >I9 ɚ4iIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O >w,eÈ;ARX?YRF"?RF9R9>yRH@ſ l &??@ƿ?\Ȗ?`?x?ɨRX?Rk;R"CybBb9$Iif|| ~G٣|y~ < ~>  Nusing accuracyPremultiplier from config*JC="J=J%J%J!J!J%y:J%m9J!J!a-@a-@a-@a-@559Q4s?55YD iВ15o@5@;;Ӝ5A E@AmFNOT Ignoring new targets: 100.20 m. jijijqjqiqhqhqhyhyfyfyrfybf7h@]]]]o@F 隽>Iy9 ɚ4iIIii)) 9IAD9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFH I  I a$II BI &I .I 6I <:I 1 FGu F>By O >=w,;A2_?Y2?2>Rʼ92/9>y2H#nƿA`5?~?ƿ-?@I??`w?ɨ2_?2[;2$CyNBN:$IIV IV2٢bˠ; bM=9fɻQ f>dd fG٣dyj< j> 5Nusing accuracyPremultiplier from config1=5950s?=5Y5C i5AE@E@5E5:5:5՜5I M@I}FNOT Ignoring new targets: 100.20 m. jyjyjyjyiyhhhhffrfbf@]]]]H@>Rʼ >I9 ɚ4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKdLKu9KKKRK% ?JK%?D;9*F?2F:FBFr2JF AIA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O ew,Nb;A2?Y2?2~ݼ9269>y2Hgƿ`:@?? y?ǿ%x? ?@m?w?ɨ2?2D;2"CyBBB>$IMb@Mb@Mb@ )Yv/?333333?yx==;A @)-@Iy@I5I5٢]< ==9YQ > G٣yx; > Nusing accuracyPremultiplier from config59-s?5YB i >;@@ ;` ;ל5 V@E FNOT Ignoring new targets: 100.20 m. j j j j i hhhhBffrfbf%!@]= >]= >]=?]=c@U~ݼ QU>IU9 Yɚ]5iYIYIaiaia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=DJ9J=J9J9J9J=9J9J9*F2F:FBFQ5JF A IA G] A>Bi O >Tfw,;A6k6?Y6Yt?696X9>y6H@ǿ@`T?t?=ǿcq?`?`6?v?ɨ6k6?6ym;4y@@)H HNALIRIR2٢Z ZW=9^ȻQ ^>\` bG٣`yb*< b> jNusing accuracyPremultiplier from confighn59j*s?n5YjA ijln@n@jEj~:j&:jHٜ5t vY@t Will construct direction to contact in vehicle frame from tetrahedron phase data.-FNOT Ignoring new targets: 100.20 m. j)j)j)j1i1h1h1h1h9f9f9rf9bf=@=@]Y]Y]Y]]@ >I9 ɚ.!5iIIii!)!)!D\9*Fu?2Fq:FqBFuQ0JFyHo>I I$IIͅBI =&I.I>D6I-<:IN FGF>BWill construct direction to contact in vehicle frame from tetrahedron phase data.O>zK5 RIK1 K1 K5 K5  /<JWBKM qA:KM qAw,Y;AFg?YFU?F?9Fbt9>yFHǿ@pd?o? ǿޤf? M'?8 ?v?ɨFg?F;DyRBR5$I5Mb@Mb@Mb@111 1)1Y5|?5^?+? G٣yz; > Nusing accuracyPremultiplier from config599's?5Y@ i>;@@;;&ۜ5 I @FNOT Ignoring new targets: 100.20 m. jjjjihhh h{Bffrfbf%@]e>]e>]e%?]e@? 隽?I9 ɚiD5iIIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.DJ9*F]?2FY:FYBF][0JFYG A>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.sow,6 y2Hȿ`b?@i?jȿnT?8:??@v?ɨ2?2c;2#CyB{BB.$IIJJSK[ 3 K[S}-KSKS"KSJrJrJpJpJr}:Jr9JpJpIJ1٢sԼ I=9/Q > G٣y< > Nusing accuracyPremultiplier from config59#s?5Y? iP@@E@:@:ܜ5 )@FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf@]]]]P@-n )->I-9 qɚ}b5iyIyIii))Dmn9 I*F%?2F!:F!BF%_0JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >H I  I $II BI  =&I .I =D6I <:I A FBIiJIiRIiZIm =bIm =jIm%w5w,$y6HSȿ:w?e?"ȿ,???`"u?ɨ6 O?6 O;6"CyBmBB$IiF\\ ^G٣\yb; b> jNusing accuracyPremultiplier from configdn59f s?n5Yf> ifprw@r@dfn$;f;fޜ5t v@tFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf`"@]]]]w@%+M !%Q>I%9 !ɚ-5i)I)I)iYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.zKmLKm9KiKmKm_hu}|riZLIEB?=;:520//1-++***'%&#%%# RK>JK?D|9 I*F-?2F1:F1BF1JF1E Will construct direction to contact in vehicle frame from tetrahedron phase data.G <>B O >w,>y6H2ȿjt?`*a?@LɿhMբ?U?`Iu?ɨ6?6~;6!CyF]BF $I]Mb@Mb@Mb@YYY Y)YY]333333?/$?~jty]=]=]D]A Y)YIYYy]@Iu!Iui3٢}5 8=9ngQ > G٣y; > Nusing accuracyPremultiplier from config59;s?5Y@> i=;0'@@;;5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhRBffrfbf@]=]=]{W?]0'@-q 15?I5@9 1ɚ55i1I1I9i9iA)A)A~G 5YyB=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJH9JJD9*F?2F:FBFJF % $?I! G A>B O >{w,LYy:H@2ȿ@?`1^?`ePɿ(WX?@Q ?'t?ɨ:g?:Ҹ;8yFMBF#IIR$IR<3٢ZK ZO=9^%Q ^>\` bG٣`ybg; b> 5Nusing accuracyPremultiplier from configd559fs?=5Yf= if~9=L'@=@fEfmIu9 ɚ%С5i!I!IIiIiI)I)QHn>I I$II݅BI&I.I6Iy<:I FD-9*F2F:FBF~0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK% [NK% -9K! K% K% '572)  OlM)      BK1 :K1 G F> PExceeded connect timeout, disconnecting.B O >Bw,msyVHTɿe?[?@sɿ%b_գ? p?@t?ɨV?V.;V#CybABb#I)d duMb@Mb@Mb@qqq q)qYuQ?:v?~jtyu G٣yW; > Nusing accuracyPremultiplier from config59s?5Y= iw=; C@ @;;#5! -@)}FNOT Ignoring new targets: 100.20 m. jyjyjyjyiyhyhyhh,Bffrfbf @]=]=]]?]C@( = ?Ib9 ɚ5iIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.DqEy*F ?2F :F BF 0JF "G G > Will construct direction to contact in vehicle frame from tetrahedron phase data. =G5 A>BA J] J] JY JY J] :J] ľ9JY JY Om >w#w,횏y6HSɿL׋?`Z?Tɿc`? ? -t?ɨ61?6;4yB0BB#IIJIJ2٢R렽 RK=9VnlQ V>TX ZG٣XyZ: Z> =Nusing accuracyPremultiplier from config1E595,s?E5Y5v= i5pAEC@E@15:5:55I U@QFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbffl!@]]]]C@2 #?I9 ɚF5iIIii)) I%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFV5JFH}m>I}C I}$II}ÅBI} =&Iy.Iy6I}<:I}3 FG B O >D)w,xyRH7ɿ,`?Z?ЖɿZLd`??s?ɨR?Rͳ;R$CzKMK9KKK  RK- ?JK-? nManaging dock network, ignoring radio surface power offy5B5#IMb@Mb@Mb@ )Y/$rh|?{Gzy=#A S@)@IZ@y@I #I %x3٢g  =9%G$Q %>)1 5G٣9y=, E> UNusing accuracyPremultiplier from configI]59M s?]5YM$> iMce/>e;eX1e@MEM2d;Mb;Mu5uB u@}EFNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf "@]/>]/>]?]`@ )?I9 ɚ5iIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.D E qAE qA*Fm ?2Fi :Fi BFm `0JFi G} rA Gy Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO?}3w,ƣy:Hɿ`6\?Z?`ɿa7? ? s?ɨ:?:&=;:"CɳDF|wAFףiDDiDJwA)J HIH L)LɴNN|vFLLɵLiRIPPIPiP PP)TT TTTɶTXXIX)XiX)\I\\ɷ\ \\yfBf#II=I=(*3٢MV MA=9U@:Q U>QY ]G٣YyeJ޸ e> Nusing accuracyPremultiplier from configi59mws?5Ym> imYY1@im;m;mK5 X@FNOT Ignoring new targets: 100.20 m. jjjjihhh!h!f!f!rf!bfMn#@ I]]]]`@L B?I9 ɚ5iIIii)))D=9*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H l>I  I [$II BI  =&I .I 6I <:I / FG <>B O- >9w,Diy6Hɿ`\U}?[?lɿ`_`??t?ɨ6?6e;6!CEWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ}:J9JJJ;aJ;aJ;aJ;azK̭KK89KKKyMBM#I Mb@Mb@Mb@    ) Y  Ļ  A ) @I p@ y @I%I%T3٢-L 5=95_;:Q 5>19 G٣y\ > Nusing accuracyPremultiplier from config595s?5Y)@ iD'>;@E;;5 @FNOT Ignoring new targets: 100.20 m. jj j j i h h hhBffrfbfT$@]U'>]U'>]U @]UTSs@mR qu?Iu9 qɚuX6iyIyIyii))BDC?:D"?Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9E V>E *Fu ?2Fq :Fq BFu _0JFq "G G >Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO??Cw, =A*J"J%=)IIIII IYYYiYYiYe7uA)e aIa a)eKuAe iiqqiqIqqIqiq yy)yy }?uAy}rFʁˁ˅ҁAIˁ)ˁiˁyޕBޕz#III2٢N <=9Q > G٣y > Nusing accuracyPremultiplier from config59r?5YDA i5@ E/;p/;5 D@FNOT Ignoring new targets: 100.20 m. jjjj!i!h!h!h)h)f)f)rf1bf5f%@]Q]Q]Q]Qi im?Im9 qɚu1 6iqIqIyiyiy)y)y IWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F2F:FBFJFH h>I C I /$II |BI  =&I .I B O >Iw,(=A:?Y:6?:}O9:9>y:H8ȿ`x?\?jɿA?@?`u?ɨ:?:Ju;:$CyUۄB]i#IuWill construct direction to contact in vehicle frame from tetrahedron phase data.I IV2٢< B=9p;Q > G٣y > Nusing accuracyPremultiplier from config59r?5Y`B i%@%;y;~5 @%FNOT Ignoring new targets: 100.20 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5 >&@]Y]Y]Y]]Cs@m}O quR?Iu9 qɚu6iqIqIyiyiy)y)JJJ0JJ:J9Jـ3JJ ;J!;J& ;J' ;zKBoHK9KKK $?ID9*F%?2F!:F!BF%~0JF!% Will construct direction to contact in vehicle frame from tetrahedron phase data.G- <>B1 OU >OPw,YB=AyuӄBu_#Ii}=IyMb@Mb@Mb@ )Yy&1Q?y`彙(>A =@)IZ@y(@I5I52٢EI EB=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configY59];r?5Y]C i]5L>;@] E]5;];]S5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhh|Bffrfbf@'@]5L>]5L>]{ @]|@ +?I9 ɚ!6iII!i!i)))))2D1*D1Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E I*F} ?2Fy :F BF 0JF G  G 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O >(Ww,F_=A6?Y6 ?6E 96`9>y6Hȿ@|i?_?]3ɿpY?̧?`  G٣yM > Nusing accuracyPremultiplier from config%59kr?%5H5e>I5C I5#II5SBI5& =&I1.I5;D6I5f<:I1BICJICRICZI =bI =jIT7YE iQUU@ E;;%5]B ]@eEFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf'@]]]]w|@E l)?I9 ɚ,6iIIii))D*F?2F:FBF]4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJU1JQJUs:JU"9JU3JQJU;JU;JU;JU;zK]KYKYK]K]  BKupA:KupAG2>B OU > I ˩]w,Ny=AR2?YR ?R9RW9>yRH׾ȿ@Q mY?3a?Qɿ2p? AX??{v?ɨR2?RM͈;Py^˄B^V#ImWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y(\¿(\?{Gz?yz.>#< &@)IC@y@II[3٢ ;=9C;Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-}r?55Y-G i-ّ=e>=m;=G=@)-;-l;- 5A E @AFNOT Ignoring new targets: 100.20 m. jjjjihhhhoBffrfbf(@]5e>]5e>]5K@]5@M Im.?Imz9 qɚu=86iqIqIyiyiy)y)y) ~G %ZA UOYQyUAD5 9*F?2F:FBFQ5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I G A>B! O= >~ew,=A6?Y6z?6~196,8>y6H ȿ@MM?`a? ɿku? D?G? v?ɨ6?6_;4yB̄BBW#IDFAInIn3٢v; vN=9ze;Q z>x| ~G٣|y~ ~> Nusing accuracyPremultiplier from config 59r? 5Y\I iN@ E ;. ;5 @!MFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhQhQhYhYfYfarfabfe)@]]]]@~1 .?I0: ɚB6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.HQIUC IU#IIU5BIU =&IQ.IQ6IUA<:IUN FD9*F%?2F!:F!BF%5JF!E Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7>B O >|kw,+=AJJ J J Jp:J J J J;J;J J zK^$7LK^9K\K^K^RKr>JKr? )I)?Y?Xs9O9>yHiȿE 1O?ec? ȿT{?Z?1?v?ɨ?m1;騽$CyӄB_#IMb@Mb@Mb@ )Yu<~A )IyIIM3٢< =9D;Q > G٣y9 > UNusing accuracyPremultiplier from configI}59M-r?}5YMK iMSb>p; @M EMQ;M;M5 @FNOT Ignoring new targets: 100.20 m. jjjjihhh hwBf9f9rfAbfE*@]Sb>]Sb>]j@])@Xs 隵.?I9 ɚO6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9E E *F ?2F :F BF _5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.J-AAJ-BAGA>BO?y,tw,=A2?Y2?2j928>y2H@ȿ&`=?c?ȿ@o??b?@? w?ɨ2?2r;2#Cy>܄BBk#IININT3٢R3= VD=9v:F;Q v>xx zG٣xy~+Z ~>  Nusing accuracyPremultiplier from config59r?5YM in @E;!;5! %@!MFNOT Ignoring new targets: 100.20 m. jIjIjIjQiQhQhQhQhYfYfYrfYbf] w+@]y]y]y]}'@ Ij 隥2?Ig: ɚZ6iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.DM,9*F?2F:FBF"5JFH-g>I) I-#II-+BI-! =&I).I)6I-V<:I-] FG 7>B O >Nzw,<=A:?Y:?:2ټ9:`9>y:HȿTB?hc?Uȿ?T1? ?Iw?ɨ:?:8;:$CyFBFv#IiJ=IJ= N=N=IRIR2٢Z#:= ZJ=9^<;Q ^>`` bG٣`yb/m: f> jNusing accuracyPremultiplier from configdj59fEr?n5rWill construct direction to contact in vehicle frame from tetrahedron phase data.Yf|O ifLpv v@dfz_;f_;f5x f@-FNOT Ignoring new targets: 100.20 m. j)j)j)j)i)h)h1h1h1f1frfbf K,@]]]]&)@2ټ z7?Iy: 9ɚ=f6i9I9IAiAiA)A)I2DQ*DUrADQzKBHKu9KKK I*F-?2F1:F1BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O >7w,P>A65?Y6#?67м969>y6H)ȿs*2?`c?'ȿԄ?.?@?w?ɨ65?6V;6#Cy^B^#IMMb@Mb@Mb@III I)IYM/${Gz?:v?yM1M#>M=9}(;Q > G٣yj: > Nusing accuracyPremultiplier from config59r?5YOQ i V>};q@E"<<5) -b@-EuFNOT Ignoring new targets: 100.20 m. jqjqjqjqiyhyhyhyhBffrfbf (-@]V>]V>][@]ց@7м .?It9 ɚr6iIIii ) ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JIJMJM0JIJIJMb9JMـ3JIaU@aU@aU@aU@DUM9 $?I*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- <>B9 OU >⇏w,!>A6|?Y6j?6mɼ96"9>y6Hȿ,?ra? ;ɿ4? 0? k?@ x?ɨ6|?6;6!CyBBB#IIJIJ2٢Rj= RH=9R;Q V>TT VG٣Ty^0; ^> bNusing accuracyPremultiplier from config`f59br?f5YbS ibdZHhRHjAAHnf>Il In#IIn0BIl&Il.Il6In2<:InC Ffb=@bEb}B O >Zw,4<>AZWill construct direction to contact in vehicle frame from tetrahedron phase data.\i\y޵B޵#I) eMb@Mb@Mb@aaa a)aYeB`"۹M?y&1?yeνen>e` G٣y >  Nusing accuracyPremultiplier from config %59 r?%5Y T i -5>-;-2-@  d; ; z51 5Z@9]FNOT Ignoring new targets: 100.20 m. jajjjihhhhBffrfbf.@]5>]5>] @]G~@a im33?Im;9 iɚm$6iiIiIqiqiy)y)BD7?:D?eWill construct direction to contact in vehicle frame from tetrahedron phase data.DE [9J J J ~J J J J {m:J J J *F ?2F :F BF P0JF I G7>BO>˚w,[>A>2?Y>p?>9>9>y>H4ɿ $?G]?NUɿ@?)??Ox?ɨ>2?>-;tt vG٣tyv; z> ~Nusing accuracyPremultiplier from config|59~r?5Y~#V i~  @~E~ :~n:~U5Will construct direction to contact in vehicle frame from tetrahedron phase data. %@!]FNOT Ignoring new targets: 100.20 m. jYjYjYjYiahahahahafifirfibfu`/@]]]]@ 隥4@?I: ɚiIIii))Hi>IC I#IIIBI =&IFD.I=D6I<:I/ FDm9*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<<G 2>B O >jœw,Uu>AzKMKKKKK ,I2hyޭKBޭ#I =p=%Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yv/?Mb?yxi>=A =@)@I-@y(@IIF٢=  =9Q > G٣y > Nusing accuracyPremultiplier from config59r?5YdW iUr>;@EN;;5  @ FNOT Ignoring new targets: 100.20 m. j jjjihhhhBffrfbf 0@]r>]r>]?]kEs@ +?IM9 ɚ@Y4iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*J9 "J= a=JE JE JE 1JA JE p:JE *9JE 3JA *F?2F:FBF 5JF IG->BO?4w,H>A2?Y2{$?2ڧ92e9>y2Hɿv`*?]T?ʿ?@nԗ?@ ? w?ɨ2?2;2$CyBlBB$IJWill construct direction to contact in vehicle frame from tetrahedron phase data.IRIRF2٢V> Z@=9ZJ&:Q Z>\\ ^G٣\y^S< b> fNusing accuracyPremultiplier from config`59bݼr?5YbLX ib'@`b_2I I$IImBI =&I.I6IU<:Ik FBI¤CJIRIZI =bIjIzE7Dm9*F?2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.zK JK 9K I K K  G A>B1 Ou >bw,>AZU?YZ?Zż9Zh8>yZH@Qʿ`<`?`N?pʿ|?^?`?@xx?ɨZU?Z;Xyn}Bn0$ImMb@Mb@Mb@iii i)iYm G٣y; > Nusing accuracyPremultiplier from config59r?5YX i=;B5@N;; 5 @uWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhh+Bffrfbf h1@]=]=]:?]\@%ż im(?Iu9 qɚu:4iqIqIyiyiy)y)De9*F?2F:FBF^0JF~G1UA YyA- Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge {>By O >JCKKO3 KK(.KCKC"KCJ J J 0J J J 9J ـ3J =w,@k>A64?Y6"?6˼96O9>y6H`ʿ/?`I?ʿ@p?Xq?? w?ɨ64?6#;6"Cy^BbG$I)d fAIjIj(*٢r= rV=9vjQ v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|59~r?5Y~X i~ˏ   5 @~E~:~:~ 5 @ IFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf1@]Y]Y]Y]]]@m˼ imC2?Iu9 ɚ4iIIii))BD@?:DC?D9E*FE?2FA:FABFE_0JFAGI GIWill construct direction to contact in vehicle frame from tetrahedron phase data.Hg>I I[$IIBI =&I.I6I<:I1 FG] 2>Ba O} >|ͺw,HO>A6%?Y6c?6BBռ96'9>y6H`˿Z0?HC?@C˿@Ɋ?? ?w?ɨ6%?6և;4yBBBc$IIN IN̍2٢V= VN=9VXCQ V>XX ZG٣Xy^d< ^> bNusing accuracyPremultiplier from config`f59bƲr?f5YbQY ibhj4j@`b:b7:b>5nWill construct direction to contact in vehicle frame from tetrahedron phase data.p rP@tFNOT Ignoring new targets: 100.20 m. jjjjihhh!h!f!f!rf)bf-`j)2@]I]I]I]MBU]@]BBռ Y]=?I]: aɚeiaIaIiiiii)i)iDQ*F?2F:FBF0JF qIqzK 2KK k9K K K BKA:KEqAG#>BO>Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,!?A:D?Y:2?:9:T9>y:H˿`׳ =? 4=9}rIQ }>y G٣y<< > Nusing accuracyPremultiplier from config59Yr?5YY iw=;;@@;y;5 @!EFNOT Ignoring new targets: 100.20 m. jjjjihhhhlBffrfbf 2@]=]=]1?]9;@ 隽?I9 ɚe(4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 ]$?IY*F?2F:FBF`0JF"G >G Will construct direction to contact in vehicle frame from tetrahedron phase data.G b>B O >3ȏw,$d"?A>?Y>Q?>T9>L9>y>H@A̿jD? 5?%7̿tO?@Ba??`v?ɨ>?>s;>!CyNBNx$IiRI^C I^$II^؅BI^ =&I^GD.I^tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~r?5Y~X tIi~P%<@ @~E~;~;~5 ;@EFNOT Ignoring new targets: 100.20 m. jAjIjIjIiIhIhQhQhQfQfYrfYbf]X2@]y]y]y]}>%<@T 隕%?I9 ɚ4iIIii))2D*DqAD9UWill construct direction to contact in vehicle frame from tetrahedron phase data.QU<*F?2F:FBF0JFJJJJJ}:J9JJJ;aJ;aJp#;aJq#;a I zKu BIKu u9Kq Ku Ku G B>B O >UΏw,%ybH̿N?-?̿@9n?y2??`v?ɨb"?bw;`yr…Br$ImMb@Mb@Mb@iii i)iYmʡE?I +?~jt?ym=m9=m G٣ym(< >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59r?5YAX i+w=;'@@ ;;5 @FNOT Ignoring new targets: 100.20 m. jj!j!j)i)hhhhBffrfbfr3@]w=]w=]wZ?]^'@M QU?IU|9 QɚU4iQIYIaiii))D9m Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu ?2Fq :Fq BFu 0JFq I G 7>B O >֏w,/1Y?AJ?YJ?J^ 9JqG9>yJHtͿ= g?W?`7Ϳ>?~?0?u?ɨJ?JD;J#CyVąBV$II^I^Բ٢f2< f>=9jP Q j>hl nG٣lyn < n> zNusing accuracyPremultiplier from configtz59vr?~5YvW iv|~k(@~@vEv:v:v5 g@ FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf3@] ] ] ] pk(@^ ?Im9 ɚ%$'5i!I!I)i)i))))1EWill construct direction to contact in vehicle frame from tetrahedron phase data.H=]>I=C I=$II=BI= =&I9.I=;D6I=1<:I9D9*F}?2F:FBF11JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J J 9J 3J J ;J J 1;J 1;G B O >ӆ܏w,et?A6].?Y6Kl?6 96v~9>y6H@ο@ԋi{?q?dο ?`y? ?t?ɨ6].?6;6"CyBBB$I)D DLNAIR IR<2٢Za ZA=9^%Q ^>\\ bG٣`yb< b> |I| fNusing accuracyPremultiplier from configd559fr?55Yf W if9=(@=@dfhBIOm>xw,?AyzBz$IMb@Mb@Mb@ )Y~jt?+η? rh?y=v=C<A )@IyII0٢; != I9Q > G٣y > Nusing accuracyPremultiplier from config59r?5YV i >;#@@9;;5  @=FNOT Ignoring new targets: 100.20 m. j9j9j9j9i9h9hAhAhAfIfIrfIbfM@4@]u >]u >]uD?]u#@ 隍?Ij9 ɚP|5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9jHe<bHe4<HmY>Ii Im$IImBIm =&Ii.Im:D6Im <:Im F*F?2F:FBF3JFG <>B O >sw,Ԟ?A:i=?Y:W{?:b$9:c9>y:HϿ@y? ? g~Ͽvv?@? ?Rs?ɨ:i=?:;:$CyJBJz$IIRIR(*2٢Z! ^T=9^+Q ^>`` bG٣`yb< f> jNusing accuracyPremultiplier from configdn59ftr?n5Yf`U ifprY$@r@fEf?;f;f_5t v@xuWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf15@])])])]-Y$@=b$ AE?IE9 AɚE5iAIAIiiqiq)q)q*J4="JJJJJJ]:J9JJJ9;J:;J3;J3;De!9Ei IIMh*F?2F:FBFP0JF"G%>G%>zKk3IKKKK $++((&#! % Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 7>BY Ou >Qw,'i?A:(?Y:?:-9:679>y:H`Ͽ qp`f?>? пp?`?W?s?ɨ:(?:bȇ;: CyFBFp$IiJ%=IJ=Mb@Mb@Mb@ )YʡE?J +?y&1?y-==`e< A =@)I@yI- I-(2٢E# EB=9EOQ M>II MG٣IyU/< U> ]Nusing accuracyPremultiplier from configYe59]yr?e5Y]T i]m>m;m)@m@Y]7;]r;]65q }@yEFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhIhIhqhusBfyfyrfybf}`5@]>]>]DX?])@- ?IT9 ɚf5iIIii)) 2D*DD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFY0JF 9I9G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,B?ARW?YRߕ?R_69Rk9>yRHFпfG??`#Rпg? ʦ?F?@r?ɨRW?R@;R"Cy^Bb]$IIjIjM3٢r3 rQ=9rQ v>tt vG٣tyz ,< z> ~Nusing accuracyPremultiplier from config|59~đr?5Y~T i~d   *@ @~E~:~e:~5 @MFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhQhQhQhYfYfYrfYbfe 5@]y]y]y]} *@_6 隕?HT>IC I$II$BI =&I.I6I<:Io FBIeCJIeCRIeCZIe =bIe =jIeN7Ii9 ɚ5iIIii))D09*Fe?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.Gj>BJJJ0JJ:J9Jـ3JJ;J!;J1;J1;O > ) I) w,/1?AzK2$MK2-9K0K2K2    !)++'&&%#!"   yޭBޭN$IWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=Dl?"~j?Mb?y=O==S==<=A =&@)=x@I=p@9y=@IU IU̍2٢e|K e(=9mQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy59}ʌr?5Y}S i}E>;l5@@y};};} "5B O@$E}FNOT Ignoring new targets: 100.20 m. jyjjjihhhhHBffrfbf@}6@) cCMiGi hYyB]>]>]e߁?]jl5@ f&?Ip9 ɚ5iII!i!i!)!)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D P9E E *Fm ?2Fi :Fi BFm 4JFi Gu qA Gu pA  $?I G(>BO ?<w,[@AJ=?YJ{?JYF9JIN9>yJHпV]?@ ?_пP>?@Ȩ??p?ɨJ=?Jet;J$CWill construct direction to contact in vehicle frame from tetrahedron phase data.y B A$IH%R>I! I%$II%BI%! =&I!.I%9D6I%<:I% F)9 =AIEIE(*3٢U ]=9]iQ ]>aa eG٣ayeQ< e> uNusing accuracyPremultiplier from configi59m.r?5YmS im"5@@mEmX*J R="J %=B O > I [ w,8@A Ƃ?Y ? MQL9 39>y H@пQ`? ?(пLBs??[p?ɨ Ƃ? \S; ɳ!%i!!i!!)) )I) )))ɴ)))1ɵ5xwAi1I11I9i9 99)9A AAAɶAIMwAII)IiI)IIIQɷQ QayލmBލ$III<2٢ % d=zKfbMKKKK=p /}]G<4/,(# R 6r9WvQ >  G٣y%ۯ; %> mNusing accuracyPremultiplier from configa59er?5YeR ie 6@@aed;er;e0&5 @ FNOT Ignoring new targets: 100.20 m. j)j)j1j1i1h9h9hAhIfQfYrfYbf]$o7@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]H6@MQL  2?I 9 ɚ i I Iii))*F2F:FBF_0JFG 2>B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,ZQ@AJ]J]JYJYJ]=:J]:JYJYae@ae@ae@ae@ QIQy޵aB޵ $IUMb@Mb@Mb@QQQ Q)QYUQ?K7A?Mb?yU\=U >QU A U=@)Ub@IU@QyQIuIu ٢E (=9Q > G٣y > Nusing accuracyPremultiplier from config59J~r?5YR i%>;H@@EDA;r>;"(5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf`"7@]%>]%>] ?]aH@) )5f&?I59 1ɚ5*4i1I1I9i9i9)A)A*F?2F:FBFJF"G >G>Will construct direction to contact in vehicle frame from tetrahedron phase data.H- P>I- C I- $II- BI) &I) .I) 6I- =<:I- ; FG K>B O% >nw,k@A6 ?Y6yI?6W96a9>y6Hп G? ?7ѿ c@D?`N?n?ɨ6 ?6r;6!C)lInwArrtF ppppiptitv3uA)v\ vh}FIt x)xzzeFx||i|I||I|i ) 7uAHrF   I ) i  y=LBE#IiM=IM4<IUIU1٢= =y=9E Q E?AI MG٣IyMO< M? ]Nusing accuracyPremultiplier from configYe59]zr?e5Y]R i]ՍaeHe@Y]n:]L:])5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf r38@]Q]Q]Q]ULI@mW 隭L?I 9 ɚiIIii)) IIQ*F?2F:FBF0JFzK PK9KKK&7dJ:) G A>B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai U!w,c@AJS?YJ?Jב]9J48>yJH>ѿuB`5?@?`^ѿxlŮ?`?`n?ɨJS?Jc̆;J"Cy=9B=#I=Mb@Mb@Mb@999 9)9Y==D<=A =@)=x@I=Z@9y=(@IUIUV83٢e eH=9edQ e>ii mG٣iyu; u> }Nusing accuracyPremultiplier from configy59}Hvr?5Y}0S i}7>;2@y};}8;}[+5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf஘8@]7>]7>])?]l_@ ב]  +?I c9 ɚ*4iIIii)!)!2D-*D-BD5:D5*Fe?2Fa:FaBFe_5JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.JyJ}JyJyJyJ}:JyJy 9I9Gi By O >M'w,Sv@A2;z?Y2)?20a92R9>y2Hѿ@> ??@rѿ%px"?@"?n?ɨ2;z?2Ҥ;0y&B#II- I-̍2٢=ʽ =_=9EQ E>AA MG٣IyMQ; M>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configi59m?rr?5YmS im2@mEmO;mܜ;m,5 <@FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf8@] ] ] ] l_@0a %8"?I%9 !ɚ%Q4i!I!I)i)i))))1HO>I I$II݅BI# =&I.I6IE<:I@ F*F?2F:FBFP0JFG GrAG B!O=>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- =) ) I) -w,\T@A6?Y6?6d968>y6H(ѿ<| ??cѿrT??+n?ɨ6?6•;6#Cy^B^#I)` `IjIj̍٢rtǽ rP=9vQ v>tx zG٣xyz0; z> Nusing accuracyPremultiplier from config|59~mr?-5Y~$T i~}2@|~<~D<~.5B k@ 'EzK aNK9KKK FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf`o9@]Q]Q]Q]Uޘ_@md iuk?Iu(9 yɚ}K4iyWill construct direction to contact in vehicle frame from tetrahedron phase data.IyIii))*F2F:FBF4JFG F>B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.ۑ4w,*@AJEJEJE1JAJE:JE:JE3JAyU BU#I IMb@Mb@Mb@ )YMbM?I +?y@n>94<A =@)K@Iy@I5I5<٢M? M6=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configau59ekir?u5Ye$U ie^u>u;}!}@eEe;eW;e05 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbfe9@]>]>]L?]x-p@ 0?I[: ɚ`&5iI!I!i!i))))1*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AHN>I Im$IIBI&I.I6I:<:I7 FG- A>B1 OU >:w,@A6\?Y6I?6f96]8>y6H4&ѿ`<6 ??Ʉѿ.ftw?=? m?ɨ6\?6rL;6"CynBn#IIv Iv(2٢~t ~c=9&Q >  G٣ y   > Nusing accuracyPremultiplier from config%59er?%5YU iE!!%@';';625) 5@1]FNOT Ignoring new targets: 100.20 m. jYjYjajaiahahahihififirfibfu*:@]]]]-p@f 隭#+?I9 ɚN5iIIii))ErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F12F1:F1BF5`0JF1"G=>G= > $?IhGqBO~>zK- ܗLK- k9K) K- K-   Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,AAy]B]#Iieu< S@)b@I@yz@I=I= ٢M M7=9UQ U>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configam59epar?u5YeiW ie$uX1>u;u(u@eEe ;e};e+45 @]FNOT Ignoring new targets: 100.20 m. jajajajaiahahahihmBfifqrfqbfu:@]X1>]X1>]Z@]}@ 隭(?Iu9 ɚ }5iIIii))*F-?2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. < J}J}JyJyJ}]:J}9JyJy IG- <>B1 Oe >Gw,{ AA6O{?Y6y6H@ѿ? ?@)?uѿs?v?`n?ɨ6O{?6\|;6&CyJBJ{#IIRIR٢ZG Zg=9^d:Q ^>\\ bG٣`yb * b> jNusing accuracyPremultiplier from confighn59j^r?n5YjX ij ln7n@hj:j:j55t v@xFNOT Ignoring new targets: 100.20 m. jjjjih!h!h!h!f)f)rf)bf-:@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]}@Md v%?I9 ɚ5iIIii))ZHiRHiHqIq Iu;$IIuBIu% =&Iq.Iu8D6Iut<:Iua FBI5¡CJI5¡CRI5“CZI5# =bI5# =jI5>5Dm[9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. y I G) B1 OU >Mw,:AANYW?YNF?Nyb9Nl9>yNHѿ@ A@??!cѿrK?`9?m?ɨNYW?N+;N!Cy^B^r#IIfIf1٢n5  nH=9n:Q n>pp rG٣pyv90 v> zNusing accuracyPremultiplier from configx~59zZr?~5YzY iz|~J@zEz:z:z75  n@ =FNOT Ignoring new targets: 100.20 m. j9j9j9jAiAhAhAhAhIfIfQrfYbfe`;@]]]]3}@yb 隭!?IT9 ɚB5iIIii))zK=LK-9KKKeWill construct direction to contact in vehicle frame from tetrahedron phase data.GvAZA YvAyϲAD9ER>E>*Fm?2Fi:FiBFm`0JFqGrA G% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OE >]Uw,VAA IJwT?YJd?J#0a9Ji(9>yJHZѿA?"?`ѿ5q@c"??En?ɨJwT?JΆ;HyZBZv#I)` `Mb@Mb@Mb@ )Y1ZdS?I +?y"۽>9<A &@)5@IZ@y@I-I-(*2٢E U< E*=9Eh+:Q M>II MG٣IyU? U> ]Nusing accuracyPremultiplier from configYe59]Ur?e5Y][ i]m>>m;mQm@Y];]Q;]95q u;@yFNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbfE;@]>>]>>]Y @]D@#0a .?Im9 ɚ$5iIIii))*Fe?2Fa:FaBFe3JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.H}M>Iy I}$II}cBI}& =&Iy.Iy6I}<:I}z FGI Ba O >܆[w,XpAA:,?Y:|j?:u]9:'9>y:H ]пD ?,?oKѿL6lF? ?m?ɨ:,?:;: CyJ߄BJn#IIRIRM3٢Z) Zh=9^ );Q ^>\` bG٣`yb4b b> fNusing accuracyPremultiplier from configdj59fRRr?j5Yf] iflnfn@fEf` ;f ;f#;5p r@tFNOT Ignoring new targets: 100.20 m. jjj!j!i!h!h!h)h)f)f)rf)bf55<@]I]I]I]M܁@eu] ae*?Im: iɚm[5iiIiIqiqiq)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F5?2F1:F1BF5R0JF1JQJUAAJYJ]J]0JYJYJ]9J]ـ3JYJ]8;amJ]9;amJ]8;auJ]8;auGqBO>zKeKaKaKeKeBKqA:KrA Will construct direction to contact in vehicle frame from tetrahedron phase data.nbw,3AAB8?YBv?B[9Bt!9>yBHcп-D??@9Pѿi @|?@w? n?ɨB8?B;B"CyNBNv#ImMb@Mb@Mb@iii i)iYm)\(~jt?Mb?ymGὙm>m=mA i)mb@Imp@iyiI I(2٢-< ;=9OW:Q > G٣ya: > Nusing accuracyPremultiplier from config59QNr?5Y^ irB>;: @E;; =5 0@*EFNOT Ignoring new targets: 100.20 m. jj!j!j!i!h!h!h)h)f)f)rf1bf5@<@]B>]B>] @]r@[  .?I 9 ɚ 5i I)I1i1i9)9)9*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I G- 7>B9 OU >ݘhw,AA @"Will construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:R?:W9:c9>y:H6п`F?T?@<ѿ3c?`?@n?ɨ:?:;8yFBJ#IiN=INp=IRIR[3٢Z,= Z]=9ZH3;Q ^>\\ bG٣`yb-C b> jNusing accuracyPremultiplier from configdn59fJr?n5Yf3` ifJprO r@df);f ;f>5t v@tjH<bH<H%P>I%C I%#II%SBI%( =&I!.I!6I%u<:I%a FFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf =@]]]]'h@EW AM2?IMP: IɚM5iIIIIqiqiy)y)*F-?2F):F)BF-\0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G5F>BAO]> I*JM C="JM <Jـ3K(3 KKK"KJQ JU JQ JQ JQ JU 9JQ JQ JQ JQ JU ;JU ;nw,AA6P?Y6=M?6U9619>y6HпG /??7ѿ\?@?o?ɨ6P?6;4yNBR#IIfIf2٢viJ< vG=9z:Q z>xx zG٣xy~ҹ ~> Nusing accuracyPremultiplier from config 59&Gr? 5Ya iU @ E~::w@5 %@!FNOT Ignoring new targets: 100.20 m. j!j!j!j)i)hQhYhihiffrfbf bx=@zKBHKu9KKKRKJK?eWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]$e@U a3?IT9 ɚ 6iIIii))2D *D BD :D *F2F:FBFX0JFG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. I #uw,AA2?Y2C?2!R92B9>y2H<п`G`K? ? #1ѿtQDA? ?Co?ɨ2?2~);2 Cy>BB#IEMb@Mb@Mb@AAA A)AYEJ +M?l?yEȽEn>E=A A)AIE@AyAI]I]̍٢m= mB=9m_:Q m>qq uG٣qy}8 }> Nusing accuracyPremultiplier from config59Cr?5YCc i5>;@Z;/Y;MB5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf@|=@]5>]5>]w @]@!R .?I: ɚ 6iI!I!i!i)))))*F?2F:FBF`0JFG G]Will construct direction to contact in vehicle frame from tetrahedron phase data.HT>IC I#IINBI% =&I.I9D6IT<:IN FGA>BO >|{w,bAA2R?Y2?+?27EN92R9>y2HпHJ?`?"ѿPu8ũ?t?o?ɨ2R?2*;2!CyB BB#I)D DIJIJ0٢Rl= VX=9VB#;Q V>XX ZG٣XyZk Z> bNusing accuracyPremultiplier from config`f59b=@r?f5Ybd ibdff@b!Eb:bn:bC5l n@lFNOT Ignoring new targets: 100.20 m. jjjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf?>@] ] ] ] ۹@=7EN 9=3?IE9 AɚEk!6iAIAIIiIiI)I)Q $?IJJJ1JJ}:J9J3JJ;J;J';J';*FI2FI:FIBFM0JFIGqBzKK9KKKBK :K qAOE >} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy w,ˆ BAyB#IMb@Mb@Mb@ )YDl㥛 ?J +?yO>H= A S@)@Iy@II 3٢f= 5=9Q > G٣!y% %> -Nusing accuracyPremultiplier from config)559-=;=]=@)-;-+;-E5A E@AuFNOT Ignoring new targets: 100.20 m. jyjyjyjyiyhyhyhhBffrfbfխ>@],>],>]O@]y@ 隽?I9 ɚ+6iIIii))*FE?2FA:FABFE1JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. iIiGBO>成w,V%BAWill construct direction to contact in vehicle frame from tetrahedron phase data.R?YR"?RG9R9>yRHп@K??"ѿIfC If $IIf^BIf =&Id.If:D6Id:IfV Fy~!B#II I b1٢%߀< %[=9-;Q ->)) -G٣1y5F => ENusing accuracyPremultiplier from configAM59E8r?M5YEf iEHIUmU@E"EE:EL:EG5Y ]|@aFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf`N ?@]9]9]9]=DZy@uG y}8 ?I}9 ɚ56iIIii))*Fm?2Fi:FiBFmP5JFi"Gu >Gu>Will construct direction to contact in vehicle frame from tetrahedron phase data. YIaG7>BO>J5 J5 J5 0J1 J5 :J5 u9J5 ـ3J1 J5 ;J5 ;J5 /;J5 /;^w,2?BAR?YR+?R'#E9R159>yRH pп IK`??@ѿ0\?? ? q?ɨR?R;PyZ6B^#Ii`Ib<IfIf(1٢r= rO=9r]:Q r>tt vG٣tyzD: z> ~Nusing accuracyPremultiplier from config|59~4r? 5Y~g i~%@|~;~;~HI51 5,@1eFNOT Ignoring new targets: 100.20 m. jajajajaiahihihihifqfqrfqbfuns?@]]]]y@'#E *?IO9 ɚ i IIzKBoHKu9KKKii)EWill construct direction to contact in vehicle frame from tetrahedron phase data.))D-q9*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. I IM hG A>B O >w,}?\BA2?Y2|'?2A9299>y2H пK?I?ѿc?`:?W?Qq?ɨ2?2 ;2$Cy>FBB#IEMb@Mb@Mb@AAA A)AYEQET=A A)E@IAAyAI]I]F٢e= -=90:Q > G٣y؍ > Nusing accuracyPremultiplier from config590r?5Yh iŊ>;(@#E;;[K5 ,@FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf?@]>]>]@Z?].j@5A 15?I59 1ɚ5,4i9I9I9iAiA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչH=T>I=C I=)$II=wBI= =&I9.I96I=Z<:I9BIJIĢCRIĔCZI% =bI" =jI߸6D9*FE?2FA:FABFE1JFAm Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu <>B O >0 w,`vBA I:?Y:L?:@@9:q9>y:H п I?? e)ѿh??w?q?ɨ:?:;:"CyFSBJ#IIRIR٢Z1= ZQ=9^_:Q ^>\\ bG٣`ybrA; f> jNusing accuracyPremultiplier from configdj59f7,r?n5Yfi ifln(n@df:f:f M5vB vT@v-EFNOT Ignoring new targets: 100.20 m. jjjjihhhhJ%J%J!J!J%:J%9J!J!J%k;J%m;J%';J%';ff9rf9bfE,@@]y]y]y]}j@@@ 隭%?I9 ɚD4iIIii))E*F?2F:FBFP0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.zKYK]89KYK]K]) hCG5 A>BQ O > 5 Y1 y5 OA壐w,WBAb"$?Ybb?bQ>9b9>ybH пGW??@1ѿAn?ȧ?@^ ? (q?ɨb"$?b;b#Cy\BE$I)I IMb@Mb@Mb@ )YMb?Dl?)\(?y<O >Ga=A )@I@y\@II1٢-= 9=9_:Q > G٣y:  > Nusing accuracyPremultiplier from config 59 'r?%5Y i i A%W>%;%:%@ $E !.; ; N5) 5@1]FNOT Ignoring new targets: 100.20 m. jYjYjYjYiahahahahe8Bfifirfibfm`@@]W>]W>]b?]=X@Q> 隭?I9 ɚ4iIWill construct direction to contact in vehicle frame from tetrahedron phase data. IIQiQiQ)Q)Y*F2F:FBFX0JFG B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH p<H V>I C I N$II BI  =&I .I 6I S<:I U Fw,Q3BA^L?Y^?^?+=9^,%9>y^H8ѿ E?5?@CѿAp?A?"?q?ɨ^L?^a;^!CyjeBn$IIzIz(1٢KA= [=9E:Q  >    G٣ yV; > Nusing accuracyPremultiplier from config%59#r?%5Y!j i!-:-@;::P51 5*@1eFNOT Ignoring new targets: 100.20 m. jajajajaiahahihihifqfqrfbf\@@]]]]X@-?+= 15l?I59 QɚU1 5iYIYIYiaia)a)a*F?2F:FBF_0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=>w,BA5t?Y5Dz?5;9559>y5H@ѿC??1VѿWs?`cs???q?ɨ5t?5皈;5"CWill construct direction to contact in vehicle frame from tetrahedron phase data.zKm$JK9KKKyޕgBޕ$I5Mb@Mb@Mb@111 1)1Y5Mb?`"?&1?y5@=5=5P=5 A 5j@)5@I5@1y1IMIM2٢]< ]*=9eF:Q > G٣y*&; > Nusing accuracyPremultiplier from config59r?5Yi i>;+B@@%E8<k8<R5) -@)uFNOT Ignoring new targets: 100.20 m. jqjyjyjyiyhyhyhhDBffrfbf@@]%>]%>]%?]%+B@5; 1=?I= 9 9ɚ=dI5i9I9Iaiaia)i)iEqEq*F?2F:FBF!JF!"G5>G5 > $?I- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 2J J ݒ:J 9J c3J a @a @a @a @G <>B) OE >!w,6BA6?Y6?6@+996@9>y6H /ѿ B@n??r[ѿtu?`c#?q?Qr?ɨ6?6l;6%CyBlBB$IiFIC It$IIBI =&I.I6I2<:I8 F*F?2F:FBF0JFG) B9 OU > I = Will construct direction to contact in vehicle frame from tetrahedron phase data.2Lw,;BA6͸?Y6?6896gq9>y6H7ѿn>`ĺ?V?%tѿWw?`X? ?q?ɨ6͸?65;6!CyBwBB)$IININ٢VI= VJ=9Z9Q Z>XX ^G٣\ybM; b> fNusing accuracyPremultiplier from configdj59fr?j5Yfi ifOhnEB@n@df|;f;fU5p r@tFNOT Ignoring new targets: 100.20 m. jjjjihh!h!h!f!f)rf)bf-)A@JYJY]]]]EB@8 ?I|9 ɚ(5iII i i ) )*F?2F:FBFW5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BzK5JK59K1K5K5 #*-+--+&&#   BKa:KaO>4Đw,^CA6!?Y6?6696u9>y6H Eѿ<`1? ?ѿCXz? զ? ?q?ɨ6!?6e;6$CybqBb"$IMb@Mb@Mb@ )YT㥛 ?Q?kt?y== 0=A @)@I@yG@II3٢˼ :=9:Q > G٣y<: > ]Nusing accuracyPremultiplier from configQ]59U7r?e5YUdi iUe>e;e:@e@U&EU;U;UW5 Iq m@FNOT Ignoring new targets: 100.20 m. jjjjihhhhlBffrfbf`dA@]>]>]C.?]:@Will construct direction to contact in vehicle frame from tetrahedron phase data.6  ?I 9 ɚe5iIIii))J}J}J}1JyJ}m:J}9J}3Jy*F?2F:FBFH5JFG GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH I  I $II ͅBI  =&I .I 6I ,<:I 2 FY`ʐw,+CA6?Y6W?6696c9>y6H ~fѿ@8n? ?ѿ{?`Ҧ? @?r?ɨ6?6;6#Cy^kB^$I)` `InIn٢v vY=9vg8Q z>xx ~G٣|y~j; ~> Nusing accuracyPremultiplier from config 59}r? 5Y!i i߈:@@::kY5B %@%0EMFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhQhYhYhYfafarfabfeA@]]]]:@6 隝>I_9 ɚ5iIIii))*F-?2F):F)BF-P0JF1 iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.GUF>BY*Ju4="JqO|>Iѐw,AdECA>.?Y>{l?>39>&9>y>Hpѿ`e6`? ?ѿzD? C}?`?q?ɨ>.?>;>!Cy%hB%$IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKfMKu9KKK   RK?JK>UMb@Mb@Mb@QQQ Q)QYUMb?y&1?L7A`?yU=U`=U+=Q Q)U@IU@QyU@IIF2٢ C &=9q:Q > G٣yy: > Nusing accuracyPremultiplier from config59 r?5Yh iX>;8@@'E\;;[5 @5FNOT Ignoring new targets: 100.20 m. j1j9j9j9i9h9h9hIhM]BfQfQrfYbf]IA@]X>]X>]y?]8@3 ?I)9 ɚ%5i!I!IAiAiA)A)A*F5?2F1:F1BF=4JF9 QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9J J Gu 7>B O >oאw,1_CABx?YB?B39Bb69>yBH=ѿ@2??@ѿ;?{?`?r?ɨBx?Bt;B Cy`B $III̍٢ V=9 8Q >  G٣y%N; -> =Nusing accuracyPremultiplier from config9E59=r?E5Y=jh i={AE8@E@9=e:=:=C]5 l@FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf `B@]9]9]9]=8@HUO>IUC IU$IIU؅BIU =&IQ.IU9D6IUQ<:IUJ Fm3 im?IuD9 qɚu|5iqIqIyiyiy)y)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFEQ0JFAG F>B O > I II iݐw,IyCA @6]?Y6J?6.1969>y6Hѿ_/?@?ѿ?`/?p ? Fr?ɨ6]?6r;6!CFWill construct direction to contact in vehicle frame from tetrahedron phase data.ɳHJwAHiHHiLL) ף I  LC) wAɹ CɺuAiIhFICiuA ӁF)!%C %OuA%K%D`Fɻ!-C-vAI))-lFi))5CI5A5Ļɼ1 11yEVBM$IiUqy }G٣yy?; > Nusing accuracyPremultiplier from config59Zr?5Y"h iT8@@;;^5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbf V/B@]]]]8@-.1 )->I-9 )ɚ-5i)I1Iii))*F?2F:FBF`0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKuLKu9KqKuGA>B Ku"=UjO1Q~$@><6{`J5nR4 BK9 :K9 O >w,CAB?YB ?B/9B'9>yBHXѿf,??`ѿ?`5?D?s?ɨB?B+lj;B#Cy}HB}#I IMMb@Mb@Mb@III I)IYM?zG?:v?yML=M =M G٣yZk; > %Nusing accuracyPremultiplier from config!-59%5q?-5Y%g i%(-=5;5 >@5@%(E%;%;%`5A E@IWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhhCBffrfbf^kB@]%=]%=]%-?]% >@E/JJJ0JJ:J9Jـ3J ?I&9 ɚ5iIIii))*F?2F:FBF_0JFjHM <bHM <HU P>IU C IU $IIU ҅BIU  =&IQ .IQ 6IU .<:IU 3 FBIʢCJIRIʓCZI =bI =jI#6G <>B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ŬCAy]@B]#IIuIu̍٢} <=9Q > G٣y > Nusing accuracyPremultiplier from config59cq?5Yg i@":C:b5 u@FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfcB@]]]]) )->I-9 1ɚ55i1I1I9i9i9)9)9 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙՙDP9*Fe ?2Fa :Fa BFm ]0JFi c~G !ʿY y RAeWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BzKOKk9KKK}vqja\YVQQTPKHGDCDB>>>:860,,+***''))((&'&%%" !"OM?w,CAV??YV,Z?V1'9V9>yVH]ѿ :'?i?ҿm?j?@?`s?ɨV??V;V C)jCIj?wAhh hn̎Clnillir@CrwA)rt rzFIp rC)ttttvCvOwAixIzyFxIzَCix x~ {F)|~C ~wA|||̎CI)iy1B#I) A m@u u@u u@u  u@u II٢ :=9;Q > G٣y; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59bq?5Y|g iև+:;">@@d;>*d5 _@FNOT Ignoring new targets: 100.20 m. jjjjihhh!h!f!f)rf)bf- B@U1' Y]Q>I]9 Yɚ]6iYIYIaii)) I*F?2F:FBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G= K>BI Om >5w,=CA65?Y6s?67$96-9>y6Hѿ`^& M?ְ?ҿΉ? ?? s?ɨ65?6!݉;6$CHQ>I I$IIBI =&I.I6I<:Io Fy%B%#II5I5(*2٢ I=9:Q > G٣y: > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59q?5YIg i :  ; ,>@ @)EŌ;~Z?Ve5Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A) 5@1mFNOT Ignoring new targets: 100.20 m. jqjqjqjqiqhqhyhyhyfyfrfbf C@7$ 隽>I@9 ɚ 6iIIii))QE]l>E]>*F?2F:FBF1JF IhG7>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J 1J J J 9J 3J J ;a J ;a J %7;a J %7;a w,wDA2E?Y2ă?2 92l9>y2Hѿ$??`ҿ Ӌ? ? ?s?ɨ2E?2;0y~B~#II  I <2٢%} %T=9- ;Q ->)) -G٣)y5x: 5> EbBottom track data is 1.2 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=*q?M5Y=g i=M9IMl;M->@U@9=m(;=?=:f5Y ]U@YFNOT Ignoring new targets: 100.20 m. jj jjihhhhffrfbf%,?C@m im>Il9 ɚ&6iIIii))*FE?2FA:FABFEP5JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKF9NK9KKK     #4;;7/-,)))%$%! BK:KGMA>BQOu> I Gw,TDA BWill construct direction to contact in vehicle frame from tetrahedron phase data.FxC?YFe?F9FV9>yFHѿ@%o~?l?Iҿ?@? ?s?ɨFxC?F0B;F"Cy^Bb#I M M MM MM  M M MMb@Mb@Mb@III I)IYM G٣y6 > Nusing accuracyPremultiplier from config59q?5Yg ijT:=;/@X ;; h5B @3EFNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf@tC@]=]=]7?]:%b@ ?I9 ɚd6iIIii))*F2F:FBF4JFZHRH@AH I  I [$II BI  =&I .I 6I *<:I 1 FMWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>BO >q w,24DA6lZ?Y6Z?696z9>y6Hҿ`^$@gu? ? $ҿ*?B? ?Ht?ɨ6lZ?6;4y>BB#IIJIJF3٢Ry RY=9Vq:Q V>TX ZG٣XyZ: Z> bNusing accuracyPremultiplier from config`f59bq?f5Ybg ibLhj/j@b*Eb:bX:bi5 IIMhY ]@YFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfC@]]]]+b@ >I9 ɚ"6iII i i ) )2D*DBD:DEPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FIBFMP0JFIGQ GQ*JC="Ja=JJJJJ:J:JJJ8;J9;JzE;JzE;GmA>ByO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,zNDAzKuMKu9KqKuKu# RKDJKF?fN?Yf?f9fy9>yfH rѿ C%Ws?"?ҿ唐?`뺢? T?@t?ɨfN?fb;dyrBr#IMb@Mb@Mb@ )YI +S㥻?:v?y9/=<A )I@y@I I(2٢ 7=9G;Q > G٣y\L > Nusing accuracyPremultiplier from config 59 q?5Y |h i $=;.(@  ; 8; k51 5`@1mFNOT Ignoring new targets: 100.20 m. jijqjqjqiqhqhqhyh}BfyfyrfybfC@]=]=]?]i@ 隽>I9 ɚ*6iIIii)A)Q 1I9*F%?2F!:F!BF%U0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G% <>B1 OM >4w,gDAHPIP IR/$IIR|BIR =&IP.IP6IR<:IR) FyjBn~#I)p pttI I̍2٢% Y=9Q %>!! -G٣)y- 5> ENusing accuracyPremultiplier from configAM59Eq?]5YEh iEYae@AE;E;EJm5q u@qWill construct direction to contact in vehicle frame from tetrahedron phase data.EFNOT Ignoring new targets: 100.20 m. jAjAjIjIiIhhhhffrfbf` D@]]]]A AE>IE9 IɚM26iIIIIQiQiQ)Q)Q*F?2F:FBF_0JF I  nManaging dock network, ignoring radio surface power offG! B1 Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.J3K3 KA.KK"KJ J J 0J J ݒ:J 9J ـ3J J ;J ;J 1;J 1;l w,ǁDA:5K?Y:#?:}E9:9>y:H`ѿ% i? ڰ?`Qҿ@P(?@?%?t?ɨ:5K?:;:%Cy^B^s#IIfIf<2٢rv5 rN=9v&;Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|59~q? 5Y~i i~ކ  ;( @~+E~:~:~o5 4@EFNOT Ignoring new targets: 100.20 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU@d>D@]y]y]y]}i@}E 隍>I^9 ɚ96iIIii))*FM?2FI:FIBFM~0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}^LK}9KyK}K} BK:KrAGA>BO> I 9&w,VDA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:b?Y:?: 9:Y9>y:H 'ҿ`3%V?`J?ҿAp?@U?N?Su?ɨ:b?:,;:"Cy ۄB i#IJYJ]@AMb@Mb@Mb@ )Y+i|?5?Q?y=\=7A )I@yG@IIb٢  <=95:Q > G٣y+: > Nusing accuracyPremultiplier from config59Zq?5YTj i6>;@W;;p5 @ 5FNOT Ignoring new targets: 100.20 m. j1j9j9j9i9h9h9hAhEփBfAfArfIbfM@vD@] 6>] 6>] ?] ,r@=  AE?IE+9 AɚEB6iAIAIIiiiq)q)q*F?2F:FBF0JFjHbH4<HT>IC I#II?BI =&I.I:D6Iۯ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAGI BQ Ou >Z,w,}wDA6V?Y6?6' 969>y6H?ҿ%@Z? ]?ҿ$?`d?3?u?ɨ6V?6Ȇ;6#CyBӄBB_#IiF`` bG٣`yfk f> jNusing accuracyPremultiplier from confighn59jqq?n5Yjk ijprr@hj ;jq ;jr5t v=@tFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfD@]]]]Q"r@=' 9=>I=9 AɚE@J6iAIAIIiIiI)I)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JFJuJqJu1JqJu:JqJu3JqJu8;Ju9;JqJu1;GMF>BYO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,`DAzKBKKB9K@KBKB 7wk\J<1+" RKb?JKb?9[?Y'?( 99>yHҿ}&sF??Aҿ_X?`6?W?u?ɨ9[?v;y-̄B5V#IMb@Mb@Mb@ )Y rhrh|?I +?yC =94=MA @)I@y3@IMIM 3٢} 0=9 C:Q > G٣y%9 > Nusing accuracyPremultiplier from config59q?5Yk iG9 >;"@,E:;9;t5 @FNOT Ignoring new targets: 100.20 m. jjjjih h h hBffrfbfD@]59 >]59 >]5?]5%o@M( IMg>IM9 IɚMQ6iQIQIQiYiY)Y)Y $?I*F]?2FY:FYBFaJFaGy GyuWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge 7>Bi O >9w,.DAy=΄B=Y#IHyIy I}#II}0BI} =&Iy.Iy6I}8<:I}? FBI JI RI ZI  =bI jI 5IMIMM3٢*< Z=9Q > G٣y > Nusing accuracyPremultiplier from config59q?5Yzl i@::.v5Will construct direction to contact in vehicle frame from tetrahedron phase data. @FNOT Ignoring new targets: 100.20 m. jjjjihhhhf!f!rf!bf%E@]]]] g>I[9 ɚ!Y6iIIii))1*F2F:FBFz4JF IG<>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,EA^t?Y^b?^ 9^9>y^H ҿ"]R?1?i,ҿ@S? 0?@ ?Su?ɨ^t?^W;^"CyjÄBnK#I)p rAppIvIvm?3٢=d EP=9EJ8Q M>II MG٣IyUQ; U> eNusing accuracyPremultiplier from configYe59]?q?e5Y]+m i]im"m@]-E]:]a:]w5q u=@y) ~G1=FNOT Ignoring new targets: 100.20 m. jAjAjYjY eYayeAiYhihqhqhqfqfyrfybf}`EE@]]]]Q;o@U QU3>IU9 QɚU9`6iYIYIYiaia))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKtNKk9KKKBKrA:KqA*F?2F:FBFP0JF a Ii G B1 OM >Fw,EA"Will construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJE0JAJE<:JE9JEـ3JAaM@aU@aU@aU@I?Y7?x[ 9y9>yH`.ҿ:X?@z?@Eҿ@?j??u?ɨI?;%CyBH#I}Mb@Mb@Mb@yyy y)yY}:vL7A`?J +?y}T}+>}H=}dA y)}@I}@yy}@I I̍2٢9 6=9Q > G٣yb; > Nusing accuracyPremultiplier from config59 q?5Ym i>;}.@U;^7;y5 [@6EFNOT Ignoring new targets: 100.20 m. jjjjihhhh߃Bffrfbf`C~E@]>]>]?]"c@]x[ Y]H>I]9 Yɚ]g6iYIaIaiaii)i)*F!2F!:F!BF)JF)ZHaRHe?AHR>IC I#II&BI =&I.I6I$<:I/ FWill construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >lLw,{6EA IB?YB?B_ 9B9>yBH>ҿ@_U?'?:Uҿw?? ?8u?ɨB?BƆ;B$CyNBN>#IIZIZ 3٢b< bq=9f?Q f?dh jG٣hyjW;; j? rNusing accuracyPremultiplier from configlr59nq?v5Yn0n inotvk.v@ln:n:nU{5x z@|%FNOT Ignoring new targets: 100.20 m. j!j!j!j!i)h)h1h1h1f9f9rf9bf=fE@]a]a]a]ec@u_ quH>Iu9 yɚ}m6iyIyIii))*F?2F:FBFa0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G9BO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.^Sw,9=y9>y=Hf]ҿ Y?D?vҿ@B? ? > ?`u?ɨ=?=;="CyMBUI#Ii]=I]= ]p=YMb@Mb@Mb@ )Y{GztDl?J +?yףO >MA @)-@I@y@I I̍2٢s!= 7=9 3źQ  >  G٣yp; > %Nusing accuracyPremultiplier from config%59]q?%5Yn i- >;2@.E@<<G}5 K@ IeFNOT Ignoring new targets: 100.20 m. jajijijiiihihihqhuBfqfqrfybf}E@] >] >]?]_@> )>I&9 ɚFu6iIIii)))*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJqJqJu:Jub9JqJqG A>B O >%Zw,"5jEAR]>?YRJ|?R 9R9>yRHMoҿ@`? p?ҿ@ ? { ??t?ɨR]>?R/;R CybBb<#IIjIj<2HnQ>Il In#IIn!BIn =&Il.In9D6In <:In F٢}d T=9~Q > G٣yB; > Nusing accuracyPremultiplier from config59|q?5Y&o i2@.:q:~5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfF@]!]!]!]%_@=  9=)>I=D9 9ɚ=f{6i9IAIAiAiI)I)IEYEY*F?2F:FBF1JF IG7>BO%> Will construct direction to contact in vehicle frame from tetrahedron phase data.`w,|EA6 ?Y6?6N96Dj9>y6H:ҿ@Yd?\? ҿa?@?? t?ɨ6 ?6;6#CyRBR2#IIZIZ2٢bF$ bW=9b@Q b>dd jG٣hynE; n> rNusing accuracyPremultiplier from configpv59rq?v5Yro irtzU2z@r/Er:rC:r5| ~x@-FNOT Ignoring new targets: 100.20 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=BF@]a]a]a]e_@N ]>I9 ɚɀ6iIIii ) ) *F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKvKKKKKdFTI0pf^SJD?:61,)-/88.*3@GK>BO> I%gw,EA"Will construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J9J9J=:J=9:J9J9yޕBޑ) A]Mb@Mb@Mb@YYY Y)YY]{Gz?l?Mb?y]#<]>]@=]A Y)]@IYYyYIu IuV2٢: 1=9Q > G٣y > Nusing accuracyPremultiplier from config59zq?5Yo iuV>;9@;;5 r@FNOT Ignoring new targets: 100.20 m. jjjjihhhh҃Bffrfbf }F@]%V>]%V>]%)m?]%X@9 AE)>IE9 AɚE6iAIIIIiQiQ)Q)Q*F2F:FBFE5JFHI I#IIBI&I.I6I*<:I3 FWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO > $?I kMmw,\˷EA6?Y6(?6^96k9>y6H?ҿDbr??`ҿeS?? ?@2t?ɨ6?61k;6 CyBBB(#IIN IN2٢VOH Vn=9ZNQ Z?XX ZG٣\y 2<  > Nusing accuracyPremultiplier from config%59q?%5YMp i@)-`9-@0E::151 5@=8EeFNOT Ignoring new targets: 100.20 m. jajajajaiahahihihififqrfqbfuݪF@]]]]qX@^ 隭>I|9 ɚ6iIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFmP0JFiG<>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.9tw,EAzKzNKxKxKzKz?942-,('$! !   #./%  ?YQ?R9X9>yH ҿe?ӎ?`ҿ@ѐ?? "? }s?ɨ ?҅;騅"CyޝBޝ"#I%Mb@Mb@Mb@!!! !)!Y%{Gz?jt?/$?y!% >%,=%zA %@)%C@I%@!y%@I=I=M3٢M M2=9UQ U>QQ ]G٣Yy]8; ]> eNusing accuracyPremultiplier from config qIqa}59e!q?}5Yep ie}&>};9@aey;e x;e%5B 9@;EmFNOT Ignoring new targets: 100.20 m. jijijijiiihihihqhuBfqfyrfybf`F@]&>]&>]?]Y@R q>I9 ɚ6iII!i!i!))))]Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJQJQJU:JU:JQJQ*FE?2FA:FIBFM35JFIGi By H I  I #II BI &I .I 6I 2<:I 9 FO >Ȑzw,PEA2@?Y2}?2$92:9>y2Hҿ܆?D? ӿ ??y ?@is?ɨ2@?2r‡;0yBBB #IiF=IF; J=J=ININb2٢V Vb=9V 9Q V>XX ZG٣Xy^r; ^> bNusing accuracyPremultiplier from config`f59bɩq?f5Ybq ib̃df8j@`bi:b:b5l nV@lUWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfG@]]]]#Y@%$ )->IMU9 IɚM6iQIQIQiYiY)Y)Y*F%?2F!:F!BF%_0JF! I G-F>B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.Fvw,!FA6c?Y6?6 q'96מ9>y6H uҿ` &?^?@"ӿ??q? s?ɨ6c?6;4yBBB #IIJIJF3٢R͚ VK=9VqQ V>XX ZG٣XyZ!1; Z> bNusing accuracyPremultiplier from config`f59bq?f5Ybxq ibdj8j@b1Eb:b=;b}5p rQ@p FNOT Ignoring new targets: 100.20 m. jjjjihhhhff!rf!bf%@FG@]A]A]A]EI]9 YɚeN6iaIaIaiiii)i)i*F 2F :FBFj0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.zKjMK9KKGBO> IK Will construct direction to contact in vehicle frame from tetrahedron phase data.ࡇw,% FAJ\J^?Aj m?Yj?j?)9j69>yjH ҿ@W?}?"(ӿj?5?( ?s?ɨj m?j;hyvBv#I}Mb@Mb@Mb@yyy y)yY}{Gztw/?~jt?y}ף}&>}=y y)}p@I}@yy}@II ٢G̼ :=9>Q > G٣y@*: > uNusing accuracyPremultiplier from config59q?5Yr iVv+>;2@2E<<l5 @FNOT Ignoring new targets: 100.20 m. jjjjih)h)h)h-܃Bf1f1rf1bf5ೂG@]}v+>]}v+>]}?]}/_@?) 隵>I9 ɚL6iIIii))*F}?2Fy:FBF_0JF"GG>HI I#IIBI&I.I6I,<:I5 FBIJIRIZI =bI =jI 4uWill construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O > I ȍw,9FA6?Y6?6-96{9>y6H \ӿ[@|??`g?ӿn?@? ?r?ɨ6?6x;6$CyBBB"I)D DIR IR̍2٢ZO Z]=9Z'7Q Z>\\  G٣ y Sg;  > Nusing accuracyPremultiplier from config%59q?%5Yr i#!%i2-@ +;O+;51 5@1eFNOT Ignoring new targets: 100.20 m. jajajajiiihihihihqfqfqrfqbfu`G@]]]]-_@- 隵>I89 ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ :J:J3JJ;aJ;aJoN;a JoN;a*F%?2F!:F)BF-0JF)G 챿Yy AGQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ĺw, SFAzK JK 9K K K U?YU?U.9U9>yUH@sӿԣ??@04ӿ?ӥ?`X?Lr?ɨU?U*;U"C qIqy}B}"IMMb@Mb@Mb@III I)IYM/$+?l?yMM>M=MdA M@)MZ@IMI@IyII]I](*3٢m-; m0=9uRȹQ u>qy }G٣yy}ۺ > Nusing accuracyPremultiplier from config59q?5Yhs i%>;v+@3E;]; 5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhh׃BffrfbfG@]%>]%>]0?]Hf@. >I9 ɚ6iIIii))*F?2F:FBF-1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >H R>I  I #II BI  =&I .I 6I <:I + Fޚw,mFANo?YN]?N19NҲ9>yNH@ӿy J?t?@Bӿҵ?`n   G٣ y u;  > Nusing accuracyPremultiplier from config59q?%5Yt i!%c+%@i:G:5) -@1=Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfH@]]]]f@1 >Is9 ɚ<6iIIii))2DrA*DrA m$?IqD9*Fm?2Fi:FiBFm0JFiGq GqWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J J Q;J R;J J;J J;G B O >w,UFA>}?Y>?>}29>n9>y>H Hӿ oҮ?@?5ӿ-?@M???q?ɨ>}?>;>#CyJ|BJ"IiNdh jG٣hyj j> nNusing accuracyPremultiplier from configlr59nKq?r5Ynt intvp+v@lnh;n;ng5zB ~@~>E%FNOT Ignoring new targets: 100.20 m. j!j!j!j!i!h)h)h)h1f1f1rf9bf=uKH@]Y]Y]Y]]Ӯf@u}2 qu>Iu/9 qɚuܝ6iyIyIyii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D>9 I*F?2F:FBF_5JFzKJK9KKKBKqA:KrAu Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >.w,3QFAJ?YJ?Jn49J_9>yJH ӿ`S?߄?:ӿ?`勦??`Qr?ɨJ?Jԇ;HjHbHp G٣y̼9 > Nusing accuracyPremultiplier from config59ކq?5Yu i3c(>;&@4E;;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 100.20 m. jjjjihhh h Bf frfbfH@]c(>]c(>]?]ptk@n4 q>I9 ɚ6iIIii) ))BD5=:D5l> I D 9*FE?2FA:FABFE_0JFI"GU >GU>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJݒ:J :JJa@a@a@a@G-F>B9O]?w,FAFTM?YFA?F49F"9>yFH@ҿ`?`? ӿ+?`•?]? r?ɨFTM?Fik;F CɸRCRuARiR,fFPiRCVuA)V VFIT rfC)rwAɹrTr~Fpr̎CɺvuAitIttIz CizuA xx)xzC zhuA~+|ɻ||~vAI|)|i)CIɼ y}B"II-I-2٢=i< =?=9=8Q =>AA EG٣AyMO M> ]Nusing accuracyPremultiplier from configQ]59U4q?]5YUv iUae&e@U5EU:U:Uۖ5i uv@qFNOT Ignoring new targets: 100.20 m. jjjjihhhhffrfbfH@]Q]Q]Q]UXk@4 隅>Iw9 ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9zKejIKeu9KaKeKe&'*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B) OM >w,FAymzBm"I)q qy}AMb@Mb@Mb@ )Y{GzV-?I +?y#h>94= A @)Z@I`@y@IIT3٢-? -/=95Q 5>99 =G٣9yE E> UNusing accuracyPremultiplier from configQ]59U}q?e5YUw iUm>m;m!m@QUw;U];U瘝5y }@FNOT Ignoring new targets: 100.20 m. jjjjihhHI Im#II߄BI =&I.I6Ij<:Ic FhhBffrfbf`I@]>]>]#5?]}p@ %]>I%>9 !ɚ%06i!I!I)i)i))))1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5N5JF1 IG B! O= >⾑w,nFA:?Y:F?:39:`59>y:Hfҿ!??`-ӿ}LJ?@}??r?ɨ:?:;:!C]Will construct direction to contact in vehicle frame from tetrahedron phase data.J]J]J]0JYJ]:J]u9J]ـ3JYJ];amJ];amJ]/;amJ]/;amy=|B="II I<2٢< 6=9 9Q > G٣y > Nusing accuracyPremultiplier from config59vyq?5Yx iz!@6E ; ;ܚ5 @FNOT Ignoring new targets: 100.20 m. jjjj i h h hhffrfbf=CI@]1]1]1]5Yp@M3 IM>IM9 QɚU6iQIQIYiYiY)Y)Y*F2F:FBF 5JFG  G  Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BI Om > I őw,zGAzKVKKV89KTKVKVBKp:Kp?Y4?49o9>yH`ҿ f=?Q?`/ҿМ?? ?q?ɨ?߆;"C)5̎CI5;wA11 11=CwA9i99i9=wA)9 AIA A)AIIIM̏CMKwAiIIIQIQiQ QQ)QY ]wAYYYaaIa)aiaaymBm#IMb@Mb@Mb@ )YH= @)IyQ@II(*2٢G= Y=9Q > G٣yk > %Nusing accuracyPremultiplier from config%598vq?%5Yyy iC-/>-;-2!-@@;';5Y ]@YFNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbfVvI@]%/>]%/>]%j?]%Gp@=4 9={>I=9 9ɚEܫ6iAIAIAiIiI)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.)q*F ?2F :F BF P0JF ZHy RH} @AH I  I s#II BI  =&I .I 6I 7<:I = FGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ˑw,!2GAf?Yf?fȴ49f0e9>yfHҿ  ??Kҿ?ด?? Cr?ɨf?f{;f CyޝBޝ#IIIM3٢< [=9Q > G٣y# > Nusing accuracyPremultiplier from config59-sq?5Y(z i!%B!%@;;#5) -@)}FNOT Ignoring new targets: 100.20 m. jjjjihhhhffrf Ibf5 ڦI@]]]]p@ȴ4 {>Iu9 ɚ06iIIii))*Fe?2Fa:FaBFm]0JFi}Will construct direction to contact in vehicle frame from tetrahedron phase data.G F>B O >ґw,KGA6 ?Y6?6K496h9>y6H@ҿ@s3?T? yҿ?i? ?q?ɨ6 ?6渆;6!CyB #III?13٢E1< MT=9M7Q M>QQ UG٣QyU U> eNusing accuracyPremultiplier from configam59eoq?m5Yez ieـimM!m@e7Eez:eX:eҟ5 n@AE=FNOT Ignoring new targets: 100.20 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfUI@]q]q]q]up@K4 隅{>Ig9 ɚ6iIIii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAE1E1*F?2F:FBF_0JF"G>G > $?IzKRIK9KKKRK ?JK?Gm A>By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Jkـ3Kk(3 Kk(.KcKc"KcJ J J J J \:J :J J a @a @a @a @ّw,*eGAy]B] #I%Mb@Mb@Mb@!!! !)!Y% rhCl?:v?y%C%;=%T=% A %@)!I!!y!IEIE2٢]/=< ]:=9eQ e>ii uG٣qy} }> Nusing accuracyPremultiplier from config59lq?5Yo{ i=; )@u;|n;5 D@FNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbf_ J@]=]=]?]h@H5S>I1 I5#II5BI1&I1.I5:D6I53<:I5; FI IM{>IM,9 QɚU6iQIQIYiYiY)Y)Y*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG B O >G1ߑw,иGA6x?Y6ɶ?6396B9>y6H౉ҿo o? ?`mҿO? hr?L?r?ɨ6x?6͏;6"CyBBB#I)D DIJIJb1٢r4< rf=9v::Q v>tt vG٣tyzɻ z> ~Nusing accuracyPremultiplier from config|59~jq?5Y~{ i~g  G) @|~:~:~K5 $@=Will construct direction to contact in vehicle frame from tetrahedron phase data.===4=MFNOT Ignoring new targets: 100.20 m. jIjIjQjQiQhQhQhYhYfafarfabfe:J@]]]]h@3 隝{>I>9 ɚ)6iIIii))*Fu?)y y2Fq:FBF~3JFG U1YQyUŸAO?AGIBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data. I xw,GAzKBoHK89KKK#:Qj  2=BK9:K9}pL?Y}]?}829}k\9>y}HtҿФ??ҿ?`IE??r?ɨ}pL?}};yyޕBޕ#I%Mb@Mb@Mb@!!! !)!Y%RQ?J +?y%%=%H=% A %K@)%@I!!y%@I=I=F2٢E,< E6=9MH:Q M>QQ UG٣QyUTE ]> eNusing accuracyPremultiplier from configYe59]gq?m5Y]3| i]+m=m;m,4u@]8E]S;];]B5y }@yFNOT Ignoring new targets: 100.20 m. jjjjihhhhBffrfbfsJ@]u=]u=]u?]u]@82 隝u>I{9 ɚA6iIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBF]2JFaJJJ1JJ:JJ3JjH- <bH- <H5 T>I5 C I5 #II5 BI5  =&I1 .I1 6I5 c<:I5 _ FBIJIRIZI =bIjI"4G <>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,fiGAy]B]#IImIm 3٢}K }Y=9Q > G٣y > Nusing accuracyPremultiplier from config59xdq?5Yx| i@h;i;覝5 @FNOT Ignoring new targets: 100.20 m. jjjjihhhhff 9IArfybf} oJ@]]]] p>I9 ɚ6iIIii))*F2F:FBF/5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.GA>BO >,w,PGA2?Y2N?2092r9>y2H`*Xҿ@@5?_?ҿ??{?r?ɨ2?2V;2$CyBBB#IiF4=IF4=IJIJb2٢V< VX=9V+:Q V>XX ZG٣Xy > %Nusing accuracyPremultiplier from config!-59%aq?-5Y%| i%)-Q4-@!%:%:%59 =@9eFNOT Ignoring new targets: 100.20 m. jajajijiiihihihqhqfqfqrfybf J@]]]]]@0 隽{>I9 ɚ6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9D}9zKU_*NKU9KQKUKUFQXdr{}tg^VK@4)}yvttssnkihihca____a^\RKaJKe?*FM?2FI:FIBFM_5JFIe Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J 9J J G <>B O >w,GAV|?YVi=?V3/9Vd9>yVH`Oҿ ˟??Sҿ?@?@?r?ɨV|?Vӆ;V%CyfBj"#IMb@Mb@Mb@ )Y{Gz?sh|??I +?yף<=94= A )Iv@y3@II2٢`< 0=99Q > G٣y > Nusing accuracyPremultiplier from config59^q?5Y| i= <aE@9E;;5HU>I I#IIBI =&I.I6I`<:I $@FNOT Ignoring new targets: 100.20 m. jjjjihhhh;Bff rf bf K@]m=]m=]m˪?]mL@3/ 隭L>I 9 ɚǼ6iIIii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFUF3JFQ iIqGu :>B O >w,XHA.Will construct direction to contact in vehicle frame from tetrahedron phase data.: ?Y:-?:6-9:9>y:HHҿ`E:? ?wҿ4Ӈ??? Zr?ɨ: ?:#;:#CyNBN#IIVIV2٢ V=9ʀ:Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-\q?55Y-| i-~9=oE=@)-2 ;-e ;-@5A E@AmFNOT Ignoring new targets: 100.20 m. jqjqjqjqiqhqhyhyhyfyfrfbf@K@]]]]L@*J"J6- 3>I9 ɚ6iIIii))D59*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ii G BQ O >w,AFHAzK &6OK -9KK K Z[[ZZYSRMF>>GSjzuvrnjfb^^[VWXSQPMKHID=3/+++')++6 a?Y N? !+9 ?9>y H;ҿ]??iҿ^?q?@ ?`|r?ɨ a? s; &Cy%B%#IMb@Mb@Mb@ )Y:v?{Gz?l?y<ף== A b@)@IQAy@I%I)3٢2 9=9F:Q > G٣y > Nusing accuracyPremultiplier from config59Yq?5Y| ib~4=<G@@8;A;.5  @FNOT Ignoring new targets: 100.20 m.Resuming propulsion at range: 100.20 m and bearing: 14.204280 deg. Not drifting fast enough.bj}> jX@jjjiL?hWill construct direction to contact in vehicle frame from tetrahedron phase data.h h h 2Bffrfbf|K@]U4=]U4=]Uנ?]UG@H< j=隍B>I9 ɚ6iI-=I@r?ii)X@)ABD=:D>JuJuJqJqJu<:Ju:JqJqZHRH?AHX>IC III =&I.I;D6I0<:I? FD9EE*F5 ?2F1 :F1 BF= 4JF9 GA  GA  Will construct direction to contact in vehicle frame from tetrahedron phase data. I G]A>BO>Qw,yFH`M/ҿ`1`̐?(?@([ҿj?@?9?@Qs?ɨFɺ?F~r;F"CyVBV#II^I^ 2٢f@ f6=9jE:Q j>hh nG٣lynx n> vNusing accuracyPremultiplier from configtz59vVq?z5Yv| iv~xzG@~@tvL:v:v#5 @5FNOT Ignoring new targets: 100.20 m. j9j9j9j9i9h9h9hAhA:EuMAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;M vMBAOm>m Will construct direction to contact in vehicle frame from tetrahedron phase data.82w,XUHA2n?Y2[?2%92Jk9>y2H/%ҿ`@?ۨ?tOҿ~?)?`5?xs?ɨ2n?2 ;0y>B> #IIJ%IJ)3٢R< RN=9V:Q V>TX ZG٣XyZ׺ ^> bNusing accuracyPremultiplier from config\b59^LTq?f5Y^| i^}dfF@f@^:E^:^:^߱5 IIQ j@MFNOT Ignoring new targets: 100.20 m. jIjQjQjYiYhahhhffifqrfybf}pK@zK%NK!K!K%K%DMG>50*)*+,.+++*,(&$&#""!!RK-?JK- ?]1]1]1]5F@ɛMBMz IM{II UɚQiQIU}=I]?iYiY)Y)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFJJJJJJ:JJHe Z>Ie C Ie #IIe BIe  =&Ia .Ia 6Ie 9<:Ie J FG 2>B O >QXw,oHA2`?Y2?2`!929>y2H`sҿ"`֌??`+ҿ0?W!??^s?ɨ2`?2/;0yB{BB"IMb@Mb@Mb@ )Y~jt?{Gz?X9v?y<<3 A )IhAyz@I-I-#3٢5騽 B=9,;Q > G٣y۝ > Nusing accuracyPremultiplier from config59}Qq?5Y| i]}t=<uH@@;+;dz5 @B*** querying acoustic contact ***jjFNOT Ignoring new targets: 100.20 m. jjjjihhh!h%)Bf!f!f!rf)bf-rL@=Will construct direction to contact in vehicle frame from tetrahedron phase data. =2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.]mt=]mt=]mf?]muH@ɛB32 隅(I 74ɚiI I=IJ?ii97}>))2DrA*DrAD9 QIQE9*FU ?2FQ :FQ BFQ JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3207>  BDAT read: Tx time:23:24:17.2832  $Ping request sent. Ba O} >"w,ۋHA61H?Y6?6FE969>y6Hѿ$ ? ? Oҿ #? fǣ??s?ɨ61H?6봇;6!Cy>wB>"IIjIj2٢n r>=9r":Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~Nq?5Y~| i~}bH@@|~:~:~5B @DEMFNOT Ignoring new targets: 100.20 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbf]RL@]y]y]y]}qbH@ɛBG6 隕!I ΝɚiIK =IO?ii<6>))Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:24:17.2824 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249440 !I!DM9E-ԅ<*F?2F:FBF_0JFG ߀>zK MK 9K K K     BK rA:K qAB9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500597(w,gHA27?Y2#?2 92Y)>y2H`ҿ6-??Eҿtb?@?a??ɨ27?2誇;0y:iB:"IMb@Mb@Mb@ )Y~jt?~jt?Q?yD<=<I A )IAy@II٢ ;=9Q >  G٣ yg; > -Nusing accuracyPremultiplier from config)=59-Kq?=5Y-| i-|Er=EI Im#II߄BI&I.I6I<:I3 FɛuB}1݅ y}Iy }^+ɚiI=Ie?iiL#=))BD=:D;Dc9E(W==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753453*FU?2FQ:FQBFUo0JFQ  $?I G= eE>G AB O5 >P0w, PHA6݂?Y6?6966,>y6H ҿ%3? ث?`<ҿ9?ӣ?9y??ɨ6݂?6N;6"CyBaBB"IIJIJ٢R$ RQ=9VC:Q V>VL?ZL? ZG٣ZTGy   > Nusing accuracyPremultiplier from config%59Hq?%5Y} iq|)-=-@;E$;:B51 5"@9eFNOT Ignoring new targets: 100.20 m. jajajajaiahahihihifqfqfqrfqbfuL@ɛB 隭IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004875 7`EɚiI钏=I?iiZ=))D9EG]tAEUpAuAEUmAJJJJJ:J9JJJ;aJ ;aJ:;aJ:;a YtAyEAE#*l=*FE ?2FA :FA BFE n0JFA m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258181G ܑp>G B  I O- >w6w, HAQ?Yl?9/>yHeѿ3 b=?`?`O#ҿM?@z?@?Ђ?ɨQ?r;yTB"IIIV8٢Uef U2=9]:Q ]>YY ]G٣Yye\ e> mNusing accuracyPremultiplier from configiu59m.Eq?u5YmE} im|y}>}@im;m;m65 @zK&MK9KKKRK?JK?5FNOT Ignoring new targets: 100.20 m. j9j9j9j9i9h9h9hAhAfAfAfirfibfmL@ɛBѻ 隽½I lɚiIDT=Ih?ii())D9EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510954*E"EH ^>I  I T#II ʄBI &I .I 6I K<:I Z FBIȥCJIȤCRIȔCZI =bI =jIȝu6*F% ?2F! :F! BF% 0JF! G ?>G B O >ByMHCѿ@>@v4?`ۺ?`ѿ.?ء???ɨM$?M.;IyޅOBޅ"I IMMb@Mb@Mb@III I)IYMMb`?&1?Mb?yM;M=M=I Mx@)M@IIIyM@Ie#Ie%x3٢}ü }H=98;Q > G٣y6 > Nusing accuracyPremultiplier from config59Bq?5Y} i{=;M7@;;5 E@FNOT Ignoring new targets: 100.20 m. jjjjihhhhBfff rf bf `+M@ɛ5B=  9=ͽI9 =Eɚ9i9IE'=IEHd@iAiM()I)I2DUqA*DUqADMF9*F?2F:FBF2JF"G>GG)>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012594J J J J J :J :J J J ;J ;J C;J C;!Cw,1IA6X?Y6DN?6Y(964->y6H`Bdѿ`N!? ?Wyѿ@ ʐ? ?@?`Q?ɨ6X?6;6!CybHBf"IInIn2٢v vh=9v,xx zG٣zTGy~s ~> Nusing accuracyPremultiplier from config 59N?q?5Y} i{7@zK- {]LK- 9K) K- K- ,8ATgBK5 pA:K5 rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5165297Iw,*(IAy->B-"IMb@Mb@Mb@ )Y{Gzt`"?  G٣y% %> ENusing accuracyPremultiplier from config9M59=M;q?U5Y=8~ i={]_>];]3e@9=E;=R;=z5 O@HE`>IA IE5#IIEBIA&IA.IEPw,BIAy:B"II%I%3٢5 5W=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU59M7q?U5YM~ iMzQQ]@IM~ ;M ;M5a e@aWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:24:19.8304 TRx dataTimestamp_ set to:1736378661.100909checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029909UFNOT Ignoring new targets: 100.20 m. jQjQjQjQiQhYhYhYhYfafafrfbf@M@ɛzBd I @")ɚiIe=JmJmJm0JiJm|:Jmu9Jmـ3JiJm;Jm;Jm/;Jm/;I}[@ii ))*F5?2F1:F1BF=_0JF9GEqA GAG] -= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281905G1 BA Oe > y Iy .Vw,m\IAZ?YZ8?Zg9Z>yZH@`dпK'?  G٣TGyh > Nusing accuracyPremultiplier from config593q?5Y idzzK-MK-9K)K-K-uxqsphaZQHB=6128;:643,%$%# 5=@=E<<ĝ5A E@AFNOT Ignoring new targets: 100.20 m. jjjjihhhhfffrfbfM@ɛ-xB- -X=-I) 5WGɚ1i1I5m=I=z@i9i9)9)aWill construct direction to contact in vehicle frame from tetrahedron phase data.<4<MDAT read: 23:24:19.8304 LVL= 23760, 21297, 13394, 16883, AGC= 62, IDX= 6, 0.30,-0.890,-0.746, 1.168, 0.060, PHS=-0.862,-0.759, 1.105, RAW= 212.7, 5.4, CAL= 214.7, -0.5, ROT= 295.3, 0.5 }Ygot valid direction response: 23:24:19.8304 LVL= 23760, 21297, 13394, 16883, AGC= 62, IDX= 6, 0.30,-0.890,-0.746, 1.168, 0.060, PHS=-0.862,-0.759, 1.105, RAW= 212.7, 5.4, CAL= 214.7, -0.5, ROT= 295.3, 0.5 PDAT read: Bearing 295.3, 0.5 (Local) ~Local bearing/azimuth received: Bearing 295.3, 0.5 (Local) DAT read: Range 10 to 50 : 107.3 m (Round-trip 143.1 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.*F?2F:FBFn0JF]bdirection in FSK: [-0.127720,-0.862762,-0.489213]eFpublishing direction and range info9Y"Y[쾛ٱ@2DO߿yB\1S R4)AI>i\MBp?m@= |o@)5I7@i5<lG [Y?N"H(>?)?G=IA½iۿ*?GBO>H- b>I- C I- #II- BI) &I) .I) 6I- <<:I- R F\w,=vIA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:b?Y:N?:9:s>y:HZ+п5@?6?`#пU?@+?`?@?ɨ:b?:b;8yN,BR"I !I!Mb@Mb@Mb@ )YMbp?n?ˡE?y;V>'= @)Iy@II[3٢ L=9 G٣y > Nusing accuracyPremultiplier from config59/q?5YN i zt>;2:@;U;ŝ5B g@GEk ˌ?kI k k!fIA:kBBk'BZk="ch+aJ$W#s7 ?JY"Y[쾛ٱ@2DO߿JkۿRk*?*zq-U@>!@mנfPPdn.?(V?f[ez"kA*kߨBk ?k  2k0>k ?k\ kkNBk>E addTargetRange:: Added new target pos. range: 107.300003 m, deltaT: 60.020405 s, deltaX: 7.100006 m, approachRate: 0.118293 m/s, rangeRepo size: 4 ] Added new target pos. range: 107.300003 m, bearing: 6.045856 deg, lat: 36.904796 deg, lon: -122.120106 deg, deltaT: 60.020405 s, deltaX: 7.100006 m, approachRate: 0.118293 m/s, posRepo size: 4 eFNOT Ignoring new targets: 107.30 m. jajajajaiahahihihmBfifqfqrfu@3Z@bf}@E?ɛuB< 隭I bɚiI;=Iq9@ii))*F?2F:FBF1JFGF=GaByO_>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J =9J J J ;J ;J *;J *;"cw,IA2?Y2S?2tM92%A>y2HϿ? ?ϿI?S?.?(?ɨ2?2lj;0y^(B^"IIfIf?13٢ U=9 G٣!y%} %> 5Nusing accuracyPremultiplier from config)=59-+q?=5Y- i-y9=:E@->E-;-[;-cǝ5I M@IuFNOT Ignoring new targets: 107.30 m. jqjyjyjyiyhyhyhhfffrfbf(Q?ɛsBF~= I ɚiI=I = @ii))2D*DBD:DUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JF"G>G= IGD0;GBOB>zK '8NK 89K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,IAye+Bm"Ii=Ia= ==Mb@Mb@Mb@ )Y A @)3@Iv@yp@I5I53٢EJ< E9=9EQ E>II MG٣MTGyU U> eNusing accuracyPremultiplier from configY}59]%q?}5Y]4 i]7y+>;:@@Y]<]<]Rɝ5 z@Hf>I I #IIBI =&I.I6I?<:IX F FNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf?ɛ-oB-' )- I) 5?gɚ1i1I5嘎=I=N&@i9i9)9)A]Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IE!k=*F ?2F :F BF 0JF G GY Bi O >Ypw,IAB?YB?Bk 9B/">yBHˊϿ??PϿ/{??B?i?ɨB?B;B"CyN(BN"IIVIV2٢^ G bg=9bE4dd fG٣dyf j> nNusing accuracyPremultiplier from confighr59jx!q?r5Yj~ ijxpr\:@r@hjC ;j ;jʝ5x z@|%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf=@?ɛemBe}? aeIa mɚiiiIm=I}*@iyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.E=Q|=JQJU@A*F?2F:FBFS0JFGr۶GBOC>m Will construct direction to contact in vehicle frame from tetrahedron phase data. I Mww,IAFݝ?YF?FI29FL$>yFH`=xϿ`P?N?`7Ͽ[?5f?r??ɨFݝ?Fg;F#Cyb!Bf"II"Iq3٢M MB=9]`;Q e>iq }G٣yy > Nusing accuracyPremultiplier from config59q?5Yx~ ihxH:@@?E/<<̝5! -@1MFNOT Ignoring new targets: 107.30 m. jIjIjQjQiQhQhQhYhYfafifizKk3IK9KKK    /52..,)&$&! rfbf?ɛiB 3(  I) -ɚ)i)I-V=I5T1@i1i1)1)9*EE="EE=Will construct direction to contact in vehicle frame from tetrahedron phase data.JmJmJm1JiJm|:Jm 9Jm3Jia}@a}@a}@a}@E-tn=E1E5qAHj>IC I"II~BI =&IFD.I=D6I!<:ID F*F ?2F :F BF ;5JF G  G pAG Ta"G B O >C<}w,fIAWill construct direction to contact in vehicle frame from tetrahedron phase data.:י?Y:?:ܻ9:S">y:HdtϿ ??`0Ͽ ?{?@EB?@?ɨ:י?:H; DID:$Cy B"I) mMb@Mb@Mb@iii i)iYmHzG?~jt?/$?ym= >m>m,=m A m@)m`@Iiiym@I}I}٢ *=99:Q > G٣TGy > Nusing accuracyPremultiplier from config59"q?5YI} iwT>;(@@@EI;;Ν5 $@ FNOT Ignoring new targets: 107.30 m. j j j j i hhhhBfffrfbf% .@ɛfB- H I ɚiIW=IK7@ii)) EIEI*Ee"Ee) cCWill construct direction to contact in vehicle frame from tetrahedron phase data.G%|uA1 ] Y]|uAyeB*Jm 4="Jm %=*F ?2F :F BF 4JF G -RGq B O >Hw,JAɸlnuAlillilp)p pIp p)pɹptttɺtitItxIxix xx)x~C ~KuA~(\~6`Fɻ|vAI)i)I ɼ   yޕBޕ"IIIm?3٢ f=9Q > G٣y > %Nusing accuracyPremultiplier from confige59q?5Yb| iw@<9<cН5B /@JEWill construct direction to contact in vehicle frame from tetrahedron phase data. )I)MFNOT Ignoring new targets: 107.30 m. jIjIjIjIiIhQhQhQhYfaffrfbf@U@ɛbB-5 I GʺɚiIA=I  l<@i i ) )*F?2F:FBF_0JFGMnGBO>zK HMK K K K 2"1GQEBK :K pA Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,ƾ+JAJ+3K+w3 K+.-K#K#"K#JJJJJ̶:J9JJF$?YF(?Fڻ9F5">yFH5ϿT?`?~Ͽ4Ġ?@_{?0?@?ɨF$?FH;Dy!B"IMb@Mb@Mb@ )YNbX9?S?+?yE>>= A @)IyZH1RH5@AH=l>I9 I="II=yBI9&I9.I96I=5<:I=T FBICJICRICZI =bI =jIp5I5 I5V2٢m< mB=9u&9Q u>qy }G٣yy}k; }> Nusing accuracyPremultiplier from config59` q?5Yz iw~>U;r@@AE;';5ҝ5 @FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf @ɛ-_B-{R% 15JVw,EJABcP?YBP?B09B%>yBH`п*@ 8?;?@tϿ ? F~?E??ɨBcP?B;@y="B="IIM IM<2٢]< ]]=9e Q e>ai mG٣iymo < m> }Nusing accuracyPremultiplier from configq}59uq?5YuDy iuv@@uBEu.:uC:uӝ5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf n\ @ɛ\B}# I |0ɚiI=I˽F@ii ) )*F?2F:FBF4JFG  $?I M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI G B O >w,{_JAzKOK9KKK&.jB% y\L7#zk]PC2! vh\P=.&RK>JK>yޝBޝz"IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y x&1?n?Mb?y > V> = 3 A @) I QA JEJEJAJAJE:JE9JAJAy @I]"I]q3٢e m=9mQ m>qq uG٣uTGy} }> Nusing accuracyPremultiplier from config59hp?5Yv i6v>6;@@CE ; ;N֝5 @FNOT Ignoring new targets: 107.30 m. jjjjihhhhBf f f rfbf0@ɛWB 隽HI .ɚiI=ICii))H5m>I1 I1I1I5 =&I5GD.I16I52<:I5R F*F ?2F :F BF n0JF I U Will construct direction to contact in vehicle frame from tetrahedron phase data.G GBO>I w,JA6?Y6~?63<496A.>y6H пj@tP?,? {п@q?h?ѵ?͈?ɨ6?6;;6#C) ) I) 襒w,ɘJA6Will construct direction to contact in vehicle frame from tetrahedron phase data.v5?Yvs?v9v 4>yvH`ѿ 72? ?@ѿ 2?{4?`e?s?ɨv5?vל;v"Cyޡޡ) AII9_Q > G٣yu3= > Nusing accuracyPremultiplier from config59*p?5Y r iut@@EEQ;]$;ٝ5 @MEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`d@ɛ5PB= 9=0߽I9 =ɚ9i9IE=IEU:iIiI)I)q*F-?2F):F1BF54JF1zK9@PK 9KKKzrmb]TLH@5/(" BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.G J J J 0J J :J m9J ـ3J G B O >H I C I "II tBI  =&I .I 6I Q<:I g Flw,]JAyBt"ImMb@Mb@Mb@iii i)iYmzG?L7A`?y&1?ym >m+>m` G٣TGy > Nusing accuracyPremultiplier from config 59 p?5Y )o i u%>%#;%u@%@ FE L; ; }۝5) 5@5KE]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhYhahaheBfafifiuWill construct direction to contact in vehicle frame from tetrahedron phase data.rfqbf}`3@ɛMB 隵pI + ɚiIƤ=I 6ii))*F?2F:FBFP0JFG G '?G L?G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,oJAF?YFO?Fi9FF%>>yFH`VPӿ@ Lh??O?ӿaq?ਬ?"?q?ɨF?FE;DybBbq"IIjIj2٢zz zq=9zQ z?|| ~G٣|y= ?  Nusing accuracyPremultiplier from config 59 p?5Y m i t@@ GE :  ; ܝ5! %@!MFNOT Ignoring new targets: 107.30 m. jIjQjQjQiQhQhQhhfffrfbf`@ɛIB+ @I %X5ɚ!i!I%X=I--4i)i))))1*F?2F:FBF_0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>'w,fJAzKnxOKж9KKK~zyxwywvvsrsuspmlqqliiea`_]^_]\Z\\[WWWWill construct direction to contact in vehicle frame from tetrahedron phase data.%=4=y5B5n"IiE>ף<A @)IhAyAII3٢ -=9Q  >   G٣TGy > Nusing accuracyPremultiplier from config%59@p?%5Yi ijt-|>-;-v@-@HEJ;;ߝ51 5@9mFNOT Ignoring new targets: 107.30 m. jjjjihhhh Bfffrfbf@H-n>I-C I-"II-oBI- =&I).I)6I-,<:I-N FɛEBXD 隅׽I WɚiIXs=I2ii))*Fu?2Fq:FqBFuY0JFq I Will construct direction to contact in vehicle frame from tetrahedron phase data.GY G1 B9 O] >w,JKA6Ҁ?Y6?6&96+G>y6H@KԿ0?09?BԿ?@?o? a?ɨ6Ҁ?6m1;6!CyBBBe"IInIn3٢v9 vs=9v⮼Q v?xx zG٣xy~= ~? Nusing accuracyPremultiplier from config 59 p? 5Y)g i t #@@IE,;-;~5! %@!MFNOT Ignoring new targets: 107.30 m. jIjIjQjQiQhQhQhYhYfYfYfYrfabfe@ɛCB*eF 隵I ɚiI^=I`2ii))*FM?2FI:FIBFM}0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.J}J}JyJyJ}}:J}9JyJyJ};aJ};aJ};aJ};aGGaBqO> I h8ƒw,KA"Will construct direction to contact in vehicle frame from tetrahedron phase data.6%`?Y6?6D 96y6H gտAlx?=?`տ`UX\ ^G٣\y^}= b> fNusing accuracyPremultiplier from config`f59bp?j5Ybad ibshj@j@bJEb:b :b95rB rb@vNEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfn@ɛ?BK սI J!ɚ!i!I%r3=I%4i)i)))))*F?2F:FBF0JFGBWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK9KKKXTRWXWURUSQSSSPSRQPQNOOMNOLIIKLKIHIGHHIJLLKKMNNNMNLNPONMLJGGGBO>ZH) RH) H= o>I9  I= "II= jBI=  =&I= FD.I9 6I= <:I= / Fa̒w,3KAy~B^"I) !%A AIAuMb@Mb@Mb@qqq q)qYu-?)\(?uG=ut G٣y > Nusing accuracyPremultiplier from config59p?5Y` ies>;: @@LE;;C5 @UWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf S@ɛ;B+! !%I! %R(ɚ!i!IMa=IM7iQiQ)Q)Q*F?2F:FBF0JF c~G 1 ] YY y] BGe 3 Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Om >HJӒw,MKAJ J"?AJ&J&J&1J$J&=:J&[9J&3J$J&ԥ;J&ե;J&;J&;N9?YNw?Nœ(9NʰO>yNH A׿ ?@?׿`N??@ ?HQ?ɨN9?Nȇ;N"CyZBZ["IIfIfM3٢nJ rk=9rQ r?tt vG٣vTGyvT= v? ~Nusing accuracyPremultiplier from configx59zbp?5Yz^ izs#@@zMEz6;zy;z5   @=FNOT Ignoring new targets: 107.30 m. j9j9jAjAiAhIhIhIhQfQfQfQrfYbf]` @ɛ9B;\; 隍I A-ɚiIۍ=II8ii))*FU?2FQ:FQBFUD4JFQ -$?I)eWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu:GIBYOu>P~ْw,xgKA-@2?Y--p?-Q69-0oU>y-H„ؿ 6?6?`Rؿ` ?QȦ? u?@F?ɨ-@2?-!;)yUBUY"IzKNKж9KKKHKPTUUXXVXY[WWY_`_\\_[\][^a][[][WY[ZY[YWWYWWUXXYZXYZXW[^]YWYRK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx&1?B`"۹?~jt?y>=D<vA x@)I@I~AyII?13٢ /=9mQ > G٣y= > Nusing accuracyPremultiplier from config593p?5YGZ irk>; @@NE1;;5 )@FNOT Ignoring new targets: 107.30 m. jjjjihhh!h%Bf!f!f!rf)bf-= @ɛ]5B] Y]PݽIY eO3ɚaiaIe=Im:9iiii)i)qHq>I III =&I.I6I<:I; FBI}ħCJI}ħCRIyZI} =bI} =jI}J5*F?2F:FBF_4JF IG 3u Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! Oe >]w,KA6V?Y6?6tOE96Su[>y6H ٿ]?@XO? ٿ=X?}?0?M;?ɨ6V?6H;4yBBB^"IiF=IFa=IJIJT3٢R2< Ru=9V}3Q V?TX ZG٣XyZQM= Z? bNusing accuracyPremultiplier from config\b59^p?f5Y^W i^rrdf@f@^OE^:^:^G5jB U@]QEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf @ɛ2B[ /q=I <8ɚiI;^=I 29i i ))E%qAE!*F?2F:FBF^0JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.J]J]J]0JYJ]:J]9J]ـ3JYJ]!;J]";J]' ;J]( ;GGiByO>  I w,W[KA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:f?Y:ߤ?:kR9:la>y:H`oڿkG*??@|ڿ?J??`.?ɨ:f?:v?;8yFBFb"IIN"INq3٢V< VJ=9ZQ Z>XX ^G٣^TGy^F#= ^> fNusing accuracyPremultiplier from config`f59b9p?f5Yb\T ibrhj@j@bPEbn:`b 5p r@tFNOT Ignoring new targets: 107.30 m. jjjjihhhhf!f!f!rf!bf% !@ɛ/Bnf XI E<ɚiI=I29ii ) ) *F?2F:FBF_0JFG:Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMNKIKIKMKMZYS:BKa:KeqAGBO>H I  I I I &I .I 6I <:I H F\w,KAFM?YF@F&`9FKnf>yFH sۿ? h?7ۿV???k%?ɨFM?F>;DyRBR]"I IhMb@Mb@Mb@ )YMbX?1Zd? rh?y>"=C</A )@I AyAI+In3٢ 5=9 Q  >   G٣ye= > %Nusing accuracyPremultiplier from config-59Rp?55YP iq54>5;=@=@REi;g;5A E@AmFNOT Ignoring new targets: 107.30 m. jijijqjqiqhqhqhyh}Bfyfyfyrfbfq"@ɛ+B 隽,I Q@ɚiI=I29ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FIBFIJFIGm3GQ Bq O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,[KAJJJJJ]:J9JJJ:;J<;J|;J|;vB?Yv@vl9vj>yvHjܿ`>?@?exܿ?疭???ɨvB?vLŇ;v#CyB`"II-I-m?3٢=}< =X=9=Q =>AA EG٣AyMV6= M> UNusing accuracyPremultiplier from configI]59Mp?]5YMM iMEqae@e@MSEM;M ;M5i m@mNEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@Zb#@ɛ(B I DɚiIr=IU29iQiQ)Y)Y $?IEqE}N>E}>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF ^0JF"G>G>GU :Gu $?Gu M?GQ By O >tw,KA6?Y6;'@6x96Hm>y6H iݿq?Z?xݿ/F??lW?T?ɨ6?6;6"CyBBBc"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.zKvLKv9KtKvKvGai3/+3:66685-ouvDvDjF$cB*RK~?JK~?Mb@Mb@Mb@ )YOn?V-??y>=<\A K@)@IAyGAI1I3٢2%< 0=9ϻQ > G٣TGyQ= > Nusing accuracyPremultiplier from config59p?5YI ip>:,@@UE;;5  @ QE5FNOT Ignoring new targets: 107.30 m. j1j1j1j1i1h9h9h9h=BfAfAfArfAbfM`tO$@ɛu%Bu$X y}vIy }2HɚyiyI}, =I29ii))HI I"IIoBI =&I.I6I<:I- FEmur=*F?2F:FBFo0JF AIIuWill construct direction to contact in vehicle frame from tetrahedron phase data.G3G B O > PExceeded connect timeout, disconnecting.aUw,ٗLA:+g?Y:R@: 9:`Lp>y:H Ep޿" r?c?~޿?4@?̳?g?ɨ:+g?:*;8yFBFs"IIVIVM3٢^g= ^_=9^MQ b>`` bG٣`yfL= f> jNusing accuracyPremultiplier from confighn59j|p?n5YjF ij>pprT@r@jVEj%;j;jM5t v@tEFNOT Ignoring new targets: 107.30 m. jAjAjAjAiAhIhIhIhIfIfQfQrfQbfU %@ɛ"B 隅I IɚiI=I29ii))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J!J!J%̈́:J%"9J!J!J%;J%;J%;J%;*F2F:FBFJF Q IQ G  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >+w,(~LA2?Y2}@2dž92r>y2H|t߿@y,? ?`߿? հ?? ?ɨ2?2;2$CyBBB"IININ2٢Rj= VK=9VDQ V>XX ZG٣Xy=:= => ENusing accuracyPremultiplier from configAM59Eqp?M5YE!C iEoIM}@M@EWEE:E:E"5Y ]@YFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf%@ɛBR I IɚiIB=I29ii))E*Fe?2Fa:FaBFe05JFaGq GqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBGqAGqAzK6PK 9KKKxi\MGC;3/,*$;O$yGIBYOu>H I  I "II ~BI  =&I .I 6I <:I 9 F = $?I9 w,{O9LAj(Q?Yj@j-勽9j$t>yjH@G@.|S?`Uv?L@I8?*y?6'? ?ɨj(Q?jt;j Cy $B "IMb@Mb@Mb@ )YQ??L7A`?y>>+=EA 5@)IAyAIIV83٢< 6=9䶻Q >    G٣ TGy8= > Nusing accuracyPremultiplier from config%59fp?%5Yd? io%.>-:-@-@YE@;];5=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9EB E@ETE}FNOT Ignoring new targets: 107.30 m. jyjyjyjyiyhyhhh.Bfffrfbf&@ɛeBm8 隭iJ! J% AAw,*SLA6d?Y6(@6J96u>y6H@%@q?@$? @DF?@? }[??ɨ6d?6N׈;6!CyB1BB"IIJ%IJ)3٢RT= Vc=9VnQ V>TX ZG٣XyZZ= Z> fNusing accuracyPremultiplier from configdj59f[p?j5YfR< ifnln@n@fZEf;f1;f5p v@tFNOT Ignoring new targets: 107.30 m. jjjjihhh!h!f!f!f!rf)bf-/w'@ɛeBeb9 e!K=e@:=Ia m%FɚiiiImz`=Iu29iqiq)q) I*Fm?2Fi:FiBFmU0JFiEWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>w,HmLABu?YBY @B#9Bv>yBH]s??]@aP?`$M?@xt?*?ɨBu?Bt;B"CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yV;BV"IMMb@Mb@Mb@III I)IzKU7OKUŷ9KQKUKUkL#sH_+qXI</% {roh]TOJID?>><97YMMb?Zd;?~jt?yM?M=M=MA M@)M@IIIyMAIuIuM3٢}8= ==9|Q > G٣yF= > Nusing accuracyPremultiplier from config59Np?5YE8 im?:?@@\E;;z5B @WEJJJJJ=:J9JJa%@a%@a%@a%@}FNOT Ignoring new targets: 107.30 m. jyjyjyjyiyhyhhhZBfffrfbf ^(@HI I#IIBI =&I.I6Iٯ<:I FɛBH: =I TBɚiI9Չ=I 29i i ) )EyE}rA*F?2F:FBFW0JF"G G > $?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.GA G B) OM >!w,LA24?Y2V @2͕92Cx>y2H`Y@`?e?`?n?'?`?ɨ24?2+;2#C)D DyFGBJ"I%NG9Q YySBIIT3٢i= G=9^~Q > G٣TGyU= > Nusing accuracyPremultiplier from config59Bp?5Y~4 i(m@@^EP: :F5 _@%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i)h)h)h)h)f1f1f9rf9bf= ')@ɛeBe; imD=Ii m=ɚiiiImUW=I29ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGI IG) B1 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.x'w,a LAR?YRP @Ru9R`z>yRH|??@5tN??`_??ɨR?R"m;R$CybZBb"IIjIj 3٢r= vY=9vKCQ v>xx zG٣xy~e= ~> Nusing accuracyPremultiplier from config 596p? 5Y1 il @@_E;s;5 2@FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`)@ɛeBuY; qu>Iq }36ɚyiyI}͈=I29ii))E@p=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKYOK9KKK4520..*)&$$$#!  1HW\abc^[][WRNMHC>:52/-*(%! JEJEJAJAJE}:JEH9JAJA*F?2F:FBF^0JFjHbHHI I;#IIBI =&I.I6I<:I FBIqJIqRIqZIu =bIu =jIuj 5 I hG G B O >.w,LANWill construct direction to contact in vehicle frame from tetrahedron phase data.ynhBr"IitIvC=uMb@Mb@Mb@qqq q)qYu(\?`"?I +?yu?u=u94=uA u@)u@IuAqyuAIIM3٢@h= ,=9Q > G٣y > Nusing accuracyPremultiplier from config59%p?5YK, ik?:a@@aE;M;5i mL@mXEFNOT Ignoring new targets: 107.30 m. jjjjihhhhhBfffrfbf*@ɛeB< 隅0>I %9+ɚiI%=I29ii))E}BJ=*F5?2F1:F1BF5_0JF1MWill construct direction to contact in vehicle frame from tetrahedron phase data.J J GY G1 BA Om >@5w,LA b$?I`y~{B"II&I3٢%= %S=9)Q ->)) 5G٣5TGy9 => ENusing accuracyPremultiplier from configAM59Ep?M5YEX( iEjQQU@EcEE7:E:E5Y e@aFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf+@ɛBj]< Z>I  a!ɚiI3=I29ii))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >S;w,^LAzK2(NK29K0K2K2        Jـ3K3 KKK"KJFJDJDJDJF :JDJDJDHtIt Ivg#IIvڄBIv =&It.It6Iv<:Iv FyލBލ"I5Mb@Mb@Mb@111 1)1Y5I +??l?y59?5=5=5rA 1)5@I5A1y5AIuIu3٢.= 6=9Q > G٣y  > Nusing accuracyPremultiplier from config59p?5YF# i5j-?5:5@=@eE#;W;5UB Up@U[E}FNOT Ignoring new targets: 107.30 m. jyjjjihhhhBfffrfbfn,@ $?Iɛ B,V< s>I ɚiI=I29ii))E*F?2F:FBFi1JF"GG>Will construct direction to contact in vehicle frame from tetrahedron phase data.սAiչG G B O >ܳBw,U MA>@Y>@>Y잽9>ȁ>y>H@-m?`,? U?pس?a?`[?ɨ>@>ņ;>!CyJBN#I)P PPRAIVIV2٢^U= ^k=9b(Q b?`` bG٣dyf>> f? nNusing accuracyPremultiplier from confighn59jo?r5Yj ijipv@v@jgEjG;jH;j,5| ~F@|%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i!h!h)h)h1f1f1f1rf1bf=9-@ɛe BeP< eo'=m>Ii uɚqiqIuZs=I}29iyiy)y) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JF IGBGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.*Hw,%MA:@Y:@:9:G>y:H@Pm` ]??1D?@?? ?ɨ:@:`;:"Cy^B^&#IIjIj3٢r~= vH=9vQ v>tx zG٣zTGyz= z> Nusing accuracyPremultiplier from config| 59~o? 5Y~  i~h  ]@ @~iE~:~P:~5B k@^EMFNOT Ignoring new targets: 107.30 m. jIjIjIjIiIhIhIhQhYfYfYfYrfabfe`W .@ɛBa< 隕>I bɚiI]̅=I29ii))*FM?2FI:FQBFUR0JFQ5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:JJJzKnLKKKK BKqAHp>I I#IIBI&IGD.I6I<:I F:KpAG:GBO> I Ow,>MA6c&@Y6YE@6H96lv>y6Hm@4??O@پ?@?3?`0?ɨ6c&@6r;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBF.#IMb@Mb@Mb@ )Y+?ˡE?Q?yv?=\=A )IAyAII2٢P< @=9"Q > G٣yq= > Nusing accuracyPremultiplier from config59o?5Y i@h ?:@@kE1;l0;5 @FNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf.@ɛeBeh< imץ>Ii HźɚiI =I29ii))*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.GI GQ GU pAG! B1 OM >}Uw,XMA $?I:@Y:@:L9:$>y:H@ [??8_{?b?g?`2?ɨ:@:;8yB@#Ii   G٣ yEm= E> UNusing accuracyPremultiplier from configIU59Mqo?]5YM iMgY]?@]@MmEM:M:M 5a e @maEWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf>/@ɛBC< R>I cLɚiIZ=I29ii))Ei*F ?2F :F BF 5JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.H m>I  I #II BI &I .I 6I +<:I L FzK KK 9K K K RK ?JK ?G IGBO?~]w,fzMABB @YB7?@B[9B(φ>yBHZ' zr? IO?mU?8?`(?q?ɨBB @B;B!CɸPPPiTTiTVuA)T TIT X)Xɹ\\\\ɺ\i\I``I`i` ``)`d f"uAf+f(`FɻdjChIh)hih)lInAnףɼl llyrBvE#I-Mb@Mb@Mb@))) )))Y-p= ף?T㥛 ?I +?y-%?-=-9<-A -@))I-A)y-AIIF3٢w< =9 9Q > G٣TGy= > Nusing accuracyPremultiplier from config59fo?5Will construct direction to contact in vehicle frame from tetrahedron phase data.Y  if &? : @ @pE;; 5 @_E]FNOT Ignoring new targets: 107.30 m. jajjjihhhhBfffrfbf`l0@ɛ%B-< )->I) -@lVɚ)i1I5}=I529i9i9)9)YEZ%=*F9 2F9 :F9 BF= ]5JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9J J J S;a% J U;a% J ;a% J ;a- G!G-?G-9? ~$?IhGB O->>fw,]1MA2 @Y2@2"92W>y2HMׂ ?@R?`y@9?? ?J?ɨ2 @2;2$Cyn˄BnV#IIv%Iv)3٢~s= :=99Q >    G٣ yy= > Nusing accuracyPremultiplier from config%59o?%5Y  i)f!%t!@-@rE;:~: 55B 5@5bE]FNOT Ignoring new targets: 107.30 m. jYjYjajaiahahahihififqfyrfybf}_0@ɛB< 隭>I FɚiIĂ=I29ii))EE*E"E%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 J G) B1 HU k>IU C IU #IIU 5BIU  =&IQ .IQ 6IU #<:IU D FOu >wlw,JMAzK*jIK*}9K(K*K*>2|@Y>(@>9>܇>y>H`=@? B ?Op?bϳ???ɨ>2|@>Uc;< yIyyeЄBe\#I)i iMb@Mb@Mb@ )Y/$?v/?~jt?y1(?xi=D<A @)@IAy\@IMIMm?3٢]f< ]=9e:Q e>aa mG٣m TGymJ= m> uNusing accuracyPremultiplier from configq}59ujo?5Yus iue(?:"@@uuEu;u:;u95B @eEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf `1@ɛ%B%< !%>I! -Iiɚ)i)I-=I529i1i1)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai*F?2F:FBFP0JF G 9 m Yi ym BG :G B O > Ysw, MA>M;@Y>BZ@>|9>d>y>H@]5 ?#Z?V ?ࡪ?j??ɨ>M;@>;> C)DIDDH HHJCwAHiHHiLL)L PIP T)VvATTTTZKwAiXIXXIXiZwA X\)\^C ^wA`````I`)`iddyjׄBjd#IIvIv(*3٢z20= z=9v:Q ? G٣ y =  ? Nusing accuracyPremultiplier from config59zo?5Y i)e!-k$@-@vE3A;A;51 5+@1}Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 107.30 m. jjjjihhh h f f f rfbf 1@ɛ}B}9 = y隅 >I [9ɚiI7S=I29ii))JJJJJJJJ:JJa@a@a@a@*F-?2F):F)BF5]0JF1 m{$?IiGmBGqGuqA- Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >yw,MA2@Y2 @2@њ924>y2H`\r`k?ֳ?n`?`pU? ?@ ?ɨ2@2S;2#Cy݄Bl#II5I5M3٢M= MD=9]L;Q ]>aa eG٣aymzy= u> Nusing accuracyPremultiplier from config59go?5Y id   &@ @xEc<t<T5 @hEEFNOT Ignoring new targets: 107.30 m. jAjAjAjAiAhIhIhIhQfQfQfQrfQbf]2@ɛB< 隕8>I :ɚiI=I29ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFHj>I I#IIDBI =&I.I6I <:I/ FBIJIRIZI =bI =jI>5zKk3IK59KKK iIiG3G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.vow,NA>@Y>"@>a9>3Ɖ>y>H`MX@?????X?ɨ>@>|Ç;>$CyUԄBUa#IieC=Ie=Mb@Mb@Mb@ )YQ?ˡE?y&1|?y(?'=`; )p@I~Ayf@I I m?3٢#' >=9%z5;Q %>!! -G٣)y-~= -> =Nusing accuracyPremultiplier from config1=595Ro?E5Y5# i51dEK)?E:EZ&@E@5{E5;53;515UB U^@QFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf ]2@ɛmBm9!< q}>Iy tu:ɚiI=I29ii)) *F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.*J- R="J- a=JU JU JU 1JQ JU ݒ:JU 9JU 3JQ G :G B O > ] z$?IY ]w,NA6E@Y6d$@6k핽96X>y6HZq1@? M?@`?d? ?@?ɨ6E@6;6#CyB܄BBk#IIJIJ(*3٢R]4= Rf=9Vj];Q V>TT ZG٣Z!TGyZ= Z> bNusing accuracyPremultiplier from config\f59^Ao?f5Y^ i^chj(@j@^|E^0;^1;^5p r@rkE FNOT Ignoring new targets: 107.30 m. j j j j i h hhhfffrfbf%@2@ɛMBUJ= QU>IQ UZ:ɚQiYI]q~=Ie29iaia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFGGBO-> Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H i>I  I #II IBI &I .I  G٣y > Nusing accuracyPremultiplier from config59:,o?5Y icc(?:)@@EA;;5B /@nE y$?I%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i)h)h)h)h5BfffrfbfS3@ɛeBe!< ae;>Ia m2:ɚiiqIu|=I29ii))*FI2FI:FQBFUP5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge 3GA BQ Om >ͪw,aONA2N@Y2D'@2*P92>y2Hyݿ ?R?KԳ?`G? ??@?ɨ2N@2~;2!Cy>݄B>l#I)D DIJ.IJ3٢Rn R]=9VVTT ZG٣Xy^B> b> nNusing accuracyPremultiplier from configlv59no?z5]Will construct direction to contact in vehicle frame from tetrahedron phase data.e=aYn inc5-@@nEndI ;ɚiI{=JJJ0JJJ9Jـ3JI29i i ) )*F?2F:FBF3JF I G: Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ҙw,2iNAR`,@YRVK)@R؋9Rnj>yRHJܿ? yh?@ ] m?w?V??ɨR`,@Ri{;R CybلBbg#IIvIv#3٢ѡ  E=9 w;Q > G٣"TGy%s= %> -Nusing accuracyPremultiplier from config)559-}o?=5Y- i-b9=.@E@-E-e";-";-5MB M@MoEFNOT Ignoring new targets: 107.30 m. jjjjihhh!h!f!f!f)rf)bf-@44@ɛB= 隽>I Q;ɚiIJz=I29ii))*Fu?2Fq:FqBF}T0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.Hg>I III =&I.I6I<:I& FzK5LK5}9K1K5K5lP&tfZNFRKE>JKE> x$?IG BG G pAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ȹw,9 NAyޝބBޝm#I5Mb@Mb@Mb@111 1)1Y5x&1?Dl?Mb?y5!?5O=5<5A 5@)5Z@I5@1y5=@IMIM?13٢]< e6=9eQ e>ii mG٣iym m> }Nusing accuracyPremultiplier from configy59}n?5Y} i}%b"?:/@@}E}n;};} 5 *@rEFNOT Ignoring new targets: 107.30 m. jjjjihhhhhBfffrfbf@V4@ɛBK =  3>I  F4;ɚiIx=I29ii))*F?2F:FBF[0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G3G B O > I c㦓w,.NA6@Y6,@6a96Ì>y6Hiٿ`^6?i? ?&ɰ?YV?@`?ɨ6@6;6$CyBBBo#IiF=IF G٣y> > %Nusing accuracyPremultiplier from config!-59%n?55Y% i%a1503@5@%E%c;%dd;%5A M@IuFNOT Ignoring new targets: 107.30 m. jqjqjqjqiqhyhyhyhyfffrfbf 4@ɛB= 隽>I I;ɚiIw=I29ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU`0JFQGu:GQBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.H e>I C I I I  =&I .I 6I į<:I FJ= J= J9 J9 J= :wJe9JaJa,1ͶNAJe;aJe;aJe8;a"Je8;a"~3 @Y~R.@~Sb9~8>y~H /-׿g\? ;?[^@:?@hi?d?#?ɨ~3 @~S;~#Cy5B5|#IzKUNKU59KQKUKU:- BKY:KY }w$?I}hMb@Mb@Mb@ )Yy&1?/$? rh?y`%?=C<\A )C@Iv@yII٢:= ;=9 [;Q  >  G٣#TGyjr= > %Nusing accuracyPremultiplier from config%59n?-5Y i1a-&?-:-5@-@E;;!5=B =Y@=uEeFNOT Ignoring new targets: 107.30 m. jajajajaiahahihihmuBfqfqfqrfqbf}U5@ɛB= ->I) -Xe;ɚ1i1I5Bv=Ie29iiii)i)q*F?2F:FBF%e0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G G ?G #?G B O >~w,NA:!@Y:{0@:*9:>y:H@~uֿc?}]?$!o?`"?|? V?ɨ:!@:;:"CyFBF~#IININM3٢V ; Vd=9VE;Q Z>XX ZG٣Xy^= ^> bNusing accuracyPremultiplier from config`f59bn?f5YbC ib`hj7@j@bEb:bT:b#5l nB@l FNOT Ignoring new targets: 107.30 m. j j j jihhhhfff!rf!bf%!5@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛQUy"= iu>Iq }K|;ɚyiyI}I u=I29ii))*F?2F:FBF3JF mv$?IqG1G1BaO>Will construct direction to contact in vehicle frame from tetrahedron phase data.iA!w,~NAJؓ#@YJͲ1@JW|9J0>yJH@Կd?? ?ʏ?k~?ӷ?ɨJؓ#@J稈;J!Cy^B^#I)` `ddInIn<2٢r< vF=9vM\;Q v>xx zG٣xy~= ~> Nusing accuracyPremultiplier from config 59%n? 5Y i6` ?9@@E:~:$5ߒB @xEEFNOT Ignoring new targets: 107.30 m. jAjAjIjIiIhQhQhYhYfYfYfarfabfe 6@ɛB= 隕~>I M;ɚiIs=I29ii))*FY2FY:FaBFe@5JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.HEf>IA IE#IIENBIA&IA.IA6IE<:IE FJJJJJ\:J9JJJk;Jl;J1;J1; ]u$?IazKLK9KKKGRK?JK?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,YQOAy~B~#IMb@Mb@Mb@ )YE?Mb?I +?y&?=9<A @)I`@y@I"Iq3٢; ==9Q > G٣$TGy > Nusing accuracyPremultiplier from config59n?5Y i_z(?::@@E;;&5)  @{Emc~G XYyV BFNOT Ignoring new targets: 107.30 m. jjjjihhhhrBfffrfbfu6@ɛq}= y}?Iy }&;ɚyiIr=I29ii))*FY2FY:FYBFeY5JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data. I II GQ G B) OE >1Ǔw,+OA6x&@Y6m5@6Su96|G>y6H@euѿ`3??q&?˥???ɨ6x&@6h;4yBBB#IIJIJ3٢VM= V^=9Vd;Q V>XX ZG٣Xy^> ^> Nusing accuracyPremultiplier from config 59 qn?%5Y  i _!%^=@%@ E D; :; p(5) 5@1]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhahahahafififirfibfm6@ɛB@= 隥=?I 8;ɚiIq=I29ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5S0JF1GQG1BAO]>e Will construct direction to contact in vehicle frame from tetrahedron phase data.HM c>II  IM $IIM YBIM  =&II .II 6IM Я<:IM FBI˥CJI˥CRIZI =bI =jIyu5]͓w,8OAJRJRJPJPJR:JRO9JPJPJRR;JRS;JRe,;JRf,; rt$?Ipò(@Y6@r9>yH`/Qп? ??X?t? g?ɨò(@;"Cy B#Ii!I%p; -a=-p=zKJKs9KKK5Mb@Mb@Mb@111 1)1Y5Dl?1Zd?L7A`?y5O-?5"=5+=5/A 5@)1I5I@1y5Q@IMIM 3٢}"= }0=9:Q > G٣yMp= > Nusing accuracyPremultiplier from config59Wn?5Yr i[^/?:?@@E;;m*5ޒB V@~E=FNOT Ignoring new targets: 107.30 m. j9j9jAjAiAhAhAhihmtBfqfqfqrfqbfu`b7@ɛEqQ%= AE ?II MC;ɚIiIIMmno=IU29iQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%O0JF!GY G9 BA O] >Iԓw,7QOA6aQ*@Y6Vp8@6Mo96\>y6H@5Ϳؿ?h? ?U? q?`e?ɨ6aQ*@6;4yBBB#IININ3٢Rh= Vm=9V';Q V?XX ZG٣Z%TGy^= ^? bNusing accuracyPremultiplier from config`j59b[Dn?j5Yb ib]hjRA@j@bEbB;bB;b+5rݒB r@rE FNOT Ignoring new targets: 107.30 m. j j j Will construct direction to contact in vehicle frame from tetrahedron phase data.jihhhh!f!f!f!rf!bf-@ٶ7@ɛQ]nN= ]<]?IY ]9;ɚYiYIeLn=Ie29iaii)i)i*F%?2F!:F!BF%`0JF)JJ r$?IGM3G!B)OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.7oړw,kOAy~B~#II I F3٢%< %C=9-Q ->)1 5G٣9y= => MNusing accuracyPremultiplier from configAM59E,n?M5YE iE!]QQU@EEEW;E;E-5Y eM@eEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf!8@ɛqup:= y}k?Iy };ɚyiyI}l=I29ii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFHI I$IImBI =&I.I6I<:I F q$?IJJJJJ :Jb9JJJ;J;J0.;J1.;zK BoHK K K  K G BG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,OA6ž-@Y6;@6CVm96>y6HEHǿ@?@:)?uDN#??`l4?+?ɨ6ž-@6;4yB)BB#I)D DHJAMb@Mb@Mb@ )Y/$?X9v?X9v?y&1?=<A @)-@I@y\@II3٢1= ==9E:Q  >   G٣y>= > %Nusing accuracyPremultiplier from config!-59%#n?-5Y%o i%j\5&4?5:5F@5@%E%;%5;%/59 =@@AFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfݔ8@ɛA= 隍?I R;ɚiIOk=I29ii))*F=?2F9:F9BF=o0JF95Will construct direction to contact in vehicle frame from tetrahedron phase data.G} : p$?I GY Ba O >Zw,vOA6/@Y6=@6l966>y6H@Wp`\ÿ 8&?%?@p )?|?` ?$?ɨ6/@6 ·;6#CyB3BB#IIJ4IJV3٢RK_= Vd=9V9Q V>TX ZG٣Z&TGyZ= Z> bNusing accuracyPremultiplier from config`f59b'm?f5YbQ ib[dfG@j@bEb:bG:b815nܒB n@nE FNOT Ignoring new targets: 107.30 m. j j j j i h hhhfffrfbf8@ɛ  [=   ?I  9v;ɚ1i9I=i=I=29iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.E}v/=*F?2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AjH bH H I  I 5$II BI  =&I .I 6I <:I 7 FG I G B! Ou >:w,uOAJKm3 KS}-KK"KJJJJJ|:J9JJJ;J;J%7;J&7;zKm$JK}9KK Kyu7Bu#I=Mb@Mb@Mb@999 9)9Y=i|?5?i|?5?L7A`?y=1?===+==A 9)=@I=@9y=p@ImIm3٢}< }#=9Q > G٣y > Nusing accuracyPremultiplier from config59m?5Y iZi4?:NG@@EB;l;h35ےB >@E FNOT Ignoring new targets: 107.30 m. j jjjihh!h)h-uBf)f)f1rf1bf5n9@ɛy}yF= y}#?Iy h<ɚiIUJh=I 29i i ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.EY<*Fy2Fy:FyBF0JFG G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,xOA6 4@Y6B@6m96V>y6H@0`>ô?n? r? ?@? :?ɨ6 4@6;6 Cy>QBB#I F=F=IJIJ#3٢R> Vo=9VUQ V?XX ZG٣Xy^\w> ^? ]Nusing accuracyPremultiplier from configYe59]ym?e5Y]o i]fZamEm@]E]q:] :]45q u@uEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf9@ɛt= /?I :Y <ɚiIf=I29iCYKw,1_OA26@Y2D@2@k92‹>y2H$ ?ᥱ??c?9? ?ɨ26@2^;2"CyBUBB#IIJIJF3٢R< VJ=9V4:Q V>XX ZG٣Z'TGy^̆= ^> bNusing accuracyPremultiplier from config`f59bm?f5Yb ibYdfCf@bEb:b:b65l n`@l FNOT Ignoring new targets: 107.30 m. j j j j ihhhhfffrfbfY0:@ɛB-j= 15n1?I1 5*<ɚ1i1I5ge=I=29i=< h)A)AEqEuqAWill construct direction to contact in vehicle frame from tetrahedron phase data.Heb>Ia Ie[$IIeBIa&Ia.Ia6Ie<:Ie F*F-?2F):F)BF5P0JF1 IIQG53GB!OEs>zKmBoHKm9KiKm Km Will construct direction to contact in vehicle frame from tetrahedron phase data. 2w,a5 PARX8@YRwF@R'i9R֭>yRH۰?Z?`35?@4?V?߿?ɨRX8@R(;R!CybgBb$IUMb@Mb@Mb@QQQ Q)QYUX9v?Mb?Zd;O?yU3?U=Uj G٣y= > Nusing accuracyPremultiplier from config%59wm?%5Y i"Y-i5?-:-C-@E<;;85=ڒB =(@=EeFNOT Ignoring new targets: 107.30 m. jajajajiiihqhqhqhuBfyfyfyrfybf}:@ɛr= 隭:?I <ɚiIc=I29iD 5m$?I1*JC="JJJJ1JJ:J:J3Ja@a@a@a@E[w, #PA>:@Y>'H@>cre9>Z>y>H`T8Z?? ? )]?u?c??ɨ>:@>R;>"Cy^wB^)$IIn!Ini3٢vo= vU=9zx4;Q z>xx zG٣|y~e= ~>  Nusing accuracyPremultiplier from config 59Äm?5Yd iXIB@E::=:5%ْB %!@%EUFNOT Ignoring new targets: 107.30 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data. jQjajajaiahihihihifqfqfqrfybf :@ɛB= 隭IB?I (<ɚiILb=I29i$ Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHI RHI HU _>IU C IU $IIU BIU  =&IQ .IU ;D6IU "<:IU 7 F = l$?IA w,^ Mb@Mb@Mb@ )YOn?l?/$?y8?=<A \@)@I@y@I"Iq3٢= ;=9Q > G٣(TGy >  Nusing accuracyPremultiplier from config 59 Ijm?5Y  i X9?:$D@ E ; ; &<5! %3@%EMFNOT Ignoring new targets: 107.30 m. jIjIjQjQiQhQhQhYh]BfYfYfarfabfe l;@ɛ)5WÀ= 15I?I9 =V4<ɚAiAIE_`=I]29i])E>uWill construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,VPA6t=@Y6K@6B[96\>y6H`?$?3?d??a?ɨ6t=@6;4yNBNI$IIVIVm?3٢rqv= r]=9rc;Q r>tt vG٣tyv> z> ~Nusing accuracyPremultiplier from config|59~Tm?5Y~ i~W @@~E~t;~u;~=5 %|@! k$?IFNOT Ignoring new targets: 107.30 m. jjjji!h!h!h!h!f)JQJUJU0JQJQJU :JUـ3JQfafarfabfe`;@ɛB= pN?I L ?<ɚiI^=I29iHxuWill construct direction to contact in vehicle frame from tetrahedron phase data.Aw,¡pPA2)?@Y2~HM@2T92Ɉ>y2H ) Ƴ?@m?ٰ?ʕ???ɨ2)?@2^;2$CyFBFW$I J=JR=IPIP٢Ze= ZN=9Z;Q Z>\\ ^G٣\ybN= b> fNusing accuracyPremultiplier from configdj59f+n@fEf;f ;f?5rؒB r@rEFNOT Ignoring new targets: 107.30 m. jjjjih!h!h!h!f)f)f)rf)bf-1<@ɛ]B]= Y]S?Ia eSH<ɚaiaIe&]=Im29iu_I I$IIBI =&I.I6I<:I$ FBIJI¤CRIZI =bI =jIz5*FM?2FI:FIBFU_5JFQ i$?IGuY?Gu ?Gu>zK  OK @9K K  K c2$`D.zvsngc^\\WPLJHDD@@?=851/+(')(&"$$!!#RK!JK%?GIBYO> Will construct direction to contact in vehicle frame from tetrahedron phase data.y~"w,uPA2@@Y2N@2mM92e>y2H?@? W`'?`?%?p?ɨ2@@2;2"Cy>BBu$IMb@Mb@Mb@ )YOn?X9v?~jt?y}=<vA @)@I@y@II<2٢= 9=9;Q > G٣)TGyl= > Nusing accuracyPremultiplier from config59!m?5Y iVR9?:S>@E;;nA5 גB '@E=FNOT Ignoring new targets: 107.30 m. j9j9j9j9i9h9hAhAhEɄBfAfIfIrfIbfMQ<@ɛ+ҏ= _?I U<ɚiI[=I29i%k IJ}J}J}1JyJ}:J} :J}3Jy(w,QPA6D[B@Y69zP@6{ED96I>y6H@? T?͏۬? H? >h? ?ɨ6D[B@6ԉ;6#CyFBF|$IININ3٢Vt= V`=9Z2;Q ^>\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdj59f m?j5Yf if3Vln<n@fEfE;f;fC5p v@vEFNOT Ignoring new targets: 107.30 m. jjjjihhhh!f!f!f!rf)bf-/=@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBo= ~J<Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH4=H S>I C I $II BI  =&I .I :D6I <:I " F h$?I O.w, LPAJC@YJQ@Jk:9J؂>yJHڑ??i? aK?])??ɨJC@JJ;HzK *OK9KKK"#%$"$"!      yƅB$IUMb@Mb@Mb@QQQ Q)QYU$C? rh?~jt?yU:?UC =UD G٣y 5=  > Nusing accuracyPremultiplier from configEWill construct direction to contact in vehicle frame from tetrahedron phase data.M59l?M5Y iUMW:?U:U=U@E < <EE5֒B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfff rf bf @=@ɛBb$= 隝`g?I o<ɚiI]2X=I29i5w,PA^AE@Y^69S@^ g-9^,>y^H@?V?=8Ŀ@W ?;? ? e?ɨ^AE@^;\ɸdhlillirCruA)t tIt |)|ɹ||  g$?I!ɺ uAi1I11I9iA AA)IQ U7uAUGaU`FɻQaaIa)aia)iIiiɼ y޽؅B޽$IJ)J-J)J)J)J- :J)J)I+In3٢uo= uV=9}myy G٣*TGya= > Nusing accuracyPremultiplier from config59l?5Y ivUA<@E;<;F5 @5FNOT Ignoring new targets: 107.30 m. j1j1j1j1i1h9h9h9h9fAfAfarfibfmM=@ɛBXi= 隵o?I _z<ɚiIV=I29iy2Hw0=?~r1ƿŃ*?d? ?e ?ɨ2YF@2;2$CyvBv$III3٢q= e=9w;Q >!! %G٣!y-^= -> 5Nusing accuracyPremultiplier from config1=595l?=5Y5} i50U9E:E@5E5;5;5oH5MՒB M#@MEuFNOT Ignoring new targets: 107.30 m. jqjyjjihhhhfffrfbf<>@ɛB= t?I 2<ɚiIHU=I29iI9 I=$I]Will construct direction to contact in vehicle frame from tetrahedron phase data.I=$BI= =&I9.I=9D6I=A<:I=? F -f$?I1E*FU?2FQ:FQBFYJFYzKEMK@9KKKRK ?JK>G5{FG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw, QA2{dG@Y2pU@2N92s>y2H `s"?;̅úȿt?@Ȣ?`{/?F?ɨ2{dG@2 ;2%Cy-B5$IMb@Mb@Mb@ )Ygfffff? rh?y&1|?y33?C<`;3 A @)Ip@y@II٢ڙ= ==9;Q > G٣y= > Nusing accuracyPremultiplier from config 59l? 5Y1 iTC3?:?;@E;;QJ5 @%EEFNOT Ignoring new targets: 107.30 m. jIjIjIjIiIhIhIhhՄBfffrfbf.>@ɛ%B%n= !%O|?I) -%<ɚ)i)I5S=IU29iUEM>mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF"G;>G> e$?IhG bG ?G *?G B O >~%Iw,\&QA6CH@Y6bV@6D96n>y6H`J ?\,qʿ@i ?@?`X? [?ɨ6CH@6Ɗ;6!CbWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B5$IIMIM3٢]= ]5=9];Q ]>aa eG٣e+TGym< m> uNusing accuracyPremultiplier from configq}59ul?}5Yu iuTy_:@uEu:uu:uIL5ߒB 5@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf ?@ɛB= d?I <ɚiI fQ=I 29ibI=C I=#%II=BBI= =&I9.I96I=<:I= FuWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFM [0JFQ  I G% 9J J J J J ̶:J :GA J J J ;au J ;a} J cW;a J dW;a B O >Pw,c@QA^sI@Y^h"W@^9^ƪf>y^H:7` ? c˿d?p?ؓ?-?ɨ^sI@^;^ C)hIhhh llnGwAlillipp)p pIp t)vwAtttxxixIxxIxix ||)|| |||َCI) i  y B$IzKKK9KKKBKqA:KEMb@Mb@Mb@AAA A)AYE333333?V-MbyE9?EEEA A)Ex@IE@AyE@I]"I]q3٢= W=9 G٣y< > Nusing accuracyPremultiplier from config59wl?5Yo iT9?:S=@E;;M5 %@eFNOT Ignoring new targets: 107.30 m. jajajajaiahihihihmBfqfqfqrfqbf?@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=BE.= AE?IA M<ɚIiIIM,BP=Iu29iuNm Will construct direction to contact in vehicle frame from tetrahedron phase data.7Vw,ZQA Rd$?ITy}B}$I) AJJAAII 3٢~= Y=9Q > G٣y > Nusing accuracyPremultiplier from config59al?5Y iT@čE;:<O5ޒB Z@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf*?@ɛBa= >?I @<ɚi I cN=I29ib\w,sQA @6AJ@Y650X@696-T>y6H@+? #Ϳi`46?qS?S?O?ɨ6AJ@6]u;6#CyB$II5I5b2٢El ES=9EII MG٣IyM.= U> eNusing accuracyPremultiplier from configam59eEJl?m5Ye0 ieTquK<u@eƍEe\:e ;eIQ5ݒB @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf!@@HK>I IB%II\BI! =&I.I6I&<:I& Fɛ B N= ?I <ɚiITM=I29i%VzKMBoHKM59KIKMKM+% Will construct direction to contact in vehicle frame from tetrahedron phase data.)  G  AHIcw,ȍQAB`rJ@YBTX@B9BH>yBHu? >οrʦ?@??ob?ɨB`rJ@B=Љ; YPyRbAB"CynBr$IeMb@Mb@Mb@aaa a)aYe-?Mb{Gzye?5?e@e#a e@)e@Iaaye(@II(*3٢U= 5=99 G٣,TGyV< > Nusing accuracyPremultiplier from config59/l?5Y iT5?:=@ɍEa;;BS5ܒB @EFNOT Ignoring new targets: 107.30 m. jj!j!j!i!h!h!h)h-ńBf)f1f1rf1bf5[@@ɛeBmX= imj?Ii uVN<ɚqiqIuK=I}29i}*suiw,QA6J@Y6X@67796;>y6H?@]MϿ~@? ?T?=v?ɨ6J@6;6 CyB#BB$IVWill construct direction to contact in vehicle frame from tetrahedron phase data.IJ IJV2٢b= bp=9fYHJ>I I[%IIpBI&I.I6I<:I FBIǡCJIǡCRIZI =bI =jI5MWill construct direction to contact in vehicle frame from tetrahedron phase data. m a$?Ii J J J J J ,:J :J J J <J <J R;J R;8apw,ėQAb?J@Yb3Y@bϻ9b'/>ybH!`V? qϿ@W !d?y?`?`U?ɨb?J@bV;b"Cyn)Bn%IuMb@Mb@Mb@qqq q)qYu$C?Zd;:vyu:?uyuTuA q)u@Iu@qyu@I.I3٢< <=97 G٣y; > Nusing accuracyPremultiplier from config59{l?5YG iT:?:$>@͍E;;V5ےB ,@EzK-NK-}9K)K-K-n 4 p]=HvhXG:/& ]FNOT Ignoring new targets: 107.30 m. jYjajajaiahahhhBfffrfbf`@@ɛB= ?I <ɚiI I=I 29i wU Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ vw,uQA2K@Y2:Y@2e692Z#>y2H`c?駣rϿ ϖ? ̆V?@*U? ?ɨ2K@28;;0y>%BB$IIJ!IJi3٢N- R\=9RZTT VG٣V-TGyZ; Z> ^Nusing accuracyPremultiplier from config\b59^k?b5Y^ i^T`b>b@^ЍE^e:^P:^AX5Q UZ@UEFNOT Ignoring new targets: 107.30 m. jjjjiJJhhhhfffrfbf@@ɛ%B%8= !MH?II M<ɚIiIIMG=IU29iUȆWill construct direction to contact in vehicle frame from tetrahedron phase data.ү|w,Y6QA6,K@Y6KY@6X;96>y6H`@Զ?syп< ?k T?@?ɨ6,K@6;6$CyB"BB$IIJIJ#3٢R/N RK=9VI>TX ZG٣XyZ&; Z> bNusing accuracyPremultiplier from config\f59^k?f5Y^ i^Uhj=j@^ҍE^c2;^t2;^Z5l r@p FNOT Ignoring new targets: 107.30 m. j j j j i hhhhfffrfbf%!A@ɛM BU= QU,?IQ UC <ɚQiaIeUF=Ie29imIC Ia%IIuBI&I.I8D6IO<:IA FWill construct direction to contact in vehicle frame from tetrahedron phase data. ^$?I *F?2F:FBF0JFG GJJJJJL:J :JJJ@ <JA <JcW;JdW;Gb<GBO>zKaOK59KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data.ޗw,4RAy||Mb@Mb@Mb@ )Yrh|?T㥛 ~jty;?ļ`@ @)Ib@y@I$I<3٢h 7=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 Pk?5Y W i _Uĉw,n(RABWill construct direction to contact in vehicle frame from tetrahedron phase data.R~EK@YRrdY@RnJ<9Rg>yRH '@R?QЦ'пb@^E?@^ J?t?ɨR~EK@RQ-;PyfBf$II]I]2٢mT  mS=9uyy }G٣}.TGy~; > Nusing accuracyPremultiplier from config59k?5Y iU=@׍El;+;]5ԒB @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfA@ɛB%V<= !%R?I! %.P<ɚ)i)I-$D=I529i5ŨI I[%IIpBI" =&I.I6IH<:I; FG V<=Will construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IGBO >w,BRA%W;K@Y%KZY@%oъ<9%>y%H?j@пqUԽ?Y? о?ɨ%W;K@%;!ymBm$IMb@Mb@Mb@ )Y}?5^I?J +I +yMB?H9@ @)IK@yf@I#I%x3٢-} -?=95\.11 =G٣9y= => ENusing accuracyPremultiplier from configAM59Ek?M5YEL iEUUB?U:U<U@EٍEES;E;E_5]ӒB ]X@eķEFNOT Ignoring new targets: 107.30 m. jjjjihhhh[BfffrfbfgA@zK%MLK%9K!K%K%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB= 隝~?I D<ɚiIC=I29iި= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= A \$?I Ӗw,\RAy~B~$II I m?3٢% %^=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E595mk?E5Y5 i5%VAAE@5܍E5B;5;5%a5a e@mǷEJJJJJ:JK:JJa@a@a@a@FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf0A@ɛB= Ew?I g3<ɚiIB=I29iEw,}vRA6,K@Y6 KY@6<96W=y6H@r?As п^@`?`ŁC??ɨ6,K@6Ҋ;6"CyRBR$IIZIZM3٢f; fP=9f!hh jG٣j/TGynS n> =Nusing accuracyPremultiplier from config1E5953Tk?E5Y5E EtIi5rVAM<M@5ލE5';5;5b5Q U@QHmG>Ii ImB%IIm\BIi&Ii.Ii6Im^<:ImL FFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf &B@ɛB}= Cv?IWill construct direction to contact in vehicle frame from tetrahedron phase data. k<ɚiI?$A=I 29i zK5 m$JK5 9K1 K5 K5 pvP:/1 w]"]B.% C Will construct direction to contact in vehicle frame from tetrahedron phase data.8磔w,_RABH*K@YByy }G٣yy} > Nusing accuracyPremultiplier from config59L:k?5YU iV0D?%:%9%@E<ƭ<d5]ҒB el@eʷEFNOT Ignoring new targets: 107.30 m. jjjjihhhh)Bfffrf bf `B@ɛB`_= l=q?I <ɚiIF3@=I29iaw,6RA @2Will construct direction to contact in vehicle frame from tetrahedron phase data.b K@Yb)Y@ba=9b}=ybH s4?@LϿ` ,?zk ??ɨb K@bЊ;b$CyB$II-I-3٢U+ UL=9]aa eG٣aym m> Nusing accuracyPremultiplier from configy59}"!k?5Y}Q i}W=9@}E}:}:}zf5ђB @ͷEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@ȎB@ɛ B  = }vl?Iy <ɚiIm?=I29i~&jHU<bHUp<H]K>I]C I]#%II]BBI]! =&IY.I]9D6I] <:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data. UY$?IQw,)RA5AK@Y55 Y@5_=955.=y5H`]?Ͽ`@v?@쑼??ɨ5AK@5 ;5 CyU߅BU$IMb@Mb@Mb@ )YPn?V-?~jty<ļ@ S@)@Iyp@I!Ii3٢ u  >=9w;Q > G٣0TGy( > %Nusing accuracyPremultiplier from config!-59%k?55Y% i%bW5UD?5:5]65@%E%r#;%!;%Wh59 E @EзEzK NK 9K K K j\RJD@=83-&  9d~uaOA4*  MGmWill construct direction to contact in vehicle frame from tetrahedron phase data.i FYyiAFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf`B@ɛEBE= AE4a?IA M<ɚIiIIM>=IU29iU~2 Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 !w,RAJaJeJaJaJaJeq:JaJay=مB=$IiEii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}=j?5Y}2 i}W@}E}:}:}&j5ВB k@ӷEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@B@ɛBPb= ~]?I =ɚiI==I29i<E>*F ?2F :F BF _0JF G B O >$Nw,dRA6J@Y6 X@6(=96=y6H „?=Ͽ?n ??ɨ6J@6;6"CyB΅BB$IININ[3٢V Vj=9ZR fNusing accuracyPremultiplier from configdj59fj?j5Yf1  ifWhj6n@fEfh;f!;fk5p r%@pHJ>I I$II$BI&I.I6I<:I FBICJIRIZI! =bI! =jIa:5=FNOT Ignoring new targets: 107.30 m. j9jAjAjAiAhAhAhIhIfIfIfIrfQbfU`'C@ɛ Bt= 隅V?I %=ɚiII== V$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.I529i5t9JK} ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >3Ĕw,SA2J@Y2X@2}2=929z=y2H6?'?ο @|?R`?@?ɨ2J@2;2#Cyb̅Bf$IuMb@Mb@Mb@qqq q)qYuL7A`?Mb?Mbyu+G?u=uu@ uj@)u@Iqqyu@II 3٢ <=9b;Q > G٣1TGyϧ > Nusing accuracyPremultiplier from config59j?5Y  iIXG?: 4@E;;m5ϒB :@ַEFNOT Ignoring new targets: 107.30 m. jjjjihh h h Bf ffrfbf`C@ɛ"B= T?I ]=ɚiI<=I 29i ,wo˔w,/SA:OJ@Y:nX@:*E=9:Vy=y:H ?7iο`(?లػ?`?ɨ:OJ@:E ;8yFBF$I)h jAIn&In3٢vnc v5=9z)xx zG٣|y~ ~> Nusing accuracyPremultiplier from config 59j?5Y iXQ4@E_;;o5ΒB @%۷EUFNOT Ignoring new targets: 107.30 m. jQjQjQjQiQhYhYhYhYfYfafarfabfe@bC@ɛ$B= 隝tM?I =ɚiIm<=I29iI I$IIBI&I.I6I<:I F IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG p<G B O >vOҔw,İISA @:#J@Y:BX@:@N=9:`;=y:H *B?ο.`@ͷ?۩ऐ? ?ɨ:#J@:t;8yFBF$I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y(\?(\µ?~jtyN?=DzKm$JK9KKKBK:K@ )I@yf@I#I%x3٢Eo >=9;Q > G٣yͻ > Nusing accuracyPremultiplier from config59j?5Y iX?O?:3@E ;;kq5 @޷E%FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h)h)h1h5 Bf1f9f9rf9bf=@^C@ɛe&Bm= im"L?Ii me =ɚiiiIu;=I}29i}F T$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.yؔw,ecSAFJ@YF%X@FGS=9F%=yFH@?;Ϳ 6?w?p?ɨFJ@F;F$Cy^B^z$IIrIrm?3٢(Ӽ  X=9 !M;Q > %G٣%2TGy-W -> ENusing accuracyPremultiplier from configAU59Eclj?U5YE iE1Y+3@EEE(@E=FNOT Ignoring new targets: 107.30 m. j9jQjQjQiQhYhYhYhYfafafarfabfe`D@ɛ'BD= 隽H?I G=ɚiIx;=I29iH R>I C I $II BI  =&I .I 6I @<:I @ F S$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A'ޔw,h}SABI@YBtW@BW=9B=yBHK?`m Ϳ ҷ?g??ɨBI@B;B#CyBq$Ii%AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQe59UBRj?e5YU iU|YaeR3m@UEU;Uo;Ut5y }@yFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf5D@ɛ-)B-h= )-XD?I) -k=ɚ1J=J=J9J9J=:J=:J9J9J=7;aMJ=8;aMJ=J;aMJ=J;aMi1IU3:=I]29i]1w,BSA2I@Y2W@2u\=92c=y2H5?F[_Ϳ``ڷ?K:??ɨ2I@2bw;2$Cy>B>{$IMb@Mb@Mb@ )YMbX?+η?{GzyJ?v=#@ @)p@I@y@I+In3٢)= D=9X7;Q > G٣y%a > Nusing accuracyPremultiplier from config597j?5Y iY)L?:2@Es6;V5;v5̒B &@E FNOT Ignoring new targets: 107.30 m. j j j j i hh R$?I!h!h-Bf)f)f)rf)bf5KjD@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ*B]= G?I }=ɚ i I h:=I29iW Will construct direction to contact in vehicle frame from tetrahedron phase data.̵w,SA6I@Y6W@6_=96a=y6Hr? ޳OͿ4m?1 Ɠ??ɨ6I@6:ˊ;6"CyRBR$IIZ!IZi3٢b< fZ=9f;Q f>hh jG٣j3TGyjé j> rNusing accuracyPremultiplier from configpv59rE j?v5Yrm irZtv2v@rEr:r:rVx5z˒B ~@~E-FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h)h1hhfffrfbf`;D@ɛ ,B d= H?I ==ɚAiAIE9=IM29iMO#IC I$IIBI =&I.I;D6I <:I1 F Q$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJe1JaJe:Jeu9Je3JaJe;Je;Je/;Je/;G}Mh <GG>Gq By O >= PExceeded connect timeout, disconnecting.w, G٣y > %Nusing accuracyPremultiplier from config!-59%j?-5Y%! i%Y5(?=:=2=@%E%6;%3;%Mz5A Ey@EEmFNOT Ignoring new targets: 107.30 m. jijijijqiqhqhqhyh}RBfyfyfrfbfD@ɛ-Bɵ= 隵C?I f=ɚiIp#9=I29iJ9 J9 w,SA2I@Y2W@2!f=92_=y2H_?*P Ϳ?9ڬ??ɨ2I@2o;2!CyRBVw$II^I^m?3٢fy< fd=9fg;Q f>hh jG٣hynyֻ n> rNusing accuracyPremultiplier from configpv59ri?v5Yr0# irYxz2~@rEr_N;rVP;r{5 M@-FNOT Ignoring new targets: 107.30 m. j)j1j1j1i1h1h1h9h9f9f9fArfAbfEE@ɛu.Bud= q}C?Iy H=ɚiI8=I29iH b>I C I $II BI  =&I .I TX ZG٣Z4TGyZ܄ Z> bNusing accuracyPremultiplier from config\b59^>i?f5Y^% i^Ydf3f@^E^~:^\:^}5=ʒB =@=EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf7E@JJJ0JJ:J9Jـ3JJ9;J:;J';J';ɛE/BEȸ= AEtD?IA Mg=ɚIiIIM88=IU29i]edw,JTA>p{I@Y>dW@>+j=9>{=y>Hl ? ̿¥?iA?4?ɨ>p{I@>ڊ;>"C O$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.y%B%}$Ii-=I-C= 5=5=Mb@Mb@Mb@ )eDYn?X9v?yVN?}=@ @)@IK@y@IIV83٢<<  =9&c:Q > G٣y > Nusing accuracyPremultiplier from config59i?5Y( iZN? : 5 @EB;;5ɒB @EMFNOT Ignoring new targets: 107.30 m. jQjQjQjQiQhQhQhYh]ZBfYffrfbfLxE@ɛ5B5.= 5K=59I1 5=ɚYiYI]8=Ie29ie  w,2TA2lI@Y2W@25k=92N,=y2H@!C? GѴì̿ -? ;w(??ɨ2lI@2;2 Cɸ8>uAI%C I!I!I% =&I!.I!6I% <:I%; FBIäCJIãCRIÕCZI =bI =jId6 uN$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.G 1;J%J%J!J!J%:J%9J!J!J%;J%;J%F;J%G;GBO >w,ҌLTA:opI@Y:cW@:l=9:=y:H _! ?~s̿@w?  !x?Ż?ɨ:opI@:?;:"C~Will construct direction to contact in vehicle frame from tetrahedron phase data.yB~$IMb@Mb@Mb@ )AYoʡ?y&1?~jtxyM?`<Ļ@ )@I@y@I#I%x3٢ ==9B:Q > G٣5TGy: > UNusing accuracyPremultiplier from configI]59Mӎi?]5YM,- iMZ]/M?]:]H8]@M EMD;M ;M&5mȒB m@zKmKm+9KiKmKmmEFNOT Ignoring new targets: 107.30 m. jjjjihhhh`Bfffrfbf@E@ɛ!MD= IM+;II M=ɚQiQIU48=I]29i]ꇦ%w,\fTA6yoI@Y6mW@6kl=96=y6H }! $?`z `̿C@?w6??ɨ6yoI@6p;6#CyBz$I)! !I5I5V83٢EU ER=9M1[Q M>IQ UG٣QyUM U> eNusing accuracyPremultiplier from configau59evi?u5Ye6/ ieZy}I8}@eEe0p;e~};eȄ5 @FNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfF@ɛIUij= zI =ɚiI99=I29imAI  I $II BI  =&I .I =D6I (<:I D F m K$?Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.G g;G B O >7 w,`TA6-oI@Y6!W@6m=96g=y6Hg!$? O' ̿%?^@-?@?ɨ6-oI@6N;6$CyB|$IeMb@Mb@Mb@aaa a)aYeQ?MbP rhye\O?eeCev@ e@)e@IeK@ayef@yyI}I}T3٢;  =9$9Will construct direction to contact in vehicle frame from tetrahedron phase data.Q > G٣y- > Nusing accuracyPremultiplier from config59Oi?5Y2 i[gO?:}:@E;/;b5ƒB @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfzKK 9KKK RK?JK>f f rfbf WF@ɛ]B]= Y]8:IY e=ɚaiaIe=9=I29iե G٣6TGyk: > Nusing accuracyPremultiplier from config 59 R5i?5Y 3 i [!%t:-@ E :f; f; 51 5@1]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhahhhfffrfbfVF@ɛ]Bt= 隅ȻI =ɚiI9=I29iIY  IY IY IY &IY .IY 6I] <:I] 5 F I G% g;- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O->@d0w,{TA2qI@Y2{W@2l=92x=y2HQ![? ̿@ ?O?`?ɨ2qI@2&;2 CyMBMs$IiU%=IUp=IeIe2٢rS 4=9)uQ > G٣yZ > Nusing accuracyPremultiplier from config59i?5Y6 ik\z:@E;B; 5 (@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfF@ɛ= 隭@.I }=ɚiIS(:=I29iD6w,ZTA 6I$?I4JwI@YJW@J6f=9Jf=yJH@X!@?k!̿_e? ¬`Mݽ? ?ɨJwI@J#N;J"Cy=BEm$IMb@Mb@Mb@ )YDl?:vMbyOM?Լ@ @)3@I@yQ@Will construct direction to contact in vehicle frame from tetrahedron phase data.I%I%M3٢5t 5@=9=^Q =>99 =G٣AyER: E> MNusing accuracyPremultiplier from configIU59Mth?U5YM7 iM\]uM?]:]t<]@MEMc;M;M匞5eŒB ef@eE]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhahahaheBfififyrfybf} F@ɛBGs= 隭PI Pm=ɚiIm:=I29i- Will construct direction to contact in vehicle frame from tetrahedron phase data.pp rG٣r7TGyr<7 v> zNusing accuracyPremultiplier from configtz59vh?~5YvT9 iv3]|~<~@vEv;v;vw5 ĒB @ E5FNOT Ignoring new targets: 107.30 m. j1j1j1jihhhhfffrfbf $G@ɛ=B=NI= 9=h!I9 =#P=ɚAiAIE:=IM29iMVI9 I=$II=݅BI9&I9.I96I=<:I9*F-?2F):F)BF-_5JF)GB%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!O5.>*Cw,UABWill construct direction to contact in vehicle frame from tetrahedron phase data.JDTI@YJ8sW@JJ=9J4.=yJH(?@㲿̿@d8'?`U`J??ɨJDTI@J0;HyZBZ[$I)` ```MMb@Mb@Mb@III I)IYM|?5^?lZd;OyMM?MMjMA MK@)M@IM@IyM@Ie;Ie&3٢u9b uA=9}sQ }>yy G٣yA- > Nusing accuracyPremultiplier from config59rh?5Y: i] N?:d=@E <<R5! %:@- E]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhahahaheBfififirfizKuQJKu]9KqKuKu !"bf[G@ɛB= 1I _)=ɚiI:=I29id EF$?IA5Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J m9J J Iw,#(UARnLI@YRbkW@R>=9R8=yRH@*?@10`q̿`@?ӧ߽?@?ɨRnLI@R,;PybBfR$IIr#Ir%x3٢[$ R=9 cQ > G٣y%& %> 5Nusing accuracyPremultiplier from config)=59-[h?E5Y-t< i-^AEk=M@-!E-];-D;-5UÒB U@U E}FNOT Ignoring new targets: 107.30 m. jyjyjyjihhhhfffrfbfVG@ɛB = jI =ɚiI:=I29i 1 I9 ZHA RHE @AHM m>IM C IM $IIM ҅BIM  =&II .II 6IM ,<:IM K FE Will construct direction to contact in vehicle frame from tetrahedron phase data.RPw,`BUA:$;I@Y:ZW@:1=9:=y:H`-˂?@kP̿`ܺ?:M?@?ɨ:$;I@:_;:!CyrBrB$II&I3٢ | I=93Q > G٣8TGy%c+ %> -Nusing accuracyPremultiplier from config)559-h?55Y-= i-u^15|==@-$E-w;-@;-˓5A E|@AFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@߾G@ɛB= I =ɚiI;=I29iǣ>A GY!y%?AWill construct direction to contact in vehicle frame from tetrahedron phase data.zKy MK9KK K  6f>L(2980 hDwZE-  E$?I! Vw,)\UA2,I@Y2sKW@2%=92V=y2H/ o?K[5̿`t=? :??ɨ2,I@2x ;2"CynB~5$Ii I %=Will construct direction to contact in vehicle frame from tetrahedron phase data.iAMb@Mb@Mb@ )Yq= ףp?V-I +yK?9QA b@)IyII?13٢5 2=9ӻQ > G٣y > Nusing accuracyPremultiplier from config59th?5Y? i^K?:<@'E\;]Z;ʕ5’B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhh%Bf!f!f!rf)bf->G@ɛ]B]= YeȽIa eZ=ɚaiaImX=;=Im29ime\w,vUA6+I@Y6JW@6=96n=y6H0{?X@35̿Rh?Q6??ɨ6+I@6֋;6 CyBzBB,$IIJIJM3٢R$+ Rs=9Z"Q Z?\\ ^G٣\ybԸ b? fNusing accuracyPremultiplier from configdj59fB^h?j5YfA if-_hln@f)Ef7I I$IIÅBI&I.I>D6I.<:IO FBI¦CJI¦CRI“CZI =bI =jIn5*Fu?2Fq:FqBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.G9GiByO>cw,XUA2Will construct direction to contact in vehicle frame from tetrahedron phase data.ywB)$IMb@Mb@Mb@ )Y/$?ˡEQyL?'uhA K@)3@I@y3@I&I3٢   6=9 Q > G٣9TGy% %> -Nusing accuracyPremultiplier from config)559-@h?=5Y-B i-_=VL?=:===@-,E-m(;-T&;-;5EB E@MEmFNOT Ignoring new targets: 107.30 m. jqjqjqjqiqhqhyhyh}Bfyffrfbf]H@ɛBt< 隽I =ɚiIj;=I29iD;7530--(&'#"!     )ER>E>*Fe?2Fa:FaBFe`0JFa B$?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >J] J] J] 1JY J] :J] ľ9J] 3JY jw,SzUAVI@YVt9W@V!<9V=yVHt4l?լ ̿eFt??`(?ɨVI@Vv0;V#Cy^lBb$I)d dhjAIn2In?3٢vu v\=9vȋQ z>xx zG٣xy~(< ~> Nusing accuracyPremultiplier from config 59(h? 5YD i_>@.EP::ٚ5B C@%EEFNOT Ignoring new targets: 107.30 m. jAjIjIjIiIhIhQhYhYfYfYfarfabfe_H@ɛ-B-$< )-I) 588=ɚQiQI]r;=Ie29ieeIC It$IIBI =&IFD.I6I'<:IM FGA BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data.qw,SUA:}I@Y:q&W@:<9:g=y:H:7O?FK˿`"?c~`'b??ɨ:}I@:;:%Cy^hBb$IIj#Ij%x3٢r rK=9rQ r>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~m h?5Y~E i~`> @~1E~;~:~5B {@EMFNOT Ignoring new targets: 107.30 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]H@ɛBp< 隍" I $=ɚiI{q;=I29i zKE NKE 9KA KE "KE    m @$?Ii [1ww,4+UAB I@YB$W@BG<9B =yBH78`CW?K⩿,˿`a?ݝ?@վ?ɨB I@B,;B"CyJYBN$ImMb@Mb@Mb@iii i)iYmDl?Mb~jtymOM?mmDm A mb@)mI@Im@iym@II3٢{ ?=9Q > G٣:TGy > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.9 g?5Y(G iN`M?:f=@3EPa;_;y5 n@5FNOT Ignoring new targets: 107.30 m. j1j9j9j9i9hAhAhQhQfffrfbf`dH@ɛEBE&< AE&IA M,=ɚIiIIMXg;=IU29iU[}w,UA2]H@Y2PW@2\î<92E`=y2H@9Q?p˿/`l?וտ?`?ɨ2]H@2܋;2!CyBNBB#IiFXX ZG٣Xy^繺 ^> bNusing accuracyPremultiplier from config`f59b/g?f5YbH ib`djn=j@b6Eb.:b:b5l n@rEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf*I@ ?$?I H]t>IY I]a$II]BIY&IY.IY6I]9<:I]Z FɛMBu< q}8Iy =ɚiI];=I29iFDw,VAWill construct direction to contact in vehicle frame from tetrahedron phase data.>0I@Y>#'W@>#g<9>W=y>H@8 ku?@N˦ G˿@ 1$?L ?`׾?ɨ>0I@>;Ya eG٣aye: e> uNusing accuracyPremultiplier from configi59m4g?5Ym1J im`J?:r=@m9EmIQ Ul=ɚQiQIU.D;=I]29i]n$?I*F ?2F :FBFQ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% OPG B O- >mw,{+VAy~QQ UG٣U;TGy] ]> eNusing accuracyPremultiplier from configam59eɡg?m5YeK ie`iiu@e;Ee\:e:e5y }@}$EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@oI@ɛB^< DVI  X=ɚiIu^8;=I}29i}1 Will construct direction to contact in vehicle frame from tetrahedron phase data.#Vw,EVA6)I@Y6.W@6UD<96n>y6H8?~`̿?;2? ?ɨ6)I@6 ;6$CyN6BN#I)P RAIZIZF3JJJJJ}:Jľ9JJJ;J;J;J;٢% %M=9%qQ ->)) -G٣)y5ˋ: 5> =Nusing accuracyPremultiplier from config9E59=g?E5Y=7M i=aIMj=M@=>E=:=:=x5UB Uj@]'EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`xI@ɛB_< ]I =ɚiIK;=I29id3zK MK h9K K $K   I w,s_VA2=I@Y20%W@2s<92y>y2H:w?@ K˿^J?^ r? ?ɨ2=I@2ъ;2"CyR*BR#IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.Yoʡ?{Gz~jtxyM?ףĻA )I@Ip@y @II 3٢i A=9 ûQ > G٣yG > Nusing accuracyPremultiplier from config59|kg?5YN ia M?:<@@E;;R5B %@*EFNOT Ignoring new targets: 107.30 m. jj!j!j!i!h!h!h)h-Bf)f)f1rf1bf5I@ɛBG < 隍drI =ɚiI:=I29iΟM Will construct direction to contact in vehicle frame from tetrahedron phase data.Ωw,NyVA6-I@Y6 6W@60;96>y6Hj8ϸ?@̿ @?&||??ɨ6-I@6;4yR'BR#IIZ IZ̍2٢b6 b\=9f#Q f>dd fG٣dyj_6; j> rNusing accuracyPremultiplier from configpv59rRg?v5YrP ir3atzo<z@rCEr+;r;r5| ~Q@,E%FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=h*J@ m;$?IiHu>I I5$IIBI&I.I6I <:I9 FɛB< tI =ɚiI%%:=I%29i-wE]>*F2F:FBFl1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO*>JJJJJy:JJJJ;J ;JJ)M= M]Cc~GZA  Y y A] "@] FAm Will construct direction to contact in vehicle frame from tetrahedron phase data.񦤕w,,VA>I@Y>5W@>3;9> >y>H8?Oc̿F~?@_q ]??ɨ>I@>O; G٣ Nusing accuracyPremultiplier from config59c5g?5YxR i@aO?:;@FEQ;/;ઞ5B @/E%FNOT Ignoring new targets: 107.30 m. j!jjjihhhhlBfffrfbf`eJ@ɛ-B-< )-zI1 5#=ɚ1i1I5ٌ:=I=29i=SWill construct direction to contact in vehicle frame from tetrahedron phase data.˪w,gGVA2TI@Y2H;W@2~:92C>y2H8 T?5 ̿`@F?] +?@?ɨ2TI@2o;2#Cy>BB#IIJ-IJ3٢Rˋ R_=9V/лQ V>TT ZG٣XyZz|: Z> bNusing accuracyPremultiplier from config\b59^g?b5Y^T i^Iadf;f@^HE^P:^P:^z5h j7@n2E]FNOT Ignoring new targets: 107.30 m. jYjajajaiahahahihifififirfqbfu6J@ɛB< I U=ɚiI_:=I29iJÞI I"$IIrBI =&I.I6I<:I FBIǨCJIǨCRIZI =bI =jI<4G']?;GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Rw,!VAJbJbJ`J`Jb}:Jb[9J`J`Jb;Jb;Jb;Jb;~I@Y~;W@~r"9~>y~H7?̿ N? WD? ? ?ɨ~I@~1@;~&CyB#II%,I%3٢5 5A=9=нQ =>AA EG٣AyE8 E> UNusing accuracyPremultiplier from configIU59Mg?5YMV iMOa@MKEMk 8$?I hzK LK h9K K &K ݷw,VA6I@Y66W@696d>y6H8? |̿??i?`c?C??ɨ6I@6;6 CyBBB#I)D FAHJA5Mb@Mb@Mb@111 1)1Y5Dl?MbP?Mby5OM?5:55A 5@)1I5@1y5Q@IM6IMm3]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiY٢eR mG=9m,Q m>qq uG٣u=TGyuL }> Nusing accuracyPremultiplier from configy59}f?5Y}W i}YaRM?::@}ME}j;}t;}5B 1@8EFNOT Ignoring new targets: 107.30 m. jjjjihhhhrBfffrfbfpK@ɛUBU4]< QUIY ]e=ɚYiYI]9=Ie29ie[w,nVA:+I@Y: JW@:9:Q>y:H S6r? c̘u8̿@v?s?۽??ɨ:+I@:;:!CyFBF#I V7$?IXIZ*IZ3٢~< ~Q=9BĻQ >  G٣ y G;  > Nusing accuracyPremultiplier from config59f?%5YY i_a)-:-@PE)f;f;ұ59 =@=;EeFNOT Ignoring new targets: 107.30 m. jajajijiiihihihqhqfqHI I $II^BI&I.I6I<:ID Ffqfrfbf/K@ɛB@\< I =ɚiI9=I29iԷ% Will construct direction to contact in vehicle frame from tetrahedron phase data.ĕw,WA^I@Y^.W@^›ջ9^>y^H@992?E0~̿?kz?M?@ط?ɨ^I@^;^"CyjBn#IMb@Mb@Mb@ )YCl?Q?~jtxyO?<Ļ7A b@)@Iy @I!Ii3٢-7 -8=95|Q 5>11 =G٣9y=4t => ENusing accuracyPremultiplier from configAM59Ef?M5YE0\ iEYaUP?U:U8U@ESEE>;E;E³5]B ]Q@e>EFNOT Ignoring new targets: 107.30 m. jjjjihhhhJBfffrf!bf%^iK@ɛmBur< quIq uX=ɚqiqI}P9=I}29 5$?IzKRIK 9KK'K   i OOX̕w,L3WA*Will construct direction to contact in vehicle frame from tetrahedron phase data.6I@Y68W@6 96>y6H 8?seZ̿?%:?? ?ɨ6I@67-;4yBBF#Iiv%=Iv4< vp=va=I~3I~ʴ3٢ \  7=9Q > G٣>TGy: > %Nusing accuracyPremultiplier from config!E59%ސf?E5Y%^ i%PaIM8M@%VE%;%;%5Q U@QFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf۠K@ɛBR`]< I :=ɚiI9=I29i:ӕw,ŠMWA6H@Y6W@6Z@(96F>y6H: 5?uV!˿ `????ɨ6H@6l;6#CyBBFt#IIN2IN?3٢VI VR=9V6Q V>XX ZG٣Xy^P ^> fNusing accuracyPremultiplier from config`f59bwf?f5Yb` ibFahj8j@bXEb.:b:bk5rB v9@vAEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@K@ɛ%B%@< )UIY ]=ɚqiqI}X8=I}29iٕw,EHiWAJ4J6J60J4J4J69J6ـ3J4yޕބBޝm#I) -Mb@Mb@Mb@))) )))Y-S?J +?Mb`y-O?-H=-- A -x@))I-@)y-\@IE IEb3٢U U=9]Q > G٣?TGy > Nusing accuracyPremultiplier from config59Qf?5Yd i(a{O?:&7@\E;;㹞5B @DE B*** querying acoustic contact ***j j %FNOT Ignoring new targets: 107.30 m. j!j!j!j!i!h!h)h)h-:Bf)f1f1rf1bf5L@ɛ]Bei< aeIa e =ɚaiiImoE8=Im29i} w,WABH@YB W@BxL9BJ>yBH<?Ԑ&˿` 5BDAT read: Tx time:23:25:17.2837 =$Ping request sent.=f?u5Yme imay}:7}@m^Em :m:m(5 @GEFNOT Ignoring new targets: 107.30 m. jjjjihhhAhAfAfIfIrfIbfM (BL@ɛB; 隽+I  =ɚiI~8=I29i齛  2$?I w,좜WA6 H@Y6V@6"Y96r>y6H@?R}? ُ@G˿,!?o G٣ý > Nusing accuracyPremultiplier from config59"f?5Yh i`9O?:Q6@aE;1;5B @JEFNOT Ignoring new targets: 107.30 m. jjjjih!h)h1h5>Bf1f9f9rf9bf=syL@ɛBNg5< 隍I  =ɚiI7=I29iM Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750640w,~WA6¼H@Y6V@6(96=y6H OA@l?@X ,`˿`Iྚ?`?@bn??ɨ6¼H@6쯋;6"CyޅބBލl#III#3٢ <  R=9 Q > G٣y2 > %Nusing accuracyPremultiplier from config!-59%f?-5Y%j i%`1=_6=@%cE%Q;%R;%Ǿ5EB Em@MMEmFNOT Ignoring new targets: 107.30 m. jqjqjqjqiqhyhyhyhyfyffrfbf`)L@ 0$?IhɛuBu.-< qu}Iq }} =ɚyiyI}d7=I29iKw,W_WA6܀H@Y6ϟV@696N>y6HG?@m|ʿ@7G?g?*??ɨ6܀H@6ő;6#CyNBNr#IIZIZƲ٢^< bb=9b2EQ b>dd fG٣f@TGyf% j> nNusing accuracyPremultiplier from confighr59je?r5Yjm ij`pr6r@jeEjj;j:j\5x z @xMFNOT Ignoring new targets: 107.30 m. jIjIjIjIiIhQhQhYhYfYfYfYrfabfe#L@ɛ~Bt-6< 15ԛIQ ]V=ɚaiaIe5 7=I29i q<Will construct direction to contact in vehicle frame from tetrahedron phase data.ե[?եT?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259521i9A+))*F2F:FBFP0JF /$?IzKNKKK*K    G߻G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506592+w,;5WAJ0J2@AJ>J>J<J<J>̈́:J>9J<J<Z3H@YMRV@߱91>yHO@3c?lSʿ@`e???@Ը?ɨZ3H@E7;yEBEq#IMb@Mb@Mb@ )Y@5^I ?333333?~jt?ybP?=D< )@I@yII[3٢< =9:Q > G٣y%6 %> -Nusing accuracyPremultiplier from config)559-Ue?55Y-Pp i-J`=JQ?=:=6=@-iE- ;-X ;-ž5EB M@MUEuFNOT Ignoring new targets: 107.30 m. jqjqjqjqiqhqhyhyhHBfffrfbfM@ɛzBfm< 隽I ol=ɚiIׄ6=I29iF͙w,XA)`I``` `dfGwAdiddihl)l lIl l)lpppprSwAipIptItivwA tt)tx xxxx|~ҁA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010491I|) i  yB~#III3٢f= t=9Q ? G٣y  ? Nusing accuracyPremultiplier from config =59 Me?=5Y kr i `99E@ kE =; ; Ğ5I Mi@IFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfaFM@ɛ5wB5vM< 1= I9 ==ɚ9i9I=!-6=IE29iE5TWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266428 I !w,XAJH@YJ7V@J9Jg >yJHR@u(?`YO^ʿ1?@SS?#$?)?ɨJH@JB;J!CyEBE#IzKMK9KK+K Mb@Mb@Mb@    ) Y oʡ?Mb?Mb?y M? = <  b@) @I @ y @I%"I%q3٢5]i= 5G=95W;Q =>99 =G٣=ATGyE E> MNusing accuracyPremultiplier from configIU59Me?U5YMt iM_]M?]:]7]@MnEM;Mc;MŞ5eB e@eXEFNOT Ignoring new targets: 107.30 m. jjjjihhhhYBfffrfbfyM@ɛtBKV< fwI =ɚiIX5=I29i7ɘ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766571P w,7XAbH@Ybw5V@b9bX >ybHR"?d'ʿ 1h?4 ?`\?B?ɨbH@bH2;b"CyuBu#III3٢s< S=9\:Q > G٣yﱹ > Nusing accuracyPremultiplier from config59Ae?5Y!w i_7@pE::Ǟ5B ?@[E ,$?IFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@M@ɛpB2< eI T=ɚiIS5=I 29i 6I I#II?BI =&I.I6I<:I? F*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:25:19.9048 TRx dataTimestamp_ set to:1736378721.104676checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019668Gk}G ?G>JcKk3 Kk.-KcKc"KcJ J J J J :J 9J J J !;a J ";a J ;a J ;a G B O >|4w,QXA2)H@Y2HV@2:92ux >y2H PG?궉`@ʿ  k?%'?`??ɨ2)H@2 ϊ;2!CyN BR#IIZIZ3٢z= ~W=9~yQ > G٣y J;  > Nusing accuracyPremultiplier from config59le?5Y^y ie_!%6%@sE;h;7ɞ5) -A@-^EUFNOT Ignoring new targets: 107.30 m. jQjQjYjYiYhYhYhahafafafirfibfm`M@ɛmBv< 隝(AI э=ɚiI4=I29iú- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AE 8DAT read: $Error in header E *Received a bad header checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537919_w,kXA6'H@Y6tFV@6r96y >y6HQ B?9 g<ʿ?&.?`i??ɨ6'H@6Ɗ;6"Cy^B^#IMb@Mb@Mb@ )Ykt?? rh?y P?L=C< )@I@y@IIF3٢̀= <=9 Q > G٣BTGyO > Nusing accuracyPremultiplier from config 59Oe? 5Y{ i$_ P? : #8 @uEy;%;˞5B U@aEEFNOT Ignoring new targets: 107.30 m. jAjAjAjAiAhIhIhIhUBfQfQfYrfabfeN@ɛiB< 隝:I I=ɚiIb4=I29i#H I  I #II SBI  =&I .I 6I ү<:I  F H!w,_XA6fBH@Y6XaV@696P>y6H0NKy?@`pʿ a`?@? ?)?ɨ6fBH@626;6!Cy^"B^#IIf.If3nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.026650٢v = v\=9zQ z>x| ~G٣|y~; ~>  Nusing accuracyPremultiplier from config 59>7e?5Y} i^8@xE;;̞5! %@!UFNOT Ignoring new targets: 107.30 m. jQjQjQjQiYhYhYhYhYfafafarfabfm *$?I yo'w,/XA:rWH@Y:dvV@:&9: >y:H K?@:ʿ@?$?=??ɨ:rWH@:;:"CyF2BJ#I%Mb@Mb@Mb@!!! !)!Y%n?Mb`?Q?y%VN?%;%uQY ]G٣Yy]}J; e> mNusing accuracyPremultiplier from configam59ee?u5Ye ie^u_N?u:u;u@e{Ee;ey;eΞ5B @dEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf xN@zKjIK]9KK-K1U{uj^QG=4-(  ɛbB< 隝TI H=ɚiIU3=I29i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782542^-w,XA2htH@Y2[V@2 E92~K>y2HH@?fʿ?`jh?$?ܯ?ɨ2htH@2;2%Cy>:B>#IIJIJF3٢RL#= RV=9RN1Q R>TT VG٣VCTGyZ; Z> Nusing accuracyPremultiplier from config\%59^He?%5Y^o i^^!%;-@^}E^j<^j<^9О51 5L@5gE]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiahahahahafififirfibfu`N@ ($?Iɛ^B \< ̐I  =ɚiI|2=I29iI I"$IIrBI =&I.I6I <:I9 F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034525GTGBO >Ju Ju Ju 1Jq Ju y:Ju 9Ju 3Jq Ju ;Ju ;Ju ;Ju ;4w,XA6H@Y6V@6i96F>y6HE@v?ۤ@ ˿` ??5??ɨ6H@6c;6!Cy>JBB#IIJ&IJ3٢Nz= RJ=9RQ R>TT VG٣TyV׋; Z> ^Nusing accuracyPremultiplier from configXb59Z{d?b5YZ> iZ^^`br;f@ZEZ;Z;Zў5jB jD@jiEFNOT Ignoring new targets: 107.30 m. jjjj i h h h hfffrfbf N@ɛZB< jy=I =ɚiI=!2=I29i, Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5406302:w,oXAFH@YFV@F 9F>yFH@A#n?%xb˿%7?B0?@e?@?ɨFH@FC$;F"CyjTBj#Iin4=Inp<Mb@Mb@Mb@ )Y@5^I ?ˡE~jt?ybP?'D<A @)IyI Ib3٢5= /=9qQ > G٣yf; > Nusing accuracyPremultiplier from config59d?5Y i6^P?:>@E;;Ԟ5B @lEFNOT Ignoring new targets: 107.30 m. jjjjihhhhńBfffrfbfO@ɛ-UB-H= )-I1 5E=ɚ1i1I5gg1=I=29i=_Iq  Iu N$IIu BIu =&Iq .Iu ?D6Iu <:Iu FG9 BI Ou >Aw,EYA6 H@Y6 W@6甼96{X>y6H;?pj_˿`9 ???g?ɨ6 H@6g;6#CyB]BB $IIJIJ2fWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.044538٢%M= -d=95Q 5>YY ]G٣eDTGye< e> Nusing accuracyPremultiplier from configy59}d?5Y}. i}^e>@}E}%<}` <}՞5B @oE)-= 5cCFNOT Ignoring new targets: 107.30 m. jAjIjqjyic~G|uAZAhh Y|uAyAhhfffrfbf@~LO@J=J=~J9J9J=p:J=f9J9J9J=;J=;J=:J=:ɛQBq = 隕Gw, YAyzlB~$IMb@Mb@Mb@ )YV-?ˡE~jth?yhQ?什D;MA x@)@I@yII(*3٢F= @=9Q > G٣y > Nusing accuracyPremultiplier from config59Sd?5YA i ^uR?:oA@E7;E5;tמ5 @zK-\NK-h9K)K-/K-{ph]WE-U2|xwrolwRK= ?JK=?FNOT Ignoring new targets: 107.30 m. jjjjihhhh݄Bfffrfbf@O@ɛMMBMp= IMw=II U7=ɚQiQIU/=I]29i] 'Ow,ލ?YAHNz>INC INt$IINBIN =&IL.IL6IN<:IN FBIiJIiRIiZIm =bIm =jIm|5y|~$I) I&I3٢: %0=9!Q %>!) -G٣)y) 5> =Nusing accuracyPremultiplier from config1=595wrd?E5Y5s i5^AAE@5E5C:5:5zٞ5Q U@UrEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@iO@ɛHB3= p=I  x=ɚiI4/=I29i Will construct direction to contact in vehicle frame from tetrahedron phase data. %= = checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302773Vw,NYYAF{I@YFW@F9F>yFH@+?L㋿̿`9?5t?$?ʫ?ɨF{I@Fي;F$CyRsBR$$IIZIZ<2 #$?I٢%< %<=95Q }> G٣ETGyК< > Nusing accuracyPremultiplier from config59Rd?5Y i]@@E:2:|۞55B 5~@5uE}FNOT Ignoring new targets: 107.30 m. jyjjjihhhhfffrfbfO@ɛCBl= )-=I) -=ɚ)i)I-P.=I529i5I.;:88655332//1*&'&'%### }Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554615E=J J AAJ J J 0J J s:J y9J ـ3J a @a @a @a @*Fe ?2Fa :Fa BFe b0JFa G-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807472GaBiO?7]w,ayYA^I@Y^W@^9^&>y^H$@}_?@ØWSͿ` (??^?@\?ɨ^I@^G;\yfqBj"$I IMb@Mb@Mb@ )Ygfffff?&1{Gzy3S?н#A @)@Iy=@IIm?3٢ "=9d\Q >   G٣ y < > %Nusing accuracyPremultiplier from config%59n1d?-5Y i^-T?-:-A5@EsQ;1;ݞ5=B =@=xEeFNOT Ignoring new targets: 107.30 m. jajajajaiihihihqhuBfqfqfqrfybf}`P@ɛ>B= 隵=I 5=ɚiIo-=I29iI I$IIȅBI&I.I6I)<:IT FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059468*F?2F:FBFu0JFG7:G B O >-dw,YA2I@Y2X@292F$>y2H @ܩ?@ܠ@Ϳ!?7? 6?`x?ɨ2I@2C;2%CybfBb$IInIn3٢rs v_=9v>:Q v>xx zG٣xyz; ~>  Nusing accuracyPremultiplier from config 59 d?5Y ͋ i ^A@ E Y!; !; 1ߞ5! -:@-{EUFNOT Ignoring new targets: 107.30 m. jQjQjQjQiQhQhahihifififqrfqbfu0P@ɛ;BΚ= 隭ܬ=I hw=ɚiI,=I29izK BNK 9K K 1K    m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563333Njw,ՕYAJBJB~JB/J@JBy:JBf9JB(N3J@y5gB5$IMb@Mb@Mb@ )YtV?"~jQyR?S㽹udA x@)@I@yIIm?3٢f; 8=9Q >! %G٣%FTGy% %> 5Nusing accuracyPremultiplier from config)559-c?=5Y-͌ i-.^=T?=:=oB=@-E-;-#;- 5EB M"@M~EFNOT Ignoring new targets: 107.30 m. jjj!j!i!h!h!h)h-Bf)f)f1rf1bf5MP@ɛ}6B}= 隅\=I =ɚiI+=I29iaI  I I I &I .I 6I 4<:I ] FGY Bi O >qw,fYAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066468y-RB-#I)1 1I9I9٢Uٽ X=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 Bc?5Y  i G^@ E 2; ; 5=B =a@EE}FNOT Ignoring new targets: 107.30 m. jyjyjyjyiyhhhhfffrfbf`fP@ɛ3B<= 隽}=I =ɚiIl0+=I29i\ $?I ww,MYAbNoJ@Yb@X@bu9bz >ybH9@?'৮οp?`,?s?ධ?ɨbNoJ@b;b"CynFBn#IMb@Mb@Mb@ )Yn?:vI +yV?Խ9 )@I@y@II3٢ a C=9ii mG٣iyuܤ< u> }Nusing accuracyPremultiplier from configy59}c?5Y}؎ i}o^W?{:.A@}E}8;};}5 @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhƄBfffrfbf P@ɛ .B |V= `?=I -=ɚiI1*=I29iWH Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822846~w,#YA2hJ@Y2ZX@2]92ű >y2H@* @f?@d`οg N??g?&?ɨ2hJ@2>F;2#Cy>7B>#IIJ'IJ@3٢5a =$?IA EU=9Ew;Q E>II MG٣MGTGyUw; U> Nusing accuracyPremultiplier from config59c?5Yߏ i^ A@E;;R5B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrf bf P@ɛ+B< = 隽E>Hu{>Iq Iut$IIuBIu =&Iq.Iq6Iu%<:IuR F*F?2F:FBF`0JF"G=G=G}UN<GQBaO}Y>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=y6H/ b? 0"%Ͽ೽7#? ?aK? P?ɨ6nJ@6E;6!CyB$BB#IiFXX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`f59bc?f5Yb ib^df@j@bEb :bP:b5nB n%@nEuFNOT Ignoring new targets: 107.30 m. jyjyjyjyiyhyhyhhfffrfbfP@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝<ɛ}&B}= y}Iy F;=ɚiIK)=I29i4+w, .ZA*J.C="J.%=J:J8J8J8J:p:J8J8J8yu B}#IEMb@Mb@Mb@AAA A)AYE:v?y&1S㥛yET?E`eE/ݼEzA A)AIE@AyAIeIeF3٢u!Խ u0=9}Q }>y G٣y > Nusing accuracyPremultiplier from config59jc?5Y̒ i^U?~:O=@EY;f;5B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf`>P@ɛ"Bƨ< !% 8I! -=ɚ)i)I5(=IE29iE-Iq  Iu B$IIu BIq &Iq .Iq 6Iu P<:Iu r FG B OE >w,HZA6J@Y6X@6A96w >y6Hb?`A.Ͽ ?U4? d? P?ɨ6J@6 w;6#CyfBj#IIvIv#3~Will construct direction to contact in vehicle frame from tetrahedron phase data.~G %A U%YQy] A٢- G=9;Q > G٣HTGy[2: > Nusing accuracyPremultiplier from config59jNc?5Ys i_K=@EG'<q;5! %)@%EUFNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhYhYhahafafafirfqbfu@4P@ɛB< 隥I =ɚiI?(=I29ih'Ew,bZA^J@Y^X@^ɻ9^ \>y^H@q? HϿ@n?:y??m?ɨ^J@^;^$CynBnt#I)p pMb@Mb@Mb@ )Y/$? rh?y&1y&Q?C<`MA )I@y@I2I?3٢C T=9 G٣y%C; %> -Nusing accuracyPremultiplier from config)559-4c?55Y- i-9_=QQ?=:=7=@-E-@;-;-|5A E @IuFNOT Ignoring new targets: 107.30 m. jqjqjqjqiqhyhhhTBfffrfbfZQ@ɛB< 隽lֽI v=ɚiI'=I29i.$ Will construct direction to contact in vehicle frame from tetrahedron phase data.|ew, b|ZA `I`fRJ@YfDX@feA9f>yfH@A2?g@aϿ@D?@(r?@"p??ɨfRJ@f̍;f%CȳBV#II-I-?13٢E EZ=9E;Q M>II MG٣IyU; U> mNusing accuracyPremultiplier from configi}59mc?5Ymݘ imZ_7@mEmn;mo;m!5B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@xQ@ɛBCs< 隍vI e=ɚiIW'=I29i~#I I $II^BI&I.I6I <:I@ FBI©CJI©CRIZI =bI =jI5*FM?2FI:FIBFMV0JFIG1BAO]3>Will construct direction to contact in vehicle frame from tetrahedron phase data.=%=J |J J J J ;g:J J J J ֊;a J ׊;a J {:a J |:a Qw,LZA6YJ@Y6KX@6,96>y6H ?`ꜿ $ϿdM? e?U0? 0?ɨ6YJ@6=;6#CyrBr<#IIz0Iz(3٢۽ N=9@;Q  >    G٣ ITGy- > %Nusing accuracyPremultiplier from config%59c?-5Y$ i_)-7-@E;;55B =@=EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfD3Q@ɛB {< Z5I q=ɚiI='=I29i% Will construct direction to contact in vehicle frame from tetrahedron phase data.zK k3IK 9K K 5K &;Tbjh`QD70*   Lww,ZARxJ@YRjX@R )9RY >yRH @?)" Ͽ9@J?@!S?^? ?ɨRxJ@RZ;R"CyfBf,#IMb@Mb@Mb@ )Y> ףp=? G٣y2 > Nusing accuracyPremultiplier from config 59@b? 5Y; i_R?:3@E'8;6;5%B %@%EMFNOT Ignoring new targets: 107.30 m. jIjIjIjQiQhQhQhYh]BfYfYfarfabfe@eNQ@ɛ Bʉ< 隭DI =ɚiIZ&=I29i $?IjH <bH 4<H ~>I  I #II !BI =&I .I 6I j<:I F(_w,ZA:rJ@Y:X@:99:=y:HZw?` οSѾ?=ƿ??ɨ:rJ@:o;:$CrWill construct direction to contact in vehicle frame from tetrahedron phase data.y B#II-3I-ʴ3٢=l =5=9=_r;Q E>AA EG٣AyM俻J]{J]{JYJYJ]d:J]-9JYJYJ]";J]$;J]:J]: m> uNusing accuracyPremultiplier from configq}59ub?}5Yul iu_y3@uEu.:u:u5 @ E]FNOT Ignoring new targets: 107.30 m. jYjYjYjaiahahahhfffrfbfmQ@ɛBE۔< YI =ɚiI&=I29i#w,ZAɸQQQiQQiYY)Y YIY a)aɹaaaaɺeuAiiIiiIiii qq)qq u7uAuA`u_FɻyyyIy)yiy)I鼁ɼ yޭBޭ#IEMb@Mb@Mb@AAA A)AYE(\?/$?~jtxyEzT?E1>EĻEA E@)AIAAyE@I]6I]m3٢-6  -M=95Q 5>99 =G٣=JTGyE M> ]Nusing accuracyPremultiplier from configQe59Ub?e5YUܤ iU_m2W?m|:mh/u@UEU~;U+u;Ut5B @EFNOT Ignoring new targets: 107.30 m. jjWill construct direction to contact in vehicle frame from tetrahedron phase data.jjihh!h!h%Bf!f)f)rf)bf-Q@ɛuB}hJ< y}^Iy a?=ɚiI[|&=I29iE>zKMKKK6K   $,5;70/,))&&%"" *FM?2FQ:FQBFUd0JFQG} zQ<GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.tw,eZA &$?I$>,J@Y>uKX@>IwZ;9>w=y>H`?dn`-ο@]E?Nk@Z?@G?ɨ>,J@>@g;> CyB#I)! !)-AI5-I53٢E Ep=9E Ŗw,B[A:#J@Y:"X@:Tؘ;9:X=y:H ֑?;蠿@Ϳ@B'?sJ?z?ɨ:#J@:H;:#CyB #II5<I53٢=|: EJ=9EX;Q E>II MG٣IyM̻ U> eNusing accuracyPremultiplier from configam59e8}b?m5Ye0 ie_im/m@eEe:e:e5}B }<@}EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfOQ@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB+< 隥WI p<ɚiI23&=I29ix- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK K K 7K     ٵ˖w,1[A2I@Y2W@2S;92=y2H#X*?@HryͿ@g`?`hw@K?@m?ɨ2I@2;2"CyB#I !!Will construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5-?'1Z?{Gzt?y5?U?5">5ף;1 5@)5I@I5@1y5@IQIQ٢e4< e=9e ;Q e>ii mG٣mKTGymK u> }Nusing accuracyPremultiplier from configq59uWb?5Yu` iu^_Y?z:A.@uEu ;u];u05B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfQ@ɛB< 隥9I -<ɚiI%=I29i`YIC Ig#IIڄBI&I.I6I<:I5 F*Fm ?2Fi :Fi BFm 0JFi 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3V;GIBYO}>ѯӖw,vO[A @2ΡI@Y2W@2);92+=y2H ( j?ߡ@Ϳ`/#?`E~=? ?ɨ2ΡI@2Q;0)TITTT TXZCwAXiXXiX\)\ \I\ \)\\```bOwAi`I``Idid dd)dh hhhhllInD)lillyrBr##II6Im3٢9= =9S;Q ?! %G٣!y% %?J5zJ5wJ1J1J5`:J59J1J1J5o;J5q;J5:J5: MNusing accuracyPremultiplier from configIU59M Db?U5YM  iMG_Y]o.]@MŽEM;:M:M5a e@mEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`OQ@ɛB-< I n|<ɚiI%=I29if-mWill construct direction to contact in vehicle frame from tetrahedron phase data. $?Ihٖw,g,i[ANQvI@YNBW@Nݫ <9N=yNH -@ts?q6 ̿ 6?nUC*??ɨNQvI@N,;N#Cy}B}4#IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ykt?ʡE?{Gz?y P?>ף<A @)@I@y@I- I-b3٢=~= E:=9E ;Q E>AI MG٣IyMŻ M> ]Nusing accuracyPremultiplier from configYe59]'(b?e5Y] i]_eS?m:m.m@]ŎE]<;];]m5}B }@EEFNOT Ignoring new targets: 107.30 m. jAjAjAjAiIhIhIzKMLKM 9KIKM8KM'*BKY:K]qAhqhuBfqfqfqrfybf} R@ɛB< ޽I <ɚ i!I%:%=IM29iUؐVw,[ [AH6>I4 I6m#II6߄BI6 =&I4.I46I6d<:I6 FF5I@YFSW@F(!<9F=yFH4R?@K̿@?%>?\?ɨF5I@FI;F"Cy^ĄBbM#IIjIj?13٢vs= vc=9vy;Q v>xx zG٣zLTGy~D5 ~> Nusing accuracyPremultiplier from config 59b? 5Y i^ /@ǎE^;;5 @MFNOT Ignoring new targets: 107.30 m. jIjIjQjQiQhQhQhhfffrfbf O R@ɛ-B-< 15uIQ ]O<ɚYiYI]}f%=Ie29ieD)a)iEE)&= *F-?2F):F)BF-]0JF)~GWill construct direction to contact in vehicle frame from tetrahedron phase data.G%: M$YQyUAGBO J>PExceeded connect timeout, disconnecting.J5}J5vJ1J1J5[j:J5ϣ9J1J1J5;J5;J5:J5:jw,}[A"Will construct direction to contact in vehicle frame from tetrahedron phase data. B$?I@y}҄B}^#II Ib3٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from config59a?5Y i^@ʎE::5B @EFNOT Ignoring new targets: 107.30 m. jjjjih h h h fffrfbf:R@ɛ݄B8T< I c(<ɚiI%=I29i,;w,F[A2 H@Y2V@2.ZE<92x=y2H?!?0 F˿9?@z?=?ɨ2 H@2I;2$Cy>B>#I%Mb@Mb@Mb@!!! !)!Y%n?`"?Q?y%VN?%=%<% A %@)!I%@!y%Q@I=I=T3٢M-> UO=9];Q ]>ii mG٣qyu} u> }Nusing accuracyPremultiplier from configy59}a?5Y} i}r^ P? : 2 @}̎E} <}ߗ<}5 @EFNOT Ignoring new targets: 107.30 m. jjjjihhhh`BfffrfbftVR@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛU؄BUT+= e$?Ia q隕Xf=I g<ɚiI$=I29iEˏ Will construct direction to contact in vehicle frame from tetrahedron phase data.w,_[A2CH@Y25V@2Y<92Z =y2HtC`?yE@˿ :?`2?W?ɨ2CH@2;2"CyRBR#IIZ&IZ3٢b` > bU=9f2S;Q f>dd jG٣jMTGyjٻ j> rNusing accuracyPremultiplier from configlr59na?v5Yn in=^tv(2z@nώEnA6;n6;nF5B @E nManaging dock network, ignoring radio surface power off=FNOT Ignoring new targets: 107.30 m. j9jAjAjAiAhAhAhIhIfIfIfIrfQbfUlR@ɛӄBrh%= 隍>I <<ɚiI $=I29im*F?2F:FBF3JFGҸGBO%> e$?IamWill construct direction to contact in vehicle frame from tetrahedron phase data.mAii^ w,-y[AJwH@YJiV@Jl<9Jl=yJH8G`[?ԋ>ʿ ] @?q ??ɨJwH@J;J#CyV)BV#ImMb@Mb@Mb@iii i)iYm/$?~jt? G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59a?5Y i^H?:7@ҎEOe;c;(5B *@E FNOT Ignoring new targets: 107.30 m. j j j j i h hhhBfffrfbf7R@ɛM΄BMjg0= IM5>II U|<ɚQiYI]$=Ie29ieWw,8N\AHI I#II:BI&I.I@D6Iѯ<:I FBxH@YBV@B|<9B>yBH@H f?`D7 -ʿ _ľ? &??ɨBxH@B;B"CyNMBN#IIV%IV)3٢bE?> bY=9f*;Q f>dd fG٣hyjr j> nNusing accuracyPremultiplier from configlr59n$a?r5Yn in]tv8v@nԎEn;n:n 5x z@x%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i!h!h)h)h)f)f)f1rf1bf=`(R@ɛɄB$J= >I =ɚiI #=I29iu A IA @:w,P\A Will construct direction to contact in vehicle frame from tetrahedron phase data.6H@Y6V@6Z^<96>y6HGo?@z@ʿ`e %4? k`d?`w?ɨ6H@6Y;6#CyVgBV$I)X XIbIbT3٢j= jH=9j :Q n>ll nG٣nNTGyr: r> vNusing accuracyPremultiplier from configtz59vva?z5Yv1 iv]|~7~@v׎Evq:vq:v 5  ?@E5FNOT Ignoring new targets: 107.30 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfMVR@ɛuĄBuP2]= y}>Iy }=ɚyiyI}O/#=I529i5dzK K ]9K K ;K *J1 "J5 4=J= zJ= vJ= 0J9 J= `:J= ϣ9J= ـ3J9 C_ w,38\A6ZH@Y6LV@6s<965>y6HE?`(˿)?bL?ӷ?ɨ6ZH@6;4yNBN<$IEMb@Mb@Mb@AAA A)AYEHzG?Q롿y&1?yE=J?E\E` mA=9uO;Q u>yy }G٣yy}C@; > Nusing accuracyPremultiplier from config59SZa?5Y i]J?:>@َE;S;n 5B :@EFNOT Ignoring new targets: 107.30 m. jjjjihhhh/Bfffrf bf R@  $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛMBMQk= IM>II U=ɚQiQIU>"=I]29i]NxI! I%5$II%BI% =&I!.I!6I%<:I% FG% I6G B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.~Cw, Q\A6H@Y6V@6-C<96 >y6HA E??c˿@N?@,`,?෴?ɨ6H@6D;4yBBBM$IIJ"IJq3٢R]= VX=9VY7:Q V>XX ZG٣XyZ; Z> fNusing accuracyPremultiplier from config`f59bsAa?j5Yb ib]hj^>j@b܎Eb&;bvI =ɚiI"=I29i  mw,Yk\AF H@YFW@F_<9F >yFH`<Z?.觿`˿Mk}?kSc??ɨF H@F;F CyRBRi$I-Mb@Mb@Mb@))) )))Y-J +?:vI +?y-H?-Խ-94<-zA -@)-AI))y-p@IMIMF3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢= 7=9Ŀ:Q > G٣OTGy; >  Nusing accuracyPremultiplier from config 59 #a?5Y  i ]{J?:C@ ގE ; ; 5%B %@%ǸE]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhYhahahehBfafifirfibfm S@ɛB-= 隥>I ˀ=ɚiI]!=I29i:H! I!  I% $II% BI% =&I! .I! 6I% <:I%  FU!w,\AF!I@YFw@W@FCb<9F >yFH(6? R~$̿` ڸ? ?T?ɨF!I@F6Y;F#CyVBVv$IIb#Ib%x3٢jhk= j_=9jX:Q j>ll nG٣lyr}'< r> vNusing accuracyPremultiplier from configtz59v a?z5Yvk iv]x~[C~@vEvT ;v ;v5 "@ʸE5FNOT Ignoring new targets: 107.30 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfM@!S@ɛmBu^= quw?Iq uc=ɚyiyI} =I29i[ $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.܄'w,r\A2\I@Y2{W@2<92>y2H/W?/@E̿"?`??ɨ2\I@2ُ;0yBBBu$IIJIJ3٢~ G=9&:Q >   G٣ y Z< > Nusing accuracyPremultiplier from config%597`?%5Y6 i]!%C%@E::n51 56@1]FNOT Ignoring new targets: 107.30 m. jYjYjYjaiahahahahifififqrfybf} ;S@ɛBS= 隭5?I =ɚiIm =I29i J- {J- uJ) J) J- d:J- 9J) J) zKU LKU 9KQ KU =KU -w,*V\Ay=B=x$IMb@Mb@Mb@ )YˡE?{GzĿI +yG?#94 A @)AI@y\@II3٢ i<  ;=9Q > G٣PTGy > -Nusing accuracyPremultiplier from config!=59%`?E5Y%v i%8^ML?M: ]$?IYMVG]@%E%;%;%X5uB u@u͸E Will construct direction to contact in vehicle frame from tetrahedron phase data.%FNOT Ignoring new targets: 107.30 m. j!j!j!j!i)hIhQhYh]BfYfafrfbf`+ZS@ɛB~s= u?I! m; =ɚiiiIm\I=Iu29iuyEH>I I$IIBI&I.I6Iܯ<:I" F*F]?2FY:FYBF]o1JFY"Ge=Gep== GQ y Y y AG= ! Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA Oe >4w,.\A6I@Y6W@6c<96>y6H!`?C ͿX`E?t`Q?/?ɨ6I@6o;6"CyBB@IN-IN3٢VZ Vd=9V&:Q V>XX ZG٣XyZ< b> fNusing accuracyPremultiplier from configdj59fк`?j5Yf if^hjFj@fEf:f7;f5rB v@vиEFNOT Ignoring new targets: 107.30 m. jjjjihhhhf!f!f!rf!bf-@nS@ɛBЃ=  ?I E =ɚiI=I29i G ?G?GiByO>ٻ:w,O\Ay%B%f$I}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ysh|??^I +ǿ rhyI?X9C  A ) AII@yAIIM3٢ 5=9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59= `?E5Y= i= _MiO?M:MHM@=E=] ;=;=5Q ]@]ӸEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfS@ɛB D=  ?I w0=ɚiI=I29iOKmG%k';GBOI> =$?I9- Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I $II BI  =&I .I 6I <:I ; FBIJIRIZI =bI =jIː5Aw,]A.LJ@Y.kX@.Π<9.>y.H@@C?S`$kο`0? L? @?ɨ.LJ@.E;.$CyNBRO$IiV)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E59=`?E5Y=  i={_IMGM@=E=;=;=5UB U@UظEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@S@ɛB= >I Ϯ=ɚiIR=I29i<7<))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JyJJ1JJ]:JJ3JJ;a J;a Jf:a Jh:aGuCQ;GIBYO> % $?I! = Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,8 ]Ay B 8$II%I%M3٢m˻ mF=9mQ u>qq }G٣}QTGy} }> Nusing accuracyPremultiplier from config59f`?5Y; i_@Eq ;;P5B @۸EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf S@ɛ BhƉ= >I ?=ɚiIA=I%29i%Will construct direction to contact in vehicle frame from tetrahedron phase data.*J R="J a=zK BoHK h9K K ?K   nMw,Ԝ:]AN6J@YN'X@N<9N>yNH@b?/Ͽ%@?@֔h? :?ɨN6J@Nm;N!CyZgBZ$IUMb@Mb@Mb@QQQ Q)QYUoʡ?+ÿ/$yUM?UU,U3 A Q)U~AIQQyUAImIm 3 $?I٢   @=9}:Q > G٣yn< %> -Nusing accuracyPremultiplier from config!-59%I`?55Y% i%`5/Q?5:5E=@%E%;% ;%+5EB E@E޸EmFNOT Ignoring new targets: 107.30 m. jijijijqiqhqhqhyh}bBfyfyfyrfbf*S@ɛB@؂= >I m=ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.I29iiIi Im$IImBIi&Ii.Ii6Im<:ImR FG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.5Tw,*oT]AJfzJfxJf0JdJf`:Jf9Jfـ3JdJfp;Jfq;Jf&:Jf':yGB#II5I53٢EG' EX=9MQ M>II UG٣QyU U> eNusing accuracyPremultiplier from configYe59]/`?m5Y]O i]aiim@]E]q:]~:] 5q u@}EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfkS@ɛB|= 隍H>I =ɚiI=I29ixo[w,_n]Ayn!Br#IUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQMb@Mb@Mb@ )YʡE?Ky&1yO?^`e A @) AIyI7I3٢5 C=9Q > G٣RTGy > Nusing accuracyPremultiplier from config59`?5Y iaiQ?:?@ER;;"5 @FNOT Ignoring new targets: 107.30 m. jjjjihhhhBfff!rf)bf- NT@ɛuBu^Ff= qu>Iq }=ɚyiyI}=I29i\ H] >IY  I] m$II] BIY &IY .IY 6I] <:I] 9 Faw,(]A2-K@Y2=Y@2t<92 >y2H)Z?@Tп7(?_@C?(?ɨ2-K@2-;2%CyRBR#IIZ&IZ3٢bP b[=9b߃;Q b>dd fG٣dyj< j> nNusing accuracyPremultiplier from confighr59jB_?v5Yj ijbtve?z@jEjL;j M;jF$5~B ~z@~EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfff!rf!bf-%T@ɛB|X= 隥h>I Ȣ=ɚiI=I29i $?I h Will construct direction to contact in vehicle frame from tetrahedron phase data.hw,]AJ K@YJ?Y@J*<9J>yJHX[?jп ???ɨJ K@Jn;J"CynBrr#IIz!Izi3٢ F=9#B;Q >    G٣ y9 > Nusing accuracyPremultiplier from config%59S_?%5Y" ib!)-@Ej;2:&55B 5@5EeFNOT Ignoring new targets: 107.30 m. jajajijiiihihihqhyfffrfbf >T@ɛUBU6M= Y]>>IY ]6=ɚYiYIecM=Ie29im)E}>*F?2F:FBFP0JF!GQ GUqAGM5<GB)OEQ>}Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J zK= LK= h9K9 K= AK=    Fnw,/޻]A25(K@Y2&GY@24<92>y2H CSm? _ п@-@"?@ :?@?ɨ25(K@2(;2 Cy~B?#I !I!Mb@Mb@Mb@ )Y|?5^?y&1:vyR?`eT -@) AI@yAI.I3٢> <=9Ol:Q > G٣STGy%: > Nusing accuracyPremultiplier from config 59$_? 5Yi i(c dS?:e9@E6;6;'5! %}@%EFNOT Ignoring new targets: 107.30 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhBfffrfbf `[T@ɛ}~B5= 隅D=I =ɚiIq=I29i=.uw,ܻ]A6OK@Y6@/Y@6=<96A>y6H! ??n`dϿs`鷾?@ 1??ɨ6OK@6;6#CyBBB #IJK3 K.-KK"KJPJRwJPJPJPJR9JPJPJPJPJR:JR:IN7IN3٢fh f^=9j:Q j>hl nG٣lyvj z> ENusing accuracyPremultiplier from configAM59E_?M5YEd iEcIM~9U@EEE:E:E)5]B ]@]EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfrT@ɛ {B!= 15h=I1 ==ɚ9i9I=K=IE29iEIZ{w,]A J@Y X@ <9 >y Hk@?^_Ͽ@h@9?吙>T?~?ɨ J@ ; y%mB-"I=Will construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y 7A`?MbX9?ly V? ʡ=   A @) I  y I%FI%%3٢5 55=9=;Q =>99 EG٣AyE E> UNusing accuracyPremultiplier from configIU59Me_?]5YM iMc]W?]|:]2]@MEM#;M;M+5mB m@mEFNOT Ignoring new targets: 107.30 m. jjjjihhhhrBfffrfbfT@ɛxB+= 0I =ɚiIv=I29iLH >I  I #II BI =&I .I 6I <:I H F?w,o ^AJ{J@YJlX@J=<<9J>>yJH?Ä`hJϿ `?FB;?&?ɨJ{J@JR/;J!CyZGBZ"IIf1If3٢nSS nc=9r:Q r>pt vG٣vTTGyv v> ~Nusing accuracyPremultiplier from configx~59zjr_?5Yzh iz6d2@zEz ;z ;z-5  ~@5FNOT Ignoring new targets: 107.30 m. j9j9jAjA)Mf= M]CiQhihqhhfGffrfbfT@ Y y vAɛtB|< PI c=ɚiI=I29iI I = Will construct direction to contact in vehicle frame from tetrahedron phase data.^lw,vT#^A^J@Y^{X@^<9^@>y^H~ Y?Vο]`?r ??ɨ^J@^1 ;\y%4B-"IIE7IE3٢e e(=9m9Q m>qq }G٣yy} > Nusing accuracyPremultiplier from config59Q_?5Y id3@ E;;@/5B c@EFNOT Ignoring new targets: 107.30 m. jjjjih!h!h1h1fYfafirfqbf hT@ɛmpBm< iuxIq u"=ɚiI"=I29i:R0w,@^A2ZJ@Y2yX@2 <92=y2H`p? . ο'? /?5?ɨ2ZJ@2Y;2#Cɸ888i88i<<)< 9 A @)AIyAI%%I%)3٢U U@=9]g:Q ]>Ya eG٣ayeT e> Nusing accuracyPremultiplier from configHI I(#IIBI&I.I6IW<:I FBIJIRIZI =bIjI|45595_?55Y id=[?=w:=.=@Eo<<$15EB m@mEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfWT@ɛ=mB=a< 9=VI9 e=h=ɚaiaIeH=Iu29iu(${Ww,_Z^A>%J@Y>~DX@>e<9>=y>H ~?@L䫿οzϼ? K@F??ɨ>%J@>;>$Cy= B=h"IIUBIU3٢e m[=9m9Q m>iq uG٣uUTGyu }> Nusing accuracyPremultiplier from configy59}_?5Y}A i}d.@}E}+;};}25 @E $?IEFNOT Ignoring new targets: 107.30 m. jAjAjIjIiIhIhQhYhYfYfYfarfabfe T@ɛjB̸< n>I  =ɚiI=I29i?= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,qt^AyޝBޝ["IJzJrJ1JJ`:J9J3JEMb@Mb@Mb@AAA A)AYE$C?|?5^?MbPyEZ?EM>EE A E@)EAIAAyAINI@ 4٢qH 7=9Q > G٣y > Nusing accuracyPremultiplier from config59^?5Y id`?r:!+@E] ;;45B @EFNOT Ignoring new targets: 107.30 m. jjjjihhh!h%Bf!f!f)rf)bf5nU@ɛ]fBek< aejMIa eZ+=ɚaiiImB=Iu29iuE>zK-BoHK-]9K)K-DK- $?I*F%?2F!:F!BF%B5JF)"G-=G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I"IIeBI =&I.I6I><:Io FGm O <G B O jw,T^A2vI@Y2fW@2<92=y2H%a?٫9$Ϳ@? zl?@?ɨ2vI@2;0y}B}]"I) IGI3٢< K=9:Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.AiE59^?M5Y idIM+M@E<<q65]B ]e@]EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf=/U@ɛbB\< HBI =ɚiIo=I29imI 3٢%o< -g=9-0:Q 5>1A EG٣EVTGyMdQ M> ]Nusing accuracyPremultiplier from configYm59]-^?m5Y] iYqu+u@]E]y;]zz;]85 $@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhff f9rfAbfm\HU@ɛ^B< 3I r=ɚ!i!I%=I%29i-cLJxJpJ0JJZ:J^9Jـ3JGBO>zKM uJKM 9KI KM EKM FWK5$  $?I h;~w,s^AeWill construct direction to contact in vehicle frame from tetrahedron phase data.yޕBޕm"ImMb@Mb@Mb@iii i)iYm"~?x&1? rh?ymS?mA`>mCI I"IIFBI&I.I6IO<:I| FIb3٢+= 3=9Q > G٣y > Nusing accuracyPremultiplier from config59:^?5Y[ idL[?w:b*@EP;L;95 @FNOT Ignoring new targets: 107.30 m. j!j!j!j)i)h1h9hAhEBfIfQfQrfYbfe pbU@ɛ[B g< 隭I r=ɚiI=I29igw,^Ayn%Br"IitIvp= %$?I!IzIz[3٢E= Mf=9IQ ]>ai mG٣iyi m> }Nusing accuracyPremultiplier from configq59uA^?5Yu iud@uEu;u;u;5B @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf yU@ɛ WB < ʽI Y)=ɚiIF=I29i%ʼn Will construct direction to contact in vehicle frame from tetrahedron phase data.)Լw,^AJzH@YJkV@JP<9JmW=yJH\A?7`2˿ I?蝿ђ? ?ɨJzH@J;J"CyU1BU"IJJ@AJJrJJJJ9JJ5Mb@Mb@Mb@111 1)1Y5㥛 ?(\?Q?y5U?5G>5<1 5p@)57AI5@1y5AIMIM3٢]#V= ]9=9eU;Q e>ai mG٣mWTGyuͼ u> }Nusing accuracyPremultiplier from configy59}|^?5Y}H i}qde[?w: -@}"E}9O;}>e;}w=5B N@ EFNOT Ignoring new targets: 107.30 m. jjjjihhhh1BfffrfbfU@ɛSBL< 隭hI _=ɚiIZ=I29i8D ×w,_A: UH@Y:tV@:<9:j=y:HI?@zʿc`? vԿ?ļ?ɨ: UH@:;:$CyFUBF"IIN-IN3٢VS> Vk=9ZC:Q Z?XX ^G٣\y^Oj b? fNusing accuracyPremultiplier from config`f59be^?j5Yb ibHdhj_-j@b$Eb:bq:b>5p r@r EFNOT Ignoring new targets: 107.30 m. jjjjihhh!h!f!f!f!rf)bf-@RU@ɛUPBU0= QU,GTGBO!> %$?I! Will construct direction to contact in vehicle frame from tetrahedron phase data.uɗw,y)_AV1H@YVxPV@V<9V.>yVHbM@?-`Mʿ@!?`ž ?;?ɨV1H@V{ˎ;V!CyzoB"I)! !I-*I-3٢]= ]?=9]P:Q e>aa eG٣aym㦻 m> }Nusing accuracyPremultiplier from configy59}I^?5Y}  i}d-@}'E}G:}:}@5B P@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf@U@ɛ LB 2(%=  $=I r0=ɚiI&=I29iG $?I hzK OK +9K K GK ufI%jQHB>><:964231/,-***'%&%&%# Зw,JC_ARNH@YR?0V@R<9R>yRHPQ[?ʿ` ¾? T+?භ?ɨRNH@Rv;Py^Bb#I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YCl?rh|?l?yO?== A @)II@yAII?13٢> E=9(:Q > G٣XTGy > Nusing accuracyPremultiplier from config59.^?5Y  ictR?:2@*E.;Q;B5  @ EH9I9 I="II=tBI9&I9.I96I= <:I=J FUFNOT Ignoring new targets: 107.30 m. jQjQjQjQiYhYhYhYh]BfafafarfabfmU@ɛHBO6= !%X>I! %@=ɚ!i!I%W=IM29iU$ 5Y1y=AWill construct direction to contact in vehicle frame from tetrahedron phase data.J yJ }J J J ]:J S9J J J a J a J :a J :a ֗w,)]_A:H@Y:z:V@:<9:>y:HiOai?@"ʿ`O? ?$?ɨ:H@:;:"C PIPyVBV5#IIb$Ib<3٢fH> jZ=9j}:Q j>ll nG٣lyr6: r> vNusing accuracyPremultiplier from configtz59vn^?z5Yvm ivcx~2~@v-Ev;vy;vLD5B -@E=FNOT Ignoring new targets: 107.30 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM3U@ɛ}EB}pS= y}V>Iy :B=ɚiI>=I29i. Will construct direction to contact in vehicle frame from tetrahedron phase data.ݗw,w_A2#H@Y2tBV@2<92 >y2HNq?Ê/2ʿ`p?@D?'?ɨ2#H@2Ӎ;2$CyBDŽBBP#IiF=IF=98Q > G٣y: > Nusing accuracyPremultiplier from config591]?5Y icM?:9@/E;;,F5 @EFNOT Ignoring new targets: 107.30 m. jjjjihhh h Bf f f rfbfV@ɛ=BBE4\= AEC>IA E,=ɚAiIIMJ=IM29iU4GňG B O >w,ې_A66H@Y6uUV@6:=96d >y6HL?Y1@Wʿ7 s?& ??ɨ66H@64V;6#CyBBBt#IIJ&IJ3٢R> R\=9Rؿ:Q V>TT VG٣VYTGyZqL; Z> ^Nusing accuracyPremultiplier from config\b59^]?b5Y^z i^cdf9f@^2E^;^[;^G5nB n@nEFNOT Ignoring new targets: 107.30 m. jjj j i h h hhfffrfbf`-V@ɛ?B0s= 8>I 2=ɚiIn=I29i$e Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,E_AFbH@YFvV@F۲=9F^>yFHGW?@Hʿ@'?5  fH=9fג9Q f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv59r]?v5Yr irctzm9z@r4Er:r:rI5~B ~@E%FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h)h)h9h9f9f9fArfAbfE FV@ɛm;BmrA= qu>Iq !s=ɚiI=I29i I zK= LK= 9K9 K= IK= w,_A>H@Y>V@>=9>B>y>HBf5?7` ˿G>?W 6?r?ɨ>H@>ڍ;>"CyJBN#I)X X``-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YL7A`?i|?5/$?y+G?q<` A @)AIAyQAI*I3٢|= ==9z:Q > G٣y3; > Nusing accuracyPremultiplier from config59]?5Y icG?:x@@HM>II IM#IIMBII&II.II6IM<:IM7 F7E<<zK5 8@ E5FNOT Ignoring new targets: 107.30 m. j9j9j9j9i9h9h9hAhEBfAfAfIrfIbfM dV@ɛ8B'= 隽>I 0=ɚiIE|=I29i J xJ tJ 1J J Z:J 9J 3J J ;J ;J :J :ZAw,Ln_A $?I:H@Y:V@:+=9: >y:Hg<Q?(˿] ?Dd?ʦ?ɨ:H@:7;8yJ BJ#IIjIjT3٢rf}< rX=9v ʹQ v>tt zG٣zZTGy!< >  Nusing accuracyPremultiplier from config 59 ]?5Y  i c<@@ 9E ); ; #M5! %@!MFNOT Ignoring new targets: 107.30 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfe@zV@ɛ5BM= 隝&>I v=ɚiI=I29iӲ Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,aS_A6 I@Y6(W@6=96%>y6H@6(?z˿>?[Z??ɨ6 I@68;6 CyB8BB#IeMb@Mb@Mb@aaa a)aYeK7A?S㥛Mb`?ye B?e$e;eA e@)e AIeQAayeAII2٢Y= @=909Q > G٣yV< > Nusing accuracyPremultiplier from config59iv]?5YE idD?:E@I5C I5#II5DBI1&I1.I16I5<:I5V FGMJG! B1 Oe >Rw,!`A6!WI@Y6vW@6L|=96>y6H{-`ͫ?1 ̿L?N'?`F?ɨ6!WI@6w;6$Cybtx zG٣xyzL< z> Nusing accuracyPremultiplier from config| 59~]]? 5Y~ i~Ad  E @~>E~L:~:~P5 7@&EUFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf%V@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Aɛ/B= 隥}?I =ɚiI]=I29iM Will construct direction to contact in vehicle frame from tetrahedron phase data.V} w,+`A:I@Y:ӷW@:=9:7Q>y:H &F*?XU@ Ϳ@R?B z?Σ?ɨ:I@:];:#CyDDITIT9^roQ ^>`` bG٣b[TGyf%< f> jNusing accuracyPremultiplier from confighn59j D]?n5Yj+ ijdlrGEr@jAEjm ;j ;jfR5vB v-@v)EFNOT Ignoring new targets: 107.30 m. jjjjih!h!h)h)f)f)f)rf1bf5V@ɛ]-Be= ae?Ia e=ɚaiaImRW=Im29imWƃWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IzK OK 9K K KK ztc__`ca^YRPLJGDBCA?:74./.,-)(((%$# ew,E`A Will construct direction to contact in vehicle frame from tetrahedron phase data.y%5B%#IZHRH?AH>I I$IImBI =&I.I6I<:I5 F Mb@Mb@Mb@    ) Y MbX9?Sſ/$y A? /  A @) zAI A y AI%I%M3٢- -<9Q > G٣y > Nusing accuracyPremultiplier from config59I%]?5YJ i eF?:BH@DE;h;vT5~B %@%,EFNOT Ignoring new targets: 107.30 m. jjjjihhhhޅBfffrfbfV@ɛU)BU0= Y]?Ia  =ɚiI3=I29iuE>*F?2F:FBFP0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G i" $?I G B O >w,'a`A}J@Ym;X@1=9Z>yH '?˜ ο *L? T9B?m?ɨ}J@;;"Cy*B#I)! !I-I-F3٢EP E>=9M2Q M>II MG٣QyUޠ< U> eNusing accuracyPremultiplier from configYe59] ]?m5Y]v i]eimGm@]FE];]:]@V5q }:@}/EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`7W@ɛ'B/= ?I W"=ɚiI =I29iS Will construct direction to contact in vehicle frame from tetrahedron phase data.w, z`A2]J@Y2{X@2=92ɡ>y2HC?ο"?BOǠ?@?ɨ2]J@2Z;0yNBR#IJtJvAAJzJxJxJxJzs:JxJxJxa~@a~@a~@a~@Mb@Mb@Mb@ )YS㥛?RQȿI +yD?B94 @) AI~AyAI%I)3٢ V=99Q > G٣\TGy(< > Nusing accuracyPremultiplier from config59E\?5Y ifK?: $?IH@IEH;;W5 S@FNOT Ignoring new targets: 107.30 m. jjjjih!h!h!h%ۅBf)f1f1rf9bf=W@ɛ$B>O= 9>I #=ɚiI`=I29i`<HE>IA IE"$IIErBIA&IA.IEAD6IE <:IEJ F) G ) ] FYY y] iA$w,Ӽ`A2֞J@Y2ƽX@26=92>y2H nI'?@`Ͽ @T?& }??ɨ2֞J@2hN;0yNBN#IIV;IV&3٢^ ^Z=9^~\Q b>`` bG٣`yfB0< f> jNusing accuracyPremultiplier from confighn59j~\?n5Yj ijfprFHr@jKEj ;j. ;jY5v}B vV@v2EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf1W@ɛ%"B-= )->I) MpN%=ɚQiQIUc=IU29i]2 Will construct direction to contact in vehicle frame from tetrahedron phase data.6+w,`A6qJ@Y6aX@6n=96X>y6H``|?@sɰ@oϿ?1X? H?ɨ6qJ@6;4yNBN|#IiRdd fG٣hyjv< j> nNusing accuracyPremultiplier from configlv59n\?v5Yn inEgxzHz@nNEn4;n(4;nR[5| ~ @5E-FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=zJW@ɛm Bm= qu>Iq uO&=ɚiI=I29i4*J"J%=JK KKK"KJ~JoJJJ{m:JK9JJ $?IzK] LK] 9KY K] MK]   #[? J2w,h`A"Will construct direction to contact in vehicle frame from tetrahedron phase data.NfK@YNV%Y@N =9N>yNHp? Ͽ%y?@ ?F?ɨNfK@N6;N$CybĄBbM#IHz>Ix Iz$IIzYBIz =&Ix.Ix6Iz<:IzP FBICJICRIZI =bI =jIM5Mb@Mb@Mb@ )YJ +?MbX9ĿS㥫yH?!/]\A @) AI Ay3AIM<IM3٢}@& 2=9XQ > G٣]TGy; > Nusing accuracyPremultiplier from config59\?5Y] ih4M?:E@PE;;W]5|B y@8EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfhW@ɛMBMT~= IM'>IQ U'=ɚQiQIU#=Ie29ie@ $?I G B O >+8w,D`A6%K@Y6xDY@6=96i>y6H@4?yðMпc?@v ? ?ɨ6%K@6PY;6#CyRBR'#II^5I^3٢z/ zg=9z}:Q ~> G٣y/; > Nusing accuracyPremultiplier from config 59 +\?5Y  i hD@ SE ; _; ^5-{B -_@5;E]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiahahahahifififirfibfu@~W@ɛB.({= 隝>I (=ɚiI=I29iFP- Will construct direction to contact in vehicle frame from tetrahedron phase data.W>w,%`A>8K@Y>WY@>=9>5 >y>H) \?pİп֛? ճne??ɨ>8K@>^;>&CyJBJ#I)P PJbvJ`J`J`Jb{T:J`J`J` AIAMb@Mb@Mb@ )YB`"?/$i|?5yN?q @) AI~AyAI-I3٢  ==9%:Q > G٣y3/; >  Nusing accuracyPremultiplier from config59i\?5YU i@iP?:>@VE(S;Q;`5) -?@->EUFNOT Ignoring new targets: 107.30 m. jQjQjQjQiYhYhYhYh]DBfafafarfabfm@}W@ɛB(d= 隝z[>I Q)=ɚiIy=I29ig=Ew,aA64K@Y6RY@6g=96 >y6H@U?@ 4пF@+?3젿 4.?[?ɨ64K@6u;6$Cy^SB^"IIj;Ij&3٢r퉾 rZ=9r:Q r>xx zG٣xyzWG ~> Nusing accuracyPremultiplier from config 59P\? 5Y ii  >@XE::fb5 y@EFNOT Ignoring new targets: 107.30 m. jAjAjAjIiIhIhIhIhQfQfQfQrfYbf]W@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%B-K= )-\=I) -)=ɚ)i)I5C=IU29i]`|= Will construct direction to contact in vehicle frame from tetrahedron phase data.#gKw,/aA>1K@Y>PY@> =9>4>y>H`S? п@Kq?NS?'?ɨ>1K@>;>"CyJ8BJ"IIR,IR3٢Z  ZM=9Z^9Q ^>\` bG٣b^TGyb b> jNusing accuracyPremultiplier from confighr59j&6\?r5Yj ijojpr>r@j[Ej ;j ;j#d5vzB z%@zAEFNOT Ignoring new targets: 107.30 m. j!j!j!j!i!h!h!h)h)f)f)f1rf1bf5`W@ɛB== 隍,=I X)=ɚiI=I29izK JK 9K K OK   (US9& ORw,IaA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:K@Y:5Y@:C=9:>y:Hc.&?@PepϿ? 砿ϓ??ɨ:K@:j.;:$CHDID IFN#IIFńBID&ID.ID6IFa<:IF FyRBVr"IiZ=IZ=-Mb@Mb@Mb@))) )))Y-I +?Mb?S㥫y-9T?-<-/]-EA ))- AI- A)y)I]I][3٢m% m1=9Q > G٣y5m > Nusing accuracyPremultiplier from config59\?5Y" ikT?:7@^EG;`;*f5yB {@DEEFNOT Ignoring new targets: 107.30 m. jAjAjAjIiIhIhihqhuτBfqfqfqrfybf}GW@ɛBD)= I )=ɚiI=I%29i%fyXw,caA6K@Y6"Y@6zc=96ߞ>y6H ?@8 Ͽ u?@렿AF? ?ɨ6K@6i;4yBBFF"IIRNIR@ 4٢bJ fj=9nW8Q r>pp rG٣pyvS v? zNusing accuracyPremultiplier from configx~59z[?~5Yz$ izyk7@z`Ez~ ;z;zg5  @ GEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfX@ɛ%B%3S= !%I! -)=ɚ)i)I- =I529i5- Will construct direction to contact in vehicle frame from tetrahedron phase data.S^w,}aA B$?IDJIJMtJIJIJIJM9JIJI]J@Y]X@]!=9]>y]H k?`>ﯿ*Ͽ b .?`q㠿*??ɨ]J@]<;]!Cyޭ܃B޵/"IEMb@Mb@Mb@AAA A)AYEOn?bX9ȶ?lyEX?EE=EEA E@)E AIEAAyE=AIe1Ie3٢u u0=9u Q }>yy }G٣}_TGy2 > Nusing accuracyPremultiplier from config59[?5YD( ikY?y:L2@cE;U;i5xB @JEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf=X@ɛB<= 隽нI yQ)=ɚiIO=I29i ew,?aARJ@YRX@RɃ=9Rh=yRH` ~?@99 =G٣9y= => MNusing accuracyPremultiplier from configAU59E:[?U5YE+ iE:lQU|2U@EfEEm ;E ;Ek5i m%@uME $?I5FNOT Ignoring new targets: 107.30 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE@9X@ɛ}B}( < 隅1I (=ɚiI=I29i÷kw,%aA:!EJ@Y:dX@:{=9:^=y:H@ ?T:@xYοo ?%?`Ȼ?ɨ:!EJ@:>^;: Cɸ@@@i@@iDD)D DID H)JwAɹJDHHHɺLiLILLIPiRuA PP)PP R7uAV WV_FɻTZCXIX)|i|)|IAףɼ y]B]!IImAImk3٢ g=97Q > G٣yO+ > Nusing accuracyPremultiplier from config59*[?5YE. il2@hE\::m5wB @OE]FNOT Ignoring new targets: 107.30 m. jYjYjYjYiYhahahahafififirfbfOX@ɛ B=< HI '(=ɚiI=I29iLzzK MK +9K K QK '+tk]N=.% rw,{aAjH<bHp<HI Iy"IIBI&I.I@D6I<:IX F"Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ@YJ9X@JN*=9J=yJH`_O?2ο^?ľ?h?ɨJJ@J;J#CG9UZAy}B YyA}!II=I=3٢惽 9=9`XQ > G٣`TGy > Nusing accuracyPremultiplier from config59[?5Y1 il2@kE2::o5 vB @UEMFNOT Ignoring new targets: 107.30 m. jIjQjQjQiYhYhahahafififqrfqbfukX@ɛ B< 隥cI =`'=ɚiI=I29iRfxw,aA6I@Y6sW@6N=96ܠ=y6Hv1?"WͿ ?`"@亿??ɨ6I@6~;6%Cy~B~!IiI< ==I 7I 3٢]y ed=9eQ e>ai mG٣qyuy3 }> Nusing accuracyPremultiplier from configy59}bv[?5Y}O4 i}5m  #3 @}nE}<}<}p5 @!eFNOT Ignoring new targets: 107.30 m. jijijqjqiqhyhyhyhyfffrfbf`X@ɛ B[< vI L&=ɚiI39=I29i # Will construct direction to contact in vehicle frame from tetrahedron phase data.~w,aA $?I J>@AJ @) AI~AyAI@I3٢W; =9Q > G٣y > Nusing accuracyPremultiplier from config59S[?5Y9 irmr^?t:C.@qEI;;r5 X@WEFNOT Ignoring new targets: 107.30 m. jjjjihhhh9BfffrfbfX@H!I! I%5"II%BI!&I!.I!6I%E<:I%z FBIJIRIZI =bI =jI3zK=OK=9K9K=RK=vqkea[UQPPNIGB@=::95673001.--,,*)())&$!"!!!!BKI:KMpA]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBb< 隍pI a%=ɚiIvT=I29i<*cw,`bA:gI@Y:~W@:I=9:u=y:H@+?@15̿B$?eſ?@`?ɨ:gI@:ܾ;:!C)@IB;wADD DDDDiDHiHJwA)H HIH N C)NwALLLLPiPIPZWill construct direction to contact in vehicle frame from tetrahedron phase data.XI\i^wA \\)\` ````ddIfD)diddyjBj!IIv5Iv3٢zE; ~=9~}>Q ~? G٣aTGy N  ? Nusing accuracyPremultiplier from config59?[?5Y; im.@sE ; ;5t5-uB 5?@5ZE]FNOT Ignoring new targets: 107.30 m. jYjjjihhhhfffrfbf&X@ %$?I!ɛmBmbU< qu>lIq uL %=ɚqJuJqJJJ[Q:Jq9JJJo;Jo;J:J:iqI-o=I29iOހw,iq4bA>%3I@Y>RW@>#7=9>m:>y>HM1?V=`D̿@R`[?$??ɨ>%3I@>;>$CyB!I)) )11I57I53٢M= MG=9M\1:Q M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e_#[?m5Ye? iemiu.u@evEeM;eM;ev5}tB }@}]EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfqX@ɛmBmJ< im ZIi uX$=ɚqiqIu=I}29i}UH- >I)  I- "II- ̃BI) &I) .I) 6I- <:I- T F} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK *NK 9K K SK          iw,MNbA2'I@Y2#W@2_@=92>y2H@u6`1?!`˿t?`K 6 ??ɨ2'I@2Jސ;2!Cy5B5!IMb@Mb@Mb@ )YQ?/$?~jt?yU?,><A 3@)3 AI AyAI $I <3٢NL= >=97Q >!! %G٣!y-Iڻ -> Nusing accuracyPremultiplier from config1595[?5Y5C i5mZ?y:.@5yE5<58;5w5 @`EFNOT Ignoring new targets: 107.30 m. jjjjihhh h bBf ffrfbfX@ɛ=B=< AEAIA E_#=ɚAiAIE=IM29iUy6HT;?@f˿@?3栿=G??ɨ6H@64;6"CyBBB!IIV.IV3٢b= bc=9fr:Q f>hh nG٣nbTGyr r> zNusing accuracyPremultiplier from configt]59v/Z?e5YvF ivmam.m@v|Ev Will construct direction to contact in vehicle frame from tetrahedron phase data. E $?II |w,= bA6H@Y6V@6|=96z>y6Hv=Ч?`kg˿]|?f? ?ɨ6H@6];6$CyNBN"IiPIR4= V=V%=5Mb@Mb@Mb@111 1)1Y57A`?V-?Mb?y5V?5=5=5A 1)1I11y53AIU/IU3٢e = e@=9e$29Q m>ii mG٣iyu= u> }Nusing accuracyPremultiplier from configy59}Z?5Y} J i}}mX?z:2@}E};};}Q{5 (@=FNOT Ignoring new targets: 107.30 m. jAjAjAjAiAhAhAhqhuBfqfqfyrfybf} Y@ɛB'E< .I "=ɚiIH=I29iNڤw,ݛbA6!H@Y6V@6H =967>y6H\?}??访B˿?/( ??ɨ6!H@6ِ;6"CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yZ߃BZ3"IIb!Ibi3٢j> jT=9j:Q n>pp rG٣pyvAC v> zNusing accuracyPremultiplier from configx~59zZ?~5YzL iz_m|2@zEz;z>;z}5  ;@ fEEFNOT Ignoring new targets: 107.30 m. jIjIjIjQiQhQhYhahafifqfyrfybf`N8Y@ $?Iɛ = I "=ɚiI׮=I 29i Ѭw, µbA2ذH@Y2V@2 =92>y2H@?@|?G?@E˿`M?U?#?ɨ2ذH@2HR;0y>B>M"IIJ,IJ3٢R= RM=9Vc:Q V>TX ZG٣ZcTGyZ09 Z> bNusing accuracyPremultiplier from config`f59bEZ?f5YbO ibAmddf@bEb:b:b~5mrB m@miEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`RY@ɛB= @ټI n"=ɚiI[=I29iTGjH <bH <H >I  I Z"II BI &I .I 6I ;<:I s F Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 KK5 +9K1 K5 UK5 `w,[bAJH@YJV@J =9J >yJH=@^?@[˿~ſ? [1??ɨJH@J;J#CyV BVg"I)X X\^A=Mb@Mb@Mb@999 9)9Y=n?i|?5?Q?y=VN?=q==<=A =`@)= AI=A9y=zAIU.IU3٢= 8=9,8Q > G٣y: > %Nusing accuracyPremultiplier from config!-59%Z?-5Y%R i%.m5O?5:U6U@%E%l;%;%5]qB ]|@]nEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfnY@ɛ]B]z&= ae⹘w,vbAVH@YV~V@Vp =9V >yVH;?@{˿`$J?@j@?@ ?ɨVH@V+;V"CyjBn{"II~I~[3٢ =  Y=9:Q > G٣y%_.; %> -Nusing accuracyPremultiplier from config)559-hZ?55Y-T i-m9=6=@-E--;--;-T5A Ev@MqE}FNOT Ignoring new targets: 107.30 m. jyjyjyjyiyhyhhhfffrfbfY@ɛR1= 隽XD=I "=ɚiITm=I29iF~ Will construct direction to contact in vehicle frame from tetrahedron phase data.  I J sJ oJ 1J J K:J K9J 3J a @a @a @a @Ww,tacAbQH@Yb@W@b =9bA>ybH7?@-HX˿Rr?`??ɨbQH@b/3;b!Cyn.Bn"IuMb@Mb@Mb@qqq q)qYuw/? G٣dTGy; > Nusing accuracyPremultiplier from config59cMZ?5YV i.mF?:;@E;;-5pB @tEFNOT Ignoring new targets: 107.30 m. jjjjihhhh HBf f frfbfY@ɛBn;= D=I "=ɚiIdC=I29iI ~IuC Iu"IIu2BIq&Iq.Iq6Iu!<:Iua F) SC*F?2F:FBF0JFG G-c~GI]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHK9KKVK YyAG G B O >8Ƙw,&cA6aI@Y6P/W@6t=96>y6H4@a?Y ̿ }@?͡@!?c?ɨ6aI@6;6"CyB8BB"IiFppp rG٣pyr; v> zNusing accuracyPremultiplier from configtz59v95Z?~5Yv3X iv=m|~;@vEv;v9;vӅ5  @  $?IFNOT Ignoring new targets: 107.30 m. jjjjihhhhff f rf bf  Y@ɛy}+B= y}8=Iy }}L#=ɚiI=I29iW}uGq B O >͘w,:7cA2?I@Y2^W@2 =92>y2H[/`0x?CE\̿@8?N~E?&?ɨ2?I@2T;2!CyBDBB"IIJ IJb3٢Rx= RM=9VֹQ V>TT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\b59^Z?f5Y^Y i^Lmdf;f@^E^:^P:^5h n@nwE FNOT Ignoring new targets: 107.30 m. j j j j i h hhhfffrfbf%`Y@ɛIMeK= QUl>IQ U#=ɚQiYI]=I]29ie|ZHa RHe AAHm >Ii  Im "IIm `BIi &Ii .Ii 6Im X<:Im FBI)JI-ʬCRI)ZI- =bI- =jI-ʩ5} Will construct direction to contact in vehicle frame from tetrahedron phase data.Ԙw, PcAzKBHKKKWK "%()+-0-./233120*   ViI@YVW@V<=9Vk>yVH *1?밿̿/?桿y?%?ɨViI@V瓐;TybVBb"IMMb@Mb@Mb@III I)IYM~jt?Zd;yMD?MyMMA I)M AIMAIyM AIe!Iei3٢m= u>=9uW:Q u>yy }G٣}eTGy{; > Nusing accuracyPremultiplier from config59+Z?5Y+[ im:E?:?@E6;x5;p5oB @zEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfY@ɛsQ= ,>I U$=ɚiI=I 29i|0ژw,jcANI@YNW@Nj#=9N#>yNH;$v/?E Ϳ ?~㡿?R?ɨNI@N ;N"Cy^TB^"I)` `dfAIj)IjW3٢r6 rT=9roQ r>tt vG٣tyv< z> eNusing accuracyPremultiplier from configxe59zoY?m5YzX\ izmime?m@zEzT:z:z 5}nB }@}}EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf Z@ɛB!U= (>I $=ɚiI"w=I29i{ Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I J AAJ BAJK KKK"KJ tJ iJ 0J J ;N:J ڈ9J ـ3J Ow,囄cA~>I@Y~-W@~x=9~]>y~H6|?8iͿ?% 4?`?ɨ~>I@~;|y[B%"IMb@Mb@Mb@ )YS㥛?QyD?̽uA A)AIAy AI(I̍3٢ = 9=9A:Q >  G٣ y Ͷ;  > Nusing accuracyPremultiplier from config%59Y?%5YM] i)n-F?-:-=B-@E;U;59 =&@=EeFNOT Ignoring new targets: 107.30 m. jijijijiiihihqhqhuBfqfyfyrfybf} #Z@ɛ:W= 隽7>I w%=ɚiI8=I29i6{I I"IIBI =&I.I6II<:I F*FM?2FI:FIBFM_0JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMK+9KKXK!PfBK:KqAG?:Ga Bq O >  nManaging dock network, ignoring radio surface power offBw,tcANWill construct direction to contact in vehicle frame from tetrahedron phase data.ZI@YZX@Z=9Z>yZH6?Q`iͿ` ?@?Ԥ?ɨZI@Z;Z!CybMBb"IIjIjm?3٢r v^=9v(9Q v>tx ~G٣~fTGy< > Nusing accuracyPremultiplier from config  %$?I!%59 ߲Y?%5Y  ^ i n)-B-@ E }; }; 51 =@9eFNOT Ignoring new targets: 107.30 m. jajajajaiahahahihifififqrfqbf} :Z@ɛ;S= 隵>I %=ɚiIk=I29iOzHkw,HcA6J@Y6y6H Y?@kr ο@?VK e?`?ɨ6J@6j;6$CybKBb"Iif4=Ifp= j=j=Ir9Ir3٢zeM zJ=9~:Q ~> G٣y ;  > Nusing accuracyPremultiplier from config59Y?5Y _ inA%@Em ; ;o5-mB -&@-EUFNOT Ignoring new targets: 107.30 m. jQjQjQjYiYhahahihifififqrfqbfu TZ@ɛBdP= 隥<>I Ti&=ɚiIk=I29izH >I C I #II BI  =&I .I BD6I :I F] Will construct direction to contact in vehicle frame from tetrahedron phase data.GSw,B$cAzK&.MK&9K$K&YK&1)#p9MJs8{R+ ycQF8' yCB"IMb@Mb@Mb@ )Y r?MbXQyC?ʽ )zAIAy AI"Iq3٢ ;=9Q > G٣y >  Nusing accuracyPremultiplier from config 59|Y?5Y ` i[o^E?:A@E;;V5! %@%EmFNOT Ignoring new targets: 107.30 m. jqjqjqjyiyhyhyhhBfffrfbf`pZ@ɛJ=  >I &=ɚiIu=I29iFzK}w,cAJkJ@YJX@J=9J&R>yJHU J?N$ο'z? ?Q?ɨJkJ@J(;J#CyZ-BZ"IIbAIbk3٢j j^=9n:Q n>lp rG٣rgTGyrS< r> zNusing accuracyPremultiplier from configtz59veY?z5Yv` ivo|~kA~@vEv6;v;v5lB @ EEFNOT Ignoring new targets: 107.30 m. jAjAjAjAiAhAhIhIhIfIfIfQrfQbfUZ@ɛyA= 隅=I %'=ɚiI~=I29i%z Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I #hw,dAMYJ@YMHX@M=9MP>yMH`cc?@EοjV?`?p?ɨMYJ@M];IyuB}}"I) A]Mb@Mb@Mb@YYY Y)YY]Q?+/$y]H?]],]A Y)]AI] AYy] AIu?IuT3٢  1=9Ȝ8Q > G٣y; > Nusing accuracyPremultiplier from config59FY?5Ydb i`pI I"IIBI =&I.I6I9<:Iy F*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK/PKKKZK~xsjjfb_[YVRPPKFBA?@=95421.-.*'##  GE (<G! B9 Oe >0w,'dA B$?I@NWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ@YJX@Jy=9J>yJH`&)?ۀ`Ͽiu+? 9n? ?ɨJJ@J;Hy^B^^"IIf-If3٢r rj=9r.VQ v?tt vG٣tyz; z? }Nusing accuracyPremultiplier from configq}59u/Y?5Yuc iup/?@uEu&:u:u5 @EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`ռZ@ɛ'=  t:I  Y'=ɚ i I Q=JrJuJJJG:J9JJJ_;a%J_;a%Jg:a-Jh:a-I529i5yu w,9dA6&J@Y6X@60=96 j>y6HO7?F`pϿ)@???ɨ6&J@6;6!CyBBBL"IIJ5IJ3٢R RO=9VL9Q V>TT VG٣XyZ: Z> bNusing accuracyPremultiplier from config`f59b'Y?f5Ybd ibVqdf(?f@bEb:b:b65l ns@lFNOT Ignoring new targets: 107.30 m. jjj j i h h hhfffrfbf/Z@ɛMBM-= IUIQ U4C'=ɚQiQIUH=I]29i]yZH RH H I  I "II eBI &I .I 6I <:I A F NG ) ] 5YY y] NAe Will construct direction to contact in vehicle frame from tetrahedron phase data.w,lSdA: J@Y:X@:~]=9:S >y:H'`6E? d`'Ͽ. Ϳ?`j6?y?ɨ: J@:! ;:"Cy^B^7"IibC=Iba= f>f=zKn98NKlKlKn[Kn*/43321/,-*)''&($! ]Mb@Mb@Mb@YYY Y)YY]q= ףp? G٣hTGy4: > Nusing accuracyPremultiplier from config59X?5Yf iqL?:;@E+;;5jB @EFNOT Ignoring new targets: 107.30 m. jjjjihhhh]Bfffrfbf@Z@ɛ5= 1=I9 EC'=ɚAiAIEF=IU29i]w,wHmdAyz΃Bz"II:I3٢-kǽ -P=95Q 5>11 =G٣9y= E> MNusing accuracyPremultiplier from configAM59E2X?U5YEYh iEhrQQU@EEE:E&;Eќ5a e@eEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf  [@ɛB^= ҽI  &=ɚiIN=I29iy Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.ҷ!w,4dA51J@Y5 X@5[=95E >y5H`?`[+@ο`4q>?uj`s8?-?ɨ51J@5X;5 CyMB}"I Mb@Mb@Mb@    ) Y Q?~jt?V-y \O? D<  A A) AI A y Q AI%0I%(3٢5> 5:=9=uQ =>99 EG٣AyE. E> UNusing accuracyPremultiplier from configIU59MTX?]5YMj iMr]O?]:e78e@MEMs;M/t;M5uiB u@uEFNOT Ignoring new targets: 107.30 m. jjjjihhhh*Bfffrfbf ,&[@HIII IM"IIM2BII&II.II6IML<:IM FBIíCJIíCRIZI =bI =jIO5ɛB< 隭I t0&=ɚiIa=I29iy 5 $?I9 'w,[ dABWill construct direction to contact in vehicle frame from tetrahedron phase data.nHmJ@Yn7X@nP=9n>ynH6 ? @ο? i?@?ɨnHmJ@n;n"CyzB~!I)| |AI ;I &3٢ ^=9%Q %>!! -G٣-iTGy- -> =Nusing accuracyPremultiplier from config1M595X?M5Y5l i5"sIMT8M@5E5I;5I;5W5]hB ]^@]EFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf=[@ɛBi<JpJjJJJA:J9JJJT;JT;J:J: im^DIi u%=ɚqiqIu~=I}29i}y.w,'غdAyB!II0I(3٢E9 MH=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configam59e5X?m5Yeo iesiiu@eEe@;e;e 5y }@yFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfW[@ɛBp< *kI $=ɚiIۦ=I29i byjHQ bHU <H] >IY  I] Z"II] BIY &IY .IY 6I] a<:I] FE Will construct direction to contact in vehicle frame from tetrahedron phase data.@4w, dA26*J@Y2%IX@2=92 :>y2HDP?`$ο Ǡ??@?`?ɨ26*J@2(;0y^B^!IzKMK9KK]K     Mb@Mb@Mb@ )YV-?X9v?I +yhQ?}=9A A)IzAyz AI'I@3٢ ?=9AQ > G٣y   > -Nusing accuracyPremultiplier from configE59tX?E5Yq isMR?M:M4M@E;2;5Q U@]EFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf`xs[@ɛBY< t{I #=ɚiI=IU29i]y:J?:G -<G B O >;w,dA:rI@Y:aX@:B;=9: >y:H [?I`ýͿd@百?df?ೳ?ɨ:rI@:;8yF{BF!IiJ\\ ^G٣bjTGyb b> fNusing accuracyPremultiplier from configdj59fj\X?j5YfVt if tln5n@fEf;fB;f5vgB v@vEFNOT Ignoring new targets: 107.30 m. jjjj1i1h1h1h9h9f9fAfArfAbfE@[@ɛuBul< y}Iy }*#=ɚyiyIP=I29ix $?Ih Will construct direction to contact in vehicle frame from tetrahedron phase data.J% @AJ% @ABw,weAH>I I""IIуBI&I.I6I:<:I~ FyޭmBޭ!IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEgfffff?{Gz? G٣y > Nusing accuracyPremultiplier from config596X?5Yjx iMt4T?:3@E;;5 hB @ E=FNOT Ignoring new targets: 107.30 m. j9j9j9j9i9hAhAhAhEBfIfIfIrfIbfM`[@ɛ B>< 隅XI !=ɚiI I=I29i!Kx@Hw,)%eAJ0I@YJW@Jn=9J#>yJH ' ?b@̿ w?Oq?`?ɨJ0I@Jfy;J!CɸPPPiPTiTT)T TIT X)XɹXXX\ɺ^uAi\I\\I`ibuA ``)`` dfZf_FɻdjChIh)lil)lInAnĻɼl ppyvrBv!II~+I~n3٢ A<  =9#Q ? G٣yǼ ? -Nusing accuracyPremultiplier from config!-59%L#X?5Y%qz i%ntE4@%E%<%܁<%Y5gB P@EuFNOT Ignoring new targets: 107.30 m. jqjqjqjyiyhyhyhhfffrfbf$[@ɛ- BE< AMݘII M =ɚIiIIM=IU29iUGwOw,k>eA:GI@Y:fW@:=9:J0>y:H@. Y?m_@k̿X擾?i ?u?ɨ:GI@:ҋ;:$C r$?Ipy~oB!I)    IIF3٢M: MG=9Mei:Q M>QQ UG٣UkTGy] ]> eNusing accuracyPremultiplier from configam59eX?m5YeF} ietqu~4u@eďEe;e;e%5}fB }m@EFNOT Ignoring new targets: 107.30 m. jjjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbf[@ɛ  B <  I =ɚiI=I529i56wHIC I!IIBI =&I.I6Iį<:I) F Will construct direction to contact in vehicle frame from tetrahedron phase data.UUw,`XeA6Q-I@Y6@LW@6=96'>y6H0Ei?P 8̿ : W? +?`z?ɨ6Q-I@6;4zK^iJK^9K\K^_K^y%pB%!IMb@Mb@Mb@ )Y99 EG٣AyEsT E> UNusing accuracyPremultiplier from configIU59MW?]5YMՀ iMt]T?]:]3]@MȏEM&;M;MS5i mZ@mEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf8[@ɛB< ϝI S=ɚi I p=I 29ipv\w,reA2I@Y20W@2I=92^>y2H3 2? NF>̿f ?@' ??ɨ2I@2;2#C)8I:?wA88 8BWill construct direction to contact in vehicle frame from tetrahedron phase data.DDDiDDiHH)H HIH L)LLLLPROwAiPIPPITiVwA TT)TT XXXXXXIZ)\i\\ynqBn!IIvIv3٢~.; ~=92Q ?   G٣ y   ? Nusing accuracyPremultiplier from config59>W?5Y it3@ʏEǵ<ҵ<5 M@=FNOT Ignoring new targets: 107.30 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU\@ɛBq< '=OI =ɚiI==I29iu $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.J pJ J J J A:J J J cw,(eA)@ B]CrG| A =YAyE*A?AWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I!IIBI =yvB!Ii%=I= =&I.I6I<:I= FMb@Mb@Mb@ )Y㥛 ?x&? G٣lTGy > Nusing accuracyPremultiplier from config59ۨW?5Y it4V?}:5@ΏEH;U;`5eB @E-FNOT Ignoring new targets: 107.30 m. j)j)j)j)i)h1h1h1h5Bf9f9f9rf9bf= 07\@ɛuB}DZ< 隍ΛI  j=ɚiI=I29ityBH`]8s?M ,˿{?,?ݲ?ɨB+H@Bq ;B$Cy5B5!IIEIEM3٢]n= ]y=9]+9Q ]?aa eG٣aym m? uNusing accuracyPremultiplier from configq}59uW?}5Yu$ iuty6@uЏEu:u:uв5 M@FNOT Ignoring new targets: 107.30 m. jjjjihhhhfIfIfQrfQbfU`TM\@mWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB0< 隥I ]=ɚiI5=I29iGt Will construct direction to contact in vehicle frame from tetrahedron phase data. i AJ nJ fJ 1J J |;:J 9J 3J @$rw,eAH@YW@=9+>yH 9@W?`sVP˿ ?%?@`?`P?ɨH@t;騡yB !IMb@Mb@Mb@ )Y|?5^?:v?I +?yR?<94<\A A)IAI Ay=AIAIk3٢== 3=9>9Q >jH<bH<H%>I! I%!II%BI!&I!.I!6I%<:I% FBI®CJIRIZI =bI =jI"59 =G٣=mTGyEb u> }Nusing accuracyPremultiplier from configy59}sW?5Y} tIi}uS?::9@}ӏE}O;}Q;}ݴ5dB T@EFNOT Ignoring new targets: 107.30 m. jjjjihhhh=Bfffrfbfwj\@ɛBy< 隕I =ɚiI=I29i0syFH`E9?^`K˿?`$?̰?ɨFH@F*؋;F#CyNBR!ITVAIz(Iz̍3٢mݻ 0=9 D¹Q  >    G٣ y\ > Nusing accuracyPremultiplier from config%59TW?%5Y i-u)-<9-@֏E:2:ն5=cB =d@=EeFNOT Ignoring new targets: 107.30 m. jijijijiiihihihqhqfyfyfyrfybf0\@ɛBT3< 隭hI B=ɚiI?=I29iWr I w,fAWill construct direction to contact in vehicle frame from tetrahedron phase data.Z{H@YZj W@Zq=9ZY >yZH8w?4`˿) ?`xZ??ɨZ{H@Z];Z!CybBf!IInIn3٢v/ vL=9v>9Q v>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 599W? 5Y* iGu29@ُE::JAAJ?AJJJ0JJJJـ3J5 ~@EEFNOT Ignoring new targets: 107.30 m. jAjIjIjIiIhIhIhQhqfyffrfbf v\@ɛeB< 隝㎾I ̙=ɚiIE=I29ilqII IM "IIMBII&II.II6IM<:IMJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF zK ݒNK 9K K bK \# (.0.--*(''$%'##""! RK ?JK ? $?I G JGBO%>w,S$fA2Will construct direction to contact in vehicle frame from tetrahedron phase data.fPI@Yf?9W@f؏=9f>yfH73 4?@8̿V?1ʿ?ࢫ?ɨfPI@f|;f#CyB!IMb@Mb@Mb@ )YCl?{GzMb`?yO?#;A ;A)AI7 AyAIMIMm?3٢]%< e=9e@Q m>iq uG٣unTGy}; }> Nusing accuracyPremultiplier from config59CW?5Y iuO?:;@܏EΣ;;5bB  @ùE FNOT Ignoring new targets: 107.30 m. j j j jihhh!h%iBf!f!f)rf)bf5@Q\@ɛ}B}B< y隅I Dw=ɚiI!=I 29i p!ӎw,->fAy~B~!II"Iq3٢-< -`=95Q 5>11 =G٣9y= => MNusing accuracyPremultiplier from configAM59EV?M5YE1 iEuQQU@EߏEE: e$?IaE:E5i m@mƹEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf \@ɛBAh< I 5=ɚiI=I29io% Will construct direction to contact in vehicle frame from tetrahedron phase data.w, XfA2s[I@Y2azW@2H =92>y2Hj,?H`̿ ?kq@}K??ɨ2s[I@2M;0y@@Mb@Mb@Mb@ )YK7?qq }G٣yy}< }> Nusing accuracyPremultiplier from config59V?5Y iuL?:{=@E;;Z5aB @ɹEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbf K\@ɛ!B< I =ɚiIX1=I%29i%[oE=>zKMK]9KKcK   *F?2F:FBF4JFGqA GqA U$?IQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.JSK[m3 K[S}-KSKS"KSJJeJJG5̻JJ9JJJJ;a}JJ;aJ:aJ:aG B O >䛙w,qfA:|I@Y:ӛW@:=9: :>y:H(v?}n̿@?@'`xT? ?ɨ:|I@: ;:$CyFBF!IHJAIRIRV83٢ZEk ZW=9Z)Q ^>\\ bG٣boTGyb ; b> fNusing accuracyPremultiplier from configdj59fV?n5Yf5 ifvprY=r@fEfG;f%H;f5t v@v̹E B*** querying acoustic contact ***j j FNOT Ignoring new targets: 107.30 m. jjjji!h!h!h!h!f)f)f)rf)bf5 ]@ɛ]#B]TT< ae+Ia e=ɚiiiImf=Im29iun Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read:  BDAT read: Tx time:23:26:17.3344  $Ping request sent. y:H8%3 G٣H->I) I-""II-уBI- =&I).I-CD6I-<:I-V FyQ; > Nusing accuracyPremultiplier from config59V?5Y i]v6=@E2<& <Ÿ5-`B -s@5ϹEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbfV-]@ɛ5&B=~< 9evIa e=ɚaiaIeҦ=Im29im;nw,-fA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505436J0I@YJW@J9:<9J>yJH#`h?`-<ͿYc,?&F`˂?C?ɨJ0I@J{;J"CyVBV!IJJdJ1JJJ|9J3JJJJ:J:%Mb@Mb@Mb@!!! !)!Y%K7?A`"/$y!%Y%%A %A)%AI%I A!y%AI]I]b1٢m uA=9}>Q }> G٣yh4; > Nusing accuracyPremultiplier from config591V?5Ym ivML?M:UE>U@Eս<<ß5]_B ]@]ѹEFNOT Ignoring new targets: 107.30 m. jjjjihhhhBfffrfbfG]@ɛe)BeU< aeAIi m7=ɚiiiIu=Iu29iuWmZ!w,vfA b$?I`y~xB!Ii )) -G٣5pTGy5 5> =Nusing accuracyPremultiplier from config9E59=WwV?E5Y= i=vIIM@=E=:=:=^ş5Q Uw@Y FNOT Ignoring new targets: 107.30 m. j j j j i h hh1h1f9f9f9rf9bf=w]]@ɛ+B@< 隵#I =ɚiI =I29iQ`mIA IE"IIẼBIA&IA.IA6IEF<:IE F  YtAy BG}:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259524f w,VfA5I@Y5X@5V<95>y5Hq]? 1Ϳ *?` ^?N?ɨ5I@5F~;5!CyMiBM!I-only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V  @ @ @  @ II0٢Չ A=9`Q > G٣yy; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59=[V?5Y8 iTw+:V:>@E<&>Ɵ5y }W@}ԹEFNOT Ignoring new targets: 107.30 m. jjjjihzKMK9KKeKBKpA:KpAhhhff f)rf)bf-My]@ɛu.Bu, < y}ľIy }8=ɚyiyI}X=I29il< $?Iie;))*F]?2FY:FaBFen0JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511139JJfJJJJ9JJJJJ:J:G :Gy B O >2w,|)fA6I@Y6X@6<96̴>y6H  ?m/Ϳ#? d??ɨ6I@6;6"Cyr[Br!IIz<Iz3٢| W=9 #9Q  >    G٣yil; > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59BV?-5Y iw- :)-.:5=5@E*;mN?ǟ5=^B =1@E׹EmFNOT Ignoring new targets: 107.30 m. jijijijiiqhqhqhqhyfyfyfyrfbf]@ɛ0Bf; 隭LվI  =ɚiIe=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763980I29i1lm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015172KÙw, gAJxJ@YJf8X@J<9JР>yJHC? @ο`F?Ϛ{B?@a?ɨJxJ@J0;J%CyrPBv!I)  AH>I I"IIBI&I.I6I<:IL FBIJICRIZI =bI =jIv4IM5IM3٢8E 1=9Q > G٣qTGyr; > 5bBottom track data is 1.3 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config =59 #V?=5Y O i x=99E :E=E@ E F-; ?  ɟ5i m@uڹEFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf ]@ɛ=4BE(; AE;IA mB =ɚiiiIm=Iu29iu UlDəw,&gAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519294: J@Y:?X@:l<9:9>y:HR?R |ο;? 1??ɨ: J@:#;:&Cy:Bi!IJmJdJ0JJ\8:J|9Jـ3JJD;JD;J:J:        Mb@Mb@Mb@ )Y/$?/$QyL?pA $A)GAI AyAI8I3٢#ӽ J=9گQ > G٣y: > Nusing accuracyPremultiplier from config59V?5Y iWxT:?L?:3;@E ; ;ʟ5]B ,@ݹE=FNOT Ignoring new targets: 107.30 m. j9j9j9jAiAhAhAhAhMEBfIfIfIrfQbfU#]@ɛ}7B}u y}pI  =ɚiI.C=I29i~l,Йw,@gA $?I:4J@Y:SX@:<9:>y:H@j&|?}ϭ U;οb?@ow`S?6?ɨ:4J@:;:"CyF1BF]!IIN!INi3٢V.X Vu=9Z Q Z?XX ^G٣\y^o; b? fNusing accuracyPremultiplier from config`f59bU?j5Yb ibxhj ;j@bEb:b:b?̟59 =@AFNOT Ignoring new targets: 107.30 m. jjjjihhhhfffrfbf`]@ɛ59B= 9=I9 =z7 =ɚ9iAIE=IU29i]kI I!IIBI&I.I6I<:IX FGO;G ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:26:20.0392  TRx dataTimestamp_ set to:1736378781.368614 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276229V֙w,ZgAyE BEH!IiM>IM< Up=Up=Mb@Mb@Mb@ )Y/$?{Gz?X9vy#<AA A)I AypAI>I3٢~  6=9 Q  > G٣rTGy > %Nusing accuracyPremultiplier from config!-59%U?-5Y% i%x-3L?5:585@%E%;% ;%5Ο5=\B =@=EmFNOT Ignoring new targets: 107.30 m. jijyjyjyiyhyhyhh5Bfffrfbf 7]@ɛ=BpÓ 隽WI {H=ɚiI: =I29i k< $?Ii;)Q)YzKu"TLKuػ9KqKugKu*F?2F:FBF^0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527659J5oJ5fJ51J1J5>:J59J53J1J5}O;J5O;J5:J5:GE ;G! B1 OM >Ӏܙw,;qtgA2G#J@Y25BX@2y2H  x]?sNο@?/? ?ɨ2G#J@2;2!CyR BV.!II^DI^3٢f* fa=9jqQ j>hh jG٣hynhA n> rNusing accuracyPremultiplier from configpv59rZU?v5Yr irEyxz8z@rEr.:r:rϟ5|  @E-FNOT Ignoring new targets: 107.30 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfE@h^@ɛm@BuU< quLIq u~=ɚqiyI}mz=I}29iWki۵2 @?۵"?۱۱*F5?2F1:F1BF=`0JF9 $?IGQG1B9O]>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Rkw,\WgA2I@Y2X@2<92YL>y2H ?&3@@Ϳ`?hՙ?7?ɨ2I@2;2$CyBBB'!II^4I^V3٢f. fJ=9fTQ f>hh jG٣hy%ث -> MNusing accuracyPremultiplier from configHyIy I}!II}vBIy&Iy.Iy6I}<:I}k FA59EHU?5YE iEy8%@EEEN5]b̯=~ڿ'*翺8"k'*kkQӟ6?k{- 2k4Skk  kkX)Ck?= addTargetRange:: Added new target pos. range: 225.399994 m, deltaT: 120.270588 s, deltaX: 118.099991 m, approachRate: 0.981952 m/s, rangeRepo size: 4  Added new target pos. range: 225.399994 m, bearing: 240.899764 deg, lat: 36.904796 deg, lon: -122.120130 deg, deltaT: 120.270588 s, deltaX: 118.099991 m, approachRate: 0.981952 m/s, posRepo size: 4 FNOT Ignoring new targets: 225.40 m.Completed rollout at range: 225.40 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE*j? j}>jjjih h hhfffrf,l@bf?ɛDB0/ܻ 隍xI =ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.I. 7iAiEּ)E}>)A*F?2F:FBF_0JF $?IhzK jIK 9K K hK G {/;G qAG rAG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,WgAb"I@YbX@b<9b=>ybH@?``Ϳ @?o2l??ɨb"I@bY;b CyvBv!I)  Mb@Mb@Mb@ )YQ?i|?5?Zd;Oy\O?q=j )vAIyAI57I53٢EE E4=9M9Q M>II MG٣QyUl U> eNusing accuracyPremultiplier from configYe59]yU?e5Y] i]ymO?m:m*5m@]E];];]ӟ5q u@}EMAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1NEntering Terminal tracking update period 2.000000 s sec at 225.399994 m (mode 1.000000 count ).1NqN j!j!j)j)i)h)h)h1h5Bf1f1f9rf9bf= ?ɛGBm &I ;=ɚiI5=I5;4i9i=q)9)9*F?2F:FBFo0JFG9Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I 7zw,gA6$I@Y6W@6hu<96>y6HH"?fqAjͿ[?Θ3?̬?ɨ6$I@6D;6#CyBBB !IIJAIJk3٢R Vk=9V3Q V?XX ZG٣ZsTGyZ ^? Nusing accuracyPremultiplier from config%59oU?%5YX i z)-Z5-@E0;0;՟55ZB 5@5EZlU@qNUNU]B*** querying acoustic contact ***jYjY jijijijiiihihqhqhqfqfyfyrfybf} mG?ɛJB} 隭.I =ɚiI=I0iiGA))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBFUQ5JFYG-JlJJ0JJ<5:JJـ3Ja@a@a@a@G!B1OM0>jHm<bHm<HI I!IIRBI&I.I6IW<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3210>  BDAT read: Tx time:23:26:22.5844  $Ping request sent. yRH5%@?`%;Ϳ4?.?@?ɨRݰI@RF;R$CyB!IMb@Mb@Mb@ )Ykt?I +?~jty P?9=DA )AI AyAI5=I5=3٢END E3=9MںQ M>II UG٣Qy].T ]> eNusing accuracyPremultiplier from configam59e RU?m5Ye ie,zm]Q?m:mX3u@ }$?IyeEeb;eT;eן5  @EblNN jjjjihhhhBfffrfbf ?ɛuNB Kp 隍J2I <ɚiI=I*iiKE))zK BIK 9K K iK *FE?2FA:FABFEO5JFA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251198G5 ԼGM ?GM ?G! B) OM >w,gA6I@Y6W@6ŵ<96>y6HP(`Z?#`9 Ϳ c`*?@=`F??ɨ6I@6C;4yBBB IiJ%=IJp< J=HIN/IN3٢V Vh=9ZKmQ Z>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f59b7;U?j5Yb  ibEzhjr3j@b EbP:b:b؟5p ra@rEjl|N~~rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalM~~Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal jjjjihhh!h!f!f!f!rf)bf-@ɛUQBU>ɼ QU6IY ]<ɚYiYI]=Ie!&iaie)a)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503017*F?2F:FBFP0JFGrGABQ m$?IiO}7>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755706J AAJ J mJ cJ J J \8:J x9J J ) c~G! A w,hA F5YDyFAJI@YJW@J̯<9Ju)>yJH5$}?@߭RͿ` z?(?8?ɨJI@J&;J"CyVނBV IIbIb3٢j jH=9jQ r>xxHE>IA IE`!IIE4BIA&IA.IA6IEկ<:IE; F G٣tTGyI; > }Nusing accuracyPremultiplier from configi59muU?5YmW imazM3@mEmc QIQzKE k3IKE H9KA KE jKE E Will construct direction to contact in vehicle frame from tetrahedron phase data. w,!w)hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260870ZI@YZX@Zˇ<9Z|+>yZHYE?sͿ ʷ`<,? ,W??ɨZI@Z;Z$Cy}B} IMb@Mb@Mb@ )Y> ףp=?J +?~jth?yQ?=D;A A)`AIzAyAIMIM٢\< 0=9 1Q > G٣y; > Nusing accuracyPremultiplier from config59UU?5Yq i\zjS?:2@E;g;jܟ5 B@E jjjjihhh h Bf ffrfbf@ɛuYB}v¼ 隅h:I ]W<ɚiI?=IBUii))*F-?2F1:F1BF5_0JF1GUGGGBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՕyNH۞?K Eyο`&?^u?ʅ?ɨN TJ@N<;N"CyޝBޝ!I) AIIm?3٢= G=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763322 G٣yҁ< >  Nusing accuracyPremultiplier from config 59`T?5Y iVz62@E ;;:8ޟ5XB @%EEB*** querying acoustic contact ***jAjA jQjQjQjQiQhQhYhYhYfYfafarfabfeN @ɛ]BCʱ 隕8I ~<ɚiI=Iii))J}lJ}gJyJyJ}<5:J}9JyJy*FE?2FA:FABFIJFIG*GBHI IT!II*BI =&I.I6I<:Ik FBIJIRIZIbIjI284O%o> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014872w,1]hA2 K@Y2,Y@2`<92†:>y2H ?x $Ͽ@ր@2?@ȫ/?Dw?ɨ2 K@2L;2$Cɽ8>uA> Wi>mF G٣uTGy< > Nusing accuracyPremultiplier from config59MT?5Y i8z4U?~:2@E;" ;ߟ5 @E j j j j i h hhh$Bfff!rf!bf%jx @ɛaB 隵63I <ɚiIO=I-mii))zK%:IK%ػ9K!K%kK%BK1:K1*F}?2Fy:FyBF}`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267650GY?GiByO~>Lw,whA6"L@Y6AZ@6Gl<96jK>y6HNz?`F氿пD? A?`^?ɨ6"L@6;6!C]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518933yB!II 4I V3٢?f< D=9޻Q %>!! %G٣!y-%= -> 5Nusing accuracyPremultiplier from config1=595T?=5Y5 i5zAE{1E@5E5:5\:55I M@I jqjqjqjqiqhyhyhhfff rfbfz@ɛfB)ĥ 隕3I }<ɚiI=I ii)) $?I*F]?2FY:FYBF]o0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807Ga Gm ?Gm >J qJ fJ 1J J D:J 9J 3J G! B) OM >$w,hA6AlM@Y6/[@6+<96Qb>y6H \`٣?,9ҿ?@x?7?ɨ6AlM@6 ,;6"CHPIRC IRZ!IIR/BIP&IP.IP6IR4<:IR F)~3CIwA @CvAi  i C uA)  FI BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).fCwAi!I!!I5Ci=vA 99)AUC UuAUU@cFq}Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.Y}WIi}vA)yy yLReceived data from all battery sticks.y] B]-!Ii8>I= =a=I%$I%<3٢qg= B=9Q >  G٣y== > %Nusing accuracyPremultiplier from configM59ʕT?M5Yz iyIMA0M@E;E;5]WB ]@]EmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023186 jjjjihhhhfffrfbf@W0@ɛejBm[ im0Ii m<ɚiiqIuJ:=Iupiyiy)y)*F5?2F1:F1BF50JF1 $?IG- JG B! O= >zK yJK 9K K lK  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:26:25.2936 - TRx dataTimestamp_ set to:1736378786.6616275 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2773180*w,hAyB?!IMb@Mb@Mb@ )Y&1?S㥫?~jt?yP?/]=<"#A $A)AIAy3AII2٢= W=9Q > G٣vTGy > Nusing accuracyPremultiplier from config 59}T? 5Y- iy hQ? :2@EZ;;F5VB @E jAjAjAjAiAhAhAhIhMeBfIfQfQrfQbfUq@ɛnB، *I! %<ɚ!iAIM=IMiQiQ)Q)Q*F?2F:FBFP5JFG-{n}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527663GBO> $?I 1w,OhA6O@Y6n^@6=*:96>y6HI &?<)Կ4 ?@GUH? [?ɨ6O@6-e;6$Cyb"BbK!IIj&Ij3٢rg= rr=9vݼQ v?tt zG٣xyz= z? Nusing accuracyPremultiplier from config|59~mhT?5Y~ i~y  X0 @~ E~ :~:~5! %:@%E jAjIjIjIiIhIhIhQhQfQfQfYrfYbf]@ɛqBҼ 隍'I n<ɚiI=I\sii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:26:25.2936 LVL= 20976, 19057, 14018, 26739, AGC= 64, IDX= 464,-0.48, 1.705,-2.323, 2.277, 1.854, PHS=-0.061, 2.153, 0.419, RAW= 318.1, -23.7, CAL= 319.5, -35.6, ROT= 190.5, 35.6 %Ygot valid direction response: 23:26:25.2936 LVL= 20976, 19057, 14018, 26739, AGC= 64, IDX= 464,-0.48, 1.705,-2.323, 2.277, 1.854, PHS=-0.061, 2.153, 0.419, RAW= 318.1, -23.7, CAL= 319.5, -35.6, ROT= 190.5, 35.6 -PDAT read: Bearing 190.5, 35.6 (Local) 5~Local bearing/azimuth received: Bearing 190.5, 35.6 (Local) =DAT read: Range 10 to 50 : 228.7 m (Round-trip 305.0 ms) speed -0.9 m/s ER#Rx 1: Read range and direction messages.E^direction in FSK: [0.547109,0.583215,-0.600442]MFpublishing direction and range info9mDq?Z?E?6ydCQqJ 6)shI@i#y @+>@Ӿ*F}?2F:FBF[0JF Eq@)IaT@i?QK /5(4ҿ9|ٿ)4I C>ijHbH<H>I Is!IICBI&I.I6Ib<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3211>  BDAT read: Tx time:23:26:26.6844  $Ping request sent. #dQ@Y>_@>F9>>y>H @\*? 귿տP?hp?^?@?ɨ>#dQ@>;>"CyJ+BJV!I)L LLNA 1I5hEMb@Mb@Mb@AAA A)AYE(\?~jty&1?yEN?EDE`e G٣y'R= > Nusing accuracyPremultiplier from config59LT?5Y i~y"N?:3@#E;`e;5) -@- Ek~@?k{g;1 k khA:kdCBk1cCZk_@" G_@RC4`@9. G*amDq?Z?E?6Jkk~,Ckr=- addTargetRange:: Added new target pos. range: 228.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 Bj5Jj5e Added new target pos. range: 228.699997 m, bearing: 253.128969 deg, lat: 36.904796 deg, lon: -122.120260 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ZjamFNOT Ignoring new targets: 228.70 m.BjmJjm ProNav pure pursuit: ac range: 228.699997 m, nav range: 172.493057 m, bearing: 3.385457 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 14.204280 deg, new cmd heading: 3.385457 deg. HeadingCmd: 0.059087 target range: 228.699997 and range: 228.70 m. jr=jjjihhhhBfffrf`fl@bf5?ɛEwBEԙ AE%II M.h<ɚIiIIM=IU*iQiQ)Ur=)azKiJK 9KKmK !8ObtWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:26:26.6836 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252842*F?2F:FBFP0JFJulJqJqJqJu<5:JqJqJqJuK?;aJuM?;aJqaJqaG G B O% >j=w,FhA:, S@Y:,a@:$9:I_>y:H&୨? ׿``?? )??ɨ:, S@:;8yB6BBd!IININ٢Rn= V^=9VtQ V>XX ZG٣ZwTGyZ*= ^> bNusing accuracyPremultiplier from config`f59bV5T?f5Yb ibcydf12f@b%Eb:bG:b?5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502619y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 228.70 m.Bj:Jj: ProNav pure pursuit: ac range: 228.699997 m, nav range: 172.776825 m, bearing: 3.414382 deg, approach rate: 0.786463 m/s, LOS rate: 0.080032 deg/s, cmd heading: 3.385457 deg, new cmd heading: 3.414382 deg. HeadingCmd: 0.059592 target range: 228.699997 and range: 228.70 m. jt=jjjihhhhf!f!f!rf!bf%?ɛ{Bŵ 隵"I <ɚiI?=I޿ii)t=) =$?I9*F?2F:FBF_0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754560G3G B O5 >%SDw,#iAH&>I$ I&!II&\BI$&I$.I$6I&<:I&H FFT@YFb@FTc9FDݤ>yFH\v?I@ؿ W?@- ?@(@? Y?ɨFT@FF ;F Cyb;Bbj!IIj4IjV3٢r< rF=9vrQ v>tt zG٣xyz m= z> Nusing accuracyPremultiplier from config|59~fT?5Y~ i~;y  0 @~(E~:~:~ 5UB @EZjFNOT Ignoring new targets: 228.70 m.Bj:Jj: ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.091415 m, bearing: 3.449040 deg, approach rate: 0.773463 m/s, LOS rate: 0.085056 deg/s, cmd heading: 3.414382 deg, new cmd heading: 3.449040 deg. HeadingCmd: 0.060197 target range: 228.699997 and range: 228.70 m. j;v=jjjihhhhfff!rf)bf-`Q ?UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008425ɛB 隝@"I <ɚiI0@=I-ѿi)i1)5;v=)1 %$?I!*F%?2F):F)BF)JF)zK NK 9K K nK ~md^[L2.+,,)(''('()('$  G] : Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260102GQ Ba O} >Jw,Q,iAJ[3K[3 K[/.KSKS"KSJ-mJ-cJ-0J)J-\8:J-x9J-ـ3J)J-D;J-D;J-:J-:yEMBE!Iie=Ie? ea=ep=}Mb@Mb@Mb@yyy y)yY}x&?Q뱿{Gzty}7I?}\}ף}5A }A)}XAI}Ayy}AIIƲ٢a= /=9Q > G٣y > Nusing accuracyPremultiplier from config59S?5Y iTyJ?:4@+E-;;5TB r@EZj!%FNOT Ignoring new targets: 228.70 m.Bj-:Jj-:= ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.447311 m, bearing: 3.480075 deg, approach rate: 0.783094 m/s, LOS rate: 0.068148 deg/s, cmd heading: 3.449040 deg, new cmd heading: 3.480075 deg. =HeadingCmd: 0.060739 target range: 228.699997 and range: 228.70 m. jE6x=jAjAjAiAhAhIhIhMlBfIfQfQrfQbfU1?ɛ}B 隅I )+<ɚiIxF=IH@ȿii)6x=)*F?2F:FBFo0JF!5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510604Ge 3 I GY Ba O >tQw,iFiA6_X@Y6}f@696+>y6H r`jg?ιcܿ@g`?@J?`?h1?ɨ6_X@6;6"CyRNBTI^I^F3٢f; fo=9f#Q f?hh jG٣jxTGyn1> n? vNusing accuracyPremultiplier from configpv59rS?z5Yr irXyxz0z@r-Er:r:r5 d@EZj)-FNOT Ignoring new targets: 228.70 m.Bj5һ:Jj5һ:E ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.704117 m, bearing: 3.507896 deg, approach rate: 0.758993 m/s, LOS rate: 0.082103 deg/s, cmd heading: 3.480075 deg, new cmd heading: 3.507896 deg. MHeadingCmd: 0.061224 target range: 228.699997 and range: 228.70 m. jM\z=jIjIjIiIhIhIhQhQfQfQfYrfabfeƟ?ɛBo 隕MI <ɚiI0=I'ii)\z=)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763814*F?2F:FBFT5JF*J54="J5=uNG #YyBZH%?ARH%AAH)I) I-!II-{BI- =&I).I-DD6I-<:I-X FG9GBiO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014489Ww,_iA B$?IDybSBf!IeMb@Mb@Mb@aaa a)aYeMbX9?zGếX9vyeA?e ׽ee;=A ev@)aIeAaye(AI%I)3٢A< ;=9Q > G٣y > Nusing accuracyPremultiplier from config 59 S?5Y  i y%C?-:-3-@ 0E ; ; 5SB @EZjFNOT Ignoring new targets: 228.70 m.Bj%:Jj%:] ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.027893 m, bearing: 3.538774 deg, approach rate: 0.691689 m/s, LOS rate: 0.065843 deg/s, cmd heading: 3.507896 deg, new cmd heading: 3.538774 deg. eHeadingCmd: 0.061763 target range: 228.699997 and range: 228.70 m. jew|=jajajaiahahihhBfffrfbfஞ@ɛB% !%I ?Է<ɚiI=I ii)w|=)zK%?MK%+9K!K%oK%  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267701*F?2F:FBF?1JFJAJEgJE1JAJAJE9JE3JAJAJAJE>:JE@:G G pAG GY Ba O >]w,_yiA6V#\@Y6DBj@66c"96>y6H? ߿ x?@ K??2?ɨ6V#\@6;4y>[BB!I)D DDDIJ0IJ(3٢R7= V`=9V Q V>XX ZG٣XyZI&> ^> bNusing accuracyPremultiplier from config`f59bS?f5Ybb ibyhjU/j@b2Eb:b:b5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518553y }~@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 228.70 m.Bj:Jj: ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.288925 m, bearing: 3.569148 deg, approach rate: 0.731978 m/s, LOS rate: 0.085046 deg/s, cmd heading: 3.538774 deg, new cmd heading: 3.569148 deg. HeadingCmd: 0.062293 target range: 228.699997 and range: 228.70 m. jX'=jjjihhhh1f9f9f9rf9bf=n@ɛB8 隍vI FU<ɚiI=Imii)X'=) $?I*FU?2FQ:FQBFUY4JFQGIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770486G) Ba O >JA JE @AH% >I% C I% !II% BI% =&I! .I! 6I% ̯<:I% ; FBI˯CJI˯CRIZI =bI =jIi5dw,GiAJo]@YJ]l@Jn19Jꓪ>yJHL`?N Ȣr hh jG٣jyTGyjC= n> vNusing accuracyPremultiplier from configpv59rS?z5Yr irz  -@r4Er;r;r5! -@-EZjQUFNOT Ignoring new targets: 228.70 m.Bj]x:Jj]x:m ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.580292 m, bearing: 3.606028 deg, approach rate: 0.741912 m/s, LOS rate: 0.093753 deg/s, cmd heading: 3.569148 deg, new cmd heading: 3.606028 deg. mHeadingCmd: 0.062937 target range: 228.699997 and range: 228.70 m. ju&=jqjqjqiqhqhhhfffrfbf. @ɛeBm+ 隝 I G<ɚiI=I5݇i9iA)E&=)QWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025789*Fa2Fa:FaBFeP0JFa e$?IaG :Ga Bq O >zK] D`LK] 9KY K] pK]   Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:26:29.3974  TRx dataTimestamp_ set to:1736378790.694443 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277842jw,쇭iAJJcJJJJx9JJJJJ:J:\a@YJo@TI9a>yH`H?\/P?(??c?ɨ\a@;騡yWB!IMb@Mb@Mb@ )YK?V-ˡEy^:?'>A A)AIAyAIIV83٢ޠ; ,=9GQ > G٣y =  > Nusing accuracyPremultiplier from config59_S?5Y iSz=?:%*%@7En;;5-RB -@-EZjFNOT Ignoring new targets: 228.70 m.Bj:Jj: ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.901535 m, bearing: 3.651707 deg, approach rate: 0.667514 m/s, LOS rate: 0.094741 deg/s, cmd heading: 3.606028 deg, new cmd heading: 3.651707 deg. HeadingCmd: 0.063734 target range: 228.699997 and range: 228.70 m. j"=jjjihhhh׆Bfffrfbf@Ul @ɛBF; Y><隽P#I G<ɚiI =IRii)"=)*F?2F:FBFX0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%=%%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527698 U $?IQ G G ?G >G B O- >qw,fiAFۚc@YFɹq@FQ9F՜>yFH¸ڀ?` oCPa?@6?0F?~x?ɨFۚc@F^Ҋ;DyRLBR~!IiV,>IVC= V=V=IZ'IZ@3٢f fu=9j-Q j?hl -G٣)y-= -? =Nusing accuracyPremultiplier from config1M595sS?M5Y59 i5zIM(U@59E55;5E5;5s5Y ek@aZjFNOT Ignoring new targets: 228.70 m.Bj~:Jj~: ProNav pure pursuit: ac range: 228.699997 m, nav range: 175.130875 m, bearing: 3.686840 deg, approach rate: 0.687133 m/s, LOS rate: 0.105128 deg/s, cmd heading: 3.651707 deg, new cmd heading: 3.686840 deg. HeadingCmd: 0.064348 target range: 228.699997 and range: 228.70 m. jȃ=jjjihhhhfffrfbf` @ɛBF *I ŧ<ɚiI=Ifii)ȃ=)Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:26:29.3974 LVL= 20720, 17649, 13602, 26947, AGC= 62, IDX= 470,-0.09,-2.182,-0.156,-1.880,-2.139, PHS= 0.045, 2.030, 0.256, RAW= 324.4, -23.6, CAL= 327.0, -35.0, ROT= 183.0, 35.0 =Ygot valid direction response: 23:26:29.3974 LVL= 20720, 17649, 13602, 26947, AGC= 62, IDX= 470,-0.09,-2.182,-0.156,-1.880,-2.139, PHS= 0.045, 2.030, 0.256, RAW= 324.4, -23.6, CAL= 327.0, -35.0, ROT= 183.0, 35.0 EPDAT read: Bearing 183.0, 35.0 (Local) *F?2F:FBF_0JF~Local bearing/azimuth received: Bearing 183.0, 35.0 (Local) DAT read: Range 10 to 50 : 231.5 m (Round-trip 308.7 ms) speed -0.9 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.542654,0.654683,-0.526229]Fpublishing direction and range info9Yl]? \r)?*UygCPD "5)CiI>iQ8=@o>-@BҾ @)aIiL@ia?Ý䗟UzFؿl~ٿ)!-Ij>i`?g ?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI I!IIBI&I.I6I<:Ia FG3GBO} > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3212>  BDAT read: Tx time:23:26:30.7345  $Ping request sent.    G٣ zTGy > %Nusing accuracyPremultiplier from config-59\S?-5Yg iz=8?=:= '=@Δb@"9t^Yl]? \r)?*UJk`?Rkg ?*عl @bk"g!O~w,+iA2Fg@Y2eu@2U^92>y2Hw Y?q¿@hoBSQ?=ǫ? 9k?И?ɨ2Fg@2;0y>FB>w!IIJIJ٢R$޼ Rc=9VQ V>TT ZG٣XyZ-#> ^> bNusing accuracyPremultiplier from config\b59^JS?f5Y^2 i^zdfu#f@^>E^.:^:^5 @%E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954EB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 231.50 m.Bj}am;Jj}am; ProNav: ac range: 231.500000 m, nav range: 164.832031 m, bearing: 271.359230 deg, approach rate: -0.377928 m/s, LOS rate: 0.207533 deg/s, cmd heading: 3.825005 deg, new cmd heading: 4.054004 deg. 2jm<HeadingCmd: 0.070756 target range: 231.500000 and range: 231.50 m. ja=jjjihhhhfffrfbf ?ɛ=BE@ AE3IA E<ɚAiIIm-/=Iuj0eiqiq)ua=)q $?IhE)=*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755133J- oJ) J- 0J) J- >:J) J- ـ3J) a= @a= @a= @a= @H >I  I !II BI =&I .I 6I <:I e FG :G qAG G B O >Mͅw,UjAFV9i@YFDXw@Fa9Fo >yFH T@?@Xÿ$@ @?.?8??ɨFV9i@F#̉;DyRll nG٣lyr)= r> ~Nusing accuracyPremultiplier from configx 59z3S?5YzJ iz/{!-!-@zAEz=jYjYjYiYhahhhfffrfbfF?ɛB!3ܼ ;I  qm<ɚ i I =I8Iii)0>=) -$?I)E]8<*F?2F:FBFh0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261848zK ꋚw,1jAR[k@YRzzy@Rc9Rl>yRH V<t?}ÿ2*`Θ?n? {??ɨR[k@R>;R!Cy^/B^[!IEMb@Mb@Mb@AAA A)AYEK?DlZd;OyE^:?EOAE7A A)EAIEAAyEAIeIeV٢l @=9Q > G٣{TGy= > Nusing accuracyPremultiplier from config59~S?5Yt iW{;?:R@CE;;5 %@(EZjFNOT Ignoring new targets: 231.50 m.Bj;Jj; ProNav: ac range: 231.500000 m, nav range: 164.455826 m, bearing: 271.541060 deg, approach rate: -0.523002 m/s, LOS rate: 0.236232 deg/s, cmd heading: 4.343147 deg, new cmd heading: 4.600113 deg. 2j"<HeadingCmd: 0.080287 target range: 231.500000 and range: 231.50 m. jm=jjjihhhhNBfffrfbf@ˁ?ɛ B    ^DI  mȓ<ɚiI=I6ii)m=)iEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 =$?I9*F?2F:FBFi0JFG 3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763906G B O>䲓w,OjA2m@Y2{@2[92>y2H{ .?KĿ@ 3L?o?@? ?ɨ2m@2V;2#CyB0BB\!IIJ+IJn3٢Rj0; R>=JjlJjdJhJhJj<5:Jj|9JhJh9-;Q ->11 5G٣1y5u= => eNusing accuracyPremultiplier from config9e59= S?m5Y=" i={im+m@=FE=;=:;=5}QB @+EZjFNOT Ignoring new targets: 231.50 m.Bj[;Jj[;ZH%@ARH%@AH->I) I-!II-BI- =&I).I)6I-<<:I- FM ProNav: ac range: 231.500000 m, nav range: 164.247177 m, bearing: 271.629289 deg, approach rate: -0.452464 m/s, LOS rate: 0.191572 deg/s, cmd heading: 4.600113 deg, new cmd heading: 4.865135 deg. 2jMy)љw,,ijAZ3o@YZ!}@ZnQ9ZR>yZH`;-?@ſi?2??`Զ?ɨZ3o@Zȡ;Z"Cyj(BnR!Iiv>Iv> z=z=Mb@Mb@Mb@ )YV-?I +Q롿yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266747 G٣yB= > Nusing accuracyPremultiplier from configzKTNK9KKsKSNHC??/$   /Ik  59R?5YB  i{y=?:E@HE ;ݒ;5 @ZjFNOT Ignoring new targets: 231.50 m.BjD^;JjD^; ProNav: ac range: 231.500000 m, nav range: 164.021622 m, bearing: 271.714014 deg, approach rate: -0.516612 m/s, LOS rate: 0.194321 deg/s, cmd heading: 4.865135 deg, new cmd heading: 5.119658 deg. 2j\<%HeadingCmd: 0.089355 target range: 231.500000 and range: 231.50 m. j%=j!j!j!i!h!h)h)h-Bf1f1f1rf1bf5@N@ɛńB kNI z/<ɚiI=I-%i)i))5=)1*F?2F:FBFP5JFG M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519159G B O > $?I Hw, jAb9q@Yb'@b7I9bU>ybH` bv? ƿ`n |? -?@ˢ? ?ɨb9q@b;b#Cy%"B%J!IIMCIM3٢e e^=9e;Q m>ii mG٣m|TGyu= u> }Nusing accuracyPremultiplier from configy59}R?5Y}j i}{D@}JE}3:}:}L5 @0EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 231.50 m.BjT;JjT; ProNav: ac range: 231.500000 m, nav range: 163.831741 m, bearing: 271.781261 deg, approach rate: -0.522795 m/s, LOS rate: 0.185364 deg/s, cmd heading: 5.119658 deg, new cmd heading: 5.321631 deg. 2jm;HeadingCmd: 0.092880 target range: 231.500000 and range: 231.50 m. j7=jjjihhhhf1f1f1rf1bf5 W@ɛ ʄB +  PTI H<ɚiI=Iii)7=)!) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772148*F?2F :F-GBF4E|uAJF1Y 6Y|uAyz/BGpA GJ J pJ J J J ^9J J H9I9 I=!II=BI= =&I9.I96I=<:I=y FG G B O >覚w,jAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025597 I%5rs@Y%Ȁ@%LA9%h>y%HzK ?5wǿ`d7?`F'??@c?ɨ%5rs@%X;%"CyEBEF!IMb@Mb@Mb@ )YPn?+~jtyD?ļ1A )AIy\AI&I3٢m 2=9eW;Q e>ii mG٣iym^= u> }Nusing accuracyPremultiplier from configq}59uR?5Yu iu{rD?:"@uMEu;uV;uY5 (@Zj)-FNOT Ignoring new targets: 231.50 m.Bj5M;Jj5M;m ProNav: ac range: 231.500000 m, nav range: 163.570297 m, bearing: 271.868241 deg, approach rate: -0.539861 m/s, LOS rate: 0.179894 deg/s, cmd heading: 5.321630 deg, new cmd heading: 5.582986 deg. 2jm;uHeadingCmd: 0.097441 target range: 231.500000 and range: 231.50 m. jug=jqjqjqiqhyhyhhBfffrfbf( @ɛфBA) 8YI y<ɚiI=I%:бi!i!)%g=))*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթBDAT read: Rx Time:23:26:33.4511 TRx dataTimestamp_ set to:1736378794.736811checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275882zK! K% 9K! K% tK% ~wldYPJDD@:51+($#""G G B O >M w,njABG\u@YB@B89B>yBH@? xȿ@K@??`? ?ɨBG\u@B;@yJBJ@!I)P PPPIV1IV3٢^ ^y=9b;Q b?`d fG٣dyf= f ? nNusing accuracyPremultiplier from confighu59jR?u5Yjh ij{y}8}@jOEj Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 234.3 m (Round-trip 312.5 ms) speed -0.1 m/s - X#Rx 1: Read range message, but no direction. y LjC  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.w,jA*J^C="J^p=JfnJfeJf1JdJf|;:Jf9Jf3Jd} 0w@Y}@}209}>y}H?`cɿ@* ?E? ? ?ɨ} 0w@};}%CyޕBޕB!II/I3٢z; <=9/;Q > G٣}TGy.= > Nusing accuracyPremultiplier from configH>I I!IIBI&I.I6IM<:I FBICJICRIZI =bI =jI;4 59,R?5YP# i{!%d-@RE?<@< 51 5Y@1e addTargetRange:: Added new target pos. range: 234.300003 m, deltaT: 4.030430 s, deltaX: 2.800003 m, approachRate: 0.694716 m/s, rangeRepo size: 3 ZjamFNOT Ignoring new targets: 231.50 m.BjmDL;JjmDL; ProNav: ac range: 231.500000 m, nav range: 163.134598 m, bearing: 272.001053 deg, approach rate: -0.598413 m/s, LOS rate: 0.178584 deg/s, cmd heading: 5.753717 deg, new cmd heading: 5.981964 deg. 2j;HeadingCmd: 0.104405 target range: 231.500000 and range: 234.30 m. jE=jjjihhhhfffrfIm@bf?ɛ܄Ba< x`I Zd<ɚiI=I?Fii)E=)*F?2F:FBF`0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.E,DAT read: user:3213> ]BDAT read: Tx time:23:26:34.7345 e$Ping request sent.m!w,{jAy=B=F!IMb@Mb@Mb@ )YJ +?Zd;OMbyH?j2A ;@)3AIAy=AI2I?3٢< F=9Q > G٣y   > Nusing accuracyPremultiplier from config59R?5Y* i{%H?%:%B%@UE\ ; ;q 5) -@-6EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:26:34.7337 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243785zK`NK+9KKuK  Zj)5FNOT Ignoring new targets: 231.50 m.Bj5@;Jj5@;E ProNav: ac range: 231.500000 m, nav range: 162.884140 m, bearing: 272.073349 deg, approach rate: -0.580708 m/s, LOS rate: 0.167883 deg/s, cmd heading: 5.981964 deg, new cmd heading: 6.199185 deg. 2jEn;mHeadingCmd: 0.108196 target range: 231.500000 and range: 234.30 m. jm=jqjqjqiqhqhqhyh}ͅBfyfyfrfbf8?ɛBS: aI 3OW<ɚiI=I?Ͻii)=))*F?2F:FBFl0JFG :G ?G ?5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496553G B  I O >fw,PkA2 z@Y2}@27q"92&Ў>y2HO@%?ʿ `[ -? L?q?0?ɨ2 z@2 ;2#CyNBRE!IiVhh jG٣hynB!> n> rNusing accuracyPremultiplier from configpv59rR?v5YrX0 irz{xz z@rWEr;r;r5| ~/@~8EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 231.50 m.Bj-I;Jj-I;M ProNav: ac range: 231.500000 m, nav range: 162.653168 m, bearing: 272.132789 deg, approach rate: -0.684872 m/s, LOS rate: 0.176498 deg/s, cmd heading: 6.199185 deg, new cmd heading: 6.377756 deg. 2jMB;UHeadingCmd: 0.111313 target range: 231.500000 and range: 234.30 m. jU=jQjQjQiQhYhYhYhYfafafarfabfmZ?ɛ B ib :eI1 5GM<ɚ9i9IE(=IEdEiIiI)M=)IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747141JJBAE<HI I!II{BI =&I.I6I><:I F*F}?2Fy:FyBF}_0JFyG = Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001548 IG BO>eȚw,8#kAPExceeded connect timeout, disconnecting.V|@YVkT@V&r9VǏ>yVH@t? ˿kT-V߿,{?ͣ?Z?6?ɨV|@V;V"Cyb,BbW!IUMb@Mb@Mb@QQQ Q)QYU rh?Q~jtyUCK?UUDU1A U3@)UAIUCAQyUAIu Iu̍2٢}_p= }!=9:Q > G٣~TGyS= > Nusing accuracyPremultiplier from config59R?5Y89 ic{nK?: @ZEy;;>5 4@;EZjYeFNOT Ignoring new targets: 231.50 m.Bjeb9;Jjeb9;u ProNav: ac range: 231.500000 m, nav range: 162.324966 m, bearing: 272.214687 deg, approach rate: -0.648199 m/s, LOS rate: 0.162077 deg/s, cmd heading: 6.377756 deg, new cmd heading: 6.623947 deg. 2juv;HeadingCmd: 0.115610 target range: 231.500000 and range: 234.30 m. j=jjjihhhhƅBfffrfbf ^^?ɛuBl- 隥aI GC><ɚiI&9=I*M:=ii)=)-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250790zK=LK=9K9K=vK=RKM?JKM ?JlJcJ0JJ<5:Jx9Jـ3JJK?;aJN?;aJaJaEu$=*F- ?2F) :F) BF) JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503001GQG]pAG]oA $?IhG)BYO?њw,ADkA: &@Y:5@:9:*>y:HݿM?ͿkB@/ܿ??Y??ɨ: &@:];:#CyF/BFZ!IIRIRb٢Z< Z%=9^̜;Q ^>`` bG٣`yba= f> jNusing accuracyPremultiplier from configdn59fsR?n5Yf=B ifQ{lnn@f]Ef ;f ;fi5t v @tZj uFNOT Ignoring new targets: 231.50 m.Bj}*;Jj}*; ProNav: ac range: 231.500000 m, nav range: 161.990570 m, bearing: 272.288503 deg, approach rate: -0.675034 m/s, LOS rate: 0.149318 deg/s, cmd heading: 6.623946 deg, new cmd heading: 6.845851 deg. 2j;HeadingCmd: 0.119483 target range: 231.500000 and range: 234.30 m. jP=jjjihhhhfffrfbf=?ɛ5B5; 15cI9 =0<ɚ9i9I=_=IE=iAiA)EP=)IEQEQ*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754869*F?2F:FBFJFH>I III&I.I6I-<:I FGY GY B O >ךw,`kA"Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010214 xI| nManaging dock network, ignoring radio surface power off@YK*@9>yH <ܿ?1ο`ڿ?ҡ???ɨ@;%Cy?Bo!I}Mb@Mb@Mb@yyy y)yY}Zd;O?QI +y}~J?}u}94}0A y)yIyyy}pAI+In3٢܆= &=9A;Q >    G٣ yr= > Nusing accuracyPremultiplier from configM59.bR?M5YYK iP{MK?M:M2M@`E;;5]OB ]@]>EZjFNOT Ignoring new targets: 231.50 m.Bj(;Jj(; ProNav: ac range: 231.500000 m, nav range: 161.653183 m, bearing: 272.364500 deg, approach rate: -0.651055 m/s, LOS rate: 0.146957 deg/s, cmd heading: 6.845851 deg, new cmd heading: 7.074315 deg. 2j; HeadingCmd: 0.123470 target range: 231.500000 and range: 234.30 m. j =j j j i hhhhԅBf9f9fArfAbfE@4@ɛMBu4 y}|_Iy w!<ɚiI=I=ii)=)*FE?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259641JE mJE fJE 1JA JE \8:JE 9JE 3JA JE D;JE D;JE :JE :zKU JKQ KQ KU wKU  BK :K G5 3G B O5 >ݚw,ykAR&@YR@RJ9R|>yRHiڿ@0?ο ؿ???5?ɨR&@R';R"CyZLBZ~!IIb(Ib̍3٢nE= no=9n;Q n?pp rG٣rTGyvܸ= v? zNusing accuracyPremultiplier from configx~59zWR?5YzfQ izR{ K @zbEz;z;z 5! %;@-@EZjY]FNOT Ignoring new targets: 231.50 m.Bje);Jje);u ProNav: ac range: 231.500000 m, nav range: 161.428848 m, bearing: 272.411975 deg, approach rate: -0.701024 m/s, LOS rate: 0.148560 deg/s, cmd heading: 7.074315 deg, new cmd heading: 7.216937 deg. 2ju;}HeadingCmd: 0.125959 target range: 231.500000 and range: 234.30 m. j}{>jyjyjyiyhyhhhfffrfbf @ɛBBs 隽[I 3<ɚiI=I >iiI)M{>)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511961 $?I h*F=?2F9:FABFEP5JFAGe:Gm ?Gm"?G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763077Рw,wikAbc@Yb @b09b>ybHؿj?@Ͽ'{`G׿@?kz??5?ɨbc@b_;`yjXBj!IHtIt Iv!IIvBIt&It.It6Iv<:Ivc Fi~C>I~<I I (*3٢u= G=9.;Q %>)1 5G٣1y== => MNusing accuracyPremultiplier from configAM59EEKR?U5YEY iEU{QUjU@EeEE:E:E5a ei@eCE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 231.50 m.Bj%;Jj%; ProNav: ac range: 231.500000 m, nav range: 161.142792 m, bearing: 272.468753 deg, approach rate: -0.699738 m/s, LOS rate: 0.139135 deg/s, cmd heading: 7.216938 deg, new cmd heading: 7.387574 deg. 2j;]HeadingCmd: 0.128937 target range: 231.500000 and range: 234.30 m. j]1>jYjYjYiYhYhahahafafifirfibfmK# @ɛ BC ~XI  <ɚiI\=I1>ii)1>)*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խ!>խ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039 $?IGGi Bq O >w,YkA2J@Y2@2*[92>y2H׿? пo &տ?ʟ? ??ɨ2J@2މ;2#CyVaBV!IEMb@Mb@Mb@AAA A)AYE r?kt{GzyEC?E EףE1A E;@)E3AIEvAAyEGAI]I]M3٢eB1= mE=9m4;Q m>qq uG٣qy}= > Nusing accuracyPremultiplier from config59 ?R?5Y` iw{D?:@hE;;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:26:37.4538 TRx dataTimestamp_ set to:1736378798.768794checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268101ZjFNOT Ignoring new targets: 231.50 m.Bj;Jj; ProNav: ac range: 231.500000 m, nav range: 160.865173 m, bearing: 272.524391 deg, approach rate: -0.664929 m/s, LOS rate: 0.133491 deg/s, cmd heading: 7.387574 deg, new cmd heading: 7.554777 deg. 2j:;HeadingCmd: 0.131856 target range: 231.500000 and range: 234.30 m. j1>jjjihhhhBfffrfbfz @J-lJ-eJ-0J)J-<5:J-9J-ـ3J)J-K?;J-N?;J-:J-:zKeQJKe+9KaKexKe ^()qE!j>eE-ɛ%BuIpL y}VIy }K<ɚyiyI}F=I1>ii)1>)*Fe?2Fa:FaBFmo4JFiG] 3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521186 I G9 BA Oe >w,H1kAyUyBU!IImIm[3٢= H=9Q > G٣TGy > Nusing accuracyPremultiplier from config5903R?5Yg i{@jEe ; ;r5 \@ZjFNOT Ignoring new targets: 231.50 m.Bj;Jj; ProNav: ac range: 231.500000 m, nav range: 160.592484 m, bearing: 272.579262 deg, approach rate: -0.672589 m/s, LOS rate: 0.135570 deg/s, cmd heading: 7.554777 deg, new cmd heading: 7.719671 deg. 2j;HeadingCmd: 0.134734 target range: 231.500000 and range: 234.30 m. j >jjjihh!h!h!f!f!f)rf)bf-@@ɛUBUO Y]NIY ];ɚYiaIe =Iu >iqiq)u >)y*F ?2F:F!)BF%\0JF9AY 05Yy-BWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad header]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786303jHbH<H>I I!IIBI&I.I6IC<:I FGaGiGmqAGA Bi O >w,NkA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025455 \I`%*ׅ@Y%@%[F9%Go>y%H@wӿg?+пw`>ҿ7?g? r??ɨ%*ׅ@%#;!y=B=!I)Q QMb@Mb@Mb@ )Y/$?QMby   G٣y> > Nusing accuracyPremultiplier from config-59&R?-5Yo i{-U??-:55@mE1;1;k5=NB =@=FEZjiuFNOT Ignoring new targets: 231.50 m.Bju;Jju;% ProNav: ac range: 231.500000 m, nav range: 160.296402 m, bearing: 272.636783 deg, approach rate: -0.655214 m/s, LOS rate: 0.127526 deg/s, cmd heading: 7.719670 deg, new cmd heading: 7.892551 deg. 2j% ;5HeadingCmd: 0.137751 target range: 231.500000 and range: 234.30 m. j5 >j1j1j1i9h9hahihm&Bfifqfqrfybf}@ɛ%B%4 !%-MI! -;ɚ)i)I-=I5 >i1i1)5 >)1*FM?2FQ:FQBFUV0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275830JK KKK"KJM oJM dJM 1JI JM >:JM |9JM 3JI JM ~O;JM O;JM :JM :zK ԨOK }9K K yK |vrjeb\YWVSTY\[RKGDD@<982./*)'" GQ G) B9 OU > w,kA2@ц@Y2@292`>y2Hѿ@ت?oLпu`lqп5? }2?v?`a?ɨ2@ц@2;2$Cy:B:!IIFIF?13٢N= N|=9N#:Q N ?PP RG٣PyV= V ? bNusing accuracyPremultiplier from config\E59^\R?E5Y^u i^|AEM@^oE^<^ލ<^5UOB U@UHEZjFNOT Ignoring new targets: 231.50 m.Bj;Jj; ProNav: ac range: 231.500000 m, nav range: 160.079269 m, bearing: 272.676093 deg, approach rate: -0.630831 m/s, LOS rate: 0.114361 deg/s, cmd heading: 7.892551 deg, new cmd heading: 8.010640 deg. 2j;HeadingCmd: 0.139812 target range: 231.500000 and range: 234.30 m. j*>jjjihhhhfffrfbfH@ɛ!Bf GI 9;ɚ i I =I*>ii)*>)MWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528586*F?2F:FBFm0JF $?IhGM:G)B1OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778877w,lAJJHF>IFC IF"IIFƒBIF =&ID.ID6IF<:IFs FBIAJIARIAZIE =bIE =jIEM4Vlɇ@YV؎@V(!9V>>yVH&uϿ?п`.`qFͿ@2?@Ý? ??ɨVlɇ@VH;V#Cy^B^!IIfIfM3٢n= rF=9r:Q r>tt vG٣vTGyvg= z> ~Nusing accuracyPremultiplier from config|59~}R? 5Y~B} i~c|  6 @~qE~1;~12;~ 5 @!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 231.50 m.BjM,;JjU,;e ProNav: ac range: 231.500000 m, nav range: 159.801529 m, bearing: 272.722798 deg, approach rate: -0.706724 m/s, LOS rate: 0.119050 deg/s, cmd heading: 8.010640 deg, new cmd heading: 8.150999 deg. 2jeh;mHeadingCmd: 0.142262 target range: 231.500000 and range: 234.30 m. jm>jijijiiihihihqhqfyfyfyrfybf}@ɛ(B aG 隵DI Ӄ;ɚiIKF=I>ii)>)*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034343 IGG5?G5>G B O5 > w,2.lA:&Lj@Y:֏@:9:_>y:H0˿ ?п;ɿ'?_?M?ଽ?ɨ:&Lj@:';:$CyFBF!IiJ=IJ<Mb@Mb@Mb@ )Yn? rh/$yV.?C ,`/A )AIvAyGAI5I53٢M0= MD=9Mn:Q M>QQ UG٣Qy] = ]> eNusing accuracyPremultiplier from configau59e8 R?u5YeN ie|u2?}:}}@etEetM;eWL;ev"5NB Y@KEZjFNOT Ignoring new targets: 231.50 m.BjS:JjS:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283179 ProNav: ac range: 231.500000 m, nav range: 159.539612 m, bearing: 272.766814 deg, approach rate: -0.629295 m/s, LOS rate: 0.105928 deg/s, cmd heading: 8.150998 deg, new cmd heading: 8.283262 deg. 2je;]HeadingCmd: 0.144570 target range: 231.500000 and range: 234.30 m. j]6 >jYjYjYiYhYhahahe8BfafifirfibfH@ɛ/B=< BI Vr;ɚiIY=I6 >ii)6 >))zKONK9KKzKJMnJMfJIJIJM|;:JM9JIJIJMJ;JMJ;JM:JM:*F?2F:FBF0JFG m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534978 I G B O >w,LoHlAyB!II-I-T3٢== =K=9EQ E>AI MG٣IyU ]> eNusing accuracyPremultiplier from configam59e>R?m5Ye" ie(}iiu@evEe7:eC:e:$5y }@yZj%FNOT Ignoring new targets: 231.50 m.Bj%:Jj-:] ProNav: ac range: 231.500000 m, nav range: 159.285934 m, bearing: 272.809595 deg, approach rate: -0.605138 m/s, LOS rate: 0.102216 deg/s, cmd heading: 8.283262 deg, new cmd heading: 8.411810 deg. 2j]L;eHeadingCmd: 0.146814 target range: 231.500000 and range: 234.30 m. jeZV>jajijiiihihihhfffrfbf @ɛ5BP>C BI h;ɚiI=I ZV>i i ) ZV>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787924*F?2F:FBF3JF*J9"J=4=H>I I5"IIBI =&I.I6I0<:I FG 3G B O >1w,]blAWill construct direction to contact in vehicle frame from tetrahedron phase data. .$?I,6checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048405eÊ@Yeӑ@e9e>yeH`#ÿo?$ѿ`3`¿j?@^?:? 8?ɨeÊ@e$Q;ayuBu"I Mb@Mb@Mb@    ) Y #~j?x&~jty %? 7 D 1A ;@) bAI  y AI%I)3٢5E*= 5.=9=;Q =>99 EG٣ETGyE{> M> ]Nusing accuracyPremultiplier from configQe59UQ?m5YUْ iU}m)?m:m|u@UxEUw;Uv;UG&5OB F@MEZjimFNOT Ignoring new targets: 231.50 m.Bju:Jju: ProNav: ac range: 231.500000 m, nav range: 158.998367 m, bearing: 272.851045 deg, approach rate: -0.598746 m/s, LOS rate: 0.086459 deg/s, cmd heading: 8.411810 deg, new cmd heading: 8.536383 deg. 2jWm;HeadingCmd: 0.148988 target range: 231.500000 and range: 234.30 m. jO>jjjihhhhEBfffrfbfx@ɛe=Bm9 imiAIi m>^;ɚiiqIuR=I}O>iyiy)}O>)*F)2F):F)BF-]5JF)G5qA G5pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291609zK KK 9K K {K   Gu :G qAG GI BY O >rw,|lAZy@YZ͒@Z7}9Z8r>yZHY׿ |?@:ѿ`B\?.???ɨZy@Zp[;Z#CynŃBn"I)x xIIm?3٢-fm= 5n=95I :Q 5?99 =G٣9yа= > Nusing accuracyPremultiplier from config59Q?5Y i~￑@zEc;;'5 @Zj FNOT Ignoring new targets: 231.50 m.Bj :Jj :% ProNav: ac range: 231.500000 m, nav range: 158.778351 m, bearing: 272.880082 deg, approach rate: -0.663396 m/s, LOS rate: 0.087675 deg/s, cmd heading: 8.536383 deg, new cmd heading: 8.623616 deg. 2j%p;%HeadingCmd: 0.150510 target range: 231.500000 and range: 234.30 m. j-l>j)j)j)i)h)h)h1h1f1f9f9rf9bf=U@ɛeBBe5Nf im>Ii m?;ɚiiiImMZ=Iul>iyiy)}l>)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544878 !I%h*F-?2F1:F1BF5P0JF1GqGI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795081J% lJ% eJ! J! J% <5:J% 9J! J! a- @a- @a- @a- @L%w,:lAH>I IZ"IIBI =&I.ICD6IT<:I Ff麌@Yf`ʓ@f ݼ9f>yfH@N?\ѿ@`22Sm?`E??v?ɨf麌@f;f Cy%ɃB%"II5I5T3٢EѦ< EK=9M:Q M>IQ UG٣Qy]= ]> eNusing accuracyPremultiplier from configam59eQ?m5YeP iel~qu뿑u@e|Ee:e:e)5}NB X@PEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 231.50 m.Bj-:Jj-: ProNav: ac range: 231.500000 m, nav range: 158.532852 m, bearing: 272.909513 deg, approach rate: -0.630496 m/s, LOS rate: 0.075701 deg/s, cmd heading: 8.623616 deg, new cmd heading: 8.712044 deg. 2jO;HeadingCmd: 0.152054 target range: 231.500000 and range: 234.30 m. j>jjjihhhhfffrfbfR@ɛ}IB}3O y}?Iy g;ɚiIC=I>ii)>)*F-?2F):F)BF-^0JF1 !I!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048477GaGI BY O >x+w,lAybӃBb$"IUMb@Mb@Mb@QQQ Q)QYUV-?HzGJ +yU?U= UHU.A U@)QIUAQyUQAImImm?3}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298876٢== F=9Q > G٣TGy > %Nusing accuracyPremultiplier from config%59Q?-5Y i~--!?-:--@~E;;i+5Y ]@YZjFNOT Ignoring new targets: 231.50 m.BjM:JjM: ProNav: ac range: 231.500000 m, nav range: 158.279388 m, bearing: 272.941110 deg, approach rate: -0.582223 m/s, LOS rate: 0.072696 deg/s, cmd heading: 8.712044 deg, new cmd heading: 8.806986 deg. 2jG;HeadingCmd: 0.153711 target range: 231.500000 and range: 234.30 m. jdf>jjjihhhhCBf!f!f!rf)bfm H~@zKMK9KK|KɛPBKp? >I :ɚiIU=Idf>iaia)edf>)i*F?2F:FBFJF   I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552579G Gy B O >^2w,lA>@Y>6@>Cڼ9>e>y>H@^?@+ѿA?@G??@̻?ɨ>@>G͉;>&CyHHIV5IV39^m:Q ^>`` bG٣`yf-> f> jNusing accuracyPremultiplier from confighn59jQ?n5Yj ijHpr 忑r@jEj%;j;j,5t ttZjFNOT Ignoring new targets: 231.50 m.Bj%:Jj%:5 ProNav: ac range: 231.500000 m, nav range: 158.061646 m, bearing: 272.963004 deg, approach rate: -0.616256 m/s, LOS rate: 0.062051 deg/s, cmd heading: 8.806986 deg, new cmd heading: 8.872760 deg. 2j5W*;=HeadingCmd: 0.154859 target range: 231.500000 and range: 234.30 m. j=S>j9j9j9iAhAhAhAhAfIfIfIrfIbfU@ɛ}UB}(l y}bAIy :ɚiImI=IS>ii)S>)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802958JnJdJ0JJ|;:J|9Jـ3JjH9bH=p<H]>I]C I]s"II]BI] =&IY.IY6I]<:I] FGGBO>  I = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0548618w,lA]@Y]@],Eۼ9]Ύ>y]H \b?ݝѿ@ ~ u??g?`;? ?ɨ]@]NӉ;]%Cyލ׃Bލ)"IMb@Mb@Mb@ )Y~jt?X9v&1y?P`/A ;@)IyIIm?3٢< <9V~Q > G٣yv= > Nusing accuracyPremultiplier from config59&Q?5Y ic?:5߿@E;M;1/5OB @REZj!-FNOT Ignoring new targets: 231.50 m.Bj-ne:Jj5ne: ProNav: ac range: 231.500000 m, nav range: 157.757111 m, bearing: 272.988288 deg, approach rate: -0.602831 m/s, LOS rate: 0.050146 deg/s, cmd heading: 8.872760 deg, new cmd heading: 8.948757 deg. 2j ;HeadingCmd: 0.156185 target range: 231.500000 and range: 234.30 m. j>jjjihhhhGBfffrfbf @ɛe^Be=< imCIi m 9ɚiiiImO=Iu>iqi)>)*FM?2FQ:FQBFU`0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307272zK] LK] 9KY K] }K] Gy GQ Bi O >>w,1lAJ@YJu@JZڼ9J\>yJH ?@?ѿ @@w?p?J? y??ɨJ@J,;J CyR؃BR+"IIZIZ 3٢b#< f=9f<9Q f?hh jG٣jTGyjy= j? rNusing accuracyPremultiplier from configlv59nQ?v5Yn intvaۿv@nEn:n:n05x ~i@|Zj%FNOT Ignoring new targets: 231.50 m.Bj-H:Jj-H:U ProNav: ac range: 231.500000 m, nav range: 157.566757 m, bearing: 273.001978 deg, approach rate: -0.609882 m/s, LOS rate: 0.043917 deg/s, cmd heading: 8.948757 deg, new cmd heading: 8.989878 deg. 2j]:eHeadingCmd: 0.156903 target range: 231.500000 and range: 234.30 m. je, >jajajaiahahihihififqfqrfqbfu!@ɛbB< 隥DI ̸ɚiI=I, >ii), >) ]$?IehWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560163*F5?2F9:F9BF=U5JFAGU3)%= %cCG9ByO>  Y y Be Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810919H >I  I "II #BI &I .I 6I ?<:I FJ J J J J J J J J a J J;a J :a J :a 8Ew,mA2A@Y2@2ڲڼ92I>y2H`Q?u?ǎѿc ?$?U?`Z|?H?ɨ2A@2q;2#CyBڃBB-"IDFAIJIJM3٢R< RM=9VݸQ V>TT ZG٣XyZ= Z> Nusing accuracyPremultiplier from config%59dQ?%5Y iL)-׿-@E::\251 5M@1uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 231.50 m.Bj&:Jj&: ProNav: ac range: 231.500000 m, nav range: 157.315659 m, bearing: 273.017258 deg, approach rate: -0.597685 m/s, LOS rate: 0.036427 deg/s, cmd heading: 8.989878 deg, new cmd heading: 9.035789 deg. 2j:HeadingCmd: 0.157704 target range: 231.500000 and range: 234.30 m. j:}!>jjjihhhhfffrfbfh"@ɛ=iBE[ AEVGIA EFɚAiIIMX=IM:}!>iQiQ)u:}!>)y*F)2F):F)BF-@5JF1 iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062952Gu:Gi Bq O >Kw,1mA6~@Y6@6u߼96,\>y6HG/?ͦ?ѿ!>?>d? ? p?`?ɨ6~@6;6"CyBۃBB/"IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314994Mb@Mb@Mb@ )Y+?X9v:vyv?T10A @)IAyAI=!I=i3٢M; M@=9MaQ M>QQ ]G٣Yy],= ]> mNusing accuracyPremultiplier from configam59eQ?m5Ye ieu!?u:usҿu@eEe;e;e+45 6@ZjAEFNOT Ignoring new targets: 231.50 m.BjM:JjM:} ProNav: ac range: 231.500000 m, nav range: 157.057297 m, bearing: 273.029196 deg, approach rate: -0.607350 m/s, LOS rate: 0.028110 deg/s, cmd heading: 9.035789 deg, new cmd heading: 9.071663 deg. 2j}U:HeadingCmd: 0.158330 target range: 231.500000 and range: 234.30 m. j\!">jjjihhhhBBfffrfbfA#@ɛoB`  II  8ɚiI=I-\!">i1i1)5\!">)1zK-JK)K)K-~K-*F?2F:FBF4JF aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566795G3G B O >Rw,QKmA6qp@Y6@6f96x>y6HO?`ȑ? kѿ@[?s Q?@4U??ɨ6qp@6`;4y>׃BR)"IIZIZM3٢fc fS=9fQ j>hh jG٣jTGyn&= r> vNusing accuracyPremultiplier from configpv59rQ?z5Yr irxzοz@rErn:r7:r55 y@Zj!-FNOT Ignoring new targets: 231.50 m.Bj-[9Jj5[9E ProNav: ac range: 231.500000 m, nav range: 156.814667 m, bearing: 273.037867 deg, approach rate: -0.660561 m/s, LOS rate: 0.023644 deg/s, cmd heading: 9.071663 deg, new cmd heading: 9.097717 deg. 2jEЁ:MHeadingCmd: 0.158785 target range: 231.500000 and range: 234.30 m. jM">jIjIjQiQhQhQhYhYfYfYfarfabfe`#@ɛtB} 隍NI ɚiI! =I">ii)">)*FU?2FQ:FQBFU^0JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.822381